Robot joint control methods, devices, systems and computer equipment

Abstract

This application relates to a robot joint control method, apparatus, system, computer device, storage medium, and computer program product. The method includes: scanning at least one joint slave station connected to a master controller in the robot system to obtain the connection relationship between the master controller and each joint slave station, slave station control parameters, and the corresponding slave station type for each joint slave station; constructing a network topology diagram based on the connection relationship and the corresponding slave station type; generating a network topology information file based on the network topology diagram; converting the slave station control parameters into network packets based on the network topology information file, and sending the network packets to at least one joint slave station for controlling the at least one joint slave station. This method can improve the efficiency of robot joint control.

Description

Technical Field

[0001] This application relates to the field of robot control technology, and in particular to a robot joint control method, apparatus, system, computer equipment, storage medium, and computer program product. Background Technology

[0002] Traditional surgical robot systems consist of a master controller and multiple joint slaves. The master controller can be the controller for the manipulator console or the target console. The joint slaves can be individual joints in the robotic arm, joints in the master controller of the manipulator console, or other slave devices connected to the controller. The master controller and multiple joint slaves are connected via a bus. When the master controller controls multiple joint slaves, the slave network topology often needs to be manually configured. In scenarios where joint slaves need to be frequently changed, updating the slave network topology requires rewriting code and changing data object links, resulting in low efficiency in robot joint control. Summary of the Invention

[0003] Therefore, it is necessary to provide a robot joint control method, device, system, computer equipment, computer-readable storage medium, and computer program product that can improve the efficiency of robot joint control in response to the above-mentioned technical problems.

[0004] In a first aspect, this application provides a robot joint control method, including:

[0005] Scan at least one joint slave station connected to the master station controller in the robot system to obtain the connection relationship between the master station controller and each joint slave station, the slave station control parameters, and the slave station type corresponding to each joint slave station.

[0006] Based on the connection relationships and the corresponding slave station types of each joint slave station, a network topology diagram is constructed; based on the network topology diagram, a network topology information file is generated.

[0007] Based on the network topology information file, the slave control parameters are converted into network packets, and the network packets are sent to at least one joint slave station for control of at least one joint slave station.

[0008] In one embodiment, a network topology diagram is constructed based on the connection relationships and the corresponding slave types of each joint slave, including:

[0009] Based on the connection relationship, at least one first joint slave station directly connected to the master station controller is identified among the various joint slave stations, and at least one second joint slave station is identified that is connected in series with the at least one first joint slave station.

[0010] Construct a topology network based on at least one joint slave station and at least one second joint slave station;

[0011] In the topology network, identify the network nodes that correspond one-to-one with at least one joint slave station, and add the slave station type corresponding to each of the at least one joint slave station to the corresponding network node to obtain the network topology graph.

[0012] In one embodiment, a topology network is constructed based on at least one joint slave station and at least one second joint slave station, including:

[0013] For each first joint slave station, at least one current second joint slave station and the current first joint slave station connected in series with the current first joint slave station will form the current topology line corresponding to the current first joint slave station;

[0014] The topology network is formed by the topology lines corresponding to at least one first joint slave station.

[0015] In one embodiment, a network topology information file is generated based on the network topology diagram, including:

[0016] Find the first mapping relationship to obtain at least one device information file corresponding to each station type, and extract the device information text from each device information file;

[0017] Determine the network protocol type between the master station and at least one slave station, and generate the network information text corresponding to each slave station type based on the configuration tool corresponding to the network protocol type and the device information text corresponding to each slave station type.

[0018] Based on the connection relationships between network nodes in the network topology diagram, the network information text corresponding to each network node is combined into a network topology information file.

[0019] In one embodiment, the robot joint control method further includes:

[0020] Obtain test requirements;

[0021] Based on the testing requirements, determine the test connection relationship between the master controller and multiple slave stations under test, as well as the types of multiple slave stations under test;

[0022] Construct a test network topology based on multiple test connection relationships and multiple slave station types under test;

[0023] Generate a test network topology information file based on the test network topology diagram;

[0024] Determine the test parameters corresponding to the type of slave station to be tested;

[0025] Based on the test network topology information file, the test parameters are converted into test communication and sent to the slave station under test for testing.

[0026] The slave station that passes the test is designated as the joint slave station.

[0027] In one embodiment, the robot joint control method further includes:

[0028] Obtain the cloud firmware version and the corresponding firmware file;

[0029] Obtain the firmware version corresponding to each slave station of at least one node in the network topology diagram;

[0030] If the firmware version of any joint slave is inconsistent with the firmware version in the cloud, the joint slave is identified as the target joint slave, and an upgrade command is sent to the target joint slave. The upgrade command carries a firmware file to upgrade the firmware version of the target joint slave to the firmware version in the cloud.

[0031] In one embodiment, the robot joint control method further includes:

[0032] Obtain a remote network topology map and remote control requirements;

[0033] Find the second mapping relationship and obtain the demand control data corresponding to the remote network topology diagram, the network topology diagram, and the remote control requirements, respectively.

[0034] Based on the network topology information file, the demand control data is converted into demand network messages, and the demand network messages are sent to at least one joint slave station for control of at least one joint slave station.

[0035] In one embodiment, the robot joint control method further includes:

[0036] Search the code library and obtain the code blocks required for the operation of each of the preset slave types in the preset network topology diagram;

[0037] Combine at least one code block required for slave station operation into a development project code template file;

[0038] The development project code template file is updated based on the code block corresponding to at least one joint slave station to obtain the updated code file, which is used to execute the robot joint control method.

[0039] Secondly, this application also provides a robot joint control device, comprising:

[0040] The acquisition module is used to scan at least one joint slave station connected to the master station controller in the robot, and to acquire the connection relationship between the master station controller and each joint slave station, the slave station control parameters, and the slave station type corresponding to each joint slave station.

[0041] The module is used to construct a network topology diagram based on the connection relationships and the corresponding slave types of each joint slave station; and to generate a network topology information file based on the network topology diagram.

[0042] The control module is used to convert slave control parameters into network packets based on the network topology information file, and send the network packets to at least one joint slave station for controlling at least one joint slave station.

[0043] Thirdly, this application also provides a robot system, the system comprising: a master station controller and at least one joint slave station connected to the master station controller; the master station controller is used to execute the steps of the robot joint control method.

[0044] Fourthly, this application also provides a computer device, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to perform the following steps:

[0045] Scan at least one joint slave station connected to the master station controller in the robot system to obtain the connection relationship between the master station controller and each joint slave station, the slave station control parameters, and the slave station type corresponding to each joint slave station.

[0046] Based on the connection relationships and the corresponding slave station types of each joint slave station, a network topology diagram is constructed; based on the network topology diagram, a network topology information file is generated.

[0047] Based on the network topology information file, the slave control parameters are converted into network packets, and the network packets are sent to at least one joint slave station for control of at least one joint slave station.

[0048] Fifthly, this application also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, performs the following steps:

[0049] Scan at least one joint slave station connected to the master station controller in the robot system to obtain the connection relationship between the master station controller and each joint slave station, the slave station control parameters, and the slave station type corresponding to each joint slave station.

[0050] Based on the connection relationships and the corresponding slave station types of each joint slave station, a network topology diagram is constructed; based on the network topology diagram, a network topology information file is generated.

[0051] Based on the network topology information file, the slave control parameters are converted into network packets, and the network packets are sent to at least one joint slave station for control of at least one joint slave station.

[0052] Sixthly, this application also provides a computer program product, including a computer program that, when executed by a processor, performs the following steps:

[0053] Scan at least one joint slave station connected to the master station controller in the robot system to obtain the connection relationship between the master station controller and each joint slave station, the slave station control parameters, and the slave station type corresponding to each joint slave station.

[0054] Based on the connection relationships and the corresponding slave station types of each joint slave station, a network topology diagram is constructed; based on the network topology diagram, a network topology information file is generated.

[0055] Based on the network topology information file, the slave control parameters are converted into network packets, and the network packets are sent to at least one joint slave station for control of at least one joint slave station.

[0056] The aforementioned robot joint control method, device, system, computer equipment, storage medium, and computer program product, by scanning at least one joint slave station connected to the master controller in the robot system, obtains the connection relationship between the master controller and each joint slave station, the slave station control parameters, and the corresponding slave station type for each joint slave station. Based on the connection relationship and the corresponding slave station type for each joint slave station, a network topology diagram is constructed. Since the network topology diagram is dynamically updated according to the connection relationship between the master controller and the joint slave stations, the network topology information file generated based on the network topology diagram is also updated synchronously. Based on the network topology information file, the slave station control parameters are converted into network packets, thereby controlling at least one joint slave station, which is beneficial to improving the control efficiency of the joint slave stations. Attached Figure Description

[0057] To more clearly illustrate the technical solutions in the embodiments or related technologies of this application, the accompanying drawings used in the description of the embodiments or related technologies will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0058] Figure 1 This is an application environment diagram of a robot joint control method in one embodiment;

[0059] Figure 2 This is a flowchart illustrating a robot joint control method in one embodiment;

[0060] Figure 3 This is a schematic diagram of the connection between a master station controller and at least one joint slave station in one embodiment;

[0061] Figure 4This is a schematic diagram illustrating the generation of a network topology information file in one embodiment.

[0062] Figure 5 This is a schematic diagram illustrating the creation and parsing of a network topology information file in one embodiment;

[0063] Figure 6 This is a schematic diagram of a remote control method in one embodiment;

[0064] Figure 7 This is a schematic diagram illustrating the generation of a development project code template file in one embodiment.

[0065] Figure 8 This is a schematic diagram of the software architecture of a robot system in one embodiment;

[0066] Figure 9 This is a schematic diagram illustrating the static construction of a network topology information file in one embodiment.

[0067] Figure 10 This is a schematic diagram of an integrated robot changing tool arm in one embodiment;

[0068] Figure 11 This is a schematic diagram of a split-type robot changing its tool arm in one embodiment;

[0069] Figure 12 This is a schematic diagram of replacing a faulty tool arm in one embodiment;

[0070] Figure 13 This is a schematic diagram of a firmware upgrade in one embodiment;

[0071] Figure 14 This is a structural block diagram of a robot joint control device in one embodiment;

[0072] Figure 15 This is an internal structural diagram of a computer device in one embodiment. Detailed Implementation

[0073] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0074] The robot joint control method provided in this application embodiment can be applied to, for example... Figure 1The robot joint control method is applied to a robot system, which includes an object control console 102 and a target object control console 104. The target object control console includes at least one tool arm 106, and each tool arm 106 includes at least one joint. The object controls at least one tool arm by manipulating the operating device of the object control console. In some embodiments, the object control console and the target object control console share a common master controller. In other embodiments, the object control console and the target object control console each include a master controller. Joint slaves can be joints in the target object control console, and the joint slaves corresponding to at least one joint in a tool arm constitute a joint slave group. The robot joint control method is executed by the master station controller in the robot system. The master station controller scans at least one joint slave station connected to the master station controller in the robot system, and obtains the connection relationship between the master station controller and each joint slave station, the slave station control parameters, and the corresponding slave station type of each joint slave station. Based on the connection relationship and the corresponding slave station type of each joint slave station, a network topology diagram is constructed. According to the network topology diagram, a network topology information file is generated. Based on the network topology information file, the slave station control parameters are converted into network packets and sent to at least one joint slave station for control of at least one joint slave station.

[0075] In one exemplary embodiment, such as Figure 2 As shown, a robot joint control method is provided. Taking the application of this method to the master controller of a robot system as an example, the method includes the following steps 202 to 206. Wherein:

[0076] Step 202: Scan at least one joint slave station connected to the master station controller in the robot system to obtain the connection relationship between the master station controller and each joint slave station, the slave station control parameters, and the slave station type corresponding to each joint slave station.

[0077] The master controller connects to at least one joint slave station, and the joint slave stations are connected via Ethernet, EtherCAT, or CAN bus. When the robot system powers on, the master controller scans for at least one connected joint slave station. At least one joint slave station can be directly connected to the master controller or indirectly connected to it. Figure 3 The diagram illustrates the connection between a master station controller and at least one joint slave station in one embodiment. The at least one joint slave station is connected in series, and the master station controller is connected to each slave station group via a network switch.

[0078] Slave control parameters refer to the data used to control the slave stations between the master station controller and each joint slave station.

[0079] Each joint slave station can have the same or different slave station types. The joint slave station type can be the type of the corresponding joint. The master controller obtains basic information about each joint slave station, including device type, product model, or supplier information, and determines the corresponding slave station type based on this basic information.

[0080] Step 204: Construct a network topology diagram based on the connection relationships and the corresponding slave types of each joint slave station; generate a network topology information file based on the network topology diagram.

[0081] The network topology diagram is a network structure diagram composed of multiple network nodes and the connections between them. It is used to represent the connection relationship between the master station controller and each joint slave station, as well as the corresponding slave station type of each joint slave station.

[0082] A network topology information file records the configuration information of each slave node and its position in the network topology diagram. The type of the network topology information file is determined by the communication protocol between the master controller and each slave node. For example, when using EtherCAT, the network topology information file is an ENI (EtherCAT Network Information) file.

[0083] Step 206: Based on the network topology information file, the slave control parameters are converted into network packets, and the network packets are sent to at least one joint slave station for control of at least one joint slave station.

[0084] The master station controller and at least one joint slave station exchange data by sending and receiving network packets. Network packets are data with a defined format. The message format is defined in the network topology information file. Based on the message format provided in the network topology information file, the master station controller converts the slave station control parameters into network packets and sends the generated network packets to at least one joint slave station.

[0085] At least one joint slave station parses the received network message to obtain the control data carried in the network message, and then at least one joint slave station moves according to the parsed control data.

[0086] In the aforementioned robot joint control method, by scanning at least one joint slave station connected to the master controller in the robot system, the connection relationship between the master controller and each joint slave station, the slave station control parameters, and the corresponding slave station type of each joint slave station are obtained. Based on the connection relationship and the corresponding slave station type of each joint slave station, a network topology diagram is constructed. Since the network topology diagram is dynamically updated according to the connection relationship between the master controller and the joint slave stations, the network topology information file generated based on the network topology diagram is also updated synchronously. Based on the network topology information file, the slave station control parameters are converted into network packets, thereby controlling at least one joint slave station, which helps to improve the control efficiency of the joint slave stations.

[0087] In an exemplary embodiment, a network topology diagram is constructed based on the connection relationships and the corresponding slave station types of each joint slave station. This includes: determining, according to the connection relationships, at least one first joint slave station directly connected to the master station controller among the joint slave stations, and determining at least one second joint slave station that is sequentially connected in series with the at least one first joint slave station; constructing a topology network based on the at least one joint slave station and the at least one second joint slave station; determining network nodes that correspond one-to-one with the at least one joint slave station in the topology network, and adding the corresponding slave station types of the at least one joint slave station to the corresponding network nodes to obtain the network topology diagram.

[0088] In this configuration, each slave station can be directly or indirectly connected to the master controller. (Reference) Figure 3 Joint slave stations 1-1, 2-1, and n-1 are all first joint slave stations directly connected to the master controller. Joint slave stations 1-2 and 1-3 are second joint slave stations connected in series with joint slave station 1-1. Joint slave stations 2-2 and 2-3 are second joint slave stations connected in series with joint slave station 2-1. Joint slave stations 3-2 and 3-3 are second joint slave stations connected in series with joint slave station 3-1.

[0089] By using at least one joint slave station and at least one second joint slave station as network nodes, a topology network is constructed. The slave station type corresponding to each of the at least one joint slave station is added to the network node corresponding to the topology network to obtain the network topology graph.

[0090] In this embodiment, a topology network is constructed based on the connection relationship between the master station controller and at least one joint slave station. Then, the slave station type corresponding to each of the at least one joint slave station is added to the corresponding network node to obtain a network topology diagram. Since the network topology diagram can represent the connection relationship between the master station controller and the joint slave station as well as the slave station type of the joint slave station, and the network topology diagram can be dynamically updated according to the changes of the joint slave station, it is beneficial to improve the control efficiency of the robot joint.

[0091] In one embodiment, a topology network is constructed based on at least one joint slave station and at least one second joint slave station, including: for each first joint slave station, forming a current topology line corresponding to the current first joint slave station by connecting at least one current second joint slave station and the current first joint slave station in series with the current first joint slave station; and forming a topology network by the topology lines corresponding to each of the at least one first joint slave station.

[0092] Each topology line corresponds to one tool arm. Each topology line consists of the current first joint slave station and at least one current second joint slave station connected in series with the current first joint slave station. Multiple topology lines constitute a topology network.

[0093] In this embodiment, a topology network is obtained by constructing multiple topology lines. The topology network contains the connection relationships between multiple joint slave stations. Constructing the topology network is beneficial for generating a network topology diagram.

[0094] In one embodiment, generating a network topology information file based on the network topology diagram includes: finding a first mapping relationship to obtain device information files corresponding to at least one slave station type, and extracting device information text from each device information file; determining the network protocol type between the master station and at least one joint slave station, generating network information text corresponding to each slave station type based on the configuration tool corresponding to the network protocol type and the device information text corresponding to each slave station type; and combining the network information text corresponding to each network node into a network topology information file according to the connection relationship between each network node in the network topology diagram.

[0095] The first mapping relationship is used to characterize the correspondence between slave station types and device information files. The device information file records the configuration information for the corresponding slave station type, indicating the function of the joint slave station of that type. In some embodiments, the device information file can be an ESI (EtherCAT Slave Information) file. Text information is extracted from the device information text to obtain the device information text corresponding to each slave station type.

[0096] Configuration tools are tools that convert device information text into network information text. Each network protocol type has its own corresponding configuration tool.

[0097] like Figure 4 The diagram illustrates the generation of a network topology information file in one embodiment. The various network information texts are combined into a network topology information file according to the connection relationships of each node's slave stations.

[0098] In some embodiments, the network topology information file is in XML format, and its contents can be parsed using XML file parsing methods. For example... Figure 5 The diagram illustrates the creation and parsing of a network topology information file in one embodiment. Device information text from multiple node slave stations is converted using a configuration tool to obtain a network topology information file, which can then be parsed using an XML parsing method.

[0099] In this embodiment, by determining the device information file corresponding to each slave station type, extracting the device information text, and combining the device information files according to the connection relationship of each slave station type, a network topology information file is obtained. This method ensures that the generated network topology information file includes the connection relationship of multiple slave station types and the configuration information corresponding to each slave station type.

[0100] In one embodiment, the robot joint control method further includes: acquiring test requirements; determining the test connection relationships between the master controller and multiple slave stations under test, as well as the types of multiple slave stations under test, based on the test requirements; constructing a test network topology diagram based on the multiple test connection relationships and the multiple types of slave stations under test; generating a test network topology information file based on the test network topology diagram; determining test parameters corresponding to the types of slave stations under test; converting the test parameters into test communication based on the test network topology information file, and sending the test communication to the slave station under test for testing; and designating the slave station under test that passes the test as a joint slave station.

[0101] The testing requirement, proposed earlier for robot joint control, is used to test multiple slave stations under test in the robot system. The slave stations that pass the test are then used as joint slave stations. The master controller is connected to the joint slave stations that pass the test to execute various types of control operations. This can avoid control failures when controlling robot joints and improve the control efficiency of robot joints.

[0102] The slave station under test (SUT) is a joint in the robot system. The master controller acquires the test requirements, which specify the SUTs and the test connection relationships between the master controller and multiple SUTs. The SUTs can be any joint in the robot system or joints specified for the test requirements. SUTs can be arbitrarily selected based on the test requirements, thus meeting customized testing needs.

[0103] The type of slave station under test is the type of the corresponding joint. The master station controller obtains the device type, product model, or supplier information of the corresponding joint to determine the type of slave station under test.

[0104] The slave station under test can be directly or indirectly connected to the master controller. Based on the test connection relationships, at least one first test slave station directly connected to the master controller is identified from among the multiple slave stations under test. At least one second test slave station is then identified, connected in series with each of these first test slave stations. For each first test slave station, the at least one current second test slave station connected in series with it, along with the current first test slave station, constitutes the current test line corresponding to the current first test slave station. The test network topology is formed by the test lines corresponding to each of the at least one first test slave station.

[0105] The first mapping relationship is located to obtain at least one device information file corresponding to each type of slave station under test, and the device information text is extracted from each device information file. Based on the configuration tool and the device information text corresponding to each type of slave station under test, network information text corresponding to each type of slave station under test is generated. According to the connection relationship between each network node in the test network topology diagram, the network information text corresponding to each network node is combined into a test network topology information file.

[0106] Each type of slave station under test corresponds to a specific set of test parameters. Based on the message format in the test network topology information file, the test parameters are converted into test communication and sent to the slave station under test for testing. Slave stations that pass the test are designated as joint slave stations.

[0107] In this embodiment, the test connection relationship between the master station controller and multiple slave stations under test is determined based on the test requirements, as well as the types of multiple slave stations under test. A test network topology diagram is constructed, and a corresponding test network topology information file is generated according to the test network topology diagram. This converts the test parameters corresponding to the types of slave stations under test into test communication. After receiving the test communication, the slave station under test parses the test data carried in the test communication and then tests the slave station under test. The slave station under test that passes the test is used as a joint slave station to perform robot shutdown control operations. This can avoid the problem of control failure when controlling robot joints and is conducive to improving the control efficiency of robot joints.

[0108] In one embodiment, the robot joint control method further includes: obtaining a cloud firmware version and obtaining a firmware file corresponding to the cloud firmware version; obtaining the firmware version corresponding to at least one joint slave in the network topology diagram; if the firmware version corresponding to any joint slave is inconsistent with the cloud firmware version, determining the joint slave as the target joint slave, and sending an upgrade command to the target joint slave, the upgrade command carrying a firmware file for upgrading the firmware version of the target joint slave to the cloud firmware version.

[0109] The robot system also includes a cloud server, which stores the latest firmware version and corresponding firmware files. The cloud firmware version is the firmware version stored on the cloud server.

[0110] Since the network topology diagram includes network nodes corresponding to at least one joint slave station, the master station controller obtains the firmware version corresponding to at least one joint slave station.

[0111] The firmware version of at least one joint slave station is compared with the firmware version in the cloud. If the firmware version of any joint slave station is inconsistent with the firmware version in the cloud, it is determined that the joint slave station needs to be upgraded. The master station controller designates the joint slave station as the target joint slave station and sends an upgrade command to the target joint slave station. The upgrade command carries the firmware file to upgrade the firmware version of the target joint slave station to the firmware version in the cloud.

[0112] In this embodiment, by obtaining the latest cloud firmware version from the cloud server and upgrading slave stations with non-latest cloud firmware versions to the cloud firmware version through the topology network, it is beneficial to realize automatic firmware version upgrade remotely.

[0113] In one embodiment, the robot joint control method further includes: acquiring a remote network topology map and remote control requirements; searching for a second mapping relationship to acquire requirement control data corresponding to the remote network topology map, the network topology map, and the remote control requirements respectively; converting the requirement control data into requirement network messages according to the network topology information file; and sending the requirement network messages to at least one joint slave station for controlling at least one joint slave station.

[0114] The robot system also includes a remote control console. The remotely controlled object initiates a remote control request from the remote control console and constructs a remote network topology diagram. This diagram represents the master controller, joint slaves, joint slave types, and the connections between the master controller and the joint slaves required for the remote control request.

[0115] The second mapping relationship is used to characterize the correspondence between the remote network topology diagram, the network topology diagram, and the remote control requirements and requirement control data.

[0116] The master station controller converts the demand control data into demand network messages according to the network topology information file corresponding to the network topology diagram, and sends the demand network messages to at least one joint slave station for control of at least one joint slave station.

[0117] like Figure 6The diagram illustrates a remote control method in one embodiment. The remote control console sends a remote network topology diagram and remote control requirements to a cloud server. The master controller sends the network topology diagram to the cloud server. Based on the received topology diagram and remote control requirements, the cloud server determines a control scheme and sends the corresponding control data to the master controller. The master controller converts the control data into network request messages and sends these messages to at least one slave node for control of that slave node.

[0118] In this embodiment, the network topology table is used as the transmission medium for control data. The cloud server performs computationally intensive tasks, such as model building in the early stages of robot joint control. These tasks are computationally intensive and time-consuming, and cannot be completed by the main station controller. By using the cloud server as an intermediate processing unit, the remote control console can support joint slave stations in any topology network, which is beneficial for remote control of robot joints.

[0119] In one embodiment, the robot joint control method further includes: searching a code library to obtain the code blocks required for slave operation corresponding to at least one preset slave type in a preset network topology diagram; combining the at least one slave operation code blocks into a development project code template file; updating the development project code template file according to the code blocks corresponding to at least one joint slave to obtain an updated code file, and using the updated code file to execute the robot joint control method.

[0120] The code repository stores the code blocks required for the operation of various preset slave station types.

[0121] The preset slave station type can be a frequently used slave station type, or it can be a specified slave station type. The preset network topology diagram is used to represent the connection relationship between the master controller and at least one preset slave station, as well as the preset slave station type of each preset slave station. The code blocks required for slave station operation corresponding to each preset slave station type are identified in the code library, and at least one set of these code blocks is combined to form a development project code template file. For example... Figure 7 The diagram illustrates the generation of a development project code template file in one embodiment. Based on the development project code template file, the code files corresponding to at least one joint slave station are automatically updated, which helps improve code development efficiency.

[0122] In this embodiment, by constructing a development project code template file, the system will automatically construct the code file corresponding to at least one joint slave station. Based on the updated code file, developers only need to develop other functional algorithms, which helps to improve code development efficiency.

[0123] To illustrate the robot joint control method and its effects in this solution in detail, a specific embodiment is described below:

[0124] Robot joint control methods can be applied to robot control in various scenarios, such as medical robots, catering service robots, or construction robots. Taking the application of robot joint control methods to a medical robot system as an example, a medical robot system includes a doctor's console, a patient's console, and an imaging trolley. The doctor's console and patient's console can share a single master controller, or the patient's operating trolley and doctor's console can each have their own master controller. In a medical robot system, the joint slave station group can be a tool arm of the patient's console or a master hand of the doctor's console. Each joint of the medical robot is a slave station, and at least one joint slave station is connected in series. The connection between the joint slave stations can use communication protocols such as Ethernet, industrial Ethernet bus, or controller area network bus. The master controller sends network messages, the joint slave stations receive these messages, execute corresponding actions, and simultaneously feed back sensor or force feedback data acquired by the joint slave stations.

[0125] like Figure 8 The diagram shows the software architecture of a robot system in one embodiment. The robot system includes an application layer, a business logic layer, an application interface layer, a functional module layer, and a hardware driver layer.

[0126] The hardware driver layer includes the board support package for the real-time operating system and peripheral drivers. It provides an abstraction layer between the real-time operating system and the hardware, and allows communication and control between the operating system and hardware devices.

[0127] The functional module layer includes a thread management module, a communication protocol stack, a driver parameter library, and a motion control algorithm library. The thread management module manages threads and concurrent execution within the system, enabling multiple tasks to be executed concurrently while ensuring real-time performance. The communication protocol stack provides encapsulation for the underlying communication devices, allowing upper-layer applications to call functional modules and applications to easily utilize hardware functions. The driver parameter library stores pre-configured motion control parameters necessary for running different types of driver slaves, allowing direct API calls without upper-layer application configuration. The motion control algorithm library contains commonly used motion control algorithms, which can be directly called by upper-layer functional modules and applications.

[0128] The application interface layer provides abstraction and encapsulation of the functional module layer, defining a set of interfaces for interaction between the application and the functional modules, including the construction of slave object models, network topology diagrams, etc. It provides a unified interface specification, allowing upper-layer application developers to easily call and complete the design of functional logic without worrying about the specific implementation details.

[0129] The business logic layer calls various methods of the functional module layer through the application programming interface (API) of the application interface layer. This layer includes the configuration business logic of the main station and the application of dynamics and kinematic control algorithms for the medical robot. The configuration business logic of the main station is used to complete the necessary processes for the main station's operation, while the application of control algorithms is the core business of the medical robot.

[0130] The application layer, located at the top, contains specific applications, including network communication for the human-computer interaction interface, bus communication for the medical robot slave stations, and motion execution tasks for the medical robot. It establishes communication interfaces with other devices to enable communication and data exchange between applications.

[0131] According to the industrial Ethernet bus protocol standard and implementation method published by ETG (EtherCAT Technology Group), each slave station has a corresponding device information file, and a network topology information file is generated through a configuration tool. The master station controller parses the network topology information file using a file parsing tool to obtain the configuration information of each slave station in the network topology diagram, thereby running the master station controller and performing data communication. The method for constructing the network topology information file in this embodiment of the application does not require manual software operation, achieving automatic completion from scanning to topology information file construction and visualization.

[0132] In the robot joint control method, the master controller scans at least one joint slave station connected to the master controller in the robot system, obtaining the connection relationship between the master controller and each joint slave station, slave station control parameters, and the corresponding slave station type for each joint slave station. Based on the connection relationship, at least one first joint slave station directly connected to the master controller is identified among the joint slave stations, and at least one second joint slave station sequentially connected in series with each of the at least one first joint slave station is identified. For each first joint slave station, the at least one current second joint slave station sequentially connected in series with the current first joint slave station and the current first joint slave station constitute the current topology line corresponding to the current first joint slave station. The topology lines corresponding to each of the at least one first joint slave station constitute the topology network. In the topology network, network nodes corresponding one-to-one with each of the at least one joint slave station are identified, and the corresponding slave station type of each of the at least one joint slave station is added to the corresponding network node, resulting in a network topology graph.

[0133] Find the first mapping relationship to obtain the device information file corresponding to at least one slave station type, extract the device information text from each device information file, determine the network protocol type between the master station and at least one joint slave station, generate the network information text corresponding to each slave station type according to the configuration tool corresponding to the network protocol type and the device information text corresponding to each slave station type, and combine the network information text corresponding to each network node into a network topology information file according to the connection relationship between each network node in the network topology diagram.

[0134] Based on the network topology information file, the slave control parameters are converted into network packets, and the network packets are sent to at least one joint slave station for control of at least one joint slave station.

[0135] In some embodiments, the network topology information file can also be statically constructed. The master station controller pre-creates a third mapping relationship between the topology map and the network topology information file, searches for the third mapping relationship, and determines the target network topology information file corresponding to the network topology map. For example... Figure 9 The diagram illustrates the static construction of network topology information files in one embodiment. Three sets of topology diagrams are preset, numbered MBTP0001, MBTP0002, and MBTP0003, respectively, corresponding to network topology information files numbered MBNI0001, MBNI0002, and MBNI0003. By searching the third mapping relationship between the topology diagrams and network topology information files, the number of the target topology diagram corresponding to the network topology diagram, and the number of the corresponding target network topology information file, are determined.

[0136] In some embodiments, the tool arm in the medical robot is a replaceable tool arm, and the medical robot can be an integrated robot or a modular robot. For example... Figure 10 The diagram illustrates a method for changing the tool arm of an integrated robot in one embodiment. Arm number 3 is a replaceable tool arm, which can be replaced with either a type A tool arm or a type B tool arm. During robot joint control, the type A tool arm can be used first. After use, the type A tool arm can be removed using a quick-release device, and a type B tool arm can be installed. The master controller rescans each joint slave station, generates an updated network topology table, and controls the robot joints.

[0137] like Figure 11 The diagram shown illustrates the replacement of a tool arm in a split-type robot in one embodiment. When replacing a tool arm, the split-type robot system can directly replace the corresponding tool arm trolley, which is more convenient than a one-piece robot. The master station controller identifies the updated joint slave stations, reconstructs the network topology, and continues the robot joint control.

[0138] In some embodiments, if a tool arm malfunctions during robot joint control, the traditional approach is to wait for a maintenance team to perform on-site repairs or switch control methods to continue robot joint control. For example... Figure 12 The diagram shown illustrates the replacement of a faulty tool arm in one embodiment. Arm 3 is the faulty tool arm. During robot joint control, tool arm 3 can be shut down, and the master controller rescans the joint slave stations, constructs a new network topology, and runs the operation.

[0139] In some embodiments, each slave station needs to be tested before robot joint control. Slave stations that pass the test are designated as joint slave stations, and the master controller connects to and controls these tested slave stations. During slave station testing, the master controller first obtains the test requirements. Based on these requirements, it determines the test connection relationships between the master controller and multiple slave stations under test, as well as the types of these slave stations. A test network topology diagram is constructed based on the test connection relationships and the types of slave stations under test. A test network topology information file is generated based on this diagram. Test parameters corresponding to the types of slave stations under test are determined. These parameters are converted into test communication based on the test network topology information file and sent to the slave stations under test for testing. Slave stations that pass the test are designated as joint slave stations. By constructing the test network topology diagram, only one tester needs to operate the host computer to control and start the test task. After the test is completed, a test report is generated based on the test results.

[0140] like Figure 13 This is a schematic diagram of firmware upgrade in one embodiment. The master controller initiates a firmware acquisition request to the cloud server to obtain the cloud firmware version and the corresponding firmware file, as well as the firmware version corresponding to at least one joint slave station in the network topology diagram. If the firmware version of any joint slave station is inconsistent with the cloud firmware version, the joint slave station is determined as the target joint slave station, and an upgrade command is sent to the target joint slave station. The upgrade command carries the firmware file and is used to upgrade the firmware version of the target joint slave station to the cloud firmware version. This facilitates sending firmware files and upgrade commands to designated joint slave stations, enabling remote automatic firmware upgrades.

[0141] In some remote control scenario implementations, a remote network topology map and remote control requirements are obtained, a second mapping relationship is found, and requirement control data corresponding to the remote network topology map, network topology map, and remote control requirements are obtained respectively. The requirement control data is converted into requirement network messages according to the network topology information file, and the requirement network messages are sent to at least one joint slave station for controlling at least one joint slave station.

[0142] In some embodiments, the robot system further includes a code library. The master station controller searches the code library to obtain the code blocks required for the operation of at least one preset slave station type corresponding to a preset network topology diagram, and combines the at least one slave station operation code block into a development project code template file. The development project code template file is updated according to the code blocks corresponding to each of the at least one joint slave station, resulting in an updated code file. The updated code file is used to execute the robot joint control method. Developers can directly develop corresponding algorithm function code for different object models based on the updated code file, which helps improve software development efficiency.

[0143] The aforementioned robot joint control method obtains the connection relationship between the master controller and each joint slave, the slave control parameters, and the corresponding slave type of each joint slave by scanning at least one joint slave connected to the master controller in the robot system. Based on the connection relationship and the corresponding slave type of each joint slave, a network topology diagram is constructed. Since the network topology diagram is dynamically updated according to the connection relationship between the master controller and the joint slave, the network topology information file generated based on the network topology diagram is also updated synchronously. Based on the network topology information file, the slave control parameters are converted into network packets, thereby controlling at least one joint slave, which helps to improve the control efficiency of the joint slave.

[0144] It should be understood that although the steps in the flowcharts of the embodiments described above are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the embodiments described above may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages of other steps.

[0145] Based on the same inventive concept, this application also provides a robot joint control device for implementing the robot joint control method described above. The solution provided by this device is similar to the solution described in the above method; therefore, the specific limitations in one or more robot joint control device embodiments provided below can be found in the limitations of the robot joint control method described above, and will not be repeated here.

[0146] In one exemplary embodiment, such as Figure 14As shown, a robot joint control device 1400 is provided, including: an acquisition module 1402, a construction module 1404, and a control module 1406, wherein:

[0147] The acquisition module 1402 is used to scan at least one joint slave station connected to the master station controller in the robot, and to acquire the connection relationship between the master station controller and each joint slave station, the slave station control parameters, and the slave station type corresponding to each joint slave station.

[0148] Module 1404 is used to construct a network topology diagram based on the connection relationships and the corresponding slave types of each joint slave station; and to generate a network topology information file based on the network topology diagram.

[0149] The control module 1406 is used to convert slave control parameters into network packets based on the network topology information file, and send the network packets to at least one joint slave station for controlling at least one joint slave station.

[0150] The aforementioned robot joint control device scans at least one joint slave station connected to the master controller in the robot system to obtain the connection relationship between the master controller and each joint slave station, the slave station control parameters, and the corresponding slave station type for each joint slave station. Based on the connection relationship and the corresponding slave station type for each joint slave station, a network topology diagram is constructed. Since the network topology diagram is dynamically updated according to the connection relationship between the master controller and the joint slave stations, the network topology information file generated based on the network topology diagram is also updated synchronously. Based on the network topology information file, the slave station control parameters are converted into network packets, thereby controlling at least one joint slave station, which helps to improve the control efficiency of the joint slave stations.

[0151] In one embodiment, a network topology diagram is constructed based on the connection relationships and the corresponding slave station types of each joint slave station. The construction module 1404 is further configured to: determine at least one first joint slave station directly connected to the master station controller among the joint slave stations according to the connection relationships, and determine at least one second joint slave station that is sequentially connected in series with the at least one first joint slave station; construct a topology network based on the at least one joint slave station and the at least one second joint slave station; determine network nodes that correspond one-to-one with the at least one joint slave station in the topology network, and add the corresponding slave station types of the at least one joint slave station to the corresponding network nodes to obtain the network topology diagram.

[0152] In one embodiment, a topology network is constructed based on at least one joint slave station and at least one second joint slave station. The construction module 1404 is further configured to: for each first joint slave station, form a current topology line corresponding to the current first joint slave station by connecting at least one current second joint slave station and the current first joint slave station in series with the current first joint slave station; and form a topology network by the topology lines corresponding to each of the at least one first joint slave station.

[0153] In one embodiment, based on the network topology diagram, a network topology information file is generated. The construction module 1404 is further configured to: find a first mapping relationship to obtain device information files corresponding to at least one slave station type, and extract device information text from each device information file; determine the network protocol type between the master station and at least one joint slave station, and generate network information text corresponding to each slave station type based on the configuration tool corresponding to the network protocol type and the device information text corresponding to each slave station type; and combine the network information text corresponding to each network node into a network topology information file according to the connection relationship between each network node in the network topology diagram.

[0154] In one embodiment, the robot joint control device 1400 further includes a testing module, which is used to: acquire test requirements; determine the test connection relationship between the master controller and multiple slave stations under test, as well as the types of multiple slave stations under test, based on the test requirements; construct a test network topology diagram based on the multiple test connection relationships and the multiple types of slave stations under test; generate a test network topology information file based on the test network topology diagram; determine the test parameters corresponding to the types of slave stations under test; convert the test parameters into test communication based on the test network topology information file, and send the test communication to the slave station under test for testing; and designate the slave station under test that passes the test as a joint slave station.

[0155] In one embodiment, the robot joint control device 1400 further includes an upgrade module, which is used to: obtain the cloud firmware version and obtain the firmware file corresponding to the cloud firmware version; obtain the firmware version corresponding to at least one joint slave in the network topology diagram; if the firmware version corresponding to any joint slave is inconsistent with the cloud firmware version, determine the joint slave as the target joint slave, and send an upgrade command to the target joint slave, the upgrade command carrying the firmware file, for upgrading the firmware version of the target joint slave to the cloud firmware version.

[0156] In one embodiment, the robot joint control device 1400 further includes a remote control module, which is used to: acquire a remote network topology map and remote control requirements; find a second mapping relationship to acquire requirement control data corresponding to the remote network topology map, the network topology map, and the remote control requirements respectively; convert the requirement control data into requirement network messages according to the network topology information file, and send the requirement network messages to at least one joint slave station for controlling at least one joint slave station.

[0157] In one embodiment, the robot joint control 1400 further includes a code update module, which is also used to: search a code library and obtain the code blocks required for slave operation corresponding to at least one preset slave type in the preset network topology diagram; combine the code blocks required for slave operation into a development project code template file; update the development project code template file according to the code blocks corresponding to at least one joint slave to obtain an updated code file, which is used to execute the robot joint control method.

[0158] Each module in the aforementioned robot joint control device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in or independent of the processor in a computer device, or stored in the memory of a computer device as software, so that the processor can call and execute the operations corresponding to each module.

[0159] In one exemplary embodiment, a robot system is provided, comprising: a master station controller and at least one joint slave station connected to the master station controller; the master station controller is used to execute the steps of a robot joint control method.

[0160] In one exemplary embodiment, a computer device is provided, which may be a terminal, and its internal structure diagram may be as follows: Figure 15As shown, the computer device includes a processor, memory, input / output interface, communication interface, display unit, and input device. The processor, memory, and input / output interface are connected via a system bus, and the communication interface, display unit, and input device are also connected to the system bus via the input / output interface. The processor provides computational and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs stored in the non-volatile storage media. The input / output interface is used for exchanging information between the processor and external devices. The communication interface is used for wired or wireless communication with external terminals; wireless communication can be achieved through Wi-Fi, mobile cellular networks, NFC (Near Field Communication), or other technologies. When the computer program is executed by the processor, it implements a robot joint control method.

[0161] Those skilled in the art will understand that Figure 15 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0162] In one exemplary embodiment, a computer device is provided, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps in the above-described method embodiments.

[0163] In one embodiment, a computer-readable storage medium is provided having a computer program stored thereon that, when executed by a processor, implements the steps in the above method embodiments.

[0164] In one embodiment, a computer program product is provided, including a computer program that, when executed by a processor, implements the steps in the above method embodiments.

[0165] It should be noted that the user information (including but not limited to user site type, user personal information, etc.) and data (including but not limited to data used for analysis, data stored, data displayed, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of related data must comply with relevant regulations.

[0166] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, etc., and are not limited to these.

[0167] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0168] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. A robot joint control method, characterized in that, The method includes: Scan at least one joint slave station connected to the master station controller in the robot system, and obtain the connection relationship between the master station controller and each joint slave station, the slave station control parameters, and the slave station type corresponding to each joint slave station. Based on the connection relationships and the corresponding slave station types of each joint slave station, a network topology diagram is constructed; based on the network topology diagram, a network topology information file is generated; Based on the network topology information file, the slave station control parameters are converted into network packets, and the network packets are sent to at least one joint slave station for control of at least one joint slave station; The construction of the network topology diagram based on the connection relationships and the corresponding slave station types of each joint slave station includes: Based on the connection relationship, at least one first joint slave station directly connected to the master station controller is identified among the various joint slave stations, and at least one second joint slave station is identified that is connected in series with the at least one first joint slave station. Construct a topology network based on at least one joint slave station and at least one second joint slave station; In the topology network, network nodes corresponding one-to-one with at least one joint slave station are identified, and the slave station types corresponding to each of the at least one joint slave station are added to the corresponding network nodes to obtain the network topology diagram.

2. The method according to claim 1, characterized in that, The construction of the topology network based on at least one joint slave station and at least one second joint slave station includes: For each first joint slave station, at least one current second joint slave station connected in series with the current first joint slave station and the current first joint slave station constitute the current topology line corresponding to the current first joint slave station; The topology network is formed by the topology lines corresponding to at least one first joint slave station.

3. The method according to claim 1, characterized in that, The step of generating a network topology information file based on the network topology map includes: Find the first mapping relationship to obtain at least one device information file corresponding to each station type, and extract the device information text from each device information file; Determine the network protocol type between the master station and at least one slave station, and generate the network information text corresponding to each slave station type based on the configuration tool corresponding to the network protocol type and the device information text corresponding to each slave station type. Based on the connection relationships between the network nodes in the network topology diagram, the network information text corresponding to each network node is combined into a network topology information file.

4. The method according to claim 1, characterized in that, The method further includes: Obtain test requirements; Based on the test requirements, determine the test connection relationship between the master station controller and multiple slave stations under test, as well as the types of multiple slave stations under test; Construct a test network topology based on multiple test connection relationships and multiple slave station types under test; Based on the test network topology diagram, generate a test network topology information file; Determine the test parameters corresponding to the type of slave station to be tested; The test parameters are converted into test communication messages according to the test network topology information file, and the test communication messages are sent to the slave station under test for testing. The slave station that passes the test is designated as the joint slave station.

5. The method according to claim 1, characterized in that, The method further includes: Obtain the cloud firmware version and the firmware file corresponding to the cloud firmware version; Obtain the firmware version corresponding to each slave station of at least one node in the network topology graph; If the firmware version corresponding to any joint slave station is inconsistent with the firmware version in the cloud, the joint slave station is determined as the target joint slave station, and an upgrade command is sent to the target joint slave station. The upgrade command carries the firmware file and is used to upgrade the firmware version of the target joint slave station to the firmware version in the cloud.

6. The method according to claim 1, characterized in that, The method further includes: Obtain a remote network topology map and remote control requirements; Find the second mapping relationship and obtain the demand control data corresponding to the remote network topology map, the network topology map and the remote control demand respectively; The demand control data is converted into demand network messages according to the network topology information file, and the demand network messages are sent to at least one joint slave station for control of at least one joint slave station.

7. The method according to claim 1, characterized in that, The method further includes: Search the code library and obtain the code blocks required for the operation of each of the preset slave types in the preset network topology diagram; Combine at least one code block required for slave station operation into a development project code template file; The development project code template file is updated according to the code block corresponding to each of at least one joint slave station to obtain an updated code file, which is used to execute the robot joint control method.

8. The method according to claim 4, characterized in that, The step of constructing a test network topology based on multiple test connection relationships and multiple types of slave stations under test includes: Based on multiple test connection relationships, at least one first test slave station directly connected to the master station controller is identified from multiple slave stations under test, and at least one second test slave station is identified that is connected in series with the at least one first test slave station. For each first test slave station, at least one current second test slave station and the current first test slave station connected in series with the current first test slave station will form the current test line corresponding to the current first test slave station; The test network topology consists of the test lines corresponding to at least one first test slave station.

9. A robot joint control device, characterized in that, The device includes: The acquisition module is used to scan at least one joint slave station connected to the master station controller in the robot, and to acquire the connection relationship between the master station controller and each joint slave station, the slave station control parameters, and the slave station type corresponding to each joint slave station. The construction module is used to construct a network topology diagram based on the connection relationships and the corresponding slave station types of each joint slave station; and to generate a network topology information file based on the network topology diagram. The control module is used to convert the slave station control parameters into network packets based on the network topology information file, and send the network packets to at least one joint slave station for controlling at least one joint slave station; The construction module is used to determine, according to the connection relationship, at least one first joint slave station directly connected to the master station controller among the various joint slave stations, and to determine at least one second joint slave station that is sequentially connected in series with the at least one first joint slave station; to construct a topology network based on the at least one joint slave station and the at least one second joint slave station; to determine network nodes that correspond one-to-one with the at least one joint slave station in the topology network, and to add the slave station type corresponding to each of the at least one joint slave station to the corresponding network node, thereby obtaining a network topology diagram.

10. A robot system, characterized in that, The system includes: a master station controller and at least one joint slave station connected to the master station controller; the master station controller is used to perform the steps of the method according to any one of claims 1 to 8.

Images