Deployment method and device of robot system and robot system

Abstract

The invention provides a deployment method and device of a robot system and the robot system.The robot system comprises a robot body and target external equipment used for being connected with an action unit in the robot body to execute a corresponding target task, and the target external equipment is provided with corresponding target control software. The method comprises the steps of obtaining software information of target control software corresponding to target external equipment from a distribution system in response to detection that an action unit is connected with the target external equipment through a control unit, installing the target control software based on the software information, running the target control software, and performing initial configuration of the target control software, according to the technical scheme, after the target external device is connected with the action unit, installation and initial configuration of the target control software can be automatically achieved, so that deployment of the robot system is automatically completed, a large amount of manual deployment work is avoided, the deployment cost of the robot system is reduced, and the deployment efficiency of the robot system is improved.

Description

Technical Field

[0001] The present application relates to the field of robotics technology, and in particular to a deployment method and device for a robotic system and a robotic system. Background Art

[0002] A robot is a machine device that can perform tasks automatically. It has a certain degree of intelligence and can perform complex actions through programming and automatic control. It is widely used in various scenarios.

[0003] Taking welding robots used in industrial production scenarios as an example, a complete welding robot is usually a robot system composed of multiple components, such as a robotic arm, a welding gun and an environmental sensing device that can be connected to the robotic arm. The robotic arm is controlled by a control system, and the welding gun and the environmental sensing device are controlled by special control software. Through the cooperation of various components, various tasks in industrial production scenarios are performed.

[0004] Before a robot system such as a welding robot can perform various tasks, a lot of manual deployment work is required. However, the deployment process is highly professional, labor-intensive, and inefficient. Therefore, a low-cost and efficient method for deploying a robot system is needed. Summary of the invention

[0005] The present application aims to solve one of the technical problems in the related art at least to some extent.

[0006] To this end, the first objective of the present application is to propose a deployment method for a robot system.

[0007] The second objective of the present application is to provide a deployment device for a robot system.

[0008] The third objective of this application is to provide a robot system.

[0009] The fourth objective of the present application is to provide an electronic device.

[0010] A fifth objective of the present application is to provide a computer-readable storage medium.

[0011] A sixth object of the present application is to provide a computer program product.

[0012] To achieve the above-mentioned purpose, the first aspect embodiment of the present application proposes a deployment method of a robot system, wherein the robot system includes a robot body and a target external device for connecting to an action unit in the robot body to perform a corresponding target task, the target external device having a corresponding target control software, and the method is applied to a control unit in the robot body, the method comprising: in response to detecting that the action unit is connected to the target external device, obtaining software information of the target control software corresponding to the target external device from a distribution system; installing the target control software based on the software information; running the target control software, and performing initialization configuration of the target control software to complete the deployment of the robot system; wherein the target control software is used to control the target external device connected to the action unit to perform the corresponding target task when the initialization configuration is completed.

[0013] To achieve the above-mentioned purpose, the second aspect embodiment of the present application proposes a deployment device for a robot system, wherein the robot system includes a robot body and a target external device for connecting to an action unit in the robot body to perform a corresponding target task, the target external device having a corresponding target control software, and the device is applied to a control unit in the robot body, the device including: an acquisition module for acquiring software information of the target control software corresponding to the target external device from a distribution system in response to detecting that the action unit is connected to the target external device; an installation module for installing the target control software based on the software information; a configuration module for running the target control software and performing initialization configuration of the target control software to complete the deployment of the robot system; wherein the target control software is used to control the target external device connected to the action unit to perform the corresponding target task when the initialization configuration is completed.

[0014] To achieve the above-mentioned purpose, the third aspect embodiment of the present application proposes a robot system, comprising: a robot body, wherein the robot body includes an action unit and a control unit; a target external device connected to the action unit to perform a corresponding target task, the target external device having a corresponding target control software; wherein the control unit is used to, in response to detecting that the action unit is connected to the target external device, obtain software information of the target control software corresponding to the target external device from a distribution system, install the target control software based on the software information, run the target control software, and perform initialization configuration of the target control software to complete the deployment of the robot system; the target control software is used to control the target external device connected to the action unit to perform the corresponding target task when the initialization configuration is completed.

[0015] To achieve the above-mentioned purpose, the fourth aspect of the present application proposes an electronic device, including: a processor, and a memory communicatively connected to the processor; the memory stores computer-executable instructions; the processor executes the computer-executable instructions stored in the memory to implement the deployment method of the robot system as described in the first aspect of the embodiment of the present application.

[0016] To achieve the above-mentioned purpose, the fifth aspect embodiment of the present application proposes a computer-readable storage medium, which stores computer execution instructions. When the computer execution instructions are executed by the processor, they are used to implement the deployment method of the robot system as described in the first aspect embodiment of the present application.

[0017] To achieve the above-mentioned purpose, the sixth aspect of the present application proposes a computer program product, including a computer program, which, when executed by a processor, implements the deployment method of the robot system as described in the first aspect of the embodiment of the present application.

[0018] The technical solution provided by this application brings at least the following beneficial effects:

[0019] By the control unit responding to the detection that the action unit is connected to the target external device, the software information of the target control software corresponding to the target external device is obtained from the distribution system, the target control software is installed based on the software information, the target control software is run, and the target control software is initialized and configured. After the target external device is connected to the action unit, the installation and initialization configuration of the target control software can be automatically realized, thereby automatically completing the deployment of the robot system, so that the robot system can successfully start to perform tasks, avoiding a large amount of manual deployment work, reducing the deployment cost of the robot system, and improving the deployment efficiency of the robot system. In addition, the action unit in the robot body has universality and compatibility. The user can use the robot system to perform various types of tasks by switching the external device connected to the action unit. After switching the external device connected to the action unit, the deployment method of the embodiment of the present application can quickly complete the deployment of the robot system, so that the switched external device and the action unit can quickly start to perform new types of tasks, reducing the cost of manual deployment and facilitating user use.

[0020] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the following description of the embodiments in conjunction with the accompanying drawings, in which:

[0022] Figure 1A schematic diagram of the structure of a robot system provided in an embodiment of the present application;

[0023] Figure 2 A schematic diagram of a process flow of a method for deploying a robot system provided in an embodiment of the present application;

[0024] Figure 3 A schematic diagram of a flow chart of another method for deploying a robot system provided in an embodiment of the present application;

[0025] Figure 4 A schematic diagram of the structure of a deployment device of a robot system provided in an embodiment of the present application;

[0026] Figure 5 It is a block diagram of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0027] Embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present application, and should not be construed as limiting the present application.

[0028] The following describes the deployment method, device, robot system, electronic device, storage medium and computer program product of the robot system according to the embodiments of the present application with reference to the accompanying drawings.

[0029] First, the robot system provided in the embodiment of the present application is described.

[0030] Figure 1 A schematic diagram of the structure of a robot system provided in an embodiment of the present application.

[0031] refer to Figure 1 The robot system includes a robot body 10 and a target external device 20, wherein the robot body 10 includes an action unit 11 and a control unit 12, and the target external device 20 is used to connect with the action unit 11 to perform a corresponding target task, wherein the target external device has corresponding target control software.

[0032] Among them, the action unit 11 is the main structure in the robot body responsible for performing physical movements. It can be composed of a series of connected joints and arm segments. The joints can perform movements such as rotation and / or extension, and the arm segments can perform movements such as telescoping and / or bending, thereby realizing complex multi-degree-of-freedom movements in three-dimensional space. The control unit 12 is a component in the robot body responsible for controlling the action unit 11. For example, it can be any electronic device with control functions such as a computer, a mobile phone, a smart wearable device, or a controller configured therein. The control unit 12 can be configured with an operating system so that the control unit 12 has the ability to control and manage various hardware resources in the robot body, install and manage application software, detect software changes and hardware changes, and automatically configure software.

[0033] The target external device 20 is any one or a group of external devices that can be connected to the action unit 11 to perform the corresponding task. The external device may include various end effectors such as welding guns, grippers, suction cups, or sensing devices such as visual sensors and torque sensors, or other types of devices, which are not limited in this application. Multiple external devices that cooperate with each other to perform the same task are called a group of external devices. For example, a welding gun and a visual sensor for environmental perception during the welding task cooperate with each other to perform the welding task, and the welding gun and the visual sensor are called a group of external devices.

[0034] In some embodiments, the action unit 11 can be universal and compatible, that is, the same action unit 11 can be used in conjunction with different external devices to perform different types of specific tasks, and the action unit 11 does not care about the specific tasks it performs, and its movement method is universal in different types of tasks.

[0035] For example, the action unit 11 can be a robotic arm composed of a series of connected joints and arm segments. A welding gun and a visual sensor for environmental perception during the execution of a welding task can be connected to the action unit 11 to perform the corresponding welding task. A suction cup and a visual sensor for environmental perception during the execution of a handling task can be connected to the action unit 11 to perform the corresponding handling task.

[0036] Any one or a group of external devices that can be connected to the action unit 11 to perform a corresponding task has corresponding control software for controlling the corresponding external device. In the embodiment of the present application, the control software corresponding to the target external device is referred to as target control software. The control software may also be referred to as extended software or other, which is not limited in the present application.

[0037] Before using the above robot system to perform a certain task, the robot system needs to be deployed first. In the embodiment of the present application, the following deployment method can be used:

[0038] The target external device 20 is connected to the action unit 11 manually or by other means. The control unit 12 can detect the hardware and software changes of the robot body 10, so that in response to detecting that the action unit 11 is connected to the target external device, the software information of the target control software corresponding to the target external device 20 can be obtained from the distribution system, and the target control software can be installed based on the software information, and then the target control software can be run, and the target control software can be initialized and configured to complete the deployment of the robot system.

[0039] The deployed robot system can be used to perform the target task. After the target control software has completed the initialization configuration, it can be used to control the target external device connected to the action unit 11 to perform the corresponding target task.

[0040] Among them, the initialization configuration of the target control software, that is, when the target control software is started, in order to enable the target control software to accurately control the target external device, the software's internal state, internal parameters and other necessary conditions are prepared and set, which may include the calibration of the assembly error between the target external device and the action unit that the target control software needs to control, the loading of required resources, the recording of device information of the target external device, etc.

[0041] Among them, the target control software can be installed on the control unit or on the operating system of the control unit, and this application does not impose any restrictions on this.

[0042] The distribution system is a system that provides device information of candidate external devices and software information of corresponding control software, such as an application store, etc. The candidate external device is any one or a group of external devices that can be connected to the action unit 11 to perform corresponding tasks for the user to select.

[0043] The number of candidate external devices provided by the distribution system may be one or more, and different candidate external devices are respectively connected to the same action unit to perform corresponding different tasks. After the hardware and software developer completes the development of any candidate external device and the corresponding control software, the device information of the candidate external device and the software information of the corresponding control software can be published to the distribution system. The candidate external device includes the target external device, and the control software corresponding to the candidate external device includes the target control software, so that the control unit 12 can obtain the software information of the target control software corresponding to the target external device from the distribution system.

[0044] The device information of the candidate external device may include the size, current and voltage and other operating parameters of the candidate external device and any other information related to the candidate external device. In the case where the candidate external device includes a group of external devices, the device information of the candidate external device may include the device information of each external device, and the device information of each external device may include the device information of the external device itself and the device information of other external devices that cooperate with it to perform tasks. The software information of the control software may include the identification of the control software, the installation package information and any other information related to the control software.

[0045] For example, the distribution system may include the following one or more device information of candidate external devices and software information of corresponding control software: a welding gun and a second visual sensor for environmental perception, which is used to connect to the action unit 11 to perform the corresponding welding task; a suction cup and a third visual sensor for environmental perception, which is used to connect to the action unit 11 to perform the corresponding handling task; a gripper and a fourth visual sensor for environmental perception, which is used to connect to the action unit 11 to perform the corresponding handling task. Among them, the second visual sensor is a visual sensor for environmental perception during the execution of the welding task, and the third visual sensor and the fourth visual sensor are visual sensors for environmental perception during the execution of the handling task. Since the third visual sensor and the fourth visual sensor perform environmental perception during the execution of the same type of task, the third visual sensor and the fourth visual sensor may be the same type of visual sensors, and the second visual sensor and the third visual sensor (or the fourth visual sensor) perform environmental perception during the execution of different types of tasks, the second visual sensor and the third visual sensor (or the fourth visual sensor) may be different types of visual sensors. Among them, since the welding gun and the second visual sensor cooperate to perform the welding task, they can be used as a group of external devices and correspond to the same control software; since the suction cup and the third visual sensor cooperate to perform the handling task, they can be used as a group of external devices and correspond to the same control software; since the clamp and the fourth visual sensor cooperate to perform the handling task, they can be used as a group of external devices and correspond to the same control software; since the welding gun, suction cup and clamp are different types of end effectors with different control methods, they can correspond to different control software.

[0046] In response to detecting the connection between the action unit 11 and the welding gun and the second visual sensor, the control unit 12 can obtain the software information of the control software corresponding to the welding gun and the second visual sensor from the distribution system. In response to detecting the connection between the action unit 11 and the suction cup and the third visual sensor, the control unit 12 can obtain the software information of the control software corresponding to the suction cup and the third visual sensor from the distribution system. In response to detecting the connection between the action unit 11 and the clamp and the fourth visual sensor, the control unit 12 can obtain the software information of the control software corresponding to the clamp and the fourth visual sensor from the distribution system.

[0047] In some embodiments, the control unit 12 obtains the software information of the target control software corresponding to the target external device 20 from the distribution system, which may include: in response to detecting that the action unit 11 is connected to the target external device 20, the control unit 12 may obtain the device information of the target external device 20 based on a pre-set rule, and obtain the identification of the target control software corresponding to the target external device 20 based on the device information of the target external device 20, and then obtain the corresponding software information of the target control software from the distribution system based on the identification of the target control software. The pre-set rule is a pre-set rule for the control unit 12 to obtain the device information of any external device. The identification of the target control software is used to uniquely identify the target control software.

[0048] In some embodiments, the target external device 20 is configured with a chip, and the chip stores device information of the target external device 20. The pre-set rules may include: the control unit 12 obtains the device information of the target external device from the chip in the target external device 20. Thus, in response to detecting that the action unit 11 is connected to the target external device 20, the control unit 12 may obtain the device information of the target external device 20 from the chip in the target external device 20 based on the pre-set rules.

[0049] In some embodiments, the control unit 12 installs the target control software based on the software information of the target control software, and after running the target control software, the initialization configuration of the target control software may include calibration of the assembly error between the target external device to be controlled by the target control software and the action unit. The calibration process may be implemented according to a pre-set standard process, such as:

[0050] Through the target control software, based on the task information of the specified task, the target external device is controlled to perform the specified task, and based on the execution result of the target external device on the specified task, the assembly error between the target external device and the action unit is obtained, and the assembly error is recorded, so as to compensate for the assembly error when the target external device is controlled by the target control software to perform the corresponding target task.

[0051] The assembly error between the target external device and the action unit is the deviation between the actual position and posture of the target external device and the ideal position and posture caused by various reasons when the target external device and the action unit are connected. The reasons for the assembly error include, for example, uneven pre-tightening force of the fastening bolts when the target external device and the action unit are connected, mechanical tolerance between the target external device and the action unit, etc.

[0052] Among them, the designated task is a pre-set task that needs to be performed by the target external device during the initialization configuration process, which can be set as needed. Among them, when the target external device includes multiple external devices that cooperate with each other to perform the same task, the designated task may include a separate task that any single external device needs to perform, and may also include tasks that all external devices need to cooperate to perform, and this application does not limit this. Among them, the designated task may include one or more designated standard actions, such as a visual sensor collecting an image of a certain position point A, a gripper grabbing an object with the cooperation of a fourth visual sensor, and a welding gun moving to a certain position point B with the cooperation of a second visual sensor. The task information of the designated task may include any information related to the designated task. For example, when the specified task is that a certain visual sensor collects an image of a certain position point A, the task information may include the coordinates of the position point A, the identifier of the object performing the task, i.e., the visual sensor, and the calibration image of the position point A; when the specified task is that the gripper grabs an object with the cooperation of the fourth visual sensor, the task information may include information such as the position and size of the object to be grabbed, the bending angle of each joint of the gripper and the grasping force; when the specified task is that the welding gun moves to a certain position point B with the cooperation of the second visual sensor, the task information may include information such as the coordinates of the position point B, the identifier of the welding gun and the identifier of the second visual sensor, the posture of the welding gun, etc. Among them, the calibration image of the position point A is the image of the position point A collected when there is no assembly error after the visual sensor, an external device, is connected to the action unit.

[0053] Taking the target external device including a welding gun and a second visual sensor for environmental perception as an example, the designated tasks may include "the second visual sensor collects an image of position point A" and "the welding gun moves to position point B with the cooperation of the second visual sensor". After the target control software corresponding to the target external device controls the second visual sensor to perform the designated task based on the task information of the designated task "the second visual sensor collects an image of position point A", the execution result of the second visual sensor on the designated task, i.e., the image of position point A collected by the second visual sensor, can be compared with the calibration image of position point A to obtain the assembly error between the second visual sensor and the action unit, and the assembly error is recorded. In addition, after the target control software corresponding to the target external device controls the welding gun and the second visual sensor to perform the designated task based on the task information of the designated task "the welding gun moves to position point B with the cooperation of the second visual sensor", the execution result of the designated task, i.e., the actual position point to which the welding gun moves, can be compared with position point B to obtain the assembly error between the welding gun and the second visual sensor and the action unit, and the assembly error is recorded. After completing the recording of the assembly errors of each external device and the action unit, the initialization configuration of the target control software can be completed. Therefore, when the second visual sensor and the welding gun are controlled by the target control software to perform the welding task, each assembly error can be compensated.

[0054] In some embodiments, the target external device is configured with a chip, and the chip stores corresponding task information of a specified task that the target external device needs to perform during the initialization configuration, so that the target control software can obtain the task information of the specified task from the chip and control the corresponding target external device to perform the specified task based on the task information.

[0055] In some embodiments, the robot body may further include a first visual sensor or other device, through which the execution result of the target external device on the specified task can be collected to assist the initialization configuration of the target control software. For example, in the above example, the actual position point to which the welding gun moves can be collected through the first visual sensor.

[0056] It should be noted that, in actual applications, in order to control the target external device 20 through the target control software, a control request can be first sent to the control unit 12 through the target control software. After the control unit 12 transfers the capabilities of the target external device 20 to the target control software, the target control software can control the target external device 20. In addition, when the target control software controls the target external device 20 to perform a certain task, the cooperation of the action unit 11 may be required, and the action unit 11 can be controlled by the control unit 12, or it can be controlled by the target control software after the control unit 12 transfers the capabilities of the action unit 11 to the target control software. Then, in the process of the target control software controlling the target external device 20, the target control software can also directly control the action unit 11, or cooperate with the control unit 12 to control the action unit 11, so that the target external device and the action unit 11 cooperate to perform the same task.

[0057] For example, assuming that the target external device includes a gripper and a fourth visual sensor, in order to control the gripper to move to position point C in cooperation with the fourth visual sensor to carry goods, the target control software needs to control the fourth visual sensor to collect images around the path between the current position and position point C and images of the goods at position point C, and control the action unit 11 to move to the vicinity of position point C, and control the gripper to grab the goods at position C. The target control software can send a control request for the gripper and the fourth visual sensor to the control unit 12. After the control unit 12 transfers the capabilities of the gripper and the fourth visual sensor to the target control software, the target control software can control the gripper and the fourth visual sensor. In addition, the target control software can send a control request for the action unit 11 to the control unit 12. The control unit 12 can transfer the capabilities of the action unit 11 to the target control software, or control the action unit 11 by itself, so that the target control software can directly control the action unit 11, or cooperate with the control unit 12 to control the action unit 11. By controlling the gripper, the fourth visual sensor and the action unit 11, it is possible to control the gripper to move to position point C in cooperation with the fourth visual sensor to carry goods.

[0058] In an embodiment of the present application, the control unit responds to detecting that the action unit is connected to the target external device, obtains software information of the target control software corresponding to the target external device from the distribution system, installs the target control software based on the software information, runs the target control software, and performs initialization configuration of the target control software. After the target external device is connected to the action unit, the installation and initialization configuration of the target control software can be automatically implemented, thereby automatically completing the deployment of the robot system, so that the robot system can successfully start to execute the task, avoiding a large amount of manual deployment work, reducing the deployment cost of the robot system, and improving the deployment efficiency of the robot system.

[0059] In addition, the action unit in the robot body is universal and compatible. Users can use the robot system to perform various types of tasks by switching external devices connected to the action unit. After switching the external devices connected to the action unit, the deployment method of the embodiment of the present application can be used to quickly complete the deployment of the robot system, so that the switched external devices and action units can quickly start to perform new types of tasks, reducing the cost of manual deployment and facilitating user use.

[0060] It should be noted that, in the embodiments of the present application, the robot system may further include communication components such as physical interfaces, communication interfaces and connecting lines, such as slots on action units and external devices, power cords, USB cables, etc., to realize the connection between the action units in the robot body and external devices, and in order to make the action units universal and compatible, communication components such as physical interfaces, communication interfaces and connecting lines need to comply with the set standards, so that the action units in the robot body can communicate with different external devices based on the set communication protocol through communication components such as physical interfaces, communication interfaces and connecting lines.

[0061] In addition, in the embodiment of the present application, the target control software can also be upgraded. The process of upgrading the target control software may include: in response to receiving an upgrade instruction for the target control software, the control unit obtains updated software information of the target control software from the distribution system, and upgrades the installed target control software based on the updated software information.

[0062] Whether the upgraded target control software needs to be re-initialized can be set as needed. For example, after the target control software is upgraded, if the connection between the target external device and the action unit has not changed, re-initialization configuration is not required.

[0063] In addition, after the robot system is deployed, the control unit may be shut down and restarted. In this case, after the control unit is started, it can first load the operating system therein, and load the information of the action unit, and detect whether there is any abnormality in the action unit. If there is no abnormality in the action unit, it can start the installed target control software, load the information of the target external device connected to the action unit, and detect whether there is any abnormality in the target external device. If there is no abnormality in the target external device, it can control the action unit and the connected target external device to perform the corresponding tasks.

[0064] Based on the above robot system, the present application also proposes a deployment method of the robot system.

[0065] Figure 2A schematic flow chart of a method for deploying a robot system provided in an embodiment of the present application.

[0066] The robot system includes a robot body and a target external device for connecting to an action unit in the robot body to perform a corresponding target task. The target external device has a corresponding target control software. The method is applied to a control unit in the robot body. The control unit is a component in the robot body that is responsible for controlling the action unit. For example, it can be any electronic device with a control function such as a computer, a mobile phone, a smart wearable device, or a controller configured therein. This application does not limit this. The robot body is, for example, a robotic arm, and the control unit is, for example, an electronic device that controls the robotic arm or a controller configured therein.

[0067] like Figure 2 As shown, the deployment method of the robot system includes the following steps:

[0068] Step 201 , in response to detecting that the action unit is connected to the target external device, obtaining software information of the target control software corresponding to the target external device from the distribution system.

[0069] In some embodiments, step 201 may be implemented in the following manner:

[0070] In response to detecting that the action unit is connected to the target external device, based on a preset rule, obtaining device information of the target external device, and based on the device information of the target external device, obtaining an identifier of the target control software corresponding to the target external device;

[0071] Based on the identification of the target control software, software information of the corresponding target control software is obtained from the distribution system.

[0072] In some embodiments, the target external device is configured with a chip, and the chip stores device information of the target external device; based on a pre-set rule, obtaining the device information of the target external device includes:

[0073] Get the device information of the target external device from the chip.

[0074] Step 202: Install the target control software based on the software information.

[0075] Step 203, running the target control software and performing initialization configuration of the target control software to complete the deployment of the robot system.

[0076] Among them, the target control software is used to control the target external device connected to the action unit to perform the corresponding target task after completing the initialization configuration.

[0077] In some embodiments, performing initialization configuration of target control software includes:

[0078] Through the target control software, based on the task information of the specified task, the target external device is controlled to perform the specified task, and based on the execution result of the target external device on the specified task, the assembly error between the target external device and the action unit is obtained, and the assembly error is recorded, so as to compensate for the assembly error when the target external device is controlled by the target control software to perform the corresponding target task.

[0079] In some embodiments, the target external device is configured with a chip, and the chip stores task information of a specified task. The target control software controls the target external device to perform the specified task based on the task information of the specified task obtained from the chip.

[0080] In some embodiments, the robot body further includes a first visual sensor for collecting the execution results of the target external device on the specified task to assist the initialization configuration of the target control software.

[0081] In some embodiments, the distribution system includes device information of at least one candidate external device and software information of corresponding control software, and the device information of at least one candidate external device and software information of corresponding control software are published to the distribution system by software and hardware developers, and at least one candidate external device includes a target external device, and the control software corresponding to at least one external device includes a target control software, wherein different candidate external devices are respectively connected to the same action unit to perform corresponding different tasks.

[0082] In some embodiments, the at least one candidate external device includes at least one of the following:

[0083] A welding gun and a second visual sensor for environmental perception, which is used to connect with the action unit to perform a corresponding welding task;

[0084] The suction cup and a third visual sensor for environmental perception are used to connect with the action unit to perform a corresponding handling task;

[0085] The gripper and a fourth visual sensor for environmental perception are used to connect with the action unit to perform corresponding handling tasks.

[0086] In some embodiments, the deployment method of the robot system may further include:

[0087] In response to receiving an upgrade instruction for the target control software, updated software information of the target control software is acquired from the distribution system, and the installed target control software is upgraded based on the updated software information.

[0088] It should be noted that the aforementioned explanation of the robot system embodiment is also applicable to the deployment method of the robot system of this embodiment, which will not be repeated here.

[0089] The deployment method of the robot system provided in the embodiment of the present application obtains software information of the target control software corresponding to the target external device from the distribution system in response to the control unit detecting that the action unit is connected to the target external device, installs the target control software based on the software information, runs the target control software, and performs initialization configuration of the target control software. After the target external device is connected to the action unit, the installation and initialization configuration of the target control software can be automatically implemented, thereby automatically completing the deployment of the robot system so that the robot system can successfully start to execute the task, avoiding a large amount of manual deployment work, reducing the deployment cost of the robot system, and improving the deployment efficiency of the robot system.

[0090] In addition, the action unit in the robot body is universal and compatible. Users can use the robot system to perform various types of tasks by switching external devices connected to the action unit. After switching the external devices connected to the action unit, the deployment method of the embodiment of the present application can be used to quickly complete the deployment of the robot system, so that the switched external devices and action units can quickly start to perform new types of tasks, reducing the cost of manual deployment and facilitating user use.

[0091] Combine the following Figure 3 , an exemplary description is given of the deployment method of the robot system provided in the embodiment of the present application.

[0092] refer to Figure 3 After the hardware and software developer has completed the development of any external device and corresponding control software that can be connected to the action unit to perform the corresponding task, the device information of the external device and the software information of the corresponding control software can be published to the distribution system. The external device and the corresponding control software are the candidate external device and the corresponding candidate control software.

[0093] The user can connect a candidate external device, namely the target external device, among the candidate external devices to the action unit. In response to detecting that the target external device is connected to the action unit, the control unit can obtain software information of the target control software corresponding to the target external device from the distribution system, install the target control software based on the software information, run the target control software, and perform initialization configuration of the target control software to complete the deployment of the robot system.

[0094] After the deployment of the robot system is completed, the control unit may send a reminder message to the electronic device belonging to the user, or directly display a reminder message to notify the user that the deployment of the robot system is completed.

[0095] Then, the user can start using the robot system to perform the corresponding tasks.

[0096] In addition, when the user wants to switch the currently connected external device, the current target external device can be disconnected from the action unit, and other external devices to be used can be connected to the action unit as target external devices. The control unit can then re-execute the above process and automatically redeploy the robot system.

[0097] In order to implement the above embodiment, the embodiment of the present application also proposes a deployment device of a robot system.

[0098] Figure 4 A schematic diagram of the structure of a deployment device for a robot system provided in an embodiment of the present application.

[0099] Among them, the robot system includes a robot body and a target external device for connecting with the action unit in the robot body to perform corresponding target tasks. The target external device has corresponding target control software. The deployment device of the robot system is applied to the control unit in the robot body, and can execute the deployment method of the robot system in the aforementioned embodiment.

[0100] Among them, the control unit is, for example, any electronic device with control function, such as a computer, a mobile phone, a smart wearable device, etc., and the deployment device of the robot system is, for example, a controller or an operating system in the electronic device.

[0101] like Figure 4 As shown, the deployment device 400 of the robot system includes:

[0102] An acquisition module 410 is used to acquire software information of a target control software corresponding to the target external device from a distribution system in response to detecting that the action unit is connected to the target external device;

[0103] An installation module 420, for installing target control software based on the software information;

[0104] The configuration module 430 is used to run the target control software and perform initialization configuration of the target control software to complete the deployment of the robot system; wherein the target control software is used to control the target external device connected to the action unit to perform the corresponding target task after completing the initialization configuration.

[0105] In some embodiments, the acquisition module 410 is used to:

[0106] In response to detecting that the action unit is connected to the target external device, based on a preset rule, obtaining device information of the target external device, and based on the device information of the target external device, obtaining an identifier of the target control software corresponding to the target external device;

[0107] Based on the identification of the target control software, software information of the corresponding target control software is obtained from the distribution system.

[0108] In some embodiments, the target external device is configured with a chip, and the chip stores device information of the target external device; the acquisition module 410 is used to: acquire the device information of the target external device from the chip.

[0109] In some embodiments, the configuration module 430 is used to:

[0110] Through the target control software, based on the task information of the specified task, the target external device is controlled to perform the specified task, and based on the execution result of the target external device on the specified task, the assembly error between the target external device and the action unit is obtained, and the assembly error is recorded, so as to compensate for the assembly error when the target external device is controlled by the target control software to perform the corresponding target task.

[0111] In some embodiments, the target external device is configured with a chip, and the chip stores task information of a specified task. The target control software controls the target external device to perform the specified task based on the task information of the specified task obtained from the chip.

[0112] In some embodiments, the robot body further includes a first visual sensor for collecting the execution results of the target external device on the specified task to assist the initialization configuration of the target control software.

[0113] In some embodiments, the distribution system includes device information of at least one candidate external device and software information of corresponding control software, and the device information of at least one candidate external device and software information of corresponding control software are published to the distribution system by software and hardware developers, and at least one candidate external device includes a target external device, and the control software corresponding to at least one external device includes a target control software, wherein different candidate external devices are respectively connected to the same action unit to perform corresponding different tasks.

[0114] In some embodiments, the at least one candidate external device includes at least one of the following:

[0115] A welding gun and a second visual sensor for environmental perception, which is used to connect with the action unit to perform a corresponding welding task;

[0116] The suction cup and a third visual sensor for environmental perception are used to connect with the action unit to perform a corresponding handling task;

[0117] The gripper and a fourth visual sensor for environmental perception are used to connect with the action unit to perform corresponding handling tasks.

[0118] In some embodiments, the deployment device 400 of the robotic system further includes:

[0119] The upgrade module is used to obtain updated software information of the target control software from the distribution system in response to receiving an upgrade instruction for the target control software, and upgrade the installed target control software based on the updated software information.

[0120] It should be noted that the aforementioned explanation of the robot system embodiment is also applicable to the deployment device of the robot system of this embodiment, and will not be repeated here.

[0121] Figure 5 A schematic diagram of the structure of an electronic device provided for an embodiment of the present application. Among them, the electronic device 500 in this embodiment is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workbenches, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present disclosure described and / or required herein.

[0122] like Figure 5 As shown, the electronic device 500 includes:

[0123] The memory 501 and the processor 502, a bus 503 connecting different components (including the memory 501 and the processor 502), the memory 501 stores a computer program, and when the processor 502 executes the program, the deployment method of the robot system of the embodiment of the present application is implemented.

[0124] Bus 503 represents one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, a graphics acceleration port, a processor, or a local bus using any of a variety of bus structures. For example, these architectures include but are not limited to Industry Standard Architecture (ISA) bus, Micro Channel Architecture (MAC) bus, Enhanced ISA bus, Video Electronics Standards Association (VESA) local bus, and Peripheral Component Interconnection (PCI) bus.

[0125] The electronic device 500 typically includes a variety of electronic device readable media. These media can be any available media that can be accessed by the electronic device 500, including volatile and non-volatile media, removable and non-removable media.

[0126] The memory 501 may also include a computer system readable medium in the form of a volatile memory, such as a random access memory (RAM) 504 and / or a cache memory 505. The electronic device 500 may further include other removable / non-removable, volatile / non-volatile computer system storage media. For example only, the storage system 506 may be used to read and write non-removable, non-volatile magnetic media ( Figure 5 not shown, usually called a "hard drive"). Although Figure 5 Not shown, a disk drive for reading and writing a removable non-volatile disk (e.g., a "floppy disk"), and an optical disk drive for reading and writing a removable non-volatile optical disk (e.g., a compact disc read only memory (CD-ROM), a digital versatile disc read only memory (DVD-ROM), or other optical media) may be provided. In these cases, each drive may be connected to the bus 503 via one or more data medium interfaces. The memory 501 may include at least one program product having a set (e.g., at least one) of program modules that are configured to perform the functions of the various embodiments of the present application.

[0127] A program / utility 508 having a set (at least one) of program modules 507 may be stored, for example, in the memory 501, such program modules 507 including but not limited to an operating system, one or more application programs, other program modules, and program data, each of which or some combination may include an implementation of a network environment. The program modules 507 generally perform the functions and / or methods of the embodiments described herein.

[0128] The electronic device 500 may also communicate with one or more external devices 509 (e.g., keyboard, pointing device, display 511, etc.), one or more devices that enable a user to interact with the electronic device 500, and / or any device that enables the electronic device 500 to communicate with one or more other computing devices (e.g., network card, modem, etc.). Such communication may be performed through an input / output (I / O) interface 512. Furthermore, the electronic device 500 may also communicate with one or more networks (e.g., a local area network (LAN), a wide area network (WAN), and / or a public network, such as the Internet) through a network adapter 513. Figure 5 As shown, the network adapter 513 communicates with other modules of the electronic device 500 via the bus 503. It should be understood that, although not shown in the figure, other hardware and / or software modules can be used in conjunction with the electronic device 500, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems.

[0129] The processor 502 executes various functional applications and data processing by running the programs stored in the memory 501 .

[0130] It should be noted that the implementation process and technical principles of the electronic device of this embodiment refer to the aforementioned explanation of the deployment method of the robot system of the embodiment of the present application, and will not be repeated here.

[0131] In order to implement the above embodiments, the present application also proposes a computer-readable storage medium, in which computer-executable instructions are stored. When the computer-executable instructions are executed by a processor, they are used to implement the methods provided by the above embodiments.

[0132] In order to implement the above embodiments, the present application also proposes a computer program product, including a computer program, which implements the methods provided by the above embodiments when executed by a processor.

[0133] The collection, storage, use, processing, transmission, provision and disclosure of user personal information involved in this application are in compliance with relevant laws and regulations and do not violate public order and good morals.

[0134] It should be noted that personal information from users should be collected for legitimate and reasonable purposes and should not be shared or sold outside of these legitimate uses. In addition, such collection / sharing should be carried out after receiving the user's informed consent, including but not limited to notifying the user to read the user agreement / user notice and sign the agreement / authorization including authorization of relevant user information before the user uses the function. In addition, any necessary steps should be taken to protect and safeguard access to such personal information data and ensure that others who have access to personal information data comply with its privacy policy and procedures.

[0135] The present application is expected to provide an implementation scheme for users to selectively block the use or access of personal information data. That is, the present disclosure is expected to provide hardware and / or software to prevent or block access to such personal information data. Once the personal information data is no longer needed, the risk can be minimized by limiting data collection and deleting the data. In addition, when applicable, such personal information is de-identified to protect the privacy of the user.

[0136] In the description of the aforementioned embodiments, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0137] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of this application, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0138] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, fragment or portion of code comprising one or more executable instructions for implementing the steps of a custom logical function or process, and the scope of the preferred embodiments of the present application includes alternative implementations in which functions may not be performed in the order shown or discussed, including performing functions in a substantially simultaneous manner or in the reverse order depending on the functions involved, which should be understood by technicians in the technical field to which the embodiments of the present application belong.

[0139] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as an ordered list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by an instruction execution system, device or apparatus (such as a computer-based system, a system including a processor, or other system that can fetch instructions from an instruction execution system, device or apparatus and execute the instructions), or in combination with these instruction execution systems, devices or apparatuses. For the purpose of this specification, "computer-readable medium" can be any device that can contain, store, communicate, propagate or transmit a program for use by an instruction execution system, device or apparatus, or in combination with these instruction execution systems, devices or apparatuses. More specific examples of computer-readable media (a non-exhaustive list) include the following: an electrical connection with one or more wires (electronic device), a portable computer disk box (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable and programmable read-only memory (EPROM or flash memory), a fiber optic device, and a portable compact disk read-only memory (CDROM). In addition, the computer-readable medium may even be paper or other suitable medium on which the program is printed, since the program may be obtained electronically, for example, by optically scanning the paper or other medium and then editing, interpreting or processing in other suitable ways if necessary, and then stored in a computer memory.

[0140] It should be understood that the various parts of the present application can be implemented by hardware, software, firmware or a combination thereof. In the above-mentioned embodiments, multiple steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or their combination: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0141] A person skilled in the art may understand that all or part of the steps in the method for implementing the above-mentioned embodiment may be completed by instructing related hardware through a program, and the program may be stored in a computer-readable storage medium, which, when executed, includes one or a combination of the steps of the method embodiment.

[0142] In addition, each functional unit in each embodiment of the present application may be integrated into a processing module, or each unit may exist physically separately, or two or more units may be integrated into one module. The above-mentioned integrated module may be implemented in the form of hardware or in the form of a software functional module. If the integrated module is implemented in the form of a software functional module and sold or used as an independent product, it may also be stored in a computer-readable storage medium.

[0143] The storage medium mentioned above may be a read-only memory, a magnetic disk or an optical disk, etc. Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limiting the present application. A person of ordinary skill in the art may change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A deployment method for a robot system, It is characterized in that The robot system comprises a robot body and a target external device for connecting with an action unit in the robot body to perform a corresponding target task, the target external device has corresponding target control software, and the method is applied to a control unit in the robot body, and the method comprises: In response to detecting that the action unit is connected to the target external device, acquiring software information of the target control software corresponding to the target external device from a distribution system; Installing the target control software based on the software information; Run the target control software and perform initialization configuration of the target control software to complete the deployment of the robot system; wherein the target control software is used to control the target external device connected to the action unit to perform the corresponding target task after completing the initialization configuration.

2. The method according to claim 1, It is characterized in that The initialization configuration of the target control software includes: Through the target control software, based on the task information of the designated task, the target external device is controlled to perform the designated task, and based on the execution result of the designated task by the target external device, the assembly error between the target external device and the action unit is obtained, and the assembly error is recorded, so as to compensate for the assembly error when the target external device is controlled by the target control software to perform the corresponding target task.

3. The method according to claim 2, It is characterized in that The target external device is provided with a chip, the task information of the designated task is stored in the chip, and the target control software controls the target external device to execute the designated task based on the task information of the designated task obtained from the chip.

4. The method according to claim 2, It is characterized in that The robot body also includes a first visual sensor for collecting the execution result of the target external device on the designated task to assist the initialization configuration of the target control software.

5. The method according to claim 1, It is characterized in that In response to detecting that the action unit is connected to the target external device, obtaining software information of the target control software corresponding to the target external device from the distribution system includes: In response to detecting that the action unit is connected to the target external device, based on a preset rule, obtaining device information of the target external device, and based on the device information of the target external device, obtaining an identifier of the target control software corresponding to the target external device; Based on the identification of the target control software, the corresponding software information of the target control software is acquired from the distribution system.

6. The method according to claim 5, It is characterized in that The target external device is provided with a chip, and the chip stores device information of the target external device; the acquiring device information of the target external device based on a preset rule includes: The device information of the target external device is obtained from the chip.

7. The method according to claim 1, It is characterized in that The distribution system includes device information of at least one candidate external device and software information of corresponding control software, wherein the device information of at least one candidate external device and software information of corresponding control software are published to the distribution system by software and hardware developers, wherein the at least one candidate external device includes the target external device, and the control software corresponding to the at least one external device includes the target control software, wherein different candidate external devices are respectively connected to the same action unit to perform corresponding different tasks.

8. The method according to claim 7, It is characterized in that The at least one candidate external device includes at least one of the following: A welding gun and a second visual sensor for environmental perception, which are used to connect with the action unit to perform a corresponding welding task; A suction cup and a third visual sensor for environmental perception, which are used to connect with the action unit to perform a corresponding handling task; The gripper and a fourth visual sensor for environmental perception are used to connect with the action unit to perform a corresponding handling task.

9. The method according to any one of claims 1 to 8, It is characterized in that The method further comprises: In response to receiving an upgrade instruction for the target control software, updated software information of the target control software is acquired from the distribution system, and the installed target control software is upgraded based on the updated software information.

10. A deployment device for a robot system, It is characterized in that The robot system comprises a robot body and a target external device for connecting with an action unit in the robot body to perform a corresponding target task, the target external device has a corresponding target control software, the device is applied to a control unit in the robot body, and the device comprises: an acquisition module, configured to acquire software information of the target control software corresponding to the target external device from a distribution system in response to detecting that the action unit is connected to the target external device; An installation module, used for installing the target control software based on the software information; A configuration module is used to run the target control software and perform initialization configuration of the target control software to complete the deployment of the robot system; wherein the target control software is used to control the target external device connected to the action unit to perform the corresponding target task after completing the initialization configuration.

11. A robot system, It is characterized in that include: A robot body, wherein the robot body comprises an action unit and a control unit; A target external device for connecting with the action unit to perform a corresponding target task, the target external device having corresponding target control software; The control unit is configured to, in response to detecting that the action unit is connected to the target external device, obtain software information of the target control software corresponding to the target external device from the distribution system, install the target control software based on the software information, run the target control software, and perform initialization configuration of the target control software to complete the deployment of the robot system; The target control software is used to control the target external device connected to the action unit to perform the corresponding target task when the initialization configuration is completed.

12. An electronic device, It is characterized in that include: A processor, and a memory communicatively connected to the processor; The memory stores computer-executable instructions; The processor executes the computer-executable instructions stored in the memory to implement the method according to any one of claims 1 to 9.

13. A computer-readable storage medium, It is characterized in that The computer-readable storage medium stores computer-executable instructions, which are used to implement the method according to any one of claims 1 to 9 when executed by a processor.

14. A computer program product, It is characterized in that The invention comprises a computer program, which implements the method according to any one of claims 1 to 9 when being executed by a processor.

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