Firmware configuration method, robot and storage medium

Abstract

The invention relates to the technical field of computers, and discloses a firmware configuration method, a robot and a storage medium. The method comprises the following steps: when a configuration starting instruction is received, determining whether first type information is stored in a first storage of local storage or not; if the first model information is stored in the first storage, obtaining a corresponding configuration file according to the first model information; checking the configuration file to obtain a checking result, and executing a configuration starting process according to the checking result; and when the configuration modification instruction is received, the second type information is received, and the configuration modification process is executed according to the second type information, so that the drive control panel adjusts the configuration file according to different types, and the stability and reliability of the system are improved while automatic firmware configuration is realized.

Description

Technical Field

[0001] The present application relates to the field of computer technology, and in particular to a firmware configuration method, a robot, and a storage medium. Background Art

[0002] The structure of the robot system is complex and usually contains multiple types of programmable chips. With the development of computer technology, firmware update technology has emerged. The robot system firmware configuration is low-level software embedded in the robot hardware. These software directly control and manage the operation of the hardware devices to ensure that the hardware can run effectively and execute the instructions of the high-level application software.

[0003] In the prior art, there are often some defects when performing firmware configuration, such as complex configuration: the existing system firmware configuration process is complex, involving multiple manual setting steps, and is prone to errors; lack of automation: the existing system firmware configuration lacks automation tools, resulting in a time-consuming and inefficient configuration process; difficult maintenance: due to the lack of a unified configuration management mechanism, it is difficult to trace and update configuration parameters during system maintenance; lack of flexibility: the existing system is difficult to flexibly adjust configuration files according to different models, and cannot effectively support a multi-model environment. Summary of the invention

[0004] The embodiments of the present application mainly solve the technical problem of lack of automation in firmware configuration in the prior art.

[0005] In order to solve the above technical problems, a technical solution adopted in the implementation mode of the present application is: providing a firmware configuration method, applied to a drive control board, the method comprising: when receiving a startup configuration instruction, determining whether first model information is saved in a first storage stored locally; if the first model information is saved in the first storage, obtaining a corresponding configuration file according to the first model information; inspecting the configuration file to obtain a inspection result, and executing a startup configuration process according to the inspection result; when receiving a modification configuration instruction, receiving second model information, and executing a modification configuration process according to the second model information, so that the drive control board adjusts the configuration file according to different models.

[0006] Optionally, the method further includes: if the first model information is not saved in the first storage, requesting to obtain the first model information, so that after the first model information is obtained, the first model information is saved in the first storage of local storage.

[0007] Optionally, when receiving the startup configuration instruction, before determining whether the first model information is saved in the first storage of the local storage, it includes: starting the drive control board and self-checking whether there is a configuration file, wherein the configuration file includes a system configuration file and a unit configuration file; if the configuration file does not exist, receiving the startup configuration instruction.

[0008] Optionally, self-checking whether there is a configuration file includes: if no system configuration file corresponding to the local model information is saved in the local storage, and / or no unit configuration file corresponding to each functional unit of the drive control board is saved, then there is no configuration file for the drive control board; if a system configuration file corresponding to the local model information is saved in the local storage, and a unit configuration file corresponding to each functional unit of the drive control board is saved, then there is a configuration file for the drive control board.

[0009] Optionally, the configuration file is inspected to obtain an inspection result, and a startup configuration process is executed according to the inspection result, including: comparing the versions of the system configuration file of the configuration file with the current system configuration file; when the version number of the system configuration file of the configuration file is higher than the version number of the current system configuration file, determining whether the unit configuration file of the configuration file meets the configuration requirements of each functional unit of the drive control board; if the unit configuration file of the configuration file meets the configuration requirements of each functional unit of the drive control board, determining that the inspection result passes, and executing the startup configuration process; if the unit configuration file of the configuration file does not meet the configuration requirements of each functional unit of the drive control board, determining that the inspection result fails, and not executing the startup configuration process; when the version number of the system configuration file of the configuration file is not higher than the version number of the current system configuration file, determining that the inspection result fails, and not executing the startup configuration process.

[0010] Optionally, executing the startup configuration process includes: saving the system configuration file of the configuration file in a second storage of local storage, and starting the drive control board with the system configuration file of the configuration file; sending the unit configuration files of the configuration file to each functional unit of the drive control board respectively, and driving each functional unit of the drive control board with the unit configuration files of the configuration file.

[0011] Optionally, a configuration modification process is executed according to the second model information so that the drive control board adjusts the configuration file according to different models, including: determining the function to be modified according to the second model information and the first model information; according to the function to be modified, updating, adding or deleting the corresponding unit configuration file on the drive control board.

[0012] Optionally, the method further includes: when receiving the configuration update instruction, receiving third model information, and executing the configuration update process according to the third model information, so that the drive control board updates the configuration file.

[0013] In order to solve the above technical problems, another technical solution adopted in the implementation of the present application is: providing a robot, including a drive control board, and the drive control board is used to execute the method described above.

[0014] In order to solve the above technical problems, another technical solution adopted in the implementation mode of the present application is: providing a non-volatile computer-readable storage medium, wherein the non-volatile computer-readable storage medium stores computer-executable instructions, and when the computer-executable instructions are executed by a robot, the robot executes the method described above.

[0015] Different from the related art, the present application determines whether the first machine model information is stored in the first storage stored locally when receiving the startup configuration instruction; if the first machine model information is stored in the first storage, the corresponding configuration file is obtained according to the first machine model information; the configuration file is inspected to obtain the inspection result, and the startup configuration process is executed according to the inspection result; when the modification configuration instruction is received, the second machine model information is received, and the modification configuration process is executed according to the second machine model information, so that the drive control board adjusts the configuration file according to different models. Based on this, the present application receives the startup configuration instruction through the communication interaction between the drive control board and the host computer, so that the drive control board performs the machine model information check and the configuration file check on the local storage, and analyzes the inspection results to ensure that the machine model information and the configuration file meet the requirements during the firmware configuration, and then executes the startup configuration process. In addition, it is also possible to receive the modification configuration instruction sent by the host computer to execute the modification configuration process to ensure that the drive control board can adjust the configuration file in time. Through the above method, not only can the automated configuration process be realized, but also the configuration status can be monitored and abnormal processing can be carried out to ensure the stability and reliability of the robot system configuration. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] One or more embodiments are exemplarily described by corresponding drawings, which do not constitute limitations on the embodiments. Elements with the same reference numerals in the drawings represent similar elements, and the figures in the drawings do not constitute proportional limitations unless otherwise stated.

[0017] Figure 1 It is a schematic diagram of a specific application scenario of a firmware configuration method provided in an embodiment of the present application;

[0018] Figure 2 is a flowchart of a firmware configuration method provided by an embodiment of the present application;

[0019] Figure 3 This is a flowchart of a startup configuration process provided by an embodiment of the present application;

[0020] Figure 4 is a flowchart of a firmware update process provided by an embodiment of the present application;

[0021] Figure 5 is a flowchart of a firmware configuration method provided by another embodiment of the present application;

[0022] Figure 6 is a flowchart of a firmware configuration method provided by another embodiment of the present application;

[0023] Figure 7 It is a hardware structure diagram of a drive control board for executing a firmware configuration method provided in an embodiment of the present application. DETAILED DESCRIPTION

[0024] In order to make the purpose, technical solutions and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not intended to limit the present application. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without making creative work are within the scope of protection of the present application.

[0025] It should be noted that, if there is no conflict, the various features in the embodiments of the present application can be combined with each other, all within the scope of protection of the present application. Unless otherwise defined, all technical and scientific terms used in this specification have the same meaning as those generally understood by those skilled in the art of the present application. The terms used in the specification of the present application are only for the purpose of describing specific embodiments and are not used to limit the present application. The term "and / or" used in this specification includes any and all combinations of one or more related listed items.

[0026] The embodiment of the present application provides a firmware configuration method, a robot and a storage medium. By setting the startup configuration process, modifying the configuration process and updating the configuration process, the robot can complete the system configuration file check, unit configuration file check, unit configuration file push and configuration file application in the startup configuration process stage, complete the configuration file update and firmware update in the modification configuration process stage, and can also receive and modify the new model information sent by the host computer in the update configuration process stage to adjust the configuration file according to different models. Through the above method, on the one hand, the automation of the firmware configuration process can be realized, manual operations can be reduced, and the configuration efficiency can be significantly improved. On the other hand, the configuration process can also be monitored to improve the stability and reliability of the system. In addition, the configuration file can be flexibly adjusted according to different models to meet the multi-model environment.

[0027] See also Figure 1 , Figure 1 1 is a schematic diagram of a specific application scenario of a firmware configuration method provided in an embodiment of the present application. Specifically, the robot includes an upper computer 10 and a lower computer 20. The upper computer 10 and the lower computer 20 are connected in communication via a communication bus.

[0028] The host computer 10 is usually a powerful computing device responsible for communicating and controlling the lower computer 20. Specifically, the host computer 10 can be an embedded computing platform. The host computer 10 can communicate and interact with the lower computer 20 by sending different configuration instructions (for example, start configuration instructions, modify configuration instructions, and update configuration instructions).

[0029] The lower computer 20 is usually a function integration of the robot, such as a chassis control module. The lower computer 20 has a built-in drive control board (DCB) and various functional components, which work together to implement the firmware configuration process. Among them, DCB is an electronic circuit board that controls motors and actuators. It is responsible for receiving instructions from the upper computer and converting these instructions into drive signals required by the motors or actuators. The various functional components include: Single Board is a system that integrates all computing functions on a circuit board; Local refers to the various hardware modules inside the robot, which are directly connected to the drive control board, including sensors, actuators, communication modules, etc.; Bus is a communication system used to transmit data between components of the robot system.

[0030] Specifically, see 2, Figure 2 1 is a flowchart of a firmware configuration method provided in an embodiment of the present application. The method is applied to a drive control board. The method includes steps S101-S104:

[0031] S101: upon receiving a startup configuration instruction, determining whether first model information is stored in a first local storage.

[0032] The drive control board communicates with the host computer through the bus and receives the startup configuration instruction sent by the host computer. When receiving the startup configuration instruction sent by the host computer, the drive control board starts to check whether the first model information is saved in the first storage of the local storage. It can be understood that the core data involved in the robot firmware configuration process is the model information and configuration file. When the drive control board executes the startup configuration instruction, it needs to check whether the current model information is stored in the non-volatile memory (first storage) of the drive control board.

[0033] If the first model information is not saved in the first storage, a request is made to obtain the first model information, so that after the first model information is obtained, the first model information is saved in the first storage of local storage. It can be understood that if the model information is not saved in the non-volatile memory, the bus is interacted with the host computer to receive the first model configuration instruction sent from the host computer, the first model information is obtained according to the first model configuration instruction, and the obtained first model information is saved in the non-volatile memory of the drive control board.

[0034] S102: If the first model information is stored in the first storage, obtain a corresponding configuration file according to the first model information.

[0035] If the model information is stored in the non-volatile memory, the corresponding configuration file is obtained according to the model information, that is, a system configuration file and a set of unit configuration files corresponding to the model information are obtained. It should be noted that the drive control board stores the configuration files of the model to the external FLASH (it can also store configuration files of multiple models at the same time), and each functional unit of the drive control board stores the unit configuration files corresponding to its own firmware. It can be understood that the drive control board saves all the configuration files of the current model, that is, the system configuration file and multiple sets of unit configuration files, and each functional unit of the drive control board only saves the unit configuration files corresponding to its own firmware.

[0036] S103: Check the configuration file to obtain a check result, and execute a startup configuration process according to the check result.

[0037] See also Figure 3 , Figure 3 A flowchart of a startup configuration process provided in an embodiment of the present application, the startup configuration process includes:

[0038] S1031: Compare the versions of the system configuration file of the configuration file with the current system configuration file.

[0039] After obtaining the model information and the corresponding configuration file, the driver control board starts to check whether the version of the system configuration file meets the requirements.

[0040] S1032: When the version number of the system configuration file of the configuration file is higher than the version number of the current system configuration file, determine whether the unit configuration file of the configuration file meets the configuration requirements of each functional unit of the drive control board.

[0041] S1033: If the unit configuration file of the configuration file meets the configuration requirements of each functional unit of the drive control board, it is determined that the inspection result passes and the startup configuration process is executed; if the unit configuration file of the configuration file does not meet the configuration requirements of each functional unit of the drive control board, it is determined that the inspection result fails and the startup configuration process is not executed.

[0042] It can be understood that to determine whether to start the configuration process, the following conditions must be met: the version number of the system configuration file of the configuration file must be higher than the version number of the current system configuration file, and the unit configuration file of the configuration file must also meet the configuration requirements of each functional unit of the drive control board. That is, only when these two conditions are met at the same time can the inspection result be determined to be passed, and then the startup configuration process is executed.

[0043] It can be understood that the execution of the startup configuration process is specifically as follows: first, the system configuration file of the configuration file is saved in the second storage of the local storage (external FLASH of the drive control board), and the drive control board is started with the system configuration file of the configuration file. Then, the unit configuration files of the configuration file are sent to the various functional units of the drive control board respectively, and the various functional units of the drive control board are driven with the unit configuration files of the configuration file.

[0044] It should be noted that after receiving the new unit configuration file, each functional unit of the drive control board saves it and restarts itself to apply the unit configuration file as needed. In addition, the modification of the unit configuration file in the embodiment of the present application will not affect the configuration file saved in the drive control board. It can be understood that when modifying the unit configuration files of the various functional units of the drive control board, these modifications are temporary, and the drive control board will not be affected by the modification of the unit configuration file, that is, when the configuration file saved in the drive control board is updated, the previous modifications of the unit configuration file by each functional unit will be reset.

[0045] S1034: When the version number of the system configuration file of the configuration file is not higher than the version number of the current system configuration file, it is determined that the verification result fails, and the startup configuration process is not executed.

[0046] S104: When receiving the configuration modification instruction, receiving second machine model information, and executing the configuration modification process according to the second machine model information, so that the drive control board adjusts the configuration file according to different machine models.

[0047] In addition, when a configuration modification instruction is received from the host computer, the second model information is received, the function to be modified is determined based on the second model information and the first model information, and then the corresponding unit configuration file is updated, added or deleted on the drive control board based on the function to be modified.

[0048] It can be understood that the drive control board receives the second model information through the bus communication interaction with the host computer, and obtains the corresponding configuration file according to the second model information according to the method described above. Then, the configuration file corresponding to the second model information is compared with the current configuration file used locally (the configuration file corresponding to the first model information at this time) to obtain the test result, and the startup configuration process is re-executed according to the test result. Among them, the specific process details of the startup configuration process are described above, which will not be repeated here.

[0049] It should be noted that when the driver control board sends the unit configuration files of the configuration files to the respective functional units of the driver control board, the respective functional units are updated with firmware. Figure 4 , Figure 4 A flowchart of a firmware update process provided in an embodiment of the present application.

[0050] The unit configuration file includes the pushed firmware version. The firmware update process includes:

[0051] S1041: If the pushed firmware version is higher than the current firmware version, each functional unit receives the new firmware and performs a firmware upgrade; wherein the current firmware version is the firmware version currently being used by each functional unit.

[0052] S1042: If the pushed firmware version is lower than the current firmware version, each functional unit receives the new firmware and performs firmware downgrade.

[0053] S1043: If the pushed firmware version is the same as the current firmware version, each functional unit refuses to receive the new firmware.

[0054] It should be noted that after the above firmware update process is executed, each functional unit will update, add or delete the corresponding unit configuration file accordingly. In addition, each functional unit also supports active verification of whether the firmware version meets the version requirements of the configuration file. If the firmware version is lower than the minimum version required by the configuration file, the firmware upgrade request process is executed. It can be understood that when executing the firmware upgrade request process, each functional unit can actively obtain a firmware file that meets the requirements through the bus interaction with the host computer. After receiving the new firmware file, it is automatically saved and applied, and restarted as needed.

[0055] The embodiment of the present application receives the startup configuration instruction through the communication interaction between the drive control board and the host computer, so that the drive control board starts the firmware configuration. In the firmware configuration, the machine model information check, machine model information acquisition, configuration file check, configuration file update, firmware version update, and configuration file and firmware application can be realized, realizing the automation of the firmware configuration process, and can also realize detailed monitoring of the firmware configuration process by gradually detecting whether the system configuration file and unit configuration file required in the firmware configuration process meet the requirements, thereby improving the stability and reliability of the system.

[0056] In some embodiments, see Figure 5 , Figure 5 : is a flowchart of a firmware configuration method provided by another embodiment of the present application. When receiving a startup configuration instruction, before determining whether the first model information is stored in the first storage stored locally, the method includes:

[0057] S201: Start the drive control board and self-check whether there is a configuration file, wherein the configuration file includes a system configuration file and a unit configuration file; if the configuration file does not exist, receive a startup configuration instruction.

[0058] When the robot is powered on again after being completely powered off, the system is restarted, the drive control board starts up, and performs a self-check to determine whether there is a configuration file locally.

[0059] S202: If the local storage does not store a system configuration file corresponding to the local model information and / or a unit configuration file corresponding to each functional unit of the drive control board, then the drive control board does not have a configuration file.

[0060] It can be understood that the situation where there is no configuration file in the local storage may be that the local storage does not save the system configuration file corresponding to the local model information and does not save the unit configuration file corresponding to the various functional units of the drive control board, or the local storage does not save the system configuration file corresponding to the local model information, or does not save the unit configuration file corresponding to the various functional units of the drive control board.

[0061] S203: If a system configuration file corresponding to the local model information is stored in the local storage, and a unit configuration file corresponding to each functional unit of the drive control board is stored, then the drive control board has a configuration file.

[0062] It can be understood that when the local storage stores a system configuration file corresponding to the local model information and a unit configuration file corresponding to each functional unit of the drive control board, the drive control board does not need to obtain an additional configuration file from the host computer and can directly use the locally stored configuration file.

[0063] S204: When receiving the startup configuration instruction, determine whether the first model information is stored in the first local storage.

[0064] S205: If the first model information is stored in the first storage, obtain a corresponding configuration file according to the first model information.

[0065] S206: Check the configuration file to obtain a check result, and execute a startup configuration process according to the check result.

[0066] S207: When receiving the configuration modification instruction, receiving second machine model information, and executing the configuration modification process according to the second machine model information, so that the drive control board adjusts the configuration file according to different machine models.

[0067] The details of the description of steps S204-S207 can be found in the above-mentioned specific description of steps S101-S104, which will not be repeated here.

[0068] The embodiment of the present application performs a self-check process before determining whether the first model information is saved in the first storage stored locally when receiving the startup configuration instruction, so as to ensure that the drive control board can obtain the configuration file in different situations, thereby further improving the stability and reliability of the firmware configuration process.

[0069] In some embodiments, see Figure 6 , Figure 6 : is a flowchart of a firmware configuration method provided by another embodiment of the present application, the method comprising:

[0070] S301: upon receiving a startup configuration instruction, determining whether first model information is stored in a first local storage.

[0071] S302: If the first model information is stored in the first storage, obtain a corresponding configuration file according to the first model information.

[0072] S303: Check the configuration file to obtain a check result, and execute a startup configuration process according to the check result.

[0073] S304: When receiving the configuration modification instruction, receiving second machine model information, and executing the configuration modification process according to the second machine model information, so that the drive control board adjusts the configuration file according to different machine models.

[0074] S305: When receiving the configuration update instruction, receiving third model information, and executing the configuration update process according to the third model information, so that the drive control board updates the configuration file.

[0075] When the robot needs to work in a multi-machine model environment, it can receive the third machine model information by receiving the update configuration command sent by the host computer, and then drive the control board to modify the machine model information accordingly. After changing to the third machine model information, re-execute steps S301-S304 of the firmware configuration method to update the configuration file corresponding to the machine model information. The description of steps S301-S304 is detailed in the above-mentioned specific description of steps S101-S104, which will not be repeated here.

[0076] The embodiment of the present application can enable the robot to support multiple machine model environments by executing the update configuration process, and flexibly adjust the configuration files according to different machine models, thereby improving the adaptability and flexibility of the system.

[0077] The present application also provides a drive control board. Figure 7 , which shows a hardware structure diagram of a drive control board capable of executing the method described in the above embodiment. The drive control board 300 includes: at least one processor 310; and a memory 320 in communication with the at least one processor 310, Figure 7 In the embodiment, a processor 310 is taken as an example. The memory 320 stores instructions that can be executed by the at least one processor 310. The instructions are executed by the at least one processor 310 so that the at least one processor 310 can execute the firmware configuration method described in the above embodiment. The processor 310 and the memory 320 can be connected via a bus or other means. Figure 7 The example of connecting through bus is taken in the following.

[0078] The memory 320 is a non-volatile computer-readable storage medium that can be used to store non-volatile software programs, non-volatile computer executable programs and modules, such as program instructions / modules corresponding to the firmware configuration method in the embodiment of the present application. The processor 310 executes various functional applications and data processing of the server by running the non-volatile software programs, instructions and modules stored in the memory 320, that is, implementing the firmware configuration method described in the above embodiment.

[0079] The memory 320 may include a program storage area and a data storage area, wherein the program storage area may store an operating system and applications required for at least one function; the data storage area may store data created according to the use of the computing device, etc. In addition, the memory 320 may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one disk storage device, a flash memory device, or other non-volatile solid-state storage device. In some embodiments, the memory 320 may optionally include a memory remotely arranged relative to the processor 310, and these remote memories may be connected to the computing device via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0080] The one or more modules are stored in the memory 320, and when executed by the one or more processors 310, the firmware configuration method described in the above embodiment is executed.

[0081] The above product can execute the method provided in the embodiment of the present application, and has the functional modules and beneficial effects corresponding to the execution method. For technical details not described in detail in this embodiment, please refer to the firmware configuration method described in the above embodiment of the present application.

[0082] The embodiment of the present application also provides a non-volatile computer-readable storage medium, wherein the non-volatile computer-readable storage medium stores computer-executable instructions, and the computer-executable instructions are executed by one or more processors so that the at least one processor can execute the firmware configuration method described in the above embodiment. For example, the non-volatile computer-readable storage medium can be a read-only memory (ROM), a random access memory (RAM), a compact disc read-only memory (CDROM), a magnetic tape, a floppy disk, an optical data storage device, etc.

[0083] It should be noted that the above described embodiments are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place, or may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the present embodiment.

[0084] Through the description of the above implementation methods, ordinary technicians in this field can clearly understand that each implementation method can be implemented by means of software plus a general hardware platform, and of course, it can also be implemented by hardware. Ordinary technicians in this field can understand that all or part of the processes in the above-mentioned embodiment method can be completed by instructing related hardware through a computer program, and the program can be stored in a computer-readable storage medium. When the program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, the storage medium can be a disk, an optical disk, a read-only memory (ROM) or a random access memory (RAM), etc.

[0085] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Under the concept of the present application, the technical features in the above embodiments or different embodiments can also be combined, the steps can be implemented in any order, and there are many other changes in different aspects of the present application as described above, which are not provided in detail for the sake of simplicity. Although the present application has been described in detail with reference to the aforementioned embodiments, a person of ordinary skill in the art should understand that the technical solutions described in the aforementioned embodiments can still be modified, or some of the technical features can be replaced by equivalents. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A firmware configuration method, applied to a drive control board, characterized in that: The method comprises: Upon receiving the startup configuration instruction, determining whether the first model information is stored in the first storage stored locally; If the first model information is stored in the first storage, obtaining a corresponding configuration file according to the first model information; The configuration file is tested to obtain a test result, and a startup configuration process is executed according to the test result; When the configuration modification instruction is received, the second machine model information is received, and the configuration modification process is executed according to the second machine model information, so that the drive control board adjusts the configuration file according to different machine models.

2. The firmware configuration method according to claim 1, characterized in that: The method further comprises: If the first model information is not stored in the first storage, a request is made to obtain the first model information, so that after the first model information is obtained, the first model information is stored in the first storage stored locally.

3. The firmware configuration method according to claim 1, characterized in that: When receiving the startup configuration instruction, before determining whether the first model information is stored in the first storage of the local storage, the method includes: Starting the drive control board and self-checking whether there is a configuration file, wherein the configuration file includes a system configuration file and a unit configuration file; If the configuration file does not exist, a startup configuration instruction is received.

4. The firmware configuration method according to claim 3, characterized in that: Check whether there is a configuration file, including: If the local storage does not store a system configuration file corresponding to the local model information, and / or does not store a unit configuration file corresponding to each functional unit of the drive control board, then the drive control board does not have a configuration file; If a system configuration file corresponding to the local model information is stored in the local storage, and a unit configuration file corresponding to each functional unit of the drive control board is stored, then the drive control board has a configuration file.

5. The firmware configuration method according to claim 1, characterized in that: The configuration file is tested to obtain a test result, and a startup configuration process is executed according to the test result, including: Compare the system configuration file of the configuration file with the current system configuration file; When the version number of the system configuration file of the configuration file is higher than the version number of the current system configuration file, determining whether the unit configuration file of the configuration file meets the configuration requirements of each functional unit of the drive control board; If the unit configuration file of the configuration file meets the configuration requirements of each functional unit of the drive control board, it is determined that the inspection result passes and the startup configuration process is executed; if the unit configuration file of the configuration file does not meet the configuration requirements of each functional unit of the drive control board, it is determined that the inspection result fails and the startup configuration process is not executed; When the version number of the system configuration file of the configuration file is not higher than the version number of the current system configuration file, it is determined that the verification result fails, and the startup configuration process is not executed.

6. The firmware configuration method according to claim 5, characterized in that: Perform the startup configuration process, including: The system configuration file of the configuration file is saved in a second storage of the local storage, and the drive control board is started with the system configuration file of the configuration file; The unit configuration files of the configuration files are sent to the functional units of the drive control board respectively, and the functional units of the drive control board are driven correspondingly by the unit configuration files of the configuration files.

7. The firmware configuration method according to claim 1, characterized in that: Executing a configuration modification process according to the second model information so that the drive control board adjusts the configuration file according to different models includes: Determining a function to be modified according to the second model information and the first model information; According to the function to be modified, the corresponding unit configuration file is updated, added or deleted on the drive control board.

8. The firmware configuration method according to claim 1, characterized in that: The method further comprises: When the configuration update instruction is received, the third model information is received, and the configuration update process is executed according to the third model information, so that the drive control board updates the configuration file.

9. A robot, characterized in that: It comprises a drive control board, and the drive control board is used to execute the method according to any one of claims 1-8.

10. A non-volatile computer-readable storage medium, characterized in that: The non-volatile computer-readable storage medium stores computer-executable instructions, which, when executed by a robot, enable the robot to execute the method according to any one of claims 1 to 8.

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