Compatible method and system of robot chassis, medium and robot

Abstract

The invention relates to the technical field of robots, in particular to a robot chassis compatible method and system, a storage medium and a robot, the robot comprises an upper body device, the upper body device is configured with a chassis information list, and the chassis information list comprises chassis information of a plurality of chassis; the chassis information comprises a chassis model and an IP address; the method comprises the following steps: acquiring chassis information configured in a chassis to be compatible as first chassis information; matching from the chassis information list to obtain a chassis and second chassis information corresponding to the first chassis information, and connecting the upper body equipment with a chassis to be compatible; upper body equipment is in communication connection with a chassis corresponding to the first chassis information, so that an IP address of the first chassis information is verified; matching the chassis model in the first chassis information with the chassis model in the second chassis information to obtain a chassis compatibility result; according to the invention, compatibility of various chassis can be realized.

Description

Technical Field

[0001] The present invention relates to the field of robot technology, and in particular to a robot chassis compatibility method, system, storage medium and robot. Background Art

[0002] Indoor mobile service robots have a variety of product forms, and their applications are in a variety of scenarios, such as delivery, welcoming guests, hospital disinfection, etc. The overall design of the robot is divided into a robot upper body device and a robot chassis. Because robots are used in different scenarios, there are different requirements for the robot upper body device and the chassis. For example, the environmental perception, path planning, and control scheduling strategies of the chassis have different requirements in these different scenarios. Therefore, chassis A, chassis B, chassis C, and other chassis with different functions may be used in different scenarios. However, in order to facilitate the development of application software programs for robots such as store building delivery, restaurant delivery, and hospital disinfection, it is necessary to design a solution to facilitate the efficient compatibility of robot upper body equipment with different chassis. Summary of the invention

[0003] In view of this, an object of an embodiment of the present invention is to provide a robot chassis compatibility method, system, storage medium and robot, which can be efficiently compatible with different chassis.

[0004] On the one hand, an embodiment of the present invention provides a robot chassis compatibility method, wherein the robot includes an upper body device, the upper body device is configured with a chassis information list, the chassis information list includes chassis information of multiple chassis; the chassis information includes a chassis model and an IP address; The method comprises the following steps: Acquire chassis information configured in the chassis to be compatible as first chassis information; Matching a chassis corresponding to the first chassis information and second chassis information from the chassis information list, and connecting the upper body device and the chassis to be compatible; Establishing a communication connection between the upper body device and the chassis corresponding to the first chassis information to verify the IP address of the first chassis information; The chassis model in the first chassis information and the chassis model in the second chassis information are matched to obtain a chassis compatibility result.

[0005] Optionally, the chassis is configured with a first mainboard, the upper body device is configured with a second mainboard, and the method further comprises: Create a custom partition on the first mainboard, and write chassis information corresponding to the chassis into the custom partition, wherein the chassis information includes chassis manufacturer name, chassis model and IP address; An OEM partition is created on the second mainboard, and a chassis information list is written into the OEM partition.

[0006] Optionally, the matching of obtaining a chassis corresponding to the first chassis information and second chassis information from the chassis information list, and connecting the upper body device and the chassis to be compatible, includes: Acquire first chassis information, match chassis information consistent with the first chassis information from the chassis information list as second chassis information, and determine a chassis corresponding to the second chassis information; Load the implementation class corresponding to the chassis to be compatible, and connect the upper body device and the chassis.

[0007] Optionally, the step of establishing a communication connection between the upper body device and a chassis corresponding to the first chassis information to verify an IP address of the first chassis information includes: A socket connection for monitoring the first chassis information is created, and if it is determined that the socket connection is successful, it is determined that the IP address in the first chassis information is consistent with the IP address in the second chassis information.

[0008] Optionally, the method further comprises: If it is determined that the socket connection fails, the socket connection is re-established. If the number of times the socket connection is established is greater than the number threshold, it is determined that the communication connection between the upper body device and the chassis has failed.

[0009] Optionally, matching the chassis model in the first chassis information with the chassis model in the second chassis information to obtain a chassis compatibility result includes: Sending a command to the chassis to request chassis information, reading first chassis information from a custom partition in a first mainboard of the chassis, and parsing to obtain a first chassis model; Reading a chassis information list from an OEM partition in a second mainboard of the upper body device, matching chassis information corresponding to the chassis from the chassis information list, and parsing the chassis information corresponding to the chassis to obtain a second chassis model; The first chassis model and the second chassis model are compared. If the first chassis model and the second chassis model are the same, the chassis compatibility result is a successful match; if the first chassis model and the second chassis model are different, the chassis compatibility result is a failed match.

[0010] Optionally, the method further comprises: A first SDK interface layer is established on the first mainboard, and a second SDK interface layer and a third SDK interface layer are established on the second mainboard; wherein the first SDK interface layer is a general SDK interface layer of a first operating system, and the first operating system is configured on the first mainboard; the second SDK interface layer is a general SDK interface layer of a second operating system, and the second operating system is configured on the second mainboard; the third SDK interface layer is a general SDK interface layer of a third operating system, and the third operating system is configured on the second mainboard; If the chassis compatibility result of the chassis is a successful match, the third SDK interface in the third SDK interface layer responds to the call of the application software to obtain the chassis called by the application software; The second SDK interface layer is called through the third SDK interface layer, so as to perform communication protocol analysis on the first SDK interface layer corresponding to the chassis through the second SDK interface layer, and establish a communication connection between the application software and the first SDK interface layer.

[0011] On the other hand, an embodiment of the present invention provides a robot chassis compatibility system, wherein the robot includes an upper body device, the upper body device is configured with a chassis information list, the chassis information list includes chassis information of multiple chassis; the chassis information includes a chassis model and an IP address; The system comprises: The first module is used to obtain chassis information configured in the chassis to be compatible as first chassis information; A second module is used to match the chassis corresponding to the first chassis information and the second chassis information from the chassis information list, and connect the upper body device and the chassis to be compatible; A third module is used to establish a communication connection between the upper body device and the chassis corresponding to the first chassis information to verify the IP address of the first chassis information; The fourth module is used to match the chassis model in the first chassis information with the chassis model in the second chassis information to obtain a chassis compatibility result.

[0012] On the other hand, an embodiment of the present invention provides a robot, wherein the robot is provided with an atomization tank, and an atomizer is provided in the atomization tank; the robot comprises: at least one processor; at least one memory for storing at least one program; When the at least one program is executed by the at least one processor, the at least one processor implements the above method.

[0013] Optionally, four human body sensing modules are arranged around the top of the robot, and the coverage angle of each human body sensing module is 90°.

[0014] On the other hand, an embodiment of the present invention provides a computer-readable storage medium, in which a program executable by a processor is stored. When the program executable by the processor is executed by the processor, it is used to perform the above method.

[0015] The embodiments of the present invention include the following beneficial effects: by verifying the chassis information configured in the chassis, a matching chassis is preliminarily determined; and then by performing double judgment on the IP address and chassis model of the chassis, misidentification of the chassis is prevented: by adopting the technical solution provided by the present invention, the application software can be compatible with different chassis to which it is adapted, thereby enabling the lifting device to be compatible with multiple chassis. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0017] Figure 1 It is a schematic diagram of the steps of a robot chassis compatibility method provided by an embodiment of the present invention; Figure 2 is a schematic diagram of the structural communication of the robot in an embodiment of the present invention; Figure 3 is a structural block diagram of a compatible system of a robot chassis provided by an embodiment of the present invention; Figure 4 It is a structural block diagram of a robot provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0018] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention 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 invention and are not used to limit the present invention.

[0019] It should be noted that, although the functional modules are divided in the schematic diagram and the logical order is shown in the flowchart, in some cases, the steps shown or described may be performed in a different module division than in the schematic diagram or in the order in the flowchart. The terms "first", "second", etc. in the specification, claims and the above drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence.

[0020] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which the present invention belongs. The terms used herein are only for the purpose of describing the embodiments of the present invention and are not intended to limit the present invention.

[0021] In addition, the described features, structures or characteristics may be combined in one or more embodiments in any suitable manner. In the following description, many specific details are provided to provide a full understanding of the embodiments of the present invention. However, those skilled in the art will appreciate that technical solutions of the present invention may be practiced without one or more of the specific details, or other methods, components, steps, etc. may be adopted. In other cases, known methods, implementations or operations are not shown or described in detail to avoid blurring various aspects of the present invention.

[0022] The block diagrams shown in the accompanying drawings are merely functional entities and do not necessarily correspond to physically independent entities. That is, these functional entities may be implemented in software form, or in one or more hardware modules, or in different networks and / or processor devices and / or microcontroller devices.

[0023] The flowcharts shown in the accompanying drawings are only exemplary and do not necessarily include all the contents and operations / steps, nor must they be executed in the order described. For example, some operations / steps can be decomposed, and some operations / steps can be combined or partially combined, so the actual execution order may change according to actual conditions.

[0024] In terms of product design, the robot upper body equipment and chassis each focus on their own functions. The robot upper body equipment focuses on the functions of scene application software, such as having corresponding warehouses to store delivered items and disinfection boxes for disinfection, etc. The robot chassis focuses on path planning, environmental perception, motion control and other functions.

[0025] Based on this design concept, the interfaces for the design of the robot's upper body equipment and chassis include Ethernet, power supply, USB interface, and GPIO interface. Among them, Ethernet is mainly used for data interaction, control and feedback between the robot's upper body equipment and the upper body equipment; the USB interface is connected to the obstacle avoidance 3D depth camera. The 3D depth camera is installed on the robot's upper body equipment but connected to the chassis. The depth data of the 3D camera can be used to perceive obstacles when the robot chassis navigates.

[0026] like Figure 1 As shown, an embodiment of the present invention provides a robot chassis compatibility method, wherein the robot includes an upper body device, the upper body device is configured with a chassis information list, the chassis information list includes chassis information of multiple chassis; the chassis information includes a chassis model and an IP address; The method comprises the following steps: S100, obtaining chassis information configured in a chassis to be compatible as first chassis information; S200, matching a chassis corresponding to the first chassis information and second chassis information from the chassis information list, and connecting the upper body device and the chassis to be compatible; S300, establishing a communication connection between the upper body device and the chassis corresponding to the first chassis information to verify the IP address of the first chassis information; S400: Match the chassis model in the first chassis information with the chassis model in the second chassis information to obtain a chassis compatibility result.

[0027] In this embodiment, the hardware of the robot includes: At the hardware module level, depending on the application software scenario, the chassis uses different numbers of 3D cameras for environmental perception and obstacle avoidance. For example, in a restaurant delivery scenario, the space is small and the environment is complex, so three 3D cameras are needed. In a hotel delivery environment, because of the large space and wide field of view, only two 3D cameras are needed. In a hospital disinfection scenario, multi-dimensional perception of the approach of moving obstacles is required, so sensors for obstacle perception need to be added to the upper body equipment and chassis in multiple directions and heights.

[0028] Chassis control module layer: The main functions of the chassis control module layer are mapping and positioning, path planning, motion control, environmental perception, etc.

[0029] Double judgment is made through IP address and chassis model to prevent chassis misidentification: By adopting the technical solution provided by the present invention, the application software can be compatible with different chassis to which it is adapted, so that it can be quickly used on robots such as hotel building delivery, welcoming guests, and hospital disinfection.

[0030] In some embodiments, the chassis is configured with a first mainboard, the upper body device is configured with a second mainboard, and the method further comprises: S101, creating a custom partition on the first mainboard, and writing chassis information corresponding to the chassis into the custom partition, wherein the chassis information includes chassis manufacturer name, chassis model and IP address; Specifically, a custom partition is created on the first mainboard, which is readable and writable, and chassis information is also defined in the custom partition, including chassis manufacturer name, chassis model and IP address. After the chassis model is identified, the chassis information is written through the chassis configuration tool on the PC.

[0031] S102, creating an OEM partition on the second mainboard, and writing a chassis information list into the OEM partition.

[0032] Specifically, an OEM partition is created on the second mainboard. The OEM partition is readable and writable. A chassis information list is defined in the OEM partition. The chassis information list includes chassis information of different chassis. The chassis information list can be written through a chassis configuration tool on the PC.

[0033] In some embodiments, the matching of obtaining a chassis corresponding to the first chassis information and second chassis information from the chassis information list, and connecting the upper body device and the chassis to be compatible, includes: S210, acquiring first chassis information, matching chassis information consistent with the first chassis information from the chassis information list as second chassis information, and determining a chassis corresponding to the second chassis information; S220, loading the implementation class corresponding to the chassis to be compatible, and connecting the upper body device and the chassis.

[0034] Specifically, after the robot is turned on, the custom partition in the first mainboard is read through the interactive system, and the first chassis information is obtained from the custom partition of the chassis. When the application software calls the first SDK interface, it reads and parses the first chassis information from the custom partition, determines the corresponding chassis, and then loads the implementation class of the corresponding chassis, and then connects to the chassis. After the connection is successful, the robot upper body device can then control the chassis. For example, if the chassis model is chassis A, the implementation class of chassis A is loaded and chassis A is connected.

[0035] In some embodiments, the step of establishing a communication connection between the upper body device and the chassis corresponding to the first chassis information to verify the IP address of the first chassis information includes: A socket connection for monitoring the first chassis information is created, and if it is determined that the socket connection is successful, it is determined that the IP address in the first chassis information is consistent with the IP address in the second chassis information.

[0036] It should be noted that if the socket connection is successful, it means that the IP address in the first chassis information is consistent with the IP address in the second chassis information, then the chassis with the specified IP address is matched, and it is determined that the communication connection between the upper body device and the chassis is successful.

[0037] In some embodiments, the method further comprises: If it is determined that the socket connection fails, the socket connection is re-established. If the number of times the socket connection is established is greater than the number threshold, it is determined that the communication connection between the upper body device and the chassis has failed.

[0038] It should be noted that multiple socket connection attempts may be made. If multiple socket connections are still unsuccessful, it is determined that the communication connection between the upper body device and the chassis has failed, that is, the chassis compatibility result is a failure.

[0039] The compatible chassis A (such as the chassis for hotel building delivery scenarios), chassis B (such as the chassis for welcoming scenarios), and chassis C (the chassis for hospital disinfection scenarios) in this embodiment can be chassis of different models from the same manufacturer or chassis from different manufacturers. The layered design is introduced from bottom to top below: In some embodiments, matching the chassis model in the first chassis information with the chassis model in the second chassis information to obtain a chassis compatibility result includes: Sending a command to the chassis to request chassis information, reading first chassis information from a custom partition in a first mainboard of the chassis, and parsing to obtain a first chassis model; Reading a chassis information list from an OEM partition in a second mainboard of the upper body device, matching chassis information corresponding to the chassis from the chassis information list, and parsing the chassis information corresponding to the chassis to obtain a second chassis model; The first chassis model and the second chassis model are compared. If the first chassis model and the second chassis model are the same, the chassis compatibility result is a successful match; if the first chassis model and the second chassis model are different, the chassis compatibility result is a failed match.

[0040] Specifically, after the connection is successful, a command to request chassis information is sent, then the chassis information is read from the custom partition, and then the chassis model is parsed. The chassis model saved in the OEM partition of the robot's upper body device is compared with the chassis model read from the custom partition of the chassis. If the models are the same, it means that the chassis matching is successful; if the models are different, it means that the chassis matching fails. In the embodiment provided by the present invention, a socket connection for monitoring chassis information is first created to determine whether the socket connection is successful; if so, a command for requesting chassis information is sent, chassis information is read from the custom partition of the chassis, and the chassis model is obtained by parsing; if not, a socket connection is re-established, and if the number of times the socket connection is established is greater than the number threshold, it is determined that the chassis connection fails and the matching chassis fails; then it is determined whether the chassis models are the same, and if so, it is determined that the matching chassis is successful, and a broadcast of a successful match is sent to the application software; if not, it is determined that the matching chassis fails, and a broadcast of a failed match is sent to the application software; finally, the socket connection for monitoring chassis information is disconnected. In this way, the robot application software can confirm that the correct chassis is connected, and perform subsequent application software such as controlling the movement of the robot.

[0041] See also Figure 2 In some embodiments, the method further comprises: A first SDK interface layer is established on the first mainboard, and a second SDK interface layer and a third SDK interface layer are established on the second mainboard; wherein the first SDK interface layer is a general SDK interface layer of a first operating system, and the first operating system is configured on the first mainboard; the second SDK interface layer is a general SDK interface layer of a second operating system, and the second operating system is configured on the second mainboard; the third SDK interface layer is a general SDK interface layer of a third operating system, and the third operating system is configured on the second mainboard; If the chassis compatibility result of the chassis is a successful match, the third SDK interface in the third SDK interface layer responds to the call of the application software to obtain the chassis called by the application software; The second SDK interface layer is called through the third SDK interface layer, so as to perform communication protocol analysis on the first SDK interface layer corresponding to the chassis through the second SDK interface layer, and establish a communication connection between the application software and the first SDK interface layer.

[0042] Specifically, the third SDK interface layer is the general SDK interface layer in the Android system of the robot's upper body device; the third SDK interface layer is directly facing the application software layer. Different application software such as hotel building distribution, food delivery, disinfection, etc. call the third SDK interface of the third SDK interface layer, which can allow these application software to be transferred to robots with different chassis.

[0043] The second SDK interface layer is the SDK interface layer in the Android system of the chassis; if you need to support N types of chassis, such as chassis A of manufacturer A, chassis B of manufacturer B, and chassis C of manufacturer C, you need to encapsulate the communication protocol of the first SDK interface layers of different chassis in the second SDK interface layer; the second SDK interface layer is encapsulated on the basis of the first SDK interface layer, and provided to the third SDK interface layer for calling, and the second SDK interface of the second SDK interface layer is not provided to the robot application software for calling.

[0044] The first SDK interface layer is the SDK interface layer in the Ubuntu system of the chassis; this layer is designed according to the functions of the chassis and corresponds to the Ubuntu system SDK interface, so that it can be called by the third SDK interface layer of the robot's upper body equipment.

[0045] It should be noted that robot application software for building delivery, welcoming guests, hospital disinfection, etc. requires different chassis in different scenarios. In order to provide a universal SDK interface for developing application software for different types of robots, a unified SDK interface is used to shield chassis differences, which makes it easier to improve the development efficiency of robot application software and make application software quickly compatible with robots using different chassis.

[0046] After the third SDK interface layer is established, developing application software programs for robots for building delivery, restaurant delivery, hospital disinfection, etc. will be more efficient and faster, and will also help with product maintenance.

[0047] See also Figure 3 , an embodiment of the present invention provides a robot chassis compatibility system, the robot includes an upper body device, the upper body device is configured with a chassis information list, the chassis information list includes chassis information of multiple chassis; the chassis information includes a chassis model and an IP address; The system comprises: The first module is used to obtain chassis information configured in the chassis to be compatible as first chassis information; A second module is used to match the chassis corresponding to the first chassis information and the second chassis information from the chassis information list, and connect the upper body device and the chassis to be compatible; A third module is used to establish a communication connection between the upper body device and the chassis corresponding to the first chassis information to verify the IP address of the first chassis information; The fourth module is used to match the chassis model in the first chassis information with the chassis model in the second chassis information to obtain a chassis compatibility result.

[0048] The contents of the above method embodiments are all applicable to this embodiment. The functions specifically implemented by this embodiment are the same as those of the above method embodiments, and the beneficial effects achieved are also the same as those achieved by the above method embodiments, which will not be repeated here.

[0049] See also Figure 4 , an embodiment of the present invention provides a robot, the robot comprising: at least one processor; at least one memory for storing at least one program; When the at least one program is executed by the at least one processor, the at least one processor implements the above method.

[0050] The contents of the above method embodiments are all applicable to this embodiment. The functions specifically implemented by this embodiment are the same as those of the above method embodiments, and the beneficial effects achieved are also the same as those achieved by the above method embodiments, which will not be repeated here.

[0051] In addition, an embodiment of the present invention further discloses a computer program product or a computer program, which is stored in a computer-readable storage medium. A processor of a computer device can read the computer program from a computer-readable storage medium, and the processor executes the computer program, so that the computer device executes the above method. Similarly, the contents of the above method embodiment are all applicable to the storage medium embodiment, and the functions specifically implemented by the storage medium embodiment are the same as those of the above method embodiment, and the beneficial effects achieved are also the same as those achieved by the above method embodiment.

[0052] The above described embodiments are merely illustrative, and the units described as separate components may or may not be physically separated, that is, they may be located in one place, or they 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.

[0053] Those skilled in the art will appreciate that the functional modules / units in all or some of the steps in the method disclosed above may be implemented as software, firmware, hardware, or a suitable combination thereof.

[0054] The terms "first", "second", "third", "fourth", etc. (if any) in the description of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0055] It should be understood that in the present invention, "at least one (item)" means one or more, and "plurality" means two or more. "And / or" is used to describe the association relationship of associated objects, indicating that three relationships may exist. For example, "A and / or B" can mean: only A exists, only B exists, and A and B exist at the same time, where A and B can be singular or plural. The character " / " generally indicates that the objects associated before and after are in an "or" relationship. "At least one of the following" or similar expressions refers to any combination of these items, including any combination of single or plural items. For example, at least one of a, b or c can mean: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, c can be single or multiple.

[0056] In the several embodiments provided by the present invention, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0057] 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 distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0058] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0059] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product. The computer software product is stored in a storage medium, including multiple instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (Read-Only Memory, referred to as ROM), random access memory (Random Access Memory, referred to as RAM), disk or optical disk and other media that can store programs.

[0060] The preferred embodiments of the present invention are described above with reference to the accompanying drawings, but the scope of the rights of the embodiments of the present invention is not limited thereby. Any modification, equivalent substitution and improvement made by those skilled in the art without departing from the scope and essence of the embodiments of the present invention shall be within the scope of the rights of the embodiments of the present invention.

Claims

1. A robot chassis compatibility method, characterized in that: The robot includes an upper body device, the upper body device is configured with a chassis information list, the chassis information list includes chassis information of multiple chassis; the chassis information includes a chassis model and an IP address; The method comprises the following steps: Acquire chassis information configured in the chassis to be compatible as first chassis information; Matching a chassis corresponding to the first chassis information and second chassis information from the chassis information list, and connecting the upper body device and the chassis to be compatible; Establishing a communication connection between the upper body device and the chassis corresponding to the first chassis information to verify the IP address of the first chassis information; The chassis model in the first chassis information and the chassis model in the second chassis information are matched to obtain a chassis compatibility result.

2. The method according to claim 1, characterized in that The chassis is configured with a first mainboard, the upper body device is configured with a second mainboard, and the method further comprises: Create a custom partition on the first mainboard, and write chassis information corresponding to the chassis into the custom partition, wherein the chassis information includes chassis manufacturer name, chassis model and IP address; An OEM partition is created on the second mainboard, and a chassis information list is written into the OEM partition.

3. The method according to claim 1, characterized in that The matching of obtaining a chassis corresponding to the first chassis information and second chassis information from the chassis information list, and connecting the upper body device and the chassis to be compatible, comprises: Acquire first chassis information, match chassis information consistent with the first chassis information from the chassis information list as second chassis information, and determine a chassis corresponding to the second chassis information; Load the implementation class corresponding to the chassis to be compatible, and connect the upper body device and the chassis.

4. The method according to claim 3, characterized in that The step of establishing a communication connection between the upper body device and the chassis corresponding to the first chassis information to verify the IP address of the first chassis information includes: A socket connection for monitoring the first chassis information is created, and if it is determined that the socket connection is successful, it is determined that the IP address in the first chassis information is consistent with the IP address in the second chassis information.

5. The method according to claim 4, characterized in that The method further comprises: If it is determined that the socket connection fails, the socket connection is re-established. If the number of times the socket connection is established is greater than the number threshold, it is determined that the communication connection between the upper body device and the chassis has failed.

6. The method according to claim 2, characterized in that The matching the chassis model in the first chassis information with the chassis model in the second chassis information to obtain a chassis compatibility result includes: Sending a command to the chassis to request chassis information, reading first chassis information from a custom partition in a first mainboard of the chassis, and parsing to obtain a first chassis model; Reading a chassis information list from an OEM partition in a second mainboard of the upper body device, matching chassis information corresponding to the chassis from the chassis information list, and parsing the chassis information corresponding to the chassis to obtain a second chassis model; The first chassis model and the second chassis model are compared. If the first chassis model and the second chassis model are the same, the chassis compatibility result is a successful match; if the first chassis model and the second chassis model are different, the chassis compatibility result is a failed match.

7. The method according to claim 2, characterized in that The method further comprises: A first SDK interface layer is established on the first mainboard, and a second SDK interface layer and a third SDK interface layer are established on the second mainboard; wherein the first SDK interface layer is a general SDK interface layer of a first operating system, and the first operating system is configured on the first mainboard; the second SDK interface layer is a general SDK interface layer of a second operating system, and the second operating system is configured on the second mainboard; the third SDK interface layer is a general SDK interface layer of a third operating system, and the third operating system is configured on the second mainboard; If the chassis compatibility result of the chassis is a successful match, the third SDK interface in the third SDK interface layer responds to the call of the application software to obtain the chassis called by the application software; The second SDK interface layer is called through the third SDK interface layer, so as to perform communication protocol analysis on the first SDK interface layer corresponding to the chassis through the second SDK interface layer, and establish a communication connection between the application software and the first SDK interface layer.

8. A compatible system for a robot chassis, characterized in that: The robot includes an upper body device, the upper body device is configured with a chassis information list, and the chassis information list includes chassis information of a plurality of chassis; The chassis information includes chassis model and IP address; The system comprises: The first module is used to obtain chassis information configured in the chassis to be compatible as first chassis information; A second module is used to match the chassis corresponding to the first chassis information and the second chassis information from the chassis information list, and connect the upper body device and the chassis to be compatible; A third module is used to establish a communication connection between the upper body device and the chassis corresponding to the first chassis information to verify the IP address of the first chassis information; The fourth module is used to match the chassis model in the first chassis information with the chassis model in the second chassis information to obtain a chassis compatibility result.

9. A robot, characterized in that: The robot comprises: at least one processor; at least one memory for storing at least one program; When the at least one program is executed by the at least one processor, the at least one processor implements the method according to any one of claims 1 to 7.

10. A computer-readable storage medium storing a program executable by a processor, characterized in that: The processor-executable program is used to perform the method according to any one of claims 1 to 7 when executed by the processor.

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