Robot identification method and device, computer equipment and robot control system

Abstract

The invention discloses a robot identification method and device, computer equipment and a robot control system. The method comprises the steps that whether joint equipment of the robot is connected or not is detected in real time; under the condition that the joint equipment of the robot is connected, an inquiry instruction is sent to the joint equipment; receiving reply information sent by the joint equipment based on the inquiry instruction; based on the reply information, determining an identifier of the joint equipment and a robot identifier corresponding to the joint equipment; determining a joint device matched with the corresponding robot identifier as a target joint device; and determining the identifier of the target joint equipment as the identification information of the corresponding robot, and completing the identification of the robot. The technical problem that when a robot controller supports multiple bus types and needs to be connected with multiple robots of different models, robot identification information needs to be manually configured in advance, and consequently efficiency is low is solved.

Description

Technical Field

[0001] The present invention relates to the field of robot control technology, and in particular to a robot identification method, device, computer equipment and robot control system. Background Art

[0002] Generally, when connecting a controller and a robot from the same manufacturer, the corresponding bus communication needs to be configured in advance so that the controller can correctly identify the robot on the bus. This form is not conducive to rapid replacement of robots, especially when the controller supports multiple buses and connects multiple robots. The robot configuration must be performed manually each time, resulting in low configuration efficiency.

[0003] To address the above-mentioned problems, no effective solution has been proposed yet. Summary of the invention

[0004] Embodiments of the present invention provide a robot identification method, apparatus, computer equipment and robot control system to at least solve the technical problem that when a robot controller supports multiple bus types and needs to connect multiple robots of different models, it is necessary to manually pre-configure robot identification information, which is relatively complex and leads to low efficiency.

[0005] According to one aspect of an embodiment of the present invention, a robot identification method is provided, including: detecting in real time whether a joint device of the robot is connected; sending an inquiry instruction to the joint device when a joint device of the robot is connected; receiving reply information issued by the joint device based on the inquiry instruction; determining an identifier of the joint device and a robot identifier corresponding to the joint device based on the reply information; determining a joint device that matches the corresponding robot identifier as a target joint device; determining the identifier of the target joint device as identification information of the corresponding robot, and completing identification of the robot.

[0006] Optionally, the identification of the target joint device is determined as the identification information of the corresponding robot to complete the identification of the robot, including: determining that the robot corresponding to the target joint device is the target robot; obtaining the connection method of the joint device in the target robot; based on the connection method, according to the identification of the joint device and the robot identification of the target robot, constructing the identification information corresponding to the target robot to complete the identification of the target robot.

[0007] Optionally, the robot identification includes at least one of the following: a serial number corresponding to the robot and a device MAC address corresponding to the robot, and the joint device identification includes at least one of the following: a serial number corresponding to the joint device and a device MAC address corresponding to the joint device.

[0008] Optionally, the joint devices of the robot are connected via a bus or wirelessly.

[0009] According to another aspect of an embodiment of the present invention, a robot control system is provided, including: an identification unit, which uses any one of the above-mentioned robot identification methods for identification; and a controller unit, which is used to control the target robot based on the target robot identification and the device identification.

[0010] Optionally, the identification unit includes: a detection subunit, used to detect in real time whether a joint device of the robot is connected; an identification subunit, used to send an inquiry command to the joint device, receive a reply information sent by the joint device based on the inquiry command and determine the identification of the joint device and the robot identification corresponding to the joint device based on the reply information; a combination subunit, used to determine that the joint device matching the corresponding robot identification is the target joint device, determine the identification of the target joint device as the identification information of the corresponding robot, and complete the identification of the robot.

[0011] According to another aspect of an embodiment of the present invention, a robot identification device is also provided, including: a detection module, used to detect in real time whether a joint device of the robot is connected; a sending module, used to send an inquiry instruction to the joint device when the joint device of the robot is connected; a receiving module, used to receive reply information issued by the joint device based on the inquiry instruction; a first determination module, used to determine the identifier of the joint device and the robot identifier corresponding to the joint device based on the reply information; a second determination module, used to determine that the joint device matching the corresponding robot identifier is the target joint device; and an identification module, used to determine the identifier of the target joint device as the identification information of the corresponding robot to complete the identification of the robot.

[0012] According to another aspect of an embodiment of the present invention, a non-volatile storage medium is provided, the non-volatile storage medium including a stored program, wherein when the program is running, the device where the non-volatile storage medium is located is controlled to execute any one of the above-mentioned robot recognition methods.

[0013] According to yet another aspect of an embodiment of the present invention, a computer device is provided. The computer device includes a processor, and the processor is used to run a program. When the program is run, any one of the above-mentioned robot recognition methods is executed.

[0014] According to yet another aspect of an embodiment of the present invention, there is further provided a computer program product, including a computer program, which implements any one of the above-mentioned robot recognition methods when executed by a processor.

[0015] In an embodiment of the present invention, a robot identification method is adopted, by real-time detection of whether a joint device of the robot is connected; when a joint device of the robot is connected, an inquiry instruction is sent to the joint device; a reply information issued by the joint device based on the inquiry instruction is received; based on the reply information, an identification of the joint device and a robot identification corresponding to the joint device are determined; a joint device matching the corresponding robot identification is determined as a target joint device; the identification of the target joint device is determined as the identification information of the corresponding robot, and the robot is identified, thereby achieving the purpose of automatically identifying the robot, thereby realizing the technical effect of improving the recognition efficiency of the robot, and further solving the technical problem that when the robot controller supports multiple bus types and needs to connect multiple robots of different models, it is necessary to manually pre-configure the robot identification information, which is relatively complex and leads to low efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of this application. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0017] Figure 1 A hardware structure block diagram of a computer terminal for implementing a robot recognition method is shown;

[0018] Figure 2 is a schematic flow chart of a robot identification method provided according to an embodiment of the present invention;

[0019] Figure 3 is a schematic diagram of joint device connection of a robot recognition method provided in an optional embodiment of the present invention;

[0020] Figure 4 is a schematic diagram of storing identification information in a robot identification method provided in an optional embodiment of the present invention;

[0021] Figure 5 is a schematic diagram of system modules of a robot control system provided according to an embodiment of the present invention;

[0022] Figure 6 is a schematic diagram of system modules of a robot control system provided according to an optional embodiment of the present invention;

[0023] Figure 7 is an implementation flow chart of a robot control system provided according to an optional embodiment of the present invention;

[0024] Figure 8 4 is a structural block diagram of a robot identification device provided according to an embodiment of the present invention. DETAILED DESCRIPTION

[0025] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0026] It should be noted that the terms "first", "second", etc. in the specification and claims 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.

[0027] According to an embodiment of the present invention, a method embodiment of a robot recognition method is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0028] The method embodiment provided in the first embodiment of the present application can be executed in a mobile terminal, a computer terminal or a similar computing device. Figure 1 FIG. 1 shows a hardware structure block diagram of a computer terminal for implementing a robot recognition method. Figure 1 As shown, the computer terminal 10 may include one or more (102a, 102b, ..., 102n are used to illustrate) processors (the processor may include but is not limited to a processing device such as a microprocessor MCU or a programmable logic device FPGA), a memory 104 for storing data. In addition, it may also include: a display, an input / output interface (I / O interface), a universal serial bus (USB) port (which may be included as one of the ports of the BUS bus), a network interface, a power supply and / or a camera. It can be understood by those skilled in the art that Figure 1 The structure shown is only for illustration and does not limit the structure of the above electronic device. Figure 1 More or fewer components as shown, or with Figure 1Different configurations are shown.

[0029] It should be noted that the one or more processors and / or other data processing circuits described above may generally be referred to herein as "data processing circuits". The data processing circuits may be embodied in whole or in part as software, hardware, firmware, or any other combination thereof. In addition, the data processing circuit may be a single independent processing module, or may be incorporated in whole or in part into any of the other components in the computer terminal 10. As described in the embodiments of the present application, the data processing circuit acts as a processor control (e.g., selection of a variable resistor terminal path connected to an interface).

[0030] The memory 104 can be used to store software programs and modules of application software, such as the program instructions / data storage device corresponding to the robot recognition method in the embodiment of the present invention. The processor executes various functional applications and data processing by running the software programs and modules stored in the memory 104, that is, the robot recognition method of the above-mentioned application is realized. The memory 104 may include a high-speed random access memory, and may also include a non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, the memory 104 may further include a memory remotely arranged relative to the processor, and these remote memories may be connected to the computer terminal 10 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.

[0031] The display may be, for example, a touch screen liquid crystal display (LCD) that enables a user to interact with a user interface of the computer terminal 10 .

[0032] Figure 2 is a flow chart of a robot recognition method according to an embodiment of the present invention. Figure 2 As shown, the method comprises the following steps:

[0033] Step S202, real-time detection of whether the robot's joint devices are connected.

[0034] In this step, it is possible to detect in real time whether a joint device of the robot is connected, wherein the robot is usually composed of multiple joint devices, and each joint device can be controlled individually. It can be detected once at fixed intervals, and the interval duration can be set according to the specific situation. If the robot is replaced frequently, the interval duration can be set shorter. Real-time detection of whether a joint device of the robot is connected is to identify any new or removed joint devices. This detection mechanism is crucial to ensure the flexibility, response speed and reliability of the multi-robot system. Specifically, the controller will not only detect the device once when the system starts, but is configured to continuously monitor the bus status and monitor the connection or disconnection of any device. When a new joint device is connected to the bus, the controller can immediately detect this change and start the device identification process. Similarly, when it is detected that a robot's device joint is disconnected, the corresponding stored robot configuration can also be deleted to reduce resource waste.

[0035] Step S204: When a joint device of the robot is connected, a query instruction is sent to the joint device.

[0036] In this step, when it is detected that a joint device of the robot is connected, an inquiry instruction can be sent to the joint device, wherein the inquiry instruction can be a predefined inquiry instruction generated by the software system of the controller, and this instruction is specially designed to request device identification information, such as the robot serial number and the joint serial number. For example, the controller can send the inquiry instruction to all connected joint devices through bus communication (such as CAN bus, EtherCAT bus, etc.). After receiving the inquiry instruction, the connected joint device will read the robot serial number and joint serial number from its internal storage, and then feed this information back to the controller through the bus. This response usually follows a specific communication protocol to ensure accurate transmission and parsing of information.

[0037] In this way, the robot controller can automatically identify and manage new joint devices when they are connected without human intervention, which improves the system's automation level and the flexibility of device connection.

[0038] Step S206, receiving reply information sent by the joint device based on the query instruction.

[0039] In this step, the joint device will reply after receiving the inquiry command, and the reply information of the joint device can be received. Specifically, the reply information can be received through a bus or a wireless connection. The reply information is usually constructed according to a predefined communication protocol format so that the controller can parse it correctly. The reply information contains at least two key fields, namely the joint device identifier and the corresponding robot identifier. In addition, the reply information may also contain other information such as device status, version number, health status, etc.

[0040] Step S208: Determine the identification of the joint device and the robot identification corresponding to the joint device based on the reply information.

[0041] In this step, based on the reply information, the identification of the joint device and the robot identification corresponding to the joint device can be determined. For example, the information can be interpreted using the parsing rules in the communication protocol. The controller software will analyze the various fields in the data packet to identify the robot serial number and joint serial number, as well as other status information that may be included. The identification here is a unique identification corresponding to the joint device, that is, the same identification will not appear in two joint devices in the same robot. Therefore, the joint device can be identified and controlled based on the identification.

[0042] Figure 3 is a schematic diagram of the connection of joint devices according to the robot recognition method provided by an optional embodiment of the present invention, such as Figure 3 As shown, the joint devices can be connected via a CAN bus or an EtherCAT bus, wherein the joint devices with the same robot serial number are the joint devices in the same robot, that is, the serial number A1 can be taken as a group, i.e. a robot whose real joints are A1-1 to A1-4, and the same applies to the A2 robot.

[0043] Step S210, determining a joint device that matches the corresponding robot identifier as a target joint device.

[0044] Step S212, determining the identifier of the target joint device as the corresponding robot identification information to complete the identification of the robot.

[0045] In this step, each joint device will reply with its own joint device identification and its corresponding robot identification, and the joint devices can be judged to belong to the same robot according to the robot identification corresponding to each joint device. For example, the controller will analyze each reply message received, and can determine that the joint devices with the same corresponding robot identification are in the same robot, and treat these joint devices as a group, determine the identification of these joint devices as the identification information of the corresponding robot, and complete the identification of the robot.

[0046] Figure 4 is a schematic diagram of storing identification information in a robot identification method provided in an optional embodiment of the present invention, such as Figure 4 As shown, when storing, the joint devices with the same robot serial number can be stored together as the identification information corresponding to the robot, and the robot serial number and joint serial number corresponding to each joint can be stored.

[0047] In this way, the robot controller can intelligently identify and locate the joint devices of each robot in the system, thereby achieving refined management and control of the multi-robot system. When a specific robot needs to be operated, the controller can quickly determine which joint devices are part of the robot, and then implement precise control of these target joint devices, improving operational efficiency and system flexibility.

[0048] Through the above steps, the purpose of automatic robot identification is achieved, thereby realizing the technical effect of improving the robot recognition efficiency, and further solving the technical problem of low efficiency caused by the need to manually pre-configure robot recognition information, which is relatively complex when the robot controller supports multiple bus types and needs to connect multiple robots of different models.

[0049] As an optional embodiment, the identification of the target joint device is determined as the identification information of the corresponding robot to complete the identification of the robot, including: determining that the robot corresponding to the target joint device is the target robot; obtaining the connection method of the joint device in the target robot; based on the connection method, according to the identification of the joint device and the robot identification of the target robot, constructing the identification information corresponding to the target robot to complete the identification of the target robot.

[0050] Optionally, determining the robot corresponding to the target joint device as the target robot and constructing the identification information corresponding to the target robot are key steps for the robot controller to achieve precise control of a specific robot. After collecting and parsing the reply information of all joint devices, the robot controller determines which joint devices belong to the same robot based on the robot identification (robot serial number) of the joint devices. Once all joint devices belonging to a specific robot are identified, the robot is marked as a "target robot". The target robot is the robot that the current robot controller is ready to control, monitor or operate. The robot controller needs to understand the connection method between the joint devices in the target robot, which includes physical connection and logical connection. The physical connection method provides information on how the device is connected in practice, while the logical connection method describes the connection order and topology of the device in the robot control software. The connection method may be stored in the controller's database or provided as an additional field in the reply information of the joint device. Based on the identification of the joint device (joint serial number) and the robot identification (robot serial number) of the target robot, as well as the connection method between the joint devices, the robot controller constructs the identification information of the target robot, wherein the identification information may include the robot model, the list of joint devices, the location and function of each joint device, etc.

[0051] Through the above steps, the robot controller can automatically identify the connection and configuration of a specific robot and its joint equipment in a complex multi-robot environment without pre-configuration or manual intervention. This identification method based on identification and connection mode improves the interoperability of robots and the flexibility of the system, allowing the robot controller to adapt to different models of robots and multiple bus types, enhancing its application potential in automation, manufacturing, logistics and other fields. At the same time, it also simplifies the process of robot deployment and maintenance and reduces the complexity of system configuration.

[0052] As an optional embodiment, the robot identification includes at least one of the following: the serial number corresponding to the robot and the device MAC address corresponding to the robot, and the joint device identification includes at least one of the following: the serial number corresponding to the joint device and the device MAC address corresponding to the joint device.

[0053] Optionally, the robot identification and joint device identification need to be their own unique authentication information, that is, they need to be unique. Therefore, the serial number or the device MAC address can be used as the identification, or the serial number and the device MAC address can be used as the identification. In a multi-robot system, in order to ensure that the robot controller can accurately identify and manage each robot and its joint device, a variety of identification methods including robot serial number and device MAC address are used. This diversified identification strategy can provide a more reliable and flexible device identification mechanism, where the robot serial number is a unique number or alphanumeric combination assigned to each robot by the robot manufacturer during production. The robot serial number is unique in the entire system and can be used to uniquely identify a robot. When the robot controller communicates with the robot, the robot serial number is the preferred way to identify the robot. The device MAC address is the physical address of the network interface controller (NIC) on the device (including the robot) connected to the network. Each network interface has a unique MAC address, so it can also be used as another way to identify the robot. In a bus-type network communication-based system, such as the Ethernet-based EtherCAT bus, using MAC addresses to identify robots is particularly effective. The joint device serial number is similar to the robot serial number. The joint device serial number is a unique identifier assigned to each joint device by the robot manufacturer during production. It is used to identify each joint device inside the robot to ensure that the controller can accurately control and monitor the movement and status of each joint. For network-connected joint devices, their network interface controller also has a unique MAC address. In scenarios where bus communication is based on the network, the MAC address provides an additional way to identify joint devices, especially when the robot serial number communication fails or is unavailable.

[0054] This identification mechanism based on serial number and MAC address provides the robot controller with multiple ways to identify devices, enhancing the robustness and adaptability of the system, especially in complex environments where multiple robots and multiple buses coexist, ensuring accurate identification and control of devices.

[0055] As an optional embodiment, the joint devices of the robot are connected via a bus or wirelessly.

[0056] Optionally, the connection methods between the joint device of the robot and the robot controller can be divided into two categories: bus connection and wireless connection. Bus connection is to realize data exchange between the joint device and the robot controller through a wired communication link. Common bus types include: CAN bus, EtherCAT bus. Wireless connection is to realize data transmission between the joint device and the robot controller through wireless communication technology. Wireless connection provides greater flexibility, especially in applications where joint devices need to move over a large range or in environments where wiring is not easy. Common wireless connection technologies include: Wi-Fi, Bluetooth, ZigBee, among which ZigBee is a low-power, low-data-rate wireless network technology suitable for communication of joint devices that are sensitive to power consumption.

[0057] Through multiple connection methods, the connected robots are not limited to one type, which greatly improves the bus compatibility of robots developed by robot manufacturers.

[0058] The present invention uses a robot identification method to complete the communication topology identification and reorganization of all robots without prior configuration, which is convenient for customers to quickly replace robots of different models on site. It also supports fast access. After the new robot is connected, all robots can be automatically reconfigured, which is convenient for customers to quickly add a new robot connection to the controller on site without affecting the original robot.

[0059] A specific implementation of the present invention is given below, including:

[0060] 1. There is a robot controller that is not connected to any robot and supports CAN bus and EtherCAT bus.

[0061] 2. Connect a 6-axis CAN bus robot A1 and two 7-axis EtherCAT bus robots A2 to the controller;

[0062] 3. By powering on the controller, the startup module of the controller is activated. The controller detects the devices on its own CAN bus and the devices on its own EtherCAT bus through the hardware driver;

[0063] 4. The controller identification module can identify 4 devices online on the CAN bus and 4 devices online on the EtherCAT bus by identifying the devices on the bus;

[0064] 5. The controller identification module sends query commands to all devices, and the devices reply with their robot serial numbers and joint serial numbers;

[0065] 6. After receiving all device serial numbers and joint serial numbers, the controller combination module takes serial number A1 as a group, that is, a robot, whose real joints are A1-1 to A1-4. The same is true for A2 robot, that is, Figure 3 As shown;

[0066] 7. At this point, the robot has completed recognition and can be controlled.

[0067] 8. If the operator connects another robot A3 at this time, the operator does not need to reactivate the startup module. The bus module of the controller will continue to monitor the bus. After finding a new device connected, it will automatically rescan all devices to complete the identification of the new robot.

[0068] It should be noted that, for the above-mentioned method embodiments, for the sake of simplicity, they are all described as a series of action combinations, but those skilled in the art should know that the present invention is not limited by the described action sequence, because according to the present invention, certain steps can be performed in other sequences or simultaneously. Secondly, those skilled in the art should also know that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required by the present invention.

[0069] Through the description of the above implementation methods, those skilled in the art can clearly understand that the robot recognition method according to the above embodiment can be implemented by means of software plus a necessary general hardware platform, and of course it can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk), and includes a number of instructions for a terminal device (which can be a mobile phone, computer, server, or network device, etc.) to execute the methods described in each embodiment of the present invention.

[0070] Figure 5 is a schematic diagram of a system module of a robot control system provided according to an embodiment of the present invention. According to another aspect of the embodiment of the present invention, a robot control system is also provided, such as Figure 5As shown, it includes: an identification unit, which adopts any one of the above-mentioned robot identification methods for identification; a controller unit, which is used to control the target robot based on the target robot identification and the device identification.

[0071] As an optional embodiment, the identification unit includes: a detection subunit, used to detect in real time whether a joint device of the robot is connected; an identification subunit, used to send an inquiry command to the joint device, receive a reply information sent by the joint device based on the inquiry command and determine the identification of the joint device and the robot identification corresponding to the joint device based on the reply information; a combination subunit, used to determine that the joint device matching the corresponding robot identification is the target joint device, determine the identification of the target joint device as the identification information of the corresponding robot, and complete the identification of the robot.

[0072] Figure 6 is a schematic diagram of system modules of a robot control system provided according to an optional embodiment of the present invention, such as Figure 6 As shown, it includes: a robot controller module 601, a start module 602, an identification module 603, a combination module 604, a bus module 605, and a robot machine joint module 606.

[0073] The robot controller module 601 includes control, calculation and storage units, which is usually an industrial computer that runs the robot's control software system.

[0074] The startup module 602 is responsible for starting the robot control software and each bus module 605 .

[0075] The identification module 603 is responsible for identifying all connected bus sub-devices online through the bus.

[0076] The combination module 604 is responsible for reorganizing all identified bus sub-devices into corresponding robots.

[0077] The bus module 605 may include various types of buses, such as 485, CAN, and EtherCAT.

[0078] Robot machine joint module 606, a robot is composed of multiple joints, each joint is a bus sub-device, there may be multiple robots, using different buses, connected to the same controller.

[0079] Figure 7 is an implementation flow chart of a robot control system according to an optional embodiment of the present invention, such as Figure 7 As shown, the process of the implementation method of the system is as follows:

[0080] In step 701, preparations are made to start connecting to the robot.

[0081] In step 702, all robots to be connected are connected through hard wiring (if the bus is wireless, it is connected in wireless form) to complete the connection between the bus module 605 and the robot machine joint module 606.

[0082] In step 703, the operator activates the start module 602, which can be activated by hardware signals or software signals, such as using the operation button of the controller. The activation method can also be that after the entire operation process is completed, the robot bus module recognizes that there is a new device in the bus, and then reactivates the robot start module.

[0083] In step 704, after the startup module 602 is activated, all buses of the controller are activated at the same time, regardless of whether there are devices connected to the buses.

[0084] In step 705, the identification module 603 detects all online devices on all buses and stores the records of the online devices; the detection time can be set in advance by the technician.

[0085] In step 706, the identification module 603 sends a specific query instruction to all online devices, requiring the devices to reply with their own robot serial numbers and joint serial numbers.

[0086] In step 707, after receiving the bus query command, the joint device of the robot joint module 606 sends its own robot serial number and joint serial number to the bus. (The serial number is the unique authentication information of the joint device, and the general robot manufacturer will write this information before leaving the factory).

[0087] According to an embodiment of the present invention, a robot identification device for implementing the above robot identification method is also provided. Figure 8 is a structural block diagram of a robot recognition device provided according to an embodiment of the present invention. Figure 8 As shown, the robot recognition device includes: a detection module 802, a sending module 804, a receiving module 806, a first determination module 808, a second determination module 810 and a recognition module 812. The robot recognition device is described below.

[0088] The detection module 802 is used to detect in real time whether the joint device of the robot is connected.

[0089] The sending module 804 is connected to the detection module 802 and is used to send an inquiry instruction to the joint device when the joint device of the robot is connected.

[0090] The receiving module 806 is connected to the sending module 804 and is used to receive the reply information sent by the joint device based on the query instruction.

[0091] The first determining module 808 is connected to the receiving module 806 and is used to determine the identification of the joint device and the robot identification corresponding to the joint device based on the reply information.

[0092] The second determination module 810 is connected to the first determination module 808 and is used to determine that the joint device that matches the corresponding robot identifier is the target joint device.

[0093] The identification module 812 is connected to the second determination module 810 and is used to determine the identification of the target joint device as the identification information of the corresponding robot to complete the identification of the robot.

[0094] It should be noted that the detection module 802, the sending module 804, the receiving module 806, the first determination module 808, the second determination module 810 and the identification module 812 correspond to steps S202 to S212 in the embodiment, and the examples and application scenarios implemented by the multiple modules and the corresponding steps are the same, but are not limited to the contents disclosed in the above embodiment. It should be noted that the above modules, as part of the device, can be run in the computer terminal 10 provided in the embodiment.

[0095] An embodiment of the present invention may provide a computer device. Optionally, in this embodiment, the computer device may be located in at least one network device among multiple network devices of a computer network. The computer device includes a memory and a processor.

[0096] Among them, the memory can be used to store software programs and modules, such as program instructions / modules corresponding to the robot recognition method and device in the embodiment of the present invention. The processor executes various functional applications and data processing by running the software programs and modules stored in the memory, that is, realizing the above-mentioned robot recognition method. The memory may include a high-speed random access memory, and may also include a non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, the memory may further include a memory remotely arranged relative to the processor, and these remote memories can be connected to the computer terminal 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.

[0097] The processor can call the information and application programs stored in the memory through the transmission device to execute the following steps: detect in real time whether the robot's joint device is connected; when the robot's joint device is connected, send an inquiry command to the joint device; receive reply information sent by the joint device based on the inquiry command; based on the reply information, determine the identification of the joint device and the robot identification corresponding to the joint device; determine the joint device that matches the corresponding robot identification as the target joint device; determine the identification of the target joint device as the identification information of the corresponding robot to complete the identification of the robot.

[0098] Optionally, the processor may also execute the program code of the following steps: determining the identification of the target joint device as the identification information of the corresponding robot to complete the identification of the robot, including: determining that the robot corresponding to the target joint device is the target robot; obtaining the connection method of the joint device in the target robot; based on the connection method, according to the identification of the joint device and the robot identification of the target robot, constructing the identification information corresponding to the target robot to complete the identification of the target robot.

[0099] Optionally, the processor may also execute the program code of the following steps: the robot identification includes at least one of the following: the serial number corresponding to the robot and the device MAC address corresponding to the robot; the joint device identification includes at least one of the following: the serial number corresponding to the joint device and the device MAC address corresponding to the joint device.

[0100] Optionally, the processor may also execute program codes of the following steps: the joint devices of the robot are connected via a bus or wirelessly.

[0101] By adopting the embodiment of the present invention, a method for robot identification is provided, which detects in real time whether a joint device of the robot is connected; when a joint device of the robot is connected, sends an inquiry instruction to the joint device; receives reply information sent by the joint device based on the inquiry instruction; based on the reply information, determines the identification of the joint device and the robot identification corresponding to the joint device; determines the joint device that matches the corresponding robot identification as the target joint device; determines the identification of the target joint device as the identification information of the corresponding robot, completes the identification of the robot, and achieves the purpose of automatically identifying the robot, thereby realizing the technical effect of improving the recognition efficiency of the robot, and further solves the technical problem that when the robot controller supports multiple bus types and needs to connect multiple robots of different models, it is necessary to manually pre-configure the robot identification information, which is relatively complicated and leads to low efficiency.

[0102] A person of ordinary skill in the art can understand that all or part of the steps in the various methods of the above embodiments can be completed by instructing the hardware related to the terminal device through a program, and the program can be stored in a non-volatile storage medium, and the storage medium may include: a flash drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, etc.

[0103] The embodiment of the present invention further provides a non-volatile storage medium. Optionally, in this embodiment, the non-volatile storage medium can be used to store the program code executed by the robot recognition method provided in the above embodiment.

[0104] Optionally, in this embodiment, the non-volatile storage medium may be located in any computer terminal in a computer terminal group in a computer network, or in any mobile terminal in a mobile terminal group.

[0105] Optionally, in this embodiment, the non-volatile storage medium is configured to store program codes for executing the following steps: detecting in real time whether a joint device of the robot is connected; sending an inquiry instruction to the joint device when a joint device of the robot is connected; receiving reply information issued by the joint device based on the inquiry instruction; determining, based on the reply information, an identifier of the joint device and an identifier of the robot corresponding to the joint device; determining a joint device that matches the corresponding robot identifier as a target joint device; determining the identifier of the target joint device as identification information of the corresponding robot to complete identification of the robot.

[0106] Optionally, in this embodiment, the non-volatile storage medium is configured to store program code for executing the following steps: determining the identification of the target joint device as the identification information of the corresponding robot to complete the identification of the robot, including: determining that the robot corresponding to the target joint device is the target robot; obtaining the connection method of the joint device in the target robot; based on the connection method, according to the identification of the joint device and the robot identification of the target robot, constructing the identification information corresponding to the target robot to complete the identification of the target robot.

[0107] Optionally, in this embodiment, the non-volatile storage medium is configured to store program code for executing the following steps: the robot identification includes at least one of the following: the serial number corresponding to the robot and the device MAC address corresponding to the robot, and the identification of the joint device includes at least one of the following: the serial number corresponding to the joint device and the device MAC address corresponding to the joint device.

[0108] Optionally, in this embodiment, the non-volatile storage medium is configured to store program codes for executing the following steps: the joint devices of the robot are connected via a bus or wirelessly.

[0109] An embodiment of the present invention further provides a computer program product, including a computer program. Optionally, in this embodiment, when the computer program is executed by a processor, the following can be achieved:

[0110] The serial numbers of the above embodiments of the present invention are only for description and do not represent the advantages or disadvantages of the embodiments.

[0111] In the above embodiments of the present invention, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0112] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the device embodiments described above are only schematic. For example, the division of the units can be a logical function division. There may be other division methods in actual implementation. For example, 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 units or modules, which can be electrical or other forms.

[0113] 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 units. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0114] 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.

[0115] 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 non-volatile storage medium. Based on this understanding, the technical solution of the present invention, 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 a number of instructions to enable a computer device (which can be a personal computer, server or 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, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, magnetic disk or optical disk and other media that can store program codes.

[0116] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A robot identification method, characterized in that: include: Real-time detection of whether the robot's joint equipment is connected; In case that a joint device of the robot is connected, sending an inquiry command to the joint device; receiving a reply message sent by the joint device based on the query instruction; Based on the reply information, determining the identification of the joint device and the robot identification corresponding to the joint device; Determine the joint device that matches the corresponding robot identification as the target joint device; The identification of the target joint device is determined as the identification information of the corresponding robot to complete the identification of the robot.

2. The method according to claim 1, characterized in that The step of determining the identification of the target joint device as the identification information of the corresponding robot to complete the identification of the robot includes: Determine that the robot corresponding to the target joint device is the target robot; Obtaining the connection mode of the joint devices in the target robot; Based on the connection mode, according to the identification of the joint device and the robot identification of the target robot, the identification information corresponding to the target robot is constructed to complete the identification of the target robot.

3. The method according to claim 1, characterized in that The robot identification includes at least one of the following: a serial number corresponding to the robot and a device MAC address corresponding to the robot, and the identification of the joint device includes at least one of the following: a serial number corresponding to the joint device and a device MAC address corresponding to the joint device.

4. The method according to claim 1, characterized in that: The joint devices of the robot are connected via a bus or wirelessly.

5. A robot control system, characterized in that: include: An identification unit, which uses any robot identification method of claims 1 to 4 to perform identification; The controller unit is used to control the target robot based on the target robot identification and the device identification.

6. The system according to claim 5, characterized in that The identification unit comprises: A detection subunit is used to detect in real time whether a joint device of the robot is connected; an identification subunit, configured to send an inquiry instruction to the joint device, receive a reply message sent by the joint device based on the inquiry instruction, and determine an identifier of the joint device and an identifier of a robot corresponding to the joint device based on the reply message; The combined subunit is used to determine that the joint device matching the corresponding robot identification is the target joint device, and to determine the identification of the target joint device as the identification information of the corresponding robot to complete the identification of the robot.

7. A robot recognition device, characterized in that: include: A detection module is used to detect in real time whether the robot's joint equipment is connected; A sending module, used for sending an inquiry instruction to the joint device when a joint device of the robot is connected; A receiving module, used for receiving reply information sent by the joint device based on the query instruction; A first determination module, configured to determine, based on the reply information, an identifier of the joint device and an identifier of a robot corresponding to the joint device; A second determination module is used to determine that the joint device matching the corresponding robot identifier is the target joint device; The identification module is used to determine the identification of the target joint device as the identification information of the corresponding robot to complete the identification of the robot.

8. A non-volatile storage medium, characterized in that: The non-volatile storage medium includes a stored program, wherein when the program is executed, the device where the non-volatile storage medium is located is controlled to execute the robot recognition method according to any one of claims 1 to 4.

9. A computer device, characterized in that: include: Memory and processor, The memory stores a computer program; The processor is used to execute the computer program stored in the memory, and when the computer program is run, the processor executes the robot identification method according to any one of claims 1 to 4.

10. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the robot identification method according to any one of claims 1 to 4 is implemented.

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