End effector management method and device

Abstract

The invention provides an end effector management method, an end effector management device and an end effector management method, which are applied to end effector management equipment, such as management of a manipulator, namely a dexterous hand. The method comprises the steps that under the condition that a first input for the end effector management device is received, a first interface is displayed, and an operation control is displayed on the first interface; the operation control comprises a connection search control; the connection search control is used for newly adding an end effector and establishing connection between the end effector management equipment and the end effector. Thus, the connection between the end effector management equipment and the end effector can be established through the connection search control, and after the connection is established, the end effector can be managed through the end effector management equipment, so that the management accuracy and the management effect of the end effector are enhanced, and the management efficiency of the end effector is improved. And thus, the management effect on the end effector is enhanced.

Description

Technical Field

[0001] The embodiments of the present application relate to the field of robotics technology, and in particular, to an end effector management method and device. Background Art

[0002] With the continuous development of robot technology, robots have occupied an increasingly important position in people's lives. At present, the end effector is the main control component of the robot, such as the manipulator, that is, the management of the dexterous hand. The functions of the end effector are becoming more and more diverse and intelligent. However, when controlling the end effector for management, the end effector can usually only be managed manually by the operator. It can be seen that the current management effect of controlling the end effector is poor. Summary of the invention

[0003] The embodiments of the present application provide an end effector management method and device to solve the current problem of poor management effect on controlling the end effector.

[0004] To solve the above problems, this application is implemented as follows:

[0005] In a first aspect, an embodiment of the present application provides an end effector management method, which is applied to an end effector management device, for example, for the management of a manipulator, i.e., a dexterous hand. The method comprises:

[0006] In case of receiving a first input to the end effector management device, displaying a first interface, wherein an operation control is displayed on the first interface; the operation control includes a connection search control;

[0007] The connection search control is used to add a new end effector and establish a connection between the end effector management device and the end effector.

[0008] In a second aspect, an embodiment of the present application provides an end effector management device, which is applied to an end effector management device, and the end effector management device includes:

[0009] A first display module, configured to display a first interface upon receiving a first input to the end effector management device, wherein the first interface displays an operation control; the operation control includes a connection search control;

[0010] The connection search control is used to add a new end effector and establish a connection between the end effector management device and the end effector.

[0011] In a third aspect, an embodiment of the present application further provides a management device, comprising: a memory, a processor, and a program stored in the memory and executable on the processor; the processor is used to read the program in the memory to implement the steps in the method described in the first aspect above.

[0012] In a fourth aspect, an embodiment of the present application further provides a readable storage medium for storing a program, which, when executed by a processor, implements the steps in the method described in the first aspect above.

[0013] In a fifth aspect, an embodiment of the present application further provides a computer program product, comprising computer instructions, which, when executed by a processor, implement the steps in the method described in the first aspect above.

[0014] In an embodiment of the present application, since operation controls are displayed on the first interface of the management device of the end effector, such as a manipulator, i.e., a dexterous hand, etc., the operation controls include a connection search control; the connection search control is used to add a new end effector and establish a connection between the end effector management device and the end effector, in this way, a connection between the end effector management device and the end effector can be established through the connection search control, and after the connection is established, the end effector can be managed through the end effector management device, thereby enhancing the management accuracy and management effect of the end effector, and thereby enhancing the management effect of the end effector. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the description of the embodiments of the present application will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0016] Figure 1 is a flow chart of the end effector management method provided in an embodiment of the present application;

[0017] Figure 2 This is one of the display interface schematic diagrams of the end effector management device provided in the embodiment of the present application;

[0018] Figure 3 This is the second display interface schematic diagram of the end effector management device provided in the embodiment of the present application;

[0019] Figure 4 This is the third display interface schematic diagram of the end effector management device provided in the embodiment of the present application;

[0020] Figure 5This is the fourth display interface schematic diagram of the end effector management device provided in the embodiment of the present application;

[0021] Figure 6 This is the fifth display interface schematic diagram of the end effector management device provided in the embodiment of the present application;

[0022] Figure 7 This is the sixth display interface schematic diagram of the end effector management device provided in the embodiment of the present application;

[0023] Figure 8 is a structural schematic diagram of an end effector management device provided in an embodiment of the present application;

[0024] Fig. 9 It is a structural schematic diagram of the end effector management device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0025] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0026] The terms "first", "second" etc. in the embodiments of the present application are used to distinguish similar objects, and need not be used to describe a specific order or sequential order. In addition, the terms "include" and "have" and any variation thereof are intended to cover non-exclusive inclusions, for example, the process, method, system, product or equipment comprising a series of steps or units need not be limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or equipment. In addition, "and / or" is used in the present application to represent at least one of connected objects, such as A and / or B and / or C, representing the inclusion of separate A, separate B, separate C, and A and B all exist, B and C all exist, A and C all exist, and 7 situations that A, B and C all exist.

[0027] See also Figure 1 , Figure 1 It is a flow chart of the end effector management method provided in an embodiment of the present application. Figure 1 The end effector management method shown can be executed by an end effector management device, that is, Figure 1 The end effector management method shown can be applied to an end effector management device. Figure 1 As shown, the end effector management method may include the following steps:

[0028] Step 101: upon receiving a first input to the end effector management device, displaying a first interface, wherein an operation control is displayed on the first interface; the operation control includes a connection search control;

[0029] The connection search control is used to add a new end effector and establish a connection between the end effector management device and the end effector.

[0030] For example:

[0031] After the user clicks the connection search control, the interface where the "Start Connection" control is located pops up (optional, you can also directly enter the communication protocol selection interface when clicking the connection search control). When the user clicks the "Start Connection" control, the communication protocol selection interface pops up. The communication protocols include 485 communication protocol and EtherCAT communication protocol.

[0032] When the user selects the "485" communication protocol and clicks OK, the end effector device connection information filling interface pops up, which includes the end effector ID, serial port number, and baud rate. After the user fills in the information and clicks OK, the connection between the end effector and the management device can be established.

[0033] When the user selects the "EtherCAT" communication protocol and clicks OK, the end effector selection interface pops up; the user selects the end effector device to be connected and clicks the "OK" control to establish a connection between the end effector and the management device.

[0034] Another example:

[0035] After the user clicks the connection search control, the end effector device connection information filling interface pops up, which includes the end effector ID, serial port number, and baud rate. After the user fills in the information, click Confirm to establish the connection between the end effector and the management device.

[0036] The robot may include an end effector, and optionally, the end effector may include at least one of a dexterous hand and a dexterous foot, etc., and the end effector plays a key role in the interaction between the robot and the environment.

[0037] It should be noted that the specific type of the end effector is not limited here.

[0038] Optionally, the end effector may also include at least one of the following:

[0039] Robotic hand: such as dexterous hand, is a current robot, especially a hand used in humanoid robots that imitates human hands.

[0040] Gripper: used to grab, hold and place objects. There are many types of grippers, such as single-finger grippers, multi-finger grippers, parallel grippers, etc., to accommodate objects of different shapes and sizes.

[0041] Tool Changer: A device used to quickly change tools at the end of a robot. It usually consists of a tool tray, a changing mechanism, and a control system. Through the tool changer, the robot can quickly change different tools and realize automated operations of different processes.

[0042] Sensor-type end effector: Sensors can be installed at the end of the robot to perceive information about the environment and objects. Common sensors include visual sensors, force sensors, tactile sensors, etc. They can be used for object detection, positioning, force control operations, etc.

[0043] Dedicated end effectors: Designed for specific work requirements, such as sorting, palletizing, welding, etc., these actuators have specific functions and structures to meet the needs of specific scenarios.

[0044] Clamp-type end effector: also commonly known as a clamp-type picker, it is a commonly used end effector form for industrial robots and is widely used on assembly lines.

[0045] Optionally, at least one of a joint torque sensor, a position sensor, a temperature sensor, and a tactile sensor similar to human skin can be integrated on the end effector, thereby improving the flexibility, stability and perception ability of the end effector.

[0046] Among them, the end effector management device in the embodiment of the present application can also be referred to as an end effector management platform or management device. Through the end effector management device, interaction with the end effector and management of the end effector can be realized. At the same time, M operation controls can be displayed on the end effector management device, so that visual management of the end effector can be realized, thereby improving the research and development efficiency and application promotion progress of the end effector and enhancing the user experience. It should be noted that the end effector management device can be understood as an electronic device used to manage the end effector.

[0047] Among them, the display mode, shape, quantity and other features of the M operation controls can be selected according to specific implementation requirements, and this embodiment does not make specific limitations here. Optionally, the display mode of the M operation controls can be a floating display mode, or the display mode of the M operation controls can be a circular button, or the display mode of the M operation controls can be a square button.

[0048] For example: See Figure 2 , Figure 2The interface shown in may be a display interface of an end effector management device, on which a plurality of operation controls may be displayed, which may be operation control A, operation control B, operation control C, operation control D, operation control E, operation control F, operation control G, and operation control H, respectively.

[0049] It should be noted that each operation control may correspond to one operation, and different operation controls may correspond to different operations.

[0050] In an embodiment of the present application, the operation control includes a connection search control, and the connection search control is used to add a new end effector and establish a connection between the end effector management device and the end effector. In this way, a connection between the end effector management device and the end effector can be established through the connection search control, and after the connection is established, the end effector can be managed through the end effector management device, thereby enhancing the management accuracy and management effect of the end effector, and thereby enhancing the management effect of the end effector.

[0051] It should be noted that the specific operation of the first input is not limited here.

[0052] As an optional implementation manner, the first input includes one of the following operations:

[0053] A confirmation operation input by a user for connecting the end effector;

[0054] A login operation of the end effector management device input by a user.

[0055] Among them, when the end effector management device automatically searches for the end effector and establishes a connection with the end effector, the first input can be a confirmation operation input by the user to connect to the end effector, that is, the user only needs to confirm through the first input that the connection established between the end effector management device and the end effector is valid, so that the end effector can be managed through the end effector management device, which simplifies the user's operation.

[0056] Among them, the first input can be the login operation of the end effector management device input by the user. The first interface will only be displayed after the end effector management device logs in successfully. In this way, it can prevent the end effector management device from being used by other users who do not have permission to use, thereby causing the phenomenon of unauthorized management of the end effector, thereby enhancing the security of the use of the end effector management device.

[0057] It should be noted that the specific types of operation controls are not limited here.

[0058] As an optional implementation, the operation control further includes an information display control and / or a parameter configuration control;

[0059] The information display control is used to trigger the display of relevant information of the end effector;

[0060] The parameter configuration control is used to trigger the display of the parameter information configuration interface of the end effector.

[0061] Among them, the information display control can also be called a home page interface jump control. When the information display control receives the target input, the end effector management device can display the home page interface, and the home page interface can display the relevant information of the end effector, and the specific content of the relevant information is not limited here.

[0062] The parameter configuration control is used to trigger the display of the parameter information configuration interface of the end effector, so that the parameter information of the end effector can be configured on the parameter information configuration interface, thereby further enhancing the management effect of the end effector.

[0063] See also Figure 3 , Figure 3 The operation controls shown in FIG. 3 include an information display control 301 and a parameter configuration control 302 .

[0064] As an optional implementation, when a second input to the information display control is received, relevant information of the end effector is displayed, and the relevant information of the end effector includes at least one of the following information: basic information, performance parameter information, and fault information.

[0065] Among them, basic information may include the connection status, model, version, serial number, ID, etc. of the end effector; performance parameter information may include the current angle, torque, current, temperature of each joint of the end effector and parameters of each end sensor, such as pressure value, etc.; fault information may include the type and location of the fault of the end effector. For example: See Figure 4 , Figure 4 The relevant information includes basic information 401 , performance parameter information 402 , and fault information 403 .

[0066] It should be noted that, optionally, when displaying relevant information of the end effector, a reset control can also be displayed. When an input for the reset control is received, at least part of the relevant information can be reset. For example, when the displayed performance parameter information includes the end sensor parameters, a reset control is displayed. The reset control is used to reset the pressure value of each end sensor to avoid random deviations that occur after the end sensor has been working for a period of time (i.e., the pressure value of the end sensor is still not 0 when not pressed), which may cause errors in the tactile perception function of the end.

[0067] Among them, the second input can refer to the corresponding description in the above-mentioned first input, and will not be repeated here.

[0068] In the implementation manner of the present application, when the second input to the information display control is received, the relevant information of the end effector is displayed. In this way, the relevant information of the end effector can be displayed more intuitively and accurately, thereby enhancing the display effect of the relevant information of the end effector.

[0069] In the implementation manner of the present application, the operation control also includes an information display control and / or a parameter configuration control, so that corresponding management of the end effector can be performed through the information display control and the parameter configuration control, thereby further enhancing the management effect of the end effector.

[0070] As an optional implementation, when a third input to the parameter configuration control is received, a parameter information configuration interface of the end effector is displayed, and the parameter information configuration interface is used to input parameter configuration information of the end effector.

[0071] The specific form of the third input is not limited here. Optionally, the input method of the third input may include at least one of the following: touch input, press input and voice input.

[0072] See also Figure 5 , Figure 5 It is a schematic diagram of the display interface of the parameter information configuration interface 501.

[0073] In the implementation manner of the present application, the parameter configuration information of the end effector can be input on the parameter information configuration interface, thereby realizing the parameter configuration of the end effector, thereby further enhancing the management effect of the end effector.

[0074] As an optional implementation, before the input confirmation operation of connecting the end effector, the method further includes:

[0075] The zeroth interface is displayed, and an information input box is displayed on the zeroth interface; the information input box is used to input the connection information of the end effector.

[0076] Among them, the specific method of inputting the connection information of the end effector in the information input box is not limited here. Optionally, the connection information of the end effector can be input in the information input box through at least one of the following input methods: touch input, press input and voice input.

[0077] It should be noted that after entering the connection information of the end effector in the information input box, you can also select information such as the connection protocol between the end effector and the Lingqingsong management device, which is not limited here.

[0078] See also Figure 6 , Figure 6 In the middle, an information input box 602 is displayed on the zeroth interface 601 .

[0079] In the implementation manner of the present application, the user can input the connection information of the end effector in the information input box, thus providing a method for actively inputting the connection information of the end effector, that is, increasing the diversity of the methods for inputting the connection information of the end effector.

[0080] As an optional implementation, see Figure 3 , the operation control also includes at least one of the following, or at least one of the following replaces the connection search control:

[0081] A calibration entry control 303, used to calibrate the end effector;

[0082] Initialization entry control 304, used to initialize the end effector;

[0083] A debugging entry control 305 is used to debug the end effector;

[0084] An upgrade entry control 306, used to upgrade the end effector;

[0085] The fault detection control 307 is used to detect and / or display fault information of the end effector.

[0086] Among them, the calibration entry control 303 is used to calibrate the end effector, which can be understood as: calibrating various parameters of the end effector so that the end effector can perform related actions according to the calibrated parameters when used, for example: the angles of each joint of the end effector can be calibrated.

[0087] The initialization entry control 304 is used to initialize the end effector, which can be understood as: restoring various parameters of the end effector to factory parameters, that is, initializing the end effector.

[0088] Among them, the debugging entry control 305 is used to debug the end effector, which can be understood as debugging the end effector to ensure that the various functions of the end effector can operate normally, or the end effector can be adjusted to make the end effector perform corresponding actions.

[0089] Among them, the upgrade entry control 306 is used to upgrade the end effector, which can be understood as upgrading the version of the application on the end effector. In this way, the version of the application of the end effector can be updated, thereby realizing the upgrade of the function of the end effector.

[0090] Among them, the fault detection control 307 is used to detect and / or display fault information of the end effector, which can be understood as: performing fault detection on the end effector, and when the end effector has a fault, the fault information of the end effector can be displayed.

[0091] In the implementation manner of the present application, the diversity of types of operating controls is increased, so that the management of the end effector can be made more flexible, and the management effect of the end effector is further enhanced.

[0092] As an optional implementation, when a fourth input to the debugging entry control is received, a debugging interface is displayed, wherein a virtual image of the end effector and an angle adjustment control are displayed on the debugging interface;

[0093] When a fifth input to the angle adjustment control is received, the angle of the joint of the end effector is adjusted.

[0094] Among them, see Figure 7 , a virtual image 702 of the end effector and an angle adjustment control 703 are displayed on the debugging interface 701 .

[0095] Among them, the fifth input can refer to the corresponding description of the first input mentioned above, and will not be repeated here.

[0096] In the implementation manner of the present application, when the fifth input to the angle adjustment control is received, the angle of the joint of the end effector is adjusted, thereby achieving the adjustment of the angle of the joint of the end effector, thereby further enhancing the management effect of the end effector.

[0097] It should be noted that the specific method of adjusting the angle of the joint of the end effector according to the angle adjustment control is not limited here.

[0098] As an optional embodiment, the angle adjustment control includes a progress bar, and there is at least one progress bar; when a fifth input to the angle adjustment control is received, the angle of the joint of the end effector is adjusted, including: determining the target angle according to the sliding position of the progress bar; and adjusting the angle of the joint corresponding to the progress bar to the target angle.

[0099] Among them, the angle adjustment control includes a progress bar, and there is at least one progress bar. When there are at least two progress bars, the progress bars can correspond one-to-one to the joints of the end effector, that is, one progress bar can correspond to one joint of the end effector.

[0100] In an embodiment of the present application, the angle adjustment control includes a progress bar, and the adjustment angle of the joint corresponding to the progress bar can be determined as the target angle according to the sliding position of the progress bar. In this way, the angle of the joint of the end effector can be adjusted intuitively and accurately.

[0101] As another optional embodiment, the angle adjustment control includes an input box; when a fifth input to the angle adjustment control is received, the angle of the joint of the end effector is adjusted, including: taking the angle received by the input box as the target angle, and adjusting the angle of the joint corresponding to the input box to the target angle.

[0102] Among them, the angle adjustment control includes an input box, and the number of the input boxes can be at least one. When the number of the input boxes is at least two, the input boxes can correspond one-to-one to the joints of the end effector, that is, one input box can correspond to one joint of the end effector.

[0103] In the embodiment of the present application, the angle adjustment control includes an input box, and the adjustment angle of the joint corresponding to the input box can be determined as the target angle according to the angle received in the input box, so that the angle of the joint of the end effector can be adjusted intuitively and accurately. At the same time, the diversity and flexibility of the adjustment method of the angle of the joint of the end effector are also increased.

[0104] As an optional implementation, the method further includes:

[0105] Detecting and displaying the actual current angle of the joint;

[0106] The debugging result of the joint is determined according to the actual angle and the target angle of the joint.

[0107] The current actual angle of the joint may be detected in real time or at preset intervals, and the specific duration of the preset period is not limited herein.

[0108] Among them, determining the debugging result of the joint according to the actual angle and the target angle of the joint can be understood as: comparing the actual angle of the joint with the target angle, when the actual angle of the joint matches the target angle, it is determined that the adjustment is completed, and when the actual angle of the joint does not match the target angle, it is determined that the adjustment is not completed.

[0109] It should be noted that when the difference between the actual angle and the target angle of the joint is less than the preset difference, it is determined that the actual angle and the target angle of the joint match; when the difference between the actual angle and the target angle of the joint is greater than or equal to the preset difference, it is determined that the actual angle and the target angle of the joint do not match.

[0110] In the implementation manner of the present application, the current actual angle of the joint can be detected in real time or at preset intervals, and whether the joint debugging is completed can be determined based on the actual angle of the joint and the target angle. In this way, the debugging result of the joint angle can be guaranteed to be more correct.

[0111] As an optional embodiment, when the sixth input to the fault detection control is received, a fault information interface is displayed, on which the fault information of the faulty component of the end effector and the coordinate information of the faulty component are displayed, wherein the faulty component includes information of at least one of the following components: the motor of the joint of the end effector, the angle sensor of the joint, the drive plate of the joint, and the end sensor at the end of the end effector. The end sensor includes a tactile sensor. The coordinate information of the faulty component is used to indicate the position of the faulty component on the end effector. For example, when the end effector is a dexterous hand, the coordinate information is used to indicate the component of the first joint on which finger of which numbered hand (for two hands, it is the left hand or the right hand). For example, if the angle sensor numbered XXXXX fails, its coordinate information is displayed, and the coordinate information is:

[0112] Dexterous Hand Number finger joint Faulty parts 00001 thumb The third joint Angle Sensor 00008 index finger fingertip Tactile Sensor 00562 Ring finger First joint Motor 00870 little finger Second joint Driver board

[0113] The above coordinate information can also be obtained by displaying a picture of the end effector and highlighting the faulty component on the end effector of the picture (if it is a dexterous hand, display a picture of the dexterous hand and highlight or display the faulty component in the picture). When the faulty component is clicked or the cursor is hovered over the faulty component, the fault information will pop up, which makes it easier to find the faulty component.

[0114] Among them, it should be noted that when the end effector is a dexterous hand, the fingers of the dexterous hand usually include joints and fingertips, and the joints can also be referred to as joint modules, and the fingertips can also be referred to as fingertip modules, and the joint modules are provided with motors and angle sensors, and the fingertip modules are provided with fingertip sensors, such as tactile sensors. As a part of the joint module, the motor outputs torque through the output shaft of the joint module through a reducer. The motor is connected to the drive board and rotates under the control of the drive board, and the angle sensor can be used to detect the rotation angle of the output shaft of the joint module. Optionally, the tactile sensor of the fingertip can be installed on the fingertip of the fingertip module to sense pressure.

[0115] In the implementation manner of the present application, the fault information of the faulty component of the end effector is displayed on the fault information interface, so that the staff can accurately obtain the fault information of the faulty component, thereby improving the efficiency of repairing or replacing the faulty component.

[0116] As an optional implementation manner, when the seventh input to the upgrade entry control is received, an upgrade interface is displayed, and the upgrade interface displays multiple upgrade version information of the end effector;

[0117] When the target version information among the multiple upgrade version information is determined, the end effector is upgraded according to the target version information.

[0118] Among them, the seventh input can refer to the relevant description of the first input, and the details will not be repeated here.

[0119] Among them, the target version information can be the latest version information, and the latest version information can be understood as the version information whose generation time is closest to the current time; or, the target version information can also be version information with target function. It should be noted that the specific type of the target version information is not limited here.

[0120] Among them, the specific method of determining the target version information among multiple upgrade version information is not limited here. Optionally, the target version information can be determined by instructions input by the user, or, again optionally, label information for each upgrade version information used to indicate the generation time can be obtained, and the upgrade version information whose generation time is closest to the current time is determined as the target version information.

[0121] In the implementation manner of the present application, the end effector is upgraded according to the target version information, so that the application program of the upgraded end effector has higher stability and the latest functions, so that the use effect of the upgraded end effector is better.

[0122] As an optional implementation, upon receiving an eighth input to the initialization entry control, an initialization operation is performed on the end effector.

[0123] Among them, the eighth input can refer to the relevant description of the first input mentioned above, and will not be repeated here.

[0124] In the implementation manner of the present application, when the eighth input to the initialization entry control is received, the end effector is initialized, thereby simplifying the initialization operation of the end effector and improving the efficiency of the initialization operation of the end effector.

[0125] See also Figure 8 , Figure 8 : is a structural diagram of an end effector management device provided in an embodiment of the present application. The end effector management device is applied to an end effector management device. The end effector management device 800 includes:

[0126] A first display module 801 is used to display a first interface when receiving a first input to the end effector management device, wherein the first interface displays an operation control; the operation control includes a connection search control;

[0127] The connection search control is used to add a new end effector and establish a connection between the end effector management device and the end effector.

[0128] As an optional implementation manner, the first input includes one of the following operations:

[0129] A confirmation operation input by a user for connecting the end effector;

[0130] A login operation of the end effector management device input by a user.

[0131] As an optional implementation, the operation control further includes an information display control and / or a parameter configuration control;

[0132] The information display control is used to trigger the display of relevant information of the end effector;

[0133] The parameter configuration control is used to trigger the display of the parameter information configuration interface of the end effector.

[0134] As an optional implementation, the end effector management device 800 further includes:

[0135] The second display module is used to display the zeroth interface, and an information input box is displayed on the zeroth interface; the information input box is used to input the connection information of the end effector.

[0136] As an optional implementation, when a second input to the information display control is received, relevant information of the end effector is displayed, and the relevant information of the end effector includes at least one of the following information: basic information, performance parameter information, and fault information.

[0137] As an optional implementation, the end effector management device 800 further includes:

[0138] The third display module is used to display the parameter information configuration interface of the end effector when receiving the third input to the parameter configuration control, wherein the parameter information configuration interface is used to input the parameter configuration information of the end effector.

[0139] As an optional implementation manner, the operation control further includes at least one of the following, or at least one of the following replaces the connection search control:

[0140] A calibration entry control, used to calibrate the end effector;

[0141] Initialization entry control, used to initialize the end effector;

[0142] A debugging entry control, used for debugging the end effector;

[0143] An upgrade entry control, used to upgrade the end effector;

[0144] A fault detection control is used to detect and / or display fault information of the end effector.

[0145] As an optional implementation, the end effector management device 800 further includes:

[0146] a fourth display module, configured to display a debugging interface upon receiving a fourth input to the debugging entry control, wherein the debugging interface displays a virtual image of the end effector and an angle adjustment control;

[0147] The adjustment module is used to adjust the angle of the joint of the end effector when receiving a fifth input to the angle adjustment control.

[0148] As an optional implementation, the angle adjustment control includes a progress bar, and there is at least one progress bar; when receiving a fifth input to the angle adjustment control, adjusting the angle of the joint of the end effector includes: determining a target angle according to a sliding position of the progress bar; adjusting the angle of the joint corresponding to the progress bar to the target angle;

[0149] or,

[0150] The angle adjustment control includes an input box; when a fifth input to the angle adjustment control is received, the angle of the joint of the end effector is adjusted, including: taking the angle received by the input box as the target angle, and adjusting the angle of the joint corresponding to the input box to the target angle.

[0151] As an optional implementation, the end effector management device 800 further includes:

[0152] A detection module, used for detecting and displaying the current actual angle of the joint;

[0153] The determination module is used to determine the debugging result of the joint according to the actual angle and the target angle of the joint.

[0154] As an optional implementation, the end effector management device 800 further includes:

[0155] A fifth display module is used to display a fault information interface upon receiving the sixth input to the fault detection control, wherein the fault information interface displays the fault information of the faulty component of the end effector and the coordinate information of the faulty component, wherein the faulty component includes information of at least one of the following components: a motor of a joint of the end effector, an angle sensor of the joint, a drive plate of the joint, and an end sensor at the end of the end effector.

[0156] As an optional implementation, the end effector management device 800 further includes:

[0157] a sixth display module, configured to display an upgrade interface upon receiving a seventh input to the upgrade entry control, wherein the upgrade interface displays information of multiple upgrade versions of the end effector;

[0158] An upgrading module is used to upgrade the end effector according to the target version information when the target version information among the multiple upgraded version information is determined.

[0159] As an optional implementation, the end effector management device 800 further includes:

[0160] An initialization operation module is used to perform an initialization operation on the end effector when an eighth input to the initialization entry control is received.

[0161] The end effector management device 800 can realize the embodiment of the present application Figure 1 The various processes of the method embodiment and the same beneficial effects are achieved, and will not be described again here to avoid repetition.

[0162] The present application also provides a management device. Fig. 9 The end effector management device may include a processor 901, a memory 902, and a program 9021 stored in the memory 902 and executable on the processor 901. When the program 9021 is executed by the processor 901, Figure 1 Any steps in the corresponding method embodiments and achieving the same beneficial effects will not be repeated here.

[0163] A person skilled in the art can understand that all or part of the steps of implementing the above-mentioned embodiment method can be completed by hardware related to program instructions, and the program can be stored in a readable medium. The present application also provides a readable storage medium on which a computer program is stored, and when the computer program is executed by a processor, the above-mentioned Figure 1 Any steps in the corresponding method embodiments can achieve the same technical effect and will not be repeated here to avoid repetition.

[0164] The storage medium may be a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0165] The present application also provides a computer program product, including computer instructions, which can achieve the above-mentioned Figure 1 Any steps in the corresponding method embodiments can achieve the same technical effect and will not be repeated here to avoid repetition.

[0166] The above is a preferred implementation of the embodiment of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles described in the present application. These improvements and modifications should also be regarded as the scope of protection of the present application.

Claims

1. A method for managing an end effector, characterized in that: Applied to an end effector management device, the method comprises: In case of receiving a first input to the end effector management device, displaying a first interface, wherein an operation control is displayed on the first interface; the operation control includes a connection search control; The connection search control is used to add a new end effector and establish a connection between the end effector management device and the end effector.

2. The method according to claim 1, characterized in that The first input includes one of the following operations: A confirmation operation input by a user for connecting the end effector; A login operation of the end effector management device input by a user.

3. The method according to claim 1, characterized in that The operation control also includes an information display control and / or a parameter configuration control; The information display control is used to trigger the display of relevant information of the end effector; The parameter configuration control is used to trigger the display of the parameter information configuration interface of the end effector.

4. The method according to claim 2, characterized in that: Before the input confirmation operation of connecting the end effector, the method further comprises: The zeroth interface is displayed, and an information input box is displayed on the zeroth interface; the information input box is used to input the connection information of the end effector.

5. The method according to claim 3, characterized in that: When a second input to the information display control is received, relevant information of the end effector is displayed, where the relevant information of the end effector includes at least one of the following information: basic information, performance parameter information, and fault information.

6. The method according to claim 3, characterized in that When a third input to the parameter configuration control is received, a parameter information configuration interface of the end effector is displayed, where the parameter information configuration interface is used to input parameter configuration information of the end effector.

7. The method according to any one of claims 1 to 6, characterized in that The operation control also includes at least one of the following, or at least one of the following replaces the connection search control: A calibration entry control, used to calibrate the end effector; Initialization entry control, used to initialize the end effector; A debugging entry control, used for debugging the end effector; An upgrade entry control, used to upgrade the end effector; A fault detection control is used to detect and / or display fault information of the end effector.

8. The method according to claim 7, characterized in that When receiving a fourth input to the debugging entry control, displaying a debugging interface on which a virtual image of the end effector and an angle adjustment control are displayed; When a fifth input to the angle adjustment control is received, the angle of the joint of the end effector is adjusted.

9. The method according to claim 8, characterized in that The angle adjustment control includes a progress bar, and there is at least one progress bar; when a fifth input to the angle adjustment control is received, adjusting the angle of the joint of the end effector includes: determining a target angle according to a sliding position of the progress bar; and adjusting the angle of the joint corresponding to the progress bar to the target angle; or, The angle adjustment control includes an input box; when a fifth input to the angle adjustment control is received, the angle of the joint of the end effector is adjusted, including: taking the angle received by the input box as the target angle, and adjusting the angle of the joint corresponding to the input box to the target angle.

10. The method according to claim 9, characterized in that The method further comprises: Detecting and displaying the actual current angle of the joint; The debugging result of the joint is determined according to the actual angle and the target angle of the joint.

11. The method according to claim 7, characterized in that When the sixth input to the fault detection control is received, a fault information interface is displayed, on which fault information of the faulty component of the end effector and coordinate information of the faulty component are displayed, wherein the faulty component includes information of at least one of the following components: a motor of a joint of the end effector, an angle sensor of the joint, a drive plate of the joint, and an end sensor at the end of the end effector.

12. The method according to claim 7, characterized in that When receiving a seventh input to the upgrade entry control, displaying an upgrade interface, wherein the upgrade interface displays information of multiple upgrade versions of the end effector; When the target version information among the multiple upgrade version information is determined, the end effector is upgraded according to the target version information.

13. The method according to claim 7, characterized in that When an eighth input to the initialization entry control is received, an initialization operation is performed on the end effector.

14. The method according to claim 5, characterized in that When the relevant information of the end effector is displayed, a clearing control is displayed, and the clearing control is used to clear at least part of the relevant information.

15. An end effector management device, characterized in that: Applied to end effector management equipment, the end effector management device comprises: A first display module, configured to display a first interface upon receiving a first input to the end effector management device, wherein the first interface displays an operation control; the operation control includes a connection search control; The connection search control is used to add a new end effector and establish a connection between the end effector management device and the end effector.

16. An end effector management device, characterized in that: include: A memory, a processor, and a program stored in the memory and executable on the processor; The processor is used to read the program in the memory to implement the steps in the method according to any one of claims 1 to 14.

17. A readable storage medium, characterized in that: Used to store a program, which implements the steps of the method according to any one of claims 1 to 14 when executed by a processor.

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