Robot installation determination method and robot

Abstract

The invention relates to the field of interventional medical treatment, and provides a robot installation judgment method and a robot, and the method comprises the steps: detecting a first accessory on a preset installation position of the robot; when it is detected that the first accessory is installed at the preset installation position, obtaining type information of the first accessory; determining an application type of the robot according to the type information of the first accessory; and when it is not detected that the first accessory is installed at the preset installation position, the first accessory on the preset installation position of the robot continues to be detected. Whether the first accessory exists on the preset installation position of the robot or not and the type of the first accessory are judged are achieved, then the application type of the robot is determined according to the type of the first accessory, judgment operation needed by an operator is reduced, and the intelligence of the robot is improved.

Description

Technical Field

[0001] The present application relates to the field of interventional medicine, and in particular to a robot installation determination method and a robot. Background Art

[0002] When performing surgery using a master-slave interventional surgical robot, many different types of consumables are required, such as instrument control boxes, guidewires, and catheters of different specifications. Not only do consumables need to be installed before the operation, but they also often need to be replaced during the operation. Due to the variety of consumables, operators often need to judge the consumables to avoid installation errors. In order to reduce the time required for operators to install and replace consumables and improve the efficiency and accuracy of interventional surgery, a robot installation judgment method and robot are urgently needed. Summary of the invention

[0003] The main purpose of the present application is to provide a robot installation determination method and a robot, aiming to reduce the time required for an operator to install a first accessory and an instrument on the robot, thereby improving the efficiency and accuracy of interventional surgery.

[0004] In a first aspect, the present application provides a method for determining installation of a robot, comprising the following steps:

[0005] Detecting a first accessory on a preset installation position of the robot;

[0006] When it is detected that the first accessory is installed at the preset installation position, obtaining type information of the first accessory;

[0007] determining an application type of the robot according to the type information of the first attachment;

[0008] When it is not detected that the first accessory is installed at the preset installation position, the step of detecting the first accessory at the preset installation position of the robot continues.

[0009] In some embodiments, the detecting the first accessory on the preset installation position of the robot includes:

[0010] The first sensing module on the first accessory is detected based on the second sensing module on the preset installation position.

[0011] In some embodiments, the method further comprises:

[0012] When detecting that the first accessory is installed at the preset installation position, acquiring identification information of the first accessory;

[0013] The usage status of the first accessory is determined according to the identification information.

[0014] In some implementations, determining the usage status of the first accessory according to the identification information includes:

[0015] Searching for the identification information in a preset historical identification information database;

[0016] If the identification information is not found in the historical identification information database, confirming that the use status of the first accessory is an available status, and storing the identification information in the historical identification information database and the current identification information database;

[0017] If the identification information is found in the historical identification information database, continue to search for the identification information in the current identification information database;

[0018] If the identification information is found in the current identification information database, confirming that the usage status of the first accessory is an available status;

[0019] If the identification information is not found in the current identification information database, it is confirmed that the usage status of the first accessory is unavailable.

[0020] In some implementations, determining the application type of the robot according to the type information of the first accessory includes:

[0021] Determining the application type of the robot according to the type information and the preset association relationship;

[0022] The preset association relationship is used to record the association relationship between the type information and the application type.

[0023] In some embodiments, the method further comprises:

[0024] Determining target device parameters corresponding to the first accessory according to the application type;

[0025] When it is detected that a device is installed in the first accessory, obtaining current device parameters in the first accessory;

[0026] If the target device parameters match the current device parameters, output an installation completion prompt;

[0027] If the target device parameters do not match the current device parameters, output an installation abnormality prompt;

[0028] When it is not detected that an appliance is installed in the first accessory, a prompt indicating that an appliance is not installed is output.

[0029] In some embodiments, the first accessory includes a target sensor, and the target sensor is used to detect whether the device is installed in the first accessory. When the device is detected to be installed in the first accessory, obtaining the current device parameter in the first accessory includes:

[0030] When the target parameter of the target sensor meets the preset condition, it is determined that the device is installed in the first accessory.

[0031] In some embodiments, the target instrument parameter comprises a target instrument diameter.

[0032] In a second aspect, an embodiment of the present application further provides a robot, comprising a processor, and the processor is used to execute the above-mentioned robot installation determination method.

[0033] In some embodiments, the robot includes a first accessory and a second accessory, the first accessory is provided with a first sensing module, and the second accessory is provided with a second sensing module adapted to the first sensing module;

[0034] The first accessory is used to install the device, and when the first accessory is adapted to the second accessory, the first sensing module is used to transmit the type information of the first accessory to the second sensing module of the second accessory;

[0035] The second accessory is used to adapt to the first accessory and drive the device installed on the first accessory.

[0036] The installation determination method of the robot provided in the embodiment of the present application includes: detecting the first accessory on the preset installation position of the robot; when the first accessory is detected to be installed at the preset installation position, obtaining the type information of the first accessory; determining the application type of the robot according to the type information of the first accessory; when the first accessory is not detected to be installed at the preset installation position, continuing to perform the detection of the first accessory on the preset installation position of the robot. The detection of the presence or absence of the first accessory on the preset installation position of the robot and the determination of the type of the first accessory are achieved, and then the application type of the interventional surgery is determined according to the type of the first accessory, which reduces the determination operations that the operator needs to perform and improves the intelligence of the robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] 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 will be briefly introduced below. Obviously, the drawings described below are 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 work.

[0038] Figure 1 A schematic diagram of a flow chart of a method for determining the installation of a robot provided in one embodiment of the present application;

[0039] Figure 2a A schematic diagram of a first accessory installation method provided in an embodiment of the present application;

[0040] Figure 2b A schematic diagram of an apparatus installation method provided in an embodiment of the present application;

[0041] Figure 3a A schematic diagram of a first accessory installation method provided in an embodiment of the present application;

[0042] Figure 3b A schematic diagram of an apparatus installation method provided in an embodiment of the present application;

[0043] Figure 4a A schematic diagram of a first accessory installation method provided in an embodiment of the present application;

[0044] Figure 4b A schematic diagram of an apparatus installation method provided in an embodiment of the present application;

[0045] Figure 5 A front view of a first attachment provided by an embodiment of the present application;

[0046] Figure 6 A side view of a first accessory provided in accordance with an embodiment of the present application.

[0047] Description of reference numerals:

[0048] 111, the first first attachment; 112, the second first attachment; 113, the third first attachment; 114, the fourth first attachment; 115, the fifth first attachment; 116, the sixth first attachment; 211, the seventh first attachment; 212, the eighth first attachment; 213, the ninth first attachment; 214, the tenth first attachment; 311, the eleventh first attachment; 312, the twelfth first attachment; 313, the thirteenth first attachment; 314, the fourteenth first attachment; 315, the fifteenth first attachment; 316, the sixteenth first attachment ; 121, first catheter; 122, second catheter; 123, third catheter; 221, fourth catheter; 222, fifth catheter; 321, sixth catheter; 331, first fast delivery; 332, second fast delivery; 11, instrument delivery device; 12, distance sensor; 13, floating roller assembly; 14, fixed roller assembly; 15, instrument; 16, guide slider; 17, pressure sensor; 18, transmission gear; 19, instrument delivery motor; 20, push motor; 171, pressure detection device; 172, floating joint. DETAILED DESCRIPTION

[0049] 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.

[0050] The flowcharts shown in the accompanying drawings are only examples and do not necessarily include all the contents and operations / steps, nor must they be executed in the order described. For example, some operations / steps may also be decomposed, combined or partially merged, so the actual execution order may change according to actual conditions.

[0051] Embodiments of the present application provide a robot installation determination method, a robot, and an equipment installation device for the robot.

[0052] In conjunction with the accompanying drawings, some embodiments of the present application are described in detail below. In the absence of conflict, the following embodiments and features in the embodiments can be combined with each other.

[0053] Please refer to Figure 1 , Figure 1 A schematic flow chart of a robot installation determination method provided in an embodiment of the present application.

[0054] like Figure 1 As shown, the consumables detection method for interventional surgery includes steps S101 to S104.

[0055] Step S101: Detect a first accessory on a preset installation position of the robot.

[0056] Exemplarily, the robot delivers catheters, guidewires and other instruments through a delivery device to perform vascular interventional treatment. In order to improve the safety of interventional surgery and avoid cross-infection between different patients, the delivery device is usually composed of a first accessory and a second accessory. Among them, the first accessory is an instrument control box or a sterile box, which is used to install instruments such as catheters and guidewires; the second accessory is a power box, which is used to drive the delivery or withdrawal of the instrument in the first accessory. The first accessory is detachably mounted on the second accessory, and can be disassembled and replaced during or after the interventional surgery to ensure that the interventional surgery is carried out safely and hygienically.

[0057] In some embodiments, the detecting the first accessory on the preset installation position of the robot includes:

[0058] The first sensing module on the first accessory is detected based on the second sensing module on the preset installation position.

[0059] Exemplarily, the preset installation position is a position on the second accessory for installing the first accessory, a second sensing module is provided on the preset installation position of the second accessory, and a first sensing module is provided on the first accessory. When the first accessory is installed on the second accessory, the second sensing module on the preset installation position can sense the first sensing module on the first accessory, thereby detecting that the first accessory is installed on the preset installation position.

[0060] Exemplarily, the first sensing module and the second sensing module can communicate with each other wirelessly, for example, through near field communication (NFC), magnetic induction or RFID, and the second accessory can automatically sense the presence of the first accessory through NFC, magnetic induction or RFID when the first accessory approaches; the second accessory can also communicate with the first accessory through a wired manner, for example, a pluggable communication device is provided at the connection between the second accessory and the first accessory, so that the second accessory can sense the presence of the first accessory.

[0061] Step S102: when it is detected that the first accessory is installed in the preset installation position, obtain type information of the first accessory.

[0062] For example, different types of interventional surgeries require different instruments, and the corresponding first accessories also have a variety of different specifications. In order to avoid the operator having to judge the first accessory based on experience, the embodiment of the present application determines the type of the first accessory by detecting the first accessory and obtaining the type information stored in the first accessory, thereby reducing the complexity of the operation. The type information may be, for example, a number reflecting the specification type of the first accessory, which is stored in the first sensing module of the first accessory or in an information storage component that is communicatively connected to the first sensing module when the first accessory is produced.

[0063] In some embodiments, the method further comprises:

[0064] When detecting that the first accessory is installed at the preset installation position, acquiring identification information of the first accessory;

[0065] The usage status of the first accessory is determined according to the identification information.

[0066] Exemplarily, in addition to the type information, the identification information of the first attachment can also be obtained, and the identification information is a unique identifier used to distinguish different first attachments. According to the identification information of the first attachment, it can be determined whether the first attachment has been used, so as to avoid the contaminated first attachment from being used twice and causing medical accidents.

[0067] Specifically, the identification of the used first accessory may be stored in a cloud or local database, and by searching the database for identification information of the currently installed first accessory, it is determined whether the first accessory has been used.

[0068] In some implementations, determining the usage status of the first accessory according to the identification information includes:

[0069] Searching for the identification information in a preset historical identification information database;

[0070] If the identification information is not found in the historical identification information database, confirming that the use status of the first accessory is an available status, and storing the identification information in the historical identification information database and the current identification information database;

[0071] If the identification information is found in the historical identification information database, continue to search for the identification information in the current identification information database;

[0072] If the identification information is found in the current identification information database, confirming that the usage status of the first accessory is an available status;

[0073] If the identification information is not found in the current identification information database, it is confirmed that the usage status of the first accessory is unavailable.

[0074] Exemplarily, the identification information of the used first accessory is stored in the historical identification information database, and the identification information is searched in the historical identification database based on the read identification information. If the identification information is not found in the historical identification database, it means that the first accessory has not been used, and the current state of the first accessory is confirmed to be the available state, that is, the first accessory can be used in this operation. At this time, the first accessory is enabled, and its identification information is stored in the historical identification information database corresponding to the used first accessory, and the current identification information database corresponding to the first accessory used in this operation, so as to avoid the first accessory being used twice in other operations.

[0075] For example, even if the identification information is found in the historical identification database, it does not mean that the first accessory is in an unavailable state. Because during the interventional surgery, it may be necessary to temporarily disassemble and then reinstall the first accessory. Since the first accessory is used in this surgery, it will not cause the risk of cross infection to the patient. The same first accessory can be used repeatedly in the same surgery. Therefore, in the case where the first accessory is determined to be an enabled first accessory according to the historical identification information database, it is also necessary to find the identification information in the current identification information database to confirm whether the first accessory is the first accessory used in this surgery. Specifically, if the identification information is found in the historical identification information database and the identification information is found in the current identification information database, it means that the first accessory was used in this surgery, so it can be reused in this surgery and is in an available state.

[0076] On the contrary, if the identification information is found in the historical identification information database and not in the current identification information database, it means that the first accessory is an old first accessory and is not the first accessory used in this operation, and it is confirmed that the usage status of the first accessory is unavailable to avoid mixing the instrument sterile box in interventional surgeries of different patients.

[0077] Step S103: Determine the application type of the robot according to the type information of the first accessory.

[0078] The application type of the embodiment of the present application is the type of surgical procedure. In the related art, the operator needs to install the first accessory on the second accessory according to the application type of the surgery, and install the instrument in the first accessory. Since different application types use different instruments, the first accessories installed before performing different application types of surgery are also different. The installation determination method of the robot provided in the embodiment of the present application determines the application type of the surgery through the type information of the first accessory, reduces the judgment operation of the operator, and improves the intelligence of the interventional surgery.

[0079] Please refer to Figure 2a-Figure 4b , Figure 2a-Figure 4b A schematic diagram of the first accessory and the device installation method provided in an embodiment of the present application.

[0080] In some implementations, determining the application type of the robot according to the type information of the first accessory includes:

[0081] Determining the application type of the robot according to the type information and the preset association relationship;

[0082] The preset association relationship is used to record the association relationship between the type information and the application type.

[0083] Exemplarily, the application type may be at least one of neurointervention, coronary artery intervention, and peripheral vascular intervention, wherein different application types correspond to different instruments, and the first accessories required to be installed to carry different instruments are also different. Based on the pre-set association between the first accessory type information and the application type, the application type is matched according to the type information, thereby improving the intelligence of the robot.

[0084] For example, the instruments used in neurointervention include a mode of 3 catheters and 2 guide wires, and a mode of 4 catheters and 2 guide wires, etc. If the operator installs the first accessory for installing the above quantity and type, the application type can be determined as neurointervention; the instruments used in coronary artery intervention include a mode of 1 catheter, 2 guide wires, and 2 rapid exchange systems (Rapid Exchange, RX or rapid exchange for short), and a mode of 1 catheter, 1 guide wire, and 1 RX, etc. If the operator installs the first accessory for installing the above quantity and type, the application type can be determined as coronary artery intervention.

[0085] For example, Figure 2a , Figure 3a , Figure 4a They are the first attachment installation methods for different application types. Figure 2a As shown, the operator installs a first first accessory 111, a second first accessory 112, a third first accessory 113, a fourth first accessory 114, a fifth first accessory 115 and a sixth first accessory 116 on the robot; Figure 3a As shown, the operator installed the seventh first accessory 211, the eighth first accessory 212, the ninth first accessory 213, and the tenth first accessory 214 on the robot; Figure 4a As shown, the operator installs the eleventh first accessory 311 , the twelfth first accessory 312 , the thirteenth first accessory 313 , the fourteenth first accessory 314 , the fifteenth first accessory 315 , and the sixteenth first accessory 316 on the robot.

[0086] It can be understood that the first first attachment 111, the seventh first attachment 211, and the eleventh first attachment 311 are first attachments of the same type and have the same type information; the second first attachment 112, the eighth first attachment 212, and the twelfth first attachment 312 are first attachments of the same type and have the same type information; the third first attachment 113, the fourth first attachment 114, and the ninth first attachment 213 are first attachments of the same type and have the same type information; the thirteenth first attachment 313 and the fourteenth first attachment 314 are first attachments of the same type and have the same type information; the fifth first attachment 115 and the sixth first attachment 116, the tenth first attachment 214, the fifteenth first attachment 315, and the sixteenth first attachment 316 are first attachments of the same type and have the same type information. The first attachment type here is only used as an example, and the type of the first attachment is not limited here.

[0087] In some embodiments, the method further comprises:

[0088] Determining target device parameters corresponding to the first accessory according to the application type;

[0089] When it is detected that a device is installed in the first accessory, obtaining current device parameters in the first accessory;

[0090] If the target device parameters match the current device parameters, an installation completion prompt is output; if the target device parameters do not match the current device parameters, an installation abnormality prompt is output;

[0091] When it is not detected that an appliance is installed in the first accessory, a prompt indicating that an appliance is not installed is output.

[0092] Exemplarily, the application type determines the type and quantity of equipment that needs to be installed in the first accessory. After the operator completes the installation of the equipment, the assembly status of the equipment can be detected by the installation determination method of the robot provided in the embodiment of the present application to determine whether the specifications of the equipment are correct and whether the equipment is installed in place.

[0093] Exemplarily, the correspondence between the application type and the target instrument is pre-set, the target instrument parameters of the target instrument to be installed are determined according to the application type, and then the target instrument parameters are compared with the current instrument parameters of the instrument actually installed by the operator, thereby avoiding instrument installation errors during the operation, reducing the complexity of the operation, and improving the efficiency of the operation.

[0094] For example, Figure 2b , Figure 3b , Figure 4b They are the installation methods of different types of equipment. Figure 2b As shown, when the operator follows Figure 2a When the first accessory is installed in the manner of , it is necessary to install the first conduit 121, the second conduit 122, and the third conduit 123 on the first accessory; Figure 3b As shown, when the operator follows Figure 3a When the first accessory is installed in the manner of FIG. 1 , the fourth conduit 221 and the fifth conduit 222 need to be installed on the first accessory; Figure 4b As shown, when the operator follows Figure 4a When the first accessory is installed in this manner, the sixth conduit 321, the first quick connector 331, and the second quick connector 332 need to be installed on the first accessory.

[0095] In some embodiments, the first accessory includes a target sensor, and the target sensor is used to detect whether the device is installed in the first accessory. When the device is detected to be installed in the first accessory, obtaining the current device parameter in the first accessory includes:

[0096] When the target parameter of the target sensor meets the preset condition, it is determined that the device is installed in the first accessory.

[0097] Please refer to Figure 5-Figure 6 , Figure 5 A front view of a first attachment provided by an embodiment of the present application; Figure 6 A side view of a first accessory provided in accordance with an embodiment of the present application.

[0098] like Figure 5 As shown, the instrument 15 is clamped between the floating roller assembly 13 and the fixed roller assembly 14, and the delivery or withdrawal of the instrument 15 is controlled by the instrument delivery device 11. A distance sensor 12 is fixedly arranged on the inner wall of the first attachment, which can detect the distance between the distance sensor 12 and the object in front. If the instrument 15 is not installed in the first attachment, the distance sensor 12 detects the distance to the inner wall of the first attachment. If the instrument 15 is installed in the first attachment, the distance sensor 12 detects the distance to the instrument 15. The two are different. Therefore, it can be determined whether the instrument 15 is installed in the first attachment according to the distance detected by the distance sensor 12.

[0099] like Figure 6As shown, it is also possible to detect whether the instrument 15 is installed in the first accessory by means of the pressure sensor 17. The pressure sensor 17 is fixedly arranged on the guide slider 16. When the instrument 15 is clamped between the floating roller assembly 13 and the fixed roller assembly 14, the instrument delivery motor 19 can control the floating roller assembly 13 and the fixed roller assembly 14 to roll through the transmission gear 18, thereby moving the instrument 15. At the same time, the instrument will squeeze the floating joint 172 of the pressure sensor 17, and the pressure detection device 171 can obtain the pressure of squeezing. When the pressure detected by the pressure sensor 17 is greater than the preset pressure, it is determined that the instrument 15 is installed in the first accessory.

[0100] The instrument 15 may be a catheter or a guide wire.

[0101] In some embodiments, the target device parameter includes a target device diameter, and when it is detected that a device is installed in the first attachment, obtaining the current device parameter in the first attachment includes:

[0102] When it is detected that the device is installed in the first attachment, obtaining a current diameter of the device in the first attachment;

[0103] If the target device parameters match the current device parameters, output an installation completion prompt; if the target device parameters match the current device parameters, output an installation abnormality prompt, including:

[0104] When the target instrument diameter matches the current instrument diameter, an installation completion prompt is output; or, when the target instrument diameter does not match the current instrument diameter, an abnormal prompt message is output.

[0105] For example, there is a cavity for accommodating an instrument in the first accessory, and the current instrument diameter of the instrument in the cavity can be detected to determine whether the current instrument diameter of the installed instrument matches the target instrument diameter, thereby determining whether the current instrument is installed in place. The target instrument diameter is pre-set according to the target instrument corresponding to the application type.

[0106] Specifically, the current diameter of the device can be determined by the pressure detected by the pressure sensor. It can be understood that the larger the diameter of the device, the greater the pressure detected by the pressure sensor. The current diameter of the device can also be determined by the distance detected by the distance sensor. The larger the diameter of the device, the smaller the distance between the distance sensor and the device. It will not be elaborated here.

[0107] Step S104: When it is not detected that the first accessory is installed at the preset installation position, continue to perform the detection of the first accessory at the preset installation position of the robot.

[0108] Exemplarily, if the first accessory is not detected, for example, the operator does not install the first accessory at the preset installation position, or the operator temporarily removes the first accessory at the preset installation position due to actual needs, the slave end will continue to perform the first accessory detection operation until the first accessory is installed at the preset installation position or the operation is completed.

[0109] The installation determination method of the robot provided in the embodiment of the present application includes: detecting the first accessory on the preset installation position of the robot; when the first accessory is detected to be installed at the preset installation position, obtaining the type information of the first accessory; determining the application type of the robot according to the type information of the first accessory; when the first accessory is not detected to be installed at the preset installation position, continuing to perform the detection of the first accessory on the preset installation position of the robot. The detection of the presence or absence of the first accessory on the preset installation position of the robot and the determination of the type of the first accessory are achieved, and then the application type of the interventional surgery is determined according to the type of the first accessory, which reduces the determination operations that the operator needs to perform and improves the intelligence of the robot.

[0110] An embodiment of the present application also provides a robot, comprising a processor, and the processor is used to execute the robot installation determination method as described in any one of the embodiments of the present application.

[0111] In some embodiments, the robot includes a first accessory and a second accessory, the first accessory is provided with a first sensing module, and the second accessory is provided with a second sensing module adapted to the first sensing module;

[0112] The first accessory is used to install the device, and when the first accessory is adapted to the second accessory, the first sensing module is used to transmit the type information of the first accessory to the second sensing module of the second accessory;

[0113] The second accessory is used to adapt to the first accessory and drive the device installed on the first accessory.

[0114] Exemplarily, the first sensing module and the second sensing module can be mutually compatible NFC modules, magnetic induction modules or RFID modules, etc. The second accessory on the robot detects whether the first accessory is installed in a preset installation position through the second sensing module, and when the first accessory is installed in the preset installation position, controls the second sensing module to obtain the type information of the first accessory through the first sensing module.

[0115] Exemplarily, the robot is provided with one or more second accessories and a first accessory adapted to the one or more second accessories.

[0116] Exemplarily, the second accessory can transmit the type information obtained by the second sensing module to the robot's processor, so that the processor implements the robot installation determination method as described in any one of the embodiments of the present application. Of course, it is not limited to this. The second sensing module of the second accessory can also obtain the identification information of the first accessory, etc., which is not limited here.

[0117] It should be understood that the terms used in this application specification are only for the purpose of describing specific embodiments and are not intended to limit the application. As used in this application specification and the appended claims, unless the context clearly indicates otherwise, the singular forms "a", "an" and "the" are intended to include plural forms.

[0118] It should also be understood that the term "and / or" used in the specification of this application and the appended claims refers to any combination of one or more of the associated listed items and all possible combinations, including these combinations. It should be noted that, in this article, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or system including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or system. In the absence of further restrictions, an element defined by the sentence "including a..." does not exclude the presence of other identical elements in the process, method, article or system including the element.

[0119] The serial numbers of the embodiments of the present application are for description only and do not represent the advantages and disadvantages of the embodiments. The above description is only a specific implementation mode of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed in the present application, and these modifications or replacements should be included in the protection scope of the present application. Therefore, the protection scope of the present application shall be based on the protection scope of the claims.

Claims

1. A method for determining the installation of a robot, characterized in that: The method comprises: Detecting a first accessory on a preset installation position of the robot; When it is detected that the first accessory is installed at the preset installation position, obtaining type information of the first accessory; determining an application type of the robot according to the type information of the first attachment; When it is not detected that the first accessory is installed at the preset installation position, the step of detecting the first accessory at the preset installation position of the robot continues.

2. The robot installation determination method according to claim 1, characterized in that: The detecting of the first accessory on the preset installation position of the robot includes: The first sensing module on the first accessory is detected based on the second sensing module on the preset installation position.

3. The robot installation determination method according to claim 1, characterized in that: The method further comprises: When detecting that the first accessory is installed at the preset installation position, acquiring identification information of the first accessory; The usage status of the first accessory is determined according to the identification information.

4. The robot installation determination method according to claim 3, characterized in that: The determining the usage status of the first accessory according to the identification information includes: Searching for the identification information in a preset historical identification information database; If the identification information is not found in the historical identification information database, confirming that the use status of the first accessory is an available status, and storing the identification information in the historical identification information database and the current identification information database; If the identification information is found in the historical identification information database, continue to search for the identification information in the current identification information database; If the identification information is found in the current identification information database, confirming that the usage status of the first accessory is an available status; If the identification information is not found in the current identification information database, it is confirmed that the usage status of the first accessory is unavailable.

5. The robot installation determination method according to claim 1, characterized in that: The step of determining the application type of the robot according to the type information of the first attachment includes: Determining the application type of the robot according to the type information and the preset association relationship; The preset association relationship is used to record the association relationship between the type information and the application type.

6. The robot installation determination method according to claim 1, characterized in that: The method further comprises: Determining target device parameters corresponding to the first accessory according to the application type; When it is detected that a device is installed in the first accessory, obtaining current device parameters in the first accessory; If the target device parameters match the current device parameters, output an installation completion prompt; If the target device parameters do not match the current device parameters, output an installation abnormality prompt; When it is not detected that an appliance is installed in the first accessory, a prompt indicating that an appliance is not installed is output.

7. The robot installation determination method according to claim 6, characterized in that: The first accessory includes a target sensor, and the target sensor is used to detect whether the device is installed in the first accessory. When the device is detected to be installed in the first accessory, obtaining the current device parameter in the first accessory includes: When the target parameter of the target sensor meets the preset condition, it is determined that the device is installed in the first accessory.

8. The robot installation determination method according to claim 6, characterized in that: The target instrument parameters include a target instrument diameter.

9. A robot, characterized in that: The robot comprises a processor, and the processor is used to execute the robot installation determination method as described in any one of claims 1-8.

10. The robot according to claim 9, characterized in that: The robot comprises a first accessory and a second accessory, the first accessory is provided with a first sensing module, and the second accessory is provided with a second sensing module adapted to the first sensing module; The first accessory is used to install the device, and when the first accessory is adapted to the second accessory, the first sensing module is used to transmit the type information of the first accessory to the second sensing module of the second accessory; The second accessory is used to adapt to the first accessory and drive the device installed on the first accessory.

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