Method and system for standardized encapsulation of functional components based on meta-models

Abstract

This invention provides a method and system for standardized encapsulation of functional components based on a meta-model, comprising: Step S1: Constructing a corresponding process meta-model based on robot functional modules; wherein the process meta-model includes: input parameters, output parameters, and execution logic of the functional modules; Step S2: Encapsulating the process meta-model into standardized process components, wherein the standardized process components include a unified external interface conforming to the process meta-model; the unified external interface is used to realize data interaction, instruction reception, and feedback between the standardized process components and standardized process components corresponding to external systems or other functional modules; Step S3: Selecting the standardized process components corresponding to the corresponding functional modules according to the target task to be completed by the robot, and realizing data interaction, instruction transmission, and collaborative work between components through the unified external interface corresponding to the standardized process components, so that the robot system meets the requirements for completing the target task.

Description

Technical Field

[0001] This invention relates to the field of robotics and automation control technology, and more specifically, to a method and system for standardized encapsulation of functional components based on meta-models. Background Technology

[0002] In the development of robot application systems, functional modules such as robot motion control, camera recognition, and overall control scheduling are often developed by different teams or based on different technical frameworks. This leads to inconsistent interfaces and difficulties in data exchange between these modules. For example, motion control modules from different brands of robots use different communication protocols and data formats, and the output results of camera recognition modules lack a unified standard. This makes it difficult to directly integrate and reuse these functional modules, significantly increasing system development costs and timelines. Although some component-based development methods exist in existing technologies, the lack of unified specifications and models fails to effectively solve the compatibility and reusability issues between different functional modules, making it difficult to meet the needs of rapid development and flexible configuration of complex robot systems.

[0003] Patent document CN115599061A (application number: 202211313327.5) discloses a component-based intelligent robot system construction and development method, including the following steps: S1: Define various component models of the robot system and build a robot system component library; S2: Perform formal verification on the functional blocks; S3: In the distributed application design, combine the graphical functional blocks to generate robot control tasks; S4: When the underlying device is running, the functional blocks call third-party libraries to compile and generate robot control components; S5: Run the underlying device runtime on the local machine, and send the compiled robot control tasks to the underlying device runtime via TCP / IP protocol to generate the robot control application. This method solves the problems of high development threshold, long development cycle, and high development cost of robot systems due to the increasing market demand for industrial robots, the increasingly complex application scenarios and functional requirements of industrial robots. Summary of the Invention

[0004] To address the shortcomings of existing technologies, the purpose of this invention is to provide a standardized encapsulation method and system for functional components based on a meta-model.

[0005] A method for standardized encapsulation of functional components based on a meta-model, provided by the present invention, includes:

[0006] Step S1: Construct a corresponding process meta-model based on the robot's functional modules; wherein, the process meta-model includes: input parameters, output parameters, and execution logic of the functional modules;

[0007] Step S2: Encapsulate the process meta-model into standardized process components, wherein the standardized process components include a unified external interface that conforms to the process meta-model; the unified external interface is used to realize data interaction, instruction reception and feedback between the standardized process components and the standardized process components corresponding to external systems or other functional modules; at the same time, the functions of the standardized process components are identified through the unified external interface.

[0008] Step S3: Select the standardized process components corresponding to the appropriate functional modules according to the target task to be completed by the robot, and realize data interaction, instruction transmission and collaborative work between the components through the unified external interface corresponding to the standardized process components, so as to enable the robot system to meet the requirements of completing the target task.

[0009] Preferably, the robot functional modules include: a motion control module, a camera recognition module, and a central control and scheduling module;

[0010] The motion control module is used to control the robot's movement.

[0011] The camera recognition module is used to acquire image information and identify target objects based on the image information;

[0012] The central control and scheduling module is used to coordinate and manage other functional modules besides the central control and scheduling module. It receives task instructions through a unified external interface, assigns tasks to corresponding standardized process components, and collects the execution results of each standardized process component.

[0013] Preferably, the process meta-model further includes: an exception handling interface;

[0014] If an exception occurs during the operation of a standardized process component, the corresponding handling function is called through the exception handling interface corresponding to the process meta-model to handle the exception and ensure that the current standardized process component runs normally.

[0015] Preferably, the method further includes: an interface management module;

[0016] The interface management module is used to coordinate data interaction and instruction transmission between standardized process components. When data format mismatch or instruction conflict occurs between standardized process components, the module performs conversion and processing according to the preset rules defined by the process meta-model to ensure that the standardized process components can interact normally and achieve stable operation of the robot system.

[0017] Preferably, the method further includes: when the target task to be completed by the robot changes or the robot system needs to be optimized, based on the independence of the standardized process components and the unified external interface, replacing or adding new standardized process components so that the robot system can meet the requirements for completing the target task.

[0018] Preferably, the process meta-model further includes: a state stack; the state stack is used to maintain the lifecycle of standardized process components; the lifecycle of standardized process components includes an initialization state, an encapsulated state, and a registered state;

[0019] Based on the robot's functional modules, a corresponding process meta-model is constructed. Once the process meta-model is completed, the current state stack is in the initialization state.

[0020] When the process metamodel is encapsulated into standardized process components, the current state stack is in the encapsulated state.

[0021] When a standardized process component is invoked by the robot system, the current state stack is in the registered state.

[0022] A standardized encapsulation system for functional components based on a meta-model, provided by the present invention, includes:

[0023] Module M1: Constructs a corresponding process meta-model based on the robot's functional modules; wherein, the process meta-model includes: the input parameters, output parameters, and execution logic of the functional modules;

[0024] Module M2: Encapsulates the process meta-model into standardized process components, wherein the standardized process components include a unified external interface that conforms to the process meta-model; the unified external interface is used to realize data interaction, instruction reception and feedback between the standardized process components and the standardized process components corresponding to external systems or other functional modules; at the same time, the functions of the standardized process components are identified through the unified external interface.

[0025] Module M3: Selects the corresponding standardized process components based on the target task to be completed by the robot, and realizes data interaction, instruction transmission and collaborative work between components through the unified external interface corresponding to the standardized process components, so that the robot system can meet the requirements of completing the target task.

[0026] Preferably, the process meta-model further includes: an exception handling interface;

[0027] If an exception occurs during the operation of a standardized process component, the corresponding handling function is called through the exception handling interface corresponding to the process meta-model to handle the exception and ensure that the current standardized process component runs normally.

[0028] Preferably, the method further includes: an interface management module;

[0029] The interface management module is used to coordinate data interaction and instruction transmission between standardized process components. When data format mismatch or instruction conflict occurs between standardized process components, the module performs conversion and processing according to the preset rules defined by the process meta-model to ensure that the standardized process components can interact normally and achieve stable operation of the robot system.

[0030] Preferably, the process meta-model further includes: a state stack; the state stack is used to maintain the lifecycle of standardized process components; the lifecycle of standardized process components includes an initialization state, an encapsulated state, and a registered state;

[0031] Based on the robot's functional modules, a corresponding process meta-model is constructed. Once the process meta-model is completed, the current state stack is in the initialization state.

[0032] When the process metamodel is encapsulated into standardized process components, the current state stack is in the encapsulated state.

[0033] When a standardized process component is invoked by the robot system, the current state stack is in the registered state.

[0034] Compared with the prior art, the present invention has the following beneficial effects:

[0035] 1. Improved compatibility: This invention defines the interfaces and specifications of each functional component through a unified meta-model, enabling components from different sources and with different functions to interact with each other using a unified standard. This effectively solves the compatibility problem between components. For example, motion control components of robots from different brands can be integrated into the same system through this standardized interface.

[0036] 2. Enhanced reusability: Standardized and encapsulated components hide internal implementation details and provide functionality only through a unified interface. Developers can directly reuse these components according to their needs without repeatedly developing underlying functions, which greatly improves code reusability, shortens the robot system development cycle, and reduces development costs.

[0037] 3. Facilitates system expansion and maintenance. When the system needs to be expanded or maintained, due to the standardization and independence of the components, new components can be easily replaced or added without affecting the normal operation of other components, thus improving the scalability and maintainability of the system. Attached Figure Description

[0038] Other features, objects, and advantages of the present invention will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings:

[0039] Figure 1 A flowchart illustrating the standardized encapsulation method for functional components based on a meta-model. Detailed Implementation

[0040] The present invention will now be described in detail with reference to specific embodiments. These embodiments will help those skilled in the art to further understand the present invention, but do not limit the invention in any way. It should be noted that those skilled in the art can make several changes and improvements without departing from the concept of the present invention. These all fall within the scope of protection of the present invention.

[0041] Example 1

[0042] According to the present invention, a standardized encapsulation method for functional components based on a meta-model is provided, such as... Figure 1 As shown, it includes:

[0043] Step 101: Construct the corresponding process meta-model based on the robot's functional modules; wherein, the process meta-model includes: the input parameters, output parameters, and execution logic of the functional modules;

[0044] Step 102: Encapsulate the process meta-model into standardized process components, wherein the standardized process components include a unified external interface that conforms to the process meta-model; the unified external interface is used to realize data interaction, instruction reception and feedback between the standardized process components and the standardized process components corresponding to external systems or other functional modules; at the same time, the functions of the standardized process components are identified through the unified external interface.

[0045] Step 103: Select the standardized process components corresponding to the functional modules according to the target task to be completed by the robot, and realize data interaction, instruction transmission and collaborative work between the components through the unified external interface corresponding to the standardized process components, so as to enable the robot system to meet the requirements of completing the target task.

[0046] Specifically, the robot's functional modules include: a motion control module, a camera recognition module, and a central control and scheduling module;

[0047] The motion control module is used to control the robot's movement.

[0048] The camera recognition module is used to acquire image information and identify target objects based on the image information;

[0049] The central control and scheduling module is used to coordinate and manage other functional modules besides the central control and scheduling module. It receives task instructions through a unified external interface, assigns tasks to corresponding standardized process components, and collects the execution results of each standardized process component.

[0050] For the robot motion control module, the input parameters include target coordinates and speed limits, and the output parameter is the actual execution trajectory; the camera recognition module's input parameters are image resolution and recognition category, and the output parameters are the target position and category result.

[0051] Specifically, the process meta-model also includes: an exception handling interface;

[0052] If an exception occurs during the operation of a standardized process component, the corresponding processing function is called through the exception handling interface corresponding to the process meta-model to handle the exception and ensure that the current standardized process component operates normally. For example, when the robot moves out of range, an error code is returned and an emergency procedure is triggered; when the camera fails to recognize, a failure message is fed back and a backup recognition scheme is called.

[0053] In this embodiment, an expert team was first organized to break down the requirements of functional modules such as robot motion control and camera recognition; input parameters such as target coordinates and output parameters such as execution trajectory were clarified; the execution logic order and exception handling interface were defined using JSON, such as error codes triggered when movement exceeds the range; and the compatibility of the meta-model was tested in conjunction with mainstream robot products and application scenarios.

[0054] Specifically, step 102 includes: based on the process meta-model, encapsulating functions such as robot motion control, camera recognition, and overall control scheduling into standardized process components; each standardized process component has a unified external interface that conforms to the meta-model definition, the interface being used to realize data interaction, instruction reception, and feedback between the component and external systems or other components; during the encapsulation process, the specific implementation details inside the component are hidden, and the component functions are exposed only through the unified external interface, ensuring the independence and replaceability of each component.

[0055] In this embodiment, the robot motion control component is packaged into the following branches:

[0056] Internal logic encapsulation: Kinematic calculation and path planning code are hidden;

[0057] Interface definition: Exposes methods for setting target coordinates and obtaining execution trajectory;

[0058] Integrated exception handling: Out-of-range movement returns an error code and triggers an emergency procedure.

[0059] Camera recognition component encapsulation branch:

[0060] Algorithm encapsulation: Image acquisition and feature extraction algorithms are hidden;

[0061] Interface definition: Receives image resolution parameters and outputs target location results;

[0062] Integrated exception handling: Identify failures, provide feedback, and invoke backup solutions.

[0063] The central control and scheduling component encapsulation branch:

[0064] Coordination logic encapsulation: Hiding the component's task allocation and result collection logic;

[0065] Interface definition: Receive task instructions and distribute them to motion control / camera recognition components;

[0066] Cross-component exception coordination: Unified handling of data conflicts between components.

[0067] Specifically, step 103 includes:

[0068] Component interaction control includes:

[0069] Data interaction branch:

[0070] Interface registration: All component interfaces are registered in the management module;

[0071] Format conversion: Handle data format differences between different components according to meta-model rules.

[0072] Instruction pass branch:

[0073] Command routing: The central control and scheduling component distributes tasks through interfaces;

[0074] Abnormal coordination: If camera recognition fails, notify the motion control component to pause the action.

[0075] Specifically, the method further includes: an interface management module;

[0076] The interface management module is used to coordinate data interaction and instruction transmission between standardized process components. When data format mismatch or instruction conflict occurs between standardized process components, the module performs conversion and processing according to the preset rules defined by the process meta-model to ensure that the standardized process components can interact normally and achieve stable operation of the robot system.

[0077] Specifically, the method further includes:

[0078] When the target task to be completed by the robot changes or the robot system needs to be optimized, based on the independence of standardized process components and unified external interfaces, new standardized process components can be replaced or added so that the robot system can meet the requirements for completing the target task.

[0079] All components follow the interface specifications defined by the meta-model. When it is necessary to replace a motion control component of a certain brand, the new component only needs to implement the same interface (such as input parameters and exception handling methods) to be directly connected to the system without affecting other components. For example, when replacing a robot component of brand A with one of brand B, the central control and scheduling component does not need to modify its calling logic.

[0080] Specifically, the method further includes: the process meta-model further includes: a state stack; the state stack is used to maintain the lifecycle of standardized process components; the lifecycle of standardized process components includes an initialization state, an encapsulated state, and a registered state;

[0081] Based on the robot's functional modules, a corresponding process meta-model is constructed. Once the process meta-model is completed, the current state stack is in the initialization state.

[0082] When the process metamodel is encapsulated into standardized process components, the current state stack is in the encapsulated state.

[0083] When a standardized process component is invoked by the robot system, the current state stack is in the registered state.

[0084] This invention constructs a unified process meta-model, encapsulating functions such as robot motion control, camera recognition, and overall control scheduling into standardized process components. This enables independent operation and interaction between components through a unified interface, solving the problems of poor compatibility and reusability between different functional modules, improving the development efficiency of robot systems, and reducing development costs.

[0085] Example 2

[0086] Example 2 is a preferred example of Example 1.

[0087] A standardized encapsulation system for functional components based on a meta-model, provided by the present invention, includes:

[0088] Module M1: Constructs a corresponding process meta-model based on the robot's functional modules; wherein, the process meta-model includes: the input parameters, output parameters, and execution logic of the functional modules;

[0089] Module M2: Encapsulates the process meta-model into standardized process components, wherein the standardized process components include a unified external interface that conforms to the process meta-model; the unified external interface is used to realize data interaction, instruction reception and feedback between the standardized process components and the standardized process components corresponding to external systems or other functional modules; at the same time, the functions of the standardized process components are identified through the unified external interface.

[0090] Module M3: Selects the corresponding standardized process components based on the target task to be completed by the robot, and realizes data interaction, instruction transmission and collaborative work between components through the unified external interface corresponding to the standardized process components, so that the robot system can meet the requirements of completing the target task.

[0091] Specifically, module M1 includes:

[0092] We organized robotics experts and software engineers to conduct a detailed requirements analysis of robot motion control, camera recognition, and overall control scheduling functions. Through research of mainstream robot products and related technologies on the market, and in conjunction with practical application scenarios, we determined the required input parameters, expected output results, core execution logic, and potential anomalies for each functional module.

[0093] Based on the above analysis, a unified process meta-model can be constructed using formal languages ​​or modeling tools. For example, the meta-model can be described using XML or JSON format, clearly specifying the parameter types, data formats, logical execution order, and exception handling methods for each functional module.

[0094] Specifically, module M2 includes:

[0095] For robot motion control functions, based on the constructed metamodel, the internal implementation code for kinematic calculations, path planning, and motor driving is encapsulated, exposing only input and output interfaces that conform to the metamodel definition. For example, a motion control interface class is defined, which includes input methods for setting target coordinates and speed limits, and output methods for obtaining the actual execution trajectory. It also implements an exception handling interface, calling the corresponding processing function when an exception occurs in motion control.

[0096] For camera recognition functions, algorithms such as image acquisition, feature extraction, and target recognition are encapsulated in a standardized component. It receives image acquisition parameters through a unified interface, outputs target recognition results, and handles abnormal situations such as camera malfunctions.

[0097] The overall control and scheduling function is also encapsulated according to the meta-model standard to coordinate and manage components such as robot motion control and camera recognition. It receives task instructions through a unified interface, assigns tasks to corresponding components, and collects the execution results of each component.

[0098] Specifically, module M3 includes:

[0099] In practical robot system development, developers integrate various components into the system by calling the unified interface of standardized process components. For example, in a robot sorting system, the grasping task command is sent to the robot motion control component through the interface of the central control scheduling component, while the position information of the object to be grasped is obtained through the interface of the camera recognition component.

[0100] The interface management module is responsible for coordinating data interaction and instruction transmission between components. When problems such as data format mismatch or instruction conflict occur between components, it performs conversion and processing through the rules defined in the metamodel to ensure that components can interact normally and achieve stable system operation.

[0101] Those skilled in the art will understand that, in addition to implementing the system, apparatus, and their modules provided by this invention in purely computer-readable program code, the same program can be implemented in the form of logic gates, switches, application-specific integrated circuits, programmable logic controllers, and embedded microcontrollers by logically programming the method steps. Therefore, the system, apparatus, and their modules provided by this invention can be considered a hardware component, and the modules included therein for implementing various programs can also be considered structures within the hardware component; alternatively, modules for implementing various functions can be considered both software programs implementing the method and structures within the hardware component.

[0102] Specific embodiments of the present invention have been described above. It should be understood that the present invention is not limited to the specific embodiments described above, and those skilled in the art can make various changes or modifications within the scope of the claims, which do not affect the essence of the present invention. Unless otherwise specified, the embodiments and features described in this application can be arbitrarily combined with each other.

Claims

1. A method for standardized encapsulation of functional components based on a meta-model, characterized in that, include: Step S1: Construct a corresponding process meta-model based on the robot's functional modules; wherein, the process meta-model includes: input parameters, output parameters, and execution logic of the functional modules; Step S2: Encapsulate the process meta-model into standardized process components, wherein the standardized process components include a unified external interface that conforms to the process meta-model; the unified external interface is used to realize data interaction, instruction reception and feedback between the standardized process components and the standardized process components corresponding to external systems or other functional modules; at the same time, the functions of the standardized process components are identified through the unified external interface. Step S3: Select the standardized process components corresponding to the corresponding functional modules according to the target task to be completed by the robot, and realize data interaction, instruction transmission and collaborative work between the components through the unified external interface corresponding to the standardized process components, so that the robot system can meet the requirements of completing the target task; The method further includes: an interface management module; The interface management module is used to coordinate data interaction and instruction transmission between standardized process components. When data format mismatch or instruction conflict occurs between standardized process components, it is converted and processed through preset rules defined by the process meta-model to ensure that the standardized process components can interact normally and realize the stable operation of the robot system. The process meta-model also includes: a state stack; the state stack is used to maintain the lifecycle of standardized process components; the lifecycle of standardized process components includes an initialization state, an encapsulated state, and a registered state. Based on the robot's functional modules, a corresponding process meta-model is constructed. Once the process meta-model is completed, the current state stack is in the initialization state. When the process metamodel is encapsulated into standardized process components, the current state stack is in the encapsulated state. When a standardized process component is invoked by the robot system, the current state stack is in the registered state.

2. The method for standardized encapsulation of functional components based on a meta-model according to claim 1, characterized in that, The robot's functional modules include: a motion control module, a camera recognition module, and a central control and scheduling module; The motion control module is used to control the robot's movement. The camera recognition module is used to acquire image information and identify target objects based on the image information; The central control and scheduling module is used to coordinate and manage other functional modules besides the central control and scheduling module. It receives task instructions through a unified external interface, assigns tasks to corresponding standardized process components, and collects the execution results of each standardized process component.

3. The standardized encapsulation method for functional components based on a meta-model according to claim 1, characterized in that, The process meta-model also includes: an exception handling interface; If an exception occurs during the operation of a standardized process component, the corresponding handling function is called through the exception handling interface corresponding to the process meta-model to handle the exception and ensure that the current standardized process component runs normally.

4. The method for standardized encapsulation of functional components based on a meta-model according to claim 1, characterized in that, The method further includes: when the target task to be completed by the robot changes or the robot system needs to be optimized, based on the independence of the standardized process components and the unified external interface, replacing or adding new standardized process components so that the robot system can meet the requirements for completing the target task.

5. A standardized encapsulation system for functional components based on a meta-model, characterized in that, include: Module M1: Constructs a corresponding process meta-model based on the robot's functional modules; wherein, the process meta-model includes: the input parameters, output parameters, and execution logic of the functional modules; Module M2: Encapsulates the process meta-model into standardized process components, wherein the standardized process components include a unified external interface that conforms to the process meta-model; the unified external interface is used to realize data interaction, instruction reception and feedback between the standardized process components and the standardized process components corresponding to external systems or other functional modules; at the same time, the functions of the standardized process components are identified through the unified external interface. Module M3: Selects the corresponding standardized process components of the appropriate functional modules according to the target task to be completed by the robot, and realizes data interaction, instruction transmission and collaborative work between components through the unified external interface of the standardized process components, so that the robot system can meet the requirements of completing the target task; The system also includes: an interface management module; The interface management module is used to coordinate data interaction and instruction transmission between standardized process components. When data format mismatch or instruction conflict occurs between standardized process components, it is converted and processed through preset rules defined by the process meta-model to ensure that the standardized process components can interact normally and realize the stable operation of the robot system. The process meta-model also includes: a state stack; the state stack is used to maintain the lifecycle of standardized process components; the lifecycle of standardized process components includes an initialization state, an encapsulated state, and a registered state. Based on the robot's functional modules, a corresponding process meta-model is constructed. Once the process meta-model is completed, the current state stack is in the initialization state. When the process metamodel is encapsulated into standardized process components, the current state stack is in the encapsulated state. When a standardized process component is invoked by the robot system, the current state stack is in the registered state.

6. The standardized encapsulation system for functional components based on a meta-model according to claim 5, characterized in that, The process meta-model also includes: an exception handling interface; If an exception occurs during the operation of a standardized process component, the corresponding handling function is called through the exception handling interface corresponding to the process meta-model to handle the exception and ensure that the current standardized process component runs normally.

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