Robot trajectory calibration data full-process management method based on permission grading

Abstract

The present application relates to the field of robot data management, and discloses a robot trajectory calibration data whole-process management method based on permission grading, comprising the following steps: completing multi-role permission initialization and user information binding and generating a real-time update database; sequentially completing trajectory data encryption with permission tags, parameter configuration and trajectory simulation under permission constraints, hierarchical control calibration task scheduling, hierarchical permission query calibration results and logs, hierarchical data export, and system parameter closed-loop control whole-process operation. The present application realizes whole-process permission verification, data desensitization, and automatic recording of illegal operations, and takes into account robot trajectory calibration precision guarantee and data security, with the creativity of automatic hierarchical control, operation traceability.

Description

Technical Field

[0001] This invention relates to the field of robot data management, and in particular to a method for managing the entire process of robot trajectory calibration data based on hierarchical access control. Background Technology

[0002] Existing robot joint motion trajectory calibration systems only offer basic account login functionality and lack a sophisticated hierarchical access control system. All logged-in users can indiscriminately access raw trajectory data, core calibration parameters, full calibration logs, and complete robot operational status data. Ordinary operators can arbitrarily modify critical calibration parameters such as deviation thresholds and motion speeds, and can also export high-precision raw trajectory files. This greatly increases the risk of trajectory data leakage, malicious tampering with core calibration parameters, and accidental termination of calibration tasks. Furthermore, the system cannot distinguish which machine an operator belongs to, leading to unauthorized operations and difficulty in tracing operational responsibility when multiple robots are calibrated in parallel. Distorted trajectory calibration data directly reduces robot calibration accuracy and can even pose safety hazards in industrial production.

[0003] The existing trajectory calibration data operation lacks a permission-linked control mechanism. The stages of trajectory data import, parameter setting, calibration execution, result query, and data export are independent, and user permission tags are not linked to trajectory data or calibration tasks. Personnel with low privileges can directly access original calibration reports containing precise coordinates and joint deviations. Administrators cannot quickly filter calibration logs corresponding to different operators. Calibration logs only record operational actions without associating them with operator permission levels. This makes it difficult to pinpoint the responsible party after data loss, unauthorized export, or incorrect parameter modification, resulting in weak data security and operational traceability capabilities.

[0004] Therefore, a method for managing robot trajectory calibration data throughout the entire process based on hierarchical access is proposed. This method not only avoids the leakage of core trajectory calibration data and the unauthorized modification of key parameters, but also accurately identifies the responsible parties for various violations, thus balancing the convenience of robot trajectory calibration operations with the need for secure data management throughout the entire process. Summary of the Invention

[0005] This invention overcomes the shortcomings of the prior art and provides a method for full-process management of robot trajectory calibration data based on hierarchical access control.

[0006] To achieve the above objectives, the technical solution adopted by the present invention is as follows:

[0007] The first aspect of this invention provides a method for full-process management of robot trajectory calibration data based on hierarchical access control, comprising the following steps:

[0008] Within the robot joint motion trajectory calibration system, multi-role permission hierarchical initialization processing is performed, and user information is bound;

[0009] By combining real-time database updates, the robot's trajectory data is imported into the target calibration system and encrypted storage is performed using permission tags.

[0010] Within the target calibration system, based on the user update permission combination in the real-time updated database, trajectory parameter configuration and trajectory simulation preview verification are performed under permission constraints.

[0011] During the trajectory simulation preview verification process, the trajectory calibration execution task scheduling process is carried out by combining user update permission combinations and implementing hierarchical permission control.

[0012] After the trajectory calibration task is scheduled, the calibration results and logs are processed in a hierarchical manner by combining real-time database updates with user update permissions.

[0013] After performing differential permission calibration results and log hierarchical query processing, relying on the combination of real-time updated database and user updated permissions, hierarchical data export driven by permission verification and closed-loop management of system parameters are performed.

[0014] Furthermore, in a preferred embodiment of the present invention, the step of performing multi-role permission hierarchical initialization processing and binding user information within the robot joint motion trajectory calibration system specifically includes:

[0015] A robot joint motion trajectory calibration system is acquired and calibrated as the target calibration system. In the target calibration system, role operation permissions are divided, including system administrator, calibration operator, and data viewer. Different roles are configured with corresponding operation permission whitelists.

[0016] Based on the whitelist of operation permissions corresponding to different roles, a role permission lookup table is generated and stored in the storage database of the target calibration system. The basic role information of different roles is entered into the role permission lookup table to generate user IDs.

[0017] Within the target calibration system, a ternary association mapping matching algorithm is set up. Based on the ternary association mapping matching algorithm, a binding relationship between user ID, role operation permission, and role type is constructed, marked as a user permission combination, and the storage database is updated based on the user permission combination.

[0018] Within the target calibration system, if there are changes to the role type and the whitelist of operation permissions corresponding to different roles, the user permission combination is updated again by combining the ternary association mapping matching algorithm to obtain a real-time updated database.

[0019] Furthermore, in a preferred embodiment of the present invention, the step of combining real-time database updates with the import of robot trajectory data and encrypted storage of permission tags within the target calibration system specifically includes:

[0020] Within the target calibration system, based on a real-time updated database, the system reads the currently logged-in user ID, as well as the corresponding role type and operation permission whitelist.

[0021] Identify the target robot and obtain the original joint trajectory file of the target robot. Use the trajectory data import function of the target calibration system to import the original joint trajectory file of the target robot.

[0022] The original joint trajectory file of the target robot includes the target robot's ID and trajectory coordinates;

[0023] Based on the user ID, permission access tags are assigned to the original joint trajectory files of the target robot. Different permission access tags are used to distinguish the two storage levels of the target robot's basic joint trajectory data and high-precision encrypted joint trajectory data.

[0024] The original joint trajectory file of the target robot after assigning access permission tags is written to the real-time updated database in real time and bound to the user permission combination, and the user updated permission combination is output. Different user IDs have different access permission tags.

[0025] Furthermore, in a preferred embodiment of the present invention, the step of performing trajectory parameter configuration and trajectory simulation preview verification processing under permission constraints based on user update permission combinations in the real-time updated database within the target calibration system specifically includes:

[0026] Within the target calibration system, user update permission combinations are parsed;

[0027] The analysis scheme involves retrieving the trajectory parameter setting module of the target calibration system and configuring the joint trajectory association parameters of the target robot based on the whitelist of operation permissions and permission access tags of the user's update permission combination.

[0028] The joint trajectory association parameters of the target robot include motion speed, allowable trajectory deviation, and number of repetitions.

[0029] During the configuration of the joint trajectory association parameters of the target robot in the target calibration system, the ternary association mapping matching algorithm is called in real time to verify the operation permission;

[0030] If there is an operation permission that does not match the access permission tag corresponding to the user ID, and is not in the operation permission whitelist corresponding to the user ID, the operation will be intercepted in the target calibration system and the unauthorized processing will be recorded in the log.

[0031] If it does not exist, the trajectory simulation preview of the target robot will be performed within the target calibration system, that is, the trajectory file of the target robot with access permission tags will be loaded for simulation processing.

[0032] The target calibration system is configured with a simulation display interface. For user IDs that can access high-precision encrypted joint trajectory data, the system displays the trajectory error curve and precise coordinates. For user IDs that cannot access high-precision encrypted joint trajectory data, the system displays the trajectory outline.

[0033] Furthermore, in a preferred embodiment of the present invention, the process of performing trajectory calibration execution task scheduling with hierarchical permission control, in conjunction with user update permission combinations, during the trajectory simulation preview verification process, specifically includes:

[0034] In the target calibration system, a trajectory calibration execution module is set up, and different calibration tasks are issued through the trajectory calibration execution module;

[0035] Each calibration task is assigned a unique number, and each calibration task is bound to a different user update permission combination.

[0036] In the target calibration system, different calibration tasks are initiated, and the robot status monitoring module in the target calibration system is retrieved synchronously during the initiation process.

[0037] The robot status monitoring module collects the joint angles, operating load, and operating status data of the target robot in real time, and synchronously writes the collected data, calibration tasks, and corresponding unique numbers into the real-time updated database.

[0038] If a user ID changes during the calibration task, and the user update permission combination corresponding to the changed user ID does not match the permissions corresponding to the current calibration task, the calibration task will be paused in the target calibration system, the currently collected data will be locked, and the unauthorized processing will be recorded in the log of the target calibration system.

[0039] Furthermore, in a preferred embodiment of the present invention, after the trajectory calibration task scheduling is completed, the process of performing differentiated permission-based calibration results and log hierarchical query processing, combining real-time database updates with user update permissions, specifically includes:

[0040] Within the target calibration system, the calibration result viewing module and calibration log query module are invoked, and are used to classify the data display hierarchy of the whitelist of operation permissions corresponding to user IDs;

[0041] Based on the hierarchical division of data display, when receiving search conditions, the target calibration module combines the ternary association mapping matching algorithm to filter and update the unauthorized fields of the corresponding user ID in the database in real time, and outputs the query results matching the user ID's corresponding permission range in the calibration log query module.

[0042] The database is updated in real time, and every query operation, retrieval condition, and data access range is recorded synchronously.

[0043] Furthermore, in a preferred embodiment of the present invention, after the calibration results of the differentiated permissions and the hierarchical query processing of the logs are performed, based on the combination of real-time updated database and user updated permissions, hierarchical data export driven by permission verification and closed-loop management of system parameters are performed, specifically as follows:

[0044] In the target calibration system, the trajectory data of the target robot after the calibration task is completed is retrieved and exported;

[0045] During the export process, permission restrictions are set for different user IDs based on the whitelist of operation permissions corresponding to the user ID. If the export operation of a user ID is not within the corresponding permission restriction, the unauthorized processing is recorded in the log of the target calibration system and the export operation of the current user ID is stopped.

[0046] In the target calibration system, the entire process of user ID permission operation records is summarized, and a permission audit ledger is generated in the target calibration system and stored in a real-time updated database.

[0047] The present invention addresses the technical deficiencies existing in the background art, and the present invention has the following beneficial effects:

[0048] (1) Complete the initialization of multi-role permissions and binding of user information, and generate a real-time updated database;

[0049] (2) Complete the following operations in sequence: encrypted storage of trajectory data with permission tags, parameter configuration and trajectory simulation under permission constraints, hierarchical control calibration task scheduling, hierarchical permission query calibration results and logs, hierarchical data export and closed-loop control of system parameters.

[0050] The robot trajectory calibration data end-to-end management method based on hierarchical access control of the present invention can realize end-to-end access control, data anonymization, and automatic recording of illegal operations, while ensuring both robot trajectory calibration accuracy and data security. It has the ingenuity of automated hierarchical control and operation traceability. Attached Figure Description

[0051] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other embodiments can be obtained from these drawings without creative effort.

[0052] Figure 1 A flowchart illustrating a method for managing robot trajectory calibration data across the entire process based on access control levels is provided.

[0053] Figure 2 A flowchart illustrating the method for trajectory simulation preview verification processing and trajectory calibration execution task scheduling processing with hierarchical access control within the target calibration system is shown. Detailed Implementation

[0054] To better understand the above-mentioned objectives, features, and advantages of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be noted that, unless otherwise specified, the embodiments and features described in these embodiments can be combined with each other.

[0055] Many specific details are set forth in the following description in order to provide a full understanding of the invention. However, the invention may also be practiced in other ways different from those described herein, and therefore the scope of protection of the invention is not limited to the specific embodiments disclosed below.

[0056] Figure 1 A flowchart illustrating a permission-based hierarchical management method for the entire process of robot trajectory calibration data is shown, including the following steps:

[0057] Within the robot joint motion trajectory calibration system, multi-role permission hierarchical initialization processing is performed, and user information is bound;

[0058] By combining real-time database updates, the robot's trajectory data is imported into the target calibration system and encrypted storage is performed using permission tags.

[0059] Within the target calibration system, based on the user update permission combination in the real-time updated database, trajectory parameter configuration and trajectory simulation preview verification are performed under permission constraints.

[0060] During the trajectory simulation preview verification process, the trajectory calibration execution task scheduling process is carried out by combining user update permission combinations and implementing hierarchical permission control.

[0061] After the trajectory calibration task is scheduled, the calibration results and logs are processed in a hierarchical manner by combining real-time database updates with user update permissions.

[0062] After performing differential permission calibration results and log hierarchical query processing, relying on the combination of real-time updated database and user updated permissions, hierarchical data export driven by permission verification and closed-loop management of system parameters are performed.

[0063] Furthermore, in a preferred embodiment of the present invention, the step of performing multi-role permission hierarchical initialization processing and binding user information within the robot joint motion trajectory calibration system specifically includes:

[0064] A robot joint motion trajectory calibration system is acquired and calibrated as the target calibration system. In the target calibration system, role operation permissions are divided, including system administrator, calibration operator, and data viewer. Different roles are configured with corresponding operation permission whitelists.

[0065] Based on the whitelist of operation permissions corresponding to different roles, a role permission lookup table is generated and stored in the storage database of the target calibration system. The basic role information of different roles is entered into the role permission lookup table to generate user IDs.

[0066] Within the target calibration system, a ternary association mapping matching algorithm is set up. Based on the ternary association mapping matching algorithm, a binding relationship between user ID, role operation permission, and role type is constructed, marked as a user permission combination, and the storage database is updated based on the user permission combination.

[0067] Within the target calibration system, if there are changes to the role type and the whitelist of operation permissions corresponding to different roles, the user permission combination is updated again by combining the ternary association mapping matching algorithm to obtain a real-time updated database.

[0068] It should be noted that the roles include system administrator, calibration operator, and data viewer. Each role has a whitelist of permitted and prohibited functions. Specifically, system administrators have full access to user management, trajectory data import / export, trajectory parameter settings, trajectory simulation preview, trajectory calibration execution, calibration result viewing, calibration log query, robot status monitoring, and system settings. Calibration operators only have access to trajectory data import, basic trajectory parameter settings, trajectory simulation preview, trajectory calibration execution, viewing calibration results for their own tasks, and querying their own operation logs; user management, system settings, and batch export of full data are disabled. Data viewers only have access to anonymized calibration results viewing, basic robot operation status monitoring, and public calibration log browsing; they have no data editing, calibration execution, or file export permissions.

[0069] The permission whitelist for each role is permanently stored in a data table, and information such as operator name, device jurisdiction, and account status is entered. A unique user ID is assigned to each operator as a unique identifier for full-process permission identification and operation traceability. The goal is to unify the user ID as a global index, providing a unified identification basis for end-to-end permission verification, and solving the problems of existing systems lacking a unified traceability identifier and being unable to locate the responsible party for violations. Finally, a dedicated ternary association mapping matching algorithm is designed, using the user ID as the core, binding it to the associated role, and all the operation permissions associated with that role, encapsulating it into a user permission combination and writing it into the database. The algorithm establishes a three-layer one-to-one mapping relationship, automatically matching the entire operable scope corresponding to the account, providing conditions for hierarchical management of the entire process.

[0070] Furthermore, in a preferred embodiment of the present invention, the step of combining real-time database updates with the import of robot trajectory data and encrypted storage of permission tags within the target calibration system specifically includes:

[0071] Within the target calibration system, based on a real-time updated database, the system reads the currently logged-in user ID, as well as the corresponding role type and operation permission whitelist.

[0072] Identify the target robot and obtain the original joint trajectory file of the target robot. Use the trajectory data import function of the target calibration system to import the original joint trajectory file of the target robot.

[0073] The original joint trajectory file of the target robot includes the target robot's ID and trajectory coordinates;

[0074] Based on the user ID, access permission tags are assigned to the original joint trajectory files of the target robot. Different access permission tags are used to distinguish between the two storage levels of the target robot's basic joint trajectory data and high-precision encrypted joint trajectory data.

[0075] The original joint trajectory file of the target robot after assigning access permission tags is written to the real-time updated database in real time and bound to the user permission combination, and the user updated permission combination is output. Different user IDs have different access permission tags.

[0076] It should be noted that the process involves extracting the current operator's unique user ID, assigned role, and corresponding permission whitelist, selecting the target robot to be calibrated, and activating the system's built-in trajectory data import module to upload the original business file containing the robot's serial number and motion trajectory coordinates. This file contains the core raw data for robot trajectory calibration. Subsequently, using the operator's user ID as an index, a unique access permission tag is automatically attached to the imported trajectory file. These tags are divided into two categories: one for ordinary, publicly available basic trajectory data, and the other for confidential, high-precision encrypted trajectory data, thus classifying the data security level. This allows for binding user identity with data security tags and classifying storage levels according to data precision. Existing technology stores all trajectory files uniformly without hierarchical marking, allowing low-privilege personnel to freely read high-precision coordinates, easily leading to the leakage of core process data. This step achieves hierarchical isolation at the data level. Finally, the original trajectory file with the attached permission tags is encrypted and stored in a real-time updated database. The file is bound to the operator's corresponding user permission combination, and an updated user permission combination is generated synchronously.

[0077] Furthermore, in a preferred embodiment of the present invention, after the trajectory calibration task scheduling is completed, the process of performing differentiated permission-based calibration results and log hierarchical query processing, combining real-time database updates with user update permissions, specifically includes:

[0078] Within the target calibration system, the calibration result viewing module and calibration log query module are invoked, and are used to classify the data display hierarchy of the whitelist of operation permissions corresponding to user IDs;

[0079] Based on the hierarchical division of data display, when receiving search conditions, the target calibration module combines the ternary association mapping matching algorithm to filter and update the unauthorized fields of the corresponding user ID in the database in real time, and outputs the query results matching the user ID's corresponding permission range in the calibration log query module.

[0080] The database is updated in real time, and every query operation, retrieval condition, and data access range is recorded synchronously.

[0081] It should be noted that after the calibration task is completed, the system's two supporting functional modules, result viewing and log querying, are activated. These modules read the whitelist of operation permissions associated with the currently logged-in user ID and pre-divide different data display levels according to three roles: system administrator, calibration operator, and data viewer. Administrators can view all complete raw data, operators can only view their own task data, and viewers can only view anonymized and simplified data. Because of the prior permission whitelist, this prevents leakage of information by low-privilege personnel. When a user initiates a query by entering search conditions such as robot number, calibration time, and task number, the system calls the core ternary association mapping matching algorithm of this invention to match the user ID, role, and permission combination. It automatically filters fields in the real-time updated database that the user does not have permission to access, and only outputs calibration results and log content within the user's authorized scope. This achieves automatic anonymization and filtering of query data in the background, eliminating the need for manual configuration of data visibility range. It intercepts the output of confidential fields from the database layer, preventing the exposure of high-precision deviation values ​​and original trajectory parameters. Finally, the operation records are persistently written to the real-time updated database, forming a complete closed-loop audit log.

[0082] Furthermore, in a preferred embodiment of the present invention, after the calibration results of the differentiated permissions and the hierarchical query processing of the logs are performed, based on the combination of real-time updated database and user updated permissions, hierarchical data export driven by permission verification and closed-loop management of system parameters are performed, specifically as follows:

[0083] In the target calibration system, the trajectory data of the target robot after the calibration task is completed is retrieved and exported;

[0084] During the export process, permission restrictions are set for different user IDs based on the whitelist of operation permissions corresponding to the user ID. If the export operation of a user ID is not within the corresponding permission restriction, the unauthorized processing is recorded in the log of the target calibration system and the export operation of the current user ID is stopped.

[0085] In the target calibration system, the entire process of user ID permission operation records is summarized, and a permission audit ledger is generated in the target calibration system and stored in a real-time updated database.

[0086] It should be noted that after calibration results and log hierarchical queries are completed, the system's trajectory data export function is invoked to read data files such as robot calibration trajectories, deviation results, and operating condition records bound to permission tags and task numbers in the real-time updated database. This initiates the data export process, completing the local or cloud-based output of the trajectory data. During the export process, attention must be paid to the export permissions of three types of users. User IDs without export permissions cannot perform export processing. An interception mechanism is established at the data export stage to block the illegal outflow of high-precision, confidential trajectory files. Simultaneously, evidence of unauthorized export is retained, enabling traceability of data outflow. Furthermore, the system automatically collects records of the user's normal operations and unauthorized interceptions throughout all stages, from account login, data import, parameter modification, simulation preview, calibration task scheduling, result query, and data export. These records are integrated to generate a standardized permission audit ledger, which is persistently stored in the real-time updated database, achieving full-process management of the target robot's calibration data collection.

[0087] Figure 2 A flowchart illustrating a method for trajectory simulation preview verification and trajectory calibration execution task scheduling with hierarchical access control within a target calibration system is shown, including the following steps:

[0088] S202: Within the target calibration system, based on the user update permission combination in the real-time updated database, perform trajectory parameter configuration and trajectory simulation preview verification processing under permission constraints;

[0089] S204: During the trajectory simulation preview verification process, the trajectory calibration execution task scheduling process is carried out by combining user update permission combinations and implementing hierarchical permission control.

[0090] Furthermore, in a preferred embodiment of the present invention, the step of performing trajectory parameter configuration and trajectory simulation preview verification processing under permission constraints based on user update permission combinations in the real-time updated database within the target calibration system specifically includes:

[0091] Within the target calibration system, user update permission combinations are parsed;

[0092] The analysis scheme involves retrieving the trajectory parameter setting module of the target calibration system and configuring the joint trajectory association parameters of the target robot based on the whitelist of operation permissions and permission access tags of the user's update permission combination.

[0093] The joint trajectory association parameters of the target robot include motion speed, allowable trajectory deviation, and number of repetitions.

[0094] During the configuration of the joint trajectory association parameters of the target robot in the target calibration system, the ternary association mapping matching algorithm is called in real time to verify the operation permission;

[0095] If there is an operation permission that does not match the access permission tag corresponding to the user ID, and is not in the operation permission whitelist corresponding to the user ID, the operation will be intercepted in the target calibration system and the unauthorized processing will be recorded in the log.

[0096] If it does not exist, the trajectory simulation preview of the target robot will be performed within the target calibration system, that is, the trajectory file of the target robot with access permission tags will be loaded for simulation processing.

[0097] The target calibration system is configured with a simulation display interface. For user IDs that can access high-precision encrypted joint trajectory data, the system displays the trajectory error curve and precise coordinates. For user IDs that cannot access high-precision encrypted joint trajectory data, the system displays the trajectory outline.

[0098] It should be noted that upon entering the system trajectory parameter setting module, the modifiable parameters are differentiated based on the current user's permission scope: administrators can modify all core parameters, calibration operators can only adjust the basic speed, and data viewers have no parameter editing permissions; the parameter objects cover the core control indicators of robot calibration. Subsequently, each time a user modifies or submits parameters, the three-element association mapping matching algorithm built in the pre-initialization steps is invoked in real time to match the binding relationship between user ID, role type, and operation permission whitelist, dynamically verifying whether the parameter operation is within the authorized scope to avoid data leakage caused by unauthorized personnel. If the algorithm determines that the user does not have permission to modify the current parameter or does not have the corresponding trajectory file access tag, the system directly blocks the parameter submission operation and stores the user ID, operation time, and the type of parameter attempted to be modified in the real-time updated database log. Finally, after the permission verification is correct, the original trajectory file previously entered into the database and bound with permission tags is retrieved, and the system simulation preview function is run to pre-simulate the robot's joint motion trajectory, pre-checking for trajectory anomalies. The simulation preview stage directly associates with the trajectory file with permission tags, realizing the continuation of data permissions from the database entry stage to the simulation stage, forming a continuous control link. Traditional system simulation functions do not have permission binding, and all accounts load the complete original trajectory. The system employs a layered rendering logic for the simulation interface: accounts with access to high-precision encrypted data are shown the original coordinates and error curves in their entirety; low-privilege accounts are automatically anonymized, displaying only a simplified trajectory outline while hiding core precision data.

[0099] Furthermore, in a preferred embodiment of the present invention, the process of performing trajectory calibration execution task scheduling with hierarchical permission control, in conjunction with user update permission combinations, during the trajectory simulation preview verification process, specifically includes:

[0100] In the target calibration system, a trajectory calibration execution module is set up, and different calibration tasks are issued through the trajectory calibration execution module;

[0101] Wherein, different calibration tasks are each assigned an independent number, and different calibration tasks are bound with different combinations of user update permissions;

[0102] In a target calibration system, different calibration tasks are started, and a robot state monitoring module in the target calibration system is simultaneously called during the starting process;

[0103] Through the robot state monitoring module, joint angles, operating loads and operating state data of a target robot are collected in real time, and the collected data, the calibration task and the corresponding independent number are synchronously written into a real-time update database;

[0104] During the operation of the calibration task, if there is a change of user ID and the combination of user update permissions corresponding to the changed user ID does not match the permissions corresponding to the current calibration task, the calibration task is suspended in the target calibration system, the currently collected data is locked at the same time, and the unauthorized processing is recorded in the log of the target calibration system.

[0105] It should be noted that various robot calibration tasks are created relying on the built-in trajectory calibration execution core module of the system, and are connected with a trajectory simulation preview process, so as to complete the actual correction of robot trajectory deviation. Each newly created calibration task generates a unique task number as the unique identifier of the task, meanwhile, the task is bound with the combination of user update permissions corresponding to the initiating operator and stored in the real-time update database, and the task has a complete permission boundary by default.

[0106] When a calibration task start instruction is executed, the robot state monitoring module of the system is linked synchronously, and a device state acquisition channel is opened up throughout the whole calibration operation, so that the calibration process and device state monitoring can run synchronously. The purpose is to realize the linkage of two modules, namely calibration task scheduling and robot state monitoring, and avoid the problem that calibration and device monitoring are independent and separated in traditional systems. The state monitoring module collects core operation indicators of the robot in real time, writes working condition data and the independent number of the corresponding calibration task into the real-time update database together, stores them uniformly with the combination of user update permissions bound to the task, monitors the login account change behavior during the operation of the calibration task, and calls the combination of user update permissions of the new account to compare with the permission bound to the current task; when the permissions do not match, the calibration process is suspended immediately, all collected working conditions and trajectory data are locked, and the unauthorized behavior is written into the system operation log at the same time. The purpose is that once an account is unauthorized, the machine can be stopped and the data can be locked immediately, and an audit record is retained at the same time to prevent data leakage.

[0107] The above are only specific embodiments of the present invention. However, the protection scope of the present invention is not limited thereto. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed by the present invention, and all shall be covered within the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims

1. A method for full-process management of robot trajectory calibration data based on hierarchical access control, characterized in that: Includes the following steps: Within the robot joint motion trajectory calibration system, multi-role permission hierarchical initialization processing is performed, and user information is bound; By combining real-time database updates, the robot's trajectory data is imported into the target calibration system and encrypted storage is performed using permission tags. Within the target calibration system, based on the user update permission combination in the real-time updated database, trajectory parameter configuration and trajectory simulation preview verification are performed under permission constraints. During the trajectory simulation preview verification process, the trajectory calibration execution task scheduling process is carried out by combining user update permission combinations and implementing hierarchical permission control. After the trajectory calibration task is scheduled, the calibration results and logs are processed in a hierarchical manner by combining real-time database updates with user update permissions. After performing differential permission calibration results and log hierarchical query processing, relying on the combination of real-time updated database and user updated permissions, hierarchical data export driven by permission verification and closed-loop management of system parameters are performed.

2. The method for full-process management of robot trajectory calibration data based on hierarchical access control as described in claim 1, characterized in that, The process of initializing multi-role permission levels and binding user information within the robot joint motion trajectory calibration system is as follows: A robot joint motion trajectory calibration system is acquired and calibrated as the target calibration system. In the target calibration system, role operation permissions are divided, including system administrator, calibration operator, and data viewer. Different roles are configured with corresponding operation permission whitelists. Based on the whitelist of operation permissions corresponding to different roles, a role permission lookup table is generated and stored in the storage database of the target calibration system. The basic role information of different roles is entered into the role permission lookup table to generate user IDs. Within the target calibration system, a ternary association mapping matching algorithm is set up. Based on the ternary association mapping matching algorithm, a binding relationship between user ID, role operation permission, and role type is constructed, marked as a user permission combination, and the storage database is updated based on the user permission combination. Within the target calibration system, if there are changes to the role type and the whitelist of operation permissions corresponding to different roles, the user permission combination is updated again by combining the ternary association mapping matching algorithm to obtain a real-time updated database.

3. The method for full-process management of robot trajectory calibration data based on hierarchical access control as described in claim 1, characterized in that, The process of importing robot trajectory data and encrypting and storing access tags within the target calibration system, combined with real-time database updates, specifically involves: Within the target calibration system, based on a real-time updated database, the system reads the currently logged-in user ID, as well as the corresponding role type and operation permission whitelist. Identify the target robot and obtain the original joint trajectory file of the target robot. Use the trajectory data import function of the target calibration system to import the original joint trajectory file of the target robot. The original joint trajectory file of the target robot includes the target robot's ID and trajectory coordinates; Based on the user ID, access permission tags are assigned to the original joint trajectory files of the target robot. Different access permission tags are used to distinguish between the two storage levels of the target robot's basic joint trajectory data and high-precision encrypted joint trajectory data. The original joint trajectory file of the target robot after assigning access permission tags is written to the real-time updated database in real time and bound to the user permission combination, and the user updated permission combination is output. Different user IDs have different access permission tags.

4. The method for full-process management of robot trajectory calibration data based on hierarchical access control as described in claim 1, characterized in that, Within the target calibration system, based on user update permission combinations in the real-time updated database, trajectory parameter configuration and trajectory simulation preview verification processing under permission constraints are performed, specifically as follows: Within the target calibration system, user update permission combinations are parsed; The analysis scheme involves retrieving the trajectory parameter setting module of the target calibration system and configuring the joint trajectory association parameters of the target robot based on the whitelist of operation permissions and permission access tags of the user's update permission combination. The joint trajectory association parameters of the target robot include motion speed, allowable trajectory deviation, and number of repetitions. During the configuration of the joint trajectory association parameters of the target robot in the target calibration system, the ternary association mapping matching algorithm is called in real time to verify the operation permission; If there is an operation permission that does not match the access permission tag corresponding to the user ID, and is not in the operation permission whitelist corresponding to the user ID, the operation will be intercepted in the target calibration system and the unauthorized processing will be recorded in the log. If it does not exist, the trajectory simulation preview of the target robot will be performed within the target calibration system, that is, the trajectory file of the target robot with access permission tags will be loaded for simulation processing. The target calibration system is configured with a simulation display interface. For user IDs that can access high-precision encrypted joint trajectory data, the system displays the trajectory error curve and precise coordinates. For user IDs that cannot access high-precision encrypted joint trajectory data, the system displays the trajectory outline.

5. The method for full-process management of robot trajectory calibration data based on hierarchical access control as described in claim 1, characterized in that, In the trajectory simulation preview verification process, the trajectory calibration execution task scheduling process, which combines user update permission combinations, is carried out with hierarchical permission control. Specifically: In the target calibration system, a trajectory calibration execution module is set up, and different calibration tasks are issued through the trajectory calibration execution module; Each calibration task is assigned a unique number, and each calibration task is bound to a different combination of user update permissions. In the target calibration system, different calibration tasks are initiated, and the robot status monitoring module in the target calibration system is retrieved synchronously during the initiation process. The robot status monitoring module collects the joint angles, operating load, and operating status data of the target robot in real time, and synchronously writes the collected data, calibration tasks, and corresponding unique numbers into the real-time updated database. If a user ID changes during the calibration task, and the user update permission combination corresponding to the changed user ID does not match the permissions corresponding to the current calibration task, the calibration task will be paused in the target calibration system, the currently collected data will be locked, and the unauthorized processing will be recorded in the log of the target calibration system.

6. The method for full-process management of robot trajectory calibration data based on hierarchical access control as described in claim 1, characterized in that, After the trajectory calibration task scheduling is completed, the process combines real-time database updates with user update permissions to perform differentiated permission-based calibration results and log hierarchical query processing, specifically: Within the target calibration system, the calibration result viewing module and calibration log query module are invoked, and are used to classify the data display hierarchy of the whitelist of operation permissions corresponding to user IDs; Based on the hierarchical division of data display, when receiving search conditions, the target calibration module combines the ternary association mapping matching algorithm to filter and update the unauthorized fields of the corresponding user ID in the database in real time, and outputs the query results matching the user ID's corresponding permission range in the calibration log query module. The database is updated in real time, and every query operation, retrieval condition, and data access range is recorded synchronously.

7. The method for full-process management of robot trajectory calibration data based on hierarchical access control as described in claim 1, characterized in that, After the calibration results of the differentiated permissions are processed and the logs are hierarchically queried, the hierarchical data export driven by permission verification and the closed-loop management of system parameters are performed, relying on the combination of real-time database updates and user permission updates. Specifically: In the target calibration system, the trajectory data of the target robot after the calibration task is completed is retrieved and exported; During the export process, permission restrictions are set for different user IDs based on the whitelist of operation permissions corresponding to the user ID. If the export operation of a user ID is not within the corresponding permission restriction, the unauthorized processing is recorded in the log of the target calibration system and the export operation of the current user ID is stopped. In the target calibration system, the entire process of user ID permission operation records is summarized, and a permission audit ledger is generated in the target calibration system and stored in a real-time updated database.

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