Robot hot plug control method, control cabinet device and storage medium

Abstract

The application provides a robot hot plug control method, a control cabinet equipment and a storage medium, which are applied to the control cabinet equipment. The method comprises the following steps: when a hot plug triggering event is detected, it is determined whether the control cabinet equipment successfully establishes a communication link with a target robot body according to preloaded configuration information; if not, a device multidimensional feature identifier of the target robot body is determined, and target configuration information is generated according to the device multidimensional feature identifier; a pre-operation environment is constructed according to the target configuration information, and the pre-operation environment is verified to obtain a verification result, wherein the verification result is used to indicate whether the pre-operation environment can be used as an official operation environment; a control mode is determined according to the verification result, and the target robot body is controlled according to the control mode, so that the compatibility of robot hot plug control is improved.

Description

Technical Field

[0001] This application relates to the field of robot control technology, and more specifically, to a robot hot-swap control method, control cabinet equipment, and storage medium. Background Technology

[0002] Industrial robot control systems generally adopt a separate architecture of control cabinet and robot body. The control cabinet is responsible for tasks such as trajectory planning, motion control, bus communication, status monitoring, and fault handling, while the robot body includes the robot arm itself, its joint drivers, encoders, brakes, and body-side controllers. The control cabinet and robot body interact via communication protocols such as Controller Area Network (CAN) and Ethernet for Control Automation Technology (EtherCAT).

[0003] Currently, control cabinet software is typically tightly bound to a specific communication protocol or a particular type of robot. Upon startup, it loads configurations such as drivers, bus topology, and control cycles corresponding to a fixed protocol. If a different protocol or type of robot is used, the robot type must be manually identified, configuration files modified, and the control software restarted. In some cases, a complete machine restart is also required. This entire process relies on specialized engineers, is inefficient, and prone to errors.

[0004] Therefore, in the existing technology, the same control cabinet cannot be compatible with multiple protocol robot bodies, and cannot realize the application requirements of quick on-site replacement of robot bodies and plug-and-play for users. Summary of the Invention

[0005] The purpose of this application is to address the shortcomings of the prior art by providing a robot hot-swappable control method, control cabinet equipment, and storage medium, so as to solve the practical needs of the prior art where the same control cabinet cannot be compatible with multiple protocol robot bodies, and cannot realize the application of quick on-site replacement of robot bodies and plug-and-play functionality.

[0006] To achieve the above objectives, the technical solutions adopted in the embodiments of this application are as follows: In a first aspect, embodiments of this application provide a robot hot-swap control method, applied to control cabinet equipment, the method comprising: When a hot-plug trigger event is detected, the system determines whether the control cabinet device has successfully established a communication link with the target robot body based on the pre-loaded configuration information. If not, then determine the device multidimensional feature identifier of the target robot body, and generate target configuration information based on the device multidimensional feature identifier; Based on the target configuration information, a pre-running environment is constructed and verified to obtain a verification result. The verification result is used to indicate whether the pre-running environment can be used as a formal running environment. Based on the verification results, a control mode is determined, and the target robot body is controlled according to the control mode.

[0007] As an optional implementation, the device multidimensional feature identifier for determining the target robot body includes: The communication interfaces of the target robot body are probed to determine the candidate protocol categories of the target robot body; When a robotic arm comes online from the station, the target robot body is selected as a valid candidate device, and the manufacturer identifier, product identifier, object dictionary key items, and device identity field of the target robot body are obtained according to the candidate protocol category. Based on the manufacturer identifier, product identifier, object dictionary key items, and device identity field of the target robot body, determine the device multidimensional feature identifier of the target robot body.

[0008] As an optional implementation, generating target configuration information based on the device's multi-dimensional feature identifier includes: The device's multidimensional feature identifier is matched with a local template library. Based on the matching results, the protocol category, model, and task cycle template of the target robot body are determined. The task cycle template is used to record various configuration rules. Based on the protocol type, model, and task cycle template of the target robot body, the target configuration information is generated, wherein the target configuration information includes at least target protocol configuration information, target bus topology configuration information, target axis mapping relationship, and target safety parameter configuration information.

[0009] As an optional implementation, the verification of the pre-running environment includes: The pre-running environment is verified for communication links, object access, parameter validity, topology consistency, initialization order, and security conditions.

[0010] As an optional implementation, determining the control mode based on the verification result includes: If the verification result indicates that the pre-running environment verification was successful, then the control mode is determined to be the switching control mode; If the verification result indicates that the pre-running environment verification failed, then the control mode is determined to be the rollback control mode.

[0011] As an optional implementation, controlling the target robot body according to the control mode includes: If the control mode is the switching control mode, then exit the current formal running environment and let the pre-running environment take over the running tasks; Based on the target configuration information, the target time base and the target task scheduling table are determined. The target time base is used to characterize the control cycle, planning cycle, communication cycle and monitoring cycle corresponding to the protocol category of the target robot body. The pre-running environment is used as the new current formal running environment, and the new current formal running environment controls the target robot body according to the target time base and the target task scheduling table.

[0012] As an optional implementation, controlling the target robot body according to the control mode includes: If the control mode is the rollback control mode, the current operating environment controls the target robot body according to the preloaded configuration information, generates an error message, and outputs the error message to the user.

[0013] As an optional implementation, the control of the target robot body by the current operating environment according to the pre-loaded configuration information includes: The current formal operating environment performs restricted diagnostic control on the target robot body according to the preloaded configuration information. During the restricted diagnostic control process, the current formal operating environment enables the communication detection function, parameter reading function, and status diagnosis function of the target robot body, and disables the motion control output function of the target robot body.

[0014] Secondly, embodiments of this application provide a robot hot-swap control device, the device comprising: The determination module is used to determine, based on preloaded configuration information, whether the control cabinet device has successfully established a communication link with the target robot body when a hot-plug trigger event is detected. The generation module is used to determine the device multidimensional feature identifier of the target robot body if no, and generate target configuration information based on the device multidimensional feature identifier; The verification module is used to construct a pre-running environment based on the target configuration information, and to verify the pre-running environment to obtain a verification result. The verification result is used to indicate whether the pre-running environment can be used as a formal running environment. The control module is used to determine the control mode based on the verification results, and control the target robot body according to the control mode.

[0015] As an optional implementation, the generation module is specifically used for: The communication interfaces of the target robot body are probed to determine the candidate protocol categories of the target robot body; When a robotic arm comes online from the station, the target robot body is selected as a valid candidate device, and the manufacturer identifier, product identifier, object dictionary key items, and device identity field of the target robot body are obtained according to the candidate protocol category. Based on the manufacturer identifier, product identifier, object dictionary key items, and device identity field of the target robot body, determine the device multidimensional feature identifier of the target robot body.

[0016] As an optional implementation, the generation module is specifically used for: The device's multidimensional feature identifier is matched with a local template library. Based on the matching results, the protocol category, model, and task cycle template of the target robot body are determined. The task cycle template is used to record various configuration rules. Based on the protocol type, model, and task cycle template of the target robot body, the target configuration information is generated, wherein the target configuration information includes at least target protocol configuration information, target bus topology configuration information, target axis mapping relationship, and target safety parameter configuration information.

[0017] As an optional implementation, the verification module is specifically used for: The pre-running environment is verified for communication links, object access, parameter validity, topology consistency, initialization order, and security conditions.

[0018] As an optional implementation, the control module is specifically used for: If the verification result indicates that the pre-running environment verification was successful, then the control mode is determined to be the switching control mode; If the verification result indicates that the pre-running environment verification failed, then the control mode is determined to be the rollback control mode.

[0019] As an optional implementation, the control module is specifically used for: If the control mode is the switching control mode, then exit the current formal running environment and let the pre-running environment take over the running tasks; Based on the target configuration information, the target time base and the target task scheduling table are determined. The target time base is used to characterize the control cycle, planning cycle, communication cycle and monitoring cycle corresponding to the protocol category of the target robot body. The pre-running environment is used as the new current formal running environment, and the new current formal running environment controls the target robot body according to the target time base and the target task scheduling table.

[0020] As an optional implementation, the control module is specifically used for: If the control mode is the rollback control mode, the current operating environment controls the target robot body according to the preloaded configuration information, generates an error message, and outputs the error message to the user.

[0021] As an optional implementation, the determining module is specifically used for: The current formal operating environment performs restricted diagnostic control on the target robot body according to the preloaded configuration information. During the restricted diagnostic control process, the current formal operating environment enables the communication detection function, parameter reading function, and status diagnosis function of the target robot body, and disables the motion control output function of the target robot body.

[0022] Thirdly, embodiments of this application provide a control cabinet device, including: a processor, a memory, and a bus. The memory stores machine-readable instructions executable by the processor. When the control cabinet device is running, the processor communicates with the memory via the bus, and the processor executes the machine-readable instructions to perform the steps of the robot hot-swap control method described in the first aspect above.

[0023] Fourthly, embodiments of this application provide a computer-readable storage medium storing a computer program, which, when executed by a processor, performs the steps of the robot hot-plug control method described in the first aspect above.

[0024] The beneficial effects of this application are: This application provides a robot hot-swap control method, a control cabinet device, and a storage medium. Upon detecting a hot-swap trigger event, the method determines whether a communication link has been successfully established between the control cabinet device and the target robot body based on pre-loaded configuration information. If not, it determines the multi-dimensional feature identifier of the target robot body and generates target configuration information based on this identifier. A pre-running environment is constructed and verified based on the target configuration information, and the verification result indicates whether the pre-running environment can be used as the formal running environment. Based on the verification result, a control mode is determined, and the target robot body is controlled according to this mode. The multi-dimensional feature identifier of the target robot body improves the accuracy of target robot body recognition. By constructing and verifying the pre-running environment, smooth switching or abnormal rollback of the running environment is achieved, enabling the same control cabinet device to be compatible with multiple protocol robot bodies, realizing the application requirements of rapid on-site robot body replacement and plug-and-play functionality for users. Attached Figure Description

[0025] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0026] Figure 1 A flowchart illustrating the robot hot-plug control method provided in this application embodiment. Figure 1 ; Figure 2 A flowchart illustrating the robot hot-plug control method provided in this application embodiment. Figure 2 ; Figure 3 A flowchart illustrating the robot hot-plug control method provided in this application embodiment. Figure 3 ; Figure 4 A flowchart illustrating the robot hot-plug control method provided in this application embodiment. Figure 4 ; Figure 5 A flowchart illustrating the robot hot-plug control method provided in this application embodiment. Figure 5 ; Figure 6 A module structure diagram of the robot hot-swap control device provided in the embodiments of this application; Figure 7 This is a schematic diagram of the structure of the control cabinet equipment provided in the embodiments of this application. Detailed Implementation

[0027] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. It should be understood that the accompanying drawings in this application are for illustrative and descriptive purposes only and are not intended to limit the scope of protection of this application. Furthermore, it should be understood that the schematic drawings are not drawn to scale. The flowcharts used in this application illustrate operations implemented according to some embodiments of this application. It should be understood that the operations in the flowcharts may not be implemented in sequence, and steps without logical contextual relationships may be reversed or implemented simultaneously. In addition, those skilled in the art, guided by the content of this application, may add one or more other operations to the flowcharts, or remove one or more operations from the flowcharts.

[0028] Furthermore, the described embodiments are merely some, not all, of the embodiments of this application. The components of the embodiments of this application described and illustrated herein can typically be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely to illustrate selected embodiments of the application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0029] It should be noted that the term "comprising" will be used in the embodiments of this application to indicate the presence of the features declared thereafter, but does not exclude the addition of other features.

[0030] Industrial robot control systems typically employ a separate architecture for the control cabinet and the robot body, communicating via protocols such as CAN and EtherCAT. Currently, the control cabinet software is often tightly bound to a specific communication protocol or type of robot body. Changing to a different protocol or type of robot body requires manual identification of the robot body type, manual modification of configuration files, and a restart of the control software; in some cases, a complete machine restart is also necessary. This entire process relies on specialized engineers, is inefficient, and prone to errors. In other words, current technology cannot use a single control cabinet to support multiple robot bodies with different protocols, failing to meet the requirements for rapid on-site robot body replacement and plug-and-play applications.

[0031] Based on the above-mentioned problems, this application provides a robot hot-swappable control method, which realizes automatic identification, automatic configuration, automatic switching and safe operation of robot bodies with different protocols, models and cycle requirements on the same control cabinet device, so that users can achieve plug-and-play without manually modifying the underlying configuration after replacing the robot body.

[0032] Figure 1A flowchart illustrating the robot hot-plug control method provided in this application embodiment. Figure 1 The subject executing this method can be a control cabinet device. For example... Figure 1 As shown, the method includes: S101. When a hot-plug trigger event is detected, determine whether the control cabinet device has successfully established a communication link with the target robot body based on the pre-loaded configuration information.

[0033] Optionally, when the control cabinet device detects a hot-plug trigger event, it attempts to establish a communication link with the target robot body currently physically connected according to the configuration information pre-loaded by the control cabinet device, and determines whether the link can be established under the current configuration.

[0034] Hot-swap trigger events include powering on the control cabinet equipment, changes in the communication link, and user replacement of the robot body.

[0035] S102. If not, determine the multi-dimensional feature identifier of the target robot body and generate target configuration information based on the multi-dimensional feature identifier.

[0036] Optionally, if the link is successfully established, it means that the pre-loaded configuration information can directly drive the target robot body. In this case, the control cabinet device controls the target robot body according to the pre-loaded configuration information and the current formal operating environment.

[0037] If the chain establishment fails, it means that the preloaded configuration information cannot directly drive the target robot body. In this case, the control cabinet device extracts the multi-dimensional feature identifier of the target robot body from multiple dimensions such as the device layer, protocol layer, identity layer and topology layer to accurately identify the device identity of the target robot body, and generates target configuration information adapted to the target robot body based on the multi-dimensional feature identifier of the device.

[0038] S103. Based on the target configuration information, construct a pre-running environment and verify the pre-running environment to obtain the verification results.

[0039] The verification results are used to indicate whether the pre-running environment can be used as the formal running environment.

[0040] Optionally, without disrupting the current operational environment, the control cabinet can construct a pre-operational environment corresponding to the target robot body in the background based on the target configuration information. This pre-operational environment can be implemented using various methods, such as independent thread groups, independent processes, plugin instances, lightweight containers, double-buffered configuration spaces, or virtual communication instances.

[0041] The control cabinet equipment verifies the pre-operation environment and obtains the verification results, which indicate whether the pre-operation environment can be used as the formal operation environment.

[0042] S104. Based on the verification results, determine the control mode and control the target robot body according to the control mode.

[0043] Optionally, the control cabinet equipment determines the control mode based on the verification results. The control mode includes switching control mode or reverting control mode.

[0044] The control cabinet controls the target robot body according to the control mode. In the switching control mode, the current formal operating environment is smoothly switched to the pre-operating environment, and the target robot body is controlled by the pre-operating environment. In the rollback control mode, the target robot body is subjected to limited diagnostic control by the current formal operating environment.

[0045] In this embodiment, upon detecting a hot-plug trigger event, the system determines whether a communication link has been successfully established between the control cabinet device and the target robot body based on pre-loaded configuration information. If not, it determines the multi-dimensional feature identifier of the target robot body and generates target configuration information based on this identifier. A pre-running environment is constructed and verified based on the target configuration information, and the verification result indicates whether the pre-running environment can be used as the formal running environment. Based on the verification result, a control mode is determined, and the target robot body is controlled according to this mode. The multi-dimensional feature identifier of the target robot body improves the accuracy of target robot body identification. By constructing and verifying the pre-running environment, smooth switching or abnormal rollback of the running environment is achieved, enabling the same control cabinet device to be compatible with multiple protocol robot bodies, fulfilling the application requirements of rapid on-site robot body replacement and plug-and-play functionality for users.

[0046] Figure 2 A flowchart illustrating the robot hot-plug control method provided in this application embodiment. Figure 2 ,like Figure 2 As shown, the device multi-dimensional feature identifier for determining the target robot body in step S102 above includes: S201. Probe each communication interface of the target robot body to determine the candidate protocol category of the target robot body.

[0047] Optionally, after a link establishment failure, the control cabinet device triggers full-interface blind probing to poll or probe each communication interface of the target robot body in parallel, and determines the candidate protocol category of the target robot body based on the physical layer status, handshake response and link activity of each detected communication interface.

[0048] The target robot body's communication interfaces include CAN communication interface, EtherCAT communication interface, etc.

[0049] S202. When the robotic arm comes online from the station, the target robot body is taken as a valid candidate device, and the manufacturer identifier, product identifier, object dictionary key items and device identity field of the target robot body are obtained according to the candidate protocol category.

[0050] Optionally, the control cabinet device determines whether a robotic arm slave station online event is detected. If so, it means that the target robot body can be used as a valid candidate device. The control cabinet device then uses the target robot body as a valid candidate device and obtains the manufacturer identifier, product identifier, object dictionary key items, and device identity field of the target robot body according to the candidate protocol category.

[0051] If no robotic arm comes online from the station, it means that the target robot cannot be used as a valid candidate device, and the control cabinet device determines the control mode to be the rollback control mode.

[0052] S203. Determine the multi-dimensional feature identifier of the target robot body based on the manufacturer identifier, product identifier, key items in the object dictionary, and device identity field.

[0053] Optionally, a device multidimensional feature identifier is generated, which includes the manufacturer identifier, product identifier, key items of the object dictionary, and device identity field of the target robot body. This allows the device multidimensional feature identifier of the target robot body to accurately represent the characteristics of the target robot body in multiple dimensions, such as the device layer, protocol layer, identity layer, and topology layer.

[0054] It is worth noting that it can also obtain fields such as the firmware version number, encoder type, motor rated parameters, safety board version number, electronic nameplate data, or joint module combination relationship of the target robot body. This means that the multi-dimensional feature identifier of the target robot body also includes fields such as the firmware version number, encoder type, motor rated parameters, safety board version number, electronic nameplate data, or joint module combination relationship of the target robot body.

[0055] In this embodiment, the communication interfaces of the target robot body are probed to determine the candidate protocol categories of the target robot body. When a robotic arm slave station online event is detected, the target robot body is considered a valid candidate device. Based on the candidate protocol categories, the manufacturer identifier, product identifier, object dictionary key items, and device identity field of the target robot body are obtained. Then, based on the manufacturer identifier, product identifier, object dictionary key items, and device identity field of the target robot body, the multi-dimensional device feature identifier of the target robot body is determined. This improves the accuracy of the multi-dimensional device feature identifier of the target robot body.

[0056] Figure 3 A flowchart illustrating the robot hot-plug control method provided in this application embodiment. Figure 3In step S102 above, target configuration information is generated based on the device's multi-dimensional feature identifier, including: S301. Match the device's multi-dimensional feature identifier with the local template library. Based on the matching results, determine the protocol category, model, and task cycle template of the target robot body.

[0057] The task cycle template is used to record various configuration rules.

[0058] Optionally, the control cabinet device matches the multi-dimensional feature identifier of the target robot body with the local template library or local rule library stored in the control cabinet device to obtain the matching result.

[0059] If the matching result indicates a successful match, the control cabinet device determines the protocol type, model, and task cycle template that matches the target robot body. The task cycle template records a variety of configuration rules, meaning that the task cycle template is a configuration template.

[0060] If the matching result indicates a matching failure, it means that although the current robotic arm slave station is online, it cannot locate the valid model and configuration template of the target robot body. In this case, the control cabinet equipment determines the control mode to be the rollback control mode.

[0061] S302. Generate target configuration information based on the protocol type, model, and task cycle template of the target robot body.

[0062] The target configuration information includes at least the target protocol configuration information, the target bus topology configuration information, the target axis mapping relationship, and the target security parameter configuration information.

[0063] Optionally, the control cabinet device generates target configuration information for the target robot body based on the protocol type, model, and task cycle template of the target robot body obtained through successful matching. The target configuration information includes at least target protocol configuration information, target bus topology configuration information, target axis mapping relationship, and target safety parameter configuration information.

[0064] In this embodiment, the device's multi-dimensional feature identifier is matched with a local template library. Based on the matching result, the protocol category, model, and task cycle template for recording various configuration rules of the target robot body are determined. Then, target configuration information is generated based on the target robot body's protocol category, model, and task cycle template. This improves the accuracy of generating target configuration information for the target robot body.

[0065] As an optional implementation, the verification of the pre-running environment in step S103 above includes: The pre-running environment is verified for communication links, object access, parameter validity, topology consistency, initialization order, and security conditions.

[0066] Optionally, the control cabinet device performs a series of verifications on the pre-operation environment, including communication link verification, object access verification, parameter validity verification, topology consistency verification, initialization sequence verification, and security condition verification, to verify whether the pre-operation environment is ready to take over the formal operation environment.

[0067] In this embodiment, the pre-running environment undergoes verification of communication links, object access, parameter validity, topology consistency, initialization order, and security conditions. This precisely verifies whether the pre-running environment is capable of taking over the formal running environment.

[0068] As an optional implementation method, Figure 4 A flowchart illustrating the robot hot-plug control method provided in this application embodiment. Figure 4 ,like Figure 4 As shown, in step S104 above, determining the control mode based on the verification results includes: S401. If the verification result indicates that the pre-running environment verification was successful, then the control mode is determined to be the switching control mode.

[0069] Optionally, if the verification result indicates that the pre-operation environment has been successfully verified, meaning that the pre-operation environment is ready to take over the formal operation environment, the control cabinet equipment determines the control mode to be the switching control mode, so as to smoothly switch the current formal operation environment to the successfully verified pre-operation environment.

[0070] S402. If the verification result indicates that the pre-running environment verification failed, then the control mode is determined to be the rollback control mode.

[0071] Optionally, if the verification result indicates that the pre-operation environment verification failed, meaning that the pre-operation environment does not meet the conditions for taking over the formal operation environment, the control cabinet equipment determines the control mode to the rollback control mode, maintains the current formal operation environment, and enters the restricted diagnostic mode, thereby improving the reliability of on-site operation.

[0072] In this embodiment, if the verification result indicates that the pre-running environment verification was successful, the control mode is determined to be the switching control mode; if the verification result indicates that the pre-running environment verification failed, the control mode is determined to be the rollback control mode. This improves the flexibility and reliability of the robot's hot-swap control.

[0073] Figure 5 A flowchart illustrating the robot hot-plug control method provided in this application embodiment. Figure 5 ,like Figure 5 As shown, step S104 above involves controlling the target robot body according to the control mode, including: S501. If the control mode is switching control mode, then exit the current formal operating environment and let the pre-operating environment take over the running tasks.

[0074] Optionally, when the control mode is switching control mode, the control cabinet device releases the current formal operating environment and releases resources, performs a smooth switch of the operating environment, so that the current formal operating environment exits safely and the successfully verified pre-operating environment seamlessly takes over the operating tasks.

[0075] In other words, in the switching control mode, a smooth and seamless transition from the current formal operating environment to the pre-operational environment can be achieved.

[0076] S502. Based on the target configuration information, determine the target time base and the target task scheduling table.

[0077] Among them, the target time base is used to characterize the control cycle, planning cycle, communication cycle and monitoring cycle corresponding to the protocol category of the target robot body.

[0078] Optionally, the control cabinet device performs multi-time base joint reconstruction based on the target configuration information of the target robot body, determines the target time base and the target task scheduling table, and synchronously adjusts the control cycle, planning cycle, communication cycle and monitoring cycle in the pre-running environment according to the target time base, and updates the target task scheduling table, as well as the timeout threshold and task scheduling table in the pre-running environment.

[0079] The target configuration information, target time base, and target task scheduling table of the target robot body are written into the default main frame of the control cabinet device, so that the default loading basis is used when the control cabinet device is restarted in the future.

[0080] S503. The pre-running environment is used as the new current formal running environment, and the new current formal running environment controls the target robot body according to the target time base and the target task scheduling table.

[0081] Optionally, the control cabinet equipment uses the pre-running environment as the new current formal running environment, and the target robot body enters the normal startup and running state. The new current formal running environment controls the target robot body according to the target time base and the target task scheduling table.

[0082] The new, current operational environment enables the target robot to perform communication, control, planning, and detection tasks.

[0083] In this embodiment, if the control mode is switching control mode, the current formal operating environment exits, and the pre-operating environment takes over the running tasks. Based on the target configuration information, the target time base and target task scheduling table are determined. The pre-operating environment becomes the new current formal operating environment, which then controls the target robot body according to the target time base and target task scheduling table. This improves the compatibility of hot-swappable robot control.

[0084] As an optional implementation, step S104 above, which controls the target robot body according to the control mode, includes: If the control mode is rollback control mode, the current operating environment will control the target robot body according to the pre-loaded configuration information, generate abnormal prompt information, and output abnormal prompt information to the user.

[0085] Optionally, when the control mode is the rollback control mode, the control cabinet device controls the target robot body according to the pre-loaded configuration information by the current formal operating environment, generates abnormal prompt information, and communicates with the host computer to output abnormal prompt information to the user.

[0086] Users can initiate the process of re-identifying the target robot body based on the abnormal prompt information.

[0087] In this embodiment, if the control mode is a rollback control mode, the current operating environment controls the target robot body according to the pre-loaded configuration information, generates anomaly prompts, and outputs these prompts to the user. This prevents the control cabinet equipment from entering an uncontrollable or unrecoverable state.

[0088] As an optional implementation, the above steps involve the current operating environment controlling the target robot body according to pre-loaded configuration information, including: The current operating environment performs restricted diagnostic control on the target robot body according to the pre-loaded configuration information. During the restricted diagnostic control process, the current operating environment enables the communication detection function, parameter reading function and status diagnosis function of the target robot body, and disables the motion control output function of the target robot body.

[0089] Optionally, in rollback control mode, the current operating environment enters restricted diagnostic mode according to the pre-loaded configuration information to perform restricted diagnostic control on the target robot body.

[0090] Specifically, during the restricted diagnostic control process, the current formal operating environment can only perform communication detection, parameter reading, and status diagnosis on the target robot body, and cannot output motion control commands to the target robot body. In other words, in the fallback control mode, the current formal operating environment is in a degraded operating state.

[0091] In this embodiment, the current operating environment performs restricted diagnostic control on the target robot body according to the pre-loaded configuration information. During the restricted diagnostic control process, the current operating environment enables communication detection, parameter reading, and status diagnosis functions for the target robot body, but disables motion control output functions for the target robot body. This ensures that in the rollback control mode, the current operating environment only retains the communication detection, parameter reading, and status diagnosis functions for the target robot body.

[0092] Based on the same inventive concept, this application also provides a robot hot-swap control device corresponding to the robot hot-swap control method. Since the principle of the device in this application is similar to the robot hot-swap control method described above, the implementation of the device can refer to the implementation of the method, and the repeated parts will not be described again.

[0093] Figure 6 A module structure diagram of the robot hot-swap control device provided in the embodiments of this application is shown below. Figure 6 As shown, the device includes: The determination module 601 is used to determine, based on preloaded configuration information, whether the control cabinet device has successfully established a communication link with the target robot body when a hot-plug trigger event is detected. The generation module 602 is used to determine the device multidimensional feature identifier of the target robot body if not, and generate target configuration information based on the device multidimensional feature identifier; The verification module 603 is used to build a pre-running environment based on the target configuration information, verify the pre-running environment, and obtain the verification result. The verification result is used to indicate whether the pre-running environment can be used as a formal running environment. The control module 604 is used to determine the control mode based on the verification results and control the target robot body according to the control mode.

[0094] As an optional implementation, the generation module 602 is specifically used for: The communication interfaces of the target robot body are probed to determine the candidate protocol categories of the target robot body; When a robotic arm comes online from the station, the target robot body is selected as a valid candidate device, and the manufacturer identifier, product identifier, object dictionary key items, and device identity field of the target robot body are obtained according to the candidate protocol category. Based on the manufacturer identifier, product identifier, key items in the object dictionary, and device identity field of the target robot body, determine the multi-dimensional device feature identifier of the target robot body.

[0095] As an optional implementation, the generation module 602 is specifically used for: The device's multi-dimensional feature identifier is matched with the local template library. Based on the matching results, the protocol category, model, and task cycle template of the target robot body are determined. The task cycle template is used to record various configuration rules. Based on the protocol type, model, and task cycle template of the target robot body, target configuration information is generated. The target configuration information includes at least target protocol configuration information, target bus topology configuration information, target axis mapping relationship, and target safety parameter configuration information.

[0096] As an optional implementation, the verification module 603 is specifically used for: The pre-running environment is verified for communication links, object access, parameter validity, topology consistency, initialization order, and security conditions.

[0097] As an optional implementation, the control module 604 is specifically used for: If the verification result indicates that the pre-running environment verification was successful, then the control mode is determined to be the switching control mode; If the verification result indicates that the pre-running environment verification failed, then the control mode is determined to be the rollback control mode.

[0098] As an optional implementation, the control module 604 is specifically used for: If the control mode is switching control mode, then exit the current formal running environment and let the pre-running environment take over the running tasks; Based on the target configuration information, the target time base and the target task scheduling table are determined. The target time base is used to characterize the control cycle, planning cycle, communication cycle and monitoring cycle corresponding to the protocol category of the target robot body. The pre-running environment is used as the new current formal running environment, and the new current formal running environment controls the target robot body according to the target time base and the target task scheduling table.

[0099] As an optional implementation, the control module 604 is specifically used for: If the control mode is rollback control mode, the current operating environment will control the target robot body according to the pre-loaded configuration information, generate abnormal prompt information, and output abnormal prompt information to the user.

[0100] As an optional implementation, the determining module 601 is specifically used for: The current operating environment performs restricted diagnostic control on the target robot body according to the pre-loaded configuration information. During the restricted diagnostic control process, the current operating environment enables the communication detection function, parameter reading function and status diagnosis function of the target robot body, and disables the motion control output function of the target robot body.

[0101] This application also provides a control cabinet device, such as... Figure 7 The diagram shown is a structural schematic of the control cabinet device provided in this embodiment of the application, including: a processor 71, a memory 72, and a bus 73. The memory 72 stores machine-readable instructions that can be executed by the processor 71. When the control cabinet device is running, the processor 71 communicates with the memory 72 through the bus 73, and the processor 71 executes the machine-readable instructions to perform the steps of the robot hot-plug control method in the aforementioned embodiment.

[0102] This application also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, performs the steps of the robot hot-plug control method described in the foregoing embodiments.

[0103] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems and devices described above can be referred to the corresponding processes in the method embodiments, and will not be repeated here. In the several embodiments provided in this application, it should be understood that the disclosed systems, devices, and methods can be implemented in other ways. The device embodiments described above are merely illustrative. For example, the division of modules is only a logical functional division, and in actual implementation, there may be other division methods. Furthermore, multiple modules or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the displayed or discussed mutual coupling or direct coupling or communication connection can be through some communication interfaces; the indirect coupling or communication connection of devices or modules can be electrical, mechanical, or other forms.

[0104] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. If the functions are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes: USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, optical disks, and other media capable of storing program code.

[0105] The above are merely specific embodiments of this application, but the scope of protection of this application is not limited thereto. Any changes or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application.

Claims

1. A robot hot-swap control method, characterized in that, Applied to control cabinet equipment, the method includes: When a hot-plug trigger event is detected, the system determines whether the control cabinet device has successfully established a communication link with the target robot body based on the pre-loaded configuration information. If not, then determine the device multidimensional feature identifier of the target robot body, and generate target configuration information based on the device multidimensional feature identifier; Based on the target configuration information, a pre-running environment is constructed and verified to obtain a verification result. The verification result is used to indicate whether the pre-running environment can be used as a formal running environment. Based on the verification results, a control mode is determined, and the target robot body is controlled according to the control mode.

2. The method according to claim 1, characterized in that, The device multidimensional feature identifier for determining the target robot body includes: The communication interfaces of the target robot body are probed to determine the candidate protocol categories of the target robot body; When a robotic arm comes online from the station, the target robot body is selected as a valid candidate device, and the manufacturer identifier, product identifier, object dictionary key items, and device identity field of the target robot body are obtained according to the candidate protocol category. Based on the manufacturer identifier, product identifier, object dictionary key items, and device identity field of the target robot body, determine the device multidimensional feature identifier of the target robot body.

3. The method according to claim 1, characterized in that, The step of generating target configuration information based on the device's multi-dimensional feature identifier includes: The device's multidimensional feature identifier is matched with a local template library. Based on the matching results, the protocol category, model, and task cycle template of the target robot body are determined. The task cycle template is used to record various configuration rules. Based on the protocol type, model, and task cycle template of the target robot body, the target configuration information is generated, wherein the target configuration information includes at least target protocol configuration information, target bus topology configuration information, target axis mapping relationship, and target safety parameter configuration information.

4. The method according to claim 1, characterized in that, The verification of the pre-running environment includes: The pre-running environment is verified for communication links, object access, parameter validity, topology consistency, initialization order, and security conditions.

5. The method according to claim 1, characterized in that, Determining the control mode based on the verification results includes: If the verification result indicates that the pre-running environment verification was successful, then the control mode is determined to be the switching control mode; If the verification result indicates that the pre-running environment verification failed, then the control mode is determined to be the rollback control mode.

6. The method according to claim 5, characterized in that, The control of the target robot body according to the control mode includes: If the control mode is the switching control mode, then exit the current formal running environment and let the pre-running environment take over the running tasks; Based on the target configuration information, the target time base and the target task scheduling table are determined. The target time base is used to characterize the control cycle, planning cycle, communication cycle and monitoring cycle corresponding to the protocol category of the target robot body. The pre-running environment is used as the new current formal running environment, and the new current formal running environment controls the target robot body according to the target time base and the target task scheduling table.

7. The method according to claim 5, characterized in that, The control of the target robot body according to the control mode includes: If the control mode is the rollback control mode, the current operating environment controls the target robot body according to the preloaded configuration information, generates an error message, and outputs the error message to the user.

8. The method according to claim 7, characterized in that, The control of the target robot body by the current operating environment according to the pre-loaded configuration information includes: The current formal operating environment performs restricted diagnostic control on the target robot body according to the preloaded configuration information. During the restricted diagnostic control process, the current formal operating environment enables the communication detection function, parameter reading function, and status diagnosis function of the target robot body, and disables the motion control output function of the target robot body.

9. A control cabinet device, characterized in that, include: The device includes a processor, a memory, and a bus. The memory stores machine-readable instructions that the processor can execute. When the control cabinet device is running, the processor communicates with the memory via the bus, and the processor executes the machine-readable instructions to perform the steps of the robot hot-swap control method as described in any one of claims 1 to 8.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, performs the steps of the robot hot-plug control method as described in any one of claims 1 to 8.

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