Robot matching method, apparatus and device, and storage medium

Abstract

The present application discloses a robot matching method, apparatus and device, and a storage medium. The robot matching method comprises: during the operation of a robot, obtaining a first parameter stored in a controller and a second parameter stored in a mechanical body of the robot; when the first parameter is inconsistent with the second parameter, selecting a target parameter from among the first parameter and the second parameter; and then transmitting the target parameter between the controller and the mechanical body, so as to carry out parameter matching between the controller and the mechanical body.

Description

Robot matching method, device, equipment and storage medium

[0001] This application claims priority to Chinese patent application No. 202311594520.5 filed on November 24, 2023, the entire contents of which are incorporated by reference into the application. Technical Field

[0002] The present application relates to the field of robotics technology, and in particular to a robot matching method, apparatus, device, and storage medium. Background Art

[0003] With the rise of industrial automation, industrial robots are widely used in automated production lines. Industrial robots typically consist of a controller and a mechanical body, with their parameters stored in a control cabinet. Therefore, whenever the controller connected to the robot's mechanical body is replaced, the robot must be recalibrated for proper operation. For robot manufacturers and suppliers, since the parameters are stored in the control cabinet, calibration and recalibration must be performed on both the robot's mechanical body and the controller. Furthermore, the robot's mechanical body must be firmly bound to the controller upon shipment. Therefore, achieving automatic matching between the robot's mechanical body and controller, while avoiding a strong binding between the two, has become a pressing issue. Technical issues

[0004] The main purpose of this application is to provide a robot matching method, device, equipment and storage medium, aiming to solve the technical problem of how to achieve automatic matching between the robot mechanical body and the controller and avoid strong binding between the robot mechanical body and the controller. Technical Solutions

[0005] To achieve the above objectives, the present application provides a robot matching method, which includes the following steps:

[0006] During the operation of the robot, obtaining a first parameter stored in a controller of the robot and a second parameter stored in a mechanical body;

[0007] When the first parameter and the second parameter are inconsistent, selecting a target parameter from the first parameter and the second parameter;

[0008] The target parameters are transmitted between the controller and the machine body to perform parameter matching between the controller and the machine body.

[0009] In one embodiment, before the step of obtaining the first parameter stored in the controller of the robot and the second parameter stored in the mechanical body during the operation of the robot, the method further includes:

[0010] When a controller in the robot is turned on, obtaining controller parameters stored in the controller in the robot and body parameters stored in the mechanical body in the robot;

[0011] Performing version matching on the controller and the mechanical body according to the controller parameters and the body parameters;

[0012] When the version matching is successful, the first parameter stored in the controller and the second parameter stored in the mechanical body are acquired.

[0013] In one embodiment, the step of performing version matching on the controller and the mechanical body according to the controller parameters and the body parameters includes:

[0014] Performing a software and hardware inspection on the controller and the mechanical body according to the controller parameters and the body parameters to obtain a software and hardware inspection result;

[0015] Performing a power check on the controller and the mechanical body according to the controller parameters and the body parameters to obtain a power check result;

[0016] Performing parameter version checks on the controller and the mechanical body according to the controller parameters and the body parameters to obtain parameter version check results;

[0017] When the software and hardware check result is that the software and hardware check is passed, the power check result is that the power check is passed, and the parameter version check result is that the parameter version check is passed, it is determined that the version matching is passed.

[0018] In one embodiment, the step of performing a software and hardware inspection on the controller and the mechanical body according to the controller parameters and the body parameters to obtain a software and hardware inspection result includes:

[0019] Obtain the target controller software and hardware version in the controller parameters and the target entity software and hardware version in the entity parameters;

[0020] Obtain the initial controller software and hardware versions and the initial main body software and hardware versions that support unordered matching;

[0021] Matching the software and hardware versions of the initial controller with the software and hardware versions of the target controller to obtain a controller matching result;

[0022] Matching the initial ontology software and hardware version with the target ontology software and hardware version to obtain an ontology matching result;

[0023] When the controller matching result is matching passed and the main body matching result is matching passed, it is determined that the software and hardware inspection result is software and hardware inspection passed.

[0024] In one embodiment, the step of performing power checks on the controller and the mechanical body according to the controller parameters and the body parameters to obtain power check results includes:

[0025] Acquire the servo drive board parameters in the controller parameters and the servo motor parameters in the body parameters;

[0026] Matching the servo driver board parameters with the servo motor parameters to obtain a parameter matching result;

[0027] When the parameter matching result is matching passed, the power check result is determined to be power check passed.

[0028] In one embodiment, the step of performing parameter version checking on the controller and the mechanical body according to the controller parameters and the body parameters to obtain the parameter version checking result includes:

[0029] Obtaining a controller software version in the controller parameters and an entity parameter version in the entity parameters;

[0030] Obtaining the compatibility type between the controller software version and the body parameter version;

[0031] Determining whether the controller software version is compatible with the body parameter version based on the compatibility type;

[0032] If so, the parameter version check result is determined to be parameter version check passed.

[0033] In one embodiment, the main body parameters include: description information area parameters, model parameter storage area parameters; the description information area parameters include the main body parameter version in the main body parameters, and the model parameter storage area parameters include the second parameters and the servo motor parameters in the main body parameters.

[0034] In addition, to achieve the above-mentioned purpose, the present application also provides a robot matching device, the robot matching device comprising:

[0035] A parameter acquisition module, configured to acquire a first parameter stored in a controller of the robot and a second parameter stored in a mechanical body during operation of the robot;

[0036] a parameter selection module, configured to select a target parameter from the first parameter and the second parameter when the first parameter and the second parameter are inconsistent;

[0037] The matching module of the robot is used to transmit the target parameters between the controller and the mechanical body to perform parameter matching between the controller and the mechanical body.

[0038] In addition, to achieve the above-mentioned purpose, the present application also proposes a robot matching device, which includes: a memory, a processor, and a robot matching program stored on the memory and runnable on the processor, and the robot matching program is configured to implement the steps of the robot matching method as described above.

[0039] In addition, to achieve the above-mentioned purpose, the present application also proposes a storage medium, on which a robot matching program is stored. When the robot matching program is executed by a processor, the steps of the robot matching method described above are implemented. Beneficial effects

[0040] The present application obtains the first parameter stored in the controller of the robot and the second parameter stored in the mechanical body during the operation of the robot. When the first parameter and the second parameter are inconsistent, the target parameter is selected from the first parameter and the second parameter, and the target parameter is transmitted between the controller and the mechanical body to match the parameters between the controller and the mechanical body. The present application obtains the first parameter stored in the controller and the second parameter stored in the mechanical body, so that the first parameter and the second parameter are stored at both ends of the controller and the mechanical body, and the target parameter is transmitted between the controller and the mechanical body. The target parameter can be stored at both ends of the controller and the mechanical body to ensure the correctness of the parameters. Compared with the existing method that requires the mechanical body and the controller to be calibrated together, the above method of the present application can realize automatic matching between the mechanical body and the controller according to the target parameter, simplify the matching process, improve matching efficiency, and avoid strong binding between the mechanical body and the controller. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] FIG1 is a schematic structural diagram of a robot matching device in a hardware operating environment according to an embodiment of the present application;

[0042] FIG2 is a schematic flow chart of a first embodiment of a robot matching method of the present application;

[0043] FIG3 is a data storage partition diagram of the body parameters of an embodiment of the robot matching method of the present application;

[0044] FIG4 is a flow chart of a second embodiment of the robot matching method of the present application;

[0045] FIG5 is a flow chart of a third embodiment of the robot matching method of the present application;

[0046] FIG6 is a schematic diagram of parameter acquisition of an embodiment of a matching method for a robot according to the present application;

[0047] FIG7 is a schematic diagram of the overall flow of an embodiment of a matching method for a robot according to the present application;

[0048] FIG8 is a structural block diagram of the first embodiment of the matching device of the robot of the present application.

[0049] The realization of the objectives, functional features and advantages of this application will be further explained in conjunction with embodiments and with reference to the accompanying drawings. Modes for Carrying Out the Invention

[0050] It should be understood that the specific embodiments described herein are only used to explain the present application and are not intended to limit the present application.

[0051] Refer to Figure 1, which is a schematic diagram of the matching device structure of the robot in the hardware operating environment involved in the embodiment of the present application.

[0052] As shown in Figure 1, the robot's matching device may include: a processor 1001, such as a central processing unit (CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and memory 1005. The communication bus 1002 is used to enable communication between these components. The user interface 1003 may include a display and an input unit, such as a keyboard. The user interface 1003 may also include a standard wired interface or a wireless interface. The network interface 1004 may include a standard wired interface or a wireless interface (such as a Wireless Fidelity (Wi-Fi) interface). The memory 1005 may be a high-speed random access memory (RAM) or a stable non-volatile memory (NVM), such as a disk drive. The memory 1005 may also be a storage device independent of the processor 1001.

[0053] Those skilled in the art will appreciate that the structure shown in FIG1 does not constitute a limitation on the matching device of the robot, and may include more or fewer components than shown, or a combination of certain components, or a different arrangement of components.

[0054] As shown in FIG1 , the memory 1005 as a storage medium may include an operating system, a network communication module, a user interface module, and a robot matching program.

[0055] In the matching device of the robot shown in Figure 1, the network interface 1004 is mainly used for data communication with the network server; the user interface 1003 is mainly used for data interaction with the user; the processor 1001 and the memory 1005 in the matching device of the robot of this application can be set in the matching device of the robot, and the matching device of the robot calls the matching program of the robot stored in the memory 1005 through the processor 1001, and executes the matching method of the robot provided in the embodiment of this application.

[0056] Based on the above-mentioned robot matching device, an embodiment of the present application provides a robot matching method. Referring to Figure 2, Figure 2 is a flow chart of the first embodiment of the robot matching method of the present application.

[0057] In this embodiment, the robot matching method includes the following steps:

[0058] Step S10: While the robot is running, obtain a first parameter stored in the controller of the robot and a second parameter stored in the mechanical body.

[0059] It should be noted that the execution subject of this embodiment can be a hardware device such as a computer that can perform data processing, data acquisition and other operations. For example, a computer can obtain the first parameter stored in the controller of the robot and the second parameter stored in the mechanical body.

[0060] It should be understood that the body parameters in this embodiment are parameters stored in the mechanical body, and may specifically include the gyroscope parameters of the mechanical body, the size parameters of the mechanical body, the shape parameters of the mechanical body, etc. In this embodiment, the body parameters preferably include the body gyroscope parameters. Referring to Figure 3, Figure 3 is a data storage partition diagram of the body parameters of an embodiment of the matching method of the robot of this application. As shown in Figure 3, the body parameter data storage partition diagram in this embodiment may include: from low to high addresses, respectively, a description information area, a matching traceability area, a model parameter storage area, and an expansion reserved area.

[0061] It is understood that the first parameter may be a first model parameter stored in the controller, and the second parameter may be a second model parameter stored in the controller. The second model parameter may be stored in the model parameter storage area. The model parameter storage area may store the second model parameter, initially recording the second region check code of the second model parameter, and then being divided into four small areas, respectively recording joint parameters, body parameters, motion parameters, and servo parameters and their region check codes. The first model parameter may be stored in the controller, and may also include the first region check code of the first model parameter.

[0062] Step S20: When the first parameter and the second parameter are inconsistent, select a target parameter from the first parameter and the second parameter.

[0063] It should be understood that when the first parameter and the second parameter are inconsistent, that is, when the first region check code in the first parameter and the second region check code in the second parameter are inconsistent, an alarm may be issued and target parameters may be selected from the first and second parameters. The target parameters may include joint parameters, body parameters, motion parameters, and servo parameters. The specific method for selecting the target parameters can be pre-set by the staff to determine whether the robot is matched based on the controller or the mechanical body. If the controller is used as the basis, the first parameter stored in the controller can be used as the target parameter. If the mechanical body is used as the basis, the second parameter stored in the mechanical body can be used as the target parameter.

[0064] Step S30: transmitting the target parameters between the controller and the machine body to perform parameter matching between the controller and the machine body.

[0065] In a specific implementation, the target parameters can be transmitted between the controller and the mechanical body, that is, when the target parameter is the first parameter, the first parameter is transmitted from the controller to the mechanical body, and when the target parameter is the second parameter, the second parameter is transmitted from the mechanical body to the controller, so that the model parameters stored in the controller and the mechanical body are consistent, thereby performing parameter matching between the controller and the mechanical body and realizing automatic control of the mechanical body by the controller.

[0066] This embodiment obtains the first parameter stored in the controller of the robot and the second parameter stored in the mechanical body during the operation of the robot. When the first parameter and the second parameter are inconsistent, the target parameter is selected from the first parameter and the second parameter, and the target parameter is then transmitted between the controller and the mechanical body to match the parameters between the controller and the mechanical body. This embodiment obtains the first parameter stored in the controller and the second parameter stored in the mechanical body, so that the first parameter and the second parameter are stored at both ends of the controller and the mechanical body, and the target parameter is transmitted between the controller and the mechanical body. The target parameter can be stored at both ends of the controller and the mechanical body to ensure the correctness of the parameters. Compared with the existing method that requires the mechanical body and the controller to be calibrated together, the above method of this embodiment can realize automatic matching between the mechanical body and the controller according to the target parameter, simplify the matching process, improve matching efficiency, and avoid strong binding between the mechanical body and the controller.

[0067] Refer to FIG4 , which is a flow chart of a second embodiment of the robot matching method of the present application.

[0068] Based on the first embodiment above, in this embodiment, before step S10, the following steps are further included:

[0069] Step S01: When the controller in the robot is turned on, controller parameters stored in the controller and body parameters stored in the mechanical body in the robot are obtained.

[0070] It can be understood that when the controller in the robot is turned on, the controller parameters stored in the controller and the body parameters stored in the mechanical body of the robot can be obtained. The controller parameters refer to the parameters related to the controller stored in the controller, such as the controller software and hardware version, controller model parameters, etc. The body parameters refer to the parameters stored in the gyroscope in the mechanical body, such as the body robot model, body model parameters, etc.

[0071] Furthermore, in this embodiment, the main body parameters include: description information area parameters, model parameter storage area parameters; the description information area parameters include the main body parameter version in the main body parameters, and the model parameter storage area parameters include the second parameters and the servo motor parameters in the main body parameters.

[0072] It should be understood that the body parameters in this embodiment may include: parameters in the descriptive information area and parameters in the model parameter storage area. The descriptive information area parameters may include the body parameter version, as well as the mechanical body SN code, controller SN code, factory information, body parameter version number, mechanical body model, and controller model. The mechanical body SN code refers to the mechanical body serial number (SN), and the controller SN refers to the controller serial number. The model parameter storage area parameters may include second parameters and servo motor parameters. The second parameters may include a second region checksum, joint parameters, body parameters, motion parameters, and servo parameters. Servo parameters may include servo motor parameters. Furthermore, the body parameters may also include matching traceability area parameters, specifically including transmission parameters between the controller and the mechanical body's gyroscope, and transmission history information between the mechanical body's gyroscope and the control cabinet where the controller is located. A maximum of 10 recent records may be recorded. Each historical information item includes the mechanical body SN code, controller SN code, mechanical body model, controller model, body parameter version number, controller software version number, data transmission time, transmission direction, and transmission results, useful for parameter traceability or troubleshooting. The main body parameters may also include extended reserved area parameters, specifically including newly added extended parameters, ie, newly added extended parameters or storage of other data.

[0073] Step S02: Perform version matching based on controller parameters and body parameters.

[0074] It should be understood that version matching refers to the matching between the controller and the mechanical body. Version matching may include the matching of the hardware and software versions of the mechanical body with the hardware and software versions of the controller, and may also include the matching between the servo parameters stored in the mechanical body and the servo parameters stored in the controller, etc. Specifically, version matching can be performed based on the controller parameters stored in the controller and the body parameters stored in the mechanical body. For example, the mechanical body hardware and software version in the body parameters is obtained through the FPGA interface, and the controller hardware and software version is selected from the controller parameters. Then, the controller hardware and software version in the controller parameters is compared with the mechanical body hardware and software version in the body parameters. When both versions support unordered matching, it means that the version matching is successful.

[0075] Step S03: When the version matching is successful, the first parameter stored in the controller and the second parameter stored in the mechanical body are obtained.

[0076] It is understandable that when the version matching is passed, it indicates that the mechanical body and the controller can be matched in an unordered manner, and at this time the first parameter stored in the controller and the second parameter stored in the mechanical body can be obtained.

[0077] This embodiment obtains controller parameters stored in the controller of the robot and body parameters stored in the mechanical body of the robot when the controller in the robot is turned on, and then performs version matching on the controller and the mechanical body based on the controller parameters and the body parameters. When the version matching is successful, the first parameter stored in the controller and the second parameter stored in the mechanical body are obtained. This embodiment obtains controller parameters stored in the controller of the robot and body parameters stored in the mechanical body of the robot, and then performs version matching on the controller and the mechanical body based on the controller parameters and the body parameters. When the version matching is successful, it indicates that the controller and the mechanical body are compatible, so that automatic matching between the mechanical body and the controller can be achieved subsequently according to the target parameters.

[0078] Refer to FIG5 , which is a flow chart of a third embodiment of the robot matching method of the present application.

[0079] Based on the above first embodiment, in this embodiment, step S02 includes:

[0080] Step S021: performing a software and hardware check on the controller and the mechanical body according to the controller parameters and the body parameters to obtain the software and hardware check results.

[0081] It is understandable that the software and hardware check refers to checking the software and hardware versions between the controller and the mechanical body to determine whether the controller and the mechanical body can support disordered matching.

[0082] Furthermore, in order to obtain accurate software and hardware inspection results, in this embodiment, step S021 includes: obtaining the target controller software and hardware version in the controller parameters and the target entity software and hardware version in the entity parameters; obtaining the initial controller software and hardware version and the initial entity software and hardware version that support unordered matching; matching the initial controller software and hardware version with the target controller software and hardware version to obtain a controller matching result; matching the initial entity software and hardware version with the target entity software and hardware version to obtain an entity matching result; when the controller matching result is a match pass and the entity matching result is a match pass, determining that the software and hardware inspection result is a software and hardware inspection pass.

[0083] It should be understood that, referring to FIG6 , FIG6 is a schematic diagram of parameter acquisition in an embodiment of the matching method of the robot of the present application. As shown in FIG6 , the controller loads the parameter file in the controller and obtains the controller parameter information (denoted as parameter A). Simultaneously, the controller obtains the body parameter information (denoted as parameter B) through the bus via the IRLINK master station in the FPGA and obtains the servo driver board parameters corresponding to the servo motor (denoted as parameter C) via the EtherCAT master station in the FPGA. By comparing parameter A, parameter B, and parameter C, the controller can match the versions of the mechanical body and the controller. The PC can be the executor of this embodiment and can perform matching alarms, user confirmation, and matching display.

[0084] It is understandable that the controller loads the built-in parameter file to obtain the target controller software and hardware version in the controller parameters, and the controller can read the target entity software and hardware version in the entity parameters through the FPGA interface.

[0085] In a specific implementation, the initial controller software and hardware version and the initial body software and hardware version that support unordered matching can be obtained. Both the initial controller software and hardware version and the initial body software and hardware version can include multiple versions. The initial body software and hardware version and the target body software and hardware version are matched, that is, whether the initial body software and hardware version contains the target body software and hardware version. If so, the body matching result is that the body matching is passed. The initial controller software and hardware version and the target controller software and hardware version need to be matched, that is, whether the initial controller software and hardware version contains the target controller software and hardware version. If so, the controller matching result is that the controller matching is passed. When the controller matching result is passed and the body matching result is passed, it is determined that the controller software and hardware version and the body gyroscope software and hardware version support unordered matching. At this time, the software and hardware check result is that the software and hardware check is passed. When the controller software and hardware version or the body gyroscope software and hardware version does not support unordered matching, the controller does not issue an unordered match, the body gyroscope can operate normally, and the robot's speed, acceleration and other information can be obtained normally.

[0086] Step S022: Perform power checks on the controller and the mechanical body according to the controller parameters and the body parameters to obtain power check results.

[0087] It should be understood that power check refers to comparing the servo drive board parameters in the controller parameters stored in the controller and the servo motor parameters in the body parameters stored in the mechanical body, and obtaining the power check result based on the difference between the servo drive board parameters and the servo motor parameters.

[0088] Furthermore, in order to obtain accurate power check results, in this embodiment, step S022 includes: obtaining the servo driver board parameters in the controller parameters and the servo motor parameters in the body parameters; matching the servo driver board parameters with the servo motor parameters to obtain parameter matching results; when the parameter matching result is a match pass, determining that the power check result is a power check pass.

[0089] It is understandable that the servo driver board parameters can be the above-mentioned parameter C, and the servo motor parameters can be the above-mentioned parameter B. Parameter B can be stored in the servo parameters in the model parameter storage area. The servo driver board parameters and servo motor parameters can both include power parameters, current parameters, voltage parameters, etc.

[0090] In a specific implementation, the servo driver board parameters and the servo motor parameters can be matched. Specifically, the parameters of the same type in the servo driver board parameters and the servo motor parameters can be matched. When all types of parameters are matched, the power check result is determined to be a power check pass. For example, when the power parameter difference between the power parameter in the servo driver board parameters and the power parameter in the servo motor parameters is less than a preset power difference and the current parameter difference between the current parameter in the servo driver board parameters and the current parameter in the servo motor parameters is less than a preset current difference, the power check result is determined to be a power check pass. When there is a type of parameter matching failure, the power check result is determined to be a power check failure, indicating that the power situation is not met, an alarm can be issued, and the user is prompted to replace the power matching controller or mechanical body until the power check result is a power check pass.

[0091] Step S023: performing parameter version check on the controller and the mechanical body according to the controller parameters and the body parameters to obtain the parameter version check result.

[0092] It should be understood that the parameter version check may be a match between the controller software version and the body parameter version, and the parameter version check result is obtained according to the matching result.

[0093] Furthermore, in order to obtain accurate parameter version check results, in this embodiment, step S023 includes: obtaining the controller software version in the controller parameters and the entity parameter version in the entity parameters; obtaining the compatibility type between the controller software version and the entity parameter version; judging whether the controller software version is compatible with the entity parameter version based on the compatibility type; if so, determining that the parameter version check result is parameter version check passed.

[0094] It is understandable that the controller software version in the controller parameters and the body parameter version in the body parameters can be obtained, and then the compatibility type between the controller software version and the body parameter version can be obtained. The compatibility type may include upward compatibility, downward compatibility, etc., and based on the compatibility type, it is determined whether the controller software version is compatible with the body parameter version. For example, when the compatibility type is downward compatibility, if the controller software version is 1.1 and the body parameter version is 1.0, it means that the controller software version is compatible with the body parameter version. At this time, the parameter version check result is determined to be parameter version check passed. When the controller software version is incompatible with the body parameter version, an alarm can be issued and the body parameter version can be uploaded at the same time, prompting the user to change the controller software version to the body parameter version before operation and use.

[0095] Step S024: when the software and hardware check result is software and hardware check passed, the power check result is power check passed, and the parameter version check result is parameter version check passed, it is determined that the version matching is passed.

[0096] It should be understood that when the software and hardware check result is software and hardware check passed, the power check result is power check passed, and the parameter version check result is parameter version check passed, it can be determined that the version matching is passed.

[0097] In a specific implementation, refer to FIG7 , which is a schematic diagram of the overall process of an embodiment of the matching method for the robot of the present application. As shown in FIG7 , the software and hardware information of the controller and the mechanical body can be obtained first to perform a software and hardware check. If the software and hardware check fails, no alarm is given and the robot can be used normally. If the software and hardware check passes, the power information stored in the controller and the power information stored in the mechanical body can be obtained to perform a power check. If the power check fails, the power mismatch prompts a replacement of the control cabinet or the robot. If the power check passes, the robot parameter version and the controller software version are obtained to perform a parameter version check. If the parameter version check fails, an alarm is given, indicating that the versions are incompatible and an upgrade or flashing is required. If the parameter version check passes, the model parameters stored in the gyroscope of the controller and the mechanical body are obtained to perform a parameter check. If the parameter check fails, an alarm is given, prompting the user to synchronize the model parameters of the robot to the controller and transfer the robot parameters. The transmission direction determines whether a restart is required. If the parameter check passes, the controller and the mechanical body can be used normally.

[0098] This embodiment performs a software and hardware check on the controller and the mechanical body according to the controller parameters and the body parameters to obtain a software and hardware check result, then performs a power check on the controller and the mechanical body according to the controller and the body parameters to obtain a power check result, then performs a parameter version check on the controller and the mechanical body according to the controller parameters and the body parameters to obtain a parameter version check result, and when the software and hardware check result is that the software and hardware check passed, the power check result is that the power check passed, and the parameter version check result is that the parameter version check passed, it is determined that the version match passed. This embodiment performs a software and hardware check, a power check, and a parameter version check in sequence according to the controller parameters and the body parameters, and when the software and hardware check result is that the software and hardware check passed, the power check result is that the power check passed, and the parameter version check result is that the parameter version check passed, it is determined that the version match passed, and it is able to effectively perform version matching, thereby performing subsequent parameter matching between the controller and the mechanical body.

[0099] Refer to FIG8 , which is a structural block diagram of a first embodiment of a matching device for a robot of the present application.

[0100] As shown in FIG8 , the robot matching device proposed in the embodiment of the present application includes:

[0101] A parameter acquisition module 10 is used to acquire a first parameter stored in a controller of the robot and a second parameter stored in a mechanical body during operation of the robot;

[0102] a parameter selection module 20, configured to select a target parameter from the first parameter and the second parameter when the first parameter and the second parameter are inconsistent;

[0103] The matching module 30 of the robot is used to transmit the target parameters between the controller and the mechanical body to perform parameter matching between the controller and the mechanical body.

[0104] This embodiment obtains the first parameter stored in the controller of the robot and the second parameter stored in the mechanical body during the operation of the robot. When the first parameter and the second parameter are inconsistent, the target parameter is selected from the first parameter and the second parameter, and the target parameter is then transmitted between the controller and the mechanical body to match the parameters between the controller and the mechanical body. This embodiment obtains the first parameter stored in the controller and the second parameter stored in the mechanical body, so that the first parameter and the second parameter are stored at both ends of the controller and the mechanical body, and the target parameter is transmitted between the controller and the mechanical body. The target parameter can be stored at both ends of the controller and the mechanical body to ensure the correctness of the parameters. Compared with the existing method that requires the mechanical body and the controller to be calibrated together, the above method of this embodiment can realize automatic matching between the mechanical body and the controller according to the target parameter, simplify the matching process, improve matching efficiency, and avoid strong binding between the mechanical body and the controller.

[0105] It should be noted that the workflow described above is merely illustrative and does not limit the scope of protection of this application. In actual applications, technicians in this field can select part or all of it according to actual needs to achieve the purpose of this embodiment scheme, and no restrictions are imposed here.

[0106] In addition, for technical details not fully described in this embodiment, please refer to the robot matching method provided in any embodiment of the present application, and will not be repeated here.

[0107] Based on the first embodiment of the matching device for the robot of the present application, a second embodiment of the matching device for the robot of the present application is proposed.

[0108] In this embodiment, the matching device of the robot also includes a version matching module, which is used to obtain the controller parameters stored in the controller in the robot and the body parameters stored in the mechanical body in the robot when the controller in the robot is turned on; perform version matching on the controller and the mechanical body according to the controller parameters and the body parameters; when the version matching is passed, obtain the first parameter stored in the controller and the second parameter stored in the mechanical body.

[0109] Furthermore, the version matching module is also used to perform software and hardware checks on the controller and the mechanical body according to the controller parameters and the body parameters to obtain software and hardware check results; perform power checks on the controller and the mechanical body according to the controller parameters and the body parameters to obtain power check results; perform parameter version checks on the controller and the mechanical body according to the controller parameters and the body parameters to obtain parameter version check results; and determine that the version matching is passed when the software and hardware check result is that the software and hardware check is passed, the power check result is that the power check is passed, and the parameter version check result is that the parameter version check is passed.

[0110] Furthermore, the version matching module is also used to obtain the target controller software and hardware version in the controller parameters and the target entity software and hardware version in the entity parameters; obtain the initial controller software and hardware version and the initial entity software and hardware version that support unordered matching; match the initial controller software and hardware version with the target controller software and hardware version to obtain a controller matching result; match the initial entity software and hardware version with the target entity software and hardware version to obtain an entity matching result; when the controller matching result is a match pass and the entity matching result is a match pass, determine that the software and hardware check result is a software and hardware check pass.

[0111] Furthermore, the version matching module is also used to obtain the servo drive board parameters in the controller parameters and the servo motor parameters in the body parameters; match the servo drive board parameters with the servo motor parameters to obtain a parameter matching result; when the parameter matching result is a match pass, determine that the power check result is a power check pass.

[0112] Furthermore, the matching module of the robot is also used to obtain the controller software version in the controller parameters and the body parameter version in the body parameters; obtain the compatibility type between the controller software version and the body parameter version; based on the compatibility type, determine whether the controller software version is compatible with the body parameter version; if so, determine that the parameter version check result is parameter version check passed.

[0113] Furthermore, the body parameters include: description information area parameters, model parameter storage area parameters; the description information area parameters include the body parameter version in the body parameters, and the model parameter storage area parameters include the second parameters and the servo motor parameters in the body parameters.

[0114] Other embodiments or specific implementations of the matching device of the robot of the present application can refer to the above-mentioned method embodiments and will not be repeated here.

[0115] In addition, an embodiment of the present application further proposes a storage medium, on which a robot matching program is stored. When the robot matching program is executed by a processor, the steps of the robot matching method described above are implemented.

[0116] It should be noted that, in this document, the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, article, or system comprising a series of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or system. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or system comprising the element.

[0117] The serial numbers of the above embodiments of the present application are for description only and do not represent the advantages or disadvantages of the embodiments.

[0118] Through the description of the above embodiments, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus the necessary general hardware platform. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, can be embodied in the form of a software product. The computer software product is stored in a storage medium (such as a read-only memory / random access memory, a magnetic disk, or an optical disk), and includes a number of instructions for enabling a terminal device (which can be a mobile phone, a computer, a server, or a network device, etc.) to execute the methods described in each embodiment of the present application.

[0119] The above are merely optional embodiments of the present application and do not limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A robot matching method, wherein: The robot matching method comprises the following steps: During the operation of the robot, obtaining a first parameter stored in a controller in the robot and a second parameter stored in a mechanical body; When the first parameter and the second parameter are inconsistent, selecting a target parameter from the first parameter and the second parameter; The target parameters are transmitted between the controller and the machine body to perform parameter matching between the controller and the machine body.

2. The robot matching method according to claim 1, wherein: Before the step of obtaining the first parameter stored in the controller of the robot and the second parameter stored in the mechanical body during the operation of the robot, the method further includes: When a controller in the robot is turned on, obtaining controller parameters stored in the controller in the robot and body parameters stored in a mechanical body in the robot; Performing version matching on the controller and the mechanical body according to the controller parameters and the body parameters; When the version matching is successful, the first parameter stored in the controller and the second parameter stored in the mechanical body are acquired.

3. The robot matching method according to claim 2, wherein: The step of performing version matching on the controller and the mechanical body according to the controller parameters and the body parameters comprises: Performing a software and hardware inspection on the controller and the mechanical body according to the controller parameters and the body parameters to obtain a software and hardware inspection result; Performing a power check on the controller and the mechanical body according to the controller parameters and the body parameters to obtain a power check result; Performing parameter version check on the controller and the mechanical body according to the controller parameters and the body parameters to obtain a parameter version check result; When the software and hardware check result is that the software and hardware check passed, the power check result is that the power check passed, and the parameter version check result is that the parameter version check passed, it is determined that the version match passed.

4. The robot matching method according to claim 3, wherein: The step of performing a software and hardware inspection on the controller and the mechanical body according to the controller parameters and the body parameters to obtain a software and hardware inspection result comprises: Obtain the target controller software and hardware version in the controller parameters and the target entity software and hardware version in the entity parameters; Obtain the initial controller software and hardware versions and the initial main body software and hardware versions that support unordered matching; Matching the initial controller software and hardware version with the target controller software and hardware version to obtain a controller matching result; Matching the initial ontology software and hardware version with the target ontology software and hardware version to obtain an ontology matching result; When the controller matching result is matching passed and the body matching result is matching passed, it is determined that the software and hardware inspection result is software and hardware inspection passed.

5. The robot matching method according to claim 3, wherein: The step of performing power inspection on the controller and the mechanical body according to the controller parameters and the body parameters to obtain a power inspection result comprises: Acquire the servo drive board parameters in the controller parameters and the servo motor parameters in the body parameters; Matching the servo drive board parameters with the servo motor parameters to obtain a parameter matching result; When the parameter matching result is matching passed, the power check result is determined to be power check passed.

6. The robot matching method according to claim 3, wherein: The step of performing parameter version checking on the controller and the machine body according to the controller parameters and the machine body parameters to obtain the parameter version checking result comprises: Obtaining a controller software version in the controller parameters and an entity parameter version in the entity parameters; Obtaining the compatibility type between the controller software version and the body parameter version; Determining whether the controller software version is compatible with the body parameter version based on the compatibility type; If so, the parameter version check result is determined to be parameter version check passed.

7. The robot matching method according to any one of claims 2 to 6, wherein: The main body parameters include: description information area parameters and model parameter storage area parameters; the description information area parameters include the main body parameter version in the main body parameters, and the model parameter storage area parameters include the second parameters and the servo motor parameters in the main body parameters.

8. A matching device for a robot, wherein: The matching device of the robot comprises: A parameter acquisition module, used to acquire a first parameter stored in a controller in the robot and a second parameter stored in a mechanical body during operation of the robot; A parameter selection module, used for selecting a target parameter from the first parameter and the second parameter when the first parameter and the second parameter are inconsistent; The matching module of the robot is used to transmit the target parameters between the controller and the mechanical body to perform parameter matching between the controller and the mechanical body.

9. A robot matching device, wherein: The device comprises: a memory, a processor, and a robot matching program stored in the memory and executable on the processor, wherein the robot matching program is configured to implement the steps of the robot matching method according to any one of claims 1 to 7.

10. A storage medium, wherein: The storage medium stores a robot matching program, and when the robot matching program is executed by the processor, the steps of the robot matching method according to any one of claims 1 to 7 are implemented.

Images