CN111015666B - Robot adaptation method, storage medium, control device, method and system - Google Patents
Robot adaptation method, storage medium, control device, method and system Download PDFInfo
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- CN111015666B CN111015666B CN201911375483.2A CN201911375483A CN111015666B CN 111015666 B CN111015666 B CN 111015666B CN 201911375483 A CN201911375483 A CN 201911375483A CN 111015666 B CN111015666 B CN 111015666B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
Abstract
The embodiment of the invention relates to the technical field of robots, and discloses a robot adaptation method, wherein a basic service program is stored in a first operating system, and the basic service program realizes the common basic function of a plurality of adaptation robots; and storing a first specific program in the second operating system, wherein the first specific program is used for realizing a first specific function of one of the plurality of adaptive robots. The robot adapting method, the storage medium, the control device, the method and the system provided by the embodiment of the invention do not need to replace all programs, and are simple to operate and convenient to maintain.
Description
Technical Field
The embodiment of the invention relates to the technical field of robots, in particular to a robot adapting method, a storage medium, a control device, a method and a system.
Background
An existing single robot control device can be adapted to different robots and respectively work with various adaptive robots. In order to adapt to the adaptive robots having various forms and various functions, it is necessary to develop robot programs for various adaptive robots. When the adaptive robot is deployed, the robot program for the adaptive robot is installed on the robot control device to adapt the adaptive robot, so that the robot program deployed on the robot control device is ensured to be set for the adaptive robot and has no program irrelevant to the adaptive robot.
However, the inventor found that when the existing robot control device is adapted to a certain adaptive robot, the whole procedure of the adaptive robot needs to be replaced, the operation is complicated, and the maintenance is inconvenient.
Disclosure of Invention
An object of embodiments of the present invention is to provide a robot adaptation method, a storage medium, a control apparatus, a method, and a system, which do not require replacement of all programs, are simple to operate, and are convenient to maintain.
In order to solve the above technical problem, an embodiment of the present invention provides a robot adaptation method, in which a basic service program is stored in a first operating system, and the basic service program implements a common basic function of a plurality of adaptation robots; and storing a first specific program in the second operating system, wherein the first specific program is used for realizing a first specific function of one of the plurality of adaptive robots.
The embodiment of the invention also provides a robot control device, which is provided with a first operating system and a second operating system; a basic service program is stored in the first operating system, and the basic service program realizes common basic functions of the multiple adaptive robots; the second operating system stores a first specific program of one adapted robot in the plurality of adapted robots, and the first specific program is used for realizing a first specific function of the one adapted robot.
The embodiment of the invention also provides a robot control method, which is applied to a robot control center and comprises the following steps: storing a specific program for realizing specific functions of each adaptive robot in the plurality of adaptive robots in a robot control center; and sending the first specific program to the robot control device, wherein the first specific program is used for realizing a first specific function of one adaptive robot which is adaptive to the robot control device in the plurality of adaptive robots.
An embodiment of the present invention also provides a robot control system, including: the robot control center is connected with the robot control device; the robot control device is provided with a first operating system and a second operating system; a basic service program is stored in the first operating system, and the basic service program realizes common basic functions of the multiple adaptive robots; a first specific program of an adapted robot in the plurality of adapted robots is stored under the second operating system, and the first specific program is used for realizing a first specific function of the adapted robot; the robot control center is used for storing a specific program for realizing a specific function of each adaptive robot in the plurality of adaptive robots in the robot control center; and sending the first specific program to the robot control device, wherein the first specific program is used for realizing a first specific function of one adaptive robot which is adaptive to the robot control device in the plurality of adaptive robots.
Embodiments of the present invention also provide a computer-readable storage medium storing a computer program, which when executed by a processor implements the robot adapting method or the robot controlling method described above.
Compared with the prior art, the embodiment of the invention provides a robot adapting method, which stores basic service programs corresponding to a basic function part common to a plurality of adapting robots in a first operating system, stores a first specific program for realizing a first specific function of an adapted robot in a second operating system, and respectively stores the basic service programs and the first specific program of the adapted robot in different operating systems, so that when the other adapting robots in the plurality of adapting robots are adapted, only the first specific program in the second operating system is required to be replaced, the basic service programs can be repeatedly utilized, all the programs do not need to be replaced, and the robot adapting method is simple in operation and convenient to maintain.
In addition, after the storing the first specific program in the second operating system, the method further includes: receiving an inquiry request from a robot control center; responding to the query request to query the software information of the first specific program, and sending the software information to the robot control center; receiving response information of a robot control center; if the response information contains a second specific program of the robot to be adapted, replacing the first specific program with the second specific program; the second specific program is used for realizing a second specific function of the robot to be adapted, and the software information of the second specific program is different from that of the first specific program.
Further, the robot control device includes: the communication module runs under a first operating system; the application program manager runs under the second operating system; the communication module is used for receiving an inquiry request from the robot control center and sending the inquiry request to the application program manager; the application program manager is used for responding to the inquiry request to inquire the software information of the first specific program and sending the software information of the first specific program to the communication module; the communication module is also used for receiving the software information of the first specific program and sending the software information of the first specific program to the robot control center; the robot control center is also used for receiving response information from the robot control center and sending the response information to the application program manager; the application program manager is used for replacing the first specific program with a second specific program when the response information contains the second specific program of the robot to be adapted; the second specific program is used for realizing a second specific function of the robot to be adapted, and the software information of the second specific program is different from that of the first specific program.
Further, the method further includes, after transmitting the first specific program to the robot control device: sending an inquiry request to the robot control device; receiving software information of a first specific program from a robot control device; inquiring software information of the robot to be adapted; determining whether the software information of the first specific program is the same as the software information of the robot to be adapted; if not, generating response information, wherein the response information comprises a second specific program of the robot to be adapted, and the second specific program is used for realizing a second specific function of the robot to be adapted; and sending the response information to the robot control device.
In addition, after determining whether the software information of the first specific program is the same as the software information of the robot to be adapted, the method further includes: and if the two signals are the same, sending adaptation completion information to the robot control device.
In addition, still include: the robot to be adapted is in communication connection with the robot control device; the robot control device is also used for sending a control instruction to the adapted robot according to the basic service program and the first specific program so that the adapted robot can realize the common basic function and the first specific function.
Drawings
One or more embodiments are illustrated by way of example in the accompanying drawings, which correspond to the figures in which like reference numerals refer to similar elements and which are not to scale unless otherwise specified.
Fig. 1 is a schematic flow diagram of a robot adaptation method according to a first embodiment of the invention;
fig. 2 is a schematic configuration diagram of a robot control device according to a second embodiment of the present invention;
fig. 3 is a schematic flow chart of a robot control method according to a third embodiment of the present invention;
fig. 4 is a schematic configuration diagram of a robot control system according to a fourth embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention more apparent, embodiments of the present invention will be described in detail below with reference to the accompanying drawings. However, it will be appreciated by those of ordinary skill in the art that numerous technical details are set forth in order to provide a better understanding of the present application in various embodiments of the present invention. However, the technical solution claimed in the present application can be implemented without these technical details and various changes and modifications based on the following embodiments.
The first embodiment of the invention relates to a robot adapting method, the core of the embodiment lies in storing a basic service program in a first operating system, and the basic service program realizes the common basic function of a plurality of adapting robots; and storing a first specific program in the second operating system, wherein the first specific program is used for realizing a first specific function of one of the plurality of adaptive robots. Through basic service program and the first specific program with the adaptation robot save respectively under different operating system to when other adaptation robots in the above-mentioned multiple adaptation robot of adaptation, only need with the second operating system in first specific program replace can, but reuse basic service program need not to replace whole procedure, easy operation and maintenance convenience.
The following describes implementation details of the robot adaptation method of the present embodiment in detail, and the following is only provided for easy understanding and is not necessary for implementing the present embodiment.
A flow diagram of the robot adaptation method in the present embodiment is shown in fig. 1:
step 101: the basic service program is stored in a first operating system, and the first specific program is stored in a second operating system.
Specifically, the robot adaptation method is applied to a robot control device, and two sets of operating systems, namely a first operating system and a second operating system, are arranged in the robot control device. Basic service programs corresponding to basic function parts common to a plurality of adaptive robots are stored in a first operating system, and first specific programs for realizing first specific functions of one type of adaptive robot are stored in a second operating system. Wherein the first specific program and the basic service program in the robot control device are combined to realize all functions (common basic function and first specific function) of the adapted robot. Through storing the basic service program and the first specific program of the adapted robot respectively under different operating systems in this embodiment to when other adapted robots in the above-mentioned multiple adapted robots of adaptation, only need with the first specific program in the second operating system replace can, but reuse basic service program need not to replace whole programs, easy operation and maintenance convenience.
Step 102: an inquiry request is received from a robot control center.
Specifically, the robot control center stores a binding relationship between the robot control device and the adaptive robot, and when the robot control center updates the binding relationship, that is, when the adaptive robot is replaced, an inquiry request is sent to the robot control device, and the robot control device receives the inquiry request.
Step 103: and inquiring the software information of the first specific program in response to the inquiry request, and sending the software information to the robot control center.
Specifically, the robot control device receives the query request, queries software information of a first specific program existing in the second operating system in response to the query request, and transmits the software information to the robot control center. The software information of the second specific program of the robot to be adapted is different from the software information of the first specific program, since the software information of the different specific programs are different from each other, wherein the second specific program user implements a second specific function for implementing the robot to be adapted. The robot control center can determine that the second specific program of the robot to be adapted is stored in the robot control device by determining whether the received software information is the same as the software information of the bound robot to be adapted, namely, can determine whether the adapted robot of the robot control device is the robot to be adapted. If the software information is the same, the second specific program of the robot to be adapted is stored in the robot control device, and at the moment, the robot control center returns response information of the completion of the adaptation to the robot control device; if the software information is different, the second specific program of the robot to be adapted is not stored in the robot control device, and at the moment, the robot control center returns response information containing the second specific program to the robot control device.
Step 104: and receiving response information of the robot control center.
Step 105: it is determined whether the response information contains a second specific program of the robot to be adapted. If yes, go to step 106; if the determination is negative, the flow ends.
Step 106: the first specific program is replaced with a second specific program.
Specifically, in the above steps 104 to 106, after receiving the response information from the robot control center, the robot control device determines whether the response information includes the second specific program of the robot to be adapted, and if so, indicates that the robot control device is not adapted to the robot to be adapted currently, and replaces the first specific program with the second specific program, so that the basic service program and the second specific program in the robot control device are combined to realize all functions (common basic function and second specific function) of the robot to be adapted. If the response information is not contained, the response information is the response information of the adaptive robot, which indicates that the adaptive robot is matched with the current robot control device, and the process is ended.
Compared with the prior art, the embodiment of the invention provides a robot adapting method, which stores basic service programs corresponding to a basic function part common to a plurality of adapting robots in a first operating system, stores a first specific program for realizing a first specific function of an adapted robot in a second operating system, and respectively stores the basic service programs and the first specific program of the adapted robot in different operating systems, so that when the other adapting robots in the plurality of adapting robots are adapted, only the first specific program in the second operating system is required to be replaced, the basic service programs can be repeatedly utilized, all the programs do not need to be replaced, and the robot adapting method is simple in operation and convenient to maintain.
The steps of the above methods are divided for clarity, and the implementation may be combined into one step or split some steps, and the steps are divided into multiple steps, so long as the same logical relationship is included, which are all within the protection scope of the present patent; it is within the scope of the patent to add insignificant modifications to the algorithms or processes or to introduce insignificant design changes to the core design without changing the algorithms or processes.
A second embodiment of the present invention relates to a robot control device. As shown in fig. 2, the robot control device 1 is installed with a first operating system and a second operating system; a basic service program is stored in the first operating system, and the basic service program realizes common basic functions of the multiple adaptive robots; the second operating system stores a first specific program of one adapted robot in the plurality of adapted robots, and the first specific program is used for realizing a first specific function of the one adapted robot.
Specifically, the Robot Control device 1(RCU, Robot Control Unit) is installed with a first operating system and a second operating system, the two operating systems are respectively deployed with different programs, a basic service program deployed under the first operating system realizes a common basic function of a plurality of adaptive robots, and a first specific program deployed under the second operating system realizes a first specific function of one of the adapted robots among the plurality of adaptive robots (CCU, Central Control Unit). The first specific program and the basic service program in the robot controller 1 are combined to realize all the functions (common basic function and first specific function) of the adapted robot. Through basic service program and the first specific program with the adaptation robot save respectively under different operating system to when other adaptation robots in the above-mentioned multiple adaptation robot of adaptation, only need with the second operating system in first specific program replace can, but reuse basic service program need not to replace whole procedure, easy operation and maintenance convenience.
Further, the robot control device 1 includes: the communication module 11, the communication module 11 runs under the first operating system; an application manager 12, the application manager 12 running under a second operating system; the communication module 11 is configured to receive an inquiry request from the robot control center, and send the inquiry request to the application manager 12; the application manager 12 is configured to query the software information of the first specific program in response to the query request, and send the software information of the first specific program to the communication module 11; the communication module 11 is further configured to receive software information of the first specific program, and send the software information of the first specific program to the robot control center; and is also used for receiving response information from the robot control center and sending the response information to the application manager 12; the application program manager 12 is used for replacing the first specific program with a second specific program when the response information contains the second specific program of the robot to be adapted; the second specific program is used for realizing a second specific function of the robot to be adapted, and the software information of the second specific program is different from that of the first specific program.
Specifically, in the process of adapting the robot controller 1 to different robots, a robot control Center (ROC) is operated in cooperation with the robot controller 1. The robot control center stores the binding relationship between the robot control device 1 and the adaptive robot, and when the robot control center updates the binding relationship, that is, when the adaptive robot is replaced, an inquiry request is sent to the robot control device 1, and the communication module 11 of the robot control device 1 receives the inquiry request and sends the inquiry request to the application manager 12. The application manager 12 queries the software information of the first specific program existing in the second operating system in response to the query request, sends the software information to the communication module 11, and the communication module 11 sends the software information of the first specific program to the robot control center. The software information of the second specific program of the robot to be adapted is different from the software information of the first specific program, since the software information of the different specific programs are different from each other, wherein the second specific program user implements a second specific function for implementing the robot to be adapted.
The robot control center can determine that the second specific program of the robot to be adapted is stored in the robot control device 1 by determining whether the received software information is the same as the software information of the bound robot to be adapted, that is, can determine whether the adapted robot of the robot control device 1 is the robot to be adapted. If the software information is the same, it indicates that the second specific program of the robot to be adapted has been stored in the robot control device 1, and at this time, the robot control center returns response information of the completion of the adaptation to the robot control device 1; if the software information is different, it indicates that the second specific program of the robot to be adapted is not stored in the robot control device 1, and at this time, the robot control center returns response information including the second specific program to the robot control device 1.
The communication module 11 is further configured to receive a response message from the robot control center, send the response message to the application manager 12, and the application manager 12 determines whether the response message includes a second specific program of the robot to be adapted, and if the response message includes the second specific program, it indicates that the robot control device 1 is not adapted to the robot to be adapted currently, and the application manager 12 replaces the first specific program with the second specific program, so that the basic service program and the second specific program in the robot control device 1 are combined to implement all functions (common basic function and second specific function) of the robot to be adapted. If the response information is not contained, the response information is the response information of the completion of the adaptation, which indicates that the robot control device 1 is already adapted to the robot to be adapted currently.
It should be noted that the first operating system is a security system, the second operating system is a general-purpose system, a communication channel exists between the security system and the general-purpose system, and the second specific program and the basic service program in the robot control device 1 communicate with each other through the communication channel, so that the first specific program and the basic service program are combined to realize all functions (a common basic function and a second specific function) of the robot to be adapted. In the implementation process, only the safety system can be connected with the robot control center, and the general system cannot be connected with the robot control center, so that the interactive safety between the robot control device 1 and the robot control center is guaranteed. The deployment method of the general system and the security system in this embodiment can be implemented by using a virtual machine or a container.
Compared with the prior art, the present embodiment provides a robot control apparatus 1, in which a first operating system and a second operating system are installed, a basic service program deployed under the first operating system implements a basic function common to multiple adaptive robots, and a first specific program deployed under the second operating system implements a first specific function of one of the multiple adaptive robots. The first specific program and the basic service program in the robot controller 1 are combined to realize all the functions (common basic function and first specific function) of the adapted robot. Through basic service program and the first specific program with the adaptation robot save respectively under different operating system to when other adaptation robots in the above-mentioned multiple adaptation robot of adaptation, only need with the second operating system in first specific program replace can, but reuse basic service program need not to replace whole procedure, easy operation and maintenance convenience.
A third embodiment of the present invention relates to a robot control method. A flowchart of the robot control method in the present embodiment is shown in fig. 3, and specifically includes:
step 201: and storing a specific program for realizing a specific function of each adaptive robot in the plurality of adaptive robots in the robot control center.
Specifically, basic service programs corresponding to parts of the various adaptive robots for realizing common basic functions are divided from programs of the parts of the various adaptive robots for realizing specific functions, and specific programs of each adaptive robot for realizing specific functions in the various adaptive robots are stored in a robot control center.
Step 202: the first specific program is sent to the robot control device.
Specifically, the binding relationship between the robot control device and the adaptive robot is stored in the robot control center, and the basic service program is stored under the first operating system in the robot control device, so that if the robot control device needs to adapt to a certain adaptive robot, the robot control center sends the specific program of the adaptive robot to the robot control device, the first specific program and the basic service program received by the robot control device are combined, all functions (common basic function and specific function) of the adaptive robot can be realized, all programs do not need to be sent to the robot control device, and the robot control device is simple to operate and convenient to maintain.
In this embodiment, if the specific program of the adapted robot that is bound at the beginning is the first specific program, the first specific program is sent to the robot control device, where the first specific program is used to implement the first specific function of the adapted robot.
Step 203: an inquiry request is sent to the robot control device.
Specifically, when the robot control center updates the binding relationship, that is, when the adaptive robot is replaced, an inquiry request is sent to the robot control device. The robot control device receives the query request, queries software information of a first specific program existing in the second operating system in response to the query request, and sends the software information to the robot control center.
Step 204: software information of a first specific program is received from the robot control device.
Step 205: and inquiring the software information of the robot to be adapted.
Step 206: it is determined whether the software information of the first specific program is the same as the software information of the robot to be adapted. If the determination is no, go to step 207; if so, step 208 is entered.
Step 207: and generating response information and transmitting the response information to the robot control device.
Step 208: and sending the adaptation completion information to the robot control device.
With respect to the above steps 204 to 208, specifically, since the software information of different specific programs are different from each other, the software information of a second specific program of the robot to be adapted, which is used for implementing a second specific function of the robot to be adapted, is different from the software information of the first specific program. The robot control center can determine that the second specific program of the robot to be adapted is stored in the robot control device by determining whether the received software information is the same as the software information of the bound robot to be adapted, namely, can determine whether the adapted robot of the robot control device is the robot to be adapted. If the software information is the same, the second specific program of the robot to be adapted is stored in the robot control device, and at the moment, the robot control center returns adaptation completion information to the robot control device; if the software information is different, the second specific program of the robot to be adapted is not stored in the robot control device, and at the moment, the robot control center returns response information containing the second specific program to the robot control device.
Compared with the prior art, the embodiment of the invention provides a robot control method which is applied to a robot control center, wherein a specific program for realizing a specific function of each adaptive robot in a plurality of adaptive robots is stored in the robot control center, and a basic service program is stored in a first operating system in a robot control device, so that if the robot control device needs to adapt to a certain adaptive robot, the robot control center can send the specific program of the adaptive robot to the robot control device, and the first specific program and the basic service program received by the robot control device are combined, so that all functions (common basic function and specific function) of the adaptive robot can be realized, all programs do not need to be sent to the robot control device, and the operation is simple and the maintenance is convenient.
The steps of the above methods are divided for clarity, and the implementation may be combined into one step or split some steps, and the steps are divided into multiple steps, so long as the same logical relationship is included, which are all within the protection scope of the present patent; it is within the scope of the patent to add insignificant modifications to the algorithms or processes or to introduce insignificant design changes to the core design without changing the algorithms or processes.
A fourth embodiment of the present invention relates to a robot control system, as shown in fig. 4, including: a robot control center 2, and a robot control device 1 connected to the robot control center 2; the robot control device 1 is provided with a first operating system and a second operating system; a basic service program is stored in the first operating system, and the basic service program realizes common basic functions of the multiple adaptive robots; the second operating system stores a first specific program of one adapted robot in the plurality of adapted robots, and the first specific program is used for realizing a first specific function of the one adapted robot.
The robot control center 2 is used for storing a specific program for realizing a specific function of each adaptive robot in the plurality of adaptive robots in the robot control center 2; and sends a first specific program for realizing a first specific function of one of the plurality of types of adapted robots adapted to the robot control device 1.
Further, the robot control device 1 includes: the communication module 11, the communication module 11 runs under the first operating system; and the application manager 12, wherein the application manager 12 runs under a second operating system.
The robot control center 2 determines the robot control device 1 and the robot 3 to be adapted, and sends an inquiry request to the robot control device 1; the communication module 11 is configured to receive a query request and send the query request to the second operating system; the application manager 12 is configured to query the first specific program of software information in response to the query request, and send the first specific program of software information to the first operating system.
The communication module 11 is further configured to receive software information of the first specific program and send the software information of the first specific program to the robot control center 2.
The robot control center 2 is configured to receive software information of the first specific program, determine whether the software information of the first specific program is the same as the software information of the robot 3 to be adapted, and generate response information if the software information of the first specific program is the same as the software information of the robot 3 to be adapted, where the response information includes: a second specific program of the robot 3 to be adapted, the second specific program being for implementing a second specific function of the robot 3 to be adapted; and also for sending response information to the robot control device 1.
The communication module 11 is further configured to receive the response information and send the response information to the second operating system. The application manager 12 is configured to replace the first specific program with a second specific program when the response information includes the second specific program of the robot 3 to be adapted; wherein the software information of the second specific program is different from the software information of the first specific program.
Further, the robot control system further includes: the robot 3 to be adapted is in communication connection with the robot control device 1; the robot control device 1 is further configured to send a control command to the adapted robot according to the basic service program and the first specific program, so that the adapted robot realizes the common basic function and the first specific function.
Compared with the prior art, in the robot control system of the embodiment, the first operating system and the second operating system are installed in the robot control device 1, and the basic service program and the first specific program of the adapted robot are respectively stored in different operating systems, so that when the robot is adapted to other adapted robots in the plurality of adapted robots, only the first specific program in the second operating system is replaced. And if the robot control device 1 needs to adapt to a certain adaptive robot, the robot control center 2 only needs to send the specific program of the adaptive robot to the robot control device, and the first specific program and the basic service program received by the robot control device 1 are combined, so that all functions (common basic function and specific function) of the adaptive robot can be realized, all programs do not need to be sent to the robot control device 1, and the operation is simple and the maintenance is convenient.
Embodiments of the present invention also provide a computer-readable storage medium storing a computer program which, when executed by a processor, implements the robot adaptation method in the first embodiment described above, or the robot control method in the third embodiment described above.
That is, as can be understood by those skilled in the art, all or part of the steps in the method for implementing the embodiments described above may be implemented by a program instructing related hardware, where the program is stored in a storage medium and includes several instructions to enable a device (which may be a single chip, a chip, or the like) or a processor (processor) to execute all or part of the steps of the method described in the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
It will be understood by those of ordinary skill in the art that the foregoing embodiments are specific examples for carrying out the invention, and that various changes in form and details may be made therein without departing from the spirit and scope of the invention in practice.
Claims (10)
1. A robot adaptation method, comprising:
storing a basic service program in a first operating system, wherein the basic service program realizes common basic functions of a plurality of adaptive robots;
and storing a first specific program in the second operating system, wherein the first specific program is used for realizing a first specific function of one of the plurality of adaptive robots.
2. The robot adaptation method according to claim 1, further comprising, after said storing the first specific program in the second operating system:
receiving an inquiry request from a robot control center;
responding to the query request to query the software information of the first specific program, and sending the software information to the robot control center through the first operating system;
receiving response information of the robot control center;
if the response information contains a second specific program of the robot to be adapted, replacing the first specific program with the second specific program;
the second specific program is used for realizing a second specific function of the robot to be adapted, and the software information of the second specific program is different from that of the first specific program.
3. A robot control device is characterized in that the robot control device is provided with a first operating system and a second operating system;
a basic service program is stored under the first operating system, and the basic service program realizes common basic functions of a plurality of adaptive robots;
the second operating system stores a first specific program of one adapted robot in the plurality of adapted robots, and the first specific program is used for realizing a first specific function of the one adapted robot.
4. The robot control apparatus according to claim 3, characterized by comprising: a communication module running under the first operating system; an application manager running under the second operating system;
the communication module is used for receiving an inquiry request from the robot control center and sending the inquiry request to the application program manager;
the application program manager is used for responding to the inquiry request to inquire the software information of the first specific program and sending the software information of the first specific program to the communication module;
the communication module is also used for receiving the software information of the first specific program and sending the software information of the first specific program to the robot control center; the robot control center is also used for receiving response information from the robot control center and sending the response information to the application program manager;
the application program manager is used for replacing the first specific program with a second specific program when the response information contains the second specific program of the robot to be adapted; the second specific program is used for realizing a second specific function of the robot to be adapted, and the software information of the second specific program is different from that of the first specific program.
5. A robot control method, applied to a robot control center, includes:
storing a specific program for realizing a specific function of each adaptive robot in a plurality of adaptive robots in the robot control center;
and sending a first specific program to the robot control device, wherein the first specific program is used for realizing a first specific function of one of the plurality of adaptive robots which is adapted to the robot control device.
6. The robot control method according to claim 5, further comprising, after sending the first specific program to the robot control device:
sending an inquiry request to the robot control device;
receiving software information of a first specific program from the robot control device;
inquiring software information of the robot to be adapted;
determining whether the software information of the first specific program is the same as the software information of the robot to be adapted;
if not, generating response information, wherein the response information comprises a second specific program of the robot to be adapted, and the second specific program is used for realizing a second specific function of the robot to be adapted;
and sending the response information to the robot control device.
7. The robot control method according to claim 6, wherein after determining whether the software information of the first specific program is the same as the software information of the robot to be adapted, further comprising:
and if the two signals are the same, sending adaptation completion information to the robot control device.
8. A robotic control system, comprising: the robot control center is connected with the robot control device; the robot control device is provided with a first operating system and a second operating system;
a basic service program is stored under the first operating system, and the basic service program realizes common basic functions of a plurality of adaptive robots; the second operating system stores a first specific program of one adapted robot in the plurality of adapted robots, and the first specific program is used for realizing a first specific function of the one adapted robot;
the robot control center is used for storing a specific program for realizing a specific function of each adaptive robot in the plurality of adaptive robots in the robot control center; and sending a first specific program to the robot control device, wherein the first specific program is used for realizing a first specific function of one of the plurality of types of adapted robots adapted to the robot control device.
9. The robotic system as claimed in claim 8, further comprising: the robot to be adapted is in communication connection with the robot control device;
the robot control device is further configured to send a control instruction to the adapted robot according to the basic service program and the first specific program, so that the adapted robot realizes the common basic function and the first specific function.
10. A computer storage medium, characterized in that a computer program is stored which, when being executed by a processor, implements the robot adaptation method according to any one of claims 1 to 2 or the robot control method according to any one of claims 5 to 7.
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| CN101953172A (en) * | 2008-02-13 | 2011-01-19 | 塞格瑞德公司 | Distributed multi-robot system |
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