WO2023088207A1 - 机械臂更换系统、方法、电子设备以及存储介质 - Google Patents

机械臂更换系统、方法、电子设备以及存储介质 Download PDF

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Publication number
WO2023088207A1
WO2023088207A1 PCT/CN2022/131709 CN2022131709W WO2023088207A1 WO 2023088207 A1 WO2023088207 A1 WO 2023088207A1 CN 2022131709 W CN2022131709 W CN 2022131709W WO 2023088207 A1 WO2023088207 A1 WO 2023088207A1
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Prior art keywords
robotic arm
replaced
arm
controller
robotic
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PCT/CN2022/131709
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English (en)
French (fr)
Inventor
陈子柯
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瑞龙诺赋(上海)医疗科技有限公司
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Publication of WO2023088207A1 publication Critical patent/WO2023088207A1/zh

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    • G—PHYSICS
    • G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
    • G16H—HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA
    • G16H40/00—ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices
    • G16H40/60—ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices for the operation of medical equipment or devices
    • G16H40/67—ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices for the operation of medical equipment or devices for remote operation
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • G—PHYSICS
    • G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
    • G16H—HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA
    • G16H40/00—ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices
    • G16H40/40—ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices for the management of medical equipment or devices, e.g. scheduling maintenance or upgrades

Definitions

  • the embodiments of the present application relate to the technical field of intelligent robot equipment, for example, to a robotic arm replacement system, method, device, electronic equipment, and storage medium.
  • a surgical robot in the related art adopts the bedside robotic arm system of the da Vinci robot, which consists of a column and four robotic arms extended based on the column.
  • the four robotic arms It is jointly controlled by a set of systems, so if the robotic arm is damaged during use, it cannot be replaced, and the entire bedside robotic arm system can only be returned to the factory for repair.
  • Another surgical robot adopts CMR (Cambridge Medical Robotics) type multi-column bedside robotic arm system, which consists of one or more independent columns, and each column has a separate robotic arm. In this system , because the system also controls multiple robotic arms at the same time by a system.
  • the present application provides a robotic arm replacement system, method, device, electronic equipment, and storage medium, so as to reduce the operational difficulty of replacing equipment, and only flexibly configure the replaced robotic arm, increasing the stability and safety of the operation.
  • the embodiment of the present application provides a robotic arm replacement system, the system includes:
  • a controller and at least two robotic arms includes multiple interfaces, and each controller interface is configured with corresponding robotic arm configuration information;
  • Any robotic arm is connected to the controller through industrial Ethernet based on the robotic arm identification of the current robotic arm, and receives and executes the operation instructions transmitted by the controller;
  • the controller is configured to monitor the operating states of the at least two mechanical arms, determine the mechanical arm to be replaced based on the operating state of the mechanical arms, and generate replacement prompt information for the mechanical arm to be replaced, and In the process of replacing the mechanical arm, control the mechanical arms other than the mechanical wave to be replaced to continue to execute the operation instruction corresponding to each robotic arm; wherein, the operation state includes an operation failure state and an operation instruction state.
  • the embodiment of the present application also provides a method for replacing a robot arm, which is applied to the robot arm replacement system described in the above embodiment, and the method includes:
  • the operating states include operating fault states and operating command states;
  • the robotic arms other than the robotic arm to be replaced are controlled to continue to execute the operation instructions corresponding to each robotic arm.
  • the embodiment of the present application also provides a mechanical arm replacement device, which includes:
  • An operating state monitoring module is configured to monitor the operating states of at least two robotic arms; wherein the operating states include operating fault states and operating command states;
  • the module for determining the mechanical arm to be replaced is configured to determine the mechanical arm to be replaced based on the operating state of the mechanical arm, and generate replacement prompt information for replacing the mechanical arm to be replaced;
  • the control module is configured to control the mechanical arms other than the mechanical arm to be replaced to continue to execute the operation instructions corresponding to each mechanical arm during the process of replacing the mechanical arm to be replaced.
  • the embodiment of the present application further provides an electronic device, and the electronic device includes:
  • processors one or more processors
  • storage means configured to store one or more programs
  • the one or more processors are made to implement the method for replacing a robotic arm provided in any embodiment of the present application.
  • the embodiment of the present application further provides a computer-readable storage medium, on which a computer program is stored, and when the program is executed by a processor, the method for replacing a robotic arm provided in any embodiment of the present application is implemented.
  • Fig. 1 is a schematic structural diagram of a robotic arm replacement system provided by an embodiment of the present application
  • FIG. 2 is a schematic flowchart of a method for replacing a robotic arm provided by an embodiment of the present application
  • Fig. 3 is a schematic structural diagram of a mechanical arm replacement device provided by an embodiment of the present application.
  • FIG. 4 is a schematic structural diagram of an electronic device provided by an embodiment of the present application.
  • FIG. 1 is a schematic structural diagram of a robotic arm replacement system provided by an embodiment of the present application. This embodiment is applicable to the situation of replacing a robotic arm of a working surgical robot.
  • the application scenario includes: in the process of using a surgical robot for surgery, the surgical robot may be damaged, that is, it cannot continue to execute the operation instructions of the controller.
  • the application scenario includes: in the process of using a surgical robot for surgery, the surgical robot may be damaged, that is, it cannot continue to execute the operation instructions of the controller.
  • the first replacement method needs to be completely replaced, the operation is cumbersome, and requires high maintenance costs, and the replacement process needs to be shut down to reconnect to different robotic arms;
  • the second replacement method It needs to be shut down to re-connect to different mechanical arms, so that the hardware system of the entire surgical robot needs to be reconfigured (initialized) before the newly connected mechanical arms can be used.
  • Initialization requires the system and doctors to re-set the relevant configuration, which makes the replacement of the surgical robot cumbersome during the maintenance process. After the replacement of the robotic arm, the entire surgical robot system needs to be reconfigured, which may lead to interruption of the operation and cause surgical risks.
  • the technical solution of the embodiment of the present application is improved on the basis of the second replacement method.
  • the corresponding robotic arm configuration information is pre-configured on the multiple controller interfaces of the controller, so that the multiple controller interfaces can be correspondingly connected to preset robotic arms.
  • the number of controller interfaces that have been configured is more than the number of robotic arms required for daily operations, so that the robotic arm can be replaced when it fails.
  • multiple manipulators are independently connected to multiple controller interfaces of the controller to build a manipulator replacement system.
  • the robotic arm of the surgical robot is replaced, which makes the replacement operation of the robotic arm simple, and can be replaced directly without shutting down the system. After the replacement is completed, the surgical task can be continued, reducing the difficulty of replacing equipment. And only the flexible configuration of the replaced robotic arm increases the stability and safety of the operation.
  • the structure of the robotic arm replacement system includes: a controller 110 and at least two robotic arms 120, the controller 110 includes a plurality of interfaces, and each controller interface 111 is configured with corresponding robotic arm configuration information;
  • Any robot arm 120 is connected to the controller 110 through industrial Ethernet based on the robot arm identification of the current robot arm 120, and receives and executes the operation instructions transmitted by the controller 110;
  • the controller 110 is configured to monitor the operating states of a plurality of mechanical arms 120, determine the mechanical arm 120 to be replaced based on the operating state of the mechanical arm 120, and generate replacement prompt information for the mechanical arm 120 to be replaced, and to replace the mechanical arm 120 to be replaced.
  • other robotic arms 120 are controlled to continue to execute the operation instructions corresponding to each robotic arm 120; wherein, the operation state includes an operation failure state and an operation instruction state.
  • the controller 110 includes multiple controller interfaces 111, and each controller interface 111 is configured with corresponding robotic arm configuration information; wherein, the robotic arm configuration information may include but not limited to the coded identification of the robotic arm 120, It is used for information verification when the robot arm 120 is connected to the controller interface 111 to determine that the robot arm 120 is connected to the controller interface 111 correspondingly, so that the operation instruction sent by the controller 110 can be executed.
  • the robotic arm configuration information may include but not limited to the coded identification of the robotic arm 120, It is used for information verification when the robot arm 120 is connected to the controller interface 111 to determine that the robot arm 120 is connected to the controller interface 111 correspondingly, so that the operation instruction sent by the controller 110 can be executed.
  • the controller 110 Before replacing the robotic arm 120, the controller 110 needs to configure the network of each controller interface 111 in advance, so that the controller 110 can control the corresponding robotic arm 120 based on multiple controller interfaces 111, so that the operation instructions correspond to are sent to multiple robotic arms 120.
  • controller interfaces 111 in the controller 110 needs to be greater than the number of robotic arms 120 required to perform daily surgical tasks; in other words, there must be idle controller interfaces 111 on the controller 110 in this embodiment, so The robot arm 120 can be replaced when the robot arm 120 fails.
  • the idle controller interface 111 is used to replace the original controller interface 111 to replace the mechanical arm 120, which can quickly enable the surgical robot to continue to perform the surgical task and reduce the risk caused by the interruption of the operation. surgical risks. Since the failure of the original controller interface 111 connected to the robotic arm 120 is not sure whether the malfunction of the robotic arm 120 or the malfunction of the controller interface 111, the new robotic arm 120 is directly connected to the new controller interface 111 to achieve Quickly return to work, and the cause of the failure can be checked after the surgical task is over.
  • the network configuration of the controller interface 111 may be to configure the robot arm configuration information of the robot arm 120 corresponding to the controller interface 111 on the corresponding controller interface 111, so that the controller interface 111 can be connected with the preset robot
  • the arms 120 are correspondingly connected.
  • the multiple robotic arms corresponding to the robotic arm configuration information of the multiple controller interfaces have the same mechanical structure and hardware settings, so that when any mechanical arm fails, other robotic arms can be used for replacement.
  • any robot arm 120 is connected to the controller 110 through industrial Ethernet based on the robot identifier of the current robot arm 120 , and receives and executes the operation instruction transmitted by the controller 110 .
  • industrial Ethernet can also be called real-time Ethernet, real-time industrial Ethernet.
  • Ethercat, ProfiNet, Ethernet/IP, etc. all belong to industrial Ethernet.
  • the type of Ethernet used when any mechanical arm 120 is connected to the controller 110 can be connected by the above-mentioned industrial Ethernet, or can be connected by the above-mentioned unexampled industrial Ethernet.
  • the connection method is not limited.
  • N controller interfaces 111 are pre-configured in the operating system of the controller 110 , and all of them are set to optional connection mode, and are provided with the robot identifier of the connectable robot arm 120 .
  • the system recognizes the robotic arm ID of the connected robotic arm 120, and automatically numbers each detected and normally recognized robotic arm 120, starting from 1, and the default group 1, 2, and 3 are online under normal startup conditions, representing 3 sets of presets. Installed mechanical arm 120.
  • the system also reserves 4-10 sets of numbering space for the robotic arm 120, and the operating system automatically detects the connection of the new robotic arm during operation. Arm identification (that is, to detect whether it belongs to a set of replaceable mechanical arms 120), a group number is automatically assigned by the system, and the teleoperation state of the surgical arm is switched through a user interface or system preset value.
  • the controller 110 configures each controller interface 111
  • multiple robotic arms 120 are independently connected to the multiple controller interfaces 111 of the controller 110 based on industrial Ethernet, thereby building a robotic arm 120 replacement system.
  • the technical solution of this embodiment is to enable the multiple controller interfaces 111 in the controller 110 to communicate independently with the corresponding mechanical arms 120 through industrial Ethernet and pre-configured network, so as to realize independent control Any robot arm 120 executes the operation command, so that any robot arm 120 can be replaced without shutting down the system.
  • the controller 110 monitors the operating states of multiple robotic arms 120, determines the robotic arm 120 to be replaced based on the operating state of the robotic arms 120, and generates replacement prompt information for the robotic arm 120 to be replaced. , and during the replacement process of the robotic arm 120 to be replaced, other robotic arms 120 are controlled to continue to execute the operation instructions corresponding to each robotic arm 120 .
  • the operation state includes an operation failure state and an operation instruction state.
  • the status of the operation instruction may include a status of whether the execution of the current operation instruction is completed. For example, unexecuted state, executing state, and executed state.
  • the controller 110 when the controller 110 monitors the operating states of multiple robotic arms 120 during the operation, for example, it may detect whether each robotic arm 120 has a connection failure. If it is detected that one or more robotic arms 120 cannot continue to be used due to a mechanical failure, a replacement prompt message for replacing the robotic arm 120 is generated.
  • the staff places the spare robotic arm 120 next to the hospital bed and connects it to the integrated hub; after the connection is successful, it will automatically supply power to the replaced robotic arm 120, and the software system will automatically detect and recognize the connection of the new robotic arm 120;
  • the user interface of the integrated center will prompt the user to select the number/color of the surgical arm to be replaced.
  • the staff will withdraw the mechanical arm 120 to be replaced and disconnect it from the integrated center; of course, this In this embodiment, the mechanical arm 120 to be replaced can also be withdrawn first, and then the new mechanical arm 120 can be connected; the replacement can also be performed at the same time, and the sequence of replacement is not limited in this embodiment.
  • the withdrawal in this embodiment refers to the withdrawal of the mechanical arm 120 from the trolley, or the withdrawal of the entire trolley together with the mechanical arm 120 .
  • the mechanical arm 120 of the surgical robot in this embodiment can be composed of a trolley and the mechanical arm 120, and the mechanical arm 120 is detachably installed on the trolley, so that the mechanical arm 120 can move flexibly, thereby more flexibly performing control device 110 operating instructions.
  • the controller 110 detects that the No. 2 robotic arm 120 controlled by the doctor's right hand is damaged, and generates that the No. 2 robotic arm 120 needs to be replaced and that the newly replaced robotic arm 120 is No. 4.
  • a replacement prompt message for switching the No. 4 arm to replace the No. 2 arm can be generated through the interface, and the staff can replace the robotic arm 120 .
  • the right hand controller 110 of the doctor's console begins to control the No. 4 arm to continue the operation.
  • the robotic arms 120 corresponding to No. 1 and No. 3 are controlled by the original controller 110 to continue to perform the original surgical tasks.
  • the controller 110 after the replacement of the robotic arm 120 is completed, the controller 110 also obtains the corresponding operation instruction of the robotic arm 120 to be replaced, and after recognizing that the robotic arm 120 to be replaced has been replaced, performs network configuration on the replaced target robotic arm 120, To make the target robot arm 120 continue to execute the operation instruction corresponding to the robot arm 120 to be replaced.
  • the network configuration of the replaced target robotic arm 120 is the network configuration of the No. 4 robotic arm 120 in the above exemplary content, so that the right-hand controller 110 of the doctor console can control the No. Surgery.
  • the method for performing network configuration on the target robotic arm 120 may include: sending network information to the servo motors in the target robotic arm 120 ; wherein the network information is used to acquire configuration parameters of the servo motors.
  • the controller 110 scans the control network of the robot arm 120 to discover the change of the control network, and reorganizes the network topology. For example, the controller 110 initializes the network configuration and parameter configuration of the servo motors in the current target robotic arm 120 .
  • the controller 110 can read the configuration of the servo motors in the robotic arm 120 through broadcast mode, so as to form new network topology information.
  • the robotic arm 120 in this embodiment has the same mechanical structure and hardware configuration as the robotic arm 120 to be replaced.
  • the target mechanical arm 120 and the mechanical arm 120 to be replaced have the same type and quantity combination, and the target mechanical arm 120 and the mechanical arm 120 to be replaced can perform the same operation instructions, so as to realize the replacement.
  • the target robotic arm 120 may continue to execute the operation instructions of the robotic arm 120 to be replaced.
  • the controller 110 is also configured to obtain the demanded quantity of the required robotic arms 120 and the connected quantity of the connected robotic arms 120, and if the demanded quantity and the connected quantity are not equal, generate an increase or The number change prompt message for reducing the number of robot arms 120.
  • the controller 110 determines the required number of robotic arms 120 required by the operation instruction based on the received operation instruction, and determines the connected number of the plurality of controller interfaces 111 connected to the robotic arms 120 .
  • the required quantity of the robotic arm 120 is numerically compared with the connected quantity, and if the required quantity is not equal to the connected quantity, a quantity change prompt message for increasing or decreasing the quantity of the robotic arm 120 is generated.
  • a quantity change prompt message for increasing the number of robotic arms 120 is generated
  • the interface status of the controller interface 111 is obtained; if there is an idle interface in the controller 110, the idle interface is assigned To the robotic arm 120 to be added; if the controller 110 does not have an idle interface, then generate an increase prompt message that the robotic arm 120 cannot be added.
  • the technical solution of this embodiment configures the corresponding robotic arm configuration information for multiple controller interfaces 111 of the controller 110 in advance before performing surgical tasks, so that multiple controller interfaces 111 can be connected to the preset robotic arm 120 correspondingly.
  • the number of controller interfaces 111 that have been configured is more than the number of robotic arms 120 required for daily operations, so that they can be replaced when the robotic arm 120 fails, and multiple robotic arms 120 are independently and controlled based on industrial Ethernet.
  • a plurality of controller interfaces 111 of the controller 110 are connected to form a robot arm 120 replacement system. Based on the robotic arm 120 replacement system, the robotic arm 120 of the surgical robot is replaced, so that the replacement operation of the robotic arm 120 is simple, and it can be replaced directly without shutting down the system. After the replacement is completed, the surgical task can be continued, reducing the cost of replacement equipment. Difficulty in operation, and only flexible configuration of the replaced mechanical arm 120 increases the stability and safety of the operation.
  • the following is an embodiment of the method for replacing a robotic arm provided by the embodiment of the present application.
  • This method belongs to the same application concept as the robotic arm replacement system in the above-mentioned embodiments, and the details that are not described in detail in the embodiment of the method for replacing a robotic arm , reference may be made to the above embodiments of the robot arm replacement system.
  • FIG. 2 is a flow chart of a method for replacing a robotic arm provided by an embodiment of the present application. This embodiment is applicable to the situation of replacing a robotic arm of a surgical robot in operation.
  • the method can be executed by a robot arm replacement device, and the device can be realized by software and/or hardware. As shown in Figure 2, the method includes the following steps:
  • S210 Monitor the operation states of at least two robotic arms; wherein, the operation states include an operation fault state and an operation command state.
  • S220 Determine the robotic arm to be replaced based on the operating state of the robotic arm, and generate replacement prompt information for replacing the robotic arm to be replaced.
  • the technical solution of this embodiment pre-configures the corresponding robotic arm configuration information on the multiple controller interfaces of the controller before performing the surgical task, so that the multiple controller interfaces can be correspondingly connected to the preset robotic arm.
  • the number of controller interfaces that have been configured is more than the number of robotic arms required for daily operations, so that the robotic arm can be replaced when it fails.
  • the controller interface is connected to build a robotic arm replacement system. Based on the robotic arm replacement system, the robotic arm of the surgical robot is replaced, which makes the replacement operation of the robotic arm simple, and can be replaced directly without shutting down the system. After the replacement is completed, the surgical task can be continued, reducing the difficulty of replacing equipment. And only the flexible configuration of the replaced robotic arm increases the stability and safety of the operation.
  • the following is an embodiment of the robot arm replacement device provided by the embodiment of this application.
  • This device belongs to the same application concept as the robot arm replacement method and system of the above-mentioned multiple embodiments, and the details that are not described in detail in the embodiments of the robot arm replacement device For details, reference may be made to the above embodiments of the method and system for replacing a robot arm.
  • FIG. 3 is a schematic structural diagram of a mechanical arm replacement device provided by an embodiment of the present application. This embodiment is applicable to the situation of replacing a mechanical arm of a surgical robot in operation.
  • the structure of the robot arm replacement device includes: an operating state monitoring module 310, a robot arm to be replaced determination module 320 and a control module 330; wherein,
  • the operating state monitoring module 310 is configured to monitor the operating states of at least two of the robotic arms; wherein the operating states include an operating fault state and an operating command state;
  • the robotic arm to be replaced determining module 320 is configured to determine the robotic arm to be replaced based on the operating state of the robotic arm, and generate replacement prompt information for replacing the robotic arm to be replaced;
  • the control module 330 is configured to control other robotic arms to operate normally during the process of replacing the robotic arm to be replaced.
  • the technical solution of this embodiment pre-configures the corresponding robotic arm configuration information on the multiple controller interfaces of the controller before performing the surgical task, so that the multiple controller interfaces can be correspondingly connected to the preset robotic arm.
  • the number of controller interfaces that have been configured is more than the number of robotic arms required for daily operations, so that the robotic arm can be replaced when it fails.
  • the controller interface is connected to build a robotic arm replacement system. Based on the robotic arm replacement system, the robotic arm of the surgical robot is replaced, which makes the replacement operation of the robotic arm simple, and can be replaced directly without shutting down the system. After the replacement is completed, the surgical task can be continued, reducing the difficulty of replacing equipment. And only the flexible configuration of the replaced robotic arm increases the stability and safety of the operation.
  • modified devices also include:
  • the target robotic arm configuration module is configured to, after replacing the robotic arm to be replaced, perform network configuration on the target robotic arm corresponding to the robotic arm to be replaced, so that the target robotic arm is based on the acquired robotic arm to be replaced.
  • the operation instruction corresponding to the arm continues to execute the operation instruction corresponding to the robotic arm to be replaced.
  • the target robotic arm configuration module includes:
  • the network parameter sending unit is configured to send network information to the servo motor in the target robotic arm; wherein the network information is used to obtain configuration parameters related to the servo motor.
  • the robot arm replacement device provided in the embodiment of the present application can execute the method for replacing the robot arm provided in any embodiment of the application, and has corresponding functional modules and beneficial effects for executing the method.
  • the multiple units and modules included are only divided according to functional logic, but are not limited to the above-mentioned division, as long as the corresponding functions can be realized; in addition , the specific names of multiple functional units are only for the convenience of distinguishing each other, and are not used to limit the protection scope of the present application.
  • FIG. 4 is a schematic structural diagram of an electronic device provided by an embodiment of the present application.
  • FIG. 4 shows a block diagram of an exemplary electronic device 12 suitable for implementing embodiments of the present application.
  • the electronic device 12 shown in FIG. 4 is only an example, and should not limit the functions and scope of use of this embodiment of the present application.
  • electronic device 12 takes the form of a general computing electronic device.
  • Components of electronic device 12 may include, but are not limited to, one or more processors or processing units 16, system memory 28, bus 18 connecting various system components including system memory 28 and processing unit 16.
  • Bus 18 represents one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, a processor, or a local bus using any of a variety of bus structures.
  • bus structures include, by way of example, but are not limited to Industry Standard Architecture (ISA) bus, Micro Channel Architecture (MAC) bus, Enhanced ISA bus, Video Electronics Standards Association (VESA) local bus, and Peripheral Component Interconnect ( PCI) bus.
  • ISA Industry Standard Architecture
  • MAC Micro Channel Architecture
  • VESA Video Electronics Standards Association
  • PCI Peripheral Component Interconnect
  • Electronic device 12 may include a variety of computer system readable media. These media can be any available media that can be accessed by electronic device 12 and include both volatile and nonvolatile media, removable and non-removable media.
  • System memory 28 may include computer system readable media in the form of volatile memory, such as random access memory (RAM) 30 and/or cache memory 32 .
  • Electronic device 12 may include other removable/non-removable, volatile/nonvolatile computer system storage media.
  • storage system 34 may be used to read and write to non-removable, non-volatile magnetic media (not shown in FIG. 4, commonly referred to as a "hard drive”).
  • a disk drive for reading and writing to removable non-volatile disks e.g. "floppy disks”
  • removable non-volatile optical disks e.g. CD-ROM, DVD-ROM or other optical media
  • each drive may be connected to bus 18 via one or more data media interfaces.
  • System memory 28 may include at least one program product having a set (eg, at least one) of program modules configured to perform the functions of various embodiments of the present application.
  • Program/utility 40 may be stored, for example, in system memory 28 as a set (at least one) of program modules 42 including, but not limited to, an operating system, one or more application programs, other program modules, and program data, each or some combination of these examples may include the realization of the network environment.
  • the program modules 42 generally perform the functions and/or methods of the embodiments described herein.
  • the electronic device 12 may also communicate with one or more external devices 14 (e.g., a keyboard, pointing device, display 24, etc.), may also communicate with one or more devices that enable a user to interact with the electronic device 12, and/or communicate with Any device (eg, network card, modem, etc.) that enables the electronic device 12 to communicate with one or more other computing devices. Such communication may occur through input/output (I/O) interface 22 .
  • the electronic device 12 can also communicate with one or more networks (such as a local area network (LAN), a wide area network (WAN) and/or a public network such as the Internet) through the network adapter 20 . As shown in FIG. 4 , network adapter 20 communicates with other modules of electronic device 12 via bus 18 .
  • the processing unit 16 executes a variety of functional applications and sample data acquisition by running the program stored in the system memory 28, for example, implementing the steps of a method for replacing a manipulator provided in the embodiment of the present invention.
  • the method for replacing a manipulator includes:
  • the operating states include operating fault states and operating command states;
  • processor can also implement the technical solution of the sample data acquisition method provided in any embodiment of the present application.
  • the fifth embodiment provides a computer-readable storage medium, on which a computer program is stored.
  • the program is executed by a processor, for example, the steps of a method for replacing a manipulator provided in the embodiment of the present invention, the method for replacing a manipulator include:
  • the operating states include operating fault states and operating command states;
  • the computer storage medium in the embodiments of the present application may use any combination of one or more computer-readable media.
  • the computer readable medium may be a computer readable signal medium or a computer readable storage medium.
  • a computer-readable storage medium may be, for example but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or device, or any combination thereof. More specific examples (non-exhaustive list) of computer readable storage media include: electrical connections with one or more leads, portable computer disks, hard disks, random access memory (RAM), read only memory (ROM), Erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination of the above.
  • a computer-readable storage medium may be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, apparatus, or device.
  • the computer readable storage medium may be a non-transitory computer readable
  • a computer readable signal medium may include a data signal carrying computer readable program code in baseband or as part of a carrier wave. Such propagated data signals may take many forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the foregoing.
  • a computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium, which can send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, apparatus, or device. .
  • Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.
  • Computer program codes for performing the operations of the present application may be written in one or more programming languages or combinations thereof, including object-oriented programming languages such as Java, Smalltalk, C++, and conventional Procedural Programming Language - such as "C" or a similar programming language.
  • the program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server.
  • the remote computer can be connected to the user computer through any kind of network, including a local area network (LAN) or a wide area network (WAN), or it can be connected to an external computer (such as through the Internet using an Internet service provider). connect).
  • LAN local area network
  • WAN wide area network
  • connect such as AT&T, MCI, Sprint, EarthLink, MSN, GTE, etc.

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Abstract

本申请实施例公开了一种机械臂更换系统、方法、装置、电子设备及存储介质。该系统包括：控制器和至少两个机械臂，所述控制器包括多个接口，且每个控制器接口配置对应的机械臂配置信息；任一机械臂基于当前机械臂的机械臂标识与所述控制器通过工业以太网连接，接收并执行所述控制器传输的操作指令；所述控制器设置为监听所述至少两个机械臂的操作状态，基于所述机械臂的操作状态确定待更换机械臂，以及生成所述待更换机械臂的更换提示信息，并在所述待更换机械臂的更换过程中，控制除所述待更换机械波之外的机械臂继续执行每个机械臂对应的操作指令；其中，所述操作状态包括操作故障状态和操作指令状态。

Description

机械臂更换系统、方法、电子设备以及存储介质
本申请要求在2021年11月16日提交中国专利局、申请号为202111357910.1的中国专利申请的优先权，该申请的全部内容通过引用结合在本申请中。
技术领域
本申请实施例涉及智能机器人设备技术领域，例如涉及一种机械臂更换系统、方法、装置、电子设备及存储介质。
背景技术
相关技术中的一种手术机器人采用达芬奇机器人的床旁机械臂系统，该系统由一个立柱和四个基于该立柱延展出的四个机械臂组成，在此系统中，由于四个机械臂是由一套系统共同控制的，所以如果机械臂在使用过程中损坏，是无法更换的，只有将整个床旁机械臂系统返厂维修。另一种手术机器人采用CMR(Cambridge Medical Robotics)类型的多立柱床旁机械臂系统，该系统由一个或者多个独立的立柱组成，每个立柱上都有一个单独的机械臂，在此系统中，由于该系统也是由一套系统同时控制多条机械臂。所以如果某机械臂在使用过程中损坏，需要将系统关闭之后，重新连接新的机械臂，并且重新开机初始化，或者，在手术开始前，预先接入多个备用机械臂，从而通过冗余来解决多机械臂替换的可能。
发明内容
本申请提供一种机械臂更换系统、方法、装置、电子设备及存储介质，以实现降低更换设备的操作难度，以及仅灵活的配置更换后的机械臂，增加了手术的稳定性和安全性。
第一方面，本申请实施例提供了一种机械臂更换系统，该系统包括：
控制器和至少两个机械臂，所述控制器包括多个接口，且每个控制器接口配置对应的机械臂配置信息；
任一机械臂基于当前机械臂的机械臂标识与所述控制器通过工业以太网连接，接收并执行所述控制器传输的操作指令；
所述控制器设置为监听所述至少两个机械臂的操作状态，基于所述机械臂的操作状态确定待更换机械臂，以及生成所述待更换机械臂的更换提示信息，并在所述待更换机械臂的更换过程中，控制除所述待更换机械波之外的机械臂继续执行每个机械臂对应的操作指令；其中，所述操作状态包括操作故障状态和操作指令状态。
第二方面，本申请实施例还提供了一种机械臂更换方法，应用于上述实施例所述的机械臂更换系统，该方法包括：
监听至少两个机械臂的操作状态；其中，所述操作状态包括操作故障状态和操作指令状态；
基于所述机械臂的操作状态确定待更换机械臂，以及生成更换所述待更换机械臂的更换提示信息；
在更换所述待更换机械臂的过程中，控制除所述待更换机械器之外的机械臂继续执行每个机械臂对应的操作指令。
第三方面，本申请实施例还提供了一种机械臂更换装置，该装置包括：
操作状态监听模块，设置为监听至少两个机械臂的操作状态；其中，所述操作状态包括操作故障状态和操作指令状态；
待更换机械臂确定模块，设置为基于所述机械臂的操作状态确定待更换机械臂，以及生成更换所述待更换机械臂的更换提示信息；
控制模块，设置为在更换所述待更换机械臂的过程中，控制除所述待更换机械器之外的机械臂继续执行每个机械臂对应的操作指令。
第四方面，本申请实施例还提供了一种电子设备，所述电子设备包括：
一个或多个处理器；
存储装置，设置为存储一个或多个程序，
当所述一个或多个程序被所述一个或多个处理器执行，使得所述一个或多个处理器实现如本申请任意实施例提供的机械臂更换方法。
第五方面，本申请实施例还提供了一种计算机可读存储介质，其上存储有计算机程序，该程序被处理器执行时实现本申请任意实施例提供的机械臂更换方法。
附图说明
图1是本申请一实施例提供的机械臂更换系统的结构示意图；
图2是本申请一实施例提供的机械臂更换方法的流程示意图；
图3是本申请一实施例提供的机械臂更换装置的结构示意图；
图4为本申请一实施例提供的电子设备的结构示意图。
具体实施方式
图1为本申请一实施例提供的机械臂更换系统的结构示意图，本实施例可适用于对工作中手术机器人的机械臂进行更换的情况。
在对本申请实施例的技术方案进行介绍之前，先对实施本实施例的技术方案的应用场景进行示例性的介绍。当然，下述应用场景只是作为示例应用场景， 本实施例的还可以在其他应用场景进行实施，本实施例对实施的技术方法的应用场景不加以限制。例如，应用场景包括：在使用手术机器人进行手术的过程中，手术机器人可能会出现损坏的情况，即不能继续执行控制器的操作指令。在上述情况下，相关技术对于机械臂更换的方法一般有两种方法，一种是若手术机器人是单立柱支撑多个机械臂的情况，此情况下需要关闭系统连同立柱带机械臂一起更换，并再更换之后重新连接系统；另一种是手术机器人是单立柱支撑单个机械臂的情况，此情况下将系统关闭之后，重新连接新的机械臂，并且重新开始初始化。
在上述两种手术机器人更换过程中，第一种更换方式需要全部替换，操作繁琐，并需要较高的维修成本，且更换过程中需要关机才能重新接入不同的机械臂；第二种更换方式需要关机才能重新接入不同的机械臂，从而导致整个手术机器人的硬件系统需要重新配置(初始化)之后才能使用新接入的机械臂。初始化需要系统和医生重新对相关配置进行设置，导致该手术机器人在维修的过程中更换操作繁琐，在更换机械臂后需要重新配置整个手术机器人系统，可能导致手术中断，从而引发手术风险。
本申请实施例的技术方案在第二种更换方式的基础上进行了改进。例如，在执行手术任务之前，预先对控制器的多个控制器接口配置对应的机械臂配置信息，以使多个控制器接口可以对应连接预设的机械臂。当然，已经配置的控制器接口数量多于日常进行手术需要的机械臂数量，以便于在机械臂出现故障时可以进行更换。基于工业以太网将多个机械臂分别独立的与控制器的多个控制器接口进行连接，从而搭建成机械臂更换系统。基于该机械臂更换系统对手术机器人的机械臂进行更换，使机械臂的更换操作简单，并且不需要关闭系统就可以直接更换，更换完成之后可以继续执行手术任务，降低了更换设备的操作难度，以及仅灵活的配置更换后的机械臂，增加了手术的稳定性和安全性。
参见图1，该机械臂更换系统的结构包括：控制器110和至少两个机械臂120，控制器110包括多个接口，且每个控制器接口111配置对应的机械臂配置信息；
任一机械臂120基于当前机械臂120的机械臂标识与控制器110通过工业以太网连接，接收并执行控制器110传输的操作指令；
控制器110设置为监听多个机械臂120的操作状态，基于机械臂120的操作状态确定待更换机械臂120，以及生成待更换机械臂120的更换提示信息，并在待更换机械臂120的更换过程中，控制其他机械臂120继续执行每个机械臂120对应的操作指令；其中，操作状态包括操作故障状态和操作指令状态。
在本申请实施例中，控制器110包括多个控制器接口111，每个控制器接口111配置对应的机械臂配置信息；其中，机械臂配置信息可以包括但不限于机械 臂120的编码标识，用于在该机械臂120与控制器接口111连接时进行信息验证，以确定该机械臂120与控制器接口111为对应连接，从而可以执行控制器110发送的操作指令。
对机械臂120进行更换之前，控制器110需要预先对每个控制器接口111进行网络配置，以使控制器110可以基于多个控制器接口111分别控制对应的机械臂120，从而将操作指令对应的发送至多个机械臂120。
需要说明的是，控制器110中控制器接口111的数量需要多于日常执行手术任务所需要的机械臂120数量；换言之，本实施例中控制器110上需要存在空闲控制器接口111，以便于可以在机械臂120出现故障时对机械臂120进行更换。
在本实施例中，当手术中机械臂120出现故障时，采用空闲控制器接口111替换原来控制器接口111进行机械臂120更换，可以快速使手术机器人继续执行手术任务，减少因手术中断带来的手术风险。由于原控制器接口111连接机械臂120出现故障的原因不确定是机械臂120故障还是控制器接口111故障，所以直接将新的机械臂120与新的控制器接口111进行对应连接，以实现可以快速恢复工作，至于故障原因可以在手术任务结束之后再进行排查。
例如，对控制器接口111进行网络配置可以是将该控制器接口111对应的机械臂120的机械臂配置信息配置于对应的控制器接口111上，以使控制器接口111可以与预设的机械臂120对应连接。其中，多个控制器接口的机械臂配置信息对应的多个机械臂具有相同的机械结构和硬件设置，以便于任一机械臂出现故障时，可以采用其他机械臂进行更换。相应的，任一机械臂120基于当前机械臂120的机械臂标识与控制器110通过工业以太网连接，接收并执行控制器110传输的操作指令。
其中，工业以太网还可以叫做实时以太网，实时工业以太网。例如Ethercat，ProfiNet，Ethernet/IP等都属于工业以太网。本实施例中对于任一机械臂120与控制器110连接时所采用的以太网类型可以采用上述工业以太网进行连接，也可以采用上述未举例的工业以太网连接，本实施例对于采用的具体连接方式不加以限定。
示例性的，在控制器110的操作系统内预先配置N个控制器接口111，并都设定为可选连接模式，并且均设置有可连接的机械臂120的机械臂标识。系统识别已连接机械臂120的机械臂标识，自动给每个检测到并正常识别的机械臂120编号，从1开始，正常开机情况下为默认1，2，3号组在线，代表3套预装的机械臂120。与此同时，系统也预留了4-10组机械臂120的编号空间，由操作系统在运行时自动检测新机械臂的连接情况，一旦检测到有新设备连接，可以根据机械臂120的机械臂标识(即检测是否属于一套可替换的机械臂120)，由系统自动分配一个组号，并通过一个用户界面或者系统预设值，来切换手术 臂的遥操作状态。
例如，控制器110在对每个控制器接口111进行配置之后，并基于工业以太网将多个机械臂120分别独立的与控制器110的多个控制器接口111进行连接，从而搭建成机械臂120更换系统。通俗的讲，本实施例的技术方案在于通过工业以太网以及预先进行的网络配置，使控制器110中的多个控制器接口111分别与对应的机械臂120之间独立通信，从而实现单独控制任一机械臂120执行操作指令，从而也可以实现对任一机械臂120更换而不需要关闭系统。
例如，在搭建成机械臂120更换系统之后，控制器110监听多个机械臂120的操作状态，基于机械臂120的操作状态确定待更换机械臂120，以及生成待更换机械臂120的更换提示信息，并在待更换机械臂120的更换过程中，控制其他机械臂120继续执行每个机械臂120对应的操作指令。
其中，操作状态包括操作故障状态和操作指令状态。操作指令状态可以包括当前操作指令指令是否执行完毕的状态。例如未执行状态、执行中状态以及执行完毕状态。
例如，当手术过程中控制器110监听多个机械臂120的操作状态，示例性的，可以检测每个机械臂120是否有连接故障。若检测到有某一个或者多个机械臂120因为机械故障无法继续使用，则生成更换机械臂120的更换提示信息。工作人员将备用的机械臂120摆放到病床旁并连接到集成中枢上；连接成功后将会自动给更换后的机械臂120供电，软件系统会自动检测并识别到新机械臂120的连接；集成中枢的用户界面上将会提示用户选择需要替换的手术臂号码/颜色，确认好替换的手臂后，工作人员将待更换机械臂120撤出，并断开与集成中枢的连接；当然，本实施例也可以先将待更换机械臂120撤出，再将新机械臂120进行连接；还可以将更换同时进行，本实施例对更换的顺序不加以限制。本实施例中的撤出指的可以机械臂120从台车上撤出，也可以整个台车连同机械臂120撤出。例如，本实施例中手术机器人的机械臂120可以由台车和机械臂120组成，机械臂120可拆卸地安装在台车上，以便于机械臂120可以灵活的活动，从而更灵活的执行控制器110的操作指令。
示例性的，在手术过程中，控制器110监听到医生右手控制的2号机械臂120损坏，则生成2号机械臂120需要更换以及新更换的机械臂120为4号。可以通过界面生成切换4号臂替代2号臂的更换提示信息，工作人员进行机械臂120更换。完成后，医生控制台的右手控制器110开始控制4号臂继续进行手术。当然，在工作人员进行机械臂120更换的过程中，1号和3号对应的机械臂120由原来的控制器110控制继续执行原来的手术任务。
例如，在完成机械臂120更换之后，控制器110还获取待更换机械臂120对应的操作指令，并在识别到待更换机械臂120已更换之后，对更换后的目标 机械臂120进行网络配置，以使目标机械臂120继续执行待更换机械臂120对应的操作指令。
本实施例中，对更换完目标机械臂120进行网络配置即是对上述示例性的内容中的4号机械臂120进行网络配置，以使医生控制台的右手控制器110可以控制4号臂继续进行手术。
例如，对目标机械臂120进行网络配置的方法可以包括：向目标机械臂120中的伺服电机发送网络信息；其中，网络信息用于获取与伺服电机的配置参数。
例如，在控制器110发现机械臂120发生更换之后，即控制器110扫描机械臂120控制网络发现控制网络变化，并重新组组建网络拓扑。例如，控制器110初始化当前目标机械臂120中的伺服电机的网络配置和参数配置。示例性的，控制器110可以通过广播模式读取机械臂120中伺服电机的配置，从而组建新的网络拓扑信息。
值得注意的是，本实施例中的机械臂120与待更换机械臂120具有相同的机械结构以及硬件配置。例如，可以理解为目标机械臂120与待更换的机械臂120中的零件类别、数量组合方式相同，以及目标机械臂120与待更换的机械臂120可以执行的操作指令相同，从而实现更换后的目标机械臂120可以继续执行待更换的机械臂120的操作指令。
在上述多个实施例的基础上，控制器110还设置为获取所需机械臂120的需求数量以及已连接机械臂120的已连接数量，若需求数量和已连接数量不相等，则生成增加或者减少机械臂120数量的数量变化提示信息。
例如，控制器110基于接收到的操作指令确定该操作指令所需机械臂120的需求数量，以及确定多个控制器接口111已连接机械臂120的已连接数量。将机械臂120的需求数量与已连接数量进行数值比对，若需求数量和已连接数量不相等，则生成增加或者减少机械臂120数量的数量变化提示信息。
示例性的，若需求数量多于已连接数量，则生成增加机械臂120数量的数量变化提示信息；若需求数量少于已连接数量，则生成减少机械臂120数量的数量变化提示信息。
例如，生成增加或者减少机械臂120数量的数量变化提示信息之后，换言之，若确定需要增加机械臂120，则获取控制器接口111的接口状态；若控制器110存在空闲接口，则将空闲接口分配至待增加机械臂120；若控制器110不存在空闲接口，则生成不能增加机械臂120的增加提示信息。
本实施例的技术方案通过在执行手术任务之前，预先对控制器110的多个控制器接口111配置对应的机械臂配置信息，以使多个控制器接口111可以对应连接预设的机械臂120。当然，已经配置的控制器接口111数量多于日常进行手术需要的机械臂120数量，以便于在机械臂120出现故障时可以进行更换，基 于工业以太网将多个机械臂120分别独立的与控制器110的多个控制器接口111进行连接，从而搭建成机械臂120更换系统。基于该机械臂120更换系统对手术机器人的机械臂120进行更换，使机械臂120的更换操作简单，并且不需要关闭系统就可以直接更换，更换完成之后可以继续执行手术任务，降低了更换设备的操作难度，以及仅灵活的配置更换后的机械臂120，增加了手术的稳定性和安全性。
以下是本申请实施例提供的机械臂更换方法的实施例，该方法与上述多个实施例的机械臂更换系统属于同一个申请构思，在机械臂更换方法的实施例中未详尽描述的细节内容，可以参考上述机械臂更换系统的实施例。
图2为本申请一实施例提供的一种机械臂更换方法的流程图，本实施例可适用于对工作中手术机器人的机械臂进行更换的情况。该方法可以由机械臂更换装置来执行，该装置可以由软件和/或硬件的方式来实现。如图2所示，该方法包括以下步骤：
S210、监听至少两个机械臂的操作状态；其中，操作状态包括操作故障状态和操作指令状态。
S220、基于机械臂的操作状态确定待更换机械臂，以及生成更换待更换机械臂的更换提示信息。
S230、在更换待更换机械臂的过程中，控制除待更换机械臂之外的机械臂继续执行每个机械臂对应的操作指令。
本实施例的技术方案通过在执行手术任务之前，预先对控制器的多个控制器接口配置对应的机械臂配置信息，以使多个控制器接口可以对应连接预设的机械臂。当然，已经配置的控制器接口数量多于日常进行手术需要的机械臂数量，以便于在机械臂出现故障时可以进行更换，基于工业以太网将多个机械臂分别独立的与控制器的多个控制器接口进行连接，从而搭建成机械臂更换系统。基于该机械臂更换系统对手术机器人的机械臂进行更换，使机械臂的更换操作简单，并且不需要关闭系统就可以直接更换，更换完成之后可以继续执行手术任务，降低了更换设备的操作难度，以及仅灵活的配置更换后的机械臂，增加了手术的稳定性和安全性。
以下是本申请实施例提供的机械臂更换装置的实施例，该装置与上述多个实施例的机械臂更换方法和系统属于同一个申请构思，在机械臂更换装置的实施例中未详尽描述的细节内容，可以参考上述机械臂更换方法和系统的实施例。
图3为本申请一实施例提供的机械臂更换装置的结构示意图，本实施例可适用于对工作中手术机器人的机械臂进行更换的情况。参见图3，该机械臂更换装置的结构包括：操作状态监听模块310、待更换机械臂确定模块320和控制模块330；其中，
操作状态监听模块310，设置为监听至少两个所述机械臂的操作状态；其中，所述操作状态包括操作故障状态和操作指令状态；
待更换机械臂确定模块320，设置为基于所述机械臂的操作状态确定待更换机械臂，以及生成更换所述待更换机械臂的更换提示信息；
控制模块330，设置为在更换所述待更换机械臂的过程中，控制其他机械臂正常运行。
本实施例的技术方案通过在执行手术任务之前，预先对控制器的多个控制器接口配置对应的机械臂配置信息，以使多个控制器接口可以对应连接预设的机械臂。当然，已经配置的控制器接口数量多于日常进行手术需要的机械臂数量，以便于在机械臂出现故障时可以进行更换，基于工业以太网将多个机械臂分别独立的与控制器的多个控制器接口进行连接，从而搭建成机械臂更换系统。基于该机械臂更换系统对手术机器人的机械臂进行更换，使机械臂的更换操作简单，并且不需要关闭系统就可以直接更换，更换完成之后可以继续执行手术任务，降低了更换设备的操作难度，以及仅灵活的配置更换后的机械臂，增加了手术的稳定性和安全性。
例如，改装置还包括：
目标机械臂配置模块，设置为在更换所述待更换机械臂之后，对所述待更换机械臂对应的目标机械臂进行网络配置，以使所述目标机械臂基于获取到的所述待更换机械臂对应的操作指令继续执行所述待更换机械臂对应的操作指令。
例如，目标机械臂配置模块，包括：
网络参数发送单元，设置为向所述目标机械臂中的伺服电机发送网络信息；其中，所述网络信息用于获取与所述伺服电机的配置参数。
本申请实施例所提供的机械臂更换装置可执行本申请任意实施例所提供的机械臂更换方法，具备执行方法相应的功能模块和有益效果。
值得注意的是，上述机械臂更换装置的实施例中，所包括的多个单元和模块只是按照功能逻辑进行划分的，但并不局限于上述的划分，只要能够实现相应的功能即可；另外，多个功能单元的具体名称也只是为了便于相互区分，并不用于限制本申请的保护范围。
图4为本申请实施例提供的一种电子设备的结构示意图。图4示出了适于用来实现本申请实施方式的示例性电子设备12的框图。图4显示的电子设备12仅仅是一个示例，不应对本申请实施例的功能和使用范围带来任何限制。
如图4所示，电子设备12以通用计算电子设备的形式表现。电子设备12的组件可以包括但不限于：一个或者多个处理器或者处理单元16，系统存储器28，连接不同系统组件(包括系统存储器28和处理单元16)的总线18。
总线18表示几类总线结构中的一种或多种，包括存储器总线或者存储器控 制器，外围总线，图形加速端口，处理器或者使用多种总线结构中的任意总线结构的局域总线。举例来说，这些体系结构包括但不限于工业标准体系结构(ISA)总线，微通道体系结构(MAC)总线，增强型ISA总线、视频电子标准协会(VESA)局域总线以及外围组件互连(PCI)总线。
电子设备12可以包括多种计算机系统可读介质。这些介质可以是任何能够被电子设备12访问的可用介质，包括易失性和非易失性介质，可移动的和不可移动的介质。
系统存储器28可以包括易失性存储器形式的计算机系统可读介质，例如随机存取存储器(RAM)30和/或高速缓存存储器32。电子设备12可以包括其它可移动/不可移动的、易失性/非易失性计算机系统存储介质。仅作为举例，存储系统34可以用于读写不可移动的、非易失性磁介质(图4未显示，通常称为“硬盘驱动器”)。尽管图4中未示出，可以提供用于对可移动非易失性磁盘(例如“软盘”)读写的磁盘驱动器，以及对可移动非易失性光盘(例如CD-ROM,DVD-ROM或者其它光介质)读写的光盘驱动器。在这些情况下，每个驱动器可以通过一个或者多个数据介质接口与总线18相连。系统存储器28可以包括至少一个程序产品，该程序产品具有一组(例如至少一个)程序模块，这些程序模块被配置以执行本申请多个实施例的功能。
具有一组(至少一个)程序模块42的程序/实用工具40，可以存储在例如系统存储器28中，这样的程序模块42包括但不限于操作系统、一个或者多个应用程序、其它程序模块以及程序数据，这些示例中的每一个或某种组合中可能包括网络环境的实现。程序模块42通常执行本申请所描述的实施例中的功能和/或方法。
电子设备12也可以与一个或多个外部设备14(例如键盘、指向设备、显示器24等)通信，还可与一个或者多个使得用户能与该电子设备12交互的设备通信，和/或与使得该电子设备12能与一个或多个其它计算设备进行通信的任何设备(例如网卡，调制解调器等等)通信。这种通信可以通过输入/输出(I/O)接口22进行。并且，电子设备12还可以通过网络适配器20与一个或者多个网络(例如局域网(LAN)，广域网(WAN)和/或公共网络，例如因特网)通信。如图4所示，网络适配器20通过总线18与电子设备12的其它模块通信。应当明白，尽管图4中未示出，可以结合电子设备12使用其它硬件和/或软件模块，包括但不限于：微代码、设备驱动器、冗余处理单元、外部磁盘驱动阵列、RAID系统、磁带驱动器以及数据备份存储系统等。
处理单元16通过运行存储在系统存储器28中的程序，从而执行多种功能应用以及样本数据获取，例如实现本发实施例所提供的一种机械臂更换方法步骤，机械臂更换方法包括：
监听至少两个机械臂的操作状态；其中，所述操作状态包括操作故障状态和操作指令状态；
基于所述机械臂的操作状态确定待更换机械臂，以及生成更换所述待更换机械臂的更换提示信息；
在更换所述待更换机械臂的过程中，控制其他机械臂继续执行每个机械臂对应的操作指令。
当然，本领域技术人员可以理解，处理器还可以实现本申请任意实施例所提供的样本数据获取方法的技术方案。
本实施例五提供了一种计算机可读存储介质，其上存储有计算机程序，该程序被处理器执行时实现例如实现本发实施例所提供的一种机械臂更换方法步骤，机械臂更换方法包括：
监听至少两个机械臂的操作状态；其中，所述操作状态包括操作故障状态和操作指令状态；
基于所述机械臂的操作状态确定待更换机械臂，以及生成更换所述待更换机械臂的更换提示信息；
在更换所述待更换机械臂的过程中，控制其他机械臂继续执行每个机械臂对应的操作指令。
本申请实施例的计算机存储介质，可以采用一个或多个计算机可读的介质的任意组合。计算机可读介质可以是计算机可读信号介质或者计算机可读存储介质。计算机可读存储介质例如可以是但不限于：电、磁、光、电磁、红外线、或半导体的系统、装置或器件，或者任意以上的组合。计算机可读存储介质的更具体的例子(非穷举的列表)包括：具有一个或多个导线的电连接、便携式计算机磁盘、硬盘、随机存取存储器(RAM)、只读存储器(ROM)、可擦式可编程只读存储器(EPROM或闪存)、光纤、便携式紧凑磁盘只读存储器(CD-ROM)、光存储器件、磁存储器件、或者上述的任意合适的组合。在本文件中，计算机可读存储介质可以是任何包含或存储程序的有形介质，该程序可以被指令执行系统、装置或者器件使用或者与其结合使用。计算机可读存储介质可以为非暂态计算机可读存储介质。
计算机可读的信号介质可以包括在基带中或者作为载波一部分传播的数据信号，其中承载了计算机可读的程序代码。这种传播的数据信号可以采用多种形式，包括但不限于电磁信号、光信号或上述的任意合适的组合。计算机可读的信号介质还可以是计算机可读存储介质以外的任何计算机可读介质，该计算机可读介质可以发送、传播或者传输用于由指令执行系统、装置或者器件使用或者与其结合使用的程序。
计算机可读介质上包含的程序代码可以用任何适当的介质传输，包括但不 限于：无线、电线、光缆、RF等等，或者上述的任意合适的组合。
可以以一种或多种程序设计语言或其组合来编写用于执行本申请操作的计算机程序代码，所述程序设计语言包括面向对象的程序设计语言，诸如Java、Smalltalk、C++，还包括常规的过程式程序设计语言—诸如“C”语言或类似的程序设计语言。程序代码可以完全地在用户计算机上执行、部分地在用户计算机上执行、作为一个独立的软件包执行、部分在用户计算机上部分在远程计算机上执行、或者完全在远程计算机或服务器上执行。在涉及远程计算机的情形中，远程计算机可以通过任意种类的网络，包括局域网(LAN)或广域网(WAN)，连接到用户计算机，或者，可以连接到外部计算机(例如利用因特网服务提供商来通过因特网连接)。
本领域普通技术人员应该明白，上述的本申请的多个模块或多个步骤可以用通用的计算装置来实现，它们可以集中在单个计算装置上，或者分布在多个计算装置所组成的网络上，可选地，他们可以用计算机装置可执行的程序代码来实现，从而可以将它们存储在存储装置中由计算装置来执行，或者将它们分别制作成多个集成电路模块，或者将它们中的多个模块或步骤制作成单个集成电路模块来实现。这样，本申请不限制于任何特定的硬件和软件的结合。

Claims (12)

  1. 一种机械臂更换系统，包括：控制器和至少两个机械臂，所述控制器包括多个接口，且每个控制器接口配置对应的机械臂配置信息；
    任一机械臂基于当前机械臂的机械臂标识与所述控制器通过工业以太网连接，接收并执行所述控制器传输的操作指令；
    所述控制器设置为监听所述至少两个机械臂的操作状态，基于所述机械臂的操作状态确定待更换机械臂，以及生成所述待更换机械臂的更换提示信息，并在所述待更换机械臂的更换过程中，控制除所述待更换机械波之外的机械臂继续执行每个机械臂对应的操作指令；其中，所述操作状态包括操作故障状态和操作指令状态。
  2. 根据权利要求1所述的系统，其中，所述控制器还设置为基于所述机械臂配置信息预先对所述控制器的所述多个控制器接口进行网络配置，以使控制器可以基于所述多个控制器接口分别控制对应的机械臂。
  3. 根据权利要求1所述的系统，其中，所述控制器还设置为获取所述待更换机械臂对应的操作指令，并在识别到所述待更换机械臂已更换之后，对更换后的目标机械臂进行网络配置，以使所述目标机械臂继续执行所述待更换机械臂对应的操作指令。
  4. 根据权利要求3所述的系统，其中，所述目标机械臂与所述待更换机械臂具有相同的机械结构以及硬件配置；所述目标机械臂对应的控制器接口与所述待更换机械臂对应的控制器接口为不同的控制器接口。
  5. 根据权利要求1所述的系统，其中，所述控制器还设置为获取所需机械臂的需求数量以及已连接机械臂的已安装数量，响应于确定所述需求数量和所述已安装数量不相等，生成增加或者减少所述机械臂数量的数量变化提示信息。
  6. 根据权利要求5所述的系统，其中，所述控制器还设置为响应于确定需要增加机械臂，获取所述控制器接口的接口状态；响应于确定所述控制器存在空闲接口，将所述空闲接口分配至待增加机械臂；响应于确定所述控制器不存在空闲接口，生成不能增加机械臂的增加提示信息。
  7. 一种机械臂更换方法，应用于上述权利要求1-6任一所述的机械臂更换系统，包括：
    监听至少两个机械臂的操作状态；其中，所述操作状态包括操作故障状态和操作指令状态；
    基于所述机械臂的操作状态确定待更换机械臂，以及生成更换所述待更换机械臂的更换提示信息；
    在更换所述待更换机械臂的过程中，控制除所述待更换机械器之外的机械臂继续执行每个机械臂对应的操作指令。
  8. 根据权利要求7所述的方法，在更换所述待更换机械臂之后，还包括：
    对所述待更换机械臂对应的目标机械臂进行网络配置，以使所述目标机械臂基于获取到的所述待更换机械臂对应的操作指令继续执行所述待更换机械臂对应的操作指令。
  9. 根据权利要求8所述的方法，其中，所述对所述待更换机械臂对应的目标机械臂进行网络配置，包括：
    向所述目标机械臂中的伺服电机发送网络信息；其中，所述网络信息用于获取所述目标机械臂与所述伺服电机的配置参数。
  10. 一种机械臂更换装置，包括：
    操作状态监听模块，设置为监听至少两个机械臂的操作状态；其中，所述操作状态包括操作故障状态和操作指令状态；
    待更换机械臂确定模块，设置为基于所述机械臂的操作状态确定待更换机械臂，以及生成更换所述待更换机械臂的更换提示信息；
    控制模块，设置为在更换所述待更换机械臂的过程中，控制除所述待更换机械器之外的机械臂继续执行每个机械臂对应的操作指令。
  11. 一种电子设备，包括：
    一个或多个处理器；
    存储装置，设置为存储一个或多个程序，
    当所述一个或多个程序被所述一个或多个处理器执行，使得所述一个或多个处理器实现如权利要求7-9中任一所述的机械臂更换方法。
  12. 一种计算机可读存储介质，其上存储有计算机程序，所述计算机程序被处理器执行时实现如权利要求7-9中任一所述的机械臂更换方法。
PCT/CN2022/131709 2021-11-16 2022-11-14 机械臂更换系统、方法、电子设备以及存储介质 WO2023088207A1 (zh)

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