Detailed Description
Embodiments of the present application are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative and intended to explain the present application and should not be construed as limiting the application.
The following describes a deployment method, apparatus, robot system, electronic device, storage medium, and computer program product of the robot system according to the embodiments of the present application with reference to the accompanying drawings.
First, a robot system provided by an embodiment of the present application will be described.
Fig. 1 is a schematic structural diagram of a robot system according to an embodiment of the present application.
Referring to fig. 1, the robot system includes a robot body 10 and a target external device 20, wherein the robot body 10 includes therein an action unit 11 and a control unit 12, and the target external device 20 is for connecting with the action unit 11 to perform a corresponding target task, wherein the target external device has corresponding target control software.
The mobile unit 11 is a main structure in the robot body responsible for executing physical movements, and may be composed of a series of connected joints and arm joints, where the joints may perform actions such as rotation and/or extension, and the arm may be capable of performing actions such as extension and/or bending, so as to implement complex multi-degree-of-freedom movements in three-dimensional space. The control unit 12 is a component in the robot body responsible for controlling the mobile unit 11, and may be any electronic device having a control function, such as a computer, a mobile phone, and an intelligent wearable device, or a controller configured therein, for example, and the control unit 12 may be configured with an operating system, so that the control unit 12 has the capability of controlling and managing each hardware resource in the robot body, installing and managing application software, detecting software changes and hardware changes, and automatically performing software configuration, for example.
The target external device 20 is any one or a group of external devices capable of being connected to the mobile unit 11 to perform a corresponding task. The external devices may include, but are not limited to, various end effectors such as welding guns, clamping jaws, suction cups, or sensing devices such as visual sensors, torque sensors, or other types of devices. A plurality of external devices that cooperate to perform the same task are referred to as a set of external devices, such as a welding gun and a visual sensor for environmental perception during the performance of a welding task cooperate to perform the welding task, and the welding gun and the visual sensor are referred to as a set of external devices.
In some embodiments, the mobile units 11 may have versatility and compatibility in that the same mobile unit 11 may be used with different external devices to perform different types of specific tasks, without the mobile unit 11 being concerned about the specific tasks it performs, in a manner that is common among the different types of tasks.
For example, the action unit 11 may be a mechanical arm consisting of a series of connected joints and arm joints, a welding gun and a visual sensor for sensing the environment during the execution of a welding task, may be connected to the action unit 11 to execute a corresponding welding task, and a suction cup and a visual sensor for sensing the environment during the execution of a handling task may be connected to the action unit 11 to execute a corresponding handling task.
Any external device or set of external devices that can be connected to the mobile unit 11 to perform the corresponding tasks has corresponding control software for controlling the corresponding external devices. In the embodiment of the application, the control software corresponding to the target external device is called target control software. Wherein the control software may also be referred to as extension software or otherwise, and the application is not limited in this regard.
Before performing a certain task with the above-mentioned robotic system, the robotic system needs to be deployed. In the embodiment of the application, the following deployment modes can be adopted:
The target external device 20 is connected with the mobile unit 11 manually or in other manners, and the control unit 12 can detect the software and hardware changes of the robot body 10, so that in response to detecting that the mobile unit 11 is connected with the target external device, software information of target control software corresponding to the target external device 20 can be obtained from the distribution system, the target control software is installed based on the software information, then the target control software is operated, and the initialization configuration of the target control software is performed, so that the deployment of the robot system is completed.
Wherein the deployed robotic system may be used to perform the target task. The target control software may be configured to control the target external device connected to the mobile unit 11 to execute the corresponding target task when the initialization configuration is completed.
The initialization configuration of the target control software, that is, when the target control software is started, a series of necessary conditions such as an internal state and an internal parameter of the software are prepared and set in order to enable the target control software to accurately control the target external device, where the process may include calibration of an assembly error between the target external device and the mobile unit that the target control software needs to control, loading of a required resource, recording of device information of the target external device, and the like.
The target control software may be installed on the control unit or on an operating system of the control unit, which is not limited in the present application.
Wherein the distribution system is a system for providing device information of candidate external devices and software information of corresponding control software, such as an application store and the like. Among them, the candidate external devices are any one or a group of external devices selected by the user and capable of being connected to the mobile unit 11 to perform the corresponding tasks.
The number of the candidate external devices provided by the distribution system can be one or more, and different candidate external devices are respectively connected with the same mobile unit to execute different corresponding tasks. After the software and hardware developer completes the development of any candidate external device and corresponding control software, the device information of the candidate external device and the software information of the corresponding control software can be issued to the distribution system. Wherein the candidate external device includes a target external device, and the control software corresponding to the candidate external device includes target control software, so that the control unit 12 may acquire software information of the target control software corresponding to the target external device from the distribution system.
The device information of the candidate external device may include the size, current and voltage operating parameters of the candidate external device, and any other information related to the candidate external device. In the case where the candidate external device includes a set of external devices, the device information of the candidate external device may include device information of each of the external devices therein, and the device information of each of the external devices may include device information of the external device itself and device information of other external devices with which the task is performed. The software information of the control software may include any information related to the control software, such as identification of the control software, installation package information, and the like.
For example, the dispensing system may include one or more of candidate external device information and corresponding control software information, a welding gun and a second vision sensor for performing environmental awareness, for interfacing with the mobile unit 11 to perform a corresponding welding task, a suction cup and a third vision sensor for performing environmental awareness, for interfacing with the mobile unit 11 to perform a corresponding handling task, a clamping jaw and a fourth vision sensor for performing environmental awareness, for interfacing with the mobile unit 11 to perform a corresponding handling task. The second visual sensor is a visual sensor for sensing environment in the process of executing a welding task, and the third visual sensor and the fourth visual sensor are visual sensors for sensing environment in the process of executing a carrying task. Since the third visual sensor and the fourth visual sensor perform environmental sensing during the same task, the third visual sensor and the fourth visual sensor may be the same kind of visual sensor, and the second visual sensor and the third visual sensor (or the fourth visual sensor) perform environmental sensing during different kinds of task, and the second visual sensor and the third visual sensor (or the fourth visual sensor) may be different kinds of visual sensors. The welding gun and the second visual sensor can be used as a group of external equipment to correspond to the same control software when being matched with each other to execute a welding task, the sucker and the third visual sensor can be used as a group of external equipment to correspond to the same control software when being matched with each other to execute a carrying task, the clamping jaw and the fourth visual sensor can be used as a group of external equipment to correspond to the same control software when being matched with each other to execute the carrying task, and the welding gun, the sucker and the clamping jaw can correspond to different control software when being different types of end effectors.
The control unit 12 may obtain software information of control software corresponding to the welding gun and the second vision sensor from the distribution system in response to detecting the connection of the action unit 11 to the welding gun and the second vision sensor. The control unit 12 may obtain software information of control software corresponding to the suction cup and the third vision sensor from the dispensing system in response to detecting the connection of the mobile unit 11 to the suction cup and the third vision sensor. The control unit 12, in response to detecting the connection of the mobile unit 11 to the jaw and the fourth visual sensor, may obtain software information of the control software corresponding to the jaw and the fourth visual sensor from the dispensing system.
In some embodiments, the manner in which the control unit 12 obtains the software information of the target control software corresponding to the target external device 20 from the distribution system may include that the control unit 12 may obtain, in response to detecting that the mobile unit 11 is connected to the target external device 20, the device information of the target external device 20 based on a preset rule, and obtain, based on the device information of the target external device 20, the identifier of the target control software corresponding to the target external device 20, and further obtain, based on the identifier of the target control software, the software information of the corresponding target control software from the distribution system. Among them, the preset rule is a rule that the preset control unit 12 acquires device information of any external device. And the identification of the target control software is used for uniquely identifying the target control software.
In some embodiments, the target external device 20 is configured with a chip, in which device information of the target external device 20 is stored, and the preset rule may include the control unit 12 acquiring the device information of the target external device from the chip in the target external device 20. So that the control unit 12 can acquire the device information of the target external device 20 from the chip in the target external device 20 based on a preset rule in response to detecting that the mobile unit 11 is connected to the target external device 20.
In some embodiments, after the control unit 12 installs the target control software based on the software information of the target control software and runs the target control software, the initialization configuration performed on the target control software may include calibration of an assembly error between the target external device and the mobile unit that needs to be controlled by the target control software, where the calibration process may be implemented according to a preset standard procedure, for example:
and controlling the target external equipment to execute the designated task based on the task information of the designated task through target control software, acquiring the assembly error of the target external equipment and the mobile unit based on the execution result of the designated task by the target external equipment, and recording the assembly error so as to compensate the assembly error when the target external equipment is controlled to execute the corresponding target task through the target control software.
Wherein, the assembly error of the target external device and the mobile unit is the deviation between the actual position and posture of the target external device and the ideal position and posture due to various reasons when the target external device and the mobile unit are connected. Among these, the reasons for the assembly error include, for example, uneven pre-tightening force of the fastening bolt when the target external device is connected to the mobile unit, mechanical tolerance between the target external device and the mobile unit, and the like.
The designated task is a preset task which needs to be executed by the target external device in the initialization configuration process, and can be set according to requirements. Where the target external device includes a plurality of external devices that cooperate to perform the same task, the specified task may include a single task that any single external device needs to perform, or may include a task that all external devices need to cooperate to perform, which the present application is not limited in this respect. The specified tasks may include one or more specified standard actions, such as a certain visual sensor collecting an image of a certain position point A, a clamping jaw grabbing a certain object under the cooperation of a fourth visual sensor, a welding gun moving to a certain position point B under the cooperation of a second visual sensor, and the like. The task information of the specified task may include any information related to the specified task. For example, when a task is designated to collect an image of a certain position point a for a certain visual sensor, the task information can include coordinates of the position point a, an identification of the visual sensor as an object for executing the task, a calibration image of the position point a and the like, when the task is designated to collect a certain object by a clamping jaw under the cooperation of a fourth visual sensor, the task information can include information such as position and size of the object to be collected, bending angles and grabbing strength of all joints of the clamping jaw and the like, and when the task is designated to move to a certain position point B under the cooperation of a second visual sensor, the task information can include information such as coordinates of the position point B, identification of a welding gun, identification of the second visual sensor, posture of the welding gun and the like. The calibration image of the position point A is an image of the position point A acquired when no assembly error exists after the external equipment, namely the visual sensor, is connected with the mobile unit.
Taking the example that the target external device comprises a welding gun and a second visual sensor for performing environment sensing, the designated tasks can comprise ' the second visual sensor collecting an image of the position point A ', the welding gun moving to the position point B under the cooperation of the second visual sensor ', and the like. And after the second visual sensor is controlled to execute the appointed task based on task information of the appointed task, namely 'the second visual sensor collects the image of the position point A', target control software corresponding to target external equipment can compare an execution result of the appointed task, namely the image of the position point A, collected by the second visual sensor with a calibration image of the position point A, so as to obtain an assembly error of the second visual sensor and the mobile unit, and record the assembly error. In addition, the task information of the specified task, that is, the task information of the welding gun moving to the position point B under the cooperation of the second visual sensor, may be used to control the welding gun and the second visual sensor, and then the execution result of the specified task, that is, the actual position point to which the welding gun moves, may be compared with the position point B, so as to obtain the assembly errors of the welding gun and the second visual sensor and the action unit, and the assembly errors may be recorded. After the assembly errors of the external devices and the mobile units are recorded, the initialization configuration of the target control software can be completed. So that each assembly error can be compensated for when the second vision sensor and the welding gun are controlled by the target control software to perform the welding task.
In some embodiments, a chip is configured in the target external device, and task information of a corresponding specified task that needs to be executed by the target external device in the initialization configuration is stored in the chip, so that the target control software can acquire the task information of the specified task from the chip, and control the corresponding target external device to execute the specified task based on the task information.
In some embodiments, the robot body may further include a first vision sensor or the like, through which a result of execution of the specified task by the target external device may be collected to assist in initializing configuration of the target control software. For example, in the above example, the actual position point to which the welding gun is moved may be acquired by the first visual sensor.
In practical applications, in order to control the target external device 20 by the target control software, a control request may be sent to the control unit 12 by the target control software, and after the control unit 12 hands over the capability of the target external device 20 to the target control software, the target control software may control the target external device 20. In addition, when the target control software controls the target external device 20 to perform a certain task, cooperation of the action unit 11 may be required, and the action unit 11 may be controlled by the control unit 12, or may be controlled by the target control software after the control unit 12 hands over the capability of the action unit 11 to the target control software. Then, in the process of controlling the target external device 20 by the target control software, the target control software may also directly control the mobile unit 11, or control the mobile unit 11 in cooperation with the control unit 12, so that the target external device and the mobile unit 11 cooperate to perform the same task.
For example, assuming that the target external device includes a gripper and a fourth vision sensor, in order to control the gripper to move to a position point C with the cooperation of the fourth vision sensor to carry the cargo, the target control software needs to control the fourth vision sensor to acquire an image around a path between the current position to the position point C and an image of the cargo at the position point C, and control the action unit 11 to move to the vicinity of the position point C and control the gripper to grasp the cargo at the position C. The target control software may send a control request for the jaw and the fourth vision sensor to the control unit 12, which may then control the jaw and the fourth vision sensor after the control unit 12 hands over the capabilities of the jaw and the fourth vision sensor to the target control software. In addition, the target control software may send a control request for the mobile unit 11 to the control unit 12, and the control unit 12 may transfer the capability of the mobile unit 11 to the target control software, or control the mobile unit 11 by itself, so that the target control software may directly control the mobile unit 11, or control the mobile unit 11 in cooperation with the control unit 12. By controlling the clamping jaw, the fourth visual sensor and the action unit 11, the clamping jaw can be controlled to move to the position point C to carry goods under the cooperation of the fourth visual sensor.
According to the embodiment of the application, the control unit responds to the detection that the mobile unit is connected with the target external equipment, the software information of the target control software corresponding to the target external equipment is acquired from the distribution system, the target control software is installed based on the software information, the target control software is operated, and the initialization configuration of the target control software is carried out, so that the installation and the initialization configuration of the target control software can be automatically realized after the target external equipment is connected with the mobile unit, the deployment of the robot system is automatically completed, the robot system can successfully start to execute tasks, a large number of manual deployment works are avoided, the deployment cost of the robot system is reduced, and the deployment efficiency of the robot system is improved.
In addition, the mobile unit in the robot body has universality and compatibility, a user can switch the external equipment connected with the mobile unit so as to execute various types of tasks by using the robot system, and after the external equipment connected with the mobile unit is switched, the deployment mode of the embodiment of the application can be adopted to rapidly complete the deployment of the robot system, so that the switched external equipment and the mobile unit can rapidly start to execute new types of tasks, the cost of manual deployment is reduced, and the use of the user is facilitated.
It should be noted that, in the embodiment of the present application, the robot system may further include communication components such as a physical interface, a communication interface, and a connection line, for example, slots on the mobile unit and the external device, a power line, and a USB line, so as to implement connection between the mobile unit in the robot body and the external device, and in order to enable the mobile unit to have universality and compatibility, the communication components such as the physical interface, the communication interface, and the connection line need to conform to a set standard, so that the mobile unit in the robot body may be communicatively connected with different external devices through the communication components such as the physical interface, the communication interface, and the connection line based on a set communication protocol.
In addition, in the embodiment of the application, the target control software can be updated. The process of upgrading the target control software may include, in response to receiving an upgrade instruction for the target control software, the control unit acquiring updated software information of the target control software from the distribution system and upgrading the installed target control software based on the updated software information.
The target control software after being upgraded can be set according to the requirement, for example, the initialization configuration can not be performed again under the condition that the connection between the target external device and the mobile unit is not changed after the target control software is upgraded.
In addition, after the robot system deployment is completed, the control unit has the condition of shutdown and restarting, in this case, after the control unit is started, the operating system in the control unit can be loaded first, information of the action unit is loaded, whether the action unit has an abnormality or not is detected, in the case that the action unit does not have an abnormality, the installed target control software can be started, the information of the target external equipment connected with the action unit is loaded, whether the target external equipment has an abnormality or not is detected, and in the case that the target external equipment does not have an abnormality, the action unit and the connected target external equipment can be controlled to execute corresponding tasks.
Based on the robot system, the application further provides a deployment method of the robot system.
Fig. 2 is a flow chart of a deployment method of a robot system according to an embodiment of the present application.
The robot system comprises a robot body and a target external device for being connected with an action unit in the robot body to execute a corresponding target task, wherein the target external device is provided with corresponding target control software, and the method is applied to a control unit in the robot body. The control unit is a component in the robot body responsible for controlling the mobile unit, and may be any electronic device with a control function, such as a computer, a mobile phone, an intelligent wearable device, or a controller configured therein, for example, which is not limited in the present application. The robot body is, for example, a robot arm, and the control unit is, for example, an electronic device for controlling the robot arm or a controller disposed therein.
As shown in fig. 2, the deployment method of the robot system includes the following steps:
in step 201, in response to detecting that the mobile unit is connected to the target external device, software information of target control software corresponding to the target external device is acquired from the distribution system.
In some embodiments, step 201 may be implemented by:
In response to detecting that the mobile unit is connected with the target external device, acquiring device information of the target external device based on a preset rule, and acquiring an identifier of target control software corresponding to the target external device based on the device information of the target external device;
And acquiring the software information of the corresponding target control software from the distribution system based on the identification of the target control software.
In some embodiments, a chip is configured in the target external device, device information of the target external device is stored in the chip, and the acquiring the device information of the target external device based on a preset rule comprises:
Device information of the target external device is acquired from the chip.
Step 202, installing target control software based on the software information.
And 203, running target control software and carrying out initialization configuration of the target control software to complete the deployment of the robot system.
And the target control software is used for controlling the target external equipment connected with the mobile unit to execute the corresponding target task under the condition of completing the initialization configuration.
In some embodiments, performing an initialization configuration of the target control software includes:
and controlling the target external equipment to execute the designated task based on the task information of the designated task through target control software, acquiring the assembly error of the target external equipment and the mobile unit based on the execution result of the designated task by the target external equipment, and recording the assembly error so as to compensate the assembly error when the target external equipment is controlled to execute the corresponding target task through the target control software.
In some embodiments, the target external device is configured with a chip, task information of the specified task is stored in the chip, and the target control software controls the target external device to execute the specified task based on the task information of the specified task acquired from the chip.
In some embodiments, the robot body further includes a first vision sensor for collecting a result of execution of the specified task by the target external device to assist in initializing configuration of the target control software.
In some embodiments, the distribution system includes device information of at least one candidate external device and software information of corresponding control software, the device information of the at least one candidate external device and the software information of the corresponding control software are issued to the distribution system by a software and hardware developer, the at least one candidate external device includes a target external device, and the corresponding control software of the at least one external device includes a target control software, wherein different candidate external devices are respectively connected with the same mobile unit to perform corresponding different tasks.
In some embodiments, the at least one candidate external device comprises at least one of:
the welding gun and the second visual sensor are used for performing environment sensing and are connected with the mobile unit to execute corresponding welding tasks;
the sucker and the third visual sensor are used for performing environment sensing and are connected with the mobile unit to execute corresponding carrying tasks;
the clamping jaw and the fourth visual sensor are used for sensing environment and are used for being connected with the mobile unit to execute corresponding carrying tasks.
In some embodiments, the method of deploying the robotic system may further comprise:
And in response to receiving the upgrade instruction of the target control software, acquiring updated software information of the target control software from the distribution system, and upgrading the installed target control software based on the updated software information.
It should be noted that the foregoing explanation of the embodiment of the robotic system is also applicable to the deployment method of the robotic system in this embodiment, and will not be repeated herein.
According to the deployment method of the robot system, provided by the embodiment of the application, the control unit responds to the detection that the mobile unit is connected with the target external equipment, the software information of the target control software corresponding to the target external equipment is acquired from the distribution system, the target control software is installed based on the software information, the target control software is operated, and the initialization configuration of the target control software is carried out, so that the installation and the initialization configuration of the target control software can be automatically realized after the target external equipment is connected with the mobile unit, the deployment of the robot system is automatically completed, the robot system can successfully start to execute tasks, a large amount of manual deployment work is avoided, the deployment cost of the robot system is reduced, and the deployment efficiency of the robot system is improved.
In addition, the mobile unit in the robot body has universality and compatibility, a user can switch the external equipment connected with the mobile unit so as to execute various types of tasks by using the robot system, and after the external equipment connected with the mobile unit is switched, the deployment mode of the embodiment of the application can be adopted to rapidly complete the deployment of the robot system, so that the switched external equipment and the mobile unit can rapidly start to execute new types of tasks, the cost of manual deployment is reduced, and the use of the user is facilitated.
An exemplary method for deploying a robot system according to an embodiment of the present application is described below with reference to fig. 3.
Referring to fig. 3, after completing the development of any external device and corresponding control software that can be connected with the mobile unit to perform a corresponding task, the software and hardware developer may issue device information of the external device and software information of the corresponding control software to the distribution system. The external device and the corresponding control software are used as candidate external devices and the corresponding candidate control software.
The user can connect a candidate external device, namely, a target external device, in the candidate external devices with the mobile unit, and the control unit can acquire software information of target control software corresponding to the target external device from the distribution system in response to detecting that the target external device is connected with the mobile unit, install the target control software based on the software information, operate the target control software and perform initialization configuration of the target control software so as to complete deployment of the robot system.
After the deployment of the robot system is completed, the control unit may send a reminder message to the electronic device to which the user belongs, or directly display the reminder message to notify the user that the deployment of the robot system is completed.
Further, the user may begin to perform the corresponding task using the robotic system.
In addition, when the user wants to switch the currently connected external device, the connection between the current target external device and the mobile unit can be disconnected, other external devices to be used are used as target external devices and connected with the mobile unit, and the control unit can execute the process again, so that the redeployment of the robot system can be automatically realized.
In order to achieve the above embodiment, the embodiment of the present application further provides a deployment device of a robot system.
Fig. 4 is a schematic structural diagram of a deployment device of a robotic system according to an embodiment of the present application.
Wherein the robot system comprises a robot body and a target external device for connecting with an action unit in the robot body to perform a corresponding target task, the target external device having corresponding target control software, the deployment device of the robot system is applied to the control unit in the robot body, and can execute the deployment method of the robot system in the foregoing embodiment.
The control unit is any electronic device with a control function, such as a computer, a mobile phone, an intelligent wearable device, and the like, and the deployment device of the robot system is a controller or an operating system in the electronic device, and the like.
As shown in fig. 4, the deployment apparatus 400 of the robot system includes:
an obtaining module 410, configured to obtain, from the distribution system, software information of target control software corresponding to the target external device in response to detecting that the mobile unit is connected to the target external device;
an installation module 420 for installing the target control software based on the software information;
and the configuration module 430 is used for running the target control software and performing initialization configuration of the target control software to complete the deployment of the robot system, wherein the target control software is used for controlling the target external equipment connected with the action unit to execute the corresponding target task under the condition of completing the initialization configuration.
In some embodiments, the obtaining module 410 is configured to:
In response to detecting that the mobile unit is connected with the target external device, acquiring device information of the target external device based on a preset rule, and acquiring an identifier of target control software corresponding to the target external device based on the device information of the target external device;
And acquiring the software information of the corresponding target control software from the distribution system based on the identification of the target control software.
In some embodiments, a chip is configured in the target external device, device information of the target external device is stored in the chip, and an acquisition module 410 is configured to acquire the device information of the target external device from the chip.
In some embodiments, the configuration module 430 is configured to:
and controlling the target external equipment to execute the designated task based on the task information of the designated task through target control software, acquiring the assembly error of the target external equipment and the mobile unit based on the execution result of the designated task by the target external equipment, and recording the assembly error so as to compensate the assembly error when the target external equipment is controlled to execute the corresponding target task through the target control software.
In some embodiments, the target external device is configured with a chip, task information of the specified task is stored in the chip, and the target control software controls the target external device to execute the specified task based on the task information of the specified task acquired from the chip.
In some embodiments, the robot body further includes a first vision sensor for collecting a result of execution of the specified task by the target external device to assist in initializing configuration of the target control software.
In some embodiments, the distribution system includes device information of at least one candidate external device and software information of corresponding control software, the device information of the at least one candidate external device and the software information of the corresponding control software are issued to the distribution system by a software and hardware developer, the at least one candidate external device includes a target external device, and the corresponding control software of the at least one external device includes a target control software, wherein different candidate external devices are respectively connected with the same mobile unit to perform corresponding different tasks.
In some embodiments, the at least one candidate external device comprises at least one of:
the welding gun and the second visual sensor are used for performing environment sensing and are connected with the mobile unit to execute corresponding welding tasks;
the sucker and the third visual sensor are used for performing environment sensing and are connected with the mobile unit to execute corresponding carrying tasks;
the clamping jaw and the fourth visual sensor are used for sensing environment and are used for being connected with the mobile unit to execute corresponding carrying tasks.
In some embodiments, the robotic system deployment apparatus 400 further comprises:
and the upgrading module is used for responding to the received upgrading instruction of the target control software, acquiring updated software information of the target control software from the distribution system and upgrading the installed target control software based on the updated software information.
It should be noted that the foregoing explanation of the embodiment of the robotic system is also applicable to the deployment device of the robotic system of this embodiment, and will not be repeated herein.
Fig. 5 is a schematic structural diagram of an electronic device according to an embodiment of the present application. Among other things, the electronic device 500 in this embodiment is intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device may also represent various forms of mobile devices, such as personal digital processing, cellular telephones, smartphones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be exemplary only, and are not meant to limit implementations of the disclosure described and/or claimed herein.
As shown in fig. 5, the electronic device 500 includes:
The robot system comprises a memory 501 and a processor 502, and a bus 503 connecting different components (comprising the memory 501 and the processor 502), wherein the memory 501 stores a computer program, and the processor 502 executes the program to realize the deployment method of the robot system according to the embodiment of the application.
Bus 503 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 architectures. By way of example, and not limitation, such architectures include industry Standard architecture (Industry Standard Architecture; hereinafter ISA) bus, micro channel architecture (Micro Channel Architecture; hereinafter MAC) bus, enhanced ISA bus, video electronics standards Association (Video Electronics Standards Association; hereinafter VESA) local bus, and peripheral component interconnect (PERIPHERAL COMPONENT INTERCONNECTION; hereinafter PCI) bus.
Electronic device 500 typically includes many types of electronic device readable media. Such media can be any available media that is accessible by electronic device 500 and includes both volatile and nonvolatile media, removable and non-removable media.
Memory 501 may also include computer system readable media in the form of volatile memory, such as random access memory (Random Access Memory; hereinafter: RAM) 504 and/or cache memory 505. Electronic device 500 may further include other removable/non-removable, volatile/nonvolatile computer system storage media. By way of example only, storage system 506 may be used to read from or write to non-removable, nonvolatile magnetic media (not shown in FIG. 5, commonly referred to as a "hard disk drive"). Although not shown in fig. 5, a disk drive for reading from and writing to a removable non-volatile disk (e.g., a "floppy disk"), and an optical disk drive for reading from or writing to a removable non-volatile optical disk (e.g., a compact disk read only memory (Compact Disc Read Only Memory; hereinafter: CD-ROM), digital versatile disk read only memory (Digital Video Disc Read Only Memory; hereinafter: DVD-ROM), or other optical media) may be provided. In such cases, each drive may be coupled to bus 503 through one or more data medium interfaces. Memory 501 may include at least one program product having a set (e.g., at least one) of program modules configured to carry out the functions of embodiments of the application.
A program/utility 508 having a set (at least one) of program modules 507 may be stored in, for example, memory 501, such program modules 507 including, but not limited to, an operating system, one or more application programs, other program modules, and program data, each or some combination of which may include an implementation of a network environment. Program modules 507 typically perform the functions and/or methods of the described embodiments of the application.
The electronic device 500 may also communicate with one or more external devices 509 (e.g., keyboard, pointing device, display 511, etc.), one or more devices that enable a user to interact with the electronic device 500, and/or any devices (e.g., network card, modem, etc.) that enable the electronic device 500 to communicate with one or more other computing devices. Such communication may occur through an input/output (I/O) interface 512. Also, the electronic device 500 may communicate with one or more networks, such as a local area network (Local Area Network; hereinafter: LAN), a wide area network (Wide Area Network; hereinafter: WAN), and/or a public network, such as the Internet, through the network adapter 513. As shown in fig. 5, the network adapter 513 communicates with other modules of the electronic device 500 via the bus 503. It should be appreciated that although not shown, other hardware and/or software modules may be used in connection with electronic device 500, including, but not limited to, microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, data backup storage systems, and the like.
The processor 502 executes various functional applications and data processing by running programs stored in the memory 501.
It should be noted that, the implementation process and the technical principle of the electronic device in this embodiment refer to the foregoing explanation of the deployment method of the robot system in the embodiment of the present application, and are not repeated herein.
In order to implement the above-described embodiments, the present application also proposes a computer-readable storage medium having stored therein computer-executable instructions that, when executed by a processor, are adapted to implement the methods provided by the foregoing embodiments.
In order to implement the above embodiments, the present application also proposes a computer program product comprising a computer program which, when executed by a processor, implements the method provided by the above embodiments.
The processing of collecting, storing, using, processing, transmitting, providing, disclosing and the like of the personal information of the user in the application accords with the regulations of related laws and regulations and does not violate the popular regulations of the public order.
It should be noted that personal information from users should be collected for legitimate and reasonable uses and not shared or sold outside of these legitimate uses. In addition, such collection/sharing should be performed after receiving user informed consent, including but not limited to informing the user to read user agreements/user notifications and signing agreements/authorizations including authorization-related user information before the user uses the functionality. In addition, any necessary steps are taken to safeguard and ensure access to such personal information data and to ensure that other persons having access to the personal information data adhere to their privacy policies and procedures.
The present application contemplates embodiments that may provide a user with selective prevention of use or access to personal information data. That is, the present disclosure contemplates that hardware and/or software may be provided to prevent or block access to such personal information data. Once personal information data is no longer needed, risk can be minimized by limiting data collection and deleting data. In addition, personal identification is removed from such personal information, as applicable, to protect the privacy of the user.
In the foregoing description of embodiments, reference has been made to the terms "one embodiment," "some embodiments," "example," "a particular example," or "some examples," etc., meaning that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the application. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present application, the meaning of "plurality" means at least two, for example, two, three, etc., unless specifically defined otherwise.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing specific logical functions or steps of the process, and additional implementations are included within the scope of the preferred embodiment of the present application in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order from that shown or discussed, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the embodiments of the present application.
Logic and/or steps represented in the flowcharts or otherwise described herein, e.g., a ordered listing of executable instructions for implementing logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include an electrical connection (an electronic device) having one or more wires, a portable computer diskette (a magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). In addition, the computer readable medium may even be paper or other suitable medium on which the program is printed, as the program may be electronically captured, via, for instance, optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner, if necessary, and then stored in a computer memory.
It is to be understood that portions of the present application may be implemented in hardware, software, firmware, or a combination thereof. In the above-described embodiments, the various steps or methods may be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. If implemented in hardware as in another embodiment, may be implemented using any one or combination of techniques known in the art, discrete logic circuits with logic gates for implementing logic functions on data signals, application specific integrated circuits with appropriate combinational logic gates, programmable Gate Arrays (PGAs), field Programmable Gate Arrays (FPGAs), etc.
Those of ordinary skill in the art will appreciate that all or a portion of the steps carried out in the method of the above-described embodiments may be implemented by a program to instruct related hardware, where the program may be stored in a computer readable storage medium, and where the program, when executed, includes one or a combination of the steps of the method embodiments.
In addition, each functional unit in the embodiments of the present application may be integrated in one processing module, or each unit may exist alone physically, or two or more units may be integrated in one module. The integrated modules may be implemented in hardware or in software functional modules. The integrated modules may also be stored in a computer readable storage medium if implemented in the form of software functional modules and sold or used as a stand-alone product.
The above-mentioned storage medium may be a read-only memory, a magnetic disk or an optical disk, or the like. While embodiments of the present application have been shown and described above, it will be understood that the above embodiments are illustrative and not to be construed as limiting the application, and that variations, modifications, alternatives and variations may be made to the above embodiments by one of ordinary skill in the art within the scope of the application.