WO2018119795A1

WO2018119795A1 - Robot instruction processing method and device, and electronic apparatus

Info

Publication number: WO2018119795A1
Application number: PCT/CN2016/112767
Authority: WO
Inventors: 王森
Original assignee: 深圳前海达闼云端智能科技有限公司
Priority date: 2016-12-28
Filing date: 2016-12-28
Publication date: 2018-07-05
Also published as: CN107077578A

Abstract

Provided are a robot instruction processing method and device, and an electronic apparatus. The method comprises: receiving an instruction in a first operating system (101); determining whether the instruction exists in a local instruction set (102); and if not, transmitting the instruction to a second operating system by means of a one-way communication interface, or if so, performing local processing on the instruction (103). Isolating the first operating system from external Internet ensures security of ontological data and operation data of a robot stored in a cloud terminal, such that the robot is protected from a malicious attack by a perpetrator when executing an instruction.

Description

Robot instruction processing method, device and electronic device

Technical field

The present application relates to the field of intelligent robots, and in particular, to a method, device and electronic device for processing robot instructions.

Background technique

In the prior art, with the development of intelligent robots, the ontology data and manipulation data of the robot are connected to the Internet, and the advantages of network resources are fully utilized through the way of cloud computing, which provides rapid processing based on massive data for robot instruction processing. The way, and no longer subject to local resources, and can only complete the constraints of simple tasks, and this is also an inevitable development trend of robot intelligence.

The disadvantages of the prior art are:

When intelligent robots directly access their own ontology data, manipulation data, etc. to the Internet, some criminals can use the Internet to use cloud computing to directly threaten the security of data accessing the cloud.

Summary of the invention

The embodiment of the present application provides a method, a device, and an electronic device for processing a robot instruction, by configuring a robot operating system as a first operating system module and a first operating system module, and using a first operating system module and a second operating system The one-way communication method solves the technical problem that the ontology data of the robot connected to the cloud itself and the security of the control data cannot be guaranteed.

In one aspect, the embodiment of the present application provides a method for processing a robot instruction, which is applied to a dual operating system, where the dual operating system includes a first operating system and a second operating system, and the processing method includes:

Receiving an instruction in the first operating system;

Determining whether the instruction exists in a local instruction set;

If not, sending the instruction to the second operating system via the one-way communication interface, if At the same time, the instruction is processed locally;

The first operating system is connected to the second operating system and the second operating system is connected to the external network.

In another aspect, the embodiment of the present application provides a processing device for a robot instruction, which is applied to a dual operating system, where the dual operating system includes a first operating system and a second operating system, and the processing device includes:

a receiving module, configured to receive an instruction in the first operating system;

a determining module, configured to determine whether the instruction exists in a local instruction set;

a processing module, configured to send the instruction to the second operating system via the one-way communication interface if not present, and if present, perform local processing on the instruction;

In another aspect, an embodiment of the present application provides an electronic device, where the electronic device includes:

Input and output devices, memory, one or more processors;

One or more modules, the one or more modules being stored in the memory and configured to be executed by the one or more processors, the one or more modules comprising Instructions for each step.

In another aspect, embodiments of the present application provide a computer program product for use with an electronic device, the computer program product comprising a computer readable storage medium and a computer program mechanism embedded therein, the computer program mechanism Instructions are included for performing the various steps in the above methods.

The benefits are as follows:

In this embodiment, the operating system of the robot is a dual operating system, and the dual operating system includes a first operating system and a second operating system, and the first operating system and the second operating system are one-way communication, and the first In the operating system, receiving an instruction; determining whether the instruction exists in the local instruction set; if not, transmitting the instruction to the second operating system via the one-way communication interface, if present, The local processing of the instruction is implemented to implement network isolation between the first operating system and the external Internet, thereby avoiding some illegal elements in the prior art using the Internet, using cloud computing to directly destroy the ontology of the robot itself connected to the cloud. Data and manipulation of data, in order to improve the ontology data of the robot itself connected to the cloud and the technical effect of manipulating data security.

DRAWINGS

Specific embodiments of the present application will be described below with reference to the accompanying drawings, in which:

1 is a schematic diagram of a method for processing robot command in the first embodiment of the present application;

2 is a schematic flowchart of a robot instruction processing in Embodiment 2 of the present application;

3 is a structural diagram of an apparatus for processing robot instructions in Embodiment 3 of the present application;

FIG. 4 is a schematic structural diagram of an electronic device according to Embodiment 4 of the present application.

detailed description

The exemplary embodiments of the present application are further described in detail below with reference to the accompanying drawings, in which the embodiments described are only a part of the embodiments of the present application, but not all embodiments. An exhaustive example. And in the case of no conflict, the features in the embodiments and the embodiments in the description can be combined with each other.

The inventor noticed in the process of studying the prior art:

The process of executing instructions by the robot requires a large amount of computing resources to support, but the robot's own ontology data and manipulation data are stored in the cloud, and the security of the data is not guaranteed, that is, when the illegal elements maliciously destroy the data stored by the robot in the cloud, The robot will not work properly.

For the above-mentioned deficiencies/based on the above, the embodiment of the present application proposes to configure the robot operating system as a dual operating system, the dual operating system includes a first operating system and a second operating system, and the first operating system and the second operating system a one-way communication, in the first operating system, receiving an instruction; determining whether the instruction exists in the local instruction set; if not, transmitting the instruction to the second operating system via the one-way communication interface, if If present, the instructions are processed locally. The embodiment of the present application is based on the isolation of the first operating system from the external Internet or the public Internet. The security of the ontology data and manipulation data of the robot itself stored in the cloud makes the robot not be maliciously destroyed by the criminals when executing the instructions.

In order to facilitate the implementation of the present application, the following examples are described.

Embodiment 1

1 is a schematic diagram of a method for processing robot instructions in the first embodiment of the present application. As shown in FIG. 1 , the system is applied to a dual operating system, and the dual operating system includes a first operating system and a second operating system. A one-way communication between an operating system and a second operating system, the processing method includes:

Step 101: Receive an instruction in the first operating system.

Step 102: Determine whether the instruction exists in a local instruction set.

Step 103: If not, send the instruction to the second operating system via the one-way communication interface, and if so, perform local processing on the instruction.

For the first operating system is an internal operating system of the robot, and the second operating system is an external operating system of the robot, for example, the internal operating system module is connected to the intranet, and the external operating system module is connected to the external Internet or the public Internet. .

In addition to the operating system, the robot usually includes a sensing system, a motion system, a control system, a cloud cognitive system, an input and output system, and the like. The internal operating system is connected to the sensing system, the motion system, the control system, the cloud cognitive system, and the input system. The sensing system is used to sense user commands from the input system, the motion system is used to execute user instructions, and the control system is used to control the execution of the motion system. The user instructs that the cloud cognitive system is used to process user instructions, and the input system in the input and output system is used to collect user commands, which may be a microphone. The external operating system is connected to an output system in the input/output system, and the output system is configured to display and/or play an instruction processing result corresponding to the user instruction, which may be a display screen and/or a speaker. The sensing system can only be connected to the internal operating system, and the external operating system cannot access and control the sensing system. According to the actual situation, the output system in the input and output system can also be connected to the internal operating system at the same time, and no specific limitation is made here.

Specifically, the functions of the internal operating system include: receiving and processing the robot instructions recognized by the sensing system; managing the local instruction set; establishing a bidirectional channel with the cloud cognitive system for The robot command of the sensing system is sent to the cloud cognitive system, and receives the instruction processing result obtained by the cloud cognitive system according to the robot instruction; and the control system is called according to the instruction processing result, so that the motion system executes the instruction processing result. The functions of the external operating system include functions that cannot actively communicate with the internal operating system; the general operating system is connected to the external Internet or the public Internet.

In step 101, the input system collects a user's instruction, and when the sensing system senses an instruction from the user, the user instruction is recognized as a robot instruction recognizable by the operating system in the robot (eg, converting a voice instruction from the user into a text instruction) And sent to the internal operating system, so that the internal operating system according to the received robot command, from the local instruction set to query whether the robot instruction exists, and subsequent corresponding processing. All instructions from the user are received and prioritized by the internal operating system. When the internal operating system cannot process, the external operating system is sent to the external operating system for subsequent processing. Among them, the instruction from the user can only be obtained by the internal operating system, and the external operating system cannot obtain the instruction from the user.

In step 102, the method for determining whether the instruction exists in the local instruction set may be that the internal operating system determines the type of the robot instruction, and the type of the robot instruction includes a non-conditional reflection instruction and a conditional reflection instruction, if the robot instruction is a conditional reflection instruction The conditional reflection instruction is queried in the local instruction set. If the conditional reflection instruction does not exist in the local instruction set, the conditional reflection instruction is sent to the intranet cloud or the external operating system.

In step 103, if the robot instruction does not exist in the local instruction set, the robot instruction is sent to the external operating system via the one-way communication interface on the internal operating system, so that the external operating system acquires the instruction processing result according to the robot instruction. And complete the subsequent corresponding processing, such as by calling the output system, using the display screen for display or the speaker to play the instruction processing result. If the robot instruction exists in the local instruction set, the instruction processing result corresponding to the robot instruction is queried by using the correspondence relationship between the robot instruction and the instruction processing result, and the subsequent corresponding processing is completed, for example, by calling the control system, the instruction processing is performed by using the motion system. result.

In this embodiment, the internal operating system and the external operating system have a one-way communication interface, that is, the one-way communication of the internal operating system to the external operating system, and the internal operating system can only be connected with the intranet, any externally. Data acquired by the Internet, or programs downloaded from the public Internet, cannot access the internal operating system, and the external operating system can receive user commands from the internal operating system, but all servers connected to the external Internet or the public Internet can only It is processed by the external operating system and cannot send any data to the internal operating system. Specifically, if there is no user instruction in the local instruction set of the internal operating system, the user instruction is sent to the external operating system via the one-way communication interface, and if the user instruction is in the local instruction set of the internal operating system, the user instruction is locally processed. In order to realize the isolation of the internal operating system from the external Internet or the public Internet, the security of the ontology data and the manipulation data of the robot connected to the cloud is guaranteed.

In an implementation, in the first operating system, after the step of determining whether the instruction exists in the local instruction set, the method further includes:

Sending the instruction to the intranet cloud if the instruction does not exist in the local instruction set;

Receiving instruction processing results from the intranet cloud.

In the first operating system, if the above-mentioned robot instruction does not exist in the local instruction set, the robot instruction is sent to the intranet cloud, and the intranet cloud queries the correspondence between the robot instruction and the instruction processing result in the intranet cloud according to the robot instruction. Determining whether the robot instruction exists in the correspondence, and if yes, returning the corresponding instruction processing result to the internal operating system, so that the internal operating system performs subsequent processing according to the instruction processing result, and if not, returns a The empty instruction processing result is sent to the internal operating system, and the internal operating system sends the robot instruction to the external operating system according to the instruction processing result, so that the external operating system performs subsequent corresponding processing.

Specifically, the internal operating system sends the robot instruction to the cloud cognitive system via the connection channel between the internal operating system and the intranet cloud, and after the cloud cognitive system parses the robot instruction, the instruction processing result is sent to the internal operating system. The internal operating system determines whether the robot instruction needs to be sent to the external operating system according to the instruction processing result. If not required, the internal operating system completes the subsequent corresponding processing according to the instruction processing result; if necessary, the robot instruction is sent to the external operating system. Among them, the intranet cloud is the cloud within the secure network, such as internal LAN or virtual private The cloud in the network (VPN: Virtual Private Network).

In an implementation, in the second operating system, after the step of sending the instruction to the second operating system via the one-way communication interface, the method further includes:

After the second operating system queries the corresponding instruction processing result from the extranet according to the instruction, performing corresponding processing according to the instruction processing result.

In the second operating system, when the robot instruction does not exist in the local instruction set or the correspondence between the robot instruction and the instruction processing result in the intranet cloud, the internal operating system passes the robot instruction via the internal operating system and the external operating system. The one-way communication interface is sent to the external operating system, and the external operating system obtains the corresponding instruction processing result from the external Internet or the public Internet, and completes the corresponding corresponding processing, and the corresponding processing may be to pass the instruction processing result to the external operating system. The connected output system is presented to the user, so that the user further communicates with the robot according to the instruction processing result fed back by the output system, and then repeats the processing of the user instruction.

In an implementation, in the second operating system, the second operating system includes a security area, and the step of sending the instruction to the second operating system via the one-way communication interface further includes:

The instruction processing result is stored in the secure area.

The external operating system may also preset a security area. When the external operating system obtains the corresponding instruction processing result from the external Internet or the public Internet according to the robot instruction from the internal operating system, the robot instruction and the instruction processing result are obtained. The corresponding relationship is stored in the security area, and the internal operating system actively reads the corresponding instruction processing result in the internal operating system according to the robot instruction. According to the actual situation, when the external operating system receives the robot command, it can also preferentially find the corresponding command processing result in the safe area. If the robot command in the safe area does not exist in the corresponding relationship between the command result and the command processing result, the robot command does not exist. Then, access the corresponding instruction processing result from the external Internet or the public Internet.

If the instruction does not exist in the local instruction set or the intranet cloud, according to the instruction The corresponding instruction processing result is read in the security area, and corresponding processing is performed according to the instruction processing result.

The communication between the internal operating system and the external operating system is one-way communication. When the internal operating system needs data of the external operating system, the internal operating system performs active operations, and the external operating system cannot send data to the internal operating system, that is, the internal operation. The system reads the required data from the secure area set by the external operating system. Specifically, when the internal operating system determines that the robot instruction does not exist in the local instruction set or the correspondence between the robot instruction and the instruction processing result in the intranet cloud, the internal operation command reads from the security area set by the external operating system according to the robot instruction. Take the corresponding instruction processing result and perform subsequent corresponding processing.

The second embodiment of the present application provides a detailed description of the first embodiment of the present application by taking a specific scenario as an example.

Embodiment 2

2 is a schematic flowchart of a robot instruction processing in the second embodiment of the present application. As shown in FIG. 2, the specific implementation method of the robot instruction processing is as follows:

Step 201: The user sends a voice instruction to the robot through the microphone. Among them, the microphone is the input system of the input and output system.

Step 202: After receiving the voice instruction processed by the sensing system, the internal operating system parses the processed voice instruction, and after determining that the instruction is not in the local instruction set in the internal operating system, the instruction is used exclusively. The network interface is sent to the cloud cognitive system.

Step 203: The cloud cognitive system parses the instruction, and returns an empty instruction processing result to the internal operating system after determining that the instruction does not exist in the correspondence between the instruction in the cloud cognitive system and the instruction processing result.

Step 204: The internal operating system processes the result according to the instruction, and sends the instruction to the external operating system via the one-way communication interface.

Step 205: After the external operating system searches the public Internet system for the corresponding instruction processing result, the instruction processing result is executed.

Embodiment 3

Based on the same inventive concept, a processing device for a robot instruction is also provided in the embodiment of the present application. Since the principle of solving the problem of these devices is similar to the processing method of a robot instruction, the implementation of these devices can be referred to the implementation of the method, and the method is repeated. It will not be repeated here.

3 is a structural diagram of a device for processing robot instructions according to Embodiment 3 of the present application. As shown in FIG. 3, the device 300 is applied to a dual operating system, and the dual operating system includes a first operating system and a second operating system. 300 can include:

The receiving module 301 is configured to receive an instruction in the first operating system.

The determining module 302 is configured to determine whether the instruction exists in the local instruction set.

The processing module 303 is configured to send the instruction to the second operating system via the one-way communication interface if not present, and if so, perform local processing on the instruction.

Further, in the first operating system, the determining module 302 further includes:

Receiving instruction processing results from the intranet cloud.

Further, in the second operating system, the method further includes:

The querying module 304 is configured to perform corresponding processing according to the instruction processing result after the second operating system queries from the external network to the corresponding instruction processing result according to the instruction.

Further, in the second operating system, the second operating system includes a security area, and further includes:

The storage module 305 is configured to store the instruction processing result in the security area.

Further, in the first operating system, the method further includes:

The reading module 306 is configured to: if the instruction does not exist in the local instruction set or the intranet cloud, read the corresponding instruction processing result from the security area according to the instruction, and perform the processing result according to the instruction Processing accordingly.

For convenience of description, the various parts of the above described devices are described in terms of functions divided into various modules or units. Of course, the functions of each module or unit may be implemented in the same software or hardware in the implementation of the present application.

Embodiment 4

Based on the same inventive concept, an electronic device is also provided in the embodiment of the present application. Since the principle is similar to the processing method of a robot instruction, the implementation of the method may refer to the implementation of the method, and the repeated description is not repeated.

4 is a schematic structural diagram of an electronic device in Embodiment 4 of the present application. As shown in FIG. 4, the electronic device includes: an input/output device 401, a memory 402, one or more processors 403, and one or more a module, the one or more modules being stored in the memory and configured to be executed by the one or more processors, the one or more modules comprising steps for performing any of the above methods Instructions. Wherein, the electronic device can be a mobile terminal or a robot.

Embodiment 5

Based on the same inventive concept, the embodiment of the present application further provides a computer program product used in combination with an electronic device. Since the principle is similar to the processing method of a robot instruction, the implementation of the method can refer to the implementation of the method, and the repetition is not Let me repeat. The computer program product comprises a computer readable storage medium and a computer program mechanism embodied therein, the computer program mechanism comprising instructions for performing the various steps of any of the above methods.

Those skilled in the art will appreciate that embodiments of the present application can be provided as a method, system, or computer program product. Thus, the present application can take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment in combination of software and hardware. Moreover, the application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) including computer usable program code.

The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (system), and computer program products according to embodiments of the present application. It will be understood that each of the processes and/or blocks in the flowcharts and/or block diagrams, and the flows in the flowcharts and/or block diagrams can be implemented by computer program instructions. And/or a combination of boxes. These computer program instructions can be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing device to produce a machine for the execution of instructions for execution by a processor of a computer or other programmable data processing device. Means for implementing the functions specified in one or more of the flow or in a block or blocks of the flow chart.

The computer program instructions can also be stored in a computer readable memory that can direct a computer or other programmable data processing device to operate in a particular manner, such that the instructions stored in the computer readable memory produce an article of manufacture comprising the instruction device. The apparatus implements the functions specified in one or more blocks of a flow or a flow and/or block diagram of the flowchart.

These computer program instructions can also be loaded onto a computer or other programmable data processing device such that a series of operational steps are performed on a computer or other programmable device to produce computer-implemented processing for execution on a computer or other programmable device. The instructions provide steps for implementing the functions specified in one or more of the flow or in a block or blocks of a flow diagram.

While the preferred embodiment of the present application has been described, it will be apparent that those skilled in the art can make further changes and modifications to the embodiments. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and the modifications and

Claims

A processing method for a robot instruction, which is characterized in that it is applied to a dual operating system, the dual operating system includes a first operating system and a second operating system, and the processing method includes:

Receiving an instruction in the first operating system;

Determining whether the instruction exists in a local instruction set;

If not, the instruction is sent to the second operating system via the one-way communication interface, and if present, the instruction is locally processed;

The first operating system is connected to the second operating system and the second operating system is connected to the external network.
The method of claim 1, wherein in the first operating system, the step of determining whether the instruction exists in the local instruction set further comprises:

Sending the instruction to the intranet cloud if the instruction does not exist in the local instruction set;

Receiving instruction processing results from the intranet cloud.
The method according to claim 1 or 2, wherein, after the step of transmitting the instruction to the second operating system via the one-way communication interface, the method further includes:

After the second operating system queries the corresponding instruction processing result from the extranet according to the instruction, performing corresponding processing according to the instruction processing result.
The method of claim 3, wherein in the second operating system, the second operating system comprises a security zone, and the step of transmitting the instruction to the second operating system via the one-way communication interface It also includes:

The instruction processing result is stored in the secure area.
The method of claim 4, wherein in the first operating system, the step of determining whether the instruction exists in the local instruction set further comprises:

If the instruction does not exist in the local instruction set or the intranet cloud, the corresponding instruction processing result is read from the security area according to the instruction, and the phase is processed according to the instruction processing result. Should be handled.
A processing device for a robot instruction, which is characterized in that it is applied to a dual operating system, the dual operating system includes a first operating system and a second operating system, and the processing device includes:

a receiving module, configured to receive an instruction in the first operating system;

a determining module, configured to determine whether the instruction exists in a local instruction set;

a processing module, configured to send the instruction to the second operating system via the one-way communication interface if not present, and if present, perform local processing on the instruction;

The first operating system is connected to the second operating system and the second operating system is connected to the external network.
The device of claim 6, wherein in the first operating system, the determining module further comprises:

Sending the instruction to the intranet cloud if the instruction does not exist in the local instruction set;

Receiving instruction processing results from the intranet cloud.
The device according to claim 6 or 7, wherein in the second operating system, the method further comprises:

The query module is configured to perform corresponding processing according to the instruction processing result after the second operating system queries from the external network to the corresponding instruction processing result according to the instruction.
The device of claim 8, wherein in the second operating system, the second operating system comprises a security zone, further comprising:

And a storage module, configured to store the instruction processing result in the security area.
The device according to claim 9, wherein in the first operating system, the method further comprises:

a reading module, configured to read a corresponding instruction processing result from the security area according to the instruction, if the instruction does not exist in the local instruction set or the intranet cloud, and perform corresponding according to the instruction processing result according to the instruction deal with.
An electronic device, comprising:

Input and output devices, memory, one or more processors;

One or more modules stored in the memory and configured to be executed by the one or more processors, the one or more modules including for performing claim 1 The instructions of the various steps in any of the methods described in 5.
A computer program product for use in conjunction with an electronic device, the computer program product comprising a computer readable storage medium and a computer program mechanism embedded therein, the computer program mechanism comprising means for performing any of claims 1-5 An instruction for each step in the method.