CN104408519B - A kind of method that robot knowledge is backed up and learnt - Google Patents
A kind of method that robot knowledge is backed up and learnt Download PDFInfo
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- CN104408519B CN104408519B CN201410599053.XA CN201410599053A CN104408519B CN 104408519 B CN104408519 B CN 104408519B CN 201410599053 A CN201410599053 A CN 201410599053A CN 104408519 B CN104408519 B CN 104408519B
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Abstract
The present invention proposes a kind of method that robot knowledge is backed up and learnt, applied to robotics learning system, and robotics learning system includes robot, robot of future generation and cloud server；The inside of robot and robot of future generation is provided with microprocessor chip or/and storage chip；Robot and robot of future generation are all communicated by network and cloud server；Method includes：Knowledge is saved in the microprocessor chip of inside or storage chip by robot；Robot connects network, and knowledge is uploaded into cloud server after authentication；When former generation other robot or robot connection network of future generation, the knowledge preserved in cloud server is downloaded to when in the microprocessor chip or storage chip of former generation other robot or robot interior of future generation after being verified.Implement the method that robot knowledge is backed up and learnt of the present invention, have the advantages that：Using operating process it is more simple, save the time.
Description
Technical field
The present invention relates to robot field, more particularly to a kind of side that robot knowledge is backed up and learnt
Method.
Background technology
Some domestic robots are occurred in that at present, and domestic robot is required for learning according to function difference in first use
Password, or study authentication, or family map is built by traveling through room study, or study understanding family into
Member etc., if domestic robot updates, domestic robot of future generation needs to relearn same content.Thus increase
Add the complexity using operating process, the study simultaneously because domestic robot of future generation will take much time, so its
Lose time.
The content of the invention
The technical problem to be solved in the present invention is, for prior art above-mentioned use operating process is complex, wave
Time taking defect there is provided one kind using operating process it is more simple, time saving robot knowledge is backed up
With the method for study.
The technical solution adopted for the present invention to solve the technical problems is：Construction is a kind of standby by robot knowledge progress
Part and the method for study, applied to robotics learning system, the robotics learning system includes robot, robot of future generation
And cloud server；The inside of the robot and robot of future generation is designed with microprocessor chip or/and storage chip；Institute
Robot and robot of future generation is stated all to communicate by network and the cloud server respectively；Methods described includes following step
Suddenly：
A) knowledge is saved in its internal described microprocessor chip or storage chip by the robot；It is described
Knowledge includes the content and/or robot parameter setting content of robot learning；
B) the robot connection network, and the knowledge is uploaded into the cloud service after authentication
Device；
C) when former generation other robot or the robot connection network of future generation, by the cloud service after being verified
The knowledge preserved in device downloads to described when the microprocessor of former generation other robot or robot interior of future generation
In chip or storage chip.
In the method for the present invention that robot knowledge is backed up and learnt, the robot learning system
System also includes RFID chip；The robot, institute recognized by radiofrequency signal when former generation other robot or robot of future generation
State RFID chip；In the step A) in, the knowledge is that the unique ID for using the RFID chip is carried out as key
The data of encryption.
In the method for the present invention that robot knowledge is backed up and learnt, the step A) further
Including：
A1 AES) is loaded, unique ID that the robot reads the RFID chip obtains key；
A2) knowledge is encrypted using the AES for the microprocessor chip of the robot interior
The data encrypted；
A3) data of the encryption are temporarily stored in the microprocessor chip of the robot interior or storage chip.
In the method for the present invention that robot knowledge is backed up and learnt, the step B) further
Including：
B1) the robot connection network, and being connected with cloud server foundation；
B2 authentication) is carried out；
B3) robot uploads to the data of the encryption position specified in the cloud server.
In the method for the present invention that robot knowledge is backed up and learnt, the step C) further
Including：
C1) when former generation other robot or robot connection network of future generation, and it is connected with cloud server foundation；
C2 the checking of identity and password) is carried out；
C3) after being verified, the position for the storage identity specified in the cloud server is found, described will be added
Close data download to described when the microprocessor chip or storage chip of former generation other robot or robot interior of future generation
In.
In the method for the present invention that robot knowledge is backed up and learnt, in the step C) after
Also comprise the following steps：
D) when unique ID that former generation other robot or robot of future generation read the RFID chip obtains key, and general
The data of the encryption are decrypted.
In the method for the present invention that robot knowledge is backed up and learnt, the step D) further
Including：
D1 decipherment algorithm) is loaded；The decipherment algorithm works as former generation other robot or robot of future generation described in being stored in
In internal microprocessor chip or storage chip；
D2 it is) described as unique ID of former generation other robot or the robot reading of future generation RFID chip, and according to
Unique ID obtains key；
D3 the data decrypted) are decrypted to the data of the encryption using the decipherment algorithm and key.
In the method for the present invention that robot knowledge is backed up and learnt, the robot learning
Content includes family's map structuring and identity learns；The identity study includes study, the study of voice recognition of recognition of face
With the study of fingerprint recognition.
In the method for the present invention that robot knowledge is backed up and learnt, with carrying out the family
When figure is built, the robot walks one time in whole room, and the wall, barrier and clear area in room are distinguished
It is marked, is filled with grid fashion in map with different marks；Each grid is with ordered arrangement with number
Font formula is stored in its internal microprocessor chip as family's map.
In the method for the present invention that robot knowledge is backed up and learnt, the robot is provided with and pressed
Button and camera；When carrying out the study of the recognition of face, it is necessary to the personnel of study press button in the robot or
Button on remote control, the camera is directed at according to voice message, and the robot, which is taken pictures and preserved, described needs
The full face and side photo of the personnel of habit, the robot deposits the full face and side photo in the form of picture
In microprocessor chip inside Chu Qi.
Implement the method that robot knowledge is backed up and learnt of the present invention, have the advantages that:Will
Cloud server is arrived in the storage of robot knowledge, when former generation other robot or robot of future generation can be by cloud servers
The knowledge of preservation is downloaded in its internal microprocessor chip or storage chip, thus without carrying out learning again,
So it is used, operating process is relatively simple, save the time.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
There is the accompanying drawing used required in technology description to be briefly described, it should be apparent that, drawings in the following description are only this
Some embodiments of invention, for those of ordinary skill in the art, without having to pay creative labor, may be used also
To obtain other accompanying drawings according to these accompanying drawings.
Fig. 1 is the present invention by the flow chart in robot knowledge is backed up and is learnt method one embodiment；
Knowledge is saved in the specific stream in its internal microprocessor chip for robot in the embodiment by Fig. 2
Cheng Tu；
Fig. 3 is robot connection network in the embodiment, and knowledge is uploaded into high in the clouds clothes after authentication
The particular flow sheet of business device；
Fig. 4 be in the embodiment when former generation other robot or robot of future generation connection network, will after being verified
The knowledge preserved in cloud server downloads to the microprocessor when former generation other robot or robot interior of future generation
Particular flow sheet in chip or storage chip；
Fig. 5 is when unique ID that former generation other robot or robot of future generation read RFID chip is obtained in the embodiment
To key, and the particular flow sheet that the data of encryption are decrypted.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation is described, it is clear that described embodiment is only a part of embodiment of the invention, rather than whole embodiments.It is based on
Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under the premise of creative work is not made
Embodiment, belongs to the scope of protection of the invention.
In the embodiment of the method that robot knowledge is backed up and learnt by the present invention, it is by institute of robot Xue Zhi
The flow chart for knowing the method for being backed up and being learnt is as shown in Figure 1.The side that robot knowledge is backed up and learnt
Method is applied to robotics learning system, and the robotics learning system includes robot, robot of future generation and cloud server；Machine
The inside of device people and robot of future generation is designed with microprocessor chip or/and storage chip；Robot and robot of future generation
All communicated respectively by network (internet) and cloud server.Robot of future generation is exactly that robot is updated after the replacement
New robot.Robot in the present embodiment refers to domestic robot.In Fig. 1, this carries out robot knowledge standby
The method of part and study comprises the following steps：
Knowledge is saved in its internal microprocessor chip or storage chip by step S01 robots：This step
In, knowledge is saved in its internal microprocessor chip or storage chip by robot, and above-mentioned knowledge includes machine
The content and/or robot parameter setting content of device people study.That is, knowledge can be the interior of robot learning
The personalizing parameters (i.e. robot parameter setting content) that appearance or user are set according to the use habit of oneself.
Step S02 robots connect network, and knowledge is uploaded into cloud server after authentication：This step
In, robot connection network, and knowledge is uploaded into cloud server after authentication.
Step S03 is when former generation other robot or robot connection network of future generation, by cloud server after being verified
The knowledge of middle preservation downloads to the microprocessor chip or storage when former generation other robot or robot interior of future generation
In chip：In this step, when former generation other robot or robot connection network of future generation, by cloud server after being verified
The knowledge of middle preservation downloads to the microprocessor chip or storage when former generation other robot or robot interior of future generation
In chip.It is noted that in the present embodiment, when former generation other robot refer to be with robot the same generation other machines
Device people, can also be directly from high in the clouds with other robot that the robot is the same generation after robot breaks down or damages
Robot knowledge is downloaded in server, so there is no need to carry out learning again, need to only download just can be to save
The step of repetitive learning, thus its using operating process it is relatively simple, save time.
Under aforesaid way, knowledge is not by encryption.Under the certain situation of the present embodiment, in order to ensure
The security of data is, it is necessary to which knowledge is encrypted.At this moment, in the present embodiment, robotics learning system also includes
RFID chip；The RFID chip can make the form of card, carry or be attached on wall by user.Robot, work as former generation
Other robot or robot of future generation recognize RFID chip by radiofrequency signal.In above-mentioned steps S01, above-mentioned knowledge
The data for using unique ID (whole world unique ID) of RFID chip to be encrypted as key, that is, knowledge be by
The data of encryption, can so be further ensured that the security of data.Certainly, in other cases of the present embodiment, also may be used
So that robot knowledge to be encrypted as key using ordinary password.User can select corresponding form according to actual conditions
Key.
In the present embodiment, above-mentioned steps S01 can also be refined further, and the flow chart after it is refined is as shown in Figure 2.In Fig. 2,
Above-mentioned steps S01 further comprises：
Step S11 loads AES, and unique ID that robot reads RFID chip obtains key：In this step, loading
AES, unique ID that robot reads RFID chip obtains key.Specifically, above-mentioned AES is calculated using sequential encryption
Method or block encryption algorithm, such as RC4, AES etc., computing is realized inside the microcontroller chip of robot.Key is stored
Inside RFID chip, robot needs the unique ID for first reading RFID chip to obtain key, and this unique ID is a string
Binary digit.Certainly, under the certain situation of the present embodiment, its AES can also be that sequential encryption algorithm or packet add
In other AESs outside close algorithm, practical application, corresponding AES can be selected as the case may be, its mode ratio
It is more flexible.
Knowledge, which is encrypted, using AES for the microprocessor chip of step S12 robot interiors is encrypted
Data：In this step, the microprocessor chip of robot interior utilizes AES, with the key of above-mentioned acquisition to institute Xue Zhi
Knowledge is encrypted, the data thus encrypted.
The data of encryption are temporarily stored in the microprocessor chip of robot interior or storage chip by step S13：This step
In, the data of robot output encryption, and the data of the encryption are temporarily stored in microprocessor chip or the storage of robot interior
In chip.The encryption to knowledge is so achieved that, the security of data is added.
For the present embodiment, above-mentioned steps S02 can also be refined further, and the flow chart after it is refined is as shown in Figure 3.
In Fig. 3, above-mentioned steps S02 further comprises：
Step S21 robots connect network, and are connected with cloud server foundation：In this step, robot connection network,
And be connected with cloud server foundation.
Step S22 carries out authentication：In this step, authentication is carried out, authentication performs step S23 by rear.
Step S23 robots upload to the data of encryption the position specified in cloud server：In this step, robot
The data of encryption are uploaded to the position specified in cloud server.The thus cloud service by the data Cun Chudao of encryption
It, is downloaded by device during for follow-up needing from cloud server.So reach and facilitated easy-to-use effect.
For the present embodiment, above-mentioned steps S03 can also be refined further, and the flow chart after it is refined is as shown in Figure 4.
In Fig. 4, above-mentioned steps S03 further comprises：
Step S31 is connected when former generation other robot or robot connection network of future generation with cloud server foundation：
In this step, when former generation other robot or robot connection network of future generation, and it is connected, connects into cloud server foundation
After work(, step S32 is performed.
Step S32 carries out the checking of identity and password：In this step, authentication and the checking of password are carried out.
Step S33 finds the position for the storage identity specified in cloud server after being verified, by the data of encryption
Download to when in the microprocessor chip or storage chip of former generation other robot or robot interior of future generation：In this step,
After being verified, find the position for the storage identity specified in cloud server, by the data of encryption download to when former generation its
In his robot or the microprocessor chip or storage chip of robot interior of future generation.
For the present embodiment, when the microprocessor chip that the data of encryption are downloaded to robot interior of future generation
Afterwards, it is necessary to which the data to encryption are decrypted, at this moment, also comprise the following steps after the step S03：
When unique ID that former generation other robot or robot of future generation read RFID chip obtains key, and by encryption
Data are decrypted：In this step, unique ID that robot of future generation reads RFID chip obtains key, and by the data of encryption
It is decrypted.The step can also be refined further, and the flow chart after it is refined is as shown in Figure 5.In Fig. 5, the step is further wrapped
Include：
Step S41 loads decipherment algorithm：In this step, load decipherment algorithm, the decipherment algorithm be stored in when former generation other
In robot or the microprocessor chip or storage chip of robot interior of future generation.
Step S42 reads unique ID of RFID chip when former generation other robot or robot of future generation, and according to unique
ID obtains key：In this step, when former generation other robot or robot of future generation read unique ID of above-mentioned RFID chip, so
Key is calculated according to this unique ID afterwards.
The data decrypted are decrypted using the data of decipherment algorithm and key pair encryption by step S43：In this step,
When the microprocessor chip of former generation other robot or robot of future generation is entered using the data of decipherment algorithm and key pair encryption
Row decryption, can thus obtain the knowledge of robot (previous generation robots), then can be carried out application.Due to backup
Data encryption has just been carried out before upload, so so both having reached and facilitating easy-to-use effect have stronger safety again
Property.
In the present embodiment, the content of above-mentioned robot learning includes family's map structuring and identity learns；The identity learns
The study and the study of fingerprint recognition of study, voice recognition including recognition of face.When robot is carrying out the structure of family's map
When building, the robot is walked one time in whole room, and the wall, barrier and clear area in room are marked,
When being marked, it is marked with different marks respectively, is filled with grid fashion in map, for example：In nothing
Barrier region is labeled as 0, is 1 in the zone marker for having barrier, wall is labeled as 2.Each grid is with ordered arrangement side
Formula is stored in its internal microprocessor chip as family's map in digital form.
For identity study, illustrated in the present embodiment by taking the study of recognition of face as an example.Carrying out recognition of face
During study, robot need to be provided with button and camera.Specifically, when carrying out the study of recognition of face, it is necessary to the personnel of study
Button in robot on corresponding button or remote control is pressed, it is necessary to the personnel of study are directed at camera according to voice message,
Robot is taken pictures and preserves the full face and side photo for the personnel for needing to learn, then robot by full face and
Side photo in the form of picture to be stored in its internal microprocessor chip.It is noted that can be a front
Photo or a side photo, can also there is the photo of other angles certainly, and the angle of bat is more, and its accuracy is just
It is higher.
In a word, in the present embodiment, robot knowledge can be stored in cloud server by way of cloud storage
Middle specified location, can also be locally stored.When being backed up, robot knowledge can both be encrypted, and also may be used
Without encryption, in actual applications, corresponding backup mode can may be selected according to actual conditions, which simplify user's
Operating process, also increases the flexibility of backup.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention
God is with principle, and any modification, equivalent substitution and improvements made etc. should be included in the scope of the protection.
Claims (6)
1. a kind of method that robot knowledge is backed up and learnt, applied to robotics learning system, its feature exists
In the robotics learning system includes robot, robot of future generation and cloud server；The robot of future generation is exactly
The robot is updated the new robot after regenerating, and the inside of the robot and robot of future generation is designed with micro- place
Manage device chip or/and storage chip；The robot and robot of future generation all pass through network and the cloud server respectively
Communication；Methods described comprises the following steps：
A) knowledge is saved in its internal described microprocessor chip or storage chip by the robot；It is described to be learned
Knowledge includes the content and/or robot parameter setting content of robot learning；
B) the robot connection network, and the knowledge is uploaded into the cloud server after authentication；
C) when former generation other robot or the robot connection network of future generation, by the cloud server after being verified
The knowledge preserved downloads to described when the microprocessor chip of former generation other robot or robot interior of future generation
Or in storage chip；It is described when former generation other robot refer to be with the robot the same generation other robot, work as institute
State robot break down or damage after, with the robot be the same generation other robot directly from the cloud server
Download robot knowledge；
The robotics learning system also includes RFID chip；The robot, when former generation other robot or machine of future generation
People recognizes the RFID chip by radiofrequency signal；In the step A) in, the knowledge is to use the RFID chip
The data that are encrypted as key of unique ID；The RFID chip makes the form of card, by user carrier or is attached to
On wall；
The step A) further comprise：
A1 AES) is loaded, unique ID that the robot reads the RFID chip obtains key；The AES is adopted
With sequential encryption algorithm or block encryption algorithm, computing, key storage are realized inside the microcontroller chip of the robot
Inside the RFID chip, the robot needs the unique ID for first reading RFID chip to obtain key, and this is unique
ID is a string of binary digits；
A2) microprocessor chip of the robot interior is encrypted to the knowledge using the AES and obtained
The data of encryption；
A3) data of the encryption are temporarily stored in the microprocessor chip of the robot interior or storage chip；
The content of the robot learning includes family's map structuring and identity learns；The identity study includes recognition of face
Study, the study of voice recognition and the study of fingerprint recognition；
When carrying out family's map structuring, the robot walks one time in whole room, and wall, barrier to room
Hinder thing and clear area to be marked respectively with different marks, be filled with grid fashion in map；Each grid
It is stored in digital form using ordered arrangement in its internal microprocessor chip and is used as family's map；In obstacle free zone
Field mark is 0, is 1 in the zone marker for having barrier, wall is labeled as 2, and each grid is with ordered arrangement with numeral
Form is stored in its internal microprocessor chip as family's map.
2. the method according to claim 1 that robot knowledge is backed up and learnt, it is characterised in that described
Step B) further comprise：
B1) the robot connection network, and being connected with cloud server foundation；
B2 authentication) is carried out；
B3) robot uploads to the data of the encryption position specified in the cloud server.
3. the method according to claim 2 that robot knowledge is backed up and learnt, it is characterised in that described
Step C) further comprise：
C1) when former generation other robot or robot connection network of future generation, and it is connected with cloud server foundation；
C2 the checking of identity and password) is carried out；
C3) after being verified, the position for the storage identity specified in the cloud server is found, by the encryption
Data download to described when in the microprocessor chip or storage chip of former generation other robot or robot interior of future generation.
4. the method according to claim 3 that robot knowledge is backed up and learnt, it is characterised in that in institute
State step C) also comprise the following steps afterwards：
D) when unique ID that former generation other robot or robot of future generation read the RFID chip obtains key, and will be described
The data of encryption are decrypted.
5. the method according to claim 4 that robot knowledge is backed up and learnt, it is characterised in that described
Step D) further comprise：
D1 decipherment algorithm) is loaded；The decipherment algorithm works as former generation other robot or robot interior of future generation described in being stored in
Microprocessor chip or storage chip in；
D2 it is) described as unique ID of former generation other robot or the robot reading of future generation RFID chip, and according to described
Unique ID obtains key；
D3 the data decrypted) are decrypted to the data of the encryption using the decipherment algorithm and key.
6. the method according to claim 1 that robot knowledge is backed up and learnt, it is characterised in that described
Robot is provided with button and camera；When carrying out the study of the recognition of face, it is necessary to which the personnel of study press the machine
The button on button or remote control on people, is directed at the camera, the robot is taken pictures and protected according to voice message
Deposit the full face and side photo of the personnel for needing to learn, the robot by the full face and side photo with
The form of picture is stored in its internal microprocessor chip.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105215987B (en) * | 2015-10-12 | 2017-03-22 | 埃夫特智能装备股份有限公司 | Industrial robot technology cloud system and working method thereof |
| WO2017144078A1 (en) | 2016-02-23 | 2017-08-31 | Abb Schweiz Ag | Robot controller system and method therefor |
| CN106411873A (en) * | 2016-09-21 | 2017-02-15 | 北京光年无限科技有限公司 | Data interaction method and system based on intelligent robot |
| CN106775807A (en) * | 2016-11-17 | 2017-05-31 | 北京光年无限科技有限公司 | Realize the intelligent robot system and information implantation method of application message transplanting |
| CN107947927B (en) * | 2017-12-07 | 2021-02-19 | 湖北文理学院 | Method and system for processing identification cipher key |
| SE544035C2 (en) | 2018-04-04 | 2021-11-16 | Husqvarna Ab | Improved maintenance for a robotic working tool |
| CN111062048B (en) * | 2019-12-31 | 2022-10-04 | 深圳市工匠社科技有限公司 | Secure transmission method and related device |
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