CN105404540B - A kind of method, system and the remote server of robot remote upgrading - Google Patents
A kind of method, system and the remote server of robot remote upgrading Download PDFInfo
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- CN105404540B CN105404540B CN201610005110.6A CN201610005110A CN105404540B CN 105404540 B CN105404540 B CN 105404540B CN 201610005110 A CN201610005110 A CN 201610005110A CN 105404540 B CN105404540 B CN 105404540B
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F8/00—Arrangements for software engineering
- G06F8/60—Software deployment
- G06F8/61—Installation
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F8/00—Arrangements for software engineering
- G06F8/60—Software deployment
- G06F8/65—Updates
- G06F8/658—Incremental updates; Differential updates
Abstract
The present invention provides method, system and the remote server of a kind of upgrading of robot remote, this method includes：Upgrading data packet list corresponding with the type of task is executed is sent to determining each robot to be upgraded；A robot is chosen one by one from each robot to be upgraded as current operation object, obtains the package identification of current operation object missing, the corresponding data packet of package identification that current operation object lacks is sent to all robots to be upgraded；When current operation object feedback data packet is complete, next robot is chosen from unselected robot to be upgraded, when feedback data packet is complete per capita for each machine to be upgraded, the data packet that each robot application to be upgraded receives is triggered and is upgraded.Remote upgrade method provided in an embodiment of the present invention improves the updating speed to multiple robots, may be implemented quickly, the application program in multiple robots is upgraded and is safeguarded in time.
Description
Technical field
The present invention relates to robotic technology field, in particular to a kind of method of robot remote upgrading, system and
Remote server.
Background technology
Currently, with the rapid development of social economy, the extensive use of "smart" products, supermarket, airport, station,
The large size stream of people such as conference and exhibition center and logistics warehouse, the scale in logistics place and quantity constantly expand, in the past taking human as main pattern
Actual demand is can not meet, therefore, the automatic machinery people for more and more capableing of utonomous working participates in airdrome luggage
The fields such as transport, logistics distribution.Automatic machinery people is the integration environment perception, route planning, dynamic decision, a behaviour control
And the Integrated Multi-Purpose System that alarm module is integrated, it can realize timing, the self-service work of flowing.Automatic machinery people can
The work such as goods transportation, carrying, sorting, storage and packing are carried out instead of manpower, people can be greatly by automatic machinery
The working efficiency of logistic industry is improved, job costs are reduced.
As flourishing for industry is sorted in express delivery, automatic machinery people starts to be widely used in express delivery sorting industry, into
And replace personnel carry out goods sorting, transport related work.However, the internal processes needs of robot regularly update, upgrade
And maintenance currently provides a kind of program upgrading mode of robot in the related technology, which includes mainly：For
The locally applied upgrading of the robot terminal of existing big quantity, mainly by updating apparatus manually to each robot to be upgraded
Upgraded one by one, not only updating speed is slow for the upgrading mode of this kind of robot program, but also heavy workload.
In the implementation of the present invention, inventor has found to have at least the following problems in the related technology：In the related technology
Robot upgrading mode there is upgrading efficiency be low, the big problem of upgrade job amount, cannot achieve quickly, in time in robot
Application program upgraded and safeguarded.
Invention content
In view of this, the method for being designed to provide a kind of upgrading of robot remote of the embodiment of the present invention, system and remote
Journey server, to improve the updating speed that multiple robots are carried out with application program updating, to realize quickly, in time to more
Application program in a robot is upgraded and is safeguarded.
In a first aspect, an embodiment of the present invention provides a kind of method of robot remote upgrading, this method includes：
The type that task is executed according to robot determines current robot to be upgraded；
Upgrading data packet corresponding with the above-mentioned type of execution task is sent to determining each above-mentioned robot to be upgraded
List；Wherein, above-mentioned upgrading data packet list includes the mark of each upgrading data packet；
A robot is chosen one by one from each above-mentioned robot to be upgraded as current operation object, obtains above-mentioned work as
The package identification of preceding operation object missing, the number that above-mentioned current operation object lacks is sent to all above-mentioned robots to be upgraded
Corresponding data packet is identified according to packet；
When above-mentioned current operation object feedback data packet is complete, chosen from unselected above-mentioned robot to be upgraded
Next robot triggers each above-mentioned machine to be upgraded when feedback data packet is complete per capita for each above-mentioned machine to be upgraded
The data packet that device people application receives upgrades.
With reference to first aspect, an embodiment of the present invention provides the first possible embodiments of first aspect, wherein on
The package identification for obtaining above-mentioned current operation object missing is stated, including：
It is instructed to the above-mentioned current operation object transmission data packet integrity checking of selection；
Receive the finger that above-mentioned current operation object is generated according to data packet lacking in above-mentioned upgrading data packet list lookup
Enable response；
The package identification that the package identification for including in above-metioned instruction response is lacked as above-mentioned current operation object.
With reference to first aspect, an embodiment of the present invention provides second of possible embodiments of first aspect, wherein on
It states when above-mentioned current operation object feedback data packet is complete, is chosen from unselected above-mentioned robot to be upgraded next
Robot triggers each above-mentioned robot to be upgraded and answers when feedback data packet is complete per capita for each above-mentioned machine to be upgraded
Upgraded with the data packet received, including：
When above-mentioned current operation object feedback data packet is complete, according to preset upgrading sequence from unselected above-mentioned
Next robot is chosen in robot to be upgraded as next current operation object；
When feedback data packet is complete per capita for each above-mentioned machine to be upgraded, triggers each above-mentioned robot to be upgraded and answer
Upgraded with the data packet received.
With reference to first aspect to one kind in second of possible embodiment of first aspect, the embodiment of the present invention provides
The third possible embodiment of first aspect, wherein the above method further includes：
Upgrading is sent to each above-mentioned robot to be upgraded complete detection instruction one by one；
It receives each above-mentioned robot to be upgraded and response is finished according to the upgrading that above-mentioned upgrading completion detection instruction generates.
Second aspect, the embodiment of the present invention additionally provide a kind of remote server, which includes：
Determining module, the type for executing task according to robot determine current robot to be upgraded；
List sending module, for sending the type with above-mentioned execution task to determining each above-mentioned robot to be upgraded
Corresponding upgrading data packet list；Wherein, above-mentioned upgrading data packet list includes the mark of each upgrading data packet；
Packet sending module, for choosing a robot one by one from each above-mentioned robot to be upgraded as current
Operation object obtains the package identification of above-mentioned current operation object missing, is sent to all above-mentioned robots to be upgraded above-mentioned
The corresponding data packet of package identification of current operation object missing；
Upgrade trigger module, for when above-mentioned current operation object feedback data packet is complete, from unselected above-mentioned
Next robot is chosen in robot to be upgraded, when feedback data packet is complete per capita for each above-mentioned machine to be upgraded, is touched
The data packet sent out above-mentioned robot application to be upgraded each and received is upgraded.
In conjunction with second aspect, an embodiment of the present invention provides the first possible embodiments of second aspect, wherein on
Stating packet sending module includes：
Instruction sending unit is checked, for referring to the above-mentioned current operation object transmission data packet integrity checking of selection
It enables；
Repeat-back receiving unit, for receiving above-mentioned current operation object according to above-mentioned upgrading data packet list lookup institute
The repeat-back that the data packet lacked generates；
Determination unit is identified, the package identification for that will include in above-metioned instruction response is as above-mentioned current operation object
The package identification of missing.
In conjunction with second aspect, an embodiment of the present invention provides second of possible embodiments of second aspect, wherein on
Stating upgrading trigger module includes：
Robot selection unit is used for when above-mentioned current operation object feedback data packet is complete, according to preset upgrading
Sequence chooses next robot as next current operation object from unselected above-mentioned robot to be upgraded；
Upgrade trigger element, for when feedback data packet is complete per capita for each above-mentioned machine to be upgraded, triggering to be each
The data packet that above-mentioned robot application to be upgraded receives is upgraded.
In conjunction with second aspect to second aspect second of possible embodiment in one kind, the embodiment of the present invention provide
The third possible embodiment of second aspect, wherein above-mentioned remote server further includes：
Instruction sending module is detected, detection instruction is completed for sending upgrading to each above-mentioned robot to be upgraded one by one；
Upgrading finishes response receiving module, completes to detect according to above-mentioned upgrading for receiving each above-mentioned robot to be upgraded
The upgrading that instruction generates finishes response.
The third aspect, the embodiment of the present invention additionally provide a kind of system of robot remote upgrading, which includes：It is multiple
Robot to be upgraded and above-mentioned remote server, wherein above-mentioned remote server by radio communication mode with it is above-mentioned multiple
Robot connection to be upgraded.
In conjunction with the third aspect, an embodiment of the present invention provides the first possible embodiments of the third aspect, wherein more
A above-mentioned robot to be upgraded, the above-mentioned upgrading data packet list sent for receiving above-mentioned remote server, according to above-mentioned liter
Level data the package list sends the package identification of missing to above-mentioned server；Receive the data packet that above-mentioned remote server is sent；
When receiving the upgrade command that above-mentioned remote server is sent, upgraded using the data packet received.
In the method, system and remote server of robot remote provided in an embodiment of the present invention upgrading, by long-range
Robot upgrading is controlled, first, the package identification that the robot chosen in robot to be upgraded is lacked is obtained, to this
Robot to be upgraded sends data packet corresponding with the package identification of the missing, and is sending number to the robot to be upgraded
When according to packet, while identical data packet is sent to remaining unselected robot to be upgraded, it is then, to be upgraded to what is be selected
Completely whether inquiry instructs robot transmission data packet, when the robot feedback data packet to be upgraded being selected is complete, then
Next robot is chosen from unselected robot to be upgraded, until feedback data packet is complete per capita for each machine to be upgraded
When whole, trigger the data packet that each robot application to be upgraded receives and upgraded, what is be selected in this way when first waits rising
When grade robot feedback data packet is complete, remaining unselected robot to be upgraded only lacks due to network exception etc. not
The data packet received, thus when the robot feedback data packet to be upgraded that is selected when first is complete, remaining is unselected
Robot lacking in data packet it is fewer, without sending identical data packet respectively to multiple robots to be upgraded, only to
Unselected robot to be upgraded sends the data packet not received due to network exception etc., improves to multiple
The updating speed of robot, may be implemented quickly, the application program in multiple robots is upgraded and is safeguarded in time.
To enable the above objects, features and advantages of the present invention to be clearer and more comprehensible, preferred embodiment cited below particularly, and coordinate
Appended attached drawing, is described in detail below.
Description of the drawings
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below will be to needed in the embodiment attached
Figure is briefly described, it should be understood that the following drawings illustrates only certain embodiments of the present invention, therefore is not construed as pair
The restriction of range for those of ordinary skill in the art without creative efforts, can also be according to this
A little attached drawings obtain other relevant attached drawings.
Fig. 1 shows a kind of flow diagram of the method for robot remote upgrading that the embodiment of the present invention is provided；
Fig. 2 shows a kind of structural schematic diagrams for remote server that the embodiment of the present invention is provided；
Fig. 3 shows a kind of structural schematic diagram of the system for robot remote upgrading that the embodiment of the present invention is provided.
Specific implementation mode
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
Middle attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is only
It is a part of the embodiment of the present invention, instead of all the embodiments.The present invention being usually described and illustrated herein in the accompanying drawings is real
Applying the component of example can be arranged and designed with a variety of different configurations.Therefore, below to provide in the accompanying drawings the present invention
The detailed description of embodiment is not intended to limit the range of claimed invention, but is merely representative of the selected reality of the present invention
Apply example.Based on the embodiment of the present invention, the institute that those skilled in the art are obtained without making creative work
There is other embodiment, shall fall within the protection scope of the present invention.
It, can not in view of robot upgrading mode presence upgrading efficiency in the related technology is low, the big problem of upgrade job amount
Realization is quick, the application program in robot is upgraded and safeguarded in time.Based on this, an embodiment of the present invention provides one
Method, system and the remote server of kind robot remote upgrading, are described below by embodiment.
As shown in Figure 1, an embodiment of the present invention provides a kind of method of robot remote upgrading, the method comprising the steps of
S102-S108, it is specific as follows：
Step S102：The type that task is executed according to robot determines current robot to be upgraded；Wherein, above-mentioned machine
The type that people executes task can be the transport of express mail, can also be the classification of express mail, the robot of different processes is held
The type of row task is different, needs the data packet upgraded different, in embodiment provided by the invention, by the type for the task that executes
Identical multiple robots carry out upgrade job together.
Step S104：Liter corresponding with the above-mentioned type of execution task is sent to determining each above-mentioned robot to be upgraded
Level data the package list；Wherein, above-mentioned upgrading data packet list includes the mark of each upgrading data packet；
Step S106：A robot is chosen one by one from each above-mentioned robot to be upgraded as current operation object,
The package identification for obtaining above-mentioned current operation object missing sends above-mentioned current operation pair to all above-mentioned robots to be upgraded
As the corresponding data packet of the package identification of missing；
Wherein, the package identification of above-mentioned current operation object missing refers to the robot to be upgraded that is selected according to reception
To upgrading data packet list in each upgrading data packet mark determine lacking in mark corresponding to data packet, so
Afterwards, mark of the robot to be upgraded being selected corresponding to data packet lacking in determining is made to remote server
Corresponding response；Wherein, inspection result be data packet it is imperfect can be the robot to be upgraded that is selected without this data packet,
Can be that the robot to be upgraded being selected has in this data packet but existing data packet without this data packet and lacks partial data
Information.
Step S108：When above-mentioned current operation object feedback data packet is complete, from unselected above-mentioned machine to be upgraded
Next robot is chosen in device people, when feedback data packet is complete per capita for each above-mentioned machine to be upgraded, is triggered on each
The data packet that robot application to be upgraded receives is stated to be upgraded.
In the method for robot remote provided in an embodiment of the present invention upgrading, upgraded by remote control robot, it is first
First, the package identification that the robot chosen in robot to be upgraded is lacked is obtained, is sent to the robot to be upgraded
Data packet corresponding with the package identification of the missing, and when to the robot transmission data packet to be upgraded, at the same to its
Remaining unselected robot to be upgraded sends identical data packet, then, to the robot transmission data to be upgraded being selected
Completely whether inquiry instructs packet, is waited for when the robot feedback data packet to be upgraded being selected is complete, then from unselected
Next robot is chosen in upgraded machine people, when feedback data packet is complete per capita for each machine to be upgraded, triggering is each
The data packet that robot application to be upgraded receives is upgraded, the robot feedback coefficient to be upgraded being selected in this way when first
When according to wrapping complete, remaining unselected robot to be upgraded only lacks the data not received due to network exception etc.
Packet, thus when the robot feedback data packet to be upgraded that is selected when first is complete, remaining unselected robot lacks
Few data packet is fewer, without sending identical data packet respectively to multiple robots to be upgraded, is only waited for unselected
Upgraded machine human hair send the data packet not received due to network exception etc., improves the upgrading to multiple robots
Speed, may be implemented quickly, the application program in multiple robots is upgraded and is safeguarded in time.
Further, the package identification of above-mentioned acquisition current operation object missing includes：
It is instructed to the above-mentioned current operation object transmission data packet integrity checking of selection；
Receive the finger that above-mentioned current operation object is generated according to data packet lacking in above-mentioned upgrading data packet list lookup
Enable response；
The package identification that the package identification for including in above-metioned instruction response is lacked as above-mentioned current operation object.
Further, above-mentioned when current operation object feedback data packet is complete, from unselected above-mentioned machine to be upgraded
Next robot is chosen in device people, when feedback data packet is complete per capita for each above-mentioned machine to be upgraded, is triggered on each
The data packet that robot application to be upgraded receives is stated to be upgraded, including：
When above-mentioned current operation object feedback data packet is complete, according to preset upgrading sequence from unselected above-mentioned
Next robot is chosen in robot to be upgraded as next current operation object；
When feedback data packet is complete per capita for each above-mentioned machine to be upgraded, triggers each above-mentioned robot to be upgraded and answer
Upgraded with the data packet received.
Wherein, when the robot feedback data packet to be upgraded being selected when first is complete, remaining is unselected to wait rising
Grade robot only lacks the data packet not received due to network exception etc., thus when first machine to be upgraded being selected
When device people's feedback data packet is complete, data packet lacking in remaining unselected robot is fewer, without waiting rising to multiple
Grade robot sends identical data packet respectively, is only sent due to network exception etc. to unselected robot to be upgraded
The data packet not received.
In order to further confirm that whether each robot upgrading to be upgraded is completed, it is based on this, the above method further includes：
Upgrading is sent to each above-mentioned robot to be upgraded complete detection instruction one by one；
It receives each above-mentioned robot to be upgraded and response is finished according to the upgrading that above-mentioned upgrading completion detection instruction generates.
In embodiment provided by the invention, upgraded by remote control robot, first, is obtained in robot to be upgraded
The package identification that the robot chosen is lacked sends the package identification pair with the missing to the robot to be upgraded
The data packet answered, and when to the robot transmission data packet to be upgraded, while to remaining unselected machine to be upgraded
Human hair send identical data packet, and then, to the robot transmission data packet to be upgraded being selected, completely whether inquiry instructs, when
When the robot feedback data packet to be upgraded being selected is complete, then next machine is chosen from unselected robot to be upgraded
Device people triggers what each robot application to be upgraded received when feedback data packet is complete per capita for each machine to be upgraded
Data packet is upgraded, and when the robot feedback data packet to be upgraded being selected in this way when first is complete, remaining is unselected
Robot to be upgraded only lack the data packet not received due to network is abnormal etc., thus what is be selected when first waits for
When upgraded machine people's feedback data packet is complete, data packet lacking in remaining unselected robot is fewer, without to more
A robot to be upgraded sends identical data packet respectively, is only sent to unselected robot to be upgraded due to network exception
Etc. the data packet that does not receive of reasons, improve the updating speed to multiple robots, may be implemented quickly, it is right in time
Application program in multiple robots is upgraded and is safeguarded；Further, to each machine human hair to be upgraded after triggering upgrading
Upgrading is sent to complete detection instruction, it is ensured that all smoothly upgrading is completed for each robot to be upgraded.
In addition, in embodiment provided by the invention, multiple robots to be upgraded can be received simultaneously in remote server
When response, when the robot to be upgraded that first is selected is as current operation object, it can be realized by the way that program is arranged remote
The response for the robot to be upgraded that journey server is only selected to first responds, which is directed to each machine to be upgraded
Human hair send the corresponding data packet of package identification that current operation object lacks, and is directed to remaining unselected machine to be upgraded
The response of people does not respond temporarily, but creates the response content of remaining unselected robot to be upgraded of list records, as rear
The foundation of the second robot to be upgraded of continuous selection.
Specifically, sending the corresponding data packet of package identification that current operation object lacks to all robots to be upgraded
Later, further include：
Response time is created for the unselected robot to be upgraded of remaining in addition to current operation object with response to believe
Cease list；
In the response time of establishment and response message list, the data of remaining unselected robot to be upgraded are recorded
The response time and response message of packet integrity checking repeat-back.
Further, when the current operation object feedback data packet is complete, from the unselected machine to be upgraded
Next robot is chosen in device people, is specifically included：
After reception current operation object feedback data packet is complete, in above-mentioned response time and response message list, search
Lack the robot to be upgraded of data packet；
It is determined according to lookup result and above-mentioned lacks the mark of data packet lacking in the robot to be upgraded of data packet and institute
The quantity of the data packet lacked；
Lack the robot to be upgraded of data packet above-mentioned, selects the machine to be upgraded of the quantity of lacked data packet at most
Device people is as next current operation object.
Wherein, the above-mentioned mark for lacking data packet lacking in the robot to be upgraded of data packet is determined according to lookup result
The quantity of data packet, specifically includes with lacking in：
In the response time of the above-mentioned robot to be upgraded for lacking data packet and response message list, each lack is checked
Response message corresponding to the newest response time of the robot to be upgraded of data packet；
Each mark for lacking data packet lacking in the robot to be upgraded of data packet is determined according to above-mentioned response message
The quantity of data packet with lacking in.
As shown in Fig. 2, the embodiment of the present invention additionally provides a kind of remote server, which includes：
Determining module 202, the type for executing task according to robot determine current robot to be upgraded；
List sending module 204, for being sent and above-mentioned execution task to determining each above-mentioned robot to be upgraded
The corresponding upgrading data packet list of type；Wherein, above-mentioned upgrading data packet list includes the mark of each upgrading data packet；
Packet sending module 206, for choosing a robot conduct one by one from each above-mentioned robot to be upgraded
Current operation object obtains the package identification of above-mentioned current operation object missing, is sent to all above-mentioned robots to be upgraded
The corresponding data packet of package identification of above-mentioned current operation object missing；
Upgrade trigger module 208, for when above-mentioned current operation object feedback data packet is complete, from unselected upper
It states and chooses next robot in robot to be upgraded, when feedback data packet is complete per capita for each above-mentioned machine to be upgraded,
The data packet that each above-mentioned robot application to be upgraded receives is triggered to be upgraded.
Further, above-mentioned packet sending module 206 includes：
Instruction sending unit is checked, for referring to the above-mentioned current operation object transmission data packet integrity checking of selection
It enables；
Repeat-back receiving unit, for receiving above-mentioned current operation object according to above-mentioned upgrading data packet list lookup institute
The repeat-back that the data packet lacked generates；
Determination unit is identified, the package identification for that will include in above-metioned instruction response is as above-mentioned current operation object
The package identification of missing.
Further, above-mentioned upgrading trigger module 208 includes：
Robot selection unit is used for when above-mentioned current operation object feedback data packet is complete, according to preset upgrading
Sequence chooses next robot as next current operation object from unselected above-mentioned robot to be upgraded；
Upgrade trigger element, for when feedback data packet is complete per capita for each above-mentioned machine to be upgraded, triggering to be each
The data packet that above-mentioned robot application to be upgraded receives is upgraded.
Further, above-mentioned remote server further includes：
Instruction sending module is detected, detection instruction is completed for sending upgrading to each above-mentioned robot to be upgraded one by one；
Upgrading finishes response receiving module, completes to detect according to above-mentioned upgrading for receiving each above-mentioned robot to be upgraded
The upgrading that instruction generates finishes response.
As shown in figure 3, the embodiment of the present invention additionally provides a kind of system of robot remote upgrading, which includes：It is more
A robot to be upgraded 32 and above-mentioned remote server 31, wherein above-mentioned remote server 31 by radio communication mode with
Above-mentioned multiple robots 32 to be upgraded connect.
Wherein, above-mentioned multiple above-mentioned robots 32 to be upgraded, the above-mentioned liter for receiving the transmission of above-mentioned remote server 31
Level data the package list sends the package identification of missing according to above-mentioned upgrading data packet list to above-mentioned remote server 31；It connects
Receive the data packet of the transmission of above-mentioned remote server 31；When receiving the upgrade command of the transmission of above-mentioned remote server 31, application
The data packet received is upgraded.
Based on above-mentioned analysis it is found that in robot remote upgrade-system provided in an embodiment of the present invention and remote server 31
In, upgraded by remote control robot, first, obtains the data that the robot chosen in robot to be upgraded is lacked
Packet mark sends data packet corresponding with the package identification of the missing to the robot to be upgraded, and to be upgraded to this
When robot transmission data packet, while identical data packet is sent to remaining unselected robot to be upgraded, then, to quilt
Completely whether inquiry instructs the robot transmission data packet to be upgraded chosen, when the robot feedback data to be upgraded being selected
When wrapping complete, then next robot is chosen from unselected robot to be upgraded, until each machine to be upgraded per capita
When feedback data packet is complete, triggers the data packet that each robot application to be upgraded receives and upgraded, in this way when first
When the robot feedback data packet to be upgraded being selected is complete, remaining unselected robot to be upgraded only lacks due to network
The data packet that the reasons such as abnormal do not receive, thus when the robot feedback data packet to be upgraded that is selected when first is complete,
Data packet lacking in remaining unselected robot is fewer, identical without being sent respectively to multiple robots to be upgraded
Data packet only sends the data packet not received due to network exception etc. to unselected robot to be upgraded,
The updating speed to multiple robots is improved, may be implemented quickly, in time to carry out the application program in multiple robots
Upgrading and maintenance；Further, upgrading is sent to each robot to be upgraded complete detection instruction after triggering upgrading, it is ensured that
All smoothly upgrading is completed for each robot to be upgraded.
The modules that the embodiment of the present invention is provided can be equipment on specific hardware or be installed in equipment
Software or firmware etc..The technique effect of the remote server that the embodiment of the present invention is provided, realization principle and generation and aforementioned
Embodiment of the method is identical, and to briefly describe, remote server embodiment part does not refer to place, can refer to preceding method embodiment
Middle corresponding contents.It is apparent to those skilled in the art that for convenience and simplicity of description, foregoing description is
The specific work process of system, module and unit can refer to the corresponding process in above method embodiment, no longer superfluous herein
It states.
In embodiment provided by the present invention, it should be understood that the module in disclosed remote server and method, it can
To realize by another way.Remote server embodiment described above is only schematical, for example, the unit
Division, only a kind of division of logic function, formula that in actual implementation, there may be another division manner, in another example, multiple units
Or component can be combined or can be integrated into another system, or some features can be ignored or not executed.Another point, institute
Display or the mutual coupling, direct-coupling or communication connection discussed can be by some communication interfaces, module or list
The INDIRECT COUPLING of member or communication connection can be electrical, machinery or other forms.
The unit illustrated as separating component may or may not be physically separated, aobvious as unit
The component shown may or may not be physical unit, you can be located at a place, or may be distributed over multiple
In network element.Some or all of unit therein can be selected according to the actual needs to realize the mesh of this embodiment scheme
's.
In addition, each functional unit in embodiment provided by the invention can be integrated in a processing unit, also may be used
It, can also be during two or more units be integrated in one unit to be that each unit physically exists alone.
It, can be with if the function is realized in the form of SFU software functional unit and when sold or used as an independent product
It is stored in a computer read/write memory medium.Based on this understanding, technical scheme of the present invention is substantially in other words
The part of the part that contributes to existing technology or the technical solution can be expressed in the form of software products, the meter
Calculation machine software product is stored in a storage medium, including some instructions are used so that a computer equipment (can be
People's computer, server or network equipment etc.) it performs all or part of the steps of the method described in the various embodiments of the present invention.
And storage medium above-mentioned includes：USB flash disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), arbitrary access are deposited
The various media that can store program code such as reservoir (RAM, Random Access Memory), magnetic disc or CD.
It should be noted that：Similar label and letter indicate similar terms in following attached drawing, therefore, once a certain Xiang Yi
It is defined, then it further need not be defined and explained in subsequent attached drawing in a attached drawing, in addition, term " the
One ", " second ", " third " etc. are only used for distinguishing description, are not understood to indicate or imply relative importance.
Finally it should be noted that：Embodiment described above, only specific implementation mode of the invention, to illustrate the present invention
Technical solution, rather than its limitations, scope of protection of the present invention is not limited thereto, although with reference to the foregoing embodiments to this hair
It is bright to be described in detail, it will be understood by those of ordinary skill in the art that：Any one skilled in the art
In the technical scope disclosed by the present invention, it can still modify to the technical solution recorded in previous embodiment or can be light
It is readily conceivable that variation or equivalent replacement of some of the technical features；And these modifications, variation or replacement, do not make
The essence of corresponding technical solution is detached from the spirit and scope of technical solution of the embodiment of the present invention.The protection in the present invention should all be covered
Within the scope of.Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. a kind of method of robot remote upgrading, which is characterized in that the method includes：
The type that task is executed according to robot determines current robot to be upgraded；
Upgrading data packet list corresponding with the type of execution task is sent to determining each robot to be upgraded；
Wherein, the upgrading data packet list includes the mark of each upgrading data packet；
A robot is chosen one by one from each robot to be upgraded as current operation object, obtains the current behaviour
The package identification for making object missing sends data corresponding with the package identification of the missing to the current operation object
Packet, while sending identical data packet to remaining unselected described robot to be upgraded；
When the current operation object feedback data packet is complete, chosen from the unselected robot to be upgraded next
A robot triggers each robot to be upgraded when feedback data packet is complete per capita for each machine to be upgraded
Upgraded using the data packet received.
2. the method for robot remote upgrading according to claim 1, which is characterized in that described to obtain the current operation
The package identification of object missing, including：
It is instructed to the current operation object transmission data packet integrity checking of selection；
The current operation object is received to be answered according to the instruction that data packet lacking in the upgrading data packet list lookup generates
It answers；
The package identification that the package identification for including in described instruction response is lacked as the current operation object.
3. the method for robot remote upgrading according to claim 1, which is characterized in that described to work as the current operation pair
When complete as feedback data packet, next robot is chosen from the unselected robot to be upgraded, until each institute
When stating machine to be upgraded feedback data packet be complete per capita, trigger data packet that each robot application to be upgraded receives into
Row upgrading, including：
When the current operation object feedback data packet is complete, wait rising described in unselected according to preset upgrading sequence
Next robot is chosen as next current operation object in grade robot；
When feedback data packet is complete per capita for each machine to be upgraded, triggers each robot application to be upgraded and connect
The data packet received is upgraded.
4. the method upgraded according to claim 1-3 any one of them robot remotes, which is characterized in that the method is also wrapped
It includes：
Upgrading is sent to each robot to be upgraded complete detection instruction one by one；
It receives each robot to be upgraded and response is finished according to the upgrading that the upgrading completion detection instruction generates.
5. a kind of remote server, which is characterized in that the remote server includes：
Determining module, the type for executing task according to robot determine current robot to be upgraded；
List sending module, it is corresponding with the type of execution task for being sent to determining each robot to be upgraded
Upgrading data packet list；Wherein, the upgrading data packet list includes the mark of each upgrading data packet；
Packet sending module, for choosing a robot one by one as current operation from each robot to be upgraded
Object obtains the package identification of the current operation object missing, is sent and the missing to the current operation object
The corresponding data packet of package identification, while sending identical data packet to remaining unselected described robot to be upgraded；
Upgrade trigger module, for when the current operation object feedback data packet is complete, waits rising described in unselected
Next robot is chosen in grade robot, when feedback data packet is complete per capita for each machine to be upgraded, triggering is each
The data packet that a robot application to be upgraded receives is upgraded.
6. remote server according to claim 5, which is characterized in that the packet sending module includes：
Instruction sending unit is checked, for being instructed to the current operation object transmission data packet integrity checking of selection；
Repeat-back receiving unit is lacked for receiving the current operation object according to the upgrading data packet list lookup
Data packet generate repeat-back；
Determination unit is identified, the package identification for that will include in described instruction response is lacked as the current operation object
Package identification.
7. remote server according to claim 5, which is characterized in that the upgrading trigger module includes：
Robot selection unit is used for when the current operation object feedback data packet is complete, according to preset upgrading sequence
Next robot is chosen from the unselected robot to be upgraded as next current operation object；
Upgrade trigger element, it is each described for when feedback data packet is complete per capita for each machine to be upgraded, triggering
The data packet that robot application to be upgraded receives is upgraded.
8. according to claim 5-7 any one of them remote servers, which is characterized in that the remote server further includes：
Instruction sending module is detected, detection instruction is completed for sending upgrading to each robot to be upgraded one by one；
Upgrading finishes response receiving module, and detection instruction is completed according to the upgrading for receiving each robot to be upgraded
The upgrading of generation finishes response.
9. a kind of system of robot remote upgrading, which is characterized in that the system comprises：Multiple robots to be upgraded and such as power
Profit requires the remote server described in 5-8 any one, wherein the remote server by radio communication mode with it is described more
A robot connection to be upgraded.
10. the system of robot remote upgrading according to claim 9, which is characterized in that multiple machines to be upgraded
People, the upgrading data packet list sent for receiving the remote server, according to the upgrading data packet list to institute
State the package identification that remote server sends missing；Receive the data packet that the remote server is sent；It is described when receiving
When the upgrade command that remote server is sent, upgraded using the data packet received.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106346481A (en) * | 2016-11-17 | 2017-01-25 | 北京光年无限科技有限公司 | Intelligent robot system for achieving configuration information transplanting and information transplant method |
| CN108469959B (en) * | 2017-02-20 | 2023-08-01 | 西安理邦科学仪器有限公司 | Firmware upgrading method and device of monitoring equipment |
| CN109976779B (en) * | 2017-12-27 | 2022-04-15 | 深圳市优必选科技有限公司 | Robot software online upgrade release method, device, equipment and storage medium |
| CN108958773A (en) * | 2018-07-10 | 2018-12-07 | 北京贞宇科技有限公司 | intelligent robot |
| CN108932133A (en) * | 2018-07-13 | 2018-12-04 | 四川超影科技有限公司 | A kind of remote upgrade method based on intelligent inspection robot main body system |
| CN110941439A (en) * | 2018-09-25 | 2020-03-31 | 杭州字符串科技有限公司 | Software updating method for automatic sorting machine |
| CN109445806B (en) * | 2018-12-20 | 2022-05-06 | 歌尔科技有限公司 | Ble-based multi-device upgrading method, device, system and terminal |
| CN111381842A (en) * | 2018-12-27 | 2020-07-07 | 深圳市优必选科技有限公司 | Robot upgrading method, electronic equipment and server |
| CN116319312A (en) * | 2022-09-07 | 2023-06-23 | 海南乾唐视联信息技术有限公司 | Terminal upgrading method and device, communication device and storage medium |
| CN117170703A (en) * | 2023-08-08 | 2023-12-05 | 北京唯得科技有限公司 | Upgrading method and system for remote unit software of 5G MIMO frequency shift system |
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