CN106796666A - Robot control apparatus, method, system and computer program product - Google Patents
Robot control apparatus, method, system and computer program product Download PDFInfo
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- CN106796666A CN106796666A CN201680002658.3A CN201680002658A CN106796666A CN 106796666 A CN106796666 A CN 106796666A CN 201680002658 A CN201680002658 A CN 201680002658A CN 106796666 A CN106796666 A CN 106796666A
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- robot
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06N—COMPUTING ARRANGEMENTS BASED ON SPECIFIC COMPUTATIONAL MODELS
- G06N3/00—Computing arrangements based on biological models
- G06N3/004—Artificial life, i.e. computing arrangements simulating life
- G06N3/008—Artificial life, i.e. computing arrangements simulating life based on physical entities controlled by simulated intelligence so as to replicate intelligent life forms, e.g. based on robots replicating pets or humans in their appearance or behaviour
Abstract
The embodiment of the application discloses a robot control device, a method, a system and a computer program product. Wherein, the device includes: a maternal cloud brain module and a daughter cloud brain module; the parent cloud brain module is used for providing a preset general function for the remote robot at a parent server; the daughter cloud brain module is used for providing preset basic functions for the remote robot at the daughter server; the general function includes the basic function; the apparatus also includes a control module to select, at the control device, a server serving the remote robot from the parent server and the child server according to a set policy. The technical scheme provided by the embodiment of the application can better protect the safety of the parent cloud brain, thereby ensuring the stability of the robot control system.
Description
【Technical field】
The application is related to robot control field, more particularly to a kind of robot controller, method, system and calculating
Machine program product.
【Background technology】
At present, in the more and more fiery artificial intelligence epoch, cloud brain concept is suggested, and cloud machine is occurred in that thereupon
People, cloud robot is cloud computing and the combination of robotics, and cloud robot typically uses terminal machine human body and cloud brain mould
The mode that block is combined.Terminal machine human body is mainly responsible for being interacted with user and surrounding enviroment, and cloud brain module is mainly born
Blame complicated Intelligent treatment.This cloud robot is difficult when solving traditional robot calculating low with storage capacity, complex communication
The problems such as management.
Inventor has found that correlation technique has problems with during the application is realized：Due to all of robot
Body is all controlled by parent cloud brain, and when any severely subnormal occurs in parent cloud brain, the function of all robot bodies is all
To be affected, and most functions will all be stagnated, this not only compromises the interests of client, also compromises developer's simultaneously
Interests.However, also parent cloud brain can be effectively protected without a kind of suitable method.
【The content of the invention】
The embodiment of the present application is mainly solving the technical problems that provide a kind of robot controller, method, system and meter
Calculation machine program product, is mainly used to solve the problems, such as control the parent cloud brain of robot to be more easily damaged in correlation technique.
In order to solve the above technical problems, the technical scheme that the embodiment of the present application is used is：A kind of robot control is provided
Device processed, including：Parent cloud brain module and daughter cloud brain module；The parent cloud brain module is used in parent server
Place, default general utility functions is provided to tele-robotic；The daughter cloud brain module is used at daughter server, to described
Tele-robotic provides default basic function, and the general utility functions includes the basic function；The device also includes control mould
Block, at control device, selection to be described from the parent server and the daughter server according to setting strategy
The server of tele-robotic service.
In order to solve the above technical problems, another technical scheme that the embodiment of the present application is used is：A kind of robot is provided
Control method, including：At parent server, default general utility functions is provided to tele-robotic；
At daughter server, default basic function is provided to the tele-robotic；
At control device, according to setting strategy, selection is described from the parent server and the daughter server
The server of tele-robotic service.
In order to solve the above technical problems, another technical scheme that the embodiment of the present application is used is：A kind of robot is provided
Control system, including：Parent server, daughter server and control device；
The parent server include the first communications module, first memory and coupled to first communications module and
The first processor of first memory, the first memory is stored with the instruction repertorie that can be performed by the first processor,
The instruction repertorie is performed by the first processor, so that the first processor is able to carry out in device as described above in institute
State the step of being performed at parent server；
The daughter server include the second communications module, second memory and coupled to second communications module and
The second processing device of second memory, the second memory be stored with can by the second processing device perform instruction repertorie,
The instruction repertorie is performed by the second processing device, so that the second processing device is able to carry out in device as described above in institute
State the step of being performed at daughter server；
The control device includes third communication module, the 3rd memory and coupled to the third communication module and the
3rd processor of three memories, the 3rd memory storage has can be by the instruction repertorie of the 3rd computing device, institute
Instruction repertorie is stated by the 3rd computing device, so that the 3rd processor is able to carry out in device as described above described
The step of being performed at control device；
Wherein, the first communications module of the parent server, the second communications module of the daughter server be and institute
The third communication module for stating control device is connected；The parent server is isolated with the daughter server logic.
In order to solve the above technical problems, another technical scheme that the embodiment of the present application is used is：A kind of computer is provided
Program product, the computer program product includes computer journey of the storage on non-volatile computer readable storage medium storing program for executing
Sequence, the computer program includes programmed instruction, when described program instruction is computer-executed, the computer is performed such as
Upper described method.
The embodiment of the present application provides a kind of robot controller, method, system and computer program product, is different from
The situation of prior art, in the embodiment of the present application, will control the cloud brain of robot to be divided, and be divided into parent cloud brain
With daughter cloud brain, parent cloud brain has default general utility functions, all of robot can be controlled, and daughter cloud is big
Brain has default basic function, and can all robots be carried out with some basic controls, and parent cloud brain is big with daughter cloud
Between brain logic isolation and the two control robot can mutually switch, by this division, can preferably protect mother
The safety of body cloud brain, ensures that the stability of the robot control system.
【Brief description of the drawings】
One or more embodiments are illustrative by the picture in corresponding accompanying drawing, these exemplary theorys
The bright restriction not constituted to embodiment, the element with same reference numbers label is expressed as similar element in accompanying drawing, removes
It is non-to have especially statement, the figure not composition limitation in accompanying drawing.
Fig. 1 is a kind of structural representation of robot controller that the embodiment of the present application is provided；
Fig. 2 is a kind of structural representation of robot controller that another embodiment of the application is provided；
Fig. 3 is a kind of schematic flow sheet of robot control method that the embodiment of the present application is provided；
Fig. 4 is a kind of schematic flow sheet of robot control method that another embodiment of the application is provided；
Fig. 5 is a kind of schematic flow sheet of robot control method that the another embodiment of the application is provided；
Fig. 6 is a kind of structural representation of robot control system that the embodiment of the present application is provided.
【Specific embodiment】
In order that the object, technical solution and advantage of the application become more apparent, it is right below in conjunction with drawings and Examples
The application is further elaborated.It should be appreciated that specific embodiment described herein is only used to explain the application, not
For limiting the application.
Traditional robot when positioning immediately and the task such as map structuring, article crawl, location navigation is performed, mass data
Acquisition and the execution of calculating huge storage can be in itself brought to robot and pressure is calculated.Based on this, Ka Naijimeilong is big
Learn the concept for proposing " cloud robot " first in 2010.Cloud robot is cloud computing and the combination of robotics, as
Other network terminals are the same, and robot need not store all data informations or possess superpower computing capability in itself, simply exist
Associated server can be connected when needs and information needed is obtained.Compared with traditional robot, cloud robot has stronger
Storage and computing capability, and learning ability is stronger, and shared resource is more convenient between robot, reduces developer's repetition
Working time.
Cloud robot is " brain is beyond the clouds ", i.e. cloud brain, and robot distribution resource, machine are dynamically calculated as by cloud brain
Device people is by the result after Network Capture treatment.Under normal circumstances, the robot of all connections is controlled by a cloud brain, it is false
The quantity of robot control such as cloud brain is million grades, when cloud brain appearance is any abnormal, is not only influenced whether
The function of all robots and to user and operator bring greatly loss.Therefore, emphasis is needed in the deployment of cloud brain
Consider the problem of stability and security, the present age for particularly being developed rapidly in internet, the effect of security is even more important.
Based on above-mentioned consideration, the embodiment of the present application provides a kind of robot controller.Fig. 1 is robot control dress
The structural representation put, as shown in figure 1, the device 200 includes：Parent cloud brain module 210, daughter cloud brain module 220 with
And control module 230, wherein, daughter cloud brain module 220 quantitatively comprises at least one.
In the present embodiment, logic isolation between the parent cloud brain module 210 and daughter cloud brain module 220, so-called
Logic isolation is that both have physically data channel line, but ensures that both no data segregate are led to by technological means
Road, can just transmit data only when system is required.Carried out by by parent cloud brain module and daughter cloud brain module
Logic isolation, it is ensured that interference-free each other between parent cloud brain module and daughter cloud brain module, when one of them is subjected to
The normal of another is not interfered with during attack to use, and the stability of system is ensure that on the whole yet.
The parent cloud brain module 210 is used at parent server, and default general utility functions is provided to tele-robotic,
The parent server can be a server, or server cluster, and that it is included is that all robots can be used, should
The corresponding application interface of general utility functions, so that the parent cloud brain module 210 can be controlled according to the default general utility functions
The tele-robotic of its connection.Wherein, the general utility functions is referred in the system of the control robot, by parent cloud brain
When module 210 controls the robot, the function that the robot can be performed all, the function that the whole is performed includes：Clothes
Business inquiry (such as flight inquiring, weather lookup, tourism inquiry, map inquiry etc.)；Automatically control and repeat programming, have multiple
The free degree, can fix or move (such as the robot used in automated system)；It is dynamic that learning functionality and automatically repetition are learned
Work energy；Speech recognition and speech understanding function；Image identification function；Environment adaptive functions；Amusement function (for example sing,
Dance etc.)；Microoperation function (such as Medical Robot)；Military function etc..
It should be noted that the function of all performing is to pre-set function in the system, can basis
The feature such as the service field of the robot of system control increases or deletes function.
The daughter cloud brain module 220 is used at daughter server, and default basis is provided to the tele-robotic
Function, the daughter server can be a server, or server cluster, and it includes all robots and can use
, the corresponding application interface of the basic function so that the daughter cloud brain module 220 can be according to the default basic function
The tele-robotic for controlling it to connect.Wherein, the basic function is referred in the system of the control robot, by daughter cloud
When brain module 220 controls the robot, some basic operations that the robot is able to carry out, for example, advance, after
Move back, turn left, turning right, stopping, capturing object, sending sound etc..
It is understood that the robot of the parent cloud brain module 210 control be able to carry out it is complete under the system
Portion's function, i.e., described general utility functions includes the basic function.
In some alternative embodiments of the application, the daughter cloud brain module 220 also has default exclusive function, son
The robot according to the default exclusive function control of body cloud brain module 220 performs the corresponding operation of the exclusive function,
The default exclusive function is some functions of exclusive customization in order to meet the demand of certain colony client, and vastless to other
The function that robot is opened, the exclusive function is specifically determined by customer demand, not limited herein.
For example, being the guiding function of the exclusive setting of blind person customer group, can be added in a certain daughter cloud brain module
The cloud service application of the guiding function, so as to control corresponding robot by the daughter cloud brain module, to help user's guide.
For example, being the function of accompanying and attending to of the exclusive setting of old man customer group, the function of accompanying and attending to includes carrying out amusement friendship with old man
Mutually, there is fortuitous event alarm etc. in old man, and the cloud service of the function of accompanying and attending to can be added in a certain daughter cloud brain module
Using so as to control corresponding robot by the daughter cloud brain module, with old man colony of accompanying and attending to.
The control module 230, at control device, according to setting strategy from the parent server and the daughter
Selection is the server of tele-robotic service in server, and as described tele-robotic distributes suitable server,
Specifically distribution parent server still distributes daughter server by default strategy to determine, can be whole remote machines
People distributes parent server, it is also possible to part distribution parent server, part (such as providing the robot of exclusive function services)
Distribution daughter server.Provided that parent server gives the tele-robotic, then the tele-robotic is by parent cloud brain
Control, that is, be able to carry out default general utility functions；Provided that daughter server gives the tele-robotic, the then remote machine
People is controlled by daughter cloud brain, that is, be able to carry out default basic function.
In the present embodiment, the parent cloud brain module 210 and daughter cloud brain module 220 are disposed in virtual form
Beyond the clouds.For example, some virtual private clounds (Virtual Private Cloud, VPC) can be disposed in network beyond the clouds, draw
Point one or part VPC networks configure the cloud service application of repertoire as the parent cloud brain module, remaining
VPC networks can individually be divided according to robot industry or function, such as family's nursing robot, patrol robot, reception
Robot etc., the difference of basic function as needed divides corresponding daughter cloud brain module, and install basic cloud service
Using whole VPC networks constitute a robot controller.Wherein, logic isolation between the VPC networks of division, can be with
Logic isolation is carried out by the way of sandbox, the VPC of each division, can not interface channel between sandbox in a sandbox.
Sandbox is a kind of performing environment according to security strategy limiting program behavior, and the parent cloud brain module and daughter cloud that will be divided are big
Brain module is placed in sandbox the security that can improve the system.The control module 230 can as one of software or
Person's hardware function units, independent deployment is on the control device, it is also possible to used as the one of work(being incorporated into control device
Energy module, to selection is the tele-robotic from the parent server and the daughter server according to setting strategy
The server of service, wherein, the control device can be the electronic equipments such as computer.
The embodiment of the present application provides a kind of robot controller, and the device enters the cloud brain of traditional cloud robot
Division is gone, has been divided into parent cloud and daughter cloud two parts, and be the parent cloud function different with the configuration of daughter cloud, by this
Divide, on the one hand, ensure that the stability and security of system on the whole, on the other hand, can better meet client needs
Ask, the system for customizing different control robots improves Consumer's Experience.
In certain embodiments, the parent cloud brain module 210 is additionally operable to provide popularity high to the tele-robotic
The corresponding function of demand for services.Wherein, the popularity demand for services high is the demand that numerous clients are intended to provide, and is user
To user's request quantity highest demand for services in all demands for services of the robot, the popularity demand for services high should area
The primary demand of other client, can combine the implementation environment of customer demand and robot to evaluate the popularity demand for services high,
For example, sweeping robot also has special function etc. in addition to the floor sweeping function for possessing indispensability, it is also possible to prevalence unit at that time
The popularity demand for services high is usually evaluated, for example, making the robot play acute function of current hot broadcast etc. automatically.
After determining the popularity demand for services high, the corresponding cloud service of the popularity demand for services high is installed in parent cloud brain module should
With.
Further, the daughter cloud brain module 220 is also used for providing the popularity clothes high to the tele-robotic
The corresponding function of business demand.When the corresponding function of this in parent cloud brain module popularity demand for services high is destroyed
When, can by current robot switch to by daughter cloud brain module control so that, by back up function make robot after
It is continuous to perform corresponding operation.At the same time, malfunction elimination, parent cloud brain module recovery can be carried out to parent cloud brain module
The parent cloud brain module is switched back into again after normal.
It should be noted that in addition to being backed up to the popularity demand for services high, can also be to some of client
Special demands or some important needs are backed up, and the demand backed up in daughter cloud brain module can be added, deleted.
In the present embodiment, it is standby by being carried out to some critical functions of parent cloud brain module in daughter cloud brain module
Part, on the one hand, the stability of the plant running is ensure that, makes robot be unlikely to be directly entered inoperable state, it is another
Aspect, a time for buffering is provided to repair parent cloud brain module, enables the device to smooth recovery to normal shape
State, improves Consumer's Experience.
In certain embodiments, as shown in Fig. 2 the robot controller is with the difference of Fig. 1, the control mould
Block 230 also includes monitoring unit and switch unit.The monitoring unit connects parent cloud brain module and switch unit, institute respectively
State switch unit and connect the parent cloud brain module 210 and the daughter cloud brain module 220 respectively.
Wherein, the monitoring unit is used to monitor the robot of the parent cloud brain module control；The switch unit
For when the robot that the parent cloud brain module is controlled is in abnormality, switching the parent cloud brain module control
Robot to the daughter cloud brain module, the robot is controlled by the daughter cloud brain module.
Wherein, when the robot that parent cloud brain module is controlled being switched into daughter cloud brain module, can be according to described
The robot that the parent cloud brain module is controlled is switched to the corresponding daughter of the service object by the service object of robot
Cloud brain module.For example, the robot is family's humanoid robot, then the robot can be switched to control family type machine
Under the daughter cloud brain module of people；The robot is amusement humanoid robot, then the robot can be switched into control amusement
Under the daughter cloud brain module of humanoid robot, etc..It should be noted that the daughter cloud brain module includes multiple, and per height
Body cloud brain module possesses different basic functions respectively according to the difference of service object.By the setting of this handover operation,
Make the robot adaptability switched under daughter cloud brain module stronger, so as to preferably perform fundamental operation.
Additionally, the monitoring unit is additionally operable to monitor the parent cloud brain module 210 and the daughter cloud brain module
The robot of control, the switch unit is used to recover normal and described mother when the robot of daughter cloud brain module control
When body cloud brain module is normal condition, the robot that the switching daughter cloud brain module is controlled to the parent cloud brain mould
Block, the robot is controlled by the parent cloud brain module.Herein, whole system each several part is carried out entirely by monitoring unit
Face monitors, and timely will then revert to normal robot and switches back under parent cloud brain module 210, allows the robot to as soon as possible
Continue to play its function of possessing, can reduction system loss as far as possible, lifting Consumer's Experience.
Wherein, while the robot of abnormal conditions is switched, the system is analyzed to the abnormal conditions of robot,
It is abnormal to determine, and determine whether parent cloud brain module suffers from destruction, the system is according to the abnormal results pair event for determining
Barrier is repaired automatically, or by manually being repaired to the exception, specific restorative procedure has Jie in the related art
Continue, do not limit herein.
Wherein, the abnormality includes：The robot transmits a large amount of abnormal flows, example to the parent cloud brain
Such as, attacked by DDos/CC, it is continual to send a large amount of junk datas to parent cloud brain module, cause parent cloud brain mould
Block network congestion causes refusal service phenomenon to server.The abnormality also includes：The robot is when default
It is interior to utilize parent cloud brain module described in illegal cipher key access, for example, parent cloud described in unauthorized use is big in a period of time
The cloud service function of brain module.The abnormality also includes：The robot carries wooden horse or virus document accesses the mother
Body cloud brain module；And, it is the access of ARP deceptive practices, the ARP deceptions during parent cloud brain described in the bot access
Behavior is a kind of assault means, is divided into the deception to router ARP table and the gateway deception to Intranet PC, and the former is to pass through
Intercept and capture gateway data to realize, the latter is realized by forging gateway.The abnormal conditions also include other situations, herein not one by one
Enumerate.
The embodiment of the present application provides a kind of robot controller, divides parent cloud brain module and daughter cloud brain mould
After block, the device monitors the robot of the parent cloud brain module control by the monitoring unit of control module, works as appearance
When abnormal, the robot that parent cloud brain module is controlled is switched into daughter cloud brain module by the switch unit of control module
Under.The technical scheme can reduce the probability that parent cloud brain module is attacked, and improve the safety and stability of system.
Fig. 3 is refer to, Fig. 3 is a kind of schematic flow sheet of robot control method that the embodiment of the present application is provided.Such as Fig. 3
Shown, methods described includes：
Step 31, at parent server, provide default general utility functions to tele-robotic；
Step 32, at daughter server, provide default basic function to the tele-robotic；
Step 33, at control device, according to setting strategy from the parent server and the daughter server select
It is selected as the server of the tele-robotic service.
What deserves to be explained is, the content performed by above method step, because the device embodiment with the application is based on together
One design, particular content can be found in the narration in the application device embodiment, and here is omitted.
The embodiment of the present application provides a kind of robot control method, and the method enters the cloud brain of traditional cloud robot
Division is gone, has been divided into parent cloud and daughter cloud two parts, the parent cloud and daughter cloud have been applied in parent server and son respectively
On body server, and different functions are configured on parent server and daughter server, to provide clothes to tele-robotic
Business.By this division, on the one hand, ensure that the stability and security of system on the whole, on the other hand, can be more preferable
Meet customer need, customize different robot control systems, improve Consumer's Experience.
Fig. 4 is refer to, Fig. 4 is a kind of schematic flow sheet of robot control method that another embodiment of the application is provided.
The embodiment of the present application is that methods described also includes with the difference of above method embodiment：
Step 34, the corresponding work(of popularity demand for services high is set in the parent server and the daughter server
Energy；Wherein, the popularity demand for services high is that user exceedes setting to user's request quantity in the demand for services of the robot
The demand for services of value.
What deserves to be explained is, the content performed by above method step, because the system embodiment with the application is based on together
One design, particular content can be found in the narration in the application system embodiment, and here is omitted.
In the present embodiment, popularity demand for services high is set by the parent server and the daughter server
Corresponding function, on the one hand, ensure that the stability of the plant running, makes robot be unlikely to be directly entered inoperable shape
State, on the other hand, the time for buffering is provided to repair parent server, enables the device to smooth recovery to normal
State, improves Consumer's Experience.
Fig. 5 is refer to, Fig. 5 is a kind of schematic flow sheet of robot control method that the another embodiment of the application is provided.
The embodiment of the present application is with the difference of above method embodiment, described at control device, according to setting strategy from the mother
Select to include for the server of the tele-robotic service in body server and the daughter server：
Step 331, the robot to parent server connection are monitored.
Step 332, when the robot for detecting parent server connection is in abnormality, switch the parent
The robot of server connection is to the daughter server, the robot as described in the daughter server controls.
Step 333, the robot to the parent server and daughter server connection are monitored.
Step 334, when the robot for detecting daughter server connection recovers normal and described parent server it is
During normal condition, switch the robot of the daughter server connection to the parent server, by the parent server control
Make the robot.
Wherein, robot to the daughter server of the switching parent server connection is specifically included：According to
The robot that the parent server is connected is switched to the corresponding daughter of the service object by the service object of the robot
Server.
Wherein, the abnormality includes：The robot transmits a large amount of abnormal flows to the parent cloud brain；It is described
Robot utilizes parent cloud brain described in illegal cipher key access in Preset Time；The robot carries wooden horse or virus document
Access the parent cloud brain；During parent cloud brain it is the access of ARP deceptive practices described in the bot access.
What deserves to be explained is, the content performed by above method step, because the device embodiment with the application is based on together
One design, particular content can be found in the narration in the application device embodiment, and here is omitted.
The embodiment of the present application provides a kind of robot control method, after dividing parent cloud brain and daughter cloud brain, should
Method is monitored to the robot that the parent cloud brain is controlled, when occurring abnormal, the machine that parent cloud brain is controlled
People is switched under daughter cloud brain.The technical scheme can reduce the probability that the big capsules of brain of parent cloud is attacked, and improve the peace of system
Full property and stability.
Fig. 6 is refer to, Fig. 6 is a kind of structural representation of robot control system that the embodiment of the present application is provided.This is
System 300 includes：Parent server 310, daughter server 320 and control device 330.
The parent server 310 includes：First communications module, first memory and coupled to first communications module
With the first processor of first memory.In certain embodiments, it can also include：First input unit and the first output dress
Put.
First processor, first memory, the first input unit and the first output device can by bus or other
Mode is connected.
First memory can be used to store non-volatile software journey as a kind of non-volatile computer readable storage medium storing program for executing
Sequence, non-volatile computer executable program and module, such as corresponding journey of the robot control method in the embodiment of the present application
Sequence instruction/module (for example, the parent cloud brain module 210 shown in accompanying drawing 1).First processor is deposited by running storage first
Non-volatile software program in reservoir, instruction and module, thus perform parent server 310 various function application and
Data processing, above method embodiment robot control method is realized by the first communications module.
First memory can include storing program area and storage data field, wherein, storing program area can store operation system
Application program required for system, at least one function；Storage data field can be stored and created according to using for data forwarding device
Data etc..Additionally, first memory can include high-speed random access memory, nonvolatile memory can also be included,
For example, at least one disk memory, flush memory device or other non-volatile solid state memory parts.In certain embodiments,
First memory is optional including the memory remotely located relative to first processor, and these remote memories can be by network
It is connected to robot controller.The example of above-mentioned network includes but is not limited to internet, intranet, LAN, movement
Communication network and combinations thereof.
First input unit can receive the numeral or character information of input, and produce the user with robot controller
Set and the relevant key signals of function control are input into.First output device may include the display devices such as display screen.It is one
Or multiple module storages are in the first memory, when being performed by the first processor, so that first treatment
Device is able to carry out the step of being performed at the parent server 310 in above method embodiment.
The daughter server 320 includes：Second communications module, second memory and coupled to second communications module
With the second processing device of second memory.In certain embodiments, it can also include：Secondary input device and the second output dress
Put.
Second processing device, second memory, secondary input device and the second output device can by bus or other
Mode is connected.
Second memory can be used to store non-volatile software journey as a kind of non-volatile computer readable storage medium storing program for executing
Sequence, non-volatile computer executable program and module, such as corresponding journey of the robot control method in the embodiment of the present application
Sequence instruction/module (for example, the daughter cloud brain module 220 shown in accompanying drawing 1).Second processing device is deposited by running storage second
Non-volatile software program in reservoir, instruction and module, thus perform daughter server 320 various function application and
Data processing, above method embodiment robot control method is realized by the second communications module.
Second memory can include storing program area and storage data field, wherein, storing program area can store operation system
Application program required for system, at least one function；Storage data field can be stored and created according to using for data forwarding device
Data etc..Additionally, second memory can include high-speed random access memory, nonvolatile memory can also be included,
For example, at least one disk memory, flush memory device or other non-volatile solid state memory parts.In certain embodiments,
Second memory is optional including the memory remotely located relative to second processing device, and these remote memories can be by network
It is connected to robot controller.The example of above-mentioned network includes but is not limited to internet, intranet, LAN, movement
Communication network and combinations thereof.
Secondary input device can receive the numeral or character information of input, and produce the user with robot controller
Set and the relevant key signals of function control are input into.Second output device may include the display devices such as display screen.It is one
Or multiple module storages are in the second memory, when being performed by the second processing device, so that the second processing
Device is able to carry out the step of being performed at the daughter server 320 in above method embodiment.
The control device 330 includes：Third communication module, the 3rd memory and coupled to the third communication module and
3rd processor of the 3rd memory.In certain embodiments, it can also include：3rd input unit and the 3rd output dress
Put.
3rd processor, the 3rd memory, the 3rd input unit and the 3rd output device can by bus or other
Mode is connected.
3rd memory can be used to store non-volatile software journey as a kind of non-volatile computer readable storage medium storing program for executing
Sequence, non-volatile computer executable program and module, such as corresponding journey of the robot control method in the embodiment of the present application
Sequence instruction/module (for example, the control module 230 shown in accompanying drawing 1).3rd processor is stored in the 3rd memory by running
Non-volatile software program, instruction and module, so as to perform at the various function application and data of control device 330
Reason, above method embodiment robot control method is realized by third communication module.
3rd memory can include storing program area and storage data field, wherein, storing program area can store operation system
Application program required for system, at least one function；Storage data field can be stored and created according to using for data forwarding device
Data etc..Additionally, the 3rd memory can include high-speed random access memory, nonvolatile memory can also be included,
For example, at least one disk memory, flush memory device or other non-volatile solid state memory parts.In certain embodiments,
3rd memory is optional including the memory remotely located relative to the 3rd processor, and these remote memories can be by network
It is connected to robot controller.The example of above-mentioned network includes but is not limited to internet, intranet, LAN, movement
Communication network and combinations thereof.
3rd input unit can receive the numeral or character information of input, and produce the user with robot controller
Set and the relevant key signals of function control are input into.3rd output device may include the display devices such as display screen.It is one
Or multiple module storages are in the 3rd memory, when by three computing device, so that the 3rd treatment
Device is able to carry out the step of being performed at the control device 330 in above method embodiment.
In the present embodiment, the second communication mould of the first communications module of the parent server 310, daughter server 320
Group is connected with the third communication module of the control device 330；The parent server 310 is patrolled with the daughter server 320
Collect isolation.
Finally it should be noted that：Above example is only used to illustrate the technical scheme of the application, rather than its limitations；At this
Under the thinking of application, can also be combined between the technical characteristic in above example or different embodiment, step can be with
Realized with random order, and there are many other changes of the different aspect of the application as described above, for simplicity, they do not have
Have and provided in details；Although being described in detail to the application with reference to the foregoing embodiments, the ordinary skill people of this area
Member should be understood：It can still modify to the technical scheme described in foregoing embodiments, or to which part skill
Art feature carries out equivalent；And these modifications or replacement, the essence of appropriate technical solution is departed from each reality of the application
Apply the scope of a technical scheme.
Claims (14)
1. a kind of robot controller, it is characterised in that including：
Parent cloud brain module and daughter cloud brain module；
The parent cloud brain module is used at parent server, and default general utility functions is provided to tele-robotic；It is described
Daughter cloud brain module is used at daughter server, and default basic function is provided to the tele-robotic；It is described general
Function includes the basic function；
Also include：
Control module, at control device, according to setting strategy from the parent server and the daughter server
It is the server of tele-robotic service to select.
2. device according to claim 1, it is characterised in that the parent cloud brain module and the daughter cloud brain mould
Block is also used to provide popularity demand for services high corresponding function to the tele-robotic, wherein, the popularity service high is needed
User's request quantity in the demand for services for user to the robot is asked to exceed the demand for services of setting value.
3. device according to claim 1, it is characterised in that the control module is specifically included：
Monitoring unit and switch unit,
The monitoring unit is used to monitor the robot of the parent cloud brain module control；The switch unit is used for when described
When the robot of parent cloud brain module control is in abnormality, switch the robot of the parent cloud brain module control extremely
The daughter cloud brain module, the robot is controlled by the daughter cloud brain module.
4. device according to claim 3, it is characterised in that the monitoring unit is additionally operable to monitor the parent cloud brain
Module and the robot of daughter cloud brain module control,
The switch unit is used to recover normal and described parent cloud brain when the robot of daughter cloud brain module control
When module is normal condition, switch the robot of the daughter cloud brain module control to the parent cloud brain module, by institute
State parent cloud brain module and control the robot.
5. device according to claim 3, it is characterised in that the machine of the switching parent cloud brain module control
People is specifically included to the daughter cloud brain module：
It is right that the robot that the parent cloud brain module is controlled is switched to the service by the service object according to the robot
As corresponding daughter cloud brain module.
6. the device according to any one of claim 3 to 5, it is characterised in that the abnormality includes：
The robot is to a large amount of abnormal flows of the parent cloud brain module transfer；Or
The robot utilizes parent cloud brain module described in illegal cipher key access in Preset Time；Or
The robot carries wooden horse or virus document accesses the parent cloud brain module；Or
During parent cloud brain module it is the access of ARP deceptive practices described in the bot access.
7. a kind of robot control method, it is characterised in that including：
At parent server, default general utility functions is provided to tele-robotic；
At daughter server, default basic function is provided to the tele-robotic；
At control device, according to setting strategy, selection is described long-range from the parent server and the daughter server
The server of robot service.
8. method according to claim 7, it is characterised in that methods described also includes：
The corresponding function of popularity demand for services high is set in the parent server and the daughter server；Wherein, it is described
Popularity demand for services high is the demand for services that user exceedes setting value to user's request quantity in the demand for services of the robot.
9. method according to claim 7, it is characterised in that described at control device, according to setting strategy from described
Select to include for the server of the tele-robotic service in parent server and the daughter server：
Robot to parent server connection is monitored；
When the robot for detecting the parent server connection is in abnormality, switch the parent server connection
Robot is to the daughter server, the robot as described in the daughter server controls.
10. method according to claim 9, it is characterised in that methods described also includes：
The robot that the parent server and the daughter server are connected is monitored；
When it is normal condition that the robot for detecting the daughter server connection recovers normal and described parent server, cut
Change the robot of daughter server connection to the parent server, the robot as described in the parent server controls.
11. methods according to claim 9, it is characterised in that the robot of the switching parent server connection
Specifically included to the daughter server：
The robot that the parent server is connected is switched to the service object couple by the service object according to the robot
The daughter server answered.
12. method according to any one of claim 9 to 11, it is characterised in that the abnormality includes：
The robot transmits a large amount of abnormal flows to the parent cloud brain；Or
The robot utilizes parent cloud brain described in illegal cipher key access in Preset Time；Or
The robot carries wooden horse or virus document accesses the parent cloud brain；Or
During parent cloud brain it is the access of ARP deceptive practices described in the bot access.
13. a kind of computer program products, it is characterised in that the computer program product includes storage in non-volatile calculating
Computer program on machine readable storage medium storing program for executing, the computer program includes programmed instruction, when described program instruction is calculated
When machine is performed, the computer is set to perform the method as described in any one of claim 7 to 12.
A kind of 14. robot control systems, it is characterised in that including：Parent server, daughter server and control device；
The parent server includes the first communications module, first memory and coupled to first communications module and first
The first processor of memory, the first memory is stored with the instruction repertorie that can be performed by the first processor, described
Instruction repertorie is performed by the first processor so that the first processor be able to carry out as in claim 1-6 described
The step of being performed at parent server；
The daughter server includes the second communications module, second memory and coupled to second communications module and second
The second processing device of memory, the second memory be stored with can by the second processing device perform instruction repertorie, it is described
Instruction repertorie is performed by the second processing device so that the second processing device be able to carry out as in claim 1-6 described
The step of being performed at daughter server；
The control device includes third communication module, the 3rd memory and is deposited coupled to the third communication module and the 3rd
3rd processor of reservoir, the 3rd memory storage has can be by the instruction repertorie of the 3rd computing device, the finger
Program is made by the 3rd computing device so that the 3rd processor be able to carry out as in claim 1-6 in the control
The step of being performed at control equipment；
Wherein, the first communications module of the parent server, the second communications module of the daughter server with the control
The third communication module of control equipment is connected；The parent server is isolated with the daughter server logic.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2016/113646 WO2018120079A1 (en) | 2016-12-30 | 2016-12-30 | Robot control device, method, system and computer program product |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106796666A true CN106796666A (en) | 2017-05-31 |
| CN106796666B CN106796666B (en) | 2019-05-07 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201680002658.3A Active CN106796666B (en) | 2016-12-30 | 2016-12-30 | Robot control device, method and system |
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| Country | Link |
|---|---|
| CN (1) | CN106796666B (en) |
| WO (1) | WO2018120079A1 (en) |
Cited By (1)
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| CN113922964A (en) * | 2021-09-29 | 2022-01-11 | 北京来也网络科技有限公司 | Robot function processing method, device, equipment and medium based on RPA and AI |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115225681A (en) * | 2021-09-23 | 2022-10-21 | 达闼科技（北京）有限公司 | Multi-robot cooperation method, electronic device, cloud server and storage medium |
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Also Published As
| Publication number | Publication date |
|---|---|
| WO2018120079A1 (en) | 2018-07-05 |
| CN106796666B (en) | 2019-05-07 |
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Effective date of registration: 20210128 Address after: 200000 second floor, building 2, no.1508, Kunyang Road, Minhang District, Shanghai Patentee after: Dalu Robot Co.,Ltd. Address before: 518000 Room 201, building A, No. 1, Qian Wan Road, Qianhai Shenzhen Hong Kong cooperation zone, Shenzhen, Guangdong (Shenzhen Qianhai business secretary Co., Ltd.) Patentee before: Shenzhen Qianhaida Yunyun Intelligent Technology Co.,Ltd. |
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