CN106796666B - Robot control device, method and system - Google Patents
Robot control device, method and system Download PDFInfo
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- CN106796666B CN106796666B CN201680002658.3A CN201680002658A CN106796666B CN 106796666 B CN106796666 B CN 106796666B CN 201680002658 A CN201680002658 A CN 201680002658A CN 106796666 B CN106796666 B CN 106796666B
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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]
This application involves robot control fields, more particularly to a kind of robot controller, method and system.
[background technique]
Currently, cloud brain concept is suggested in the more and more fiery artificial intelligence epoch, occurs cloud machine thereupon
People, cloud robot are cloud computing and the combination of robotics, and cloud robot generally uses terminal machine human body and cloud brain mould
The mode that block combines.Terminal machine human body is mainly responsible for the interaction with user and surrounding enviroment, and cloud brain module is mainly born
Blame complicated Intelligent treatment.This cloud robot is not easy when solving traditional robot calculating low with storage capacity, complex communication
The problems such as management.
During realizing the application, discovery the relevant technologies have the following problems inventor: due to all robots
Ontology 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
It will be affected, and most functions will all be stagnated, this not only compromises the interests of client, also compromises developer's simultaneously
Interests.However, parent cloud brain can be effectively protected in a kind of suitable method not yet.
[summary of the invention]
The embodiment of the present application is main mainly solving the technical problems that provide a kind of robot controller, method and system
It will be to solve the problems, such as that the parent cloud brain for controlling robot in the related technology is more easily damaged.
In order to solve the above technical problems, the technical solution that the embodiment of the present application uses is: providing a kind of robot control
Device processed, comprising: parent cloud brain module and daughter cloud brain module；The parent cloud brain module is used in parent server
Place provides preset general utility functions to tele-robotic；The daughter cloud brain module is used for the Xiang Suoshu at daughter server
Tele-robotic provides preset basic function, and the general utility functions includes the basic function；The device further includes control mould
Block, for being selected as from the parent server and the daughter server according to setting strategy described at control equipment
The server of tele-robotic service.
In order to solve the above technical problems, another technical solution that the embodiment of the present application uses is: providing a kind of robot
Control method, comprising: at parent server, provide preset general function to tele-robotic by parent cloud brain module
Energy；The general utility functions includes the basic function；
At daughter server, preset basic function is provided to the tele-robotic by daughter cloud brain module；
At control equipment, it is selected as from the parent server and the daughter server according to setting strategy described
The server of tele-robotic service.
In order to solve the above technical problems, another technical solution that the embodiment of the present application uses is: providing a kind of robot
Control system, comprising: parent server, daughter server and control equipment；
The parent server include the first communications module, first memory and be coupled to first communications module and
The first processor of first memory, the first memory are stored with the instruction repertorie that can be executed by the first processor,
Described instruction program is executed 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 executing at parent server；
The daughter server include the second communications module, second memory and be coupled to second communications module and
The second processor of second memory, the second memory are stored with the instruction repertorie that can be executed by the second processor,
Described instruction program is executed by the second processor, so that the second processor is able to carry out in device as described above in institute
State the step of executing at daughter server；
The control equipment includes third communication mould group, third memory and is coupled to the third communication mould group and
The third processor of three memories, the third memory are stored with the instruction repertorie that can be executed by the third processor, institute
It states instruction repertorie to be executed by the third processor, so that the third processor is able to carry out in device as described above described
Control the step of executing at equipment；
Wherein, the first communications module of the parent server, the second communications module of the daughter server be and institute
The third communication mould group for stating control equipment is connected；The parent server is isolated with the daughter server logic.
In order to solve the above technical problems, another technical solution that the embodiment of the present application uses is: providing a kind of non-volatile
Property computer readable storage medium, it is described including the computer program being stored on non-volatile computer readable storage medium storing program for executing
Computer program includes program instruction, when described program instruction is computer-executed, executes the computer as described above
Method.
The embodiment of the present application provides a kind of robot controller, method and system, is in contrast to the prior art,
In the embodiment of the present application, the cloud brain for controlling robot is divided, is divided into parent cloud brain and daughter cloud brain, it is female
Body cloud brain has preset general utility functions, can control all robots, and daughter cloud brain has preset base
Plinth function can carry out some basic controls, logic isolation between parent cloud brain and daughter cloud brain to all robots
And the robot of the two control can mutually switch, and by this division, can preferably protect the safety of parent cloud brain,
Ensure that the stability of the robot control system.
[Detailed description of the invention]
One or more embodiments are illustrated by the picture in corresponding attached drawing, these exemplary theorys
The bright restriction not constituted to embodiment, the element in attached drawing with same reference numbers label are expressed as similar element, remove
Non- to have special statement, composition does not limit the figure in attached drawing.
Fig. 1 is a kind of structural schematic diagram of robot controller provided by the embodiments of the present application；
Fig. 2 is a kind of structural schematic diagram for robot controller that another embodiment of the application provides；
Fig. 3 is a kind of flow diagram of robot control method provided by the embodiments of the present application；
Fig. 4 is a kind of flow diagram for robot control method that another embodiment of the application provides；
Fig. 5 is a kind of flow diagram for robot control method that the another embodiment of the application provides；
Fig. 6 is a kind of structural schematic diagram of robot control system provided by the embodiments of the present application.
[specific embodiment]
It is with reference to the accompanying drawings and embodiments, right in order to which the objects, technical solutions and advantages of the application are more clearly understood
The application is further elaborated.It should be appreciated that specific embodiment described herein is only to explain the application, not
For limiting the application.
Traditional robot is when executing the tasks such as positioning and map structuring, article crawl, location navigation immediately, mass data
Acquisition and calculating execution can be brought to robot itself it is huge storage and calculating pressure.Based on this, Ka Naijimeilong is big
Learn the concept that " cloud robot " has been put forward for the first time in 2010.Cloud robot is cloud computing and the combination of robotics, as
Other network terminals are the same, and robot itself does not need to store all data informations or has superpower computing capability, only exist
It can connect associated server when needs and obtain information needed.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, is dynamically calculated as robot distribution resource, machine by cloud brain
Device people obtains treated result by network.Under normal conditions, the robot of all connections is controlled by a cloud brain, it is false
If the quantity of the robot of cloud brain control is million grades, when the cloud brain occurs any abnormal, not only influence whether
The function of all robots and great loss is brought to user and operator.Therefore, emphasis is needed in the deployment of cloud brain
Consider the problems of stability and safety, especially in the present age of internet rapid development, the effect of safety 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 schematic diagram set, as shown in Figure 1, the device 200 include: parent cloud brain module 210, daughter cloud brain module 220 with
And control module 230, wherein daughter cloud brain module 220 quantitatively contains at least one.
In the present embodiment, logic isolation between the parent cloud brain module 210 and daughter cloud brain module 220 is so-called
Logic isolation is that the two has physically data channel line, but guarantees that segregate the two is logical without data by technological means
Road only can just transmit data when system is required.By the way that parent cloud brain module and daughter cloud brain module are carried out
Logic isolation, it is ensured that it is interference-free each other between parent cloud brain module and daughter cloud brain module, when one of them by
The normal use that another will not be influenced when attack, ensure that the stability of system on the whole.
The parent cloud brain module 210 is used at parent server, provides preset general utility functions to tele-robotic,
The parent server can be a server, be also possible to server cluster, it is being able to use it includes all robots, should
The corresponding application interface of general utility functions, so that the parent cloud brain module 210 be enable to be controlled according to the preset general utility functions
Its tele-robotic connected.Wherein, which refers in the system of the control robot, by parent cloud brain
When module 210 controls the robot, the function that the robot can be executed all, the function of all executing includes: clothes
Business inquiry (such as flight inquiring, weather lookup, tourism inquiry, map inquiry etc.)；Automatically control and repeatable programming, have it is multiple
Freedom degree can be fixed or be moved (such as robot used in automated system)；Learning functionality and automatic repetition are learned dynamic
Work energy；Speech recognition and speech understanding function；Image identification function；Environment adaptive functions；Amusement function (such as sing,
Dance etc.)；Microoperation function (such as Medical Robot)；Military function etc..
It should be noted that the function of all executing is the function of presetting in the system, it can basis
The features such as the service field of the robot of system control increase or delete function.
The daughter cloud brain module 220 is used at daughter server, and Xiang Suoshu tele-robotic provides preset basis
Function, the daughter server can be a server, be also possible to server cluster, and it includes all robots to be able to use
, the corresponding application interface of the basic function, to enable the daughter cloud brain module 220 according to the preset basic function
Control the tele-robotic of its connection.Wherein, which refers 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
It moves back, turn left, turning right, stopping, grabbing object, make a sound.
It is understood that the robot that the parent cloud brain module 210 controls be able to carry out it is complete under the system
Portion's function, i.e., the described general utility functions include the basic function.
In some alternative embodiments of the application, which also has preset exclusive function, son
The robot according to the preset exclusive function control of body cloud brain module 220 executes the corresponding operation of the exclusive function,
The preset exclusive function is some functions of exclusive customization in order to meet the needs of certain group client, and vastless to other
The open function of robot, the exclusive function specifically determine by customer demand, it is not limited here.
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 that corresponding robot is controlled 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, which 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 that corresponding robot is controlled by the daughter cloud brain module, with old man group of accompanying and attending to.
The control module 230, it is tactful from the parent server and the daughter according to setting for controlling at equipment
The server of the tele-robotic service is selected as in server, the as described tele-robotic distributes suitable server,
Specifically distribution parent server still distributes daughter server by preset strategy to determine, can be whole remote machines
People distributes parent server, can also partially distribute parent server, part (for example providing the robot of exclusive function services)
Distribute daughter server.Provided that parent server gives the tele-robotic, then the tele-robotic is by parent cloud brain
Control, can execute preset general utility functions；Provided that daughter server gives the tele-robotic, the then remote machine
People is controlled by daughter cloud brain, can execute preset 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, several virtual private clouds (Virtual Private Cloud, VPC) can be disposed in network beyond the clouds, draw
Point one or part VPC network configure the cloud service application of repertoire as the parent cloud brain module, remaining
VPC network 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 divide corresponding daughter cloud brain module, and install basic cloud service
Using whole VPC networks forms a robot controller.Wherein, logic isolation between the VPC network 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 of division is big
Brain module is placed on the safety that can be improved the system in sandbox.The control module 230 can be used as one of software or
Person's hardware function units, independent deployment on the control device, can also be used as the one of function being incorporated into control equipment
Energy module, to be selected as the tele-robotic from the parent server and the daughter server according to setting strategy
The server of service, wherein the control equipment can be the electronic equipments such as computer.
The embodiment of the present application provides a kind of robot controller, the device by the cloud brain of traditional cloud robot into
It has gone division, parent cloud and daughter cloud two parts has been divided into, and configure different functions for parent cloud and daughter cloud, by this
It divides, on the one hand, can guarantee the stability and safety of system on the whole, on the other hand, can better meet client needs
It asks, the system for customizing different control robots, the user experience is improved.
In some embodiments, the parent cloud brain module 210 is also used to provide high popularity to the tele-robotic
The corresponding function of demand for services.Wherein, which is intended to the demand being capable of providing, and is user
To the highest demand for services of user demand quantity in all demands for services of the robot, which should area
The primary demand of other client can evaluate the high popularity demand for services in conjunction with the implementation environment of customer demand and robot,
For example, sweeping robot also have the function of outside having indispensable floor sweeping function it is special etc., can also be popular first at that time
The high popularity demand for services is usually evaluated, for example, the robot is made to have the function etc. of playing current hot broadcast play automatically.?
After determining the high popularity demand for services, the corresponding cloud service of the high popularity demand for services is installed in parent cloud brain module and is answered
With.
Further, the daughter cloud brain module 220 is also used for providing the high popularity clothes to the tele-robotic
The corresponding function of business demand.When the corresponding function of the high popularity demand for services in the parent cloud brain module is destroyed
When, current robot can be switched to by daughter cloud brain module control, thus, by the function of backup make robot after
It is continuous to execute 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 other than being backed up to the high popularity demand for services, it 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, be deleted.
In the present embodiment, standby by being carried out in some critical functions of the daughter cloud brain module to parent cloud brain module
Part, on the one hand, the stability for ensuring device operation makes robot be unlikely to be directly entered inoperable state, another
Aspect provides the time of a buffering to repair parent cloud brain module, enables the device to smooth recovery to normal shape
State, the user experience is improved.
In some embodiments, as shown in Fig. 2, the difference of the robot controller and Fig. 1 are, the control mould
Block 230 further includes monitoring unit and switch unit.The monitoring unit is separately connected parent cloud brain module and switch unit, institute
It states switch unit and is separately connected the parent cloud brain module 210 and the daughter cloud brain module 220.
Wherein, the monitoring unit is used to monitor the robot of the parent cloud brain module control；The switch unit
Robot for controlling when the parent cloud brain module is when in an abnormal state, switches the parent cloud brain module control
Robot to the daughter cloud brain module, the robot is controlled by the daughter cloud brain module.
It wherein, can be according to described when the robot that parent cloud brain module controls being switched to daughter cloud brain module
The robot that the parent cloud brain module controls 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 to 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 every height
Body cloud brain module has different basic functions according to the difference of service object respectively.By the setting of this handover operation,
Keep the robot switched under daughter cloud brain module more adaptable, so as to preferably execute fundamental operation.
In addition, the monitoring unit is also used to monitor the parent cloud brain module 210 and the daughter cloud brain module
The robot of control, the switch unit are used to restore the normal and described mother when the robot of daughter cloud brain module control
When body cloud brain module is normal condition, switch the robot of daughter cloud brain module control to the parent cloud brain mould
Block controls the robot by the parent cloud brain module.Herein, whole system each section is carried out by monitoring unit complete
Face monitoring, timely will then revert to normal robot and switches back under parent cloud brain module 210, allow the robot to as soon as possible
Continue to play its function having, reduction system can lose as far as possible, promote user experience.
Wherein, while switching the robot of abnormal conditions, the system analyzes 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 determining abnormal results to event
Barrier is automatically repaired, or by manually repairing to the exception, specific restorative procedure has Jie in the related art
It continues, it is not limited here.
Wherein, to include: the robot transmit a large amount of abnormal flows, example to the parent cloud brain to the abnormality
Such as, it is 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 further include: 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 further include: the robot carries wooden horse or virus document accesses the mother
Body cloud brain module；And the access described in the bot access when parent cloud brain for ARP deceptive practices, ARP deception
Behavior is a kind of hacker attack means, is divided into the deception to router ARP table and cheats to the gateway of Intranet PC, the former is to pass through
It intercepts and captures gateway data to realize, the latter is realized by forging gateway.The abnormal conditions further include other situations, herein not one by one
It enumerates.
The embodiment of the present application provides a kind of robot controller, divides parent cloud brain module and daughter cloud brain mould
After block, which 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 controls is switched into daughter cloud brain module by the switch unit of control module
Under.The technical solution can reduce the probability that parent cloud brain module is attacked, and improve the safety and stability of system.
Referring to FIG. 3, Fig. 3 is a kind of flow diagram of robot control method provided by the embodiments of the present application.Such as Fig. 3
It is shown, which comprises
Step 31, at parent server, provide preset general utility functions to tele-robotic；
Step 32, at daughter server, Xiang Suoshu tele-robotic provides preset basic function；
Step 33 is controlling at equipment, is selected from the parent server and the daughter server according to setting strategy
It is selected as the server of the tele-robotic service.
It is worth noting that content performed by above method step, same due to being based on the Installation practice of the application
One design, particular content can be found in the narration in the application Installation practice, and details are not described herein again.
The embodiment of the present application provides a kind of robot control method, this method by the cloud brain of traditional cloud robot into
It has gone division, has been divided into parent cloud and daughter cloud two parts, the parent cloud and daughter cloud are applied respectively in parent server and son
On body server, and different functions is configured on parent server and daughter server, to provide clothes to tele-robotic
Business.Pass through this division, on the one hand, it can guarantee the stability and safety of system on the whole, it on the other hand, can be better
It meets customer need, customizes different robot control systems, the user experience is improved.
Referring to FIG. 4, Fig. 4 is a kind of flow diagram for robot control method that another embodiment of the application provides.
The difference of the embodiment of the present application and above method embodiment is, the method also includes:
The corresponding function of high popularity demand for services is arranged in step 34 in the parent server and the daughter server
Energy；Wherein, it is more than setting to user demand quantity in the demand for services of the robot that the high popularity demand for services, which is user,
The demand for services of value.
It is worth noting that content performed by above method step, same due to being based on the system embodiment of the application
One design, particular content can be found in the narration in the application system embodiment, and details are not described herein again.
In the present embodiment, by the way that high popularity demand for services is arranged in the parent server and the daughter server
Corresponding function, on the one hand, the stability for ensuring device operation makes robot be unlikely to be directly entered inoperable shape
On the other hand state provides the time of a buffering to repair parent server, enables the device to smooth recovery to normal
State, the user experience is improved.
Referring to FIG. 5, Fig. 5 is a kind of flow diagram for robot control method that the another embodiment of the application provides.
The difference of the embodiment of the present application and above method embodiment is, described at control equipment, tactful from the mother according to setting
The server that the tele-robotic service is selected as in body server and the daughter server includes:
Step 331 is monitored the robot of parent server connection.
Step 332, when the robot for detecting parent server connection it is when in an abnormal state, switch the parent
The robot of server connection controls the robot by the daughter server to the daughter server.
Step 333, the robot connected to the parent server with the daughter server are monitored.
Step 334 is when the robot for detecting daughter server connection restores the normal and described parent server
When 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 specifically includes: according to
The robot that the parent server connects is switched to the corresponding daughter of the service object by the service object of the robot
Server.
Wherein, to include: the robot transmit a large amount of abnormal flows to the parent cloud brain to the abnormality；It is described
Robot utilizes parent cloud brain described in illegal cipher key access within a preset time；The robot carries wooden horse or virus document
Access the parent cloud brain；Access described in the bot access when parent cloud brain for ARP deceptive practices.
It is worth noting that content performed by above method step, same due to being based on the Installation practice of the application
One design, particular content can be found in the narration in the application Installation practice, and details are not described herein again.
The embodiment of the present application provides a kind of robot control method, should after dividing parent cloud brain and daughter cloud brain
The robot that method controls the parent cloud brain is monitored, when occurring abnormal, by the machine of parent cloud brain control
People switches under daughter cloud brain.The technical solution can reduce the probability of the big capsules of brain attack of parent cloud, improve the peace of system
Full property and stability.
Referring to FIG. 6, Fig. 6 is a kind of structural schematic diagram of robot control system provided by the embodiments of the present application.This is
System 300 includes: parent server 310, daughter server 320 and control equipment 330.
The parent server 310 includes: the first communications module, first memory and is coupled to first communications module
With the first processor of first memory.It in some embodiments, can also include: the first input unit and the first output dress
It sets.
First processor, first memory, the first input unit and the first output device can by bus or other
Mode connects.
First memory can be used for storing 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 the corresponding journey of robot control method in the embodiment of the present application
Sequence instruction/module (for example, attached parent cloud brain module 210 shown in FIG. 1).First processor is stored in first by operation and deposits
Non-volatile software program, instruction and module in reservoir, thereby executing parent server 310 various function application and
Data processing realizes above method embodiment robot control method by the first communications module.
First memory may include storing program area and storage data area, wherein storing program area can store operation system
Application program required for system, at least one function；Storage data area can be stored to be created according to using for data forwarding device
Data etc..In addition, first memory may include high-speed random access memory, it can also include nonvolatile memory,
A for example, at least disk memory, flush memory device or other non-volatile solid state memory parts.In some embodiments,
Optional first memory includes the memory remotely located relative to first processor, these remote memories can pass through network
It is connected to robot controller.The example of above-mentioned network includes but is not limited to internet, intranet, local area network, movement
Communication network and combinations thereof.
First input unit can receive the number or character information of input, and generate the user with robot controller
Setting and the related key signals input of function control.First output device may include that display screen etc. shows equipment.It is one
Or multiple modules are stored in the first memory, when being executed by the first processor, so that first processing
Device is able to carry out in above method embodiment the step of executing at the parent server 310.
The daughter server 320 includes: the second communications module, second memory and is coupled to second communications module
With the second processor of second memory.It in some embodiments, can also include: secondary input device and the second output dress
It sets.
Second processor, second memory, secondary input device and the second output device can by bus or other
Mode connects.
Second memory can be used for storing 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 the corresponding journey of robot control method in the embodiment of the present application
Sequence instruction/module (for example, attached daughter cloud brain module 220 shown in FIG. 1).Second processor is stored in second by operation and deposits
Non-volatile software program, instruction and module in reservoir, thereby executing daughter server 320 various function application and
Data processing realizes above method embodiment robot control method by the second communications module.
Second memory may include storing program area and storage data area, wherein storing program area can store operation system
Application program required for system, at least one function；Storage data area can be stored to be created according to using for data forwarding device
Data etc..In addition, second memory may include high-speed random access memory, it can also include nonvolatile memory,
A for example, at least disk memory, flush memory device or other non-volatile solid state memory parts.In some embodiments,
Optional second memory includes the memory remotely located relative to second processor, these remote memories can pass through network
It is connected to robot controller.The example of above-mentioned network includes but is not limited to internet, intranet, local area network, movement
Communication network and combinations thereof.
Secondary input device can receive the number or character information of input, and generate the user with robot controller
Setting and the related key signals input of function control.Second output device may include that display screen etc. shows equipment.It is one
Or multiple modules are stored in the second memory, when being executed by the second processor, so that the second processing
Device is able to carry out in above method embodiment the step of executing at the daughter server 320.
The control equipment 330 include: third communication mould group, third memory and be coupled to the third communication mould group and
The third processor of third memory.It in some embodiments, can also include: third input unit and third output dress
It sets.
Third processor, third memory, third input unit and third output device can by bus or other
Mode connects.
Third memory can be used for storing 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 the corresponding journey of robot control method in the embodiment of the present application
Sequence instruction/module (for example, attached control module 230 shown in FIG. 1).Third processor is stored in third memory by operation
Non-volatile software program, instruction and module, thereby executing control equipment 330 various function application and data at
Reason realizes above method embodiment robot control method by third communication mould group.
Third memory may include storing program area and storage data area, wherein storing program area can store operation system
Application program required for system, at least one function；Storage data area can be stored to be created according to using for data forwarding device
Data etc..In addition, third memory may include high-speed random access memory, it can also include nonvolatile memory,
A for example, at least disk memory, flush memory device or other non-volatile solid state memory parts.In some embodiments,
Optional third memory includes the memory remotely located relative to third processor, these remote memories can pass through network
It is connected to robot controller.The example of above-mentioned network includes but is not limited to internet, intranet, local area network, movement
Communication network and combinations thereof.
Third input unit can receive the number or character information of input, and generate the user with robot controller
Setting and the related key signals input of function control.Third output device may include that display screen etc. shows equipment.It is one
Or multiple modules are stored in the third memory, when being executed by the third processor, so that the third is handled
Device is able to carry out in above method embodiment the step of executing at the control equipment 330.
In the present embodiment, the first communications module of the parent server 310, daughter server 320 second communication mould
Group is connected with the third communication mould group of the control equipment 330；The parent server 310 is patrolled with the daughter server 320
Collect isolation.
Finally, it should be noted that above embodiments are only to illustrate the technical solution of the application, rather than its limitations；At this
It under the thinking of application, can also be combined between the technical characteristic in above embodiments or different embodiment, step can be with
It is realized with random order, and there are many other variations of the different aspect of the application as described above, for simplicity, they do not have
Have and is provided in details；Although the application is described in detail with reference to the foregoing embodiments, the ordinary skill people of this field
Member is it is understood that it is still possible to modify the technical solutions described in the foregoing embodiments, or to part of skill
Art feature is equivalently replaced；And these are modified or replaceed, each reality of the application that it does not separate the essence of the corresponding technical solution
Apply the range of a technical solution.
Claims (14)
1. a kind of robot controller characterized by comprising
Parent cloud brain module and daughter cloud brain module；
The parent cloud brain module is used at parent server, provides preset general utility functions to tele-robotic；It is described
Daughter cloud brain module is used at daughter server, and Xiang Suoshu tele-robotic provides preset basic function；It is described general
Function includes the basic function；
Further include:
Control module, for controlling at equipment, according to setting strategy from the parent server and the daughter server
It is selected as the server of the tele-robotic service.
2. the apparatus according to claim 1, which is characterized in that the parent cloud brain module and the daughter cloud brain mould
Block is also used to provide high popularity demand for services corresponding function to the tele-robotic, wherein the high popularity service needs
Seek the demand for services for user to user demand quantity in the demand for services of the robot more than setting value.
3. the apparatus according to claim 1, which is characterized in that the control module specifically includes:
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
The robot of parent cloud brain module control is when in an abnormal state, switches the robot of the parent cloud brain module control extremely
The daughter cloud brain module controls the robot by the daughter cloud brain module.
4. device according to claim 3, which is characterized in that the monitoring unit is also used to monitor the parent cloud brain
The robot of module and daughter cloud brain module control,
The switch unit is used to restore the 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
It states parent cloud brain module and controls the robot.
5. device according to claim 3, which is characterized in that the machine of the switching parent cloud brain module control
People specifically includes to the daughter cloud brain module:
The robot that the parent cloud brain module controls is switched into the service pair according to the service object of the robot
As corresponding daughter cloud brain module.
6. according to the described in any item devices of claim 3 to 5, which is characterized 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 within a preset time；Or
The robot carries wooden horse or virus document accesses the parent cloud brain module；Or
Access described in the bot access when parent cloud brain module for ARP deceptive practices.
7. a kind of robot control method characterized by comprising
At parent server, preset general utility functions is provided to tele-robotic by parent cloud brain module；It is described general
Function includes basic function；
At daughter server, preset basic function is provided to the tele-robotic by daughter cloud brain module；
At control equipment, it is selected as from the parent server and the daughter server according to setting strategy described long-range
The server of robot service.
8. the method according to the description of claim 7 is characterized in that the method also includes:
The corresponding function of high popularity demand for services is set in the parent server and the daughter server；Wherein, described
High popularity demand for services is the demand for services that user is more than setting value to user demand quantity in the demand for services of the robot.
9. the method according to the description of claim 7 is characterized in that described at control equipment, according to setting strategy from described
The server that the tele-robotic service is selected as in parent server and the daughter server includes:
The robot of parent server connection is monitored；
When the robot for detecting parent server connection is when in an abnormal state, switch the parent server connection
Robot controls the robot by the daughter server to the daughter server.
10. method according to claim 9, which is characterized in that the method also includes:
The robot connected to the parent server with the daughter server is monitored；
When it is normal condition that the robot for detecting the daughter server connection, which restores the normal and described parent server, cut
The robot of the daughter server connection is changed to the parent server, the robot is controlled by the parent server.
11. according to the method described in claim 9, it is characterized in that, the robot of the switching parent server connection
It is specifically included to the daughter server:
The robot that the parent server connects is switched into the service object couple according to the service object of the robot
The daughter server answered.
12. according to the described in any item methods of claim 9 to 11, which is characterized 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 within a preset time；Or
The robot carries wooden horse or virus document accesses the parent cloud brain module；Or
Access described in the bot access when parent cloud brain module for ARP deceptive practices.
13. a kind of non-volatile computer readable storage medium storing program for executing, which is characterized in that including being stored in the non-volatile computer
Computer program on readable storage medium storing program for executing, the computer program include program instruction, when described program is instructed by computer
When execution, the computer is made to execute such as the described in any item methods of claim 7 to 12.
14. a kind of robot control system characterized by comprising parent server, daughter server and control equipment；
The parent server is including the first communications module, first memory and is coupled to first communications module and first
The first processor of memory, the first memory is stored with the instruction repertorie that can be executed by the first processor, described
Instruction repertorie is executed by the first processor so that the first processor be able to carry out as in claim 1-6 described
The step of being executed at parent server；
The daughter server is including the second communications module, second memory and is coupled to second communications module and second
The second processor of memory, the second memory is stored with the instruction repertorie that can be executed by the second processor, described
Instruction repertorie is executed by the second processor so that the second processor be able to carry out as in claim 1-6 described
The step of being executed at daughter server；
The control equipment includes third communication mould group, third memory and is coupled to the third communication mould group and third is deposited
The third processor of reservoir, the third memory are stored with the instruction repertorie that can be executed by the third processor, the finger
Enable program be executed by the third processor so that the third processor be able to carry out as in claim 1-6 in the control
The step of being executed 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 mould group 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 |
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| Publication Number | Publication Date |
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| CN106796666A CN106796666A (en) | 2017-05-31 |
| CN106796666B true 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 |
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| CN (1) | CN106796666B (en) |
| WO (1) | WO2018120079A1 (en) |
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|---|---|---|---|---|
| CN113703800A (en) * | 2020-05-21 | 2021-11-26 | 中兴通讯股份有限公司 | Function remote customization method, device, equipment and storage medium |
| 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 |
| CN113922964B (en) * | 2021-09-29 | 2024-03-12 | 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 |
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| CN105729491A (en) * | 2016-04-01 | 2016-07-06 | 纳恩博（北京）科技有限公司 | Executing method, device and system for robot task |
| CN205610686U (en) * | 2016-03-10 | 2016-09-28 | 山土科技（上海）有限公司 | Mutual service robot of intelligence based on cloud calculates |
| CN106060058A (en) * | 2016-06-16 | 2016-10-26 | 华南理工大学 | Internet-based industrial robot remote control method |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE3244307A1 (en) * | 1982-11-30 | 1984-05-30 | Siemens AG, 1000 Berlin und 8000 München | ROBOT CONTROL |
| KR100636270B1 (en) * | 2005-02-04 | 2006-10-19 | 삼성전자주식회사 | Home network system and control method thereof |
| US20100168914A1 (en) * | 2008-12-29 | 2010-07-01 | Electronics And Telecommunications Research Institute | Diagnosis and management server for multi-kinds robots |
| JP5745695B2 (en) * | 2012-06-07 | 2015-07-08 | 三菱電機株式会社 | Robot controller |
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- 2016-12-30 CN CN201680002658.3A patent/CN106796666B/en active Active
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN205610686U (en) * | 2016-03-10 | 2016-09-28 | 山土科技（上海）有限公司 | Mutual service robot of intelligence based on cloud calculates |
| CN105729491A (en) * | 2016-04-01 | 2016-07-06 | 纳恩博（北京）科技有限公司 | Executing method, device and system for robot task |
| CN106060058A (en) * | 2016-06-16 | 2016-10-26 | 华南理工大学 | Internet-based industrial robot remote control method |
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| Publication number | Publication date |
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| WO2018120079A1 (en) | 2018-07-05 |
| CN106796666A (en) | 2017-05-31 |
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