CN111343255A - Client, intelligent robot and intelligent robot system - Google Patents

Client, intelligent robot and intelligent robot system Download PDF

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Publication number
CN111343255A
CN111343255A CN202010095458.5A CN202010095458A CN111343255A CN 111343255 A CN111343255 A CN 111343255A CN 202010095458 A CN202010095458 A CN 202010095458A CN 111343255 A CN111343255 A CN 111343255A
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China
Prior art keywords
client
intelligent robot
cloud platform
data
interface
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CN202010095458.5A
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Chinese (zh)
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CN111343255B (en
Inventor
赖让斌
陈侃
秦宝星
程昊天
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Shanghai Gaussian Automation Technology Development Co Ltd
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Shanghai Gaussian Automation Technology Development Co Ltd
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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L67/00—Network arrangements or protocols for supporting network services or applications
    • H04L67/01—Protocols
    • H04L67/12—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L67/00—Network arrangements or protocols for supporting network services or applications
    • H04L67/14—Session management
    • H04L67/141—Setup of application sessions
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L67/00—Network arrangements or protocols for supporting network services or applications
    • H04L67/14—Session management
    • H04L67/143—Termination or inactivation of sessions, e.g. event-controlled end of session
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L67/00—Network arrangements or protocols for supporting network services or applications
    • H04L67/14—Session management
    • H04L67/143—Termination or inactivation of sessions, e.g. event-controlled end of session
    • H04L67/145—Termination or inactivation of sessions, e.g. event-controlled end of session avoiding end of session, e.g. keep-alive, heartbeats, resumption message or wake-up for inactive or interrupted session
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L69/00—Network arrangements, protocols or services independent of the application payload and not provided for in the other groups of this subclass
    • H04L69/16—Implementation or adaptation of Internet protocol [IP], of transmission control protocol [TCP] or of user datagram protocol [UDP]
    • H04L69/161—Implementation details of TCP/IP or UDP/IP stack architecture; Specification of modified or new header fields
    • H04L69/162—Implementation details of TCP/IP or UDP/IP stack architecture; Specification of modified or new header fields involving adaptations of sockets based mechanisms
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

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  • Engineering & Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Health & Medical Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Computing Systems (AREA)
  • Medical Informatics (AREA)
  • Cardiology (AREA)
  • Computer Security & Cryptography (AREA)
  • Manipulator (AREA)
  • Hardware Redundancy (AREA)

Abstract

The application discloses customer end of intelligent robot, the customer end is used for carrying out data interaction for intelligent robot and cloud platform, the cloud platform includes first server and second server, the customer end includes first customer end and second customer end, first customer end and second customer end pass through MQTT protocol and/or socket.io, establish the connection with first server and second server, at least one in first customer end and the second customer end carries out data interaction for intelligent robot and cloud platform. The application also discloses an intelligent robot and an intelligent robot system. The client can select at least one of an MQTT protocol and socket.io to be connected with the cloud platform, and when the intelligent robot and the cloud platform interact, when one MQTT protocol or socket.io cannot provide services, the other MQTT protocol or socket.io can continue to provide services, so that the remote operation and maintenance of the intelligent robot can be guaranteed.

Description

Client, intelligent robot and intelligent robot system
Technical Field
The application relates to the technical field of data interaction of intelligent robots and cloud platforms, in particular to a client, an intelligent robot and an intelligent robot system.
Background
The robot executes corresponding tasks on the spot of a client, the user cannot know the state of the robot, meanwhile, the client also needs to acquire data of some machine execution tasks, data interaction is basically carried out with a server through Socket in the client design, the client needs to realize a set of heartbeat mechanism by self to ensure stable connection with the server, and various problems may be encountered in practical application, for example, under the environment with poor network, the data of the robot cannot be transmitted to the server, so that the work of the robot may be abnormal.
Disclosure of Invention
In view of the above, the present invention is directed to solving, at least to some extent, one of the problems in the related art. Therefore, the embodiment of the application provides a client, an intelligent robot and an intelligent robot system.
The client side of the embodiment of the application is used for carrying out data interaction on the intelligent robot and the cloud platform, the cloud platform comprises a first server side and a second server side, the client side comprises a first client side and a second client side, the first client side and the second client side establish connection through an MQTT protocol and/or socket.
The client comprises a first client and a second client, wherein the cloud platform comprises a first service end and a second service end, the first client and the second client are connected with the first service end and the second service end through an MQTT protocol and/or a socket.io, and meanwhile, the intelligent robot can perform data interaction with the cloud platform through at least one of the first client and the second client.
In some embodiments, the intelligent robot includes a heartbeat interface, and when the first client is a socket.io client, the socket.io client can send online data to the cloud platform at set intervals through the heartbeat interface, and the online data is used for judging that the intelligent robot is online when the online data is received by the cloud platform at set intervals.
In this embodiment, the intelligent robot includes the heartbeat interface, and first client is socket.io client, and socket.io client can be through the heartbeat interface, and length sends online data to the cloud platform every setting, and the cloud platform receives online data in order to judge whether intelligent robot is online, and from this, the cloud platform can detect whether intelligent robot is online in real time to can carry out stable data interaction between cloud platform and the intelligent robot, be favorable to controlling intelligent robot.
In some embodiments, the intelligent robot further includes a data interaction node and an online notification interface, the data interaction node is used for establishing a connection relationship between the intelligent robot and a cloud platform, after the intelligent robot establishes a connection relationship with the cloud platform through the data interaction node, the first client is a socket.io client, when the first server is a socket.io server, the socket.io client is connected with the socket.io server through the socket.io server, the socket.io client transmits a product number of the intelligent robot to the socket.io server through the online notification interface, and the product number is used for the socket.io server to determine whether a check condition is met; if so, the cloud platform and the intelligent robot are kept connected through the socket.io client; and if not, the cloud platform removes the intelligent robot from the connection.
In the embodiment, the intelligent robot comprises a data interaction node and an online notification interface, a connection relationship can be established between the intelligent robot and the cloud platform through the data node, a socket.io client transmits a product number of the intelligent robot to a socket.io server through the online notification interface, the socket.io server can judge whether the product number meets a check condition, and if yes, the cloud platform is connected with the intelligent robot through the socket.io client; and if not, the cloud platform eliminates the intelligent robot from the connection, so that the socket.io server can judge whether the intelligent robot in the established connection relation is the intelligent robot which wants to be connected or not, and can eliminate the intelligent robot which does not meet the verification condition so as to reduce the occupied resources of the cloud platform and ensure that the cloud platform can keep effective data interaction with the intelligent robot which is qualified in verification.
In some embodiments, when the second client is an MQTT client and the second server is an MQTT server, the MQTT client is connected with the MQTT server through an MQTT protocol, the MQTT client sends authentication data to the MQTT server through the online notification interface, and the authentication data is used for the MQTT server to receive and judge whether an authentication condition is satisfied; if yes, the cloud platform and the intelligent robot are kept connected through the MQTT client; and if not, the cloud platform removes the intelligent robot from the connection.
In the embodiment, the MQTT server can judge whether the connected intelligent robot meets the authentication condition, if so, the cloud platform and the intelligent robot are kept connected through the MQTT client, and if not, the intelligent robot is removed from the connection by the cloud platform, so that the MQTT server can automatically identify the intelligent robot which does not meet the authentication condition, and the intelligent robot which does not meet the authentication condition is removed from the connection relation, the occupation of cloud platform resources can be reduced, meanwhile, the intelligent robot which performs data interaction with the cloud platform can be ensured to be an effective intelligent robot, and the reasonable utilization of the resources is ensured.
In some embodiments, the intelligent robot includes a network monitoring node, the network monitoring node is configured to monitor a network speed of the client, and when the network speed of the client is less than or equal to a network speed threshold, the client calls a configuration data interface and a working state data interface of the intelligent robot to perform configuration data and working state data interaction of the intelligent robot with the cloud platform; and when the network speed of the client is greater than the network speed threshold value, the client randomly calls a data interface of the intelligent robot to interact with the cloud platform data.
In the embodiment, the network monitoring node can monitor the network speed of the client, when the network speed of the client is less than or equal to the network speed threshold value, the client calls the configuration data interface and the working state data interface of the intelligent robot to interact with the configuration data and the working state data of the intelligent robot on the cloud platform, and when the network speed of the client is greater than the network speed threshold value, the client randomly calls the data interface of the intelligent robot to interact with the cloud platform data, so that the client can send the basic data of the intelligent robot to the cloud platform in an environment with poor network, and real-time effective data interaction can be carried out between the intelligent robot and the cloud platform. Meanwhile, under the condition that the network environment is normal, the data of the intelligent robot can be uploaded to the cloud platform, so that the cloud platform can acquire the data of the intelligent robot. The client can intelligently call the data interface according to the network environment, so that the data interaction between the intelligent robot and the cloud platform is effectively and stably kept.
In some embodiments, when the wire speed of the client is less than or equal to the wire speed threshold, the client calls the MQTT client to interact with the cloud platform data; and when the network speed of the client is greater than the network speed threshold value, the client calls the socket.io client to perform data interaction with the cloud platform.
In the embodiment, the client can intelligently call the MQTT client or the socket.io client and the cloud platform to perform data interaction according to the network environment state, and the client can make full use of respective advantages of the MQTT client and the socket.io client, so that the data interaction between the intelligent robot and the cloud platform is effectively and stably maintained.
In some embodiments, the client may acquire data of any node of the intelligent robot except the data interaction node, process the acquired data, and send the processed data to the cloud platform.
In the embodiment, the client can acquire data of any node of the intelligent robot except the data interaction node, process the acquired data and send the processed data to the cloud platform. The client can process the acquired data, so that the cloud platform can receive the data conveniently, and therefore the cloud platform can acquire data of any node of the intelligent robot except the data interaction node, and the operation of the intelligent robot can be controlled better.
The intelligent robot comprises a data interaction node and the client side, wherein the client side performs data interaction between the intelligent robot and the cloud platform through the data interaction node.
The intelligent robot comprises a client and a data interaction node, the client is in data interaction with the cloud platform through the data interaction node, the intelligent robot can perform data interaction with the cloud platform through at least one of the first client and the second client, and therefore stable data interaction between the intelligent robot and the cloud platform can be guaranteed.
In some embodiments, the intelligent robot further comprises: the online notification interface is used for sending an online notification of the intelligent robot to the cloud platform; the health monitoring interface is used for sending alarm information of the intelligent robot to the cloud platform; a machine state interface for sending state information of the intelligent robot to the cloud platform; the map metadata interface is used for sending map metadata constructed by the intelligent robot to the cloud platform; the system upgrading interface is used for receiving system updating information pushed by the cloud platform; the client can call at least one of the online notification interface, the health monitoring interface, the machine state interface, the ground primitive data interface and the system upgrading interface to interact with the cloud platform data.
In this embodiment, the intelligent robot includes an online notification interface, a health monitoring interface, a machine state interface, a map metadata interface and a system upgrade interface, and the client can call at least one of the online notification interface, the health monitoring interface, the machine state interface, the map metadata interface and the system upgrade interface to interact with cloud platform data, so that the intelligent robot can transmit information of the intelligent robot to the cloud platform in time through the client, and the cloud platform can master the data of the intelligent robot in time.
The intelligent robot system comprises the intelligent robot and the cloud platform, wherein the cloud platform can process data transmitted by the intelligent robot through the client.
The intelligent robot system comprises the intelligent robot and the cloud platform, and the cloud platform can process data transmitted by the intelligent robot through the client. Therefore, the intelligent robot system enables effective and stable data interaction between the intelligent robot and the cloud platform, and meanwhile, the cloud platform can also process data transmitted by the intelligent robot through the client side, so that a user can better know the running condition of the intelligent robot.
Additional aspects and advantages of embodiments of the present application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of embodiments of the present application.
Drawings
The above and/or additional aspects and advantages of the present application will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1a is a block schematic diagram of an intelligent robotic system of an embodiment of the present application;
FIG. 1b is a block schematic diagram of an intelligent robotic system of an embodiment of the present application;
FIG. 2 is a schematic view of a scenario of an intelligent robot system according to an embodiment of the present application;
fig. 3 is a flowchart of socket.io server verification according to an embodiment of the present application;
FIG. 4 is a MQTT server authentication flow diagram according to an embodiment of the application;
FIG. 5 is a block schematic diagram of an intelligent robot according to an embodiment of the present application;
FIG. 6 is a schematic flow chart diagram of a client of an embodiment of the present application;
FIG. 7 is a schematic flow chart diagram of a client of an embodiment of the present application;
FIG. 8 is a block schematic diagram of an intelligent robot according to an embodiment of the present application;
fig. 9 is a block diagram of a computer-readable storage medium and a processor according to an embodiment of the present application.
Description of the main element symbols:
the system comprises an intelligent robot system 1000, an intelligent robot 100, a client 10, a first client 11, a socket.io client 111, a second client 12, an MQTT client 121, a data interaction node 20, a heartbeat interface 21, an online notification interface 30, a network monitoring node 40, a health monitoring interface 50, a machine state interface 51, a map metadata interface 52, a system upgrade interface 53, a communication interface 60, a memory 70, a processor 80, a computer-readable storage medium 90, computer-executable instructions 91, a cloud platform 200, a first service end 210, a socket.io server 211, a second service end 220 and an MQTT server 221.
Detailed Description
Embodiments of the present application will be further described below with reference to the accompanying drawings. The same or similar reference numbers in the drawings identify the same or similar elements or elements having the same or similar functionality throughout.
In addition, the embodiments of the present application described below in conjunction with the accompanying drawings are exemplary and are only for the purpose of explaining the embodiments of the present application, and are not to be construed as limiting the present application.
In this application, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through intervening media. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.
Referring to fig. 1a to 2, the intelligent robot system 1000 includes an intelligent robot 100 and a cloud platform 200, the intelligent robot 100 includes a data interaction node 20 and a client 10, and the client 10 performs data interaction for the intelligent robot 100 and the cloud platform 200 through the data interaction node 20. The client 10 can transmit the data of the intelligent robot 100 to the cloud platform 200 through the data interaction node 20, and the cloud platform 200 can process the data transmitted by the intelligent robot 100 through the client 10. Therefore, the intelligent robot system 1000 can perform data interaction between the intelligent robot 100 and the cloud platform 200, so that the cloud platform 200 can receive data transmitted by the intelligent robot 100, and meanwhile, the intelligent robot 100 can also receive data transmitted by the cloud platform 200.
Specifically, the smart robot 100 may be an industrial robot, an agricultural robot, a home robot, a service robot, a cleaning robot, etc., without limitation. In the embodiment of the present invention, the intelligent robot 100 is taken as an example of a cleaning robot, and it is understood that the intelligent robot 100 may be other robots, and is not limited thereto. The intelligent robot 100 can reduce the labor burden for the user and improve the working efficiency. Wherein, cleaning machines people can be for the user clean ceramic tile, floor, road surface, cement face, desktop, wall etc..
Referring to fig. 1a, the intelligent robot 100 includes a client 10, the client 10 is configured to perform data interaction for the cloud platform 200 of the intelligent robot 100, the cloud platform 200 includes a first server 210 and a second server 220, the client 10 includes a first client 11 and a second client 12, the first client 11 and the second client 12 establish connection with the first server 210 and the second server 220 through MQTT protocol and/or socket.
The client 10 of the embodiment of the application includes a first client 11 and a second client 12, where the cloud platform 200 includes a first server 210 and a second server 220, and the first client 11 and the second client 12 establish a connection with the first server 210 and the second server 220 through an MQTT protocol and/or a socket.io, and meanwhile, the intelligent robot 100 can perform data interaction with the cloud platform 200 through at least one of the first client 11 and the second client 12, so that when the intelligent robot 100 and the cloud platform 200 perform data interaction, when one MQTT protocol or socket.io cannot provide a service, the other MQTT protocol or socket.io can continue to provide the service, and thus, the remote operation and maintenance of the intelligent robot 100 can be ensured. The intelligent robot 100 can perform data with the cloud platform 200 through at least one of the first client 11 and the second client 12, and thus data interaction between the intelligent robot 100 and the cloud platform 200 can be stably, continuously and effectively performed.
In particular, the MQTT protocol is a "lightweight" communication protocol based on the publish/subscribe (publish/subscribe) model, built on the TCP/IP protocol, published by IBM in 1999. The MQTT has the greatest advantage that a connected remote device can be provided with real-time reliable message service with very little code and limited bandwidth. Socket.
Specifically, the first client 11 and the second client 12 may be connected to the first server 210 and the second server 220 through an MQTT protocol, the first client 11 and the second client 12 may also be connected to the first server 210 and the second server 220 through a socket.io protocol, and the first client 11 and the second client 12 may also be connected to the first server 210 and the second server 220 through the MQTT protocol and the socket.io protocol, which is not limited herein.
Further, the first client 11 may be connected to the first server 210 through socket.io, and the second client 12 may be connected to the second server 220 through MQTT protocol; or the first client 11 is connected with the first server 210 through MQTT protocol, and the second client 12 is connected with the second server 220 through socket. The first client 11 may also be connected to the second server 220 through socket.io, and the second client is connected to the first server 210 through MQTT protocol, of course, the corresponding connection relationships and connection forms between the first client 11 and the second client 12 and between the first server 210 and the second server 220 may also be other, which is not limited herein.
Further, referring to fig. 1b, in the embodiment of the present application, a functional description is given by taking an example that "the first client 11 is a socket.io client 111, the second client 12 is an MQTT client 121, the first server 210 is a socket.io server 211, the second server 220 is an MQTT server 221, the socket.io client 111 is connected with the socket.io server 211 through socket.io, and the MQTT client 121 is connected with the MQTT server 221 through an MQTT protocol", and it can be understood that other forms are also possible, which are not limited herein.
Specifically, the client 10 includes an MQTT client 121 and a socket.io client 111, and the MQTT client 121 is connected to an MQTT server 221 on the cloud platform 200 through an MQTT protocol to perform data interaction, so that the MQTT client 121 can transmit data with few codes and limited broadband through the MQTT server 221, and the intelligent robot 100 can reliably perform data interaction with the cloud platform 200 in real time in a weak network environment. Meanwhile, the socket.io client 111 can realize real-time communication with the socket.io server 211 by using the advantages of socket.io cross-platform real-time communication and capability of obscuring differences between different transmission engines, so that data interaction between the intelligent robot 100 and the cloud platform 200 is continuous and stable.
At least one of the first client 11 and the second client 12 performs data interaction between the intelligent robot 100 and the cloud platform 200, and it can be understood that the first client 11 performs data interaction between the intelligent robot 100 and the cloud platform 200, the second client 12 performs data interaction between the intelligent robot 100 and the cloud platform 200, and the first client 11 and the second client 12 perform data interaction between the intelligent robot 100 and the cloud platform 200 at the same time.
Further, the intelligent robot 100 can perform data interaction with the cloud platform 200 through at least one of the MQTT client 121 and the socket. It can be understood that the intelligent robot 100 may perform data interaction with the cloud platform 200 through the MQTT client 121, the intelligent robot 100 may also perform data interaction with the cloud platform 200 through the socket.io client 111, and the intelligent robot 100 may also perform data interaction with the cloud platform 200 through the MQTT client 121 and the socket.io client 111, which is not limited herein. Therefore, one of the MQTT client 111 and the socket.io client 121 cannot provide service, and the other of the MQTT client 111 and the socket.io client 121 can also provide service, so that the client 10 can continuously perform data interaction between the intelligent robot 100 and the cloud platform 200, and the data interaction between the intelligent robot 100 and the cloud platform 200 can be continuously and effectively performed. Meanwhile, the client 10 may enable the intelligent robot 100 to perform real-time effective data interaction with the cloud platform 200 through the MQTT client under the condition of a poor network environment.
Referring to fig. 2, the intelligent robot 100 includes a heartbeat interface 21, and the socket. io client 111 can send online data to the cloud platform 200 at each set time length through the heartbeat interface 21, where the online data is used to be received by the cloud platform 200 at set time intervals to determine that the intelligent robot 100 is online. It can be understood that a heart is installed in the intelligent robot 100, and the heart beats once every set time, so that the cloud platform 200 can detect the heart beat, if the heart beat can be detected, the intelligent robot 100 is on-line, if the heart beat cannot be detected, the intelligent robot 100 is in an off-line state, the connection with the cloud platform 200 is disconnected, and it is possible that the intelligent robot 100 works abnormally or the intelligent robot 100 runs out of a predetermined range, so that the cloud platform 200 can detect whether the intelligent robot 100 is on-line in real time, so that stable data interaction can be performed between the cloud platform 200 and the intelligent robot 100, and control of the intelligent robot 100 is facilitated.
The set time duration may be configured according to the working environment and the working content of the intelligent robot 100, or the set time duration may be kept unchanged after being set, which is not limited herein, for example, the set time duration may be 5 seconds, 10 seconds, 15 seconds, 30 seconds, 1 minute, 3 minutes, and the like. In one embodiment, the socket.io client 111 sends a data packet (one type of online data) to the cloud platform 200 every 10 seconds, where the data packet may be an empty packet or a data packet containing partial data, the cloud platform 200 receives the data packet, and if the cloud platform 200 does not receive the data packet, it indicates that the intelligent robot 100 is not online; if the cloud platform 200 can normally receive the data packet, it indicates that the intelligent robot 100 is online.
Referring to fig. 1b to fig. 3, the intelligent robot 100 includes a data interaction node 20 and an online notification interface 30, where the data interaction node 20 is used for establishing a connection relationship between the intelligent robot 100 and the cloud platform 200. After the connection relationship between the intelligent robot 100 and the cloud platform 200 is established, the socket.io server 211 of the cloud platform 200 checks the intelligent robot 100, wherein the checking process of the socket.io includes:
step S10: the intelligent robot 100 establishes a connection relationship with the cloud platform 200 through the online notification interface 30;
step S21: the socket.io client 111 transmits the product number of the intelligent robot 100 to the cloud platform 200 through the online notification interface 30;
step S22: the socket.io server 211 judges whether the product number meets the verification condition;
if yes, go to step S23: the cloud platform 200 and the intelligent robot 100 are kept connected through a socket. io client 111; and
step S24: the cloud platform 200 and the intelligent robot 100 perform data interaction through a socket.io client 111;
if not, go to step S25: the cloud platform 200 removes the intelligent robot 100 from the connection.
The socket.io server 211 can enable the cloud platform 200 to automatically identify whether the intelligent robot in the connection relationship is the intelligent robot of the company through checking the intelligent robot 100, so that the intelligent robot which does not meet the checking condition can be prevented from occupying the resources of the cloud platform 200, meanwhile, the cloud platform 200 and the intelligent robot which is qualified in checking can keep effective data interaction, the labor can be reduced, and the working efficiency can be improved. The specific form of the check condition is not limited herein.
In one example, in a work area, a plurality of intelligent robots 100 are performing work tasks, wherein the plurality of intelligent robots 100 are connected to the cloud platform 200, and the cloud platform 200 verifies each intelligent robot 100. The verification rule is that a regular expression is written according to a definition rule of the product number of the intelligent robot 100, the product number conforming to the regular expression agrees to connection, the product number not conforming to the regular expression is removed from the connection, the intelligent robot 100 is removed from the connection, wherein the verification condition is GS regular character, symbol segmentation, the segmentation value is 4 integers, and the cloud platform 200 judges that GS-0000 + 1234 meets the verification condition and keeps connection with the intelligent robot 100 on the assumption that the product number is GS-0000 + 1234.
Referring to fig. 1b, fig. 2 and fig. 4, after the intelligent robot 100 is connected to the cloud platform 200 through the data interaction node 20, the MQTT client 121 sends authentication data to the MQTT server 221 through the online notification interface 30, where the authentication data is used for the MQTT server 221 to receive, and the MQTT server 221 determines whether the authentication data meets the authentication condition. The MQTT server 221 authentication process includes:
step S10: the intelligent robot 100 establishes a connection relationship with the cloud platform 200 through the online notification interface 30;
step S31: the MQTT client 121 transmits authentication data to the cloud platform 200 through the online notification interface 30;
step S32: the MQTT server 221 determines whether the authentication data meets the authentication conditions;
if yes, go to step S33: the cloud platform 200 is connected with the intelligent robot 100 through the MQTT client 121; and
step S34: the cloud platform 200 and the intelligent robot 100 perform data interaction through the MQTT client 121;
if not, go to step S35: the cloud platform 200 removes the intelligent robot 100 from the connection.
The MQTT server 221 can judge whether the connected intelligent robot 100 meets the authentication condition, so that the cloud platform 200 and the intelligent robot 100 meeting the authentication condition are kept connected, and the intelligent robot 100 not meeting the authentication condition is removed from the connection, therefore, the MQTT server 221 can automatically identify the intelligent robot 100 not meeting the authentication condition, reduce the resource occupied by the intelligent robot 100 not meeting the authentication condition on the cloud platform 200, reduce the running load of the cloud platform 200, and meanwhile, the cloud platform 200 and the intelligent robot 100 meeting the authentication can be kept connected, so that the data interaction between the cloud platform 200 and the intelligent robot 100 is real-time and effective. The specific form of the authentication condition is not limited herein.
Referring to fig. 5, the intelligent robot 100 further includes an online notification interface 30, a health monitoring interface 50, a machine state interface 51, a map metadata interface 52, and a system upgrade interface 53, and the client 10 is connected to these interfaces, and the client 10 can call at least one of the online notification interface 30, the health monitoring interface 50, the machine state interface 51, the map metadata interface 52, and the system upgrade interface 53 to interact with the cloud platform 200. The online notification interface 30 is configured to send an online notification of the intelligent robot 100 to the cloud platform 200, and it can be understood that, after the intelligent robot 100 is online, the client 10 sends the online notification of the intelligent robot 100 to the cloud platform 200 through the online notification interface 30. The health monitoring interface 50 is configured to send alarm information of the intelligent robot 100 to the cloud platform 200, specifically, when the intelligent robot 100 performs a work task, a fault occurs, for example, data of an internal sensor cannot be identified, the intelligent robot cannot move, and the client 10 sends the alarm information to the cloud platform 200 through the health monitoring interface 50, so that the cloud platform 200 can master a fault condition of the intelligent robot 100.
Further, the machine status interface 51 is configured to send status information of the intelligent robot 100 to the cloud platform 200, specifically, the status information includes data of sensors in the intelligent robot 100, system status data of the intelligent robot 100, work task status data, and the like, and of course, the status information includes other status information, which is not limited herein. The map metadata interface 52 is configured to send map metadata constructed by the intelligent robot 100 to the cloud platform 200, and specifically, the intelligent robot 100 can automatically construct map data when executing a task, where the map data mainly includes some attributes of the map data, including but not limited to a map name, a map storage path, a map packet size, a map creation time, task data in the map, and the like. The system upgrade interface 53 is configured to receive system update information pushed by the cloud platform 200, and specifically, when the system of the intelligent robot 100 needs to be updated, the cloud platform 200 sends the system update information to the client 10 through the system upgrade interface 53.
Further, the client 10 is connected to the interfaces, and the client 10 can call at least one of the online notification interface 30, the health monitoring interface 50, the machine state interface 51, the map metadata interface 52, and the system upgrade interface 53 to interact with the cloud platform 200 in data, so that the intelligent robot 100 can transmit information of the intelligent robot 100 to the cloud platform 200 in time through the client 10, and the cloud platform 200 can grasp data of the intelligent robot 100 in time, so as to identify an operating condition of the intelligent robot 100, reduce the manual acquisition of the data, and improve the working efficiency.
Referring to fig. 1b, fig. 2 and fig. 6, the intelligent robot 100 includes a network monitoring node 40, where the network monitoring node 40 is configured to monitor the network speed of the client 10, and when the network speed of the client 10 is less than or equal to a network speed threshold, the client 10 calls a configuration data interface (not shown) and a working status data interface (not shown) of the intelligent robot 100 to interact with the cloud platform 200 to perform configuration data and working status data interaction of the intelligent robot 100; when the network speed of the client 10 is greater than the network speed threshold value, the client 10 optionally calls the data interface of the intelligent robot 100 to perform data interaction with the cloud platform 200. The process of selecting the interface type by the client 10 includes:
step S40: the network monitoring node 40 monitors whether the network speed of the client 10 is greater than a network speed threshold value;
if not, go to step S41: the client 10 calls a configuration data interface and a working state data interface of the intelligent robot 100;
step S42: the client 10 and the cloud platform 200 perform configuration data and working state data interaction of the intelligent robot 100;
if yes, go to step S43: the client 10 calls a data interface of the intelligent robot 100 arbitrarily;
step S44: the client 10 performs data interaction of the intelligent robot 100 with the cloud platform 200.
Specifically, the intelligent robot 100 further includes a configuration data interface and an operating state interface. The configuration data interface is used for transmitting configuration data of the intelligent robot 100, such as: configuration data such as the information of the internet of things card and the information of the magnetic disk, of course, the configuration data also includes others, and is not limited herein. The working state interface is used for transmitting working state data of the intelligent robot 100, such as: the state data such as the mileage of moving, the area of cleaning, the water consumption, etc., certainly, the state data also includes other, and is not limited herein. The intelligent robot 100 includes a plurality of interfaces, each interface has a corresponding function, and can transmit corresponding data to the cloud platform 200 through the corresponding interface, and the intelligent robot 100 further includes many other data, for example: map packet data, image data, and the like, it is understood that configuration data and operation state data are basic data of the intelligent robot 100.
Further, the intelligent robot 100 further comprises a network monitoring node 40, and the network monitoring node 40 is configured to monitor the network speed of the client 10. When the network speed of the network monitoring node 40 monitoring the client 10 is less than or equal to the network speed threshold, it indicates that the current network environment of the intelligent robot 100 is poor, the client 10 calls the configuration data interface and the working state interface of the intelligent robot 100 to perform data interaction on the configuration data and the working state data of the intelligent robot 100 and the cloud platform 200, so that the client 10 can interact the basic data of the intelligent robot 100 and the cloud platform 200 under the condition that the network environment of the intelligent robot 100 is poor, so as to ensure that the cloud platform 200 can receive the data of the intelligent robot 100 in real time, and better understand the operating condition of the intelligent robot 100. The user may set according to the work content and the work environment of the intelligent robot 100, for example, 10KB/S, 20KB/S, 30KB/S, 50KB/S, etc., which is not limited herein.
When the network speed of the client 10 monitored by the network monitoring node 40 is greater than the network speed threshold, it indicates that the current network environment of the intelligent robot 100 is normal, and the client 10 randomly calls an interface of the intelligent robot 100 to perform data interaction with the cloud platform 200. For example, the client 10 calls a map packet data interface of the smart robot 100 to upload the map packet data to the cloud platform 200; the client 10 calls an image uploading interface of the intelligent robot 100, and uploads image data acquired by the intelligent robot 100 to the cloud platform 200 and the like. Of course, the client 10 may also invoke other interfaces, which are not limited herein.
Through the network monitoring node 40, the client 10 can determine the network environment in which the intelligent robot 100 is located, so as to select a calling interface to perform data interaction with the cloud platform 200. Therefore, the client 10 can send the basic data of the intelligent robot 100 to the cloud platform 200 in an environment with a poor network, that is, a weak network, so that the situation that the client 10 uploads some data with a large memory to the cloud platform 200 and consumes a long time, which causes that data interaction between the intelligent robot 100 and the cloud platform 200 cannot be performed in real time and affects the working state of the intelligent robot 100 is avoided. Meanwhile, under the condition that the network environment is normal, the client 10 can call an interface at will to upload the data of the intelligent robot 100 to the cloud platform 200. Therefore, the client 10 can enable data interaction between the intelligent robot 100 and the cloud platform 200 to be effective in real time, and the cloud platform 200 is beneficial to control the intelligent robot 100.
In one embodiment, the cloud platform 200 specifies addresses of the clients 10 to download and upload files, the network monitoring node 40 monitors the network speed of the clients 10 to download and upload files from the specified addresses, the network speed threshold is set to be 20KB/S, if the network speed of the network monitoring node monitoring the clients 10 is 100KB/S, the network speed threshold is greater than 20KB/S, and the clients 10 call any interface of the intelligent robot 100 to perform data interaction with the cloud platform 200. If the network speed of the network speed monitoring node monitoring client 10 is 15KB/S, which is less than 20KB/S, the client 10 calls the configuration data interface and the working state data interface of the intelligent robot 100 to interact with the cloud platform 200 to perform the configuration data and the working state data of the intelligent robot 100.
Referring to fig. 7, when the network speed of the client 10 is less than or equal to the network speed threshold, the client 10 calls the MQTT client 121 to interact with the cloud platform 200; when the network speed of the client 10 is greater than the network speed threshold, the client 10 calls the socket.io client 111 to perform data interaction with the cloud platform 200. Specifically, the process of the client 10 calling the MQTT client 121 or the socket.
Step S50: the network monitoring node 40 monitors whether the network speed of the client 10 is greater than a network speed threshold value;
if yes, go to step S51: the client 10 calls the socket.io client 111;
if not, go to step S52: the client 10 calls the MQTT client 121;
after the step S51 or the step S52 is executed, the step S53 is executed: the client 10 performs data interaction with the cloud platform 200.
The network monitoring node 40 monitors the network speed of the client 10, and determines the relationship between the network speed of the client 10 and the network speed threshold, so that the client 10 selects the socket. Because the MQTT client 121 is connected with the MQTT server 221 through the MQTT protocol, and because of the characteristic that MQTT can perform data transmission in the weak network environment, when the network speed is less than or equal to the network speed threshold, the client 10 selects the MQTT client 121 to perform data interaction with the cloud platform 200, and it can be ensured that the intelligent robot 100 interacts with the cloud platform 200 in the weak network environment. Meanwhile, when the network speed of the client 10 is greater than the network speed threshold value, a socket.io client 111 is selected to perform data interaction with the cloud platform 200, and the socket.io client is connected with a socket.io server through socket.io. Therefore, the client 10 can automatically select the MQTT client 121 or the socket.io client 111 according to the network environment, and the intelligent robot 100 and the cloud platform 200 can realize stable data interaction.
In one embodiment, the cloud platform 200 specifies addresses of the clients 10 to download and upload files, the network monitoring node 40 monitors the network speed of the clients 10 to download and upload files from the specified addresses, and sets the network speed threshold to be 20KB/S, if the network speed of the network monitoring node monitoring client 10 is 100KB/S, the network speed threshold is greater than 20KB/S, and the clients 10 call the socket. If the network speed of the network speed monitoring node monitoring client 10 is 15KB/S, the network speed is less than 20KB/S, the client 10 calls the MQTT client, and the intelligent robot 100 and the cloud platform 200 perform data interaction.
Further, the client 10 may acquire data of any node of the intelligent robot 100 except the data interaction node 20, process the acquired data, and send the processed data to the cloud platform 200. It is understood that the intelligent robot 100 has other nodes besides the data interaction node 20, for example, a module control node, a map data node, a path planning node, and the like, which are not limited herein, and the client 10 may acquire data of other nodes, process the data, and upload the data to the cloud platform 200. Therefore, the cloud platform 200 can acquire data of any node on the intelligent robot 100, which is outside the data interaction node 20, and the cloud platform 200 can better control the intelligent robot 100.
In an example, the client 10 may acquire data of a map data node, process the data of the map data node, and send the processed data of the map data node to the cloud platform 200, so that the cloud platform 200 can know map data of the intelligent robot 100, and thus, the position information of the intelligent robot 100 is convenient to know. In another example, the client 10 can obtain data of the path planning node, and after the client 10 processes the data of the path planning node, the processed data is sent to the cloud platform 200, so that the cloud platform 200 can grasp a driving path of the intelligent robot 100 during work.
Referring to fig. 8, in some embodiments, the intelligent robot 100 further includes a communication interface 60, a memory 70 and a processor 80, the memory 70 is used for storing a computer program that can run on the processor 80, and the processor 80 implements the functions of the client 10 in any of the above embodiments when executing the program.
The memory 70 may comprise high-speed RAM memory and may also include non-volatile memory (non-volatile memory), such as at least one disk memory. Further, the intelligent robot 100 may further include a communication interface 60, and the communication interface 60 is used for communication between the memory 70 and the processor 80.
If the processor 80, the memory 70 and the communication interface 60 are implemented independently, the processor 80, the memory 70 and the communication interface 60 may be connected to each other through a bus and perform communication with each other. The bus may be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, an Extended ISA (EISA) bus, or the like. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one thick line is shown in FIG. 8, but this is not intended to represent only one bus or type of bus.
Referring to fig. 9, a non-volatile computer-readable storage medium 90 of embodiments of the present application includes computer-executable instructions 91 that, when executed by one or more processors 80, cause the processors 80 to implement the functionality of the client 10 of any of the above embodiments.
The above-described instructions or programs may represent modules, segments, or portions of code which include one or more executable instructions for implementing steps of a custom logic function or process, and the scope of the preferred embodiments of the present application includes other implementations in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the embodiments of the present application.
For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.
It should be understood that portions of the present application may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. If implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
It will be understood by those skilled in the art that all or part of the steps carried by the method for implementing the above embodiments may be implemented by hardware related to instructions of a program, which may be stored in a computer readable storage medium 90, and when executed, the program includes one or a combination of the steps of the method embodiments.
In addition, functional units in the embodiments of the present application may be integrated into one processor 80, or each unit may exist alone physically, or two or more units are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. The integrated module, if implemented in the form of a software functional module and sold or used as a stand-alone product, may also be stored in a computer readable storage medium. The storage medium mentioned above may be a read-only memory, a magnetic or optical disk, etc.
In the description herein, reference to the description of the terms "certain embodiments," "one embodiment," "some embodiments," "illustrative embodiments," "examples," "specific examples," or "some examples" means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the application. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the feature. In the description of the present application, "a plurality" means at least two, e.g., two, three, unless specifically limited otherwise.
Although embodiments of the present application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present application, and that variations, modifications, substitutions and alterations of the above embodiments may be made by those of ordinary skill in the art within the scope of the present application, which is defined by the claims and their equivalents.

Claims (10)

1. The client of the intelligent robot is used for performing data interaction on the intelligent robot and a cloud platform, the cloud platform comprises a first service end and a second service end, the client comprises a first client and a second client,
the first client and the second client establish connection with the first service end and the second service end through an MQTT protocol and/or a socket.io;
at least one of the first client and the second client performs data interaction between the intelligent robot and the cloud platform.
2. The client side according to claim 1, wherein the intelligent robot comprises a heartbeat interface, and when the first client side is a socket.io client side, the socket.io client side can send online data to the cloud platform at intervals of set time through the heartbeat interface, and the online data is used for judging that the intelligent robot is online when the online data is received by the cloud platform at intervals of the set time.
3. The client according to claim 1, wherein the intelligent robot further comprises a data interaction node and an online notification interface, the data interaction node is used for establishing a connection relationship between the intelligent robot and a cloud platform, after the intelligent robot establishes the connection relationship with the cloud platform through the data interaction node, the first client is a socket.io client, when the first server is a socket.io server, the socket.io client is connected with the socket.io server through the socket.io server, the socket.io client transmits a product number of the intelligent robot to the socket.io server through the online notification interface, and the product number is used for the socket.io server to judge whether a check condition is met;
if so, the cloud platform and the intelligent robot are kept connected through the socket.io client;
and if not, the cloud platform removes the intelligent robot from the connection.
4. The client according to claim 3, wherein the second client is an MQTT client, and when the second server is an MQTT server, the MQTT client is connected with the MQTT server through an MQTT protocol, and the MQTT client sends authentication data to the MQTT server through the online notification interface, and the authentication data is used for the MQTT server to receive and judge whether an authentication condition is satisfied;
if yes, the cloud platform and the intelligent robot are kept connected through the MQTT client;
and if not, the cloud platform removes the intelligent robot from the connection.
5. The client of claim 4, wherein the intelligent robot comprises a network monitoring node configured to monitor a wire speed of the client,
when the network speed of the client is less than or equal to the network speed threshold value, the client calls a configuration data interface and a working state data interface of the intelligent robot so as to interact the configuration data and the working state data of the intelligent robot with the cloud platform;
and when the network speed of the client is greater than the network speed threshold value, the client randomly calls a data interface of the intelligent robot to interact with the cloud platform data.
6. The client according to claim 5, wherein when the network speed of the client is less than or equal to the network speed threshold, the client invokes the MQTT client to interact with the cloud platform data; and when the network speed of the client is greater than the network speed threshold value, the client calls the socket.io client to perform data interaction with the cloud platform.
7. The client according to claim 4, wherein the client can acquire data of any node of the intelligent robot except the data interaction node, process the acquired data, and send the processed data to the cloud platform.
8. An intelligent robot, characterized in that the intelligent robot comprises a data interaction node and the client of any one of claims 1 to 7, and the client performs data interaction with the cloud platform for the intelligent robot through the data interaction node.
9. The intelligent robot of claim 8, further comprising:
the online notification interface is used for sending an online notification of the intelligent robot to the cloud platform;
the health monitoring interface is used for sending alarm information of the intelligent robot to the cloud platform;
a machine state interface for sending state information of the intelligent robot to the cloud platform;
the map metadata interface is used for sending map metadata constructed by the intelligent robot to the cloud platform; and
the system upgrading interface is used for receiving system updating information pushed by the cloud platform;
the client can call at least one of the online notification interface, the health monitoring interface, the machine state interface, the ground primitive data interface and the system upgrading interface to interact with the cloud platform data.
10. An intelligent robot system, comprising:
the intelligent robot of claim 8 or 9; and
the cloud platform can process the data transmitted by the intelligent robot through the client.
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