CN113596104A - Data transmission method and device for mobile robot and cloud server - Google Patents
Data transmission method and device for mobile robot and cloud server Download PDFInfo
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- CN113596104A CN113596104A CN202110759094.0A CN202110759094A CN113596104A CN 113596104 A CN113596104 A CN 113596104A CN 202110759094 A CN202110759094 A CN 202110759094A CN 113596104 A CN113596104 A CN 113596104A
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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
- H04L67/06—Protocols specially adapted for file transfer, e.g. file transfer protocol [FTP]
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L63/00—Network architectures or network communication protocols for network security
- H04L63/04—Network architectures or network communication protocols for network security for providing a confidential data exchange among entities communicating through data packet networks
- H04L63/0428—Network architectures or network communication protocols for network security for providing a confidential data exchange among entities communicating through data packet networks wherein the data content is protected, e.g. by encrypting or encapsulating the payload
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N19/00—Methods or arrangements for coding, decoding, compressing or decompressing digital video signals
- H04N19/42—Methods or arrangements for coding, decoding, compressing or decompressing digital video signals characterised by implementation details or hardware specially adapted for video compression or decompression, e.g. dedicated software implementation
Abstract
The invention relates to a data transmission method, a data transmission device, electronic equipment and a computer readable storage medium of a mobile robot and a cloud server, wherein the method comprises the following steps: acquiring picture, video and digital signal data, and performing corresponding data preprocessing on the picture, video and digital signal data to obtain preprocessed picture, video and digital signal data; traversing a json file of the preprocessed digital signal data to be encrypted by using a file path to be sent as a parameter, and encrypting a value of the json file of the digital signal data as the parameter to obtain an encrypted json file; encoding the preprocessed picture and video data to be encrypted, storing the encoded picture and video data into a json file, and encrypting the json file to obtain an encrypted json file; and transmitting the encrypted json file to a cloud server. According to the data transmission method of the mobile robot and the cloud server, the safety of data transmission of the mobile robot and the cloud server is considered.
Description
Technical Field
The invention relates to the technical field of robot communication, in particular to a data transmission method and device of a mobile robot and a cloud server, electronic equipment and a computer readable storage medium.
Background
The cloud robot is an emerging concept which enables the robot to obtain stronger storage and computing capability and learning capability by calling cloud technologies, such as cloud computing, cloud storage and other internet technologies. However, in the research of the intelligent robot which is mature at the present stage or the cloud robot, the design of the robot communication system is the key and difficult point of the robot software development. Under the influence of an information system, the accuracy and the high efficiency of the execution of the actions of the robot can not be ensured due to the problems of poor safety, disordered data structure and the like in the transmission process of the data collected by the robot.
The existing cloud robot message communication modes are divided into three types. The first is ROS; the second is a publish/subscribe model provided by the cloud provider; the third is several open source software based on publish/subscribe communication model. ROS do not support deployment and messaging between multiple business cloud platforms and robots. Especially when the ROS is used for robot development, a user must continuously add a specific function package according to requirements, and meanwhile, if the development experience is lacked, the ROS is difficult to configure and use by the user. Various cloud providers also provide publish/subscribe communications functionality, but cannot support interaction between heterogeneous platforms. The Kafka-based messaging system allows large sensors to complete data processing quickly when collecting data and transmitting it to the cloud, but if data security during data transmission is not considered, applications cannot be developed in the real world, and portability of the system architecture and data security of message transmission between swarm intelligent robots and cloud providers are not supported.
Disclosure of Invention
In view of the above, it is desirable to provide a data transmission method, device, electronic device and computer readable storage medium for a mobile robot and a cloud server, so as to solve the problem in the prior art that data transmission security is not considered.
In order to solve the above problems, the present invention provides a data transmission method for a mobile robot and a cloud server, including:
acquiring picture, video and digital signal data, and performing corresponding data preprocessing on the picture, video and digital signal data to obtain preprocessed picture, video and digital signal data;
traversing a json file of the preprocessed digital signal data to be encrypted by using a file path to be sent as a parameter, and encrypting a value of the json file of the digital signal data as the parameter to obtain an encrypted json file;
encoding the preprocessed picture and video data to be encrypted, storing the encoded picture and video data into a json file, and encrypting the json file to obtain an encrypted json file;
and transmitting the encrypted json file to a cloud server.
Further, acquiring picture, video and digital signal data specifically includes: and detecting whether the sensor is on line or not, if so, calling the sensor, and acquiring the picture, video and digital signal data acquired by the sensor.
Further, performing corresponding data preprocessing on the picture, the video and the digital signal data specifically includes: and compressing picture data, framing and compressing the video, adding software and hardware information of a corresponding sensor to the digital signal data, and standardizing a data structure.
Further, transmitting the encrypted json file to a cloud server, including:
when the encrypted json file corresponding to the picture or the video is transmitted, traversing the encrypted json files corresponding to all the pictures or the video frames according to the encrypted json file addresses corresponding to the picture or the video, acquiring path information of the encrypted json file corresponding to the picture or the video, encoding the encrypted json file corresponding to the picture or the video, and transmitting the encoded json file to the cloud server.
Further, transmitting the encrypted json file to a cloud server, including:
when the encrypted json file corresponding to the digital signal data is transmitted, the path of the encrypted json file corresponding to the digital signal data is obtained, the encrypted json file corresponding to the digital signal data to be transmitted is obtained according to the path query, and the encrypted json file is transmitted to the cloud server.
Further, the data transmission method of the mobile robot and the cloud server further includes calling multiple processes to continuously monitor the same subject data after transmitting the encrypted json file to the cloud server, or calling multiple processes to monitor different subject data in parallel, and decrypting the monitored data.
Further, the data transmission method for the mobile robot and the cloud server transmits the preprocessed unencrypted picture or video and digital signal data to the cloud server, and transmits the preprocessed unencrypted picture, video and digital signal data to the cloud server, which specifically includes:
when the preprocessed pictures or videos are transmitted, traversing all picture or video frames according to file addresses corresponding to the preprocessed pictures or videos, acquiring path information corresponding to the pictures or videos, and transmitting picture or video data to a cloud server according to the path information;
and when the preprocessed digital signal data piece is transmitted, acquiring a file path corresponding to the digital signal data, inquiring according to the path to obtain the digital signal data to be transmitted, and transmitting the digital signal data to the cloud server.
The invention also provides a data transmission device of the mobile robot and the cloud server, which comprises a data preprocessing module, an encryption module and a transmission module;
the data preprocessing module is used for acquiring picture, video and digital signal data, and performing corresponding data preprocessing on the picture, video and digital signal data to obtain preprocessed picture, video and digital signal data;
the encryption module is used for traversing the json file of the preprocessed digital signal data to be encrypted by taking the path of the file to be transmitted as a parameter, and encrypting the value of the json file of the digital signal data as a parameter to obtain an encrypted json file; the image encryption device is also used for encoding the preprocessed image and video data to be encrypted, storing the encoded image and video data into a json file, and encrypting the json file to obtain an encrypted json file;
and the transmission module is used for transmitting the encrypted json file to the cloud server.
The invention further provides an electronic device, which comprises a memory and a processor, wherein the memory stores a computer program, and when the computer program is executed by the processor, the data transmission method of the mobile robot and the cloud server is realized according to any technical scheme.
The invention also provides a computer readable storage medium, on which a computer program is stored, which when executed by a processor, implements the data transmission method of the mobile robot and the cloud server according to any one of the technical solutions.
The beneficial effects of adopting the above embodiment are: the method comprises the steps of carrying out corresponding data preprocessing on picture, video and digital signal data by obtaining the picture, video and digital signal data to obtain preprocessed picture, video and digital signal data; traversing a json file of the preprocessed digital signal data to be encrypted by using a file path to be sent as a parameter, and encrypting a value of the json file of the digital signal data as the parameter to obtain an encrypted json file; encoding the preprocessed picture and video data to be encrypted, storing the encoded picture and video data into a json file, and encrypting the json file to obtain an encrypted json file; transmitting the encrypted json file to a cloud server; the safety of data transmission of the mobile robot and the cloud server is considered.
Drawings
Fig. 1 is a schematic flowchart of a data transmission method for a mobile robot and a cloud server according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a data transmission device of a mobile robot and a cloud server according to the present invention.
Detailed Description
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate preferred embodiments of the invention and together with the description, serve to explain the principles of the invention and not to limit the scope of the invention.
The invention discloses a data transmission method of a mobile robot and a cloud server, which has a flow diagram, as shown in fig. 1, the data transmission method of the mobile robot and the cloud server comprises the following steps:
step S1, acquiring picture, video and digital signal data, and performing corresponding data preprocessing on the picture, video and digital signal data to obtain preprocessed picture, video and digital signal data;
step S2, traversing the json file of the preprocessed digital signal data to be encrypted by taking the file path to be sent as a parameter, and encrypting the value of the json file of the digital signal data as a parameter to obtain an encrypted json file;
step S3, encoding the preprocessed picture and video data to be encrypted, storing the encoded picture and video data into a json file, and encrypting the json file to obtain an encrypted json file;
and step S4, transmitting the encrypted json file to a cloud server.
In a specific embodiment, in order to quickly solve the problems of version conflict and reasonable resource allocation in a computing platform, a configuration model is provided for RCC (Robot Cloud Communication) through a Yaml file based on an interactive Playbook, and a private key, an address, the type of a Cloud server and required open source software are set in the Yaml file; the Cloud Configuration class is responsible for dynamically assigning a set of 24-bit unique IDs for connecting various machines and devices; by using this set of IDs, the user can manage and maintain the dynamically joined or left robotic device. The RCC docker image is customized, and by specifying the RCC version, a user can automatically deploy the RCC computing environment in the selected cloud platform.
As a preferred embodiment, acquiring picture, video and digital signal data specifically includes: and detecting whether the sensor is on line or not, if so, calling the sensor, and acquiring the picture, video and digital signal data acquired by the sensor.
In one embodiment, the mobile robot may collect three types of data, namely photo (picture), video (video), and digital signal data (json data), wherein the digital signal data represents the robot position and attitude coordinates or robot speed information, and the robot collects the video and photo data through the vision sensor, and after the data collection is completed, the robot performs corresponding processing on the data. .
In another specific embodiment, a Connector class is defined, wherein a corresponding method is defined for detecting whether a required device is online, managing user identity, completing acquisition of an object instance, and calling a sensor to realize robot data acquisition, wherein a cp _ conn () method in the Connector class can judge the working state of a cloud platform, and the main idea is to realize state judgment of a remote ip by inputting a command line to a cloud server terminal; a Crate _ kafkaconf () method and a modify _ work _ path () method in the Connector class respectively manage the information of the user and complete the acquisition of the object instance; the Get _ data () method in the Connector class can automatically start a robot sensor (a laser sensor and a vision sensor) to acquire frame data of an environment where the robot is located.
As a preferred embodiment, the data preprocessing is performed on the picture, the video and the digital signal data, and specifically includes: and compressing picture data, framing and compressing the video, adding software and hardware information of a corresponding sensor to the digital signal data, and standardizing a data structure.
In a specific embodiment, after the data acquisition is completed, the robot performs corresponding processing on the data; for example, the robot collects video type data in an application scene, stores the video data locally, and calls the msgtype provided by rcc (robot Cloud communication) to perform data type judgment and data preprocessing; after the data type is judged, the data preprocessing submodule extracts a key frame from video data collected by the robot A, selects a format of a compressed picture according to user requirements after the key frame is extracted, and selects and uses a 'JPG' or 'PNG' format to process the data.
In another specific embodiment, the Msgtypeclass is used for judging the type of input data and realizing corresponding data preprocessing, the input data types are allowed to comprise photo, video and json data, a message () method defined in the msgttypeclass is used for carrying out file identification under a specified path and carrying out data processing after the corresponding type is identified; for example, when the data is recognized as a photo type, only the data size is compressed; when the data is identified to be of a video type, the data is framed and the size of the file is compressed; and when the data is identified to be of the json type, adding software and hardware information and a standard data structure of a current sensor (a laser sensor or a vision sensor) to the data.
After the data preprocessing is finished, the robot selects whether to encrypt the data according to the requirements of a user, if the user needs to encrypt the data, a key (public key) generated by the Proxy Server can be obtained, and the key can be used for encrypting the data needing to be encrypted. The private key corresponding to the public key is stored in the cloud end through the Proxy Server; whether the data is encrypted or not, the data is judged according to the return value of the sub-module before being sent to obtain a corresponding mail theme, the data with the specific theme is transmitted to a cloud server through an Apache Kafka information system, and the cloud server is used as a consumer to further process the data.
As a preferred embodiment, transmitting the encrypted json file to the cloud server includes:
when the encrypted json file corresponding to the picture or the video is transmitted, traversing the encrypted json files corresponding to all the pictures or the video frames according to the encrypted json file addresses corresponding to the picture or the video, acquiring path information of the encrypted json file corresponding to the picture or the video, encoding the encrypted json file corresponding to the picture or the video, and transmitting the encoded json file to the cloud server.
As a preferred embodiment, transmitting the encrypted json file to the cloud server includes:
when the encrypted json file corresponding to the digital signal data is transmitted, the path of the encrypted json file corresponding to the digital signal data is obtained, the encrypted json file corresponding to the digital signal data to be transmitted is obtained according to the path query, and the encrypted json file is transmitted to the cloud server.
It should be noted that, although the existing publish/subscribe messaging model can perform data transmission efficiently, no encryption service is provided for the transmitted data, which also makes the traditional publish/subscribe messaging model have poor security.
In one embodiment, a datasc class is defined in a data interaction layer to provide encryption and decryption services for transmission data, and the class defines two important methods, namely encryption () and decryption (), and three relatively important methods, namely decryption _ data _ with _ rsa (), encryption _ data _ with _ rsa (), and generation _ public _ key _ and _ private _ key (); the encryption method mainly takes charge of the encryption of json data, a user needs to input a 'path of a file to be sent' into the encryption method as a parameter, and the whole json file to be encrypted is traversed through the parameter program; then taking out the 'value' from the 'key value pair' of the json file as a parameter, and calling encrypt _ data _ with _ rsa () to encrypt the 'value' one by one; after all the values are finally encrypted, the encry () method updates the confirm json file, and the updated content is the storage path of the encrypted json file. The same decry () method decrypts the "encrypted value" by traversing the encrypted json file, thereby implementing data decryption, and finally returns the storage path of the decrypted json file. A tojson () method is added in the datasc class, encodes photo types or video frame data into 8-Bit byte codes one by one and stores the 8-Bit byte codes into a json file, and then encrypts the json file; and decrypting the encrypted files at the receiver, and finally decoding one by one.
As a preferred embodiment, the data transmission method for the mobile robot and the cloud server further includes transmitting the preprocessed unencrypted picture or video and digital signal data to the cloud server, and transmitting the preprocessed unencrypted picture, video and digital signal data to the cloud server, and specifically includes:
when the preprocessed pictures or videos are transmitted, traversing all picture or video frames according to file addresses corresponding to the preprocessed pictures or videos, acquiring path information corresponding to the pictures or videos, and transmitting picture or video data to a cloud server according to the path information;
and when the preprocessed digital signal data piece is transmitted, acquiring a file path corresponding to the digital signal data, inquiring according to the path to obtain the digital signal data to be transmitted, and transmitting the digital signal data to the cloud server.
In a specific embodiment, the Msvtrans class is mainly developed and designed by depending on Python-API provided by the Kafka information system, a write () method and a read () method are defined in the Msvtrans class, wherein the write () method is responsible for sending data, and the read () method is responsible for receiving data; before calling the write () method, the program needs to get the return value provided by the magtype class to get the data type. The specific work flow of the Write () method is that when sending 'photo' or video frame type data, whether the data is encrypted is judged; when the data encryption flag is 'no', namely encryption is not needed, traversing all pictures in the file according to the file address provided by the config.json file, and acquiring path information of all the pictures by using a glob.glob () function, wherein the information is stored in a list form; and then, the pictures are subjected to base64 encoding and sending one by circulating the lists until the circulation is finished. When the data encryption flag is "yes", that is, when encryption is required, the folder address provided by the json file is also used, but the traversal object is changed into the json file storing the picture information. When the json type data is sent, the program enters an appointed file path according to a path provided by a config. The Read () method is simpler than the write () method, the user does not need to input parameters when using the method, the method can be directly called, and after the method is called, other operations are not needed, the corresponding port is automatically monitored, and the corresponding data is obtained.
As a preferred embodiment, the data transmission method for the mobile robot and the cloud server further includes, after the encrypted json file is transmitted to the cloud server, invoking multiple processes to continuously monitor the same subject data, or invoking multiple processes to monitor different subject data in parallel, and decrypting the monitored data.
In a specific embodiment, before decryption, when data is monitored, the data needs to be processed synchronously or asynchronously, so that a datasa class is designed and developed in a data interaction layer; since the Kafka information system is a transmission system with a Broker, when an information producer sends data, the data enters into a Broker to wait for processing, so that synchronous or asynchronous processing of the data is only required at an information consumer. Synchronous processing of messages may be achieved by invoking multiple processes or asynchronous processing of messages may be achieved by invoking multiple threads. In the synchronous processing, in order that the data to be processed is not influenced by other irrelevant data, the datasa class continuously monitors the data of the same subject by using a process (multiprocessing), and when a first monitoring process is accidentally closed, a second monitoring process replaces the first monitoring process to continue working; if the second process works normally, the third monitoring process blocks as it is, otherwise, the third monitoring process replaces the second process to continue monitoring. In the asynchronous processing, the datasa class uses multithreading (threading) to monitor the data of different subjects in parallel, and finally, the asynchronous processing starts three threads for respectively monitoring the data of different subjects by using the multithreading provided by Python.
The embodiment of the invention provides a data transmission device of a mobile robot and a cloud server, which has a structural block diagram, as shown in fig. 2, and comprises a data preprocessing module 1, an encryption module 2 and a transmission module 3;
the data preprocessing module 1 is configured to acquire picture, video and digital signal data, and perform corresponding data preprocessing on the picture, video and digital signal data to obtain preprocessed picture, video and digital signal data;
the encryption module 2 is configured to traverse the json file of the preprocessed digital signal data to be encrypted by using the file path to be sent as a parameter, encrypt the value of the json file of the digital signal data as a parameter, and obtain an encrypted json file; the image encryption device is also used for encoding the preprocessed image and video data to be encrypted, storing the encoded image and video data into a json file, and encrypting the json file to obtain an encrypted json file;
and the transmission module 3 is used for transmitting the encrypted json file to the cloud server.
An embodiment of the present invention provides an electronic device, which includes a memory and a processor, where the memory stores a computer program, and when the computer program is executed by the processor, the method for transmitting data between a mobile robot and a cloud server according to any of the above embodiments is implemented.
An embodiment of the present invention provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the data transmission method for a mobile robot and a cloud server according to any of the above embodiments.
According to the data transmission method, device, electronic equipment and computer readable storage medium of the mobile robot and the cloud server, picture, video and digital signal data are obtained, and corresponding data preprocessing is carried out on the picture, video and digital signal data to obtain preprocessed picture, video and digital signal data; traversing a json file of the preprocessed digital signal data to be encrypted by using a file path to be sent as a parameter, and encrypting a value of the json file of the digital signal data as the parameter to obtain an encrypted json file; encoding the preprocessed picture and video data to be encrypted, storing the encoded picture and video data into a json file, and encrypting the json file to obtain an encrypted json file; transmitting the encrypted json file to a cloud server; the safety of data transmission of the mobile robot and the cloud server is considered.
The technical scheme of the invention provides the RCC which can help to effectively and safely transmit the intelligent robot data to different types of public cloud or private cloud platforms, manage different types of robot equipment or IoT equipment and generate 24-bit unique IDs for each equipment; the RCC may also provide corresponding APIs for structured data and unstructured data, which may not only support data collected by general sensors, but also effectively separate and process such data.
The technical scheme of the invention expands the Kafka middleware, and because the Kafka does not provide a security module, the technical scheme of the invention enhances the security of data transmission and how to rapidly deploy computing resources on the cloud and the robot, simplifies the deployment and development processes of the cloud robot, and breaks through the limitation that the traditional communication mode only supports a single cloud platform; meanwhile, the problems that the kafka middleware is single in data transmission type and single in encryption algorithm encryption data type are solved, so that the robot can transmit and encrypt various types of data to the cloud server.
Those skilled in the art will appreciate that all or part of the flow of the method implementing the above embodiments may be implemented by a computer program, which is stored in a computer readable storage medium, to instruct related hardware. The computer readable storage medium is a magnetic disk, an optical disk, a read-only memory or a random access memory.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention.
Claims (10)
1. A data transmission method of a mobile robot and a cloud server is characterized by comprising the following steps:
acquiring picture, video and digital signal data, and performing corresponding data preprocessing on the picture, video and digital signal data to obtain preprocessed picture, video and digital signal data;
traversing a json file of the preprocessed digital signal data to be encrypted by using a file path to be sent as a parameter, and encrypting a value of the json file of the digital signal data as the parameter to obtain an encrypted json file;
encoding the preprocessed picture and video data to be encrypted, storing the encoded picture and video data into a json file, and encrypting the json file to obtain an encrypted json file;
and transmitting the encrypted json file to a cloud server.
2. The data transmission method of the mobile robot and the cloud server according to claim 1, wherein acquiring data of pictures, videos, and digital signals specifically includes: and detecting whether the sensor is on line or not, if so, calling the sensor, and acquiring the picture, video and digital signal data acquired by the sensor.
3. The data transmission method of the mobile robot and the cloud server according to claim 1, wherein the data preprocessing of the picture, the video and the digital signal data includes: and compressing picture data, framing and compressing the video, adding software and hardware information of a corresponding sensor to the digital signal data, and standardizing a data structure.
4. The data transmission method of the mobile robot and the cloud server according to claim 3, wherein transmitting the encrypted json file to the cloud server includes:
when the encrypted json file corresponding to the picture or the video is transmitted, traversing the encrypted json files corresponding to all the pictures or the video frames according to the encrypted json file addresses corresponding to the picture or the video, acquiring path information of the encrypted json file corresponding to the picture or the video, encoding the encrypted json file corresponding to the picture or the video, and transmitting the encoded json file to the cloud server.
5. The data transmission method of the mobile robot and the cloud server according to claim 3, wherein transmitting the encrypted json file to the cloud server includes:
when the encrypted json file corresponding to the digital signal data is transmitted, the path of the encrypted json file corresponding to the digital signal data is obtained, the encrypted json file corresponding to the digital signal data to be transmitted is obtained according to the path query, and the encrypted json file is transmitted to the cloud server.
6. The data transmission method of the mobile robot and the cloud server according to claim 1, further comprising calling multiple processes to continuously monitor the same subject data after transmitting the encrypted json file to the cloud server, or calling multiple processes to monitor different subject data in parallel, and decrypting the monitored data.
7. The data transmission method according to claim 1, further comprising transmitting the preprocessed unencrypted picture or video and digital signal data to the cloud server, and transmitting the preprocessed unencrypted picture, video and digital signal data to the cloud server, specifically comprising:
when the preprocessed pictures or videos are transmitted, traversing all picture or video frames according to file addresses corresponding to the preprocessed pictures or videos, acquiring path information corresponding to the pictures or videos, and transmitting picture or video data to a cloud server according to the path information;
and when the preprocessed digital signal data piece is transmitted, acquiring a file path corresponding to the digital signal data, inquiring according to the path to obtain the digital signal data to be transmitted, and transmitting the digital signal data to the cloud server.
8. A data transmission device of a mobile robot and a cloud server is characterized by comprising a data preprocessing module, an encryption module and a transmission module;
the data preprocessing module is used for acquiring picture, video and digital signal data, and performing corresponding data preprocessing on the picture, video and digital signal data to obtain preprocessed picture, video and digital signal data;
the encryption module is used for traversing the json file of the preprocessed digital signal data to be encrypted by taking the path of the file to be transmitted as a parameter, and encrypting the value of the json file of the digital signal data as a parameter to obtain an encrypted json file; the image encryption device is also used for encoding the preprocessed image and video data to be encrypted, storing the encoded image and video data into a json file, and encrypting the json file to obtain an encrypted json file;
and the transmission module is used for transmitting the encrypted json file to the cloud server.
9. An electronic device comprising a memory and a processor, the memory having stored thereon a computer program that, when executed by the processor, implements the data transmission method of the mobile robot and the cloud server according to any one of claims 1 to 7.
10. A computer-readable storage medium on which a computer program is stored, the computer program, when executed by a processor, implementing the data transmission method of the mobile robot and the cloud server according to any one of claims 1 to 7.
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| CN114006770A (en) * | 2021-12-28 | 2022-02-01 | 国网瑞嘉(天津)智能机器人有限公司 | Data processing method, device and equipment of robot operation platform and storage medium |
| CN115550862A (en) * | 2022-11-29 | 2022-12-30 | 国网瑞嘉(天津)智能机器人有限公司 | Data transmission method and system of electric power robot and electronic equipment |
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