CN113986278A - Firmware upgrading method, system, robot, base station and storage medium - Google Patents
Firmware upgrading method, system, robot, base station and storage medium Download PDFInfo
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- CN113986278A CN113986278A CN202111169033.5A CN202111169033A CN113986278A CN 113986278 A CN113986278 A CN 113986278A CN 202111169033 A CN202111169033 A CN 202111169033A CN 113986278 A CN113986278 A CN 113986278A
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- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F8/00—Arrangements for software engineering
- G06F8/60—Software deployment
- G06F8/65—Updates
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F8/00—Arrangements for software engineering
- G06F8/60—Software deployment
- G06F8/61—Installation
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F8/00—Arrangements for software engineering
- G06F8/70—Software maintenance or management
- G06F8/71—Version control; Configuration management
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Abstract
The application discloses a firmware upgrading method, a firmware upgrading system, a robot, a base station and a storage medium. The firmware upgrading method comprises the following steps: acquiring a current base station firmware version of the base station; determining that the robot firmware version of the robot and the current base station firmware version do not match; and sending a base station firmware upgrade package in the downloaded robot firmware package to the base station so that the base station can upgrade the current base station firmware version based on the base station firmware upgrade package. The method and the device can control the upgrading of the firmware version of the base station through the robot, so that the firmware version of the base station is kept matched with the firmware version of the robot.
Description
Technical Field
The present application relates to the field of robotics, and in particular, to a firmware upgrade method, system, robot, base station, and storage medium.
Background
Cleaning robots are often used in conjunction with base stations. In the related art, with the change of the environment of software, hardware and the like used by the cleaning robot, phenomena such as incompatibility of new software and hardware or gradual reduction of the running service program speed will occur, and for this reason, manufacturers will regularly release Firmware (Firmware), and the purpose of which is mainly two points:
1) bug is repaired and performance is improved through Firmware update
2) By means of Firmware optimization and upgrading, the device is better compatible with new software and hardware, and the optimal working state of the device is kept.
However, in the related art, the base station used in cooperation with the cleaning robot has a single function, for example, only provides a function of charging the cleaning robot, and thus, a function of upgrading the firmware of the base station is not provided. As the functions of the base station become more abundant, the base station is configured with software and hardware as a cleaning robot, and the firmware version also needs to be upgraded.
Since the cleaning robot and the base station are provided independently of each other, each has a corresponding firmware version. During use, the firmware versions of the base station and the sweeping robot used in the pairing may not match.
Disclosure of Invention
The present application mainly aims to provide a firmware upgrading method, system, robot, base station and storage medium, and aims to solve the technical problem of how to upgrade the firmware version of the base station when the firmware version of the base station is not matched with the firmware version of the robot.
In order to achieve the above object, the present application provides a firmware upgrading method, which is applied to a robot, where the robot is configured with a base station, and includes the following steps:
acquiring a current base station firmware version of the base station;
determining that the robot firmware version of the robot and the current base station firmware version do not match; and
and sending a base station firmware upgrading packet in the downloaded robot firmware packet to the base station so that the base station can upgrade the current base station firmware version based on the base station firmware upgrading packet.
Optionally, the step of determining that the robot firmware version of the robot and the current base station firmware version do not match includes:
acquiring the chip model of the base station;
inquiring a corresponding base station firmware version in a robot firmware package of the robot according to the chip model, and comparing the current base station firmware version with the base station firmware version; and
and if the current base station firmware version is determined to be inconsistent with the base station firmware version, determining that the robot firmware version of the robot is not matched with the current base station firmware version.
Optionally, the step of sending a base station firmware upgrade package in the downloaded robot firmware package to the base station includes:
and inquiring a corresponding base station firmware upgrading packet in the robot firmware packet according to the chip model, and sending the corresponding base station firmware upgrading packet to the base station.
Optionally, before the step of obtaining the current base station firmware version of the base station, the method further includes:
and detecting that the firmware version update exists in the cloud version management server, and downloading the robot firmware package corresponding to the updated firmware version.
Optionally, the step of detecting that there is a firmware version update in the cloud version management server includes:
when polling a cloud version management server or receiving an inquiry signal sent by an application software server, sending a robot firmware package version number to the cloud version management server so that the cloud version management server determines that firmware version updating exists based on the robot firmware package version number.
Optionally, before the step of obtaining the current base station firmware version of the base station, the method further includes:
and upgrading the robot firmware version based on the robot firmware package.
Optionally, before the step of obtaining the current base station firmware version of the base station, the method further includes:
determining that an upgrading condition is met, wherein the upgrading condition is as follows: the robot is located at a base station and can communicate with the base station.
Optionally, after the step of sending a base station firmware upgrade package in the downloaded robot firmware package to the base station, the method includes:
receiving an upgrading result of the base station for upgrading the current base station firmware version based on the base station firmware upgrading package; and
and if the upgrading result is upgrading failure, adjusting the robot firmware version after the robot is updated to the robot firmware version before the robot is updated.
In addition, to achieve the above object, the present application provides a firmware upgrading method, where the firmware upgrading method is applied to a base station, and the base station and a robot establish a communication connection, including the following steps:
sending a current base station firmware version to the robot; and
and receiving a base station firmware upgrade package fed back by the robot based on the current base station firmware version, and upgrading the current base station firmware version based on the base station firmware upgrade package.
Optionally, after the step of upgrading the current base station firmware version based on the base station firmware upgrade package, the method includes:
and if the current base station firmware version fails to be upgraded, continuously keeping the current base station firmware version unchanged, and sending the upgrade failure serving as an upgrade result to the robot.
Further, to achieve the above object, the present application provides a firmware upgrade system applied to a robot and a base station, wherein:
the base station is used for sending a current base station firmware version to the robot;
the robot is used for acquiring the current base station firmware version of the base station;
the robot is used for determining that the robot firmware version of the robot is not matched with the current base station firmware version, and sending a base station firmware upgrading packet in the downloaded robot firmware packet to the base station; and
and the base station is used for receiving a base station firmware upgrading packet fed back by the robot based on the current base station firmware version and upgrading the current base station firmware version based on the base station firmware upgrading packet.
Further, to achieve the above object, the present application provides a robot comprising: the firmware upgrading method comprises a memory, a processor and a firmware upgrading program which is stored on the memory and can run on the processor, wherein when the firmware upgrading program is executed by the processor, the steps of the firmware upgrading method are realized.
Further, to achieve the above object, the present application provides a base station including: the firmware upgrading method comprises a memory, a processor and a firmware upgrading program which is stored on the memory and can run on the processor, wherein when the firmware upgrading program is executed by the processor, the steps of the firmware upgrading method are realized.
In addition, to achieve the above object, the present application provides a storage medium having a firmware upgrade program stored thereon, the firmware upgrade program implementing the steps of the firmware upgrade method as described above when executed by a processor.
According to the method and the device, when the robot acquires the current base station firmware version of the base station and the robot firmware version of the robot is determined not to be matched with the current base station firmware version of the base station, the base station firmware upgrading package in the robot firmware package downloaded by the robot is sent to the base station, and the base station upgrades the current base station firmware version according to the base station firmware upgrading package. That is, when the robot firmware version of the robot is not matched with the current base station firmware version of the base station, the robot controls the base station firmware version of the base station to be upgraded, and the base station firmware package is a part of the robot firmware package, so that the firmware version of the base station upgraded based on the base station firmware package can be matched with the firmware version of the robot, and the optimal working state can be maintained.
Drawings
Fig. 1 is a schematic diagram of an application scenario of a firmware upgrading method provided in an embodiment of the present application;
fig. 2 is a schematic perspective view of a cleaning robot provided in an embodiment of the present application;
FIG. 3 is another schematic structural diagram of a cleaning robot provided in an embodiment of the present application;
fig. 4 is a schematic structural diagram of a base station according to an embodiment of the present application;
FIG. 5 is a schematic diagram of a cleaning robot driving to a base station according to an embodiment of the present disclosure;
fig. 6 is a schematic diagram of a cleaning robot provided in an embodiment of the present application in a state of docking on a base station;
FIG. 7 is a flowchart illustrating an embodiment of a firmware upgrade method according to the present application;
fig. 8 is a flowchart illustrating a firmware upgrade method according to another embodiment of the present application.
The objectives, features, and advantages of the present application will be further described with reference to the accompanying drawings.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
An application scenario of the firmware upgrading method is provided in the embodiment of the present application, and referring to fig. 1, the application scenario includes a cleaning robot 100 and a base station 200. The cleaning robot 100 is used for automatically cleaning the floor of a space to be cleaned, and the base station 200 is a cleaning device used in cooperation with the cleaning robot 100 and used for charging the cleaning robot 100 or cleaning a cleaning member of the cleaning robot 100. The cleaning robot 100 is provided with a cleaning member and a driving device, the driving device is used for driving the cleaning robot 100, and the cleaning member is used for automatically cleaning the ground of the space to be cleaned. The cleaning piece can be a mopping module or a sweeping module, the mopping module is used for mopping and cleaning the ground, the mopping module can be a mopping piece, and the mopping piece can be a cleaning cloth. The sweeping module is used for sweeping and cleaning the ground, and the sweeping module can be a side brush.
Fig. 2 is a schematic perspective view of a cleaning robot 100 according to an embodiment of the present disclosure. Fig. 3 is another structural schematic diagram of the cleaning robot 100 shown in fig. 1.
As shown in fig. 2 to 3, the cleaning robot 100 includes a robot main body 101, a driving motor 102, a sensor unit 103, a controller 104, a battery 105, a traveling unit 106, a memory 107, a communication unit 108, a robot interaction unit 109, a cleaning member 1101, a charging member 111, and the like.
The robot main body 101 may have a circular structure, a square structure, or the like. In the present embodiment, the robot main body 101 is described as having a D-shaped configuration. As shown in fig. 2, the robot main body 101 has a rounded rectangular front portion and a semicircular rear portion. In the embodiment of the present application, the robot main body 101 has a bilaterally symmetric structure.
The cleaning pieces are used for cleaning the floor, and the number of the cleaning pieces can be one or more. The cleaning member is disposed at the bottom of the robot main body 101, specifically, at a position forward of the bottom of the robot main body 101. A driving motor 102 is arranged in the robot main body 101, two rotating shafts extend out of the bottom of the robot main body 101, and the cleaning piece is sleeved on the rotating shafts. The driving motor 102 can drive the rotating shaft to rotate, so that the rotating shaft drives the cleaning element to rotate.
A controller 104 is provided inside the robot main body 101, and the controller 104 is used to control the cleaning robot 100 to perform a specific operation. The controller 104 may be, for example, a Central Processing Unit (CPU), a Microprocessor (Microprocessor), or the like. As shown in fig. 3, the controller 104 is electrically connected to components such as the battery 105, the memory 107, the driving motor 102, the walking unit 106, the sensor unit 103, and the robot interaction unit 109 to control these components.
A battery 105 is provided inside the robot main body 101, and the battery 105 is used to supply power to the cleaning robot 100.
The robot main body 101 is also provided with a charging member 111, and the charging member 111 is used to obtain power from an external device to charge the battery 105 of the cleaning robot 100.
A memory 107 is provided on the robot main body 101, and the memory 107 stores a program that realizes a corresponding operation when executed by the controller 104. The memory 107 is also used to store parameters for use by the cleaning robot 100. The Memory 107 includes, but is not limited to, a magnetic disk Memory, a Compact Disc-Only Memory (CD-ROM), an optical Memory, and the like.
A communication unit 108 is provided on the robot main body 101, the communication unit 108 is used for the cleaning robot 100 to communicate with external devices, and the communication unit 108 includes, but is not limited to, a WIreless-Fidelity (WI-FI) communication module 1081, a short-range communication module 1082, and the like. The cleaning robot 100 may communicate with the terminal by connecting a WI-FI router through the WI-FI communication module 1081. The cleaning robot 100 communicates with the base station through the short-range communication module 1082. Wherein the base station is a cleaning device used in cooperation with the cleaning robot 100.
The sensor unit 103 provided on the robot main body 101 includes various types of sensors such as a laser radar 1031, an impact sensor 1032, a distance sensor 1033, a fall sensor 1034, a counter 1035, a gyroscope 1036, and the like.
The robot interaction unit 109 is provided on the robot main body 101, and a user can interact with the cleaning robot 100 through the robot interaction unit 109. The robot interaction unit 109 includes, for example, a switch button 1091, and a speaker 1092. The user can control the cleaning robot 100 to start or stop the operation by pressing the switch button 1091. The cleaning robot 100 may play a warning tone to the user through the speaker 1092.
It should be understood that the cleaning robot 100 described in the embodiment of the present application is only a specific example, and the cleaning robot 100 of the embodiment of the present application is not specifically limited, and the cleaning robot 100 of the embodiment of the present application may be implemented in other specific ways. For example, in other implementations, the cleaning robot 100 may have more or fewer components than the cleaning robot 100 shown in fig. 2. For another example, the cleaning robot 100 may be a sweeping and mopping integrated robot, that is, the bottom of the cleaning robot 100 is provided with a mopping member, an edge brush, and an air suction opening, so that the cleaning robot 100 can simultaneously mop and sweep the floor.
The embodiment of the present application also provides a base station 200, and the base station 200 is used in cooperation with the cleaning robot 100, for example, the base station 200 may charge the cleaning robot 100, the base station 200 may provide a parking position for the cleaning robot 100, and the like. When the cleaning robot 100 is a mopping robot, the base station 200 may also wash the mopping member 1101 of the mopping robot 1002. The mop 1101 is used for mopping the floor.
Fig. 4 is a schematic structural diagram of the base station 200 shown in fig. 1.
Referring to fig. 4, the base station 200 according to the embodiment of the present application includes a controller 206, a communication unit 207, a memory 208, a water pump 209, a base station interaction unit 210, and the like.
A controller 206 is provided inside the base station body, and the controller 206 is used to control the base station 200 to perform a specific operation. The controller 206 may be, for example, a Central Processing Unit (CPU), a Microprocessor (Microprocessor), or the like. Wherein, the controller 206 is electrically connected with the communication unit 207, the memory 208, the water pump 209 and the base station interaction unit 210.
A memory 208 is provided on the base station main body, and the memory 208 stores thereon a program that realizes a corresponding operation when executed by the controller 206. The memory 208 is also used to store parameters for use by the base station 200. Memory 208 includes, but is not limited to, disk memory, CD-ROM, optical memory, and the like.
The water pumps 209 are provided inside the base station main body, and specifically, there are two water pumps 209, one of the water pumps 209 is for controlling the clean water tank to supply cleaning water to the cleaning tank 203, and the other water pump 209 is for collecting dirty water after cleaning the wiper 1101 into the dirty water tank.
A communication unit 207 is provided on the base station main body, the communication unit 207 is used for communication with an external device, and the communication unit 207 includes, but is not limited to, a WIreless-Fidelity (WI-FI) communication module 2071, a short-range communication module 2072, and the like. The base station 200 may communicate with the terminal by connecting to the WI-FI router through the WI-FI communication module 2071. The base station 200 may communicate with the cleaning robot 100 through the short-range communication module 2072.
The base station interacting unit 210 is used for interacting with the user. The base station interaction unit 210 includes, for example, a display screen 2101 and a control button 2102, the display screen 2101 and the control button 2102 are disposed on a base station main body, the display screen 2101 is used for displaying information to a user, and the control button 2102 is used for a user to perform a pressing operation to control the start-up or shutdown of the base station 200.
The base station main body is further provided with a power supply part, and the cleaning robot 100 is provided with a charging part 111, and when the cleaning robot 100 stops at a preset stop position on the base station 200, the charging part 111 of the cleaning robot 100 contacts with the power supply part of the base station 200, so that the base station 200 charges the cleaning robot 100. Wherein, the power of the base station 200 can be derived from the commercial power.
Fig. 5 is a schematic diagram of a cleaning robot driving to a base station according to an embodiment of the present disclosure. Fig. 6 is a schematic diagram of a state in which a cleaning robot provided in an embodiment of the present application is parked on a base station.
As shown in fig. 5 and 6, the base station 200 of the embodiment of the present application includes a base station main body on which a notch 205 is provided. The cleaning robot 100 may be driven into the base station 200 through the entry slot 205 such that the cleaning robot 100 is parked at a preset parking position on the base station 200.
It should be understood that the base station 200 described in the embodiment of the present application is only a specific example, and is not a specific limitation to the base station 200 in the embodiment of the present application, and the base station 200 in the embodiment of the present application may also be implemented in other specific implementations, and in other implementations, the base station 200 may have more or fewer components than the base station 200 shown in fig. 4.
Referring to fig. 7, the present application provides a firmware upgrade method applied to a robot, which is configured with a base station. Wherein the robot may be the robot 100, and the base station may be the base station 200.
Firmware is software embedded in a hardware device. The terminal firmware upgrading is generally to download a firmware file from a server, store the downloaded firmware file to the local terminal, read the local firmware file of the terminal, write the local firmware file into a terminal singlechip, send a firmware updating instruction to the terminal singlechip, and upgrade the firmware of the terminal according to the firmware updating instruction and the downloaded firmware file. The cloud version management server is used for firmware version management, and a cleaning robot manufacturer can manage firmware version information through the cloud version management server. A CDN (Content Delivery Network) server is typically a third party server for delivering firmware packages. The manufacturer developer can timely release the firmware updating information to the cloud version server.
In an embodiment of the present application, the firmware upgrading method includes the following steps:
step S10, acquiring the current base station firmware version of the base station;
specifically, the current base station firmware version refers to a firmware version currently written in the base station chip. The firmware version is a version number of firmware, such as version V7.9.1, version V7.8.1, and the like. The base station sends the current base station firmware version to the robot, and the robot acquires the current base station firmware version of the base station.
It can be understood that before the current firmware version of the base station is obtained, a communication connection between the robot and the base station needs to be established, such as a bluetooth connection, a WiFi connection, and the like. And then the robot acquires the current base station firmware version through the communication connection.
Step S20, determining that the robot firmware version of the robot does not match the current base station firmware version;
specifically, the robot firmware version of the robot refers to a version number of a robot firmware package, such as V2.0, that the robot has downloaded.
After the robot acquires the current base station firmware version, whether the robot firmware version of the robot is matched with the current base station firmware version needs to be checked. And different operations are executed according to different checking results so as to enable the firmware versions of the robot and the base station to be consistent.
The matching time of the robot firmware version and the current base station firmware version may be a time set by a user, for example, in the morning. Matching may also be performed in real time. The robot and the base station can start Bluetooth, and whether the robot firmware version is matched with the current base station firmware version is detected when the first Bluetooth pairing is carried out.
Specifically, the step of determining that the robot firmware version of the robot and the current base station firmware version do not match includes:
step a, acquiring a chip model of the base station;
b, inquiring a corresponding base station firmware version in a robot firmware package of the robot according to the chip model, and comparing the current base station firmware version with the base station firmware version; and
and c, determining that the current base station firmware version is not consistent with the base station firmware version, and determining that the robot firmware version of the robot is not matched with the current base station firmware version.
The method comprises the steps that a newly issued robot firmware package comprises a firmware package for firmware upgrading of a robot, a base station firmware upgrading package for firmware upgrading of a base station, base station firmware upgrading packages corresponding to models (including old models used in the past and new models in use) of all chips applied to the base station are stored in the robot firmware package in a sub-package mode, when the chip model of the base station and the current base station firmware version corresponding to the chip model are obtained, the robot inquires the base station firmware upgrading package corresponding to the chip model in the robot firmware package based on the chip model of the base station, and sends the base station firmware upgrading package to the base station for firmware upgrading of the base station. It is to be understood that the version correspondence relationship between the robot firmware package and the base station firmware package may be set in advance.
When determining whether the firmware version of the robot is matched with the firmware version of the current base station, the Chip model of an MCU (micro controller Unit, micro control Unit, also called a Single Chip Microcomputer (or a Single Chip Microcomputer)) being used in the base station may be obtained first, and since the robot firmware package downloaded by the robot includes the firmware versions corresponding to all the Chip models used by the base station, the corresponding base station firmware version, that is, the firmware version to be upgraded of the base station, may be inquired in the robot firmware package according to the Chip model used by the base station at the current time, and then the robot compares the current base station firmware version with the base station firmware version in the robot firmware package to determine whether the firmware version of the base station needs to be upgraded. If the current base station firmware version is determined to be consistent with the base station firmware version, the firmware version used by the base station does not need to be upgraded. However, when it is determined that the current base station firmware version is not consistent with the base station firmware version in the robot firmware package, it may be determined that the robot firmware version of the robot is not matched with the current base station firmware version, and the current base station firmware version of the base station needs to be updated to match the base station firmware version with the robot firmware version.
In addition, to assist understanding of how the process of determining the robot firmware version is inconsistent with the current base station firmware version in this embodiment, the following description is given by way of example.
For example, the chip model of the base station may include an MCU chip a1 and/or an MCU chip a2, and the firmware version V1.0.0 is burned in the chip model when the base station leaves the factory. When the cleaning robot is matched with the base station, the cleaning robot firstly obtains the chip model A1 and/or A2 of the base station, and detects the current firmware version V1.0.0 of the base station according to the chip model A1 and/or A2. However, if the downloaded firmware package version of the robot in the cleaning robot is V2.0, where the corresponding firmware package version of the base station is V2.0.0 by looking up the table in the firmware package of the robot based on the chip model numbers a1 and/or a2, it may be determined that the firmware version of the robot is inconsistent with the current firmware version of the base station because V2.0.0 and V1.0.0 are inconsistent. The current base station firmware version that needs to be robotically controlled is upgraded from V1.0.0 to V2.0.0.
Step S30, sending a base station firmware upgrade package in the downloaded robot firmware package to the base station, so that the base station can upgrade the current base station firmware version based on the base station firmware upgrade package.
When it is determined that the current base station firmware version of the base station needs to be upgraded, the downloaded robot firmware package in the robot can be determined, and then the base station firmware upgrade package corresponding to the chip model of the base station in the robot firmware package is sent to the base station. And when the base station receives the base station firmware upgrade package, upgrading the current base station firmware version according to the base station firmware upgrade package so as to keep the firmware version of the base station matched with the firmware version of the robot. The downloaded robot firmware package is stored in the robot in a binary format, and comprises firmware versions corresponding to a full series of chip models. Therefore, the downloaded robot firmware package has binary format data corresponding to each chip model. When the base station firmware upgrade package is determined, the base station firmware upgrade package can be quickly screened out from the downloaded robot firmware packages according to binary format data corresponding to the chip model of the base station.
The robot firmware package may be a firmware package downloaded by the robot from the CDN server for upgrading firmware versions of the robot and the base station. The robot firmware package comprises a firmware package for firmware upgrade of the robot, a base station firmware upgrade package corresponding to all base station chip models, the base station firmware upgrade package corresponding to all base station chip models is placed in a directory of the robot firmware package in a sub-package mode, the robot firmware package comprises a full-series base station chip firmware mapping table, table lookup is carried out in the mapping table according to the base station chip models, base station firmware versions corresponding to the chip models can be inquired, and the base station firmware upgrade package corresponding to the chip models can be inquired. At this time, the base station firmware upgrade package among the downloaded robot firmware packages may refer to a part of the robot firmware package.
When the robot firmware is upgraded, the robot and the cloud version management server are required to communicate to acquire firmware version update information. And if the version is updated, the robot downloads the robot firmware package on the CDN server to the robot according to the firmware version updating information so as to upgrade the firmware based on the robot firmware package.
When a manufacturer also provides a firmware upgrading function for the base station, the firmware of the base station MCU needs to be upgraded, the base station also needs to acquire firmware version updating information, and if the version is updated, the base station also needs to acquire a base station upgrading packet and upgrade the firmware based on the base station upgrading packet. If the base station needs to acquire the firmware version updating information and the firmware upgrading package in a manner of direct communication with the cloud version management server like a robot, the MCU chip carried by the base station is required to have higher computing power, and a high-grade chip is required to be used, so that the cost is increased. The base station is generally used as an accessory of a robot, and compared with the robot, the base station carries a relatively low-grade chip and has relatively low computational effort. Therefore, in the embodiment of the application, the base station serving as a robot accessory acquires the firmware version update information through robot indirect, and the base station only needs to receive the base station firmware update package sent by the robot and does not need to communicate with the cloud version management server, so that the base station does not need to carry a high-computation-power chip, and the base station firmware update can be realized.
In some embodiments of the present application, the step of sending a base station firmware upgrade package in the downloaded robot firmware package to the base station includes:
and d, inquiring a corresponding base station firmware upgrading package in the robot firmware package according to the chip model, and sending the corresponding base station firmware upgrading package to the base station.
After the chip model of the base station is obtained, the robot can also inquire in the downloaded robot firmware package according to the chip model of the base station. The downloaded robot firmware package comprises firmware versions and firmware packages corresponding to all chip models, namely the firmware versions and firmware packages corresponding to all chips in the robot and the firmware versions and firmware packages corresponding to all chips in the base station. After the firmware version corresponding to the base station chip model is inquired and the firmware version is determined to be inconsistent with the current firmware version of the base station, the firmware package corresponding to the base station chip model can be further used as a base station firmware upgrade package, and the base station firmware upgrade package is sent to the base station, so that the base station can be upgraded according to the base station firmware upgrade package. Because the base station firmware package version in the robot firmware package is matched with the robot firmware package version, the firmware version of the base station upgraded based on the base station firmware package in the robot firmware package can be matched with the firmware version of the robot.
When the robot firmware version of the robot is detected to be not matched with the current base station firmware version of the base station, the robot sends a base station firmware upgrading package to the base station to control upgrading of the base station firmware version of the base station.
In some embodiments of the present application, the step S10 of the above embodiment is preceded by the step of obtaining the current base station firmware version of the base station, including:
and e, detecting that the firmware version of the cloud version management server is updated, and downloading the robot firmware package corresponding to the updated firmware version.
The robot monitors whether firmware version updating exists in the cloud version management server in real time. The firmware version updating is that the cloud version management server firstly acquires the firmware version of the robot, compares the acquired firmware version with the latest updated firmware version in the cloud version management server, and determines that the firmware version updating exists in the cloud version management server if the latest updated firmware version is not matched with the acquired firmware version, and the latest updated firmware version is used as the updated firmware version.
And the robot can detect whether the robot has downloaded the robot firmware package corresponding to the updated firmware version, if not, the disk space of the robot is detected whether to be larger than the preset disk space, if not, the system is prompted to clean the disk, the next period of detection version update is waited, and the downloading of the robot firmware package is suspended. If the disk space is larger than the preset disk space, the robot firmware package is actively downloaded, the robot firmware package is verified, whether the downloaded robot firmware package is complete or not is detected, if the downloaded robot firmware package is incomplete, the robot firmware package is deleted, if the downloaded robot firmware package is complete, the downloading is determined to be successful, and at the moment, the robot firmware package corresponding to the downloaded updated firmware version can be stored in the specified directory. And the robot detects the residual memory value of the robot memory space before downloading the robot firmware package, and only when the residual memory value is larger than the preset memory value, the robot firmware package is downloaded.
And the robot inquires whether firmware version updating information exists in the cloud version management server, and the robot firmware package corresponding to the updated firmware version is downloaded in the CDN server by the robot according to the firmware version updating information.
Through inquiring the base station firmware upgrade package in the robot firmware package of robot according to the chip type number of base station to can be convenient for the robot to inquire the base station firmware upgrade package that the base station needs to use fast, send base station firmware upgrade package to the base station again, so that the base station upgrades, make the firmware version to the base station and the firmware version of robot match.
In some embodiments of the present application, the step of detecting that the firmware version update exists in the cloud version management server includes:
and f, when polling the cloud version management server or receiving an inquiry signal sent by the application software server, sending the version number of the robot firmware package to the cloud version management server so that the cloud version management server determines that the firmware version is updated based on the version number of the robot firmware package.
The robot may poll the cloud version management server through a certain time period to determine whether a firmware version update exists in the cloud version management server, or receive an inquiry signal sent by the application software server, where the inquiry signal may be actively triggered by a user or automatically triggered based on a certain rule, and when receiving the inquiry signal, the robot may actively determine whether the firmware version update exists in the cloud version management server. The robot determines whether firmware version update exists in the cloud version management server or not by firstly sending a robot firmware version number to the cloud version management server, after receiving the robot firmware version number sent by the robot, the cloud version management server compares the robot firmware version number with a newly issued firmware version number, if the robot firmware version number is not consistent with the newly issued firmware version number, the robot determines that firmware version update exists, and when the robot determines that firmware version update exists, a message of the existence of firmware version update is fed back to the robot, so that the robot determines that firmware version update exists in the cloud version management server.
The robot sends the version number of the robot firmware package to the cloud version management server by polling the cloud version management server or according to the received query signal, so that the cloud version management server can quickly determine whether firmware version update exists according to the version number of the robot firmware package, and the timeliness of determining whether the firmware version update exists in the cloud version management server by the robot is improved.
In some embodiments of the present application, before the step of obtaining the current base station firmware version of the base station, the method further includes:
and g, upgrading the robot firmware version based on the robot firmware package.
After the robot downloads the robot firmware package from the CDN server, the robot firmware version can be upgraded by selecting the machine based on the robot firmware package. When the robot meets the upgrading opportunity, the robot firmware version can be upgraded according to the robot firmware upgrading package in the robot firmware package. It should be noted that, the firmware upgrade of the robot by the robot may include a lower computer upgrade (i.e., firmware upgrade of a lower computer) and an upper computer upgrade (i.e., firmware upgrade of an upper computer).
The upgrade opportunity may include forced upgrade, APP (application software) triggered upgrade, and automatic upgrade, among others. The forced upgrading is that the robot downloads the robot firmware package, and the robot firmware package is directly upgraded after being successfully verified. The APP triggering upgrading is upgrading through a triggering instruction input in the APP by a user. And the automatic upgrade is realized by automatically upgrading the robot according to the time node set in advance. It should be noted that the robot and/or the base station need to meet the upgrade time before upgrading.
The upgrading of the firmware version of the robot can be robot firmware upgrading, and the robot firmware upgrading is generally realized by downloading a firmware file from a server, storing the downloaded firmware file to the robot local, reading the robot local firmware file, writing the robot local firmware file into a robot single chip microcomputer, sending a firmware updating instruction to the robot single chip microcomputer, and upgrading the firmware of the robot according to the firmware updating instruction and the downloaded firmware file.
In some embodiments of the present application, before the step of obtaining the current base station firmware version of the base station, the method further includes:
step h, determining that an upgrading condition is met, wherein the upgrading condition is as follows: the robot is located at a base station and can communicate with the base station.
Before the robot and/or the base station is upgraded, an upgrade condition needs to be met, where the upgrade condition may be that the robot is located in the base station (for example, in the state shown in fig. 6) and can communicate with the base station, and may also include that the robot is in an idle state and has sufficient power.
When the robot meets the upgrading condition, the robot firmware version is upgraded according to the robot firmware package, so that the follow-up normal operation of the robot is guaranteed, and the problem that the robot cannot be suitable for the latest function due to the fact that the robot firmware version is not upgraded is avoided.
In some embodiments of the present application, after the step of sending a base station firmware upgrade package in the downloaded robot firmware package to the base station, the method includes:
step k, receiving an upgrading result of the base station for upgrading the current base station firmware version based on the base station firmware upgrading package; and
and j, if the upgrading result is upgrading failure, adjusting the robot firmware version after the robot is updated to the robot firmware version before the robot is updated.
After the robot sends the base station firmware upgrading package to the base station, the robot can monitor the progress of the base station upgrading based on the base station firmware upgrading package in real time, and after the base station finishes upgrading the base station firmware based on the base station firmware upgrading package, the base station can send the upgrading result to the robot. And after the robot receives the upgrading result sent by the base station, if the upgrading result is determined to be upgrading failure, actively adjusting the robot firmware version after the robot is updated to the robot firmware version before the robot is updated, so that the robot firmware version is consistent with the base station firmware version. And if the upgrading result is determined to be successful, keeping the robot firmware version after the robot is updated unchanged.
The firmware version of the base station is matched with the firmware version of the robot by receiving the upgrade result fed back by the base station and adjusting the robot firmware version of the robot to the firmware version of the robot before updating when the upgrade result is upgrade failure.
Referring to fig. 8, the present application further provides a firmware upgrading method applied to a base station, and in an embodiment of the present application, the firmware upgrading method includes the following steps:
step S100, sending a current base station firmware version to the robot;
the firmware upgrading method is applied to a base station, and the base station and the robot are in communication connection. The robot may be a robot as described above. And after the base station establishes communication connection with the robot, the base station sends the firmware version of the base station (namely the current base station firmware version) to the robot at regular time or in real time so that the robot can detect whether the current base station firmware version of the base station is consistent with the firmware version of the robot. If the current base station firmware version is inconsistent with the current base station firmware version, the base station needs to update the current base station firmware version, and if the current base station firmware version is consistent with the current base station firmware version, the base station keeps the current base station firmware version unchanged.
And step S200, receiving a base station firmware upgrading packet fed back by the robot based on the current base station firmware version, and upgrading the current base station firmware version based on the base station firmware upgrading packet.
When the base station receives a base station firmware package fed back by the robot based on the current base station firmware version, the base station can detect the received base station firmware upgrade package, determine whether the received base station firmware upgrade package is complete, and when the base station firmware upgrade package is determined to be complete, detect whether the software version corresponding to the base station firmware upgrade package is consistent with the software version corresponding to the current base station firmware version, if not, upgrade the current base station firmware version according to the base station firmware upgrade package, so that the software version corresponding to the current base station firmware version is consistent with the software version corresponding to the base station firmware upgrade package. Thereby making the firmware version of the robot and the firmware version of the base station consistent.
The base station can receive the base station firmware upgrade package fed back by the robot through the Bluetooth communication channel, can also receive the base station firmware upgrade package fed back by the robot through the WiFi channel, and can also send the base station firmware upgrade package through the Bluetooth communication channel and the WiFi channel by the robot at the same time.
The base station sends the current base station firmware version to the robot, receives the base station firmware upgrade package fed back by the robot, and then upgrades according to the base station firmware upgrade package, so that the phenomenon that the base station firmware version is not matched with the robot due to independent upgrade of the base station and the robot can be avoided, and the base station firmware version can be kept matched with the robot firmware version by upgrading according to the base station firmware upgrade package fed back by the robot.
In some embodiments of the present application, after the step of upgrading the current base station firmware version based on the base station firmware upgrade package, the method further includes:
and m, if the current base station firmware version fails to be upgraded, continuing to keep the current base station firmware version unchanged, and sending the upgrade failure serving as an upgrade result to the robot.
And when the upgrade failure of the current base station firmware version is found through judgment, the base station can return to the current base station firmware version, namely the current base station firmware version is kept unchanged, and the upgrade failure is used as an upgrade result to be sent to the robot so that the robot returns to the previous firmware version. And if the firmware version of the current base station is successfully upgraded, the upgrade success is used as an upgrade result and is sent to the robot.
When the current base station firmware version fails to be upgraded, the current base station firmware version is kept unchanged, and the upgrading failure is sent to the robot, so that the robot can know that the base station is not upgraded successfully in time.
In addition, the embodiment of the present application further provides a firmware upgrade system, where the firmware upgrade system is applied to a robot and a base station, where:
the base station is used for sending a current base station firmware version to the robot;
the robot is used for acquiring the current base station firmware version of the base station;
the robot is used for determining that the robot firmware version of the robot is not matched with the current base station firmware version, and sending a base station firmware upgrading packet in the downloaded robot firmware packet to the base station; and
and the base station is used for receiving a base station firmware upgrading packet fed back by the robot based on the current base station firmware version and upgrading the current base station firmware version based on the base station firmware upgrading packet.
The specific implementation of the firmware upgrading system of the present application is substantially the same as that of the above firmware upgrading method, and is not described herein again.
In addition, this application embodiment still provides a robot, the robot includes: the firmware upgrading method comprises a memory, a processor and a firmware upgrading program which is stored on the memory and can run on the processor, wherein when the firmware upgrading program is executed by the processor, the steps of the firmware upgrading method are realized.
The specific implementation of the robot in the present application is substantially the same as the embodiments of the firmware upgrading method, and is not described herein again.
In addition, an embodiment of the present application further provides a base station, where the base station includes: the firmware upgrading method comprises a memory, a processor and a firmware upgrading program which is stored on the memory and can run on the processor, wherein when the firmware upgrading program is executed by the processor, the steps of the firmware upgrading method are realized.
The specific implementation of the base station of the present application is substantially the same as the embodiments of the firmware upgrading method, and is not described herein again.
In addition, a storage medium may be a computer-readable storage medium, and a firmware upgrade program is stored on the computer-readable storage medium, and when executed by a processor, the firmware upgrade program implements the steps of the firmware upgrade method as described above.
The specific implementation of the storage medium of the present application is substantially the same as that of the embodiments of the firmware upgrade method, and is not described herein again.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or system that comprises the element.
The above-mentioned serial numbers of the embodiments of the present application are merely for description and do not represent the merits of the embodiments.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solutions of the present application may be embodied in the form of a software product, which is stored in a storage medium (e.g., ROM/RAM, magnetic disk, optical disk) as described above and includes instructions for enabling a terminal device (e.g., a mobile phone, a computer, a server, an air conditioner, or a network device) to execute the method according to the embodiments of the present application.
The above description is only a preferred embodiment of the present application, and not intended to limit the scope of the present application, and all modifications of equivalent structures and equivalent processes, which are made by the contents of the specification and the drawings of the present application, or which are directly or indirectly applied to other related technical fields, are included in the scope of the present application.
Claims (14)
1. A firmware upgrading method is applied to a robot, the robot is provided with a base station, and the firmware upgrading method comprises the following steps:
acquiring a current base station firmware version of the base station;
determining that the robot firmware version of the robot and the current base station firmware version do not match; and
and sending a base station firmware upgrading packet in the downloaded robot firmware packet to the base station so that the base station can upgrade the current base station firmware version based on the base station firmware upgrading packet.
2. The firmware upgrade method according to claim 1, wherein the step of determining that the robot firmware version of the robot and the current base station firmware version do not match comprises:
acquiring the chip model of the base station;
inquiring a corresponding base station firmware version in a robot firmware package of the robot according to the chip model, and comparing the current base station firmware version with the base station firmware version; and
and if the current base station firmware version is determined to be inconsistent with the base station firmware version, determining that the robot firmware version of the robot is not matched with the current base station firmware version.
3. The firmware upgrade method according to claim 2, wherein the step of transmitting a base station firmware upgrade package of the downloaded robot firmware packages to the base station comprises:
and inquiring a corresponding base station firmware upgrading packet in the robot firmware packet according to the chip model, and sending the corresponding base station firmware upgrading packet to the base station.
4. The firmware upgrade method according to claim 1, wherein the step of obtaining the current base station firmware version of the base station is preceded by the further steps of:
and detecting that the firmware version update exists in the cloud version management server, and downloading the robot firmware package corresponding to the updated firmware version.
5. The firmware upgrade method according to claim 4, wherein the step of detecting that there is a firmware version update in the cloud version management server comprises:
when polling a cloud version management server or receiving an inquiry signal sent by an application software server, sending a robot firmware package version number to the cloud version management server so that the cloud version management server determines that firmware version updating exists based on the robot firmware package version number.
6. The firmware upgrade method according to any one of claims 1 to 5, wherein the step of obtaining the current base station firmware version of the base station is preceded by further comprising:
and upgrading the robot firmware version based on the robot firmware package.
7. The firmware upgrade method according to any one of claims 1 to 5, wherein the step of obtaining the current base station firmware version of the base station is preceded by further comprising:
determining that an upgrading condition is met, wherein the upgrading condition is as follows: the robot is located at a base station and can communicate with the base station.
8. A firmware upgrade method according to any one of claims 1 to 5, wherein the step of sending a base station firmware upgrade package of the downloaded robot firmware packages to the base station is followed by:
receiving an upgrading result of the base station for upgrading the current base station firmware version based on the base station firmware upgrading package; and
and if the upgrading result is upgrading failure, adjusting the robot firmware version after the robot is updated to the robot firmware version before the robot is updated.
9. A firmware upgrading method is applied to a base station, communication connection is established between the base station and a robot, and the firmware upgrading method comprises the following steps:
sending a current base station firmware version to the robot; and
and receiving a base station firmware upgrade package fed back by the robot based on the current base station firmware version, and upgrading the current base station firmware version based on the base station firmware upgrade package.
10. The firmware upgrade method according to claim 9, wherein the step of upgrading the current base station firmware version based on the base station firmware upgrade package is followed by:
and if the current base station firmware version fails to be upgraded, continuously keeping the current base station firmware version unchanged, and sending the upgrade failure serving as an upgrade result to the robot.
11. A firmware upgrade system applied to a robot and a base station, wherein:
the base station is used for sending a current base station firmware version to the robot;
the robot is used for acquiring the current base station firmware version of the base station;
the robot is used for determining that the robot firmware version of the robot is not matched with the current base station firmware version, and sending a base station firmware upgrading packet in the downloaded robot firmware packet to the base station; and
and the base station is used for receiving a base station firmware upgrading packet fed back by the robot based on the current base station firmware version and upgrading the current base station firmware version based on the base station firmware upgrading packet.
12. A robot, characterized in that the robot comprises: a memory, a processor and a firmware upgrade program stored on the memory and executable on the processor, the firmware upgrade program when executed by the processor implementing the steps of the firmware upgrade method according to any one of claims 1 to 8.
13. A base station, characterized in that the base station comprises: a memory, a processor and a firmware upgrade program stored on the memory and executable on the processor, the firmware upgrade program when executed by the processor implementing the steps of the firmware upgrade method according to any one of claims 9 to 10.
14. A storage medium having stored thereon a firmware upgrade program which, when executed by a processor, implements the steps of the firmware upgrade method according to any one of claims 1 to 8, 9 to 10.
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| US20230214204A1 (en) * | 2021-12-30 | 2023-07-06 | Adlink Technology Inc. | Software upgrade system, software upgrade method and non-transitory recording medium |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US20230214204A1 (en) * | 2021-12-30 | 2023-07-06 | Adlink Technology Inc. | Software upgrade system, software upgrade method and non-transitory recording medium |
| US11928456B2 (en) * | 2021-12-30 | 2024-03-12 | Adlink Technology Inc. | Software upgrade system, software upgrade method and non-transitory recording medium |
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