CN114679416A

CN114679416A - Robot communication method, system, equipment and storage medium

Info

Publication number: CN114679416A
Application number: CN202210126377.6A
Authority: CN
Inventors: 朱明辉; 魏旭宾
Original assignee: Cloudminds Shanghai Robotics Co Ltd
Current assignee: Cloudminds Shanghai Robotics Co Ltd
Priority date: 2022-02-10
Filing date: 2022-02-10
Publication date: 2022-06-28

Abstract

The embodiment of the application provides a robot communication method, a system, equipment and a storage medium. In the robot communication system, the SDN controller may receive transmission configuration information sent by the robot operation management platform and send the transmission configuration information to the robot body. If the available bandwidth of the currently adopted target network channel is smaller than the set bandwidth threshold, the robot body can transmit various application data according to the transmission configuration information. Through the implementation mode, in some scenes with poor network quality and reduced bandwidth, the corresponding transmission priority and transmission bandwidth can be allocated to each application data according to the transmission configuration information, and the application data are sequentially transmitted according to the corresponding transmission priority and transmission bandwidth, so that the priority transmission of high-priority key data is guaranteed, the risk that the robot stops working due to poor network quality is reduced, and the running stability of the robot is further improved.

Description

Robot communication method, system, equipment and storage medium

Technical Field

The embodiment of the application relates to the technical field of robots, in particular to a robot communication method, a system, equipment and a storage medium.

Background

In the application of the cloud robot, the robot body needs to be connected with the cloud brain of the robot through a network. The cloud brain can send information to the robot body, receive information returned by the robot body and process the returned information. In the process, the network quality is particularly important for the normal operation of the robot body. In some scenes with poor network quality, the network bandwidth is reduced, and sufficient bandwidth cannot be provided for information to be transmitted, so that the information transmission between the cloud brain and the robot body is greatly influenced, and the running stability of the robot body is further reduced. Therefore, a solution is urgently needed.

Disclosure of Invention

The embodiment of the application provides a robot communication method, system, device and storage medium, which are used for reducing the risk that a robot stops working due to poor network quality and further improving the running stability of the robot.

The embodiment of the application provides a robot communication method, which is suitable for an SDN controller in a network where a robot body and a cloud server are located; the method comprises the following steps: acquiring transmission configuration information sent by a robot operation management platform; sending the transmission configuration information to the robot body so that the robot body transmits various application data according to the transmission configuration information; wherein the transmitting configuration information includes: and the transmission priority and/or the transmission bandwidth corresponding to the various application data.

Further optionally, before sending the transmission configuration information to the robot body, the method further includes: receiving the network address information of the robot body and the network address information of the cloud server sent by the robot operation management platform; according to the network address information of the robot body and the network address information of the cloud server, a private network channel between the robot body and the cloud server is established in the network, and network configuration information of the private network channel is generated; and sending the network configuration information to the robot body so that the robot body accesses the private network channel according to the network configuration information.

Further optionally, the private network channel comprises: a plurality of alternative private network channels; after the network configuration information is sent to the robot body, the method further includes: respectively sending network detection instructions to the robot body through the multiple alternative private network channels so that the robot body detects the quality of the multiple alternative private network channels according to the network detection instructions; receiving quality detection results of the multiple alternative private network channels returned by the robot body; according to the quality detection result, determining a network channel with quality meeting set conditions from the multiple candidate private network channels as the target network channel; and sending an instruction for accessing a target network channel to the robot body so as to enable the robot body to access the target network channel.

Further optionally, the plurality of application data is generated by at least one application running in the robot ontology; acquiring transmission configuration information sent by a robot operation management platform, wherein the acquisition comprises the following steps: acquiring bandwidth allocation and priority ordering information of at least one application on an application level, which is sent by the robot operation management platform; and/or acquiring bandwidth allocation and prioritization information of each application on a data type level, which is sent by the robot operation management platform.

The embodiment of the application also provides a robot communication method, which is suitable for a robot body, wherein the robot body is in communication connection with a cloud server through a network; an SDN controller is deployed on a control node in the network; the method comprises the following steps: receiving transmission configuration information sent by the SDN controller; the transmission configuration information includes: the transmission priority and/or transmission bandwidth corresponding to the various application data; and sending the various application data to the cloud server according to the transmission configuration information.

Further optionally, before receiving the transmission configuration information sent by the SDN controller, the method further includes: receiving network configuration information sent by the SDN server; the network configuration information is generated by the SDN server according to a private network channel between the robot body and the cloud server; and accessing a private network channel between the robot body and the cloud server according to the network configuration information.

Further optionally, a network detection packet sender is installed on the robot body; the private network channel comprises: a plurality of alternative private network channels; according to the network configuration information, after accessing a private network channel between the robot body and the cloud server, the method further comprises the following steps: responding to a network detection instruction sent by the SDN controller, and respectively sending detection messages to packet receivers in the multiple alternative private network channels; receiving detection result data returned by the packet receiver according to the detection message, and calculating quality detection results of the multiple alternative private network channels according to the detection result data; sending the quality detection result to the SDN controller, so that the SDN controller determines a network channel with quality meeting a set condition from the multiple candidate private network channels according to the quality detection result, and using the network channel as the target network channel; receiving an instruction for accessing a target network channel sent by the SDN controller, and accessing the target network channel according to the instruction.

Further optionally, the plurality of application data is generated by at least one application running in the robot ontology; according to the transmission configuration information, sending various application data to the cloud server, including: sending the respective application data of the at least one application to the cloud server according to the bandwidth allocation and priority ranking information of the at least one application on the application level; and/or sending the application data of the application to the cloud server according to the bandwidth allocation and priority ranking information of the application on the data type level aiming at any application in the at least one application.

An embodiment of the present application further provides a robot communication system, including: the robot comprises a robot body, a cloud server, a robot operation management platform and a network where the robot body and the cloud server are located; an SDN controller runs on a control node in the network; the robot operation management platform is mainly used for: sending transmission configuration information to the SDN controller; the SDN controller is mainly used for: acquiring the transmission configuration information; sending the transmission configuration information to the robot body so that the robot body transmits various application data according to the transmission configuration information when the available bandwidth of a currently adopted target network channel is smaller than a set bandwidth threshold; wherein the transmitting configuration information includes: the transmission priority and/or transmission bandwidth corresponding to the multiple kinds of application data; the robot body is mainly used for: receiving transmission configuration information sent by the SDN controller; and if the available bandwidth of the currently adopted target network channel is smaller than a set bandwidth threshold, sending the various application data to the cloud server according to the transmission configuration information.

An embodiment of the present application further provides a robot apparatus, including: a memory, a processor, and a communications component; wherein the memory is to: storing one or more computer instructions; the processor is to execute the one or more computer instructions to: performing steps in a robotic communication method performed by the robotic device.

An embodiment of the present application further provides a network server, including: a memory, a processor, and a communication component; wherein the memory is to: storing one or more computer instructions; the processor is to execute the one or more computer instructions to: the steps in the method provided by the embodiments of the present application are performed.

Embodiments of the present application also provide a computer-readable storage medium storing a computer program, which, when executed by a processor, causes the processor to implement the steps in the robot communication method.

In the robot communication method, system, device and storage medium provided by the application, the SDN controller may receive transmission configuration information sent by the robot operation management platform and send the transmission configuration information to the robot body. If the available bandwidth of the currently adopted target network channel is smaller than the set bandwidth threshold, the robot body can transmit various application data according to the transmission configuration information. Through the implementation mode, in some scenes with poor network quality, the application data can be sequentially transmitted according to the transmission priority and the transmission bandwidth corresponding to the application data, the priority transmission of high-priority data is guaranteed, the risk that the robot stops working due to poor network quality is reduced, and the running stability of the robot is further improved.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.

Fig. 1 is a schematic structural diagram of a robot communication system according to an exemplary embodiment of the present application;

fig. 2 is a schematic structural diagram of a robot communication system in an actual scenario according to an exemplary embodiment of the present application;

fig. 3 is a schematic flowchart of a robot communication method at an SDN controller side according to an exemplary embodiment of the present application;

fig. 4 is a schematic flowchart of a robot communication method at a robot device side according to another exemplary embodiment of the present application;

FIG. 5 is a schematic illustration of a robotic device provided in an exemplary embodiment of the present application;

fig. 6 is a schematic diagram of a network server according to an exemplary embodiment of the present application.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

In the prior art, in some scenes with poor network quality, the network bandwidth is reduced, and sufficient bandwidth cannot be provided for information to be transmitted, so that the information transmission between a cloud brain and a robot body is greatly influenced, and the running stability of the robot body is further reduced. In view of the above technical problem, in some embodiments of the present application, a solution is provided. The technical solutions provided by the embodiments of the present application will be described in detail below with reference to the accompanying drawings.

Fig. 1 is a schematic structural diagram of a robot communication system according to an exemplary embodiment of the present disclosure, and as shown in fig. 1, the robot communication system 100 includes: the robot operation management system comprises a robot operation management platform 10, a network 20 where a robot body and a cloud server are located, a robot body 30 and a cloud server 40.

The robot operation management platform 10 refers to a platform for operating and managing a robot, and the platform may be implemented as a terminal device held by a robot operation manager, such as a mobile phone, a tablet computer, a smart watch, and the like. The terminal device may run a software program for managing the robot or a browser that can access a robot management page. When the robot is applied to different scenes, the robot operation management platform can be held by different users respectively. For example, in some practical scenarios, the system is practically applied to a hotel, and a hotel party can manage the robot through the robot operation management platform, so that the robot provides services such as baggage handling and article transportation for the hotel; when the system is practically applied to a restaurant, a restaurant side can manage the robot through the robot operation management platform, so that the robot provides services such as welcoming, food delivery, self-service account settlement and the like for the restaurant.

At least one application can run on the robot body 30, and the at least one application can generate various application data during the running process. Wherein an application can generate one or more types of application data. The application data includes but is not limited to: one or more of signaling data, video data, voice recognition data, log data, and scan data.

The network 20 includes a control node. The control node may be implemented as one server or as a plurality of servers. When the control node is implemented based on a plurality of servers, the control logic of the control node can be deployed on the plurality of servers in a distributed deployment mode. As shown by the dashed box in fig. 1, the control node may have an SDN (Software Defined Network) controller running thereon. The SDN controller refers to an application program in the software defined network and is responsible for controlling the software defined network so as to ensure that the software defined network operates normally.

In the network detection system 100 of the cloud robot, the robot operation management platform 10 is mainly used for: a bandwidth configuration message is sent to an SDN controller in the network 20. Wherein transmitting the configuration information may include: the transmission priority and/or transmission bandwidth corresponding to each of the plurality of kinds of application data. Wherein the transmission priority is used to describe the transmission order of the application data. Bandwidth, which is used to describe the amount of data that the application data is transmitted through the link in a unit time. For example, the transmission configuration information of application a may be: signaling data-first priority-20M bandwidth, voice recognition data-second priority-10M bandwidth, video data-third priority-5M bandwidth.

The network 20 is mainly used for: data transmission is performed among the robot operation management platform 10, the robot body 30, and the cloud server 40. The Network 20 may be implemented as a local area Network, a metropolitan area Network, a wide area Network, or a Private Virtual Network (VPN), which is not limited in this embodiment.

SDN controllers in the network 20 are mainly used to: the method includes the steps of obtaining transmission configuration information sent by a robot operation management platform 10, and sending the transmission configuration information to a robot body 30, so that when available bandwidth of a currently adopted target network channel is smaller than a set bandwidth threshold value, the robot body 30 transmits various application data according to the transmission configuration information. The set bandwidth threshold may be 20M, 50M, 100M, 150M, or the like, which is not limited in this embodiment.

Accordingly, the robot body 30 is mainly used for: receiving transmission configuration information sent by the SDN controller, and if the available bandwidth of the currently adopted target network channel is smaller than a set bandwidth threshold, sending a variety of application data to the cloud server 40 according to the transmission configuration information. For example, when detecting that the available bandwidth 50M of the currently-used target network channel is smaller than the set bandwidth threshold 80M, the application data may be sent to the cloud server according to the transmission configuration information.

For example, in connection with the above example, the robot body 30 may preferentially transmit the signaling data of the application a with the bandwidth of 20M according to the transmission configuration information of the application a. In the process of sending the signaling data, if the remaining available bandwidth is greater than 10M, the voice recognition data of the application a is sent by using the 10M bandwidth. In the process of sending the voice recognition data, if the remaining available bandwidth is greater than 5M, the video data of application a may be sent using 5M bandwidth.

In this embodiment, the SDN controller may receive transmission configuration information sent by the robot operation management platform and send the transmission configuration information to the robot body. If the available bandwidth of the currently adopted target network channel is smaller than the set bandwidth threshold, the robot body can transmit various application data to the cloud server according to the transmission configuration information. Through the implementation mode, dynamic setting of the transmission configuration information is realized, in some scenes with poor network quality and reduced bandwidth, the transmission priority and the transmission bandwidth which correspond to each application data can be distributed to each application data according to the transmission configuration information, the application data are transmitted in sequence according to the transmission priority and the transmission bandwidth which correspond to each application data, the priority transmission of the key data with high priority is guaranteed, the risk that the robot stops working due to poor network quality is reduced, and the running stability of the robot is further improved.

In some optional embodiments, the robot body and the cloud server may automatically perform networking based on SD-WAN (Software Defined Wide Area Network) technology. Before the SDN controller in the network 20 sends the transmission configuration information to the robot body, a private network channel between the robot body 30 and the cloud server 40 may be established according to the network address information of the robot body 30 and the network address information of the cloud server 40. Therefore, autonomous networking can be achieved between the robot body and the cloud server 40, dependence on work operation is reduced, and networking efficiency is improved. As will be described in detail below.

Optionally, the SDN controller may receive the network address information of the robot body 30 and the network address information of the cloud server 40, which are sent by the robot operation management platform 10. The network address information may include: IP Address (Internet Protocol Address).

Based on this, the SDN controller may establish a private network channel between the robot body 30 and the cloud server 40 in the network 20 according to the network address information of the robot body 30 and the network address information of the cloud server 40, and generate network configuration information of the private network channel. The network configuration information refers to information for guiding the robot body 30 to access the private network channel, and includes but is not limited to: an IP Address (Internet Protocol Address) of at least one network node and corresponding routing information. It should be noted that at least one network node included in the private network channel may be connected according to the routing information to form a complete link, i.e., a network channel.

The SDN controller may then send network configuration information to the robot body 30.

Accordingly, the robot body 30 may receive network configuration information sent by the SDN server, and access a private network channel according to the network configuration information.

Optionally, the private network channel may include: multiple alternative private network channels. The robot body 30 is provided with a network detection packet transmitter. Each alternative private network channel comprises at least one packet receiver, wherein the packet receiver is used for receiving the detection message sent by the robot body 30 through the packet sender. The detection message is used for transmitting related information of the network detection between the network detection packet sender and the network detection packet receiver. The packet receiver may be deployed on any network node in the alternative private network channel, may be deployed on a network node closest to the robot, and may also be deployed on the cloud server, which is not limited in this embodiment.

Based on this, after the SDN controller sends the network configuration information to the robot body, the robot body can be controlled to perform network detection on multiple candidate private network channels respectively, so as to select a target network channel of which the network quality meets the set conditions. As will be further explained below.

The SDN controller may send a network detection instruction to the robot body 30 through the multiple candidate private network channels, respectively, so that the robot body 30 detects the quality of the multiple candidate private network channels according to the network detection instruction. The network detection instruction refers to an instruction for triggering the robot body to carry out network detection.

The robot body 30 may send detection messages to packet receivers in the multiple candidate private network channels, respectively, in response to a network detection instruction sent by the SDN controller.

Then, the robot body 30 may receive the detection result data returned by the packet receiver according to the detection message, and calculate the quality detection results of the multiple candidate private network channels according to the detection result data. The probe result data refers to data indicating a receiving condition of the packet receiver receiving the probe packet, for example, the probe result data may be a receiving time of 19: 40: 01: 50 and the number of received packets is 90. The quality detection result is used for reflecting the network quality, and may include: packet loss rate, delay or bandwidth, etc.

Assuming that the time for sending the detection message by the robot body is 19: 40: 01: 30, according to the receiving time of 19: 40: 01: 50, the calculated network delay is 20 ms; assuming that the number of packets transmitted by the robot body is 100 and the number of received packets is 90, the calculated packet loss ratio is (100-90) ÷ 100 — 10%. Through the above calculation process, the quality detection result can be calculated as follows: the delay is 20ms, and the packet loss rate is 10%.

After the robot body 30 calculates the quality detection result, the quality detection result may be sent to the SDN controller.

Correspondingly, the SDN controller may receive a quality detection result of each of the multiple candidate private network channels returned by the robot body 30, and determine, according to the quality detection result, a target network channel whose quality satisfies a set condition from the multiple candidate private network channels. Wherein, the setting condition may include: a delay condition, a packet loss rate condition, or a bandwidth condition, etc. For example, the setting condition may be that the bandwidth is greater than 20M, the delay is less than 2ms, or the packet loss rate is less than 5%. For example, the quality detection result indicates that the bandwidth of the alternative private network channel 1 is 10M and the bandwidth of the alternative private network channel 2 is 20M, and the SDN controller may select, according to the result, a target network channel that satisfies the setting condition of the maximum bandwidth, that is, the alternative private network channel 2, from the two channels.

Based on the step of determining the target network channel, the SDN controller may send an instruction for accessing the target network channel to the robot body 30, so that the robot body 30 accesses the target network channel according to the instruction.

Through the above embodiment, the SDN controller may establish a private network channel between the robot body 30 and the cloud server 40, and perform corresponding network detection, thereby improving communication stability and security between the robot body 30 and the cloud server 40.

In some optional embodiments, when acquiring the transmission configuration information sent by the robot operation management platform, the SDN controller may be implemented by:

in a first embodiment, bandwidth allocation and prioritization information of at least one application at an application level sent by the robot operation management platform 10 is obtained. The bandwidth allocation and prioritization information at the application level refers to bandwidth allocation and priority information between different applications.

For example, the bandwidth allocation and prioritization information obtained by the SDN controller at the application level may be: application Y1-30M bandwidth-first priority, application Y2-20M bandwidth-second priority, application Y3-10M bandwidth-third priority.

In a second embodiment, bandwidth allocation and prioritization information of each application on a data type level sent by the robot operation management platform is obtained. The bandwidth allocation and prioritization information at the data type level refers to bandwidth allocation and prioritization information between different types of data inside the application.

Among them, the data types may include: signaling data type, video data type, voice recognition data type, and scan data type, among others. For example, the bandwidth allocation and prioritization information of a certain application on the data type level, acquired by the SDN controller, may be: signaling data-30M bandwidth-first priority, voice recognition data-20M bandwidth-second priority, video data-10M bandwidth-third priority.

The first embodiment and the second embodiment may be executed separately or in combination, and this embodiment is not limited.

Based on the above embodiment, after acquiring the transmission configuration information, the SDN controller may send the transmission configuration information to the robot body 30.

Accordingly, when the robot body 30 sends a variety of application data to the cloud server according to the transmission configuration information, the following embodiments may be implemented:

in the first embodiment, the application data of at least one application is sent to the cloud server according to the bandwidth allocation and the priority ranking information of the at least one application on the application level. For example, when the network is poor, the robot body 30 may transmit the application Y1 with the first priority according to the 30M bandwidth, transmit the application Y2 with the second priority according to the 20M bandwidth, and transmit the application Y3 with the third priority according to the 10M bandwidth. In the second embodiment, for any application in the at least one application, the application data of the application is sent to the cloud server according to the bandwidth allocation and the priority ranking information on the data type hierarchy of the application. For example, when the network is poor, for any application, the signaling data of the first priority may be transmitted according to the 30M bandwidth, the voice recognition data of the second priority may be transmitted according to the 20M bandwidth, and the video data of the third priority may be transmitted according to the 10M bandwidth.

In the robot main body, when the above embodiments are executed, it is necessary to identify an application running on the robot main body. Alternatively, the robot body may recognize the application from quintuple information of the application through iptables (a kind of packet filtering system). Wherein the quintuple information comprises; source port, source IP, protocol, destination port, and destination IP are input. The iptables identifies the application according to the quintuple information, and then can set a label for the identified application, so that the robot body can distinguish different applications based on the label in the subsequent application running process. For example, for a TCP (Transmission Control Protocol) application with a target port of 80, the tag may be set to 3; for a TCP application with destination port 90, its label may be set to 4, and so on.

On the basis of setting a label for an application, the robot body can realize flow control for different applications through a TC (traffic control). Alternatively, the robot body may create different classes through the TC, and set transmission bandwidths and transmission priorities for the different classes. Wherein, different classes have corresponding relations with different labels set by the iptables. Further, in a filter (filter) of the TC, a transmission bandwidth and a transmission priority of an application may be determined by matching a class to which a tag of the application belongs.

It should be understood that the above embodiments of application identification and bandwidth guarantee are only used for exemplary illustration, and the application is not limited thereto.

Through the implementation mode, the priority transmission of important applications and/or application data is guaranteed, enough bandwidth is allocated to the important applications and/or application data, and the stability of data transmission between the robot body and the cloud server is improved.

The robot communication system will be further described with reference to fig. 2 and a practical application scenario.

As shown in fig. 2, the robot operation management platform generates binding information between the client and the robot according to the order, and synchronizes the binding information to the SDN controller.

The SDN controller automatically creates a private network (i.e., a private network channel in the foregoing embodiment) for the client on the robot neural network according to the network address information of the robot and the network address information of the cloud server in the binding information, and generates corresponding network configuration information. Because the private networks among different clients are isolated from each other, information interaction is carried out through the private networks, and the safety of information interaction can be improved.

It should be noted that the created private network may include a main channel and a standby channel, where each channel corresponds to a gateway (gateway), i.e., the main gateway and the standby gateway shown in fig. 2. By carrying out network detection on the two channels, the standby channel can be automatically switched to when the link of the main channel is not communicated, and the robot body can be automatically switched to the main channel when the main channel is connected with the network next time after being recovered. Through the embodiment, the reliability of the private network is improved.

Based on the private network creation process, after the robot body reaches the client position, the client is powered on and finishes WIFI (wireless fidelity) or mobile network setting, and the robot body can receive network configuration information generated by SDN control after being automatically activated. The Client or the CPE (Customer Premise Equipment) on the robot body may load the network configuration information, establish an encrypted network tunnel with the private network according to the network configuration information, and automatically complete routing setup. Through the implementation mode, the robot body can automatically access the private network after acquiring the network configuration information, and information interaction is carried out between the robot body and the cloud brain through the private network.

Before the robot body does not use SD-WAN (Software Defined Wide Area Network) technology and cloud brain for data transmission, various transmitted data are in one channel, and the data transmission priority is the same. Video data occupies a large bandwidth, and when the WIFI or mobile network of the robot is poor on site, the transmission of key applications such as signaling and voice is influenced, and further the normal work of the robot can be influenced.

After the private network is built based on the SD-WAN technology described in the above embodiments, the robot body may distinguish the transmission priority and transmission bandwidth of the application data according to the received transmission configuration data, for example, the priority of the signaling data is highest, the bandwidth is 20M, the priority of the voice data is next, the bandwidth is 10M, the priority of other data such as media is last, and the bandwidth is 5M. Through the implementation mode, when the field network condition of the robot is poor, the bandwidth guarantee mechanism is used for preferentially transmitting signaling and voice data, so that the influence of the poor network condition on the normal work of the robot is reduced.

The embodiment of the application further provides a robot communication method, which is suitable for an SDN controller in a network where a robot body and a cloud server are located. As will be described in detail below with reference to fig. 3.

301, acquiring transmission configuration information sent by a robot operation management platform; wherein, transmitting the configuration information comprises: at least one application data and a transmission priority and/or a transmission bandwidth corresponding to each of the plurality of application data.

Step 302, the transmission configuration information is sent to the robot body, so that the robot body transmits various application data according to the transmission configuration information when the available bandwidth of the currently adopted target network channel is smaller than the set bandwidth threshold.

Further optionally, before sending the transmission configuration information to the robot body, the method further includes: receiving network address information of a robot body and network address information of a cloud server sent by a robot operation management platform; establishing a private network channel between the robot body and the cloud server in the network according to the network address information of the robot body and the network address information of the cloud server, and generating network configuration information of the private network channel; and sending the network configuration information to the robot body so that the robot body accesses the private network channel according to the network configuration information.

Further optionally, the private network channel comprises: a plurality of alternative private network channels; after sending the network configuration information to the robot body, the method further comprises the following steps: respectively sending network detection instructions to the robot body through the multiple alternative private network channels, so that the robot body detects the quality of the multiple alternative private network channels according to the network detection instructions; receiving quality detection results of a plurality of alternative private network channels returned by the robot body; determining a target network channel with quality meeting set conditions from the multiple alternative private network channels according to a quality detection result; and sending an instruction for accessing the target network channel to the robot body so that the robot body is accessed to the target network channel.

Further optionally, the plurality of application data is generated by at least one application running in the robot ontology; acquiring transmission configuration information sent by a robot operation management platform, wherein the transmission configuration information comprises the following steps: acquiring bandwidth allocation and priority ordering information of at least one application on an application level, which is sent by a robot operation management platform; and/or acquiring bandwidth allocation and prioritization information of each application on a data type level, which is sent by the robot operation management platform.

The embodiment of the application also provides a robot communication method which is suitable for the robot body, wherein the robot body is in communication connection with the cloud server through a network; an SDN controller is deployed on a control node in a network; the method comprises the following steps: receiving transmission configuration information sent by an SDN controller; the transmitting the configuration information includes: the transmission priority and/or transmission bandwidth corresponding to the various application data; and sending various application data to the cloud server according to the transmission configuration information.

Further optionally, before receiving the transmission configuration information sent by the SDN controller, the method further includes: receiving network configuration information sent by an SDN server; the network configuration information is generated by the SDN server according to a private network channel between the robot body and the cloud server; and accessing a private network channel between the robot body and the cloud server according to the network configuration information.

Further optionally, a network detection packet sender is installed on the robot body; the private network channel comprises: a plurality of alternative private network channels; according to the network configuration information, after accessing a private network channel between the robot body and the cloud server, the method further comprises the following steps: responding to a network detection instruction sent by an SDN controller, and respectively sending detection messages to packet receivers in multiple alternative private network channels; receiving detection result data returned by the packet receiver according to the detection message, and calculating quality detection results of the multiple alternative private network channels according to the detection result data; sending the quality detection result to an SDN controller so that the SDN controller determines a target network channel with quality meeting set conditions from a plurality of alternative private network channels according to the quality detection result; and receiving an instruction for accessing the target network channel sent by the SDN controller, and accessing the target network channel according to the instruction.

Further optionally, the plurality of application data is generated by at least one application running in the robot ontology; according to the transmission configuration information, sending various application data to a cloud server, including: sending respective application data of at least one application to a cloud server according to bandwidth allocation and priority sorting information of the at least one application on an application level; and/or sending the application data of the application to the cloud server according to the bandwidth allocation and the priority ranking information of the application on the data type level aiming at any application in at least one application.

In this embodiment, the SDN controller may receive transmission configuration information sent by the robot operation management platform and send the transmission configuration information to the robot body, so that the robot body transmits a plurality of types of application data according to the transmission configuration information. Through the implementation mode, in some scenes with poor network quality and reduced bandwidth, the corresponding transmission priority and transmission bandwidth can be allocated to each application data according to the transmission configuration information, and the application data are sequentially transmitted according to the corresponding transmission priority and transmission bandwidth, so that the priority transmission of high-priority key data is guaranteed, the risk that the robot stops working due to poor network quality is reduced, and the running stability of the robot is further improved.

The embodiment of the application further provides a robot communication method, which is suitable for a robot body, the robot body establishes communication connection with a cloud server through a network, and an SDN controller is deployed on a control node in the network. As will be described in detail below with reference to fig. 4.

Step 401, receiving transmission configuration information sent by an SDN controller; the transmitting the configuration information includes: the transmission priority and/or transmission bandwidth corresponding to each of the plurality of kinds of application data.

Step 402, if the available bandwidth of the currently adopted target communication channel network channel is smaller than a set bandwidth threshold, sending various application data to the cloud server according to the transmission configuration information.

Further optionally, a network detection packet sender is installed on the robot body; the private network channel includes: a plurality of alternative private network channels; according to the network configuration information, after accessing a private network channel between the robot body and the cloud server, the method further comprises the following steps: responding to a network detection instruction sent by an SDN controller, and respectively sending detection messages to packet receivers in multiple alternative private network channels; receiving detection result data returned by the packet receiver according to the detection message, and calculating quality detection results of the multiple alternative private network channels according to the detection result data; sending the quality detection result to an SDN controller so that the SDN controller determines a target network channel with quality meeting a set condition from a plurality of candidate private network channels according to the quality detection result; and receiving an instruction for accessing the target network channel sent by the SDN controller, and accessing the target network channel according to the instruction.

Further optionally, the plurality of application data is generated by at least one application running in the robot ontology; according to the transmission configuration information, sending various application data to a cloud server, including: sending respective application data of at least one application to a cloud server according to bandwidth allocation and priority sorting information of the at least one application on an application level; and/or sending the application data of the application to the cloud server according to the bandwidth allocation and the priority ranking information on the data type hierarchy of the application aiming at any application in at least one application.

Through the implementation mode, if the available bandwidth of the currently adopted target network channel is smaller than the set bandwidth threshold, the robot body can send various application data to the cloud server according to the transmission configuration information. Through the implementation mode, in some scenes with poor network quality and reduced bandwidth, the corresponding transmission priority and transmission bandwidth can be distributed to each application data according to the transmission configuration information, and the application data are sequentially transmitted according to the corresponding transmission priority and transmission bandwidth, so that the priority transmission of high-priority key data is guaranteed, the risk that the robot stops working due to poor network quality is reduced, and the running stability of the robot is improved.

It should be noted that, the executing subjects of the steps of the method provided in the foregoing embodiments may be the same device, or different devices may also be used as the executing subjects of the method. For example, the execution subject of steps 301 to 302 may be device a; for another example, the execution subject of step 301 may be device a, and the execution subject of step 302 may be device B; and so on.

In addition, in some of the flows described in the above embodiments and the drawings, a plurality of operations are included in a specific order, but it should be clearly understood that the operations may be executed out of the order presented herein or in parallel, and the sequence numbers of the operations, such as 301, 302, etc., are merely used for distinguishing different operations, and the sequence numbers do not represent any execution order per se. Additionally, the flows may include more or fewer operations, and the operations may be performed sequentially or in parallel.

It should be noted that, the descriptions of "first", "second", etc. in this document are used for distinguishing different messages, devices, modules, etc., and do not represent a sequential order, nor limit the types of "first" and "second" to be different.

Fig. 5 is a schematic structural diagram of a robot apparatus provided in an exemplary embodiment of the present application, the robot apparatus being adapted to the robot communication system provided in the foregoing embodiment, and as shown in fig. 5, the robot apparatus includes: memory 501, processor 502, and communication component 503.

The memory 501 is used for storing computer programs and may be configured to store other various data to support operations on the terminal device. Examples of such data include instructions for any application or method operating on the terminal device, contact data, phonebook data, messages, pictures, videos, and the like.

A processor 502, coupled to the memory 501, for executing computer programs in the memory 501 for: receiving transmission configuration information sent by the SDN controller; the transmission configuration information includes: the transmission priority and/or transmission bandwidth corresponding to the various application data; and sending the various application data to the cloud server according to the transmission configuration information.

Further optionally, the processor 502 is further configured to, before receiving the transmission configuration information sent by the SDN controller: receiving network configuration information sent by the SDN server; the network configuration information is generated by the SDN server according to a private network channel between the robot body and the cloud server; and accessing a private network channel between the robot body and the cloud server according to the network configuration information.

Further optionally, the robot body is provided with a network detection packet sender, and the private network channel includes: multiple alternative private network channels. The processor 502 is further configured to, after accessing the private network channel between the robot body and the cloud server according to the network configuration information: responding to a network detection instruction sent by the SDN controller, and respectively sending detection messages to packet receivers in the multiple alternative private network channels; receiving detection result data returned by the packet receiver according to the detection message, and calculating quality detection results of the multiple alternative private network channels according to the detection result data; sending the quality detection result to the SDN controller so that the SDN controller determines a target network channel with quality meeting a set condition from the multiple candidate private network channels according to the quality detection result; receiving an instruction for accessing a target network channel sent by the SDN controller, and accessing the target network channel according to the instruction.

Further optionally, the plurality of application data is generated by at least one application running in the robot ontology. When the processor 502 sends a plurality of application data to the cloud server according to the transmission configuration information, the processor is specifically configured to: sending the respective application data of the at least one application to the cloud server according to the bandwidth allocation and priority ranking information of the at least one application on the application level; and/or sending the application data of the application to the cloud server according to the bandwidth allocation and priority ranking information of the application on the data type level aiming at any application in the at least one application.

Further, as shown in fig. 5, the robot apparatus further includes: power components 504, display 505, and audio components 506. Only some of the components are schematically shown in fig. 5, and it is not intended that the robot device comprises only the components shown in fig. 5.

In this embodiment, the SDN controller may receive transmission configuration information sent by the robot operation management platform and send the transmission configuration information to the robot body. The robot body can transmit various application data according to the transmission configuration information. Through the implementation mode, in some scenes with poor network quality and reduced bandwidth, the corresponding transmission priority and transmission bandwidth can be distributed to each application data according to the transmission configuration information, and the application data are sequentially transmitted according to the corresponding transmission priority and transmission bandwidth, so that the priority transmission of high-priority key data is guaranteed, the risk that the robot stops working due to poor network quality is reduced, and the running stability of the robot is improved.

Accordingly, the present application further provides a computer readable storage medium storing a computer program, where the computer program is capable of implementing the steps that can be executed by the robot apparatus in the foregoing method embodiments.

Fig. 6 is a schematic structural diagram of a web server according to an exemplary embodiment of the present application, the web server being located in a network between a cloud server and a robot, as shown in fig. 6, the web server includes: memory 601, processor 602, and communications component 603.

The memory 601 is used to store computer programs and may be configured to store various other data to support operations on the terminal device. Examples of such data include instructions for any application or method operating on the terminal device, contact data, phonebook data, messages, pictures, videos, and the like.

A processor 602, coupled to the memory 601, for executing the computer programs in the memory 601 to: acquiring transmission configuration information sent by a robot operation management platform; sending the transmission configuration information to the robot body so that the robot body transmits various application data according to the transmission configuration information; wherein the transmitting the configuration information comprises: and the transmission priority and/or the transmission bandwidth corresponding to the various application data.

Further optionally, the processor 602, before sending the transmission configuration information to the robot body, is further configured to: receiving the network address information of the robot body and the network address information of the cloud server sent by the robot operation management platform; according to the network address information of the robot body and the network address information of the cloud server, a private network channel between the robot body and the cloud server is established in the network, and network configuration information of the private network channel is generated; and sending the network configuration information to the robot body so that the robot body accesses the private network channel according to the network configuration information.

Further optionally, the private network channel comprises: multiple alternative private network channels. After sending the network configuration information to the robot body, the processor 602 is further configured to send network probing instructions to the robot body through the multiple candidate private network channels, respectively, so that the robot body probes the quality of the multiple candidate private network channels according to the network probing instructions; receiving quality detection results of the multiple alternative private network channels returned by the robot body; according to the quality detection result, determining a network channel with quality meeting set conditions from the multiple candidate private network channels as the target network channel; and sending an instruction for accessing a target network channel to the robot body so as to enable the robot body to access the target network channel.

Further optionally, the plurality of application data is generated by at least one application running in the robot ontology. When acquiring the transmission configuration information sent by the robot operation management platform, the processor 602 is specifically configured to: acquiring bandwidth allocation and priority ordering information of at least one application on an application level, which is sent by the robot operation management platform; and/or acquiring bandwidth allocation and prioritization information of each application on a data type level, which is sent by the robot operation management platform.

Further, as shown in fig. 6, the network server further includes: power supply components 604, and the like. Only some of the components are schematically shown in fig. 6, and it is not meant that the network server includes only the components shown in fig. 6.

In this embodiment, the SDN controller may receive transmission configuration information sent by the robot operation management platform and send the transmission configuration information to the robot body. If the available bandwidth of the currently adopted target network channel is smaller than the set bandwidth threshold, the robot body can transmit at least one application data and multiple application data according to the transmission configuration information. By the implementation mode, in some scenes with poor network quality, enough bandwidth can be provided for the application data to be transmitted, in some scenes with poor network quality and reduced bandwidth, the corresponding transmission priority and transmission bandwidth can be distributed for each type of application data according to the transmission configuration information, and the application data are transmitted in sequence according to the corresponding transmission priority and transmission bandwidth, so that the priority transmission of the key data with high priority is guaranteed, the risk that the robot stops working due to poor network quality is reduced, and the running stability of the robot is further improved.

Accordingly, the present application further provides a computer-readable storage medium storing a computer program, where the computer program is capable of implementing the steps that can be executed by the network server in the foregoing method embodiments when executed.

The memories of fig. 5 and 6 may be implemented by any type or combination of volatile or non-volatile memory devices, such as Static Random Access Memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic or optical disk.

The communication components of fig. 5 and 6 described above are configured to facilitate wired or wireless communication between the device in which the communication component is located and other devices. The device in which the communication component is located may access a wireless network based on a communication standard, such as WiFi, 2G, 3G, 4G, or 5G, or a combination thereof. In an exemplary embodiment, the communication component receives a broadcast signal or broadcast related information from an external broadcast management system via a broadcast channel. In an exemplary embodiment, the communication component may be implemented based on Near Field Communication (NFC) technology, Radio Frequency Identification (RFID) technology, infrared data association (IrDA) technology, Ultra Wideband (UWB) technology, Bluetooth (BT) technology, and other technologies.

The display 505 in fig. 5 described above includes a screen, which may include a Liquid Crystal Display (LCD) and a Touch Panel (TP). If the screen includes a touch panel, the screen may be implemented as a touch screen to receive an input signal from a user. The touch panel includes one or more touch sensors to sense touch, slide, and gestures on the touch panel. The touch sensor may not only sense the boundary of a touch or slide action, but also detect the duration and pressure associated with the touch or slide operation.

The audio component 506 of fig. 5, described above, may be configured to output and/or input audio signals. For example, the audio component includes a Microphone (MIC) configured to receive an external audio signal when the device in which the audio component is located is in an operational mode, such as a call mode, a recording mode, and a voice recognition mode. The received audio signal may further be stored in a memory or transmitted via a communication component. In some embodiments, the audio assembly further comprises a speaker for outputting audio signals.

The power supply components of fig. 5 and 6 described above provide power to the various components of the device in which the power supply components are located. The power components may include a power management system, one or more power supplies, and other components associated with generating, managing, and distributing power for the device in which the power component is located.

As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.

The present invention has been described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

In a typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.

The memory may include forms of volatile memory in a computer readable medium, Random Access Memory (RAM) and/or non-volatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). Memory is an example of a computer-readable medium.

Computer-readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), Digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, a computer readable medium does not include a transitory computer readable medium such as a modulated data signal and a carrier wave.

It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus 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 apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in the process, method, article, or apparatus that comprises the element.

The above description is only an example of the present application and is not intended to limit the present application. Various modifications and changes may occur to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.

Claims

1. A robot communication method is suitable for an SDN controller in a network where a robot body and a cloud server are located; characterized in that the method comprises:

acquiring transmission configuration information sent by a robot operation management platform;

Sending the transmission configuration information to the robot body so that the robot body transmits various application data according to the transmission configuration information when the available bandwidth of a currently adopted target network channel is smaller than a set bandwidth threshold;

wherein the transmitting the configuration information comprises: and the transmission priority and/or the transmission bandwidth corresponding to the various kinds of application data respectively.

2. The method of claim 1, wherein prior to sending the transmission configuration information to the robot body, further comprising:

receiving the network address information of the robot body and the network address information of the cloud server sent by the robot operation management platform;

according to the network address information of the robot body and the network address information of the cloud server, a private network channel between the robot body and the cloud server is established in the network, and network configuration information of the private network channel is generated;

and sending the network configuration information to the robot body so that the robot body accesses the private network channel according to the network configuration information.

3. The method of claim 2, wherein the private network channel comprises: a plurality of alternative private network channels;

after the network configuration information is sent to the robot body, the method further includes:

respectively sending network detection instructions to the robot body through the multiple alternative private network channels so that the robot body detects the quality of the multiple alternative private network channels according to the network detection instructions;

receiving quality detection results of the multiple alternative private network channels returned by the robot body;

determining a target network channel with quality meeting set conditions from the multiple alternative private network channels according to the quality detection result;

and sending an instruction for accessing a target network channel to the robot body so as to enable the robot body to access the target network channel.

4. The method of claim 1, wherein the plurality of application data is generated by at least one application running in the robot ontology;

acquiring transmission configuration information sent by a robot operation management platform, wherein the transmission configuration information comprises the following steps:

acquiring bandwidth allocation and priority ordering information of at least one application on an application level, which is sent by the robot operation management platform; and/or the presence of a gas in the gas,

Acquiring bandwidth allocation and prioritization information of each application on a data type level, which is sent by the robot operation management platform.

5. A robot communication method is applicable to a robot body, wherein the robot body is in communication connection with a cloud server through a network; the method is characterized in that an SDN controller is deployed on a control node in the network; the method comprises the following steps:

receiving transmission configuration information sent by the SDN controller; the transmission configuration information includes: the transmission priority and/or transmission bandwidth corresponding to each of the plurality of kinds of application data;

and if the available bandwidth of the currently adopted target network channel is smaller than a set bandwidth threshold, sending the various application data to the cloud server according to the transmission configuration information.

6. The method of claim 5, wherein before receiving the transmission configuration information sent by the SDN controller, the method further comprises:

receiving network configuration information sent by the SDN server; the network configuration information is generated by the SDN server according to a private network channel between the robot body and the cloud server;

and accessing a private network channel between the robot body and the cloud server according to the network configuration information.

7. The method according to claim 6, characterized in that a network detection packet sender is installed on the robot body; the private network channel comprises: a plurality of alternative private network channels;

according to the network configuration information, after accessing a private network channel between the robot body and the cloud server, the method further comprises the following steps:

responding to a network detection instruction sent by the SDN controller, and respectively sending detection messages to packet receivers in the multiple standby private network channels;

receiving detection result data returned by the packet receiver according to the detection message, and calculating quality detection results of the multiple alternative private network channels according to the detection result data;

sending the quality detection result to the SDN controller, so that the SDN controller determines a network channel with quality meeting a set condition from the multiple candidate private network channels according to the quality detection result, and using the network channel as the target network channel;

receiving an instruction for accessing a target network channel sent by the SDN controller, and accessing the target network channel according to the instruction.

8. The method of claim 5, wherein the plurality of application data is generated by at least one application running in the robot ontology;

According to the transmission configuration information, sending various application data to the cloud server, including:

sending the respective application data of the at least one application to the cloud server according to the bandwidth allocation and priority ranking information of the at least one application on the application level; and/or the presence of a gas in the gas,

and aiming at any application in the at least one application, sending the application data of the application to the cloud server according to the bandwidth allocation and priority ranking information of the application on the data type level.

9. A robotic communication system, comprising:

the robot comprises a robot body, a cloud server, a robot operation management platform and a network where the robot body and the cloud server are located; an SDN controller runs on a control node in the network;

the robot operation management platform is mainly used for: sending transmission configuration information to the SDN controller;

the SDN controller is mainly used for: receiving the transmission configuration information, and sending the transmission configuration information to the robot body so that the robot body transmits various application data according to the transmission configuration information when the available bandwidth of a currently adopted target network channel is smaller than a set bandwidth threshold; wherein the transmitting configuration information includes: the transmission priority and/or transmission bandwidth corresponding to the multiple kinds of application data;

The robot body is mainly used for: receiving transmission configuration information sent by the SDN controller; and if the available bandwidth of the currently adopted target network channel is smaller than a set bandwidth threshold, sending the various application data to the cloud server according to the transmission configuration information.

10. A robotic device, comprising: a memory, a processor, and a communication component;

wherein the memory is to: storing one or more computer instructions;

the processor is to execute the one or more computer instructions to: performing the steps of the method of any one of claims 5-8.

11. A network server, comprising: a memory, a processor, and a communication component;

wherein the memory is to: storing one or more computer instructions;

the processor is to execute the one or more computer instructions to: performing the steps of the method of any one of claims 1-4.

12. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, causes the processor to carry out the steps of the method according to any one of claims 1 to 8.