CN115225303A - Robot network route setting method and device, storage medium and electronic equipment - Google Patents

Robot network route setting method and device, storage medium and electronic equipment Download PDF

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CN115225303A
CN115225303A CN202110722101.XA CN202110722101A CN115225303A CN 115225303 A CN115225303 A CN 115225303A CN 202110722101 A CN202110722101 A CN 202110722101A CN 115225303 A CN115225303 A CN 115225303A
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robot
routing rule
firewall
target
priority
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CN115225303B (en
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李岩刚
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Cloudminds Shanghai Robotics Co Ltd
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Cloudminds Shanghai Robotics Co Ltd
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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L63/00—Network architectures or network communication protocols for network security
    • H04L63/02—Network architectures or network communication protocols for network security for separating internal from external traffic, e.g. firewalls
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L45/00—Routing or path finding of packets in data switching networks
    • H04L45/14—Routing performance; Theoretical aspects
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L67/00—Network arrangements or protocols for supporting network services or applications
    • H04L67/01—Protocols
    • H04L67/12—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

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  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Computing Systems (AREA)
  • Computer Hardware Design (AREA)
  • Computer Security & Cryptography (AREA)
  • General Engineering & Computer Science (AREA)
  • Health & Medical Sciences (AREA)
  • General Health & Medical Sciences (AREA)
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Abstract

The disclosure relates to a robot network route setting method, a robot network route setting device, a storage medium and an electronic device. The method comprises the following steps: in response to receiving the network connection request, determining a target object requesting establishment of a network connection with the robot controller; determining a target routing rule according to the target object and the preset corresponding relation between the object and the routing rule; and setting a firewall between the robot controller and the robot according to the target routing rule so as to control data transmission between the target object and the robot through the set firewall. By adopting the method disclosed by the invention, the data safety of the robot can be improved.

Description

Robot network route setting method and device, storage medium and electronic equipment
Technical Field
The present disclosure relates to the field of robotics, and in particular, to a method and an apparatus for setting a robot network route, a storage medium, and an electronic device.
Background
A Robot (Robot) is an intelligent machine that can work semi-autonomously or fully autonomously. The robot has basic characteristics of perception (perception), decision (cognition), execution (attack) and the like, can assist or even replace human beings to finish dangerous, heavy and complex work, improves the working efficiency and quality, serves human life, and expands or extends the activity and capability range of the human beings.
In the related art, because the robot intelligence algorithm is limited by the hardware resources of the robot body, the robot intelligence is low, so in order to improve the intelligence of the robot, the intelligent decision processing algorithm of the robot is mostly transplanted to a cloud server for operation at present, however, the method faces the challenge of high-quality network transmission.
Disclosure of Invention
The invention aims to provide a robot network route setting method, a robot network route setting device, a storage medium and electronic equipment, so as to guarantee the safety network connection requirement of a robot in any scene.
In order to achieve the above object, a first part of the embodiments of the present disclosure provides a robot network route setting method, including:
in response to receiving the network connection request, determining a target object requesting establishment of a network connection with the robot controller;
determining a target routing rule according to the target object and the preset corresponding relation between the object and the routing rule;
and setting a firewall between the robot controller and the robot according to the target routing rule so as to control data transmission between the target object and the robot through the set firewall.
Optionally, before the responding receives the network connection request, the method includes:
and establishing local connection between the robot controller and the robot, and setting the firewall according to a preset routing rule corresponding to the local connection, wherein the priority of the preset routing rule is a first priority.
Optionally, the object is at least one of a robot cloud server, a public network and a third-party electronic device; the priority between the routing rules corresponding to each object is:
the priority of a routing rule corresponding to the network connection between the third-party electronic equipment and the robot controller is a second priority;
the priority of a routing rule corresponding to the network connection between the robot cloud server and the robot controller is a third priority;
the priority of a routing rule corresponding to the network connection between the public network and the robot controller is a fourth priority.
Optionally, the setting a firewall between the robot controller and the robot according to the target routing rule includes:
and under the condition that the firewall is determined to be currently set by a historical routing rule and the priority of the historical routing rule is higher than that of the target routing rule, the firewall is set according to the target routing rule after the historical routing rule is cleared.
Optionally, the setting a firewall between the robot controller and the robot according to the target routing rule includes:
and under the condition that the firewall is determined to be set by a historical routing rule currently and the priority of the historical routing rule is lower than that of the target routing rule, setting the firewall according to the target routing rule, and clearing the setting of the firewall according to the historical routing rule.
Optionally, the method further comprises:
and clearing the target routing rule and setting the firewall according to the target routing rule under the condition that the network connection between the target object and the robot controller is disconnected.
Optionally, the method further comprises:
if an abnormality occurs in the process of setting the firewall according to the target routing rule, recording the abnormal log information.
A second part of the disclosed embodiments provides a robot network route setting device, the device including:
a first determination module for determining a target object requesting to establish a network connection with the robot controller in response to receiving a network connection request;
the second determining module is used for determining a target routing rule according to the target object and the preset corresponding relation between the object and the routing rule;
and the setting module is used for setting a firewall between the robot controller and the robot according to the target routing rule so as to control data transmission between the target object and the robot through the set firewall.
Optionally, the apparatus further comprises:
and the execution module is used for establishing local connection between the robot controller and the robot before responding to the received network connection request, and setting the firewall according to a preset routing rule corresponding to the local connection, wherein the priority of the preset routing rule is a first priority.
Optionally, the object is at least one of a robot cloud server, a public network and a third-party electronic device; the priority between the routing rules corresponding to each object is:
the priority of a routing rule corresponding to the network connection between the third-party electronic equipment and the robot controller is a second priority;
the priority of a routing rule corresponding to the network connection between the robot cloud server and the robot controller is a third priority;
the priority of a routing rule corresponding to the network connection between the public network and the robot controller is a fourth priority.
Optionally, the setting module includes:
and the first setting submodule is used for setting the firewall according to the target routing rule after the historical routing rule is cleared under the condition that the firewall is determined to be set by the historical routing rule currently and the priority of the historical routing rule is higher than that of the target routing rule.
Optionally, the setting module includes:
and the second setting submodule is used for setting the firewall according to the target routing rule and clearing the setting of the firewall according to the historical routing rule under the condition that the firewall is determined to be set by the historical routing rule currently and the priority of the historical routing rule is lower than that of the target routing rule.
Optionally, the apparatus further comprises:
and the clearing module is used for clearing the target routing rule and setting the firewall according to the target routing rule under the condition that the network connection between the target object and the robot controller is disconnected.
Optionally, the apparatus further comprises:
and the recording module is used for recording the abnormal log information if an abnormality occurs in the process of setting the firewall according to the target routing rule.
A third part of the embodiments of the present disclosure provides a computer-readable storage medium on which a computer program is stored, which when executed by a processor, performs the steps of the method of any one of the first part.
A fourth aspect of the embodiments of the present disclosure provides an electronic apparatus, including:
a memory having a computer program stored thereon;
a processor for executing the computer program in the memory to implement the steps of the method of any of the first parts.
By adopting the technical scheme, the following technical effects can be at least achieved:
by responding to receiving a network connection request, a target object requesting to establish a network connection with the robot controller is determined. And determining a target routing rule according to the target object and the preset corresponding relation between the object and the routing rule. And setting a firewall between the robot controller and the robot according to the target routing rule so as to control data transmission between the target object and the robot through the set firewall. In this way, safety problems caused by direct access of the target object to the robot can be avoided. And a firewall between the robot controller and the robot is set according to the routing rule corresponding to the target object, and data transmission between the target object and the robot can be controlled according to the set firewall, so that the data security of the robot is further improved. The method of the present disclosure thus satisfies the need for a secure network connection between the robot and an arbitrary object.
Additional features and advantages of the disclosure will be set forth in the detailed description which follows.
Drawings
The accompanying drawings, which are included to provide a further understanding of the disclosure and are incorporated in and constitute a part of this specification, illustrate embodiments of the disclosure and together with the description serve to explain the disclosure without limiting the disclosure. In the drawings:
FIG. 1 is an illustration of an application scenario according to an exemplary embodiment of the present disclosure.
Fig. 2 is a flowchart illustrating a robot network route setting method according to an exemplary embodiment of the present disclosure.
Fig. 3 is a network connection diagram illustrating a cloud-based smart robot system according to an exemplary embodiment of the present disclosure.
FIG. 4 is a block diagram illustrating a robot controller according to an exemplary embodiment of the present disclosure.
Fig. 5 is a block diagram illustrating a robotic network routing setup according to an exemplary embodiment of the present disclosure.
Fig. 6 is a block diagram illustrating an electronic device in accordance with an exemplary embodiment of the present disclosure.
Detailed Description
The following detailed description of specific embodiments of the present disclosure is provided in connection with the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the present disclosure, are given by way of illustration and explanation only, not limitation.
It is worth stating that the data collected and used in the technical scheme of the present disclosure are collected and used under the legal authorization condition.
In order to facilitate those skilled in the art to more easily understand the technical solution of the present disclosure, a detailed description of an application scenario of the present disclosure is provided below.
The technical scheme of the disclosure is applied to the cloud intelligent robot system shown in fig. 1. In detail, as shown in fig. 1, the cloud-based intelligent Robot system includes a central Robot controller (central Control Unit CCU), a Robot controller (Robot Control Unit, RCU), a cloud-based intelligent brain (i.e., a Robot cloud server), a sensor and an actuator connected to the CCU, and a sensor connected to the RCU. Wherein the sensors are connected/deployed on the CCU and the manner of connecting/deploying the sensors on the RCU extends the robot's environmental awareness. The RCU can be deployed inside the robot and integrally formed with the robot, and can also be deployed outside the robot and connected with the robot in a wired mode.
The robot controller RCU is an important component in the cloud intelligent robot system, is upwards connected with the cloud intelligent brain in a wireless mode such as WiFi, 4G and 5G, is downwards connected with the robot central controller CCU in a wired mode such as Ethernet and usb, and is transversely connected with authorized equipment such as PAD or PC in a WiFi or bluetooth mode. It can be seen that robot controller RCU is as the bridge that high in the clouds intelligence brain and robot are connected for transmit the data message between high in the clouds intelligence brain and the robot.
In the deployment process of the cloud intelligent robot system, the connection between the robot controller RCU and the robot central controller CCU is a basic functional connection, and when the connection breaks down or is disconnected, the robot cannot receive the instruction of the cloud intelligent brain. And robot controller RCU and the connection between the intelligent brain in high in the clouds are the key connection to the artifical energizing of robot, and when this connection broke down, the intelligent brain in high in the clouds can't issue the instruction to the robot, and the robot also can't be with the environmental data of perception upload to the intelligent brain in high in the clouds and carry out decision-making calculation and analysis, lead to the intelligent brain in high in the clouds promptly and can't carry out remote control to the robot, and the intelligent brain in high in the clouds has lost the raw data of carrying out the decision-making to the robot action, the intelligent control ability to the robot of the intelligent brain in high in the clouds promptly loses in the clouds.
In addition, in the deployment of the cloud intelligent robot system, the computationally intensive environment data, such as a depth map obtained by a camera, point cloud data and the like, sensed by the sensors connected with the robot controller RCU and the robot central controller CCU need to be transmitted to the cloud intelligent brain through a network for data processing. In consideration of the real-time performance of data transmission, if the time delay of network transmission is too large, the data delay received by the cloud intelligent brain is too large, the data received by the cloud intelligent brain is overdue data, and the cloud intelligent brain cannot perform calculation processing such as real-time object identification, real-time position identification, real-time distance judgment, real-time action decision and the like according to the overdue data, so that the cognitive ability of the cloud intelligent robot system is reduced, and the use experience of a robot user is influenced.
The robot not only needs to connect with the cloud intelligent brain, but also may need to access a public network to obtain relevant network services or data, such as weather data, traffic signals, and the like. When the robot accesses the public network, the safety problem of the data of the robot needs to be considered so as to reduce the risk of data leakage. In addition, the robot may also be connected with authorized devices such as a PAD network for task cooperation, for example, in the process of planning a work map by the robot, one or more authorized devices may be connected for local scanning and mapping respectively so as to build a complete map quickly. Therefore, the network planning of the cloud intelligent robot system is quite complex, and the network connection requirements in different directions and different types exist. Such as network connection requirements between the robot controller RCU and the robot; such as the network connection requirements between the robot and the cloud-side intelligent brain; such as network connection requirements between the robot and the public network; such as network connection requirements between the robot and third party authorized devices, etc. In a possible scenario, the robot simultaneously establishes network connections with the cloud intelligent brain, the public network and the third party authorization device to achieve related functions. In yet another possible scenario, the robot is connected only to the cloud-based smart brain. It is easy to understand that when a scene changes, operations such as some network connections need to be closed, some network connections need to be re-opened, and the data security problem of the robot needs to be considered when the network connections are opened, so that the network routing planning of the cloud-end intelligent robot system is very complex.
In view of this, embodiments of the present disclosure provide a robot network routing setting method and apparatus, a storage medium, and an electronic device, which are used to implement a network routing service based on a robot controller RCU, and are used to respond to multiple network connection requests, ensure stability and security of network connection and security of private data of different clients stored in a robot, and further achieve an effect of efficiently deploying a cloud-based intelligent robot system.
The robot based on cloud intelligent brain control senses data by means of sensors, image and voice acquisition equipment and the like arranged on a robot controller RCU and a robot central controller CCU; the cognitive ability of the robot is realized based on an intelligent decision algorithm deployed on a cloud intelligent brain, wherein the intelligent brain deployed at the cloud has the capability of infinite expansion and is not limited by hardware resources of a robot body. The cloud intelligent brain is connected with the robot through a network, and then the robot is energized (namely, a control command is issued). In the present disclosure, the robot may be a robot with a solid body, a physical body device with wheels, arms, etc.; the robot can also be a robot without an entity, the image of the virtual robot can be displayed through a display connected with virtual robot equipment, and the virtual character image on the display can be used for doing actions, such as smiling, crying and the like, after the processing and the analysis of the cloud intelligent brain according to the input information of the external environment; as another example, an action of broadcasting a piece of voice information through a speaker of the virtual robot apparatus. Wherein the robot controller RCU is connected with the related sensors, and the manner that the robot central controller CCU is connected with the related sensors can expand the perception capability of the robot for the environment. The robot central controller CCU is connected with associated actuators to give the robot the ability to act.
The following provides a detailed description of embodiments of the present disclosure.
Fig. 2 is a flowchart illustrating a robot network route setting method according to an exemplary embodiment of the present disclosure. The robot network route setting method is applied to an electronic device, for example, may be applied to a robot controller RCU (the following embodiments of the present disclosure are exemplified by the robot controller RCU as an electronic device carrying the robot network route setting method). As shown in fig. 2, the robot network route setting method includes the steps of:
and S11, responding to the received network connection request, and determining a target object requesting to establish network connection with the robot controller.
Optionally, before the responding receives the network connection request, the method may include:
and establishing local connection between the robot controller and the robot, and setting the firewall according to a preset routing rule corresponding to the local connection, wherein the priority of the preset routing rule is a first priority.
Illustratively, the local connection between the robot controller and the robot may be any wired connection such as ethernet, usb, etc.
It should be noted that the routing rules are similar to the routing forwarding rules in the related art, and are used to complete port mapping or port forwarding, i.e. to complete PCs in the LAN after other hosts on the internet access the router. The firewall technology is a technology for protecting the safety of user data and information by organically combining various software and hardware devices for safety management and screening to help a computer network to construct a relatively isolated protection barrier between an internal network and an external network. In the disclosure, the function of the firewall mainly lies in discovering and processing the problems of security risk, data transmission and the like which may exist in the running of the RCU network in time, wherein the processing measures include isolation and protection, and meanwhile, recording and detection can be implemented on each operation in the safety of the RCU network, so as to ensure the running safety of the RCU network, ensure the integrity of data and information on the robot and the RCU, and provide better and safer network use experience for users.
S12, determining a target routing rule according to the target object and the preset corresponding relation between the object and the routing rule.
In the embodiment of the present disclosure, a corresponding routing rule is preset according to the type of the object, and the routing rule is used for limiting data interaction between the object and the robot. Data interaction includes one-way or two-way data access, querying, retrieving, copying, writing, and the like.
And S13, setting a firewall between the robot controller and the robot according to the target routing rule, so as to control data transmission between the target object and the robot through the set firewall.
By adopting the technical scheme of the disclosure, the target object requesting to establish network connection with the robot controller is determined by responding to the received network connection request. And determining the target routing rule according to the target object and the preset corresponding relation between the object and the routing rule. And setting a firewall between the robot controller and the robot according to the target routing rule so as to control data transmission between the target object and the robot through the set firewall. In this way, safety problems caused by direct access of the target object to the robot can be avoided. And a firewall between the robot controller and the robot is set according to the routing rule corresponding to the target object, and data transmission between the target object and the robot can be controlled according to the set firewall, so that the data security of the robot is further improved. This method of the present disclosure thus satisfies the need for a secure network connection between the robot and any object.
Optionally, the object is at least one of a robot cloud server, a public network and a third-party electronic device; the priority between the routing rules corresponding to each object is:
the priority of a routing rule corresponding to the network connection between the third-party electronic equipment and the robot controller is a second priority; the priority of a routing rule corresponding to the network connection between the robot cloud server and the robot controller is a third priority; the priority of a routing rule corresponding to the network connection between the public network and the robot controller is a fourth priority.
By way of example, a routing rule priority table as shown in table 1 below may be defined in the RCU. It will be appreciated that in different application scenarios, different routing rule priority tables may be set.
Fourth priority 4: public connection (characterizing the connection between the RCU and the public network)
Third priority 3: secure connection (connection between characterization RCU and robot cloud server)
Second priority 2: local connectivity (characterizing the connection between the RCU and third party electronic devices)
First priority 1: local connection (connection between RCU and CCU characterizing the robot)
TABLE 1
Illustratively, the network connection relationship among the robot, the robot controller, the robot cloud server, the public network, and the third-party electronic device is shown in fig. 3. As can be seen from fig. 3, the connection between the robot controller RCU and the robot central controller CCU is a basic connection (local connection) in the cloud-based intelligent robot system. The RCU, the CCU, and other devices or sensors deployed in the robot connected to the CCU together form a local area network. In the local area network, the RCU and the CCU each have an IP address through which both address and perform other operations (e.g., data transmission). Also, for upward and horizontal network connections, the RCU is assigned an IP address for the upward or horizontal network connection after the network connection is established. By setting routing rules, upward and lateral network connections may be allowed to communicate with the RCU-downward network connection CCU, through a firewall set inside the RCU. Namely, the CCU in the robot is allowed to establish network connection with the cloud intelligent brain for communication. Similarly, routing policies may also be configured to allow horizontal network connectivity to allow public networks (third party devices) to communicate with the CCU.
Optionally, the setting a firewall between the robot controller and the robot according to the target routing rule may specifically include:
and under the condition that the firewall is determined to be currently set by a historical routing rule and the priority of the historical routing rule is higher than that of the target routing rule, the firewall is set according to the target routing rule after the historical routing rule is cleared.
For example, if there are only some duplicate settings for two routing rules, the non-duplicate settings are not cleared or covered before the network connection is disconnected, and then there are settings for the two routing rules in the firewall at this time.
Optionally, the setting a firewall between the robot controller and the robot according to the target routing rule includes:
and under the condition that the firewall is determined to be set by a historical routing rule currently and the priority of the historical routing rule is lower than that of the target routing rule, setting the firewall according to the target routing rule, and clearing the setting of the firewall according to the historical routing rule.
In detail, routing rules may be deployed in the robot controller RCU, which are set as follows: if the routing rule with low priority is already set, the routing rule with low priority is cleared when the routing rule with high priority is set; when setting the routing rule with low priority, checking whether the routing rule with high priority is set or not, and if so, giving up trying to set the routing rule with low priority; the function of clearing the low-priority routing rule can be independently enabled or not enabled, and can be decided according to a specific application scene.
In one implementation, referring to fig. 4, a network connection manager may be disposed and run in the robot controller RCU, and the network connection manager sends a command to the routing rule setter in response to a network connection request event (e.g., receiving an instruction from the cloud server of the robot). And the routing rule setter refers to the routing rule priority table stored in the RCU and the preset corresponding relation between the object and the routing rule according to the received command, and sets the corresponding target routing rule to the firewall.
Optionally, the method further comprises: and clearing the target routing rule and setting the firewall according to the target routing rule under the condition that the network connection between the target object and the robot controller is disconnected.
Optionally, the method further comprises: if an exception occurs in the process of setting the firewall according to the target routing rule, log information of the exception is recorded.
And when the routing service in the RCU is abnormal, the network connection manager running in the RCU records the abnormal type, and when the RCU is normally connected with the robot cloud server, the recorded abnormal type and log information are sent to the robot cloud server. When the RCU is abnormally connected with the robot cloud server, the abnormal type and log information are locally stored and recorded. In addition, optionally, a prompt message can be sent to remind the robot user of the abnormal occurrence.
In summary, in embodiments of the present disclosure, a robot controller RCU provides network routing services. The robot controller RCU is connected with the robot central controller CCU to form a local area network. The robot controller RCU establishes network connection with a cloud intelligent brain, a public network or a third party authorized device according to the state of the RCU network (the state that whether each network interface is available or not). And sets corresponding routing strategies according to the types of the network connections and corresponding priorities so as to allow the robot central controller CCU, equipment (robot internal equipment such as sensors, cameras and the like) connected with the CCU, third-party equipment establishing network connection with the RCU or public networks to establish network connection. Accordingly, after the relevant device or network is disconnected from the RCU, the RCU clears the network routing policy corresponding to the network to ensure that the network connection between the relevant device or network and the robot central controller CCU of the robot, the device connected to the CCU, is disconnected. By adopting the method disclosed by the invention, the effects of coping with various network connection requests, ensuring the stability, safety and effective protection of the network connection on the private data of different clients stored in the robot and deploying the cloud intelligent robot system quickly and efficiently can be achieved.
Based on the same inventive concept, an embodiment of the present disclosure further provides a robot network route setting device, as shown in fig. 5, the device 500 includes:
a first determining module 510 for determining a target object requesting to establish a network connection with the robot controller in response to receiving the network connection request;
a second determining module 520, configured to determine a target routing rule according to the target object and a preset corresponding relationship between the object and the routing rule;
a setting module 530, configured to set a firewall between the robot controller and the robot according to the target routing rule, so as to control data transmission between the target object and the robot through the set firewall.
With this apparatus, a target object requesting establishment of a network connection with a robot controller is determined by responding to reception of a network connection request. And determining the target routing rule according to the target object and the preset corresponding relation between the object and the routing rule. And setting a firewall between the robot controller and the robot according to the target routing rule so as to control data transmission between the target object and the robot through the set firewall. In this way, safety problems caused by direct access of the target object to the robot can be avoided. And a firewall between the robot controller and the robot is set according to the routing rule corresponding to the target object, and data transmission between the target object and the robot can be controlled according to the set firewall so as to further improve the data security of the robot. This method of the present disclosure thus satisfies the need for a secure network connection between the robot and any object.
Optionally, the apparatus further comprises:
and the execution module is used for establishing local connection between the robot controller and the robot before responding to the received network connection request, and setting the firewall according to a preset routing rule corresponding to the local connection, wherein the priority of the preset routing rule is a first priority.
Optionally, the object is at least one of a robot cloud server, a public network and a third-party electronic device; the priority between the routing rules corresponding to each object is:
the priority of a routing rule corresponding to the network connection between the third-party electronic equipment and the robot controller is a second priority;
the priority of a routing rule corresponding to the network connection between the robot cloud server and the robot controller is a third priority;
the priority of a routing rule corresponding to the network connection between the public network and the robot controller is a fourth priority.
Optionally, the setting module includes:
and the first setting submodule is used for setting the firewall according to the target routing rule after the historical routing rule is cleared under the condition that the firewall is determined to be currently set by the historical routing rule and the priority of the historical routing rule is higher than that of the target routing rule.
Optionally, the setting module includes:
and the second setting submodule is used for setting the firewall according to the target routing rule and clearing the setting of the firewall according to the historical routing rule under the condition that the firewall is determined to be set by the historical routing rule currently and the priority of the historical routing rule is lower than that of the target routing rule.
Optionally, the apparatus further comprises:
and the clearing module is used for clearing the target routing rule and setting the firewall according to the target routing rule under the condition that the network connection between the target object and the robot controller is disconnected.
Optionally, the apparatus further comprises:
and the recording module is used for recording the abnormal log information if an abnormality occurs in the process of setting the firewall according to the target routing rule.
With regard to the apparatus in the above-described embodiment, the specific manner in which each module performs the operation has been described in detail in the embodiment related to the method, and will not be elaborated here.
The present disclosure also provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the steps of any of the above-described robot network route setting methods.
Fig. 6 is a block diagram illustrating an electronic device 700, which may be specifically a robot controller RCU, according to an example embodiment. As shown in fig. 6, the electronic device 700 may include: a processor 701 and a memory 702. The electronic device 700 may also include one or more of a multimedia component 703, an input/output (I/O) interface 704, and a communication component 705.
The processor 701 is configured to control the overall operation of the electronic device 700, so as to complete all or part of the steps in the robot network routing setting method. The memory 702 is used to store various types of data to support operation at the electronic device 700, such as instructions for any application or method operating on the electronic device 700 and application-related data, such as contact data, transmitted and received messages, pictures, audio, video, and the like. The Memory 702 may be implemented by any type or combination of volatile and 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 multimedia components 703 may include screen and audio components. Wherein the screen may be, for example, a touch screen and the audio component is used for outputting and/or inputting audio signals. For example, the audio component may include a microphone for receiving an external audio signal. The received audio signal may further be stored in the memory 702 or transmitted through the communication component 705. The audio assembly further comprises at least one speaker for outputting audio signals. The I/O interface 704 provides an interface between the processor 701 and other interface modules, such as a keyboard, mouse, buttons, etc. These buttons may be virtual buttons or physical buttons. The communication component 705 is used for wired or wireless communication between the electronic device 700 and other devices. Wireless Communication, such as Wi-Fi, bluetooth, near Field Communication (NFC), 2G, 3G, 4G, NB-IOT, eMTC, or other 5G, or combinations thereof, which is not limited herein. The corresponding communication component 705 may thus comprise: wi-Fi module, bluetooth module, NFC module, etc.
In an exemplary embodiment, the electronic Device 700 may be implemented by one or more Application Specific Integrated Circuits (ASICs), digital Signal Processors (DSPs), digital Signal Processing Devices (DSPDs), programmable Logic Devices (PLDs), field Programmable Gate Arrays (FPGAs), controllers, microcontrollers, microprocessors, or other electronic components for performing the above-described method for setting the routing of the robot network.
In another exemplary embodiment, there is also provided a computer readable storage medium including program instructions which, when executed by a processor, implement the steps of the robot network route setting method described above. For example, the computer readable storage medium may be the above-described memory 702 including program instructions executable by the processor 701 of the electronic device 700 to perform the above-described robot network route setting method.
In another exemplary embodiment, a computer program product is also provided, which comprises a computer program executable by a programmable apparatus, the computer program having code portions for performing the above-mentioned robot network routing setting method when executed by the programmable apparatus.
The preferred embodiments of the present disclosure are described in detail above with reference to the accompanying drawings, however, the present disclosure is not limited to the specific details in the above embodiments, and various simple modifications may be made to the technical solution of the present disclosure within the technical idea of the present disclosure, and these simple modifications all belong to the protection scope of the present disclosure.
It should be noted that the various features described in the above embodiments may be combined in any suitable manner without departing from the scope of the invention. To avoid unnecessary repetition, the disclosure does not separately describe various possible combinations.
In addition, any combination of various embodiments of the present disclosure may be made, and the same should be considered as the disclosure of the present disclosure as long as it does not depart from the gist of the present disclosure.

Claims (10)

1. A robot network route setting method, characterized by comprising:
in response to receiving the network connection request, determining a target object requesting establishment of a network connection with the robot controller;
determining a target routing rule according to the target object and the preset corresponding relation between the object and the routing rule;
and setting a firewall between the robot controller and the robot according to the target routing rule so as to control data transmission between the target object and the robot through the set firewall.
2. The method of claim 1, prior to said responding to receipt of the network connection request, comprising:
and establishing local connection between the robot controller and the robot, and setting the firewall according to a preset routing rule corresponding to the local connection, wherein the priority of the preset routing rule is a first priority.
3. The method of claim 1 or 2, wherein the object is at least one of a robot cloud server, a public network, and a third-party electronic device; the priority between the routing rules corresponding to each object is:
the priority of a routing rule corresponding to the network connection between the third-party electronic equipment and the robot controller is a second priority;
the priority of a routing rule corresponding to the network connection between the robot cloud server and the robot controller is a third priority;
the priority of a routing rule corresponding to the network connection between the public network and the robot controller is a fourth priority.
4. The method of claim 3, wherein setting a firewall between the robot controller and a robot according to the target routing rule comprises:
and under the condition that the firewall is determined to be currently set by a historical routing rule and the priority of the historical routing rule is higher than that of the target routing rule, the firewall is set according to the target routing rule after the historical routing rule is cleared.
5. The method of claim 3, wherein setting a firewall between the robot controller and a robot according to the target routing rule comprises:
and under the condition that the firewall is determined to be set by a historical routing rule currently and the priority of the historical routing rule is lower than that of the target routing rule, setting the firewall according to the target routing rule, and clearing the setting of the firewall according to the historical routing rule.
6. The method of claim 1, further comprising:
and clearing the target routing rule and setting the firewall according to the target routing rule under the condition that the network connection between the target object and the robot controller is disconnected.
7. The method of claim 1, further comprising:
if an abnormality occurs in the process of setting the firewall according to the target routing rule, recording the abnormal log information.
8. A robot network route setting apparatus, characterized in that the apparatus comprises:
a first determination module for determining a target object requesting to establish a network connection with the robot controller in response to receiving a network connection request;
the second determining module is used for determining a target routing rule according to the target object and the preset corresponding relation between the object and the routing rule;
and the setting module is used for setting a firewall between the robot controller and the robot according to the target routing rule so as to control data transmission between the target object and the robot through the set firewall.
9. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 7.
10. An electronic device, comprising:
a memory having a computer program stored thereon;
a processor for executing the computer program in the memory to carry out the steps of the method of any one of claims 1 to 7.
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