CN115225303B - 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 PDFInfo
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- CN115225303B CN115225303B CN202110722101.XA CN202110722101A CN115225303B CN 115225303 B CN115225303 B CN 115225303B CN 202110722101 A CN202110722101 A CN 202110722101A CN 115225303 B CN115225303 B CN 115225303B
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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
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- 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
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/12—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
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- 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]
Abstract
The disclosure relates to a robot network route setting method, a robot network route setting device, a storage medium and electronic equipment. The method comprises the following steps: in response to receiving the network connection request, determining a target object requesting to establish network connection with the robot controller; determining a target routing rule according to the target object and a 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 security of the robot can be improved.
Description
Technical Field
The disclosure relates to the technical field of robots, and in particular relates to a method and a device for setting a network route of a robot, a storage medium and electronic equipment.
Background
A Robot (Robot) is an intelligent machine that can operate semi-autonomously or fully autonomously. The robot has basic characteristics of perception, decision, execution and the like, can assist or even replace human beings to finish dangerous, heavy and complex work, improves the working efficiency and quality, serves the life of the human beings, and expands or extends the activity and capacity range of the human beings.
In the related art, the intelligent algorithm of the robot is limited by hardware resources of the robot body, so that the intelligent performance of the robot is improved, and the intelligent decision processing algorithm of the robot is transplanted to a cloud server for operation at present, however, the mode faces high-quality network transmission challenges.
Disclosure of Invention
The invention aims to provide a robot network route setting method, a device, a storage medium and electronic equipment, so as to ensure the safety network connection requirement of a robot in any scene.
To achieve the above object, a first part of an embodiment 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 to establish network connection with the robot controller;
determining a target routing rule according to the target object and a 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 to the receiving 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 among the routing rules corresponding to the objects is as follows:
the priority of the routing rule corresponding to the network connection between the third-party electronic equipment and the robot controller is a second priority;
the priority of the routing rule corresponding to the network connection between the robot cloud server and the robot controller is a third priority;
and the priority of the 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 in the case 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, setting the firewall according to the target routing rule after waiting for the historical routing rule to be cleared.
Optionally, the setting a firewall between the robot controller and the robot according to the target routing rule includes:
and setting the firewall according to the target routing rule and clearing the setting of the firewall according to the history routing rule under the condition that the firewall is determined to be set by the history routing rule currently and the priority of the history routing rule is lower than the priority of the target routing rule.
Optionally, the method further comprises:
and under the condition that the network connection between the target object and the robot controller is disconnected, clearing the target routing rule and setting the firewall according to the target routing rule.
Optionally, the method further comprises:
if abnormality occurs in the process of setting the firewall according to the target routing rule, recording log information of the abnormality.
A second part of an embodiment of the present disclosure provides a robot network route setting device, the device including:
the first determining module is used for determining a target object for requesting to establish network connection with the robot controller in response to receiving the network connection request;
the second determining module is used for determining a target routing rule according to the target object and a 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 the response to the network connection request is received, 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 among the routing rules corresponding to the objects is as follows:
the priority of the routing rule corresponding to the network connection between the third-party electronic equipment and the robot controller is a second priority;
the priority of the routing rule corresponding to the network connection between the robot cloud server and the robot controller is a third priority;
and the priority of the 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 waiting for the historical routing rule to be 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 the priority 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 history routing rule under the condition that the firewall is determined to be set by the history routing rule and the priority of the history routing rule is lower than the priority 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 abnormal log information if the abnormality occurs in the process of setting the firewall according to the target routing rule.
A third part of an embodiment of the present disclosure provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the steps of the method of any of the first parts.
A fourth part of an embodiment of the present disclosure provides an electronic device, 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 disclosed by the invention, at least the following technical effects can be achieved:
by in response to receiving the network connection request, a target object requesting establishment of a network connection with the robot controller is determined. 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, security problems caused by direct access of the target object to the robot can be avoided. And the firewall between the robot controller and the robot is set according to the routing rule corresponding to the target object, and the 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 meets the need for a secure network connection between a robot and any object.
Additional features and advantages of the present disclosure will be set forth in the detailed description which follows.
Drawings
The accompanying drawings are included to provide a further understanding of the disclosure, and are incorporated in and constitute a part of this specification, illustrate the disclosure and together with the description serve to explain, but do not limit the disclosure. In the drawings:
fig. 1 is an application scenario illustrated according to an exemplary embodiment of the present disclosure.
Fig. 2 is a flowchart illustrating a method of robot network route setup according to an exemplary embodiment of the present disclosure.
Fig. 3 is a network connection diagram of a cloud intelligent robot system according to an exemplary embodiment of the present disclosure.
Fig. 4 is a block diagram of a robot controller according to an exemplary embodiment of the present disclosure.
Fig. 5 is a block diagram illustrating one robotic network routing setup according to an exemplary embodiment of the present disclosure.
Fig. 6 is a block diagram of an electronic device, according to an exemplary embodiment of the present disclosure.
Detailed Description
Specific embodiments of the present disclosure are described in detail below with reference to the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating and illustrating the disclosure, are not intended to limit the disclosure.
It is worth stating that all 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 a person of ordinary skill in the art to understand the technical solutions of the present disclosure more easily, the following details of application scenarios of the present disclosure are described.
The technical scheme disclosed by the invention is applied to the cloud intelligent robot system shown in fig. 1. In detail, as shown in fig. 1, the cloud intelligent robot system includes a robot central controller (Center Control UnitCCU), a robot controller (Robot Control Unit, RCU), a cloud intelligent brain (i.e., a robot cloud server), sensors and actuators connected to the CCU, and sensors connected to the RCU. Wherein the sensor is connected/deployed on the CCU and the manner in which the sensor is connected/deployed on the RCU extends the environment awareness capabilities of the robot. The RCU can be deployed inside the robot to be integrally formed with the robot, or can be deployed outside the robot to be connected with the robot in a wired manner.
The robot controller RCU is an important component in the cloud intelligent robot system, and is connected with the cloud intelligent brain upwards in a wireless mode such as WiFi, 4G, 5G and the like, connected with the robot central controller CCU downwards in a wired mode such as ethernet, usb and the like, and connected with authorized devices such as PAD or PC and the like in a transverse mode through WiFi, bluetooth. Therefore, the RCU serves as a bridge for connecting the cloud intelligent brain with the robot, and is used for transmitting data information between the cloud intelligent 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 basic functional connection, and when the connection fails or is disconnected, the robot cannot receive instructions of the cloud intelligent brain. The connection between the RCU and the cloud intelligent brain is a key connection for artificial energization of the robot, when the connection fails, the cloud intelligent brain cannot issue instructions to the robot, and the robot cannot upload perceived environmental data to the cloud intelligent brain for decision calculation and analysis, namely, the cloud intelligent brain cannot remotely control the robot, and the cloud intelligent brain loses the original data for deciding the behavior of the robot, namely, the cloud intelligent brain loses the intelligent control capability of the robot.
In addition, in deployment of the cloud intelligent robot system, the computationally intensive environmental data sensed by the sensors connected to the robot controller RCU and the robot central controller CCU, such as a depth map obtained by a camera, point cloud data, etc., needs to be transmitted to the cloud intelligent brain through a network for data processing. Considering the real-time property 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, which leads to that the data received by the cloud intelligent brain is out-of-date data, 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 out-of-date data, and further leads to the decline of cognitive ability of the cloud intelligent robot system, and influences the use experience of a robot user.
The robot not only needs to connect to the cloud intelligent brain, but may also need to access a public network to obtain related network services or data, such as weather data, traffic signals, and the like. And when the robot accesses to 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 to authorized devices such as PAD networks for task collaboration, for example, during the planning of a working map by the robot, one or more authorized devices may be connected to perform local mapping and mapping, respectively, to quickly construct a complete map. Therefore, the network planning of the cloud intelligent robot system is quite complex, and network connection requirements of different directions and different types exist. Such as network connection requirements between the robot controller RCU and the robot; network connection requirements between the robot and the cloud intelligent brain; such as network connection requirements between the robot and the public network; such as network connection requirements between the robot and the third party authorized device, etc. One possible scenario is that the robot establishes network connection with the cloud intelligent brain, public network and third party authorization equipment simultaneously to realize relevant functions. In yet another possible scenario, the robot is only connected to the cloud intelligent brain. It is easy to understand that when the scene changes, operations such as closing some network connections, opening some network connections again and the like are involved, and the problem of robot data security is considered when the network connections are opened, so that the network route planning of the cloud intelligent robot system is very complex.
In view of this, the embodiments of the present disclosure provide a method, an apparatus, a storage medium, and an electronic device for setting a network route of a robot, which are used to implement a network route service based on a robot controller RCU, and to cope with various network connection requests, so as to ensure stability and security of network connection and security of privacy data of different clients stored in a robot, thereby achieving an effect of efficiently deploying a cloud intelligent robot system.
The robot based on cloud intelligent brain control senses data by means of sensors deployed on a robot controller RCU and a robot central controller CCU, image and voice acquisition equipment and the like; the cognitive ability of the robot is realized based on an intelligent decision algorithm deployed on the intelligent brain of the cloud, wherein the intelligent brain deployed on the cloud has infinite expansion ability and is not limited by hardware resources of the robot body. The cloud intelligent brain is connected with the robot through a network and then energizes the robot (i.e. issues control instructions). In the present disclosure, the robot may be a robot having a body, a body device having a wheel, an arm, or the like; the robot can also be a robot without an entity, the robot can display the image of the virtual robot through a display connected with virtual robot equipment and the like, and can perform actions such as smiling, crying and the like through the virtual character image on the display after the cloud intelligent brain is processed and analyzed according to the input information of the external environment; for another example, an action of broadcasting a piece of voice information through a horn of the virtual robotic device. Wherein the robot controller RCU is connected to the relevant sensor, the sensing capability of the robot to the environment can be extended in such a way that the robot central controller CCU is connected to the relevant sensor. The relevant actuators are connected to the robot central controller CCU to give the robot mobility.
The following describes the embodiments of the present disclosure in detail.
Fig. 2 is a flowchart illustrating a method of robot network route setup according to an exemplary embodiment of the present disclosure. The robot network route setting method is applied to an electronic device, for example, can be applied to a robot controller RCU (the following embodiments of the present disclosure are exemplified by taking the robot controller RCU as the electronic device carrying the robot network route setting method). As shown in fig. 2, the robot network route setting method includes the steps of:
s11, responding to the received network connection request, and determining a target object for requesting to establish network connection with the robot controller.
Optionally, before the responding to the receiving the network connection request, it 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.
The local connection between the robot controller and the robot may be, for example, any wired connection such as ethernet, usb, etc.
It should be noted that, the routing rule is similar to the routing forwarding rule in the related art, and is used for completing port mapping or port forwarding, that is, for completing the PC in the LAN after the other hosts on the internet access the router. The firewall technology is a technology for helping computer networks to construct a relatively isolated protection barrier between the internal network and the external network by organically combining various software and hardware devices for safety management and screening so as to protect user data and information safety. In the disclosure, the firewall mainly aims to timely discover and process the problems of security risk, data transmission and the like possibly existing in the running process of the RCU network, wherein the processing measures comprise isolation and protection, and meanwhile, recording and detection can be implemented on each operation in the security of the RCU network so as to ensure the running security of the RCU network, ensure the integrity of the robot and the information and the data on 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 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 interactions include unidirectional or bidirectional data access, querying, acquisition, replication, writing, etc.
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, 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, security problems caused by direct access of the target object to the robot can be avoided. And the firewall between the robot controller and the robot is set according to the routing rule corresponding to the target object, and the 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 meets the need for a secure network connection between a 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 among the routing rules corresponding to the objects is as follows:
the priority of the routing rule corresponding to the network connection between the third-party electronic equipment and the robot controller is a second priority; the priority of the routing rule corresponding to the network connection between the robot cloud server and the robot controller is a third priority; and the priority of the routing rule corresponding to the network connection between the public network and the robot controller is a fourth priority.
For example, a routing rule priority table as shown in table 1 below may be defined in the RCU. It can be appreciated that different routing rule priority tables may be provided in different application scenarios.
| Fourth priority 4: public connection (characterising the connection between RCU and public network) |
| Third priority 3: safety connection (connection between RCU and robot cloud server) |
| Second priority 2: local connection (characterising RCU and thirdConnection between square electronic devices |
| First priority 1: local connection (connection between RCU and CCU characterizing 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 of the robot controller RCU with the robot central controller CCU is a basic connection (local connection) in the cloud intelligent robot system. The RCU, CCU, and other devices or sensors deployed in the robot that are connected to the CCU together form a local area network. In this local area network, the RCU and CCU each have an IP address through which they address and perform other operations (e.g., data transmission). Meanwhile, for both upward and transverse network connections, the RCU is also assigned an IP address for the upward or transverse network connection after the network connection is established. By setting the routing rules, both upward and lateral network connections may be allowed to communicate with the RCU's downward network connection CCU through a firewall set inside the RCU. I.e. allowing CCUs in the robot to establish a network connection with the cloud intelligent brain for communication. Likewise, routing policies may also be configured to allow lateral network connections 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 in the case 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, setting the firewall according to the target routing rule after waiting for the historical routing rule to be cleared.
The historical routing rules are any one of routing rules corresponding to network connection between the third-party electronic device and the robot controller, routing rules corresponding to network connection between the robot cloud server and the robot controller, routing rules corresponding to network connection between the public network and the robot controller, and preset routing rules (multiple types are also possible).
Optionally, the setting a firewall between the robot controller and the robot according to the target routing rule includes:
and setting the firewall according to the target routing rule and clearing the setting of the firewall according to the history routing rule under the condition that the firewall is determined to be set by the history routing rule currently and the priority of the history routing rule is lower than the priority of the target routing rule.
In detail, each routing rule may be deployed in the robot controller RCU, which is set as follows: if the low-priority routing rule is already set, the high-priority routing rule is set to clear the low-priority routing rule; when the routing rule with low priority is set, firstly checking whether the routing rule with high priority is set, if so, discarding the attempt of setting the routing rule with low priority; the function of clearing the low-priority routing rule can be independently set to enable or disable, and the decision can be made according to specific application scenes.
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 robot cloud server). And the routing rule setter is used for setting corresponding target routing rules to the firewall by referring to the routing rule priority table stored in the RCU and the preset corresponding relation between the object and the routing rules according to the received command.
Optionally, the method further comprises: and under the condition that the network connection between the target object and the robot controller is disconnected, clearing the target routing rule and setting the firewall according to the target routing rule.
Optionally, the method further comprises: if abnormality occurs in the process of setting the firewall according to the target routing rule, recording log information of the abnormality.
When the routing service in the RCU of the robot controller is abnormal, the network connection manager running in the RCU records the type of the abnormality, and when the RCU is normally connected with the cloud server of the robot, the recorded type of the abnormality and log information are sent to the cloud server of the robot. When the RCU is abnormally connected with the robot cloud server, the abnormal type and log information are stored and recorded locally. In addition, optionally, a prompt message can be sent to remind the robot user of abnormal occurrence.
In summary, in embodiments of the present disclosure, the 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 the cloud intelligent brain, the public network or the third party authorization equipment according to the state of the RCU network (namely whether each network interface is available or not). And sets a corresponding routing policy according to the types of these network connections and according to a corresponding priority to allow network connections to be established between the robot central controller CCU, devices connected to the CCU (robot internal devices such as sensors, cameras, etc.), third party devices establishing network connections with the RCU, or a public network. Accordingly, after the related 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 related 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 effectiveness of network connection, protecting the privacy data of different clients stored in the robot and rapidly and efficiently deploying the cloud intelligent robot system can be achieved.
Based on the same inventive concept, the 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, configured to determine, in response to receiving a network connection request, a target object requesting to establish a network connection with the robot controller;
a second determining module 520, configured to determine a target routing rule according to the target object and a preset correspondence between the object and the routing rule;
and 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 such an apparatus, a target object requesting establishment of a network connection with the robot controller is determined by responding to a 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, security problems caused by direct access of the target object to the robot can be avoided. And the firewall between the robot controller and the robot is set according to the routing rule corresponding to the target object, and the 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 meets the need for a secure network connection between a 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 the response to the network connection request is received, 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 among the routing rules corresponding to the objects is as follows:
the priority of the routing rule corresponding to the network connection between the third-party electronic equipment and the robot controller is a second priority;
the priority of the routing rule corresponding to the network connection between the robot cloud server and the robot controller is a third priority;
and the priority of the 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 waiting for the historical routing rule to be 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 the priority 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 history routing rule under the condition that the firewall is determined to be set by the history routing rule and the priority of the history routing rule is lower than the priority 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 abnormal log information if the abnormality occurs in the process of setting the firewall according to the target routing rule.
The specific manner in which the various modules perform the operations in the apparatus of the above embodiments have been described in detail in connection with the embodiments of the method, and will not be described in detail herein.
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 one of the robot network route setting methods described above.
Fig. 6 is a block diagram of 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, 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 above-mentioned robot network route setting method. The memory 702 is used to store various types of data to support operation on the electronic device 700, which may include, for example, instructions for any application or method operating on the electronic device 700, as well as application-related data, such as contact data, messages sent and received, pictures, audio, video, and so forth. The Memory 702 may be implemented by any type or combination of volatile or non-volatile Memory devices, such as static random access Memory (Static Random Access Memory, SRAM for short), electrically erasable programmable Read-Only Memory (Electrically Erasable Programmable Read-Only Memory, EEPROM for short), erasable programmable Read-Only Memory (Erasable Programmable Read-Only Memory, EPROM for short), programmable Read-Only Memory (Programmable Read-Only Memory, PROM for short), read-Only Memory (ROM for short), magnetic Memory, flash Memory, magnetic disk, or optical disk. The multimedia component 703 can include a screen and an audio component. Wherein the screen may be, for example, a touch screen, the audio component being for outputting and/or inputting audio signals. For example, the audio component may include a microphone for receiving external audio signals. The received audio signals may be further 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, which may be a keyboard, mouse, buttons, etc. These buttons may be virtual buttons or physical buttons. The communication component 705 is for wired or wireless communication between the electronic device 700 and other devices. Wireless communication, such as Wi-Fi, bluetooth, near field communication (Near Field Communication, NFC for short), 2G, 3G, 4G, NB-IOT, eMTC, or other 5G, etc., or one or a combination of more of them, 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 (Application Specific Integrated Circuit, abbreviated ASIC), digital signal processor (Digital Signal Processor, abbreviated DSP), digital signal processing device (Digital Signal Processing Device, abbreviated DSPD), programmable logic device (Programmable Logic Device, abbreviated PLD), field programmable gate array (Field Programmable Gate Array, abbreviated FPGA), controller, microcontroller, microprocessor, or other electronic components for performing the robotic network route setup method described above.
In another exemplary embodiment, a computer readable storage medium comprising program instructions which, when executed by a processor, implement the steps of the robot network route setup method described above is also provided. For example, the computer readable storage medium may be the memory 702 including program instructions described above, which are executable by the processor 701 of the electronic device 700 to perform the robot network route setup method described above.
In another exemplary embodiment, a computer program product is also provided, comprising a computer program executable by a programmable apparatus, the computer program having code portions for performing the above-described robot network route setup method when executed by the programmable apparatus.
The preferred embodiments of the present disclosure have been described in detail above with reference to the accompanying drawings, but the present disclosure is not limited to the specific details of the above embodiments, and various simple modifications may be made to the technical solutions of the present disclosure within the scope of the technical concept of the present disclosure, and all the simple modifications belong to the protection scope of the present disclosure.
In addition, the specific features described in the above embodiments may be combined in any suitable manner without contradiction. The various possible combinations are not described further in this disclosure in order to avoid unnecessary repetition.
Moreover, any combination between the various embodiments of the present disclosure is possible as long as it does not depart from the spirit of the present disclosure, which should also be construed as the disclosure of the present disclosure.
Claims (10)
1. A method for setting a network route of a robot, the method comprising:
in response to receiving the network connection request, determining a target object requesting to establish network connection with the robot controller;
determining a target routing rule according to the target object and a 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, comprising, prior to said responding to receiving a network connection request:
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, a third party electronic device; the priority among the routing rules corresponding to the objects is as follows:
the priority of the routing rule corresponding to the network connection between the third-party electronic equipment and the robot controller is a second priority;
the priority of the routing rule corresponding to the network connection between the robot cloud server and the robot controller is a third priority;
and the priority of the routing rule corresponding to the network connection between the public network and the robot controller is a fourth priority.
4. A method according to claim 3, wherein said setting a firewall between the robot controller and the robot according to the target routing rules comprises:
and in the case 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, setting the firewall according to the target routing rule after waiting for the historical routing rule to be cleared.
5. A method according to claim 3, wherein said setting a firewall between the robot controller and the robot according to the target routing rules comprises:
and setting the firewall according to the target routing rule and clearing the setting of the firewall according to the history routing rule under the condition that the firewall is determined to be set by the history routing rule currently and the priority of the history routing rule is lower than the priority of the target routing rule.
6. The method according to claim 1, wherein the method further comprises:
and under the condition that the network connection between the target object and the robot controller is disconnected, clearing the target routing rule and setting the firewall according to the target routing rule.
7. The method according to claim 1, wherein the method further comprises:
if abnormality occurs in the process of setting the firewall according to the target routing rule, recording log information of the abnormality.
8. A robot network route setting apparatus, the apparatus comprising:
the first determining module is used for determining a target object for requesting to establish network connection with the robot controller in response to receiving the network connection request;
the second determining module is used for determining a target routing rule according to the target object and a 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, characterized in that the program, when being executed by a processor, implements the steps of the method according to any one of claims 1-7.
10. An electronic device, comprising:
a memory having a computer program stored thereon;
a processor for executing the computer program in the memory to implement the steps of the method of any one of claims 1-7.
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