CN116506397A - Robot message processing method, device, server and storage medium - Google Patents

Robot message processing method, device, server and storage medium Download PDF

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Publication number
CN116506397A
CN116506397A CN202310272961.7A CN202310272961A CN116506397A CN 116506397 A CN116506397 A CN 116506397A CN 202310272961 A CN202310272961 A CN 202310272961A CN 116506397 A CN116506397 A CN 116506397A
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China
Prior art keywords
message
robot
subscribed
identifier
server
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CN202310272961.7A
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Chinese (zh)
Inventor
王盼科
支涛
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Henan Yunji Intelligent Technology Co Ltd
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Henan Yunji Intelligent Technology Co Ltd
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Priority to CN202310272961.7A priority Critical patent/CN116506397A/en
Publication of CN116506397A publication Critical patent/CN116506397A/en
Withdrawn legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L1/00—Arrangements for detecting or preventing errors in the information received
    • H04L1/0001—Systems modifying transmission characteristics according to link quality, e.g. power backoff
    • H04L1/0015—Systems modifying transmission characteristics according to link quality, e.g. power backoff characterised by the adaptation strategy
    • H04L1/0017—Systems modifying transmission characteristics according to link quality, e.g. power backoff characterised by the adaptation strategy where the mode-switching is based on Quality of Service requirement
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L51/00—User-to-user messaging in packet-switching networks, transmitted according to store-and-forward or real-time protocols, e.g. e-mail
    • H04L51/04—Real-time or near real-time messaging, e.g. instant messaging [IM]
    • 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
    • Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
    • Y02D30/00—Reducing energy consumption in communication networks
    • Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks

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  • Engineering & Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Quality & Reliability (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Numerical Control (AREA)

Abstract

The invention discloses a robot message processing method, a robot message processing device, a server and a storage medium. The method comprises the following steps: determining message publishing parameters of a subscribed robot, wherein the message publishing parameters comprise a robot identifier and a message theme identifier; receiving the message of the subscribed robot according to the message publishing parameter; and transmitting the message to the front end by adopting a corresponding transmission mode, wherein the transmission mode comprises an instant mode or a waiting mode. According to the technical scheme, messages of different robots and different message subjects can be received and sent to the front end differently, the instantaneity of important message transmission can be guaranteed, and the reliability of message processing is improved.

Description

Robot message processing method, device, server and storage medium
Technical Field
The embodiment of the invention relates to the technical field of data processing, in particular to a robot message processing method, a device, a server and a storage medium.
Background
When a robot sends a message to the front end, it typically needs to send it via a message queue telemetry transport protocol (Message Queuing Telemetry Transport, MQTT) server (i.e., MQTT Broker). As the application of robots is wider and wider, the number of robots is increased, the number of messages is huge, the burden of a server is heavier and heavier, and the problems of delay, loss, even breakdown of the server and the like of important messages are easy to occur. For example, when multiple robots are used to monitor an environment, each robot may interact with a server to obtain a large amount of information, and some robots may monitor an environmental condition more important (such as monitoring a traffic accident-prone area, a crowd gathering area, etc.), but related information cannot be effectively processed, and delay reaching the front end is large and even lost, so that reliability and timeliness of related decisions are affected.
Disclosure of Invention
The invention provides a robot message processing method, a robot message processing device, a server and a storage medium, so as to improve the reliability of message processing and the instantaneity of transmission.
In a first aspect, an embodiment of the present invention provides a method for processing a robot message, including:
determining message publishing parameters of a subscribed robot, wherein the message publishing parameters comprise a robot identifier and a message theme identifier;
receiving the message of the subscribed robot according to the message publishing parameter;
and transmitting the message to the front end by adopting a corresponding transmission mode, wherein the transmission mode comprises an instant mode or a waiting mode.
Optionally, receiving the message of the subscribed robot according to the message publishing parameter includes:
if at least one of the robot identifier and the message topic identifier corresponds to a designated priority, receiving the message of the subscribed robot by adopting a first frequency;
otherwise, receiving the message of the subscribed robot by adopting a second frequency;
wherein the first frequency is greater than the second frequency.
Optionally, the receiving frequency of the message is in a direct proportion relation with the priorities of the robot identifier and the message topic identifier, and in an inverse proportion relation with the number of subscribed robots.
Optionally, the sending the message to the front end using a corresponding transmission mode includes:
if at least one of the robot identifier and the message subject identifier corresponds to the appointed priority, the message is immediately sent to the front end;
otherwise, after the message transmission corresponding to the robot identification and/or the message theme identification with the designated priority is completed, the message is sent to the front end.
Optionally, the method further comprises:
and determining the corresponding service quality (Quality of Service, qoS) grade of the message according to the message release parameter.
Optionally, determining the QoS class corresponding to the message according to the message publishing parameter includes:
if at least one of the robot identification and the message subject identification corresponds to a designated priority, determining that the message corresponds to a first QoS class;
otherwise, it is determined that the message corresponds to a second QoS class.
Optionally, the method further comprises:
and updating the message publishing parameters of the subscribed robot according to the feedback of the front end to the message.
In a second aspect, an embodiment of the present invention provides a robotic message processing device, including:
the parameter determining module is used for determining the message publishing parameters of the subscribed robot, wherein the message publishing parameters comprise a robot identifier and a message theme identifier;
the message receiving module is used for receiving the message of the subscribed robot according to the message publishing parameter;
and the message sending module is used for sending the message to the front end by adopting a corresponding transmission mode, wherein the transmission mode comprises an instant mode or a waiting mode.
In a third aspect, an embodiment of the present invention provides a server, including:
one or more processors;
a storage means for storing one or more programs;
the one or more programs, when executed by the one or more processors, cause the one or more processors to implement the robotic message processing method as described in the first aspect.
In a fourth aspect, an embodiment of the present invention further provides a computer readable storage medium, on which a computer program is stored, which program, when being executed by a processor, implements the robotic message processing method according to the first aspect.
The embodiment of the invention provides a robot message processing method, a robot message processing device, a server and a storage medium. The method comprises the following steps: determining message publishing parameters of a subscribed robot, wherein the message publishing parameters comprise a robot identifier and a message theme identifier; receiving the message of the subscribed robot according to the message publishing parameter; and transmitting the message to the front end by adopting a corresponding transmission mode, wherein the transmission mode comprises an instant mode or a waiting mode. According to the technical scheme, messages of different robots and different message subjects can be received and sent to the front end differently, the instantaneity of important message transmission can be guaranteed, and the reliability of message processing is improved.
Drawings
The above and other features, advantages, and aspects of embodiments of the present disclosure will become more apparent by reference to the following detailed description when taken in conjunction with the accompanying drawings. The same or similar reference numbers will be used throughout the drawings to refer to the same or like elements. It should be understood that the figures are schematic and that elements and components are not necessarily drawn to scale.
Fig. 1 is a flowchart of a method for processing a robot message according to a first embodiment of the present invention;
fig. 2 is a flowchart of a robot message processing method according to a second embodiment of the present invention;
fig. 3 is a schematic structural diagram of a robotic message processing device according to a third embodiment of the present invention;
fig. 4 is a schematic structural diagram of a server according to a fourth embodiment of the present invention.
Detailed Description
The invention is described in further detail below with reference to the drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting thereof. Furthermore, embodiments of the invention and features of the embodiments may be combined with each other without conflict. It should be further noted that, for convenience of description, only some, but not all of the structures related to the present invention are shown in the drawings.
Before discussing exemplary embodiments in more detail, it should be mentioned that some exemplary embodiments are described as processes or methods depicted as flowcharts. Although a flowchart depicts steps as a sequential process, many of the steps may be implemented in parallel, concurrently, or with other steps. Furthermore, the order of the steps may be rearranged. The process may be terminated when its operations are completed, but may have additional steps not included in the figures. The processes may correspond to methods, functions, procedures, subroutines, and the like.
It should be noted that the concepts of "first," "second," and the like in the embodiments of the present invention are merely used to distinguish between different devices, modules, units, or other objects, and are not intended to limit the order or interdependence of functions performed by the devices, modules, units, or other objects.
Example 1
Fig. 1 is a flowchart of a method for processing a robot message according to a first embodiment of the present invention, where the embodiment is applicable to a case of the method for processing a robot message. Specifically, the robotic message processing method may be performed by a robotic message processing device that may be implemented in software and/or hardware and integrated in a server. In this embodiment, the Server is mainly referred to as an MQTT Server (MQTT Server or MQTT Broker).
As shown in fig. 1, the method specifically includes the following steps:
s110, determining message publishing parameters of the subscribed robots, wherein the message publishing parameters comprise robot identifications and message topic identifications.
Specifically, the subscribed robot may be understood as a client for publishing a message, and the server receives the message published by the subscribed robot and sends the message to the front end, where the front end may be understood as a client for subscribing the message, and may be a User Equipment (UE) or a cloud platform. The subscribed robots, the server and the front end adopt the MQTT protocol for message transmission, the MQTT protocol is a message publishing/subscribing transmission protocol based on a client-server, a one-to-many message distribution mechanism can be provided, and on the basis, the message of one robot can be distributed to a plurality of front ends subscribing the robot by the server.
The message publishing parameters mainly comprise a robot identifier and a message theme identifier, wherein the robot identifier can be used for distinguishing robots, the message theme identifier can be used for distinguishing the theme of messages, the importance degree of different robots or messages corresponding to different message themes can be different, the real-time requirements or the transmission priorities can be different, and different messages can be transmitted differently according to the importance degree. For example, in a scenario that multiple robots monitor an environment, each robot may interact with a server with a large amount of messages, if a subscribed robot is responsible for monitoring a traffic accident prone area or a crowd gathering area, the subscribed robot has a more important message, a higher real-time requirement or a higher transmission priority, or some subscribed robots issue messages including alarm information aiming at an environmental monitoring result, and the messages belong to alarm topics, and the messages corresponding to the message topics have a more important message, a higher real-time requirement or a higher transmission priority.
Alternatively, the message publishing parameter may be generated autonomously by the subscribed robot and notified to the server via a message, or may be set or indicated to the server by the front end.
S120, receiving the message of the subscribed robot according to the message publishing parameter.
Specifically, the server may receive messages differently for different subscribed robots or different message topics according to the message publishing parameters. For example, according to the robot identifier and the message topic identifier, a message corresponding to a subscribed robot or a message topic with higher importance, higher real-time requirement or higher transmission priority can be received by adopting higher frequency, so as to ensure the real-time of the received message; the method can adopt lower frequency to receive the messages corresponding to the subscribed robots or message topics with lower importance, lower real-time requirement or lower transmission priority, so as to save more resources for processing important messages.
In some embodiments, the QoS level of the subscribed robot's message may also be determined based on the message publishing parameters. If the robot identifier and the message topic identifier are used, a specific QoS level can be adopted to receive the message corresponding to the subscribed robot or the message topic with higher importance, higher real-time requirement or higher transmission priority, so as to ensure that the message is successfully received; additional QoS levels may be employed to receive subscribed robots or message topic corresponding messages of less importance, less real-time requirements, or lower transmission priority to preferentially guarantee the efficiency of message processing.
And S130, transmitting the message to the front end by adopting a corresponding transmission mode, wherein the transmission mode comprises an instant mode or a waiting mode.
Wherein messages for different subscribed robots or different message topics may be sent differently to the front end. The transmission mode includes an instant mode or a waiting mode, and the instant mode may refer to that the server does not need to wait for immediately sending to the front end after receiving the message; the waiting mode may refer to that after the server receives the message, the server needs to wait for a period of time and then send the message to the front end, where the waiting duration is related to the number and the size of the messages that the current server needs to send immediately, and specifically, the server may wait for a specific subscribed robot or send the message related to the message subject to the front end after completing the sending.
In some embodiments, the received messages may be sent to the front end with a corresponding frequency according to the message publishing parameters. If the robot identification and the message topic identification are used, the important message with higher real-time requirement or the message corresponding to the subscribed robot with higher transmission priority can be sent by adopting higher frequency so as to ensure the timeliness of the message; the subscribed robots with lower importance, lower real-time requirement and lower transmission priority or the messages corresponding to the message topics can be sent by adopting lower frequency so as to save more resources for sending important messages.
In some embodiments, messages may also be sent to the front end with different QoS levels. If the subscribed robot with higher importance, higher real-time requirement or higher transmission priority or the message subject corresponds to the message, the message can be sent to the front end by adopting a higher QoS level so as to ensure that the message is successfully sent to the front end; for subscribed robots or messages with lower importance, lower real-time requirements and lower transmission priority, corresponding messages of the message subject can be sent to the front end by adopting lower QoS (quality of service) level so as to ensure the efficiency of message processing.
According to the message processing method of the robot, messages of different robots and different message subjects can be received and sent to the front end differently according to the message release parameters, the instantaneity of important message transmission can be guaranteed, and the reliability of message processing is improved.
Example two
Fig. 2 is a flowchart of a robot message processing method according to a second embodiment of the present invention, where the process of receiving and sending a message is specifically described by optimizing the process based on the foregoing embodiment. It should be noted that technical details not described in detail in this embodiment may be found in any of the above embodiments.
Specifically, as shown in fig. 2, the method specifically includes the following steps:
s210, determining message publishing parameters of the subscribed robots, wherein the message publishing parameters comprise robot identifications and message topic identifications.
S220, at least one of the robot identification and the message topic identification corresponds to a specified priority? If yes, S230 is executed, otherwise S240 is executed.
The designated priority mainly refers to high priority, the message corresponding to the priority is important, the real-time requirement is high or the transmission priority is high, and if the robot identifier and/or the message theme identifier meet the designated priority, the message about the message theme issued by the subscribed robot is received with high frequency.
S230, receiving the message of the subscribed robot by adopting a first frequency.
S240, receiving the message of the subscribed robot by adopting a second frequency.
Optionally, the receiving frequency of the message is in a proportional relation with the priorities of the robot identifier and the message topic identifier, and in an inverse proportional relation with the number of subscribed robots.
Specifically, the receiving frequency of the message can be calculated according to the priorities of the robot identifier and the message topic identifier and the number of subscribed robots, and can be appropriately adjusted accordingly. In general trend, the higher the priority of the robot mark and the message topic mark is, the higher the receiving frequency of the message is; the more the number of subscribed robots, the lower the frequency of message reception, thereby coordinating the processing of messages for more subscribed robots. By way of example, the frequency of reception of a message may be calculated according to the following formula:wherein f is the receiving frequency of the message, P1 is the priority of the robot mark, P2 is the priority of the message theme mark, h (·) is a priority conversion function for obtaining a value positively correlated with the product of P1 and P2, N is the number of subscribed robots, g (·) is a quantity conversion function for obtaining a value positively correlated with N, k is a constant, and can be set according to actual requirements.
S250, the message is sent to the front end in real time.
And S260, after the message transmission corresponding to the robot identification and/or the message theme identification with the appointed priority is completed, the message is sent to the front end.
In this embodiment, if the message received by the server corresponds to the robot identifier and/or the message topic identifier with the specified priority, the server immediately sends the message to the front end; otherwise, after the message corresponding to the robot identifier and/or the message subject identifier with the designated priority is sent, the message is sent to the front end, so that timeliness of the message related to the designated priority is ensured.
Optionally, the method further comprises:
step 270, determining the QoS class corresponding to the message according to the message publishing parameter.
In particular, the QoS class determines the quality of the message transmission. In this embodiment, the higher the QoS level of the message corresponding to the robot identifier and/or the message topic identifier of the specified priority. The transmission of messages between the subscribed robot and the server, between the server and the front end may all follow the determined QoS level. If the message is published by the subscribed robot to the server, the subscribed robot is the sender and the server will be the recipient; if the message is sent by the server to the front end, the server is the sender and the front end is the receiver.
Three QoS classes are provided in the MQTT mechanism:
QoS 0: this level may suffer from message loss or duplication, message distribution depending on the underlying TCP/IP network.
QoS 1: the class promise message will be transmitted to the receiver at least once, at a fast rate but possibly repeated.
QoS 2: this level ensures that the message is transmitted only once to the recipient, is not repeated, is most reliable but has the highest overhead.
Wherein QoS 1 and QoS 2 ensure that messages are not lost, indicating that message transmission is necessary.
Optionally, step 270 includes: if at least one of the robot identifier and the message topic identifier corresponds to the appointed priority, determining that the message corresponds to a first QoS grade; otherwise, it is determined that the message corresponds to a second QoS class.
Illustratively, the first QoS class may be QoS 1 or QoS 2 to ensure that the message is received; the second QoS class may be QoS 0, which may save more transmission resources for messages of the first QoS class.
In an embodiment, the QoS class corresponding to the message determined in S270 may be applied in the process that the server receives the message of the subscribed robot, or may be applied in the process that the server sends the message to the front end, that is, the actual QoS class adopted in the process that the server sends the message to the front end is consistent with the QoS class corresponding to the message determined in S270.
In an embodiment, the QoS class corresponding to the message determined in S270 may be applied in the process that the server receives the message of the subscribed robot, and the QoS class adopted in the process that the server sends the message to the front end may be negotiated with the front end by the server.
In an embodiment, the QoS class corresponding to the message determined in S270 may be applied in the process that the server receives the message of the subscribed robot, and the actual QoS class adopted in the process that the server sends the message to the front end may be determined comprehensively according to the QoS class specified when the subscribed robot publishes the message and the QoS class negotiated by the server and the front end. For example, whenever one of the specified QoS level and the negotiated QoS level is the first QoS level (i.e., the need to ensure that the message is received), the actual QoS level employed by the server in sending the message to the front end is the first QoS level.
Optionally, the method further comprises:
s280, updating the message publishing parameters of the subscribed robot according to the feedback of the front end to the message.
The feedback of the front end to the message may refer to feedback of attention degree of the subscribed robot and/or the subject of the message, which corresponds to the message, may refer to feedback of frequency and/or QoS level of the message sent to the front end by the server, and may refer to feedback of response condition (such as immediate response, response after waiting for a specific duration, no response, etc.) of the message. The server may update the message publishing parameters of the subscribed robot according to the feedback of the front-end message, for example, adjust the priority corresponding to the robot identifier and/or the message topic identifier, so as to change the receiving frequency, the sending frequency, the QoS level, and the like of the corresponding message.
According to the message processing method of the robot provided by the second embodiment of the invention, according to the message release parameters of the subscribed robot, different receiving frequencies can be adopted to receive the message, an instant mode or a waiting mode can be adopted to send the message to the front end, and the corresponding QoS (quality of service) level can be adopted to realize the receiving and sending of the message, so that the instantaneity of important message transmission can be ensured; in addition, the message release parameters can be updated according to the feedback of the front end to the message so as to adjust and control the message transmission quality and improve the reliability of message processing.
Example III
Fig. 3 is a schematic structural diagram of a robotic message processing device according to a third embodiment of the present invention. The robot message processing device provided in this embodiment includes:
a parameter determining module 310, configured to determine a message publishing parameter of a subscribed robot, where the message publishing parameter includes a robot identifier and a message topic identifier;
a message receiving module 320, configured to receive a message of the subscribed robot according to the message publishing parameter;
the message sending module 330 is configured to send the message to the front end in a corresponding transmission mode, where the transmission mode includes an instant mode or a waiting mode.
According to the robot message processing device provided by the third embodiment of the invention, the parameter determination module 310 is used for determining the message publishing parameters of the subscribed robot, wherein the message publishing parameters comprise the robot identifier and the message theme identifier; receiving the message of the subscribed robot according to the message publishing parameters through a message receiving module; the message is sent to the front end through the message sending module by adopting a corresponding transmission mode, wherein the transmission mode comprises an instant mode or a waiting mode, and messages with different robots and different message subjects can be received and sent to the front end differently, so that the instantaneity of important message transmission can be ensured, and the reliability of message processing is improved.
Based on the above embodiment, the message receiving module 320 includes:
a first receiving unit, configured to receive, if at least one of the robot identifier and the message topic identifier corresponds to a specified priority, a message of the subscribed robot using a first frequency;
a second receiving unit, configured to receive, if not, a message of the subscribed robot using a second frequency;
wherein the first frequency is greater than the second frequency.
On the basis of the embodiment, the receiving frequency of the message is in a direct proportion relation with the priorities of the robot identifier and the message topic identifier, and in an inverse proportion relation with the number of subscribed robots.
Based on the above embodiment, the message sending module 330 includes:
the first sending unit is used for sending the message to the front end in real time if at least one of the robot identifier and the message subject identifier corresponds to the appointed priority;
and the second sending unit is used for sending the message to the front end after waiting for the message transmission corresponding to the robot identifier and/or the message theme identifier with the designated priority to be completed.
On the basis of the above embodiment, the device further includes:
and the grade determining module is used for determining the QoS grade corresponding to the message according to the message release parameter.
On the basis of the above embodiment, the rank determination module is configured to:
if at least one of the robot identification and the message subject identification corresponds to a designated priority, determining that the message corresponds to a first QoS class;
otherwise, it is determined that the message corresponds to a second QoS class.
On the basis of the above embodiment, the device further includes:
and the updating module is used for updating the message publishing parameters of the subscribed robot according to the feedback of the front end to the message.
The robot message processing device provided by the third embodiment of the invention can be used for executing the robot message processing method provided by any embodiment, and has corresponding functions and beneficial effects.
Example IV
Fig. 4 is a schematic structural diagram of a server according to a fourth embodiment of the present invention. As shown in fig. 4, a server provided in this embodiment includes: a processor 410 and a storage 420. The processor in the server may be one or more, for example, a processor 410 in fig. 4, and the processor 410 and the storage 420 in the server may be connected by a bus or other means, for example, by a bus connection in fig. 4.
The one or more programs are executed by the one or more processors 410 to cause the one or more processors to implement the data storage method of any of the embodiments described above.
The storage 420 in the server is used as a computer readable storage medium and may be used to store one or more programs, such as a software program, a computer executable program, and modules, such as program instructions/modules corresponding to the data storage method in the embodiment of the present invention (e.g., the modules in the data storage device shown in fig. 3, including the parameter determination 310, the message receiving module 320, and the message sending module 330). The processor 410 executes various functional applications of the server and data processing by running software programs, instructions and modules stored in the storage 420, i.e. implements the data storage method in the above-described method embodiments.
The storage device 420 mainly includes a storage program area and a storage data area, wherein the storage program area can store an operating system and at least one application program required by functions; the storage data area may store data created according to the use of the server, etc. (e.g., message publishing parameters in the above embodiments, messages of subscribed robots, etc.). In addition, the storage 420 may include high-speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid-state storage device. In some examples, the storage 420 may further include memory remotely located with respect to the processor 410, which may be connected to a server via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
And, when one or more programs included in the above-mentioned server are executed by the one or more processors 410, the programs perform the following operations: determining message publishing parameters of a subscribed robot, wherein the message publishing parameters comprise a robot identifier and a message theme identifier; receiving the message of the subscribed robot according to the message publishing parameter; and transmitting the message to the front end by adopting a corresponding transmission mode, wherein the transmission mode comprises an instant mode or a waiting mode.
The server further includes: a communication device 430, an input device 440, and an output device 450.
The processor 410, memory 420, communication device 430, input device 440, and output device 450 in the server may be connected by a bus or other means, for example by a bus connection in fig. 4.
The input device 440 may be used to receive input numeric or character information and to generate key signal inputs related to user settings and function control of the server. The output 450 may include a display device such as a display screen.
The communication device 430 may include a receiver and a transmitter. The communication means 430 is arranged to perform information transceiving communication according to control of the processor 510.
The server proposed in this embodiment belongs to the same inventive concept as the data storage method proposed in the above embodiment, and technical details not described in detail in this embodiment can be seen in any of the above embodiments, and this embodiment has the same advantages as executing the data storage method.
On the basis of the above-described embodiments, this embodiment also provides a computer-readable storage medium having stored thereon a computer program which, when executed by a data storage device, implements the data storage method in any of the above-described embodiments of the present invention, the method comprising: acquiring service data; storing the service data to the corresponding subareas in a data table according to the data type and the data content of the service data; and removing the business data in the partition with the weight value smaller than or equal to the weight threshold according to the weight of the partition.
Of course, the storage medium containing the computer executable instructions provided by the embodiments of the present invention is not limited to the operations of the data storage method described above, but may also perform the related operations in the data storage method provided by any embodiment of the present invention, and has corresponding functions and beneficial effects.
From the above description of embodiments, it will be clear to a person skilled in the art that the present invention may be implemented by means of software and necessary general purpose hardware, but of course also by means of hardware, although in many cases the former is a preferred embodiment. Based on such understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art in the form of a software product, which may be stored in a computer readable storage medium, such as a floppy disk, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), a FLASH Memory (FLASH), a hard disk or an optical disk of a computer, etc., and include several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the data storage method according to the embodiments of the present invention.
Note that the above is only a preferred embodiment of the present invention and the technical principle applied. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, while the invention has been described in connection with the above embodiments, the invention is not limited to the embodiments, but may be embodied in many other equivalent forms without departing from the spirit or scope of the invention, which is set forth in the following claims.

Claims (10)

1. A robotic message processing method, comprising:
determining message publishing parameters of a subscribed robot, wherein the message publishing parameters comprise a robot identifier and a message theme identifier;
receiving the message of the subscribed robot according to the message publishing parameter;
and transmitting the message to the front end by adopting a corresponding transmission mode, wherein the transmission mode comprises an instant mode or a waiting mode.
2. The method of claim 1, wherein receiving the message of the subscribed robot according to the message publishing parameter comprises:
if at least one of the robot identifier and the message topic identifier corresponds to a designated priority, receiving the message of the subscribed robot by adopting a first frequency;
otherwise, receiving the message of the subscribed robot by adopting a second frequency;
wherein the first frequency is greater than the second frequency.
3. The method of claim 2, wherein the frequency of receipt of the message is directly proportional to the priority of the robot identity and the message topic identity and inversely proportional to the number of subscribed robots.
4. The method of claim 1, wherein transmitting the message to the front end using the corresponding transmission mode comprises:
if at least one of the robot identifier and the message subject identifier corresponds to the appointed priority, the message is immediately sent to the front end;
otherwise, after the message transmission corresponding to the robot identification and/or the message theme identification with the designated priority is completed, the message is sent to the front end.
5. The method as recited in claim 1, further comprising:
and determining the QoS grade corresponding to the message according to the message release parameter.
6. The method of claim 5, wherein determining the QoS class corresponding to the message based on the message publishing parameter comprises:
if at least one of the robot identification and the message subject identification corresponds to a designated priority, determining that the message corresponds to a first QoS class;
otherwise, it is determined that the message corresponds to a second QoS class.
7. The method of any one of claims 1-6, further comprising:
and updating the message publishing parameters of the subscribed robot according to the feedback of the front end to the message.
8. A robotic message processing device, comprising:
the parameter determining module is used for determining the message publishing parameters of the subscribed robot, wherein the message publishing parameters comprise a robot identifier and a message theme identifier;
the message receiving module is used for receiving the message of the subscribed robot according to the message publishing parameter;
and the message sending module is used for sending the message to the front end by adopting a corresponding transmission mode, wherein the transmission mode comprises an instant mode or a waiting mode.
9. A server, comprising:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein,,
the memory stores a computer program executable by the at least one processor to enable the at least one processor to perform the robotic message processing method of any one of claims 1-7.
10. 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 robotic message processing method according to any one of claims 1-7.
CN202310272961.7A 2023-03-20 2023-03-20 Robot message processing method, device, server and storage medium Withdrawn CN116506397A (en)

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