CN117056167A - Robot log information management method and system based on IROS - Google Patents

Robot log information management method and system based on IROS Download PDF

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Publication number
CN117056167A
CN117056167A CN202311032188.3A CN202311032188A CN117056167A CN 117056167 A CN117056167 A CN 117056167A CN 202311032188 A CN202311032188 A CN 202311032188A CN 117056167 A CN117056167 A CN 117056167A
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Prior art keywords
log information
robot
log
iros
query
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CN202311032188.3A
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Inventor
刘鹏
蔡萌萌
赵洪宇
谭雯
李朝铭
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Shandong New Generation Information Industry Technology Research Institute Co Ltd
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Shandong New Generation Information Industry Technology Research Institute Co Ltd
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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F11/00—Error detection; Error correction; Monitoring
    • G06F11/30—Monitoring
    • G06F11/3065—Monitoring arrangements determined by the means or processing involved in reporting the monitored data
    • G06F11/3072—Monitoring arrangements determined by the means or processing involved in reporting the monitored data where the reporting involves data filtering, e.g. pattern matching, time or event triggered, adaptive or policy-based reporting
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F16/00—Information retrieval; Database structures therefor; File system structures therefor
    • G06F16/20—Information retrieval; Database structures therefor; File system structures therefor of structured data, e.g. relational data
    • G06F16/24—Querying
    • G06F16/245—Query processing
    • G06F16/2458—Special types of queries, e.g. statistical queries, fuzzy queries or distributed queries
    • G06F16/2471—Distributed queries
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F21/00—Security arrangements for protecting computers, components thereof, programs or data against unauthorised activity
    • G06F21/60—Protecting data
    • G06F21/602—Providing cryptographic facilities or services
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F21/00—Security arrangements for protecting computers, components thereof, programs or data against unauthorised activity
    • G06F21/70—Protecting specific internal or peripheral components, in which the protection of a component leads to protection of the entire computer
    • G06F21/78—Protecting specific internal or peripheral components, in which the protection of a component leads to protection of the entire computer to assure secure storage of data

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  • Engineering & Computer Science (AREA)
  • Theoretical Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • General Engineering & Computer Science (AREA)
  • Software Systems (AREA)
  • Computer Hardware Design (AREA)
  • Computer Security & Cryptography (AREA)
  • Data Mining & Analysis (AREA)
  • Probability & Statistics with Applications (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Computational Linguistics (AREA)
  • Quality & Reliability (AREA)
  • Databases & Information Systems (AREA)
  • Health & Medical Sciences (AREA)
  • Bioethics (AREA)
  • General Health & Medical Sciences (AREA)
  • Mathematical Physics (AREA)
  • Fuzzy Systems (AREA)
  • Debugging And Monitoring (AREA)

Abstract

A robot log information management method and system based on IROS relates to the technical field of intelligent robots, and can realize real-time acquisition, centralized encryption storage and distributed query of robot log information. The robot log information management module comprises a log information acquisition and transmission module, a log information receiving and management module and a log information query module, wherein the implementation of each module is based on an IROS basic communication module, so that the problems existing in the existing robot log storage can be solved, and the use scene of the IROS can be further expanded.

Description

Robot log information management method and system based on IROS
Technical Field
The application relates to the technical field of intelligent robots, in particular to a robot log information management method and system based on IROS.
Background
Robots play an increasingly important role in the production and life of people, the functions of the robots are increasingly powerful, the working environments facing the robots are increasingly complex, and the task types are more complex and tedious. However, as the range of use of robots continues to expand, the probability of system failure increases. The method is an important means for guaranteeing the reliability and usability of the robot during robot log information, and is an important basis for rapidly positioning the fault position when the robot breaks down.
The traditional robot log information is generally stored on the robot body, the log information is possibly lost when the robot fails or breaks down, and when the robot log information needs to be inquired and analyzed, the log information can only be manually collected from each robot terminal, the operation is complex, and the collection cost is high.
Along with the rising of clouding robots, a part of robot manufacturers start to uniformly upload the log information stored on a single robot terminal to a cloud server for centralized storage, so that the complexity of log information acquisition is solved, but most manufacturers simply transmit the log file to the cloud server through ftp or sftp and the like, so that the real-time performance of log information acquisition cannot be ensured, and the log information cannot be tampered in transmission and storage.
Disclosure of Invention
In order to overcome the defects of the technology, the application provides the characteristics of high efficiency, safety, encryption storage and the like based on the information transmission of an intelligent robot operating system (Intelligent Robot Operating System, IROS), and provides the robot log information management method based on the IROS, by which the real-time acquisition, the centralized encryption storage and the distributed inquiry of the robot log information can be realized.
The technical scheme adopted for overcoming the technical problems is as follows:
a robot log information management method based on IROS includes:
a log information acquisition and transmission module is arranged at a robot terminal, a log information receiving and management module is arranged in a cloud server, and a log information query module is arranged in a monitoring terminal;
deploying a MASTER control node MASTER and a message communication node RMQ of the IROS at a cloud server, wherein the cloud server creates topics/robot_log used for log information acceptance and storage and topics/robot_log_query used for log information query;
the robot terminal, the cloud server and the monitoring terminal are connected through a network, and the log information acquisition and transmission module, the log information receiving and management module and the log information query module are communicated through IROS information or service functions.
Further, topics created by the IROS are stored in a cloud server in the form of entity files, log information is stored in corresponding topics and then stored in an encrypted data mode, when the number of robot terminals managed by the cloud is N, a capacity space of 2 x N4 GB is allocated to topics/robot_log which are received and stored by the log information, a capacity space of 2GB is allocated to topics/robot_log_query which are queried by the log information, and when the received log information or queried log information exceeds the capacity upper limit of the corresponding topics, new log information is replaced with old log information according to the FIFO principle.
Further, the method for processing information of the log information receiving and managing module comprises the following steps:
receiving log information sent by a robot terminal through IROS information, encrypting the log information, and storing the encrypted log information into a topic/robot_log received and stored by local log information;
the log information receiving and managing module provides an external service interface, responds to a log information query request, and extracts corresponding log information from topics/robot_logs received and stored by the log information according to the log information query condition set by the request service;
and sending the extracted log information into a topic/robot_log_query of the log information query through a message, and then sending a piece of marking information after the message is sent, so as to mark that the query is finished.
Further, the method for processing information of the log information acquisition and transmission module comprises the following steps:
creating a local topic/local_robot_log, wherein the local topic/local_robot_log is used for subscribing log information sent by each functional module of the robot terminal, and each functional module of the robot terminal calls a log_save_local interface in an IROS basic library when running to send the log information to the local topic/local_robot_log;
filtering the collected log information of each functional module of the robot terminal according to the configuration information;
and calling a message publishing interface of the IROS to launch the filtered log information with the log level of fault, severity and alarm into topics/robot_log received and stored by the log information of the cloud server.
Further, the method for processing information of the log information query module comprises the following steps:
providing a visual interaction interface, wherein the visual interaction interface is used for inputting query conditions and displaying query results; providing IROS service, and sending the query conditions to a log information receiving and managing module in the cloud server;
and subscribing topics/robot_log_query of log information query, judging whether query information is initiated by the workstation or the monitoring terminal, and if so, displaying in a visual interface.
Further, the method further comprises the following steps:
each functional module of the robot terminal calls log information stored by a log_save_local interface in an IROS basic library when writing a log, wherein the log information comprises a level, a time stamp and a node name;
the method comprises the steps that when log information is sent to a local topic/local_robot_log by a log information acquisition and sending module, serial number information and name information of a robot terminal are added;
the log information receiving and managing module adds the IP address and the terminal name of the inquiring terminal when sending the inquired log information to the local topic/local_robot_log.
An IROS-based robot log information management system, comprising:
the system comprises a log information acquisition and transmission module, a cloud server and a cloud server, wherein the log information acquisition and transmission module is arranged in the robot terminal and used for acquiring log information of each application module on the robot terminal through an IROS message communication function and transmitting the collected log information to the cloud server;
the log information query module is arranged in the distributed monitoring terminal, transmits a query request through the IROS service, acquires log information meeting the filtering condition from the cloud server by using the IROS message communication function, and provides a visual display interface;
the log information receiving and managing module is arranged in the cloud server, receives the log information through the IROS message communication function, encrypts the log information and stores the encrypted log information into a local message queue, and provides a query request initiated by a corresponding log information query module of the service interface.
Further, the robot terminal is in communication connection with the cloud server through a wireless network, and the distributed monitoring terminal is in communication connection with the cloud server through the wireless network.
Preferably, the robot terminal is connected with the cloud server through a 4G network or a 5G network or a WIFI network. Preferably, the distributed monitoring terminal is connected with the cloud server through a 4G network or a 5G network or a WIFI network. The beneficial effects of the application are as follows: the real-time collection, centralized encryption and storage and distributed query of the robot log information can be realized. The robot log information management module comprises a log information acquisition and transmission module, a log information receiving and management module and a log information query module, wherein the implementation of each module is based on an IROS basic communication module, so that the problems existing in the existing robot log storage can be solved, and the use scene of the IROS can be further expanded.
Drawings
FIG. 1 is a system block diagram of the present application;
fig. 2 is a flow chart of the method of the present application.
Detailed Description
The application is further described with reference to fig. 1 and 2.
A robot log information management method based on IROS includes:
the method comprises the steps that a log information acquisition and transmission module is arranged at a robot terminal, a log information receiving and management module is arranged in a cloud server, and a log information query module is arranged in a monitoring terminal.
The main control node MASTER and the message communication node RMQ of the IROS are deployed at the cloud server, which creates topics/robot_log for log information acceptance and preservation and topics/robot_log_query for log information query.
The robot terminal, the cloud server and the monitoring terminal are connected through a network, and the log information acquisition and transmission module, the log information receiving and management module and the log information query module are communicated through IROS information or service functions.
Based on the characteristics of high efficiency, safety, encryption storage and the like of intelligent robot operating system (Intelligent Robot Operating System, IROS) information transmission, the real-time acquisition, centralized encryption storage and distributed query of the robot log information can be realized.
In one embodiment of the application, topics created by IROS are stored in the cloud server in the form of entity files, and log information is stored in the corresponding topics and then stored in the form of encrypted data, so that the log information is ensured not to be tampered. When the corresponding topics are created, the topic capacity is set according to actual conditions, the method is generally determined according to the number of robot terminals managed by a cloud server, 4GB of log information storage capacity is allocated to each robot terminal by default, when the number of robot terminals managed by the cloud is N, 2 x 4GB of capacity space is allocated to topics/robot_logs which are accepted and stored by the log information, 2GB of topic/robot_log_query default allocation space is allocated to the topics/robot_log_query queried by the log information, and when the received log information or the queried log information exceeds the upper limit of the capacity of the corresponding topics, the new log information is replaced with the old log information according to the FIFO principle (first in first out principle).
In one embodiment of the present application, the method for processing information by the log information receiving and managing module is as follows: the log information sent by the robot terminal is received through the IROS message, encrypted and then stored in a topic/robot_log of local log information receiving and storing.
The log information receiving and managing module provides an external service interface, responds to the log information query request, and extracts corresponding log information from topics/robot_logs received and stored by the log information according to the log information query condition set by the request service.
And sending the extracted log information into a topic/robot_log_query of the log information query through a message, and then sending a piece of marking information after the message is sent, so as to mark that the query is finished.
In one embodiment of the present application, the method for processing information of the log information acquisition and transmission module includes: the method comprises the steps of creating a local topic/local_robot_log, wherein the local topic/local_robot_log is used for subscribing log information sent by each functional module of the robot terminal, calling a log_save_local interface in an IROS basic library when each functional module of the robot terminal runs, and sending the log information to the local topic/local_robot_log.
The collected log information of each functional module of the robot terminal is filtered according to the configuration information, and the log information with the log grade of fault, severity and alarm grade is generally only required to be launched to the cloud server.
And calling a message publishing interface of the IROS to launch the filtered log information with the log level of fault, severity and alarm into topics/robot_log received and stored by the log information of the cloud server.
In one embodiment of the present application, the method for processing information of the log information query module includes:
providing a visual interaction interface, wherein the visual interaction interface is used for inputting query conditions and displaying query results; providing IROS service, and sending the query conditions to a log information receiving and managing module in the cloud server;
and subscribing topics/robot_log_query of log information query, judging whether query information is initiated by the workstation or the monitoring terminal, and if so, displaying in a visual interface.
In one embodiment of the present application, further comprising:
each functional module of the robot terminal calls log information stored by a log_save_local interface in an IROS basic library when writing logs, wherein the log information comprises levels (serious, fault, alarm, general and debugging), time stamps and node names.
The log information acquisition and transmission module adds serial number information and name information of the robot terminal when transmitting log information to the local topic/local_robot_log.
The log information receiving and managing module adds the IP address and the terminal name of the inquiring terminal (the information is transmitted to the log information receiving and managing module by the log information inquiring module through the service request) when the inquired log information is transmitted to the local topic/local_robot_log, thereby determining the log information and the inquiring terminal. The application also relates to a robot journal information management system based on IROS, comprising:
the log information acquisition and transmission module is arranged in the robot terminal and is used for acquiring log information of each application module on the robot terminal through an IROS message communication function and transmitting the collected log information to the cloud server.
The log information query module is arranged in the distributed monitoring terminal, transmits a query request through the IROS service, acquires log information meeting the filtering condition from the cloud server by using the IROS message communication function, and provides a visual display interface.
The log information receiving and managing module is arranged in the cloud server, receives the log information through the IROS message communication function, encrypts the log information and stores the encrypted log information into a local message queue, and provides a query request initiated by a corresponding log information query module of the service interface.
In one embodiment of the application, the robot terminal is in communication connection with the cloud server through a wireless network, and the distributed monitoring terminal is in communication connection with the cloud server through the wireless network. Specifically, preferably, the robot terminal is connected with the cloud server through a 4G network or a 5G network or a WIFI network. The distributed monitoring terminal is connected with the cloud server through a 4G network or a 5G network or a WIFI network.
Finally, it should be noted that: the foregoing description is only a preferred embodiment of the present application, and the present application is not limited thereto, but it is to be understood that modifications and equivalents of some of the technical features described in the foregoing embodiments may be made by those skilled in the art, although the present application has been described in detail with reference to the foregoing embodiments. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the protection scope of the present application.

Claims (10)

1. The robot log information management method based on the IROS is characterized by comprising the following steps:
a log information acquisition and transmission module is arranged at a robot terminal, a log information receiving and management module is arranged in a cloud server, and a log information query module is arranged in a monitoring terminal;
deploying a MASTER control node MASTER and a message communication node RMQ of the IROS at a cloud server, wherein the cloud server creates topics/robot_log used for log information acceptance and storage and topics/robot_log_query used for log information query;
the robot terminal, the cloud server and the monitoring terminal are connected through a network, and the log information acquisition and transmission module, the log information receiving and management module and the log information query module are communicated through IROS information or service functions.
2. The IROS-based robot log information management method of claim 1, wherein:
topics created by IROS are stored in cloud servers in the form of entity files, log information is stored in corresponding topics and then stored in an encrypted data mode, when the number of robot terminals managed by the cloud is N, capacity space of 2 x 4GB is allocated to topics/robot_log which are received and stored by the log information, the topic/robot_log_query allocation space of log information query is 2GB, and when the received log information or the queried log information exceeds the capacity upper limit of the corresponding topics, new log information is replaced with old log information according to FIFO principle.
3. The robot log information management method based on IROS according to claim 1, wherein the method of processing information of the log information receiving and managing module is:
receiving log information sent by a robot terminal through IROS information, encrypting the log information, and storing the encrypted log information into a topic/robot_log received and stored by local log information;
the log information receiving and managing module provides an external service interface, responds to a log information query request, and extracts corresponding log information from topics/robot_logs received and stored by the log information according to the log information query condition set by the request service;
and sending the extracted log information into a topic/robot_log_query of the log information query through a message, and then sending a piece of marking information after the message is sent, so as to mark that the query is finished.
4. The robot log information management method based on IROS according to claim 1, wherein the method of processing information of the log information acquisition and transmission module is as follows:
creating a local topic/local_robot_log, wherein the local topic/local_robot_log is used for subscribing log information sent by each functional module of the robot terminal, and each functional module of the robot terminal calls a log_save_local interface in an IROS basic library when running to send the log information to the local topic/local_robot_log;
filtering the collected log information of each functional module of the robot terminal according to the configuration information;
and calling a message publishing interface of the IROS to launch the filtered log information with the log level of fault, severity and alarm into topics/robot_log received and stored by the log information of the cloud server.
5. The robot log information management method based on IROS of claim 1, wherein the method of processing information of the log information query module is as follows:
providing a visual interaction interface, wherein the visual interaction interface is used for inputting query conditions and displaying query results; providing IROS service, and sending the query conditions to a log information receiving and managing module in the cloud server;
and subscribing topics/robot_log_query of log information query, judging whether query information is initiated by the workstation or the monitoring terminal, and if so, displaying in a visual interface.
6. The IROS-based robot journal information management method of claim 1, further comprising:
each functional module of the robot terminal calls log information stored by a log_save_local interface in an IROS basic library when writing a log, wherein the log information comprises a level, a time stamp and a node name;
the method comprises the steps that when log information is sent to a local topic/local_robot_log by a log information acquisition and sending module, serial number information and name information of a robot terminal are added;
the log information receiving and managing module adds the IP address and the terminal name of the inquiring terminal when sending the inquired log information to the local topic/local_robot_log.
7. An IROS-based robot journal information management system, comprising:
the system comprises a log information acquisition and transmission module, a cloud server and a cloud server, wherein the log information acquisition and transmission module is arranged in the robot terminal and used for acquiring log information of each application module on the robot terminal through an IROS message communication function and transmitting the collected log information to the cloud server;
the log information query module is arranged in the distributed monitoring terminal, transmits a query request through the IROS service, acquires log information meeting the filtering condition from the cloud server by using the IROS message communication function, and provides a visual display interface;
the log information receiving and managing module is arranged in the cloud server, receives the log information through the IROS message communication function, encrypts the log information and stores the encrypted log information into a local message queue, and provides a query request initiated by a corresponding log information query module of the service interface.
8. The IROS based robotic log information management system according to claim 7, wherein: the robot terminal is in communication connection with the cloud server through a wireless network, and the distributed monitoring terminal is in communication connection with the cloud server through the wireless network.
9. The IROS based robotic log information management system according to claim 8, wherein: the robot terminal is connected with the cloud server through a 4G network or a 5G network or a WIFI network.
10. The IROS based robotic log information management system according to claim 8, wherein: the distributed monitoring terminal is connected with the cloud server through a 4G network or a 5G network or a WIFI network.
CN202311032188.3A 2023-08-16 2023-08-16 Robot log information management method and system based on IROS Pending CN117056167A (en)

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Application Number Priority Date Filing Date Title
CN202311032188.3A CN117056167A (en) 2023-08-16 2023-08-16 Robot log information management method and system based on IROS

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202311032188.3A CN117056167A (en) 2023-08-16 2023-08-16 Robot log information management method and system based on IROS

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