KR20240079226A - Method and system for updating firmware in the robot - Google Patents

Abstract

According to an embodiment of the present invention, a method and system for updating firmware in a robot connects a robot control device to wireless communication and includes a wireless firmware update start message that announces the start of wireless firmware update using JavaScript object notation format. Generate, transmit the wireless firmware update start message to the robot control device, generate new firmware as a plurality of firmware packets using the JavaScript object notation format, and transmit the firmware packets to the robot control device. wireless firmware update server; And when the wireless firmware update start message is received, it enters a wireless firmware update standby state waiting to receive wireless firmware, receives the firmware packets and stores them in a new firmware temporary area of the memory, and selects the last firmware among the firmware packets. When a packet is received, a new firmware flag is set indicating completion of normal transmission of the new firmware, and whether the new firmware flag is set is checked through a boot loader. As a result of the confirmation, if the new firmware flag is set, It includes the robot control device that updates firmware using the stored firmware packets, releases the new firmware flag, and then reboots.

Description

Method and system for updating firmware in the robot}

The present invention relates to robots, and particularly to a method and system for updating firmware in a robot.

Robots used at home or in industry are made up of numerous parts, and these parts include control devices that control each part. And each control device generally uses firmware, which is software, to control component operations. Such firmware must be updated when problems arise or to improve performance.

On the other hand, when a bug or improvement in firmware is needed in a mobile device or computer system, the existing firmware is usually updated to a specific file format or is used through network communication, Universal Serial Bus (hereinafter referred to as 'USB') communication, or universal communication. It is updated using asynchronous transmitter and receiver (Universal Asynchronous Receiver and Transmitter, hereinafter referred to as 'UART') communication.

In particular, in the case of supplementing the program content of the controller board in the existing method, the controller board is disassembled from the device and the program is downloaded using communication such as JTEC (Joint Test Action Group, hereinafter referred to as 'JTAG')/UART/USB. After entering the information, go through the process of installing the controller board into the device again. However, during this process, the firmware update could only be done by damaging the controller board or disassembling the robot, so there was a problem in that the firmware update was limited in time and space.

Therefore, the need for a method to solve these problems has emerged.

One embodiment of the present invention proposes a method and system for updating firmware in a robot.

And, an embodiment of the present invention proposes a method and system for updating firmware in a robot through a wireless communication network.

Additionally, an embodiment of the present invention proposes a method and system for updating firmware in a robot to change content or improve performance.

According to an embodiment of the present invention, a system for updating firmware in a robot connects wireless communication with a robot control device and generates a wireless firmware update start message notifying the start of wireless firmware update using JavaScript object notation format. and transmitting the wireless firmware update start message to the robot control device, generating new firmware as a plurality of firmware packets using the JavaScript object notation format, and transmitting the firmware packets to the robot control device. Firmware update server; And when the wireless firmware update start message is received, it enters a wireless firmware update standby state waiting to receive wireless firmware, receives the firmware packets and stores them in a new firmware temporary area of the memory, and selects the last firmware among the firmware packets. When a packet is received, a new firmware flag is set indicating completion of normal transmission of the new firmware, and whether the new firmware flag is set is checked through a boot loader. As a result of the confirmation, if the new firmware flag is set, It includes the robot control device that updates firmware using the stored firmware packets, releases the new firmware flag, and then reboots.

According to another embodiment of the present invention, a method of updating firmware in a robot includes a wireless firmware update server connecting wireless communication with a robot control device, and the wireless firmware update server using a JavaScript object notation format. A process of generating a wireless firmware update start message indicating the start of a wireless firmware update and transmitting the wireless firmware update start message to the robot control device. When the robot control device receives the wireless firmware update start message, the wireless firmware update start message is transmitted. The process of entering a wireless firmware update waiting state waiting for reception, the wireless firmware update server generates new firmware as a plurality of firmware packets using the JavaScript object notation format, and controls the robot using the firmware packets. Process of transmitting to a device, the robot control device, receiving the firmware packets and storing them in a new firmware temporary area of the memory, the robot control device, when the last firmware packet among the firmware packets is received, the new firmware A process of setting a new firmware flag indicating completion of normal transmission, a process of the robot control device checking whether the new firmware flag is set through a boot loader, the robot control device, as a result of the confirmation, the new When the firmware flag is set, the process includes updating firmware using the stored firmware packets, and rebooting the robot control device after releasing the new firmware flag.

In one embodiment of the present invention, content can be easily changed by updating the firmware in the robot.

And in one embodiment of the present invention, the firmware can be updated in the robot through a wireless communication network and the update can be performed without time and space constraints.

Additionally, an embodiment of the present invention can quickly improve performance by updating firmware in the robot to change content or improve performance.

1 is a simplified block diagram of a communication system according to an embodiment of the present invention.
Figure 2 is a block diagram of a FOTA server according to an embodiment of the present invention.
Figure 3 is a configuration diagram of a first firmware packet according to an embodiment of the present invention.
Figure 4 is a configuration diagram of an Nth firmware packet according to an embodiment of the present invention.
Figure 5 is a block diagram of a robot control device according to an embodiment of the present invention.
Figure 6 is a diagram illustrating a boot loader and a memory map of a robot control device according to an embodiment of the present invention.
Figure 7 is a flowchart of transmitting and receiving firmware in a communication system according to an embodiment of the present invention.
Figure 8 is a flowchart of updating firmware in a robot control device according to an embodiment of the present invention.

The terms used in this specification will be briefly explained, and the present invention will be described in detail.

The terms used in the embodiments of the present invention are general terms that are currently widely used as much as possible while considering the function in the present invention, but this may vary depending on the intention or precedent of a person working in the art, the emergence of new technology, etc. . In addition, in certain cases, there are terms arbitrarily selected by the applicant, and in this case, the meaning will be described in detail in the description of the relevant invention. Therefore, the terms used in the present invention should be defined based on the meaning of the term and the overall content of the present invention, rather than simply the name of the term.

Embodiments of the present invention can be modified in various ways and have various embodiments, and specific embodiments will be illustrated in the drawings and described in detail in the detailed description. However, this is not intended to limit the scope to specific embodiments, and should be understood to include all transformations, equivalents, and substitutes included in the spirit and technical scope of the invention. In describing the embodiments, if it is determined that a detailed description of related known technology may obscure the point, the detailed description will be omitted.

Terms such as first, second, etc. may be used to describe various components, but the components should not be limited by the terms. Terms are used only to distinguish one component from another.

Singular expressions include plural expressions unless the context clearly dictates otherwise. In this application, terms such as “comprise” or “consist of” are intended to designate the presence of features, numbers, steps, operations, components, parts, or combinations thereof described in the specification, but are intended to indicate the presence of one or more other It should be understood that this does not exclude in advance the presence or addition of features, numbers, steps, operations, components, parts, or combinations thereof.

In an embodiment of the present invention, a 'module' or 'unit' performs at least one function or operation, and may be implemented as hardware or software, or as a combination of hardware and software. In addition, a plurality of 'modules' or a plurality of 'units' are integrated into at least one module and implemented with at least one processor (not shown), except for 'modules' or 'units' that need to be implemented with specific hardware. It can be.

In an embodiment of the present invention, when a part is said to be “connected” to another part, this means not only when it is “directly connected” but also when it is “electrically connected” with another element in between. Also includes. Additionally, when a part "includes" a certain component, this means that it may further include other components rather than excluding other components unless specifically stated to the contrary.

Below, with reference to the attached drawings, embodiments of the present invention will be described in detail so that those skilled in the art can easily implement the present invention. However, the present invention may be implemented in many different forms and is not limited to the embodiments described herein. In order to clearly explain the present invention in the drawings, parts unrelated to the description are omitted, and similar parts are given similar reference numerals throughout the specification.

1 is a simplified block diagram of a communication system according to an embodiment of the present invention.

Referring to FIG. 1, the communication system includes a wireless firmware update (Firmware Over The Air, hereinafter referred to as 'FOTA') server 101 and a robot control device 103.

Looking at each component, the FOTA server 101 connects the robot control device 103 and the wireless network. And the FOTA server 101 transmits the FOTA command to the robot control device 103 using the JavaScript Object Notation (JSON) format. And the FOTA server 101 transmits the firmware to be updated to the robot control device 103 using JSON format.

The robot control device 103 connects to the FOTA server 101 through a wireless network. And the robot control device 103 receives the firmware to be updated from the FOTA server 101 and stores it in a specific area of the memory. If the last packet of firmware to be updated is received, the robot control device 103 sets a new firmware flag in a specific area of the memory.

If the new firmware flag is set, the robot control device 103 reboots. At this time, the robot control device 103 checks the setting value of the new firmware flag through the boot loader. As a result of confirmation, if the setting value of the new firmware flag is 1, the robot control device 103 updates the firmware. When the firmware update is completed, the robot control device 103 releases the new firmware flag from 1 to 0 and reboots again. Afterwards, the robot control device 103 performs normal booting using the updated new firmware.

Figure 2 is a block diagram of the FOTA server 101 according to an embodiment of the present invention.

Referring to FIG. 2, the FOTA server 101 includes a first control unit 201, a database 203, and a first wireless communication unit 205.

Looking at each component, the database 203 stores data and programs to perform various functions provided by the FOTA server 101, and includes computer readable media. For example, recording media may include flash memory, magnetic recording media, optical recording media, carrier wave media, etc. For example, the database 203 may store the latest version of firmware.

The first wireless communication unit 205 provides transmission and reception functions of the FOTA server 101 and communicates with the robot control device 103 according to various types of wireless communication methods. For example, the first wireless communication unit 205 may include a Wi-Fi module and a Long Term Evolution (LTE) module. For example, the Wi-Fi module performs communication using the WiFi method, and the LTE module can perform communication according to various communication standards such as IEEE, LTE, etc. For example, the first wireless communication unit 205 may sequentially transmit first to Nth firmware packets to the robot control device 101. And in response, the first wireless communication unit 205 sequentially sends a positive acknowledgment character (ACKnowledge character, hereinafter referred to as 'ACK') or a negative acknowledgment character (Non-ACKnowledge character, hereinafter referred to as 'NACK'). You can receive it.

The first control unit 201 controls the overall operation of the FOAT server 101 using various programs stored in the database 203.

For example, the first control unit 201 may be connected to the robot control device 103 through wireless communication. For example, wireless communication may be performed using Transmission Control Protocol (hereinafter referred to as 'TCP')/User Datagram Protocol (hereinafter referred to as 'UDP')/Serial communication. You can.

And the first control unit 201 may generate a system status request message. For example, the system status request message is a message requesting the system status of the robot control device 103, and may request version information of the firmware currently used by the robot control device 103. For example, a system status request message can be expressed as {"CMD":{"COMMAND":"READ","DATA":"ALL"}}.

And the first control unit 201 may transmit a system status request message to the robot control device 103 through the first wireless communication unit 205.

And the first control unit 201 may receive a system status response message from the robot control device 103 in response to the system status request message. For example, the system status response message is a response message to the system status request message and may include version information of the firmware currently used by the robot control device 103. For example, a system status response message can be expressed as {"CMD":{"COMMAND":"WRITE","DATA":"ALL"}}.

Additionally, the first control unit 201 may perform a FOTA start procedure to start firmware update based on the received system status response message and then generate a FOTA start message. For example, the first control unit 201 may extract firmware version information by analyzing the system status response message and compare the extracted firmware version information with the latest firmware version information. If the extracted firmware version information is the same as the latest firmware version information, the first control unit 201 can perform the FOTA start procedure. For example, the FOTA start message may be a message notifying the robot control device 103 of the start of FOTA. For example, a FOTA startup message can be expressed as {"CMD":{"COMMAND":"FWUP","DATA":"ALL"}}.

And the first control unit 201 may transmit a FOTA start message to the robot control device 103 through the first wireless communication unit 205.

And the first control unit 201 may divide the latest version of firmware previously stored in the database 203 and generate N firmware packets. For example, N is a natural number. For example, the first control unit 201 can detect the latest version of the firmware binary in the database 203 and convert the detected firmware binary into BASE64, a string format, according to the JSON format, which is a communication data format. there is. For example, Base64 can be an encoding method that converts binary data to ASCII text and vice versa. And the first control unit 201 may divide the converted firmware binary to generate N firmware packets.

And the first control unit 201 may transmit the first firmware packet among the firmware packets to the robot control device 103 through the first wireless communication unit 205. For example, the first firmware packet 301 may be 133 bytes, as shown in FIG. 3. The 0 byte 303 of the first firmware packet 301 may include the header of the first packet, and the 1 byte 305 may include the number of the first packet. And 2 bytes 307 may include the number inverse of the first packet, and 3 to 130 bytes 309 may include the file name and file size. Additionally, bytes 131 and 132 (311) may include a check code calculated by Cyclic Redundancy Check (CRC)-16 for data of the file name and file size.

For example, the first or Nth firmware packet can be represented as {"CMD":{"COMMAND":"FWUG","DATA":packet}}.

And the first control unit 201 may receive ACK or NACK for the first firmware packet from the robot control device 103 through the first wireless communication unit 205. For example, the ACK of the first or Nth firmware packet can be expressed as {"CMD":{"COMMAND":"ACK","DATA":"ACK"}}. And the NACK of the first or Nth firmware packet can be expressed as {"CMD":{"COMMAND":"NACK","DATA":"NACK"}}.

And the first control unit 201 may transmit the Nth firmware packet, which is the next firmware packet of the first firmware packet, to the robot control device 103 based on the ACK or NACK received through the first wireless communication unit 205. For example, when a NACK is received, the first control unit 201 may transmit a first firmware packet, and when an ACK is received, the first control unit 201 may transmit an N-th firmware packet.

For example, the Nth firmware packet 401 may be 517 bytes, as shown in FIG. 4. 0 byte (403) of the N-th firmware packet 401 contains the Strat of TeXt (hereinafter referred to as 'STX') of the N-th firmware packet, and 1 byte (405) contains the number of the N-th firmware packet. can do. Additionally, 2 bytes 407 may include the number inverse of the Nth firmware packet, and 3 to 514 bytes 409 may include firmware binary data. Additionally, bytes 515 and 516 411 may contain a CRC-16 calculated check code for the firmware binary data.

And the first control unit 201 may receive ACK or NACK for the Nth firmware packet from the robot control device 103 through the first wireless communication unit 205. For example, the ACK of the last firmware packet can be expressed as {"CMD":{"COMMAND":"ACK","DATA":"EOT"}}. And the NACK of the last firmware packet can be expressed as {"CMD":{"COMMAND":"NACK","DATA":"NACK"}}.

The FOTA server 101 may transmit firmware packets to the robot control device 103 until all firmware packets are transmitted.

And after transmitting all firmware packets, the first control unit 201 may perform a FOTA termination procedure. For example, the FOTA termination procedure may indicate terminating the procedure for transmitting and receiving the latest firmware.

Figure 5 is a block diagram of the robot control device 103 according to an embodiment of the present invention.

Referring to FIG. 5, the robot control device 103 includes a second control unit 501, a memory 503, and a second wireless communication unit 505.

Looking at each component, the memory 503 stores various programs and data necessary for the operation of the robot control device 103. For example, the memory 503 may be implemented as non-volatile memory, volatile memory, flash memory, hard disk drive (HDD), or solid state drive (SSD). For example, the memory 503 may store first to Nth firmware packets received from the FOTA server 101.

For example, as shown in FIG. 6, the memory 503 includes a boot loader storage area 601 for storing a boot loader, a normal execution firmware area 603 for storing existing firmware, and the latest firmware. It may include a new firmware temporary area 605 for storing and a new firmware flag area 607 for storing a new firmware flag.

The second wireless communication unit 505 provides transmission and reception functions of the robot control device 103 and communicates with the FOTA server 101 according to various types of wireless communication methods. For example, the second wireless communication unit 505 may include a Wi-Fi module and an LTE module. For example, the second wireless communication unit 505 may sequentially receive first to Nth firmware packets from the FOTA server 101. And the second wireless communication unit 505 may sequentially transmit ACK or NACK in response.

The second control unit 501 controls the overall operation of the robot control device 103 using various programs stored in the memory 503.

For example, the second control unit 501 may establish wireless communication with the FOTA server 101. And the second control unit 501 may receive a system status request message from the FOTA server 101 through the second wireless communication unit 505, and generate a system status response message in response to the received system status request message. there is.

And the second control unit 501 may transmit a system status response message to the FOTA server 101 through the second wireless communication unit 505.

And after receiving the FOTA start message through the second wireless communication unit 505, the second control unit 501 may enter the FOTA standby state. For example, the FOTA standby state may be a standby state for receiving the latest firmware.

And the second control unit 501 receives the first firmware packet through the second wireless communication unit 505, checks the CRC for the received first firmware packet, generates ACK or NACK, and receives the generated ACK or NACK. It can be transmitted to the FOTA server (101). For example, the second control unit 501 may check whether the first firmware packet 301 has an error by checking the CRC based on the check code of the first firmware packet 301. As a result of the confirmation, if an error occurs, the second control unit 501 may generate a NACK and transmit it to the FOTA server 101. Otherwise, an ACK may be generated and transmitted to the FOTA server 101.

And the second control unit 501 receives the N-th firmware packet through the second wireless communication unit 505, checks the CRC for the received N-th firmware packet, generates ACK or NACK, and receives the generated ACK or NACK. It can be transmitted to the FOTA server (101). For example, the second control unit 501 may check whether the N-th firmware packet 401 has an error by checking the CRC based on the check code of the N-th firmware packet 401. As a result of the confirmation, if an error occurs, the second control unit 501 may generate a NACK and transmit it to the FOTA server 101. Otherwise, an ACK may be generated and transmitted to the FOTA server 101.

The robot control device 103 may receive firmware packets from the robot control device 103 until all firmware packets are received.

And after receiving all firmware packets, the second control unit 501 may store the first to Nth firmware packets in the memory 503. And the second control unit 501 may set the new firmware flag to 1 and then perform the FOTA termination procedure. For example, the new firmware flag may be a flag indicating that new firmware has been received.

And the second control unit 501 can execute the boot loader. For example, a boot loader may represent a program that runs before the operating system is started, with the purpose of completing all related tasks necessary for the kernel to start properly and finally booting the operating system.

And the second control unit 501 can check whether the new firmware flag is set to 1 through the executed boot loader.

As a result of confirmation, if the new firmware flag is not set to 1, the second control unit 501 can perform normal booting using the updated firmware through the executed boot loader.

On the other hand, when the new firmware flag is set to 1, the second control unit 501 updates the existing firmware to the latest firmware through the executed boot loader and then unset the new firmware flag to replace the new firmware flag. can be converted from 1 to 0.

And the second control unit 501 can perform rebooting through the executed boot loader.

Through this operation, an embodiment of the present invention can easily change content by updating the firmware in the robot. And in one embodiment of the present invention, the firmware can be updated in the robot through a wireless communication network and the update can be performed without time and space constraints. Additionally, an embodiment of the present invention can quickly improve performance by updating firmware in the robot to change content or improve performance.

Figure 7 is a flowchart of transmitting and receiving firmware in a communication system according to an embodiment of the present invention.

Referring to Figure 7, the first control unit 201 of the FOTA server 101 connects wireless communication between the FOTA server 101 and the robot control device 103 in step 701.

In step 703, the first control unit 201 generates a system status request message. For example, a system status request message can be expressed as {"CMD":{"COMMAND":"READ","DATA":"ALL"}}.

In step 705, the first control unit 201 transmits a system status request message to the robot control device 103 through the first wireless communication unit 205.

In step 707, the second control unit 501 of the robot control device 103 receives a system status request message from the FOTA server 101 through the second wireless communication unit 505, and responds to the received system status request message. This generates a system status response message. For example, a system status response message can be expressed as {"CMD":{"COMMAND":"WRITE","DATA":"ALL"}}.

In step 709, the second control unit 501 transmits a system status response message to the FOTA server 101 through the second wireless communication unit 505.

In step 711, the first control unit 201 of the FOTA server 101 performs a FOTA start procedure to start firmware update based on the system status response message received through the first wireless communication unit 205. And the first control unit 201 generates a FOTA start message. For example, the first control unit 201 may extract firmware version information by analyzing the system status response message and compare the extracted firmware version information with the latest firmware version information. If the extracted firmware version information is the same as the latest firmware version information, the first control unit 201 can perform the FOTA start procedure. For example, a FOTA startup message can be expressed as {"CMD":{"COMMAND":"FWUP","DATA":"ALL"}}.

In step 713, the first control unit 201 transmits a FOTA start message to the robot control device 103 through the first wireless communication unit 205.

In step 715, the second control unit 501 of the robot control device 103 receives the FOTA start message through the second wireless communication unit 505 and enters the FOTA standby state.

In step 717, the first control unit 201 of the FOTA server 101 divides the latest version of firmware previously stored in the database 203 and generates N firmware packets. For example, the first control unit 201 may detect the latest version of the firmware binary in the database 203 and convert the detected firmware binary into BASE64, a string format, according to JSON, a communication data format. . And the first control unit 201 may divide the converted firmware binary to generate N firmware packets.

In step 719, the first control unit 201 transmits a first firmware packet among the firmware packets to the robot control device 103 through the first wireless communication unit 205. For example, the first or Nth firmware packet can be represented as {"CMD":{"COMMAND":“FWUG","DATA":packet}}.

In step 721, the second control unit 501 checks the CRC of the first firmware packet received through the second wireless communication unit 505, generates ACK or NACK, and sends the generated ACK or NACK to the FOTA server 101. send.

For example, the second control unit 501 may check whether the first firmware packet 301 has an error by checking the CRC based on the check code of the first firmware packet 301. As a result of the confirmation, if an error occurs, the second control unit 501 may generate a NACK and transmit it to the FOTA server 101. Otherwise, an ACK may be generated and transmitted to the FOTA server 101.

For example, the ACK of the first or Nth firmware packet can be expressed as {"CMD":{"COMMAND":“ACK","DATA":“ACK"}}. And the NACK of the first or Nth firmware packet can be expressed as {"CMD":{"COMMAND":“NACK","DATA":“NACK"}}.

In step 723, the first control unit 201 of the FOTA server 101 controls the robot with the Nth firmware packet, which is the next firmware packet of the first firmware packet, based on the ACK or NACK received through the first wireless communication unit 205. Transmit to device 103. For example, when a NACK is received, the first control unit 201 may transmit a first firmware packet, and when an ACK is received, the first control unit 201 may transmit an N-th firmware packet.

In step 725, the second control unit 501 of the robot control device 103 checks the CRC of the Nth firmware packet received through the second wireless communication unit 505, generates ACK or NACK, and generates ACK or NACK. is transmitted to the FOTA server 101.

For example, the second control unit 501 may check whether the N-th firmware packet 401 has an error by checking the CRC based on the check code of the N-th firmware packet 401. As a result of the confirmation, if an error occurs, the second control unit 501 may generate a NACK and transmit it to the FOTA server 101. Otherwise, an ACK may be generated and transmitted to the FOTA server 101.

For example, the ACK of the last firmware packet can be expressed as {"CMD":{"COMMAND":“ACK","DATA":“EOT"}}. And the NACK of the last firmware packet can be expressed as {"CMD":{"COMMAND":“NACK","DATA":“NACK"}}.

In this way, the FOTA server 101 transmits firmware packets to the robot control device 103 until all firmware packets are transmitted.

In step 727, the first control unit 201 of the FOTA server 101 transmits all firmware packets and then performs a FOTA termination procedure.

In step 729, the second control unit 501 of the robot control device 103 receives all firmware packets and stores the first to Nth firmware packets in the memory 503. Then, the second control unit 501 sets the new firmware flag to 1 and then performs the FOTA termination procedure.

For example, the first to Nth firmware packets may be stored in the new firmware temporary area 605 of the memory 503, as shown in FIG. 6. For example, the new firmware flag may be stored in the new firmware flag area 607 of the memory 503.

Figure 8 is a flowchart of updating firmware in the robot control device 103 according to an embodiment of the present invention.

Referring to FIG. 8, the second control unit 501 executes the boot loader in step 801.

In step 803, the second control unit 501 checks whether the new firmware flag is set to 1 through the executed boot loader.

As a result of the confirmation, if the new firmware flag is set to 1, the second control unit 501 proceeds to step 805. Otherwise, it proceeds to step 809.

In step 805, the second control unit 501 updates the existing firmware to the latest firmware through the executed boot loader, then de-sets the new firmware flag and converts the new firmware flag from 1 to 0.

In step 807, the second control unit 501 performs a reboot through the executed boot loader and then proceeds to step 801.

In step 809, the second control unit 501 performs normal booting using firmware updated through the executed boot loader.

Through this process, an embodiment of the present invention can easily change content by updating the firmware in the robot. And, in one embodiment of the present invention, the firmware can be updated in the robot through a wireless communication network, allowing the update to be performed without time and space constraints. Additionally, an embodiment of the present invention can quickly improve performance by updating firmware in the robot to change content or improve performance.

In the above, preferred embodiments of the present invention have been shown and described, but the present invention is not limited to the specific embodiments described above, and may be used in the technical field to which the invention pertains without departing from the gist of the invention as claimed in the claims. Of course, various modifications can be made by those skilled in the art, and these modifications should not be understood individually from the technical idea or perspective of the present invention.

101: FOTA server
103: Robot control device
201: first control unit
203: database
205: First Wireless Communication Department
501: second control unit
503: Memory
505: Second wireless communication department

Claims (10)

Connects wireless communication with the robot control device, generates a wireless firmware update start message notifying the start of wireless firmware update using JavaScript object notation format, and transmits the wireless firmware update start message to the robot control device, a wireless firmware update server that generates new firmware as a plurality of firmware packets using a JavaScript object notation format and transmits the firmware packets to the robot control device; and
When the wireless firmware update start message is received, the device enters a wireless firmware update standby state waiting to receive wireless firmware, receives the firmware packets and stores them in a new firmware temporary area of the memory, and selects the last firmware packet among the firmware packets. When received, a new firmware flag is set indicating completion of normal transmission of the new firmware, and whether the new firmware flag is set is checked through a boot loader. If the new firmware flag is set as a result of the check, the A system for updating firmware in a robot, including the robot control device that updates firmware using stored firmware packets, releases the new firmware flag, and then reboots.
According to paragraph 1,
A system for updating firmware in a robot, wherein the robot control device boots normally when the new firmware flag is not set as a result of the confirmation.
According to paragraph 1,
When the new firmware flag is 1, it indicates that the new firmware flag is set, and when it is 0, it indicates that the new firmware flag is released. A system for updating firmware in a robot.
According to paragraph 1,
Among the firmware packets, byte 0 of the first firmware packet includes the header of the first firmware packet, 1 byte includes the number of the first firmware packet, and 2 bytes include the number inverse of the first firmware packet. 3 to 130 bytes include a file name and file size, and 131 and 132 bytes include a check code calculated by cyclic redundancy check-16 for data of the file name and file size. system to update firmware.
According to paragraph 1,
Among the firmware packets, byte 0 of the N-th firmware packet includes the STX of the N-th firmware packet, 1 byte includes the number of the N-th firmware packet, and 2 bytes include the number inverse of the N-th firmware packet. A system for updating firmware in a robot, wherein 3 to 514 bytes include firmware binary data, and 515 and 516 bytes include a check code calculated by cyclic redundancy check-16 for the firmware binary data. .
The process of connecting a wireless firmware update server to a robot control device and wireless communication,
A process in which the wireless firmware update server generates a wireless firmware update start message notifying the start of wireless firmware update using JavaScript object notation format, and transmits the wireless firmware update start message to the robot control device,
When the robot control device receives the wireless firmware update start message, entering a wireless firmware update standby state waiting to receive wireless firmware,
A process in which the wireless firmware update server generates new firmware as a plurality of firmware packets using the JavaScript object notation format and transmits the firmware packets to the robot control device,
A process of the robot control device receiving the firmware packets and storing them in a new firmware temporary area of the memory,
The robot control device, when the last firmware packet among the firmware packets is received, setting a new firmware flag indicating completion of normal transmission of the new firmware,
A process of the robot control device checking whether the new firmware flag is set through a boot loader,
When the new firmware flag is set as a result of the confirmation, the robot control device updates firmware using the stored firmware packets, and
A method of updating firmware in a robot, including a process in which the robot control device releases the new firmware flag and then reboots.
According to clause 6,
A method of updating firmware in a robot, further comprising a normal booting process by the robot control device when, as a result of the confirmation, the new firmware flag is not set.
According to clause 6,
When the new firmware flag is 1, it indicates that the new firmware flag is set, and when it is 0, it indicates that the new firmware flag is released.
According to clause 6,
Among the firmware packets, byte 0 of the first firmware packet includes the header of the first firmware packet, 1 byte includes the number of the first firmware packet, and 2 bytes include the number inverse of the first firmware packet. 3 to 130 bytes include a file name and file size, and 131 and 132 bytes include a check code calculated by cyclic redundancy check-16 for data of the file name and file size. How to update firmware in .
According to clause 6,
Among the firmware packets, byte 0 of the N-th firmware packet includes the STX of the N-th firmware packet, 1 byte includes the number of the N-th firmware packet, and 2 bytes include the number inverse of the N-th firmware packet. 3 to 514 bytes include firmware binary data, and 515 and 516 bytes include a check code calculated by cyclic redundancy check-16 for the firmware binary data. A method of updating firmware in a robot. .

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