WO2020114185A1

WO2020114185A1 - Communication method and apparatus for cloud robot, storage medium and electronic device

Info

Publication number: WO2020114185A1
Application number: PCT/CN2019/116110
Authority: WO
Inventors: 朱磊
Original assignee: 达闼科技（北京）有限公司
Priority date: 2018-12-07
Filing date: 2019-11-06
Publication date: 2020-06-11
Also published as: CN109495314B; CN109495314A

Abstract

Some embodiments of the present application provide a communication method and apparatus for a cloud robot, a medium and an electronic device. The method comprises: grouping robots of lessees in a cloud network to obtain robot grouping information; configuring the robot grouping information with a communication policy between robots; and sending the robot grouping information, comprising the communication policy, to gateways corresponding to the robots. Embodiments of the present application realize a global communication of a terminal by means of a dedicated gateway, and isolate external networks to ensure the security of communication, and also support a plurality of lessees and grouping of robots, so that robots within the same group can communicate therebetween, and also realize communication between robots connected to different gateways.

Description

Cloud robot communication method, device, storage medium and electronic equipment

[0001] This application refers to China Patent Application No. 201811496604.4 filed on December 07, 2018 and titled "Cloud Robot Communication Methods, Devices, Storage Media, and Electronic Equipment", which is incorporated by reference in its entirety.

Technical field

[0002] Embodiments of the present application relate to the field of cloud communication technology, and in particular, to a cloud robot communication method, device, storage medium, and electronic device.

Background technique

[0003] A virtual private network (VPN, Virtual Private Network) client establishes a VPN tunnel through a VPN gateway to provide robots with a secure network connection service. The communication content between robots includes but is not limited to mutual access, mutual coordination, mutual control, and sharing Audio, video, etc., shows that the mutual communication between robots is necessary.

[0004] In the existing cloud robot technology, the robot body installs a VPN client, and the robot connects to the VPN gateway through the VPN client to establish an end-to-end encrypted VPN tunnel from the robot body to the cloud. Whether to allow the robots under the same gateway to communicate with each other by setting a switch on the VPN gateway. If this switch is turned on on the VPN gateway, the robots connected to the same VPN gateway can communicate with each other.

[0005] The inventor found that the prior art has at least the following problems:

[0006] (1) The communication switch between the control robots is a global switch: it can only be turned on or turned off

Once opened, all robots connected under the VPN gateway can communicate, and once closed, all communication is closed.

[0007] (2) Only robots under the same VPN gateway instance can communicate, and robots across nodes cannot communicate.

[0008] It should be noted that the information disclosed in the background section is only used to enhance the understanding of the background of the present application, and therefore may include information that does not constitute prior art known to those of ordinary skill in the art. Summary of the invention technical problem

Solution to the problem

Technical solution

[0009] The objective of some embodiments of the present application is to provide a cloud robot communication method, device, medium, and electronic device, which implements global communication of terminals through a dedicated gateway, and isolates the external network to ensure communication security. At the same time, it also supports multi-tenancy and grouping robots, so that the robots in the same group can communicate, and at the same time realize the robot communication function connected to different gateways.

[0010] Other characteristics and advantages of the present application will become apparent through the following detailed description, or partly learned through the practice of the present application.

[0011] According to a first aspect of the embodiments of the present application, a communication method for a cloud robot is provided, including:

[0012] group the tenants' robots in the cloud network to obtain robot grouping information;

[0013] configuring communication strategies between robots in the above-mentioned robot grouping information;

[0014] The robot grouping information including the above communication strategy is sent to the gateway corresponding to the above robot.

[0015] In an exemplary embodiment of the embodiment of the present application, the above grouping of tenant robots in the cloud network includes:

[0016] The above tenants' robots are divided into at least two groups, and/or

[0017] The above-mentioned robots belong to at least one group, and/or

[0018] grouping at least two robots under the same gateway into one group, and/or

[0019] At least two robots under different gateways are grouped together.

[0020] In an exemplary embodiment of the embodiment of the present application, the configuration of the communication strategy between robots in the above-mentioned robot grouping information includes:

[0021] Configure an accessible list and an accessible list for any robot in the above-mentioned robot grouping information, wherein the accessible list at least includes: IDs, IP addresses, and gateways of other robots accessible by the robot The accessed list includes: IDs, IP addresses, and gateways of other robots that can access the above robots.

[0022] According to a second aspect of the embodiments of the present application, there is also provided a cloud robot communication method, including: [0023] parsing received robot grouping information to obtain the above-mentioned communication strategy between robots;

[0024] Convert the above communication strategy into virtual machine flow table information; [0025] In response to the robot communication instruction, the communication between the robots in the robot grouping information is implemented based on the flow table information.

[0026] In an exemplary embodiment of the embodiment of the present application, the above-mentioned conversion of the above communication policy into virtual machine flow table information includes:

[0027] The above-mentioned communication strategy is converted into a flow entry in a pre-installed virtual switch through a preset OpenFlow protocol, wherein the above-mentioned communication strategy includes at least an accessible list and an accessible list, and the accessible list at least includes : IDs, IP addresses, and gateways of other robots that the robot can access, and the above accessible list includes: IDs, IP addresses, and gateways of other robots that can access the robot.

[0028] In an exemplary embodiment of the embodiment of the present application, the above-mentioned response to the robot communication instruction, based on the above-mentioned flow table information to achieve communication between the robots in the above-mentioned robot grouping information, includes:

[0029] When the requesting robot and the target robot in the above communication instruction are in the same group and are connected to the same gateway, a route and/or a firewall including the IP address of the requesting robot and the IP address of the target robot are configured to the gateway Policy, and/or virtual switch OpenFlow flow table.

[0030] In an exemplary embodiment of the embodiments of the present application, the above method further includes:

[0031] When the requesting robot and the target robot in the communication instruction are in the same group, and the requesting robot is connected to the first gateway, and the target robot is connected to the second gateway, the first gateway is configured to include the target A first flow table of robot IP addresses, and a second flow table containing the requesting robot IP address is configured to the second gateway.

[0032] In an exemplary embodiment of the embodiment of the present application, after implementing the communication between the robots based on the flow table configured as described above, the method further includes:

[0033] In response to the cancellation communication instruction, the flow table information configured in the gateway to which the robot is connected in the cancellation communication instruction is deleted.

[0034] According to a third aspect of the embodiments of the present application, a cloud robot controller is provided, including:

[0035] a grouping module for grouping robots of tenants in the cloud network to obtain robot grouping information;

[0036] a configuration module, configured to configure a communication strategy between robots in the above-mentioned robot grouping information;

[0037] The sending module is configured to send the robot grouping information including the above communication strategy to the gateway corresponding to the above robot. [0038] According to a fourth aspect of the embodiments of the present application, a cloud robot gateway is provided, including:

[0039] an analysis module, configured to analyze the received robot grouping information to obtain the above-mentioned communication strategy between the robots;

[0040] a conversion module, configured to convert the above communication strategy into virtual machine flow table information;

[0041] The communication module, in response to the robot communication instruction, implements the communication between the robots in the robot grouping information based on the flow table information.

[0042] According to a fifth aspect of the embodiments of the present application, there is provided a computer-readable storage medium on which a computer program is stored, and when the computer program is executed by a processor, the above cloud robot communication method is implemented.

[0043] According to a sixth aspect of the embodiments of the present application, an electronic device is provided, including:

[0044] processing unit; and

[0045] a storage unit configured to store executable instructions of the processing unit;

[0046] wherein the processing unit is configured to perform the following operations via execution of executable instructions:

[0047] group tenants' robots in the cloud network to obtain robot grouping information;

[0048] configuring communication strategies between robots in the above-mentioned robot grouping information;

[0049] send the grouping information of the robot containing the above communication strategy to the gateway corresponding to the above robot, or [0050] analyze the received grouping information of the robot to obtain the communication strategy between the above robots;

[0051] converting the above communication strategy into virtual machine flow table information;

[0052] In response to the robot communication instruction, the communication between the robots in the robot grouping information is realized based on the flow table information.

[0053] It can be known from the above technical solutions that the cloud robot communication method provided by the embodiments of the present application has advantages and positive effects as follows:

[0054] Embodiments of the present application provide a cloud robot communication method, device, medium, and electronic device, including: grouping tenant robots in a cloud network to obtain robot group information; configuring the robot in the above robot group information Communication strategy; send the robot grouping information containing the above communication strategy to the gateway corresponding to the robot. The embodiment of the present application implements global terminal communication through a dedicated gateway, and isolates the external network to ensure the security of communication. It also supports multi-tenancy and grouping robots, so that the robots in the same group can communicate and achieve The robot communication function connected to different gateways. [0055] It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and do not limit the present application.

Beneficial effects of invention

Brief description of the drawings

BRIEF DESCRIPTION

[0056] The drawings herein are incorporated into and constitute a part of this specification, show embodiments consistent with this application, and are used together with the specification to explain the principles of this application. Obviously, the attached drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, without paying any creative labor, other drawings may be obtained based on these drawings. In the drawings:

[0057] FIG. 1 schematically shows a schematic diagram of a communication method of a controller-side cloud robot according to an embodiment of the present application;

[0058] FIG. 2 schematically shows a schematic diagram of a communication method of a gateway-side cloud robot according to an embodiment of the present application;

[0059] FIG. 3 schematically shows a flow chart of a cloud robot packet communication configuration according to an embodiment of the present application;

[0060] FIG. 4 schematically shows a schematic diagram of cancellation of communication by a cloud robot according to an embodiment of the present application;

[0061] FIG. 5 schematically shows a schematic diagram of a one-way communication of a cloud robot according to an embodiment of the present application;

[0062] FIG. 6 schematically shows a schematic diagram of the composition of a cloud-based robot controller according to an embodiment of the present application;

[0063] FIG. 7 schematically shows a schematic composition diagram of a cloud robot gateway according to an embodiment of the present application;

[0064] FIG. 8 shows a schematic structural diagram of a computer system suitable for implementing an electronic device according to an embodiment of the present application.

Embodiments of the invention [0065] Example embodiments will now be described more fully with reference to the accompanying drawings. However, the example embodiments can be implemented in various forms, and should not be construed as being limited to the examples set forth herein; on the contrary, providing these embodiments makes the application more comprehensive and complete, and fully conveys the idea of the example embodiments For those skilled in the art

[0066] In addition, the described features, structures, or characteristics may be combined in one or more embodiments in any suitable manner. In the following description, many specific details are provided to give a sufficient understanding of the embodiments of the present application. However, those skilled in the art will realize that the technical solutions of the present application can be practiced without one or more of the specific details, or other methods, components, devices, steps, etc. can be used. In other cases, well-known methods, devices, implementations, or operations are not shown or described in detail to avoid obscuring aspects of the application.

[0067] The block diagrams shown in the drawings are merely functional entities and do not necessarily have to correspond to physically independent entities. That is, these functional entities can be implemented in the form of software, or implemented in one or more hardware modules or integrated circuits, or implemented in different networks and/or processor devices and/or microcontroller devices entity.

[0068] The flowchart shown in the drawings is only an exemplary description, and does not necessarily include all contents and operations/steps, nor does it have to be performed in the order described. For example, some operations/steps can also be decomposed, and some operations/steps can be merged or partially merged, so the order of actual execution may change according to the actual situation

[0069] FIG. 1 schematically shows a schematic diagram of a communication method of a controller-side cloud robot according to an embodiment of the present application.

[0070] Referring to FIG. 1, the above-mentioned controller-side cloud robot communication method may include the following steps: [0071] S101. Group tenant robots in a cloud network to obtain robot grouping information;

[0072] S102: Configure a communication strategy between robots in the above-mentioned robot grouping information;

[0073] S103: Send the robot grouping information including the communication strategy to the gateway corresponding to the robot.

[0074] Embodiments of the present application provide a cloud robot communication method, device, medium, and electronic equipment, including: grouping tenant robots in a cloud network to obtain robot grouping information; configuring the robot in the above robot grouping information Communication strategy; send the robot grouping information containing the above communication strategy to the gateway corresponding to the robot. The embodiments of the present application implement a dedicated gateway Globalization of terminal communication and isolation of the external network ensure the security of communication. It also supports multi-tenancy and grouping of robots, so that robots in the same group can communicate, and at the same time realize the robot communication function connected to different gateways.

[0075] In the following, each step of the communication method of the cloud robot in this exemplary embodiment will be described in more detail with reference to the accompanying drawings and embodiments.

[0076] Step S101: Group tenants' robots in the cloud network to obtain robot grouping information.

[0077] In this exemplary embodiment, the execution body of the above step S101 may be a controller of the cloud network, the controller may be used to control each VPN gateway in the cloud network, and send configuration information to the VPN gateway to achieve the same in the cloud network. Communication between robots in the group.

[0078] In this exemplary embodiment, the tenants' robots in the cloud network are grouped, wherein the robot grouping information includes at least one robot in a single group.

[0079] In this exemplary embodiment, the robots are grouped in the following manner: the above tenants’ robots are divided into at least two groups, and/or the above robots belong to at least one group, and/or at least two robots under the same gateway are divided As a group, and/or group at least two robots under different gateways into a group.

[0080] In this exemplary embodiment, VPN gateways are established around the world, and the VPN gateways are connected through a private network, and are interconnected with each other, while supporting multi-tenancy. Create a tenant in the central controller, such as "tenant 1", and create four robots in the tenant: "robot 1", "robot 2", "robot 3", "robot 4". And the robots are grouped in the central controller, robot 1 and robot 2 are divided into group 1, robot 3 and robot 4 are divided into group 2.

[0081] In this exemplary embodiment, in a cloud network, the robot VPN gateways exchange labels through multi-protocol (

MPLS, Multi-Protocol Label

Switching) dedicated network for communication, and can also create different routing and forwarding tables through MPLS to enable the cloud network to support multi-tenancy.

[0082] In this exemplary embodiment, the robot body is remotely connected to the VPN gateway through the VPN client, and is connected to the M PLS private network, so that an end-to-end encrypted internal network is formed between the robot body and the gateway to ensure safety and the outside world. isolation.

[0083] In this exemplary embodiment, each robot of the same tenant will be assigned an intranet IP address after connecting to the VPN gateway, and the intranet IP address of the robot connected to the same gateway is in the same network segment, In order to ensure that the IP address is reachable; the robot's intranet IP address connected to the same tenant under different gateways is not in the same network segment to ensure that the IP address does not conflict.

[0084] In this exemplary embodiment, a grouping strategy between robots may be defined through the YANG model.

[0085] Step S102: Configure a communication strategy between robots in the above-mentioned robot grouping information.

[0086] In this exemplary embodiment, an accessible list and an accessible list are configured for any robot in the above-mentioned robot grouping information, where the above-mentioned accessible list includes at least: IDs and IP addresses of other robots accessible by the above-mentioned robot And the gateway to which it belongs, the above accessible list includes: IDs, IP addresses and gateways of other robots that can access the above robots.

[0087] In this exemplary embodiment, the communication strategy between robots can be established by establishing a YANG model, and the specific definitions can be: define a tenant group (group), a list of robots in the group (including robot id, intranet IP address) , Belonging VPN gateway, ), the robot's accessible list (including robot id, intranet IP address, belonging VPN gateway), the robot's accessible list (including robot id, intranet IP address, belonging VPN gateway), For example: Define which robots can be accessed by a robot in the same group of the same tenant, or define which robots can be accessed by a robot in the same group of the same tenant.

[0088] In this exemplary embodiment, when the requesting robot and the target robot in the above communication instruction are in the same group and connected to the same gateway, the gateway including the requesting robot IP address and the target robot IP address is configured to the gateway Routing, and/or firewall policy, and/or virtual switch OpenFlow flow table

[0089] In this exemplary embodiment, when the requesting robot in the communication instruction and the target robot are in the same group, and the requesting robot is connected to the first gateway, and the target robot is connected to the second gateway, the first The gateway configuration includes a first flow table that includes the target robot IP address, and configures the second flow table that includes the request robot IP address to the second gateway, for example: execute a command to add a flow table on the first gateway, tell the first If a gateway has an IP packet that wants to reach the target robot, then send the IP packet to the second gateway. At the same time, it must also execute the command to add a flow table on the second gateway. Robot, please send this IP packet to the first gateway.

[0090] In this example embodiment, the robot installs a VPN client, and the VPN client is connected to the VPN gateway, for example: robots 1, 2, 3 are connected to node 1, and robot 3 is connected to node 2, so that the robot body and the gateway Form an end-to-end intranet environment. By default, robots cannot communicate with each other. The NETCONF control command issued by the controller establishes a communication link between the robots in tenant 1 and group 1, allowing communication between the robots in tenant 1 and group 1.

[0091] In this exemplary embodiment, a communication link is established by setting a route on a VPN gateway as an example: controller N

ETCONF delivers the YANG model to the VPN gateway, and a "flow table" is set in the VPN gateway to allow the intranet IP addresses between Robot 1 and Robot 2 to communicate. In this way, the robots 1 and 2 can communicate with the intranet IP address.

[0092] In this exemplary embodiment, based on the foregoing solution, if robots in the same tenant and the same group are accessed through different VPN gateways of different nodes, the controller issues control commands to VPN gateway 1 and VPN gateway 2, respectively. The robot 3 and the robot 4 are allowed to communicate. The specific implementation manner may be: the controller sets a flow table in the V PN gateway 1 and the VPN gateway 2, respectively, so that the robot 3 and the robot 4 can communicate with each other.

[0093] Step S103: Send the robot grouping information including the communication strategy to the gateway corresponding to the robot.

[0094] In this example embodiment, the controller sends the communication strategy to each robot VPN gateway in the cloud network through the NETCONF protocol. For example, the YANG model containing the communication strategy can be sent to the robot VPN gateway through NETCONF to achieve the following The purpose of the configuration.

[0095] FIG. 2 schematically shows a schematic diagram of a communication method of a gateway-side cloud robot according to an embodiment of the present application.

[0096] Referring to FIG. 2, the above-mentioned gateway-side cloud robot communication method may include the following steps:

[0097] Step S201: Analyze the received robot grouping information to obtain the above-mentioned communication strategy between the robots;

[0098] In this exemplary embodiment, after receiving the robot grouping information, the gateway analyzes the robot grouping information and obtains the communication strategy between the robots. Here, the received robot grouping information may include the robot grouping information and communication. YANG model of strategy.

[0099] In this exemplary embodiment, the robot grouping information is received from the controller through the NETCONF protocol to ensure safe communication.

[0100] Step S202: Convert the above communication strategy into virtual machine flow table information;

[0101] In this exemplary embodiment, the above communication strategy is converted into a flow entry in a pre-installed virtual switch through a preset OpenFlow protocol, where the above communication strategy includes at least: an accessible list and an accessible The list, the accessible list at least includes: the IDs, IP addresses and gateways of other robots that the robot can access, and the accessible list includes the IDs, IP addresses and gateways of other robots that can access the robot.

[0102] In this example embodiment, the VPN gateway converts the YANG model containing the robot grouping information and communication strategy into an OpenFlow flow table, and configures it in a virtual switch (Open vSwitch); specifically, the NETCONF service module of the VPN gateway receives The instructions of the controller parse the YANG model, transform the YANG model into a configuration command for the virtual switch, and configure the flow table of the virtual switch through the OpenFlow protocol.

[0103] Step S203: In response to the robot communication instruction, based on the flow table information, implement the communication between the robots in the robot grouping information.

[0104] In this exemplary embodiment, when the requesting robot and the target robot in the above communication instruction are in the same group and connected to the same gateway, the gateway including the requesting robot IP address and the target robot IP address is configured to the gateway Routing, and/or firewall policy, and/or virtual switch OpenFlow flow table

[0105] In this exemplary embodiment, the communication between the robots can determine whether to forward the data packets of the robot by matching the flow table of the virtual switch at the gateway. If the flow table information is matched, it can be forwarded to realize the communication between the robots; If the flow table information cannot be matched, it will not be forwarded to block or cancel the communication between robots.

[0106] In this exemplary embodiment, based on the foregoing solution, when the requesting robot in the communication instruction and the target robot are in the same group, and the requesting robot is connected to the first gateway, and the target robot is connected to the second gateway, A first flow table including the IP address of the target robot is configured to the first gateway, and a second flow table including the IP address of the requesting robot is configured to the second gateway.

[0107] In this exemplary embodiment, in the exemplary embodiment, the IP packet sent from the requesting robot to the target robot can be forwarded by the first gateway to the second gateway, and then the second gateway through the previously configured flow table Forwarded to the target robot. Similarly, the IP packet returned from the target robot to the requesting robot can be forwarded by the second gateway to the first gateway, and then the first gateway is forwarded to the requesting robot, completing a complete communication process

[0108] In this exemplary embodiment, when receiving the communication cancellation instruction, in response to the communication cancellation instruction, the above cancellation The routing, and/or firewall policy, and/or OpenFlow flow table of the virtual switch in the gateway connected to the robot in the communication instruction are deleted.

[0109] In this exemplary embodiment, if it is desired to terminate the robot to perform mutual communication, the cancellation command is issued through the controller, and the channel of mutual communication between the robots can be closed, the implementation manner is: cancel the flow table on the VPN gateway, so that The robots are not reachable to each other, and this method is suitable for terminating communication between robots within the same node and robots across nodes.

[0110] FIG. 3 schematically shows a flow chart of a cloud robot packet communication configuration according to an embodiment of the present application.

[0111] Referring to FIG. 3, the flow of the cloud robot packet communication configuration may include the following steps:

[0112] Step S301: The controller groups the tenant robots in the cloud network and determines a communication strategy;

[0113] Step S302: Generate and issue a configuration command according to the YANG model;

[0114] Step S303: Deliver the YANG model to the VPN gateway in the cloud network through the NETCONF protocol;

[0115] Step S304, the NETCONF module of the VPN gateway receives the YANG model issued by the PN gateway;

[0116] Step S305, analyzing the YANG model;

[0117] Step S306: Obtain robot grouping information and communication strategy;

[0118] Step S307: Acquire a list of accessible target robot IP addresses of the robots in each group;

[0119] Step S3071: The configuration module in the VPN gateway obtains a list of accessible target robot IP addresses;

[0120] Step S3072: Generate the accessible target robot flow table information of OpenFlow from the accessible target robot IP address list;

[0121] Step S3073: The virtual switch in the VPN gateway loads the accessible target robot flow table information;

[0122] Step S308: Acquire a list of robots' IP addresses that can be accessed by robots in each group;

[0123] Step S3081: The configuration module in the VPN gateway obtains the IP address list of the target robot that can be accessed;

[0124] Step S3082: Generate the accessible target robot flow table information of OpenFlow from the accessible target robot IP address list;

[0125] Step S3083, the virtual switch in the VPN gateway loads the flow table information of the target robot that can be accessed; [0126] FIG. 4 schematically shows a schematic diagram of a cloud robot canceling communication according to an embodiment of the present application.

[0127] In this exemplary embodiment, referring to FIG. 4, the robot 1 and the robot 2 communicate with the same node, and the controller After the VPN gateway 1 connected to the robot 1 and the robot 2 sends the NETCONF control command to cancel the communication, the VP N gateway 1 cancels its flow table about the robot 1 and the robot 2, so that the robot 1 and the robot 2 are unreachable.

[0128] In this example embodiment, referring to FIG. 2, the robot 3 and the robot 4 communicate across nodes, and the controller sends the NETCO NF that cancels communication to the VPN gateway 1 and the VPN gateway 2 connected to the robot 3 and the robot 4, respectively. After the control command, the VPN gateway 1 and the VPN gateway 2 cancel their flow tables about the robot 3 and the robot 2, so that the robot 3 and the robot 4 are unreachable.

[0129] FIG. 5 schematically shows a schematic diagram of a one-way communication of a cloud robot according to an embodiment of the present application.

[0130] In this exemplary embodiment, referring to FIG. 5, the controller sends a one-way communication NETCONF control command to the VPN gateway 1 and the VPN gateway 2, the control robot 1 can access the robot 2 and the robot 3 through the VPN gateway 1, and Cross-node access to the robot 4 via VPN gateway 1, router 1, router 2, and VPN gateway 2 because the one-way communication NETCONF control command does not configure the address of robot 1 in VPN gateway 1 and VPN gateway 2, therefore, robots 2, 3 , 4 can not access 1, realize one-way communication of robot 1, robot 2, 3, 4.

[0131] In this exemplary embodiment, a one-way communication method of a cloud robot can also realize two-way communication and many-to-many communication of the robot through the above-mentioned one embodiment of the present application, so that the communication mechanism between the robots is more complete, I will not repeat them here.

[0132] It should be noted that the above drawings are only schematic illustrations of the processing included in the method according to the exemplary embodiment of the present application, and are not intended to limit the purpose. It is easy to understand that the processes shown in the above drawings do not indicate or limit the chronological order of these processes. In addition, it is also easy to understand that these processes may be performed synchronously or asynchronously in multiple modules, for example.

[0133] The following describes a device embodiment of the present application, which can be used to execute the above-described cloud robot communication method of the present application.

[0134] FIG. 6 schematically shows a schematic diagram of a composition of a cloud robot controller according to an embodiment of the present application.

[0135] Referring to FIG. 6, the embodiment of this example further provides a cloud robot controller 600, including:

[0136] The grouping module 601 is used to group tenants' robots in the cloud network to obtain robot grouping information Interest

[0137] Configuration module 602, configured to configure the communication strategy between robots in the above-mentioned robot grouping information;

[0138] The sending module 603 is configured to send the robot grouping information including the above communication strategy to the gateway corresponding to the above robot.

[0139] FIG. 7 schematically shows a schematic composition diagram of a cloud-based robot gateway according to an embodiment of the present application.

[0140] Referring to FIG. 7, in this exemplary embodiment, a cloud robot gateway 700 is further provided, including:

[0141] The analysis module 701 is configured to analyze the received robot grouping information to obtain the communication strategy between the robots;

[0142] A conversion module 702, configured to convert the above communication strategy into virtual machine flow table information;

[0143] The communication module 703, in response to the robot communication instruction, implements communication between the robots in the robot grouping information based on the flow table information.

[0144] The specific details of each module in the above cloud robot communication device have been described in detail in the corresponding cloud robot communication method, and therefore will not be repeated here.

[0145] The following refers to FIG. 8, which shows a schematic structural diagram of a computer system 800 suitable for implementing an electronic device according to an embodiment of the present application. The computer system 800 of the electronic device shown in FIG. 8 is only an example, and should not bring any limitation to the functions and use scope of the embodiments of the present application.

[0146] As shown in FIG. 8, the computer system 800 includes a central processing unit (CPU) 801, which can perform various appropriate actions and processes according to programs stored in the storage unit, and the programs in the storage unit can be read-only The memory (ROM) 802 reads or loads the program from the storage section 808 to the random access memory (RAM) 803 for reading. In the RAM 803, various programs and data necessary for system operation are also stored. The CPU 801, ROM 802, and RAM 803 are connected to each other via a bus 804. The input/output (I/O) interface 805 is also connected to the bus 804.

[0147] The following components are connected to the I/O interface 805: an input section 806 including a keyboard, a mouse, etc.; an output section 807 including a cathode ray tube (CRT), a liquid crystal display (LCD), etc., and a speaker, etc.; including a hard disk, etc. Storage section 808; and a communication section 809 including a network interface card such as a LAN card, a modem, etc. The communication section 809 performs communication processing via a network such as the Internet. The driver 810 is also connected to the I/O interface 805 as needed. Removable media 811, such as magnetic disks, optical disks, magneto-optical disks, semiconductors A memory or the like is installed on the drive 810 as needed, so that the computer program read out therefrom is installed into the storage section 808 as needed.

[0148] In particular, according to an embodiment of the present application, the process described above with reference to the flowchart may be implemented as a computer software program. For example, the embodiments of the present application include a computer program product including a computer program carried on a computer-readable medium, the computer program containing program code for performing the method shown in the flowchart. In such an embodiment, the computer program may be downloaded and installed from the network through the communication section 809, and/or installed from the removable medium 811. When the computer program is executed by the central processing unit (CPU) 801, the above-mentioned functions defined in the system of the present application are executed.

[0149] It should be noted that the computer-readable medium shown in the present application may be a computer-readable signal medium or a computer-readable storage medium, or any combination of the two. The computer-readable storage medium may be, for example but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor device or device, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: electrical connections with one or more wires, portable computer disks, hard disks, random access memory (RAM)

, Read only memory (ROM), erasable programmable read only memory (EPROM or flash memory), optical fiber, portable compact disk read only memory (CD-ROM), optical storage device, magnetic storage device, or any of the above combination. In this application, the computer-readable storage medium may be any tangible medium that contains or stores a program, and the program may be used by or in combination with an instruction execution apparatus or device. In this application, the computer-readable signal medium may include a data signal propagated in the baseband or as part of the carrier wave, in which the computer-readable program code is carried. This propagated data signal can take many forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. The computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium, and the computer-readable medium may send, propagate, or transmit a program for use by or in combination with an instruction execution apparatus or device. The program code contained on the computer-readable medium may be transmitted on any appropriate medium, including but not limited to: wireless, wire, optical cable, RF, etc., or any suitable combination of the foregoing.

[0150] The flowcharts and block diagrams in the drawings illustrate the architecture, functions, and operations of possible implementations of methods and computer program products according to various embodiments of the present application. In this regard, each block in the flowchart or block diagram may represent a module, a program segment, or a part of code, the above module, program segment, or code Part of contains one or more executable instructions for implementing specified logical functions. It should also be noted that in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two consecutively represented blocks can actually be executed substantially in parallel, and sometimes they can also be executed in the reverse order, depending on the functions involved. It should also be noted that each block in the block diagram or flowchart, and a combination of the blocks in the block diagram or flowchart, can be implemented with a dedicated hardware-based system that performs the specified function or operation, or can be used It is realized by a combination of dedicated hardware and computer instructions.

[0151] The units described in the embodiments of the present application may be implemented in software or hardware, and the described units may also be provided in a processor. Among them, the names of these units do not constitute a limitation on the unit itself under certain circumstances.

[0152] As another aspect, the present application also provides a computer-readable medium, the computer-readable medium may be included in the electronic device described in the above embodiment; or may exist alone without being assembled into The electronic device. The computer-readable medium carries one or more programs. When the one or more programs are executed by one of the electronic devices, the electronic device is caused to implement the method for compressing the multi-select item form as in the foregoing embodiment.

[0153] For example, the foregoing electronic device may be implemented as shown in FIG. 1: S101, group robots of tenants in a cloud network to obtain robot grouping information; S102, configure communication between robots in the above-mentioned robot grouping information Strategy; S103: Send the robot grouping information including the above communication strategy to the gateway corresponding to the above robot.

[0154] As another example, each step shown in FIG. 2 may be implemented.

[0155] As another example, various steps as shown in FIG. 3 may be implemented.

[0156] It should be noted that although several modules or units of the device for action execution are mentioned in the above detailed description, this division is not mandatory. In fact, according to the embodiments of the present application, the features and functions of the two or more modules or units described above may be embodied in one module or unit. Conversely, the features and functions of a module or unit described above can be further divided into multiple modules or units to be embodied.

[0157] Through the description of the above embodiments, those skilled in the art can easily understand that the example embodiments described herein may be implemented by software, or may be implemented by software in combination with necessary hardware. therefore, The technical solution according to the embodiments of the present application may be embodied in the form of a software product, and the software product may be stored in a non-volatile storage medium (which may be a CD-ROM, U disk, mobile hard disk, etc.) or on a network, including Several instructions to make one computing device (which may be a personal computer, server, touch terminal, or network device, etc.) execute the method according to the embodiments of the present application.

[0158] After considering the description and practice of the application disclosed herein, those skilled in the art will easily think of other embodiments of the application. This application is intended to cover any variations, uses, or adaptations of this application. These variations, uses, or adaptations follow the general principles of this application and include common general knowledge or common technical means in the technical field not disclosed in this application. . The description and examples are only to be considered exemplary, and the true scope and spirit of this application are pointed out by the following claims.

[0159] It should be understood that the present application is not limited to the precise structure that has been described above and shown in the drawings, and that various modifications and changes can be made without departing from the scope thereof. The scope of this application is limited only by the appended claims.

Claims

[Claim 1] A communication method of a cloud robot, which includes:

Group the tenants' robots in the cloud network to obtain robot grouping information; configure the communication strategy between the robots in the robot grouping information;

Send the robot grouping information containing the communication strategy to the gateway corresponding to the robot

[Claim 2] The cloud robot communication method according to claim 1, wherein the grouping of tenant robots in the cloud network includes:

Divide the tenant's robot into at least two groups, and/or

The robot belongs to at least one group, and/or

Group at least two robots under the same gateway into one group, and/or group at least two robots under different gateways into one group.

[Claim 3] The cloud robot communication method according to claim 1 or 2, wherein the configuration of the communication strategy between the robots in the robot grouping information includes:

Configure an accessible list and an accessible list for any robot in the robot grouping information, where the accessible list includes at least: IDs, IP addresses, and gateways of other robots accessible by the robot, the The accessible list includes: IDs, IP addresses, and gateways of other robots that can access the robot.

[Claim 4] A communication method of a cloud robot, which includes:

Analyze the received robot grouping information to obtain a communication strategy between the robots;

Convert the communication strategy into virtual machine flow table information;

In response to the robot communication instruction, the communication between the robots in the robot grouping information is implemented based on the flow table information.

[Claim 5] The communication method of the cloud robot according to claim 4, wherein the converting the communication strategy into virtual machine flow table information includes:

Converting the communication strategy into a flow entry in a pre-installed virtual switch through a preset OpenFlow protocol, where the communication strategy includes at least: an accessible list and an accessible Inquiry list, the accessible list at least includes: IDs, IP addresses and gateways of other robots accessible by the robot, the accessible list includes: IDs, IP addresses and other robots of the robot Owning gateway.

[Claim 6] The cloud robot communication method according to claim 4 or 5, wherein, in response to the robot communication instruction, the communication between the robots in the robot group information based on the flow table information includes: :

When the requesting robot and the target robot in the communication instruction are in the same group and connected to the same gateway, configure a route including the requesting robot IP address and the target robot IP address to the gateway, and/or Firewall policy, and/or virtual switch

OpenFlow flow table.

[Claim 7] The communication method of a cloud robot according to claim 6, wherein the method further includes when the requesting robot in the communication instruction and the target robot are in the same group, and the requesting robot is connected to A first gateway, when the target robot is connected to a second gateway, configure the first gateway with a first flow table containing the IP address of the target robot, and configure the second gateway with the request robot IP The second stream of addresses.

[Claim 8] The method for communicating with a cloud-based robot according to any one of claims 4 to 7, wherein after the communication between the robots is implemented based on the configured flow table, the method further includes: a response In order to cancel the communication instruction, the flow table information configured in the gateway to which the robot is connected in the cancellation communication instruction is deleted.

[Claim 9] A cloud-based robot controller, including:

The grouping module is used to group tenants' robots in the cloud network to obtain robot grouping information;

A configuration module, configured to configure a communication strategy sending module between robots in the robot grouping information, and configured to send the robot grouping information containing the communication strategy to a gateway corresponding to the robot.

[Claim 10] A cloud robot gateway, including: A parsing module, used for parsing the received robot grouping information, to obtain a communication strategy between the robots;

A conversion module, configured to convert the communication strategy into virtual machine flow table information;

The communication module, in response to the robot communication instruction, implements communication between the robots in the robot grouping information based on the flow table information.

[Claim 11] A storage medium configured to store a program code, the program code being used to execute the communication method of the cloud robot according to any one of claims 1 to 3, or any one of claims 4 to 8. The communication method of the cloud robot.

[Claim 12] An electronic device, comprising:

Processing unit; and

A storage unit, configured to store executable instructions of the processing unit;

Wherein, the processing unit is configured to perform the following operations by executing the executable instructions to group the tenants' robots in the cloud network to obtain robot grouping information; configure the communication strategy between the robots in the robot grouping information;

Send the robot grouping information containing the communication strategy to the gateway corresponding to the robot, or

Convert the communication strategy into virtual machine flow table information;