WO2021190220A1 - 机器人网络监控方法、设备及存储介质 - Google Patents

机器人网络监控方法、设备及存储介质 Download PDF

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Publication number
WO2021190220A1
WO2021190220A1 PCT/CN2021/077344 CN2021077344W WO2021190220A1 WO 2021190220 A1 WO2021190220 A1 WO 2021190220A1 CN 2021077344 W CN2021077344 W CN 2021077344W WO 2021190220 A1 WO2021190220 A1 WO 2021190220A1
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Prior art keywords
robot
network
data
network health
server
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PCT/CN2021/077344
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English (en)
French (fr)
Inventor
王翔宇
孙中原
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炬星科技（深圳）有限公司
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Publication of WO2021190220A1 publication Critical patent/WO2021190220A1/zh

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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/70—Services for machine-to-machine communication [M2M] or machine type communication [MTC]
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W24/00—Supervisory, monitoring or testing arrangements
    • H04W24/04—Arrangements for maintaining operational condition
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/80—Services using short range communication, e.g. near-field communication [NFC], radio-frequency identification [RFID] or low energy communication

Definitions

  • the invention relates to the technical field of robots, in particular to a robot network monitoring method, equipment and storage medium.
  • warehousing robots are playing an increasingly important role. Due to the need to ensure autonomy, flexibility and other characteristics, most of the current robots are designed based on wireless networks. Most of the communication is carried out through WIFI, 4G/5G, etc. In addition, in order to improve the overall work efficiency, most warehouse robots will work in clusters. In the above circumstances, if the storage robot has a network failure and cannot recover or exit the work site as soon as possible, it will greatly affect the overall work efficiency, and even cause the overall or partial work interruption in severe cases. Therefore, the network fault monitoring of the warehouse robot cluster is particularly important.
  • the invention provides a robot network monitoring method, equipment and storage medium for real-time monitoring of the network state of the robot body.
  • the present invention provides a robot network monitoring method, the method includes:
  • the robot body collects its own network health information, and at the same time, based on the short-range communication technology, shares the network health information with other robots within the preset range in the robot cluster;
  • the robot Based on the collected network health information and shared network health information, the robot performs real-time analysis and judgment of the robot's own network status in accordance with preset rules, and recognizes the current network quality of the robot itself;
  • the robot communicates with the server at the same time for: the server collects the network health data corresponding to the robot in real time and/or receives the network health data reported by the robot, and according to the network health data of the robot, the server analyzes the network health status of the robot And judge, identify the network health status of the robot; wherein, the network health data includes network health data collected by the robot itself and/or network health data shared by the robot.
  • the present invention also provides a robot network monitoring device, the robot network monitoring device includes:
  • the data collection and sharing module is used to collect the network health information of the robot itself. At the same time, based on the short-range communication technology, it can share the network health information with other robots within the preset range in the robot cluster;
  • the data research and judgment module is used to analyze and judge the network status of the robot in real time based on the collected network health information of the robot itself and the shared network health information obtained by sharing, and to identify the network where the robot itself is currently located. quality;
  • the data interaction module is used to enable the robot to communicate with the server while working, so that the server collects the network health data corresponding to the robot in real time and/or receives the network health data reported by the robot, and according to the network health of the robot Data, the server analyzes and judges the network health status of the robot, and recognizes the network health status of the robot; wherein the network health data includes the network health data collected by the robot itself and/or the network health data shared by the robot.
  • the present invention also provides an electronic device, the electronic device includes a memory and a processor, the memory stores a robot network monitoring program that can run on the processor, and the robot network monitoring When the program is run by the processor, the robot network monitoring method is executed.
  • the present invention also provides a computer storage medium, the storage medium stores a robot network monitoring program, and the robot network monitoring program can be executed by one or more processors to realize the robot The steps of the network monitoring method.
  • the robot network monitoring method, equipment and storage medium of the present invention can achieve the following beneficial effects:
  • the robot body Collect its own network health information through the robot body.
  • it can share network health information with other robots within the preset range of the robot cluster;
  • the robot is based on the collected network health information and shared network health information, according to the forecast Set up rules to analyze and judge the robot's own network status in real time, and identify the current network quality of the robot itself;
  • the robot communicates with the server at the same time, for: the server collects the network health data corresponding to the robot in real time and/or receives the robot
  • the server analyzes and judges the network health status of the robot, and recognizes the network health status of the robot; it achieves the purpose of accurately testing the network health status of the robot cluster.
  • the robot monitoring system is improved, the recognition rate and processing efficiency of robot network faults are improved, and the timely detection and warning of network faults are ensured.
  • the efficiency of later maintenance and repair of the robot is also improved; further, the overall improvement Operational efficiency and availability of robot clusters.
  • FIG. 1 is a schematic flowchart of an embodiment of the robot network monitoring method of the present invention
  • FIG. 2 is a schematic diagram of an implementation manner in which a robot communicates with a server and shares network health information in the robot network monitoring method of the present invention
  • FIG. 3 is a schematic diagram of an implementation manner of communicating and sharing network health information between robots in the robot network monitoring method of the present invention
  • FIG. 4 is a schematic diagram of functional modules of an embodiment of the robot network monitoring device of the present invention.
  • FIG. 5 is a schematic diagram of the internal structure of an embodiment of the electronic device of the present invention.
  • the present invention provides a robot network monitoring method, equipment and storage medium, which are used to establish network health information sharing within the robot cluster and at the same time establish network health data sharing between the robot cluster and the server to form a multi-dimensional single point of network failure Perception system, so as to achieve the purpose of real-time monitoring of the network status of the robot body and accurately judging the cause of the abnormality when the network is abnormal.
  • Fig. 1 is a schematic flow chart of an embodiment of the robot network monitoring method of the present invention
  • a robot network monitoring method of the present invention can be implemented as steps S10-S30 as described below:
  • Step S10 the robot body collects its own network health information, and at the same time, based on the near field communication technology, shares the network health information with other robots within a preset range in the robot cluster;
  • a functional module with data collection function can be deployed inside the robot body to collect real-time network health information corresponding to the network environment where the robot body is located, such as real-time collection of WiFi, 4G, 5G and other network communication quality data.
  • the network health information corresponding to the robot includes, but is not limited to: the robot body and external wireless network monitoring status data, such as network delay, packet loss rate and other data requested by the network.
  • the robot can also share network health information based on near-field communication technology. For example, within a preset range corresponding to the communicable distance of the short-field communication technology, the robot itself can share network health information with other robots in the robot cluster.
  • the function of the robot's network monitoring information sharing can also be realized by deploying corresponding sharing function modules inside the robot body.
  • the short-range communication technologies described in the embodiments of the present invention include but are not limited to short-range wireless communication technologies such as ZigBee, UWB, IrDA, etc., as long as it is a multiplex communication technology that can achieve short-range, the following embodiments of the present invention Regarding the specific types of the above-mentioned short-range communication technologies in the above, the details will not be repeated.
  • the robot can obtain the corresponding network health information of each robot in the robot cluster. Further, in order to distinguish and process the network health information corresponding to each robot when needed, while collecting and sharing the corresponding network health information, the unique identification code corresponding to each robot can be carried simultaneously, so that when needed, you can Use the robot's unique identification code to find and obtain the network health information corresponding to each robot.
  • Step S20 Based on the collected network health information and shared network health information, the robot performs real-time analysis and judgment on the network status of the robot itself according to preset rules, and recognizes the current network quality of the robot itself;
  • the robot has the function of self-inspection, that is, the robot performs real-time analysis of the robot's own network status based on the network health information collected by itself and the network health information obtained by sharing, and according to preset analysis rules or algorithms. Judgment and assessment to identify the network quality of the robot itself.
  • a robot can compare its own network health information with the overall data of the robot cluster according to a preset algorithm based on its own network health information and shared network health information, so as to determine the current robot’s own health information. What is the level of the network quality? When the robot has a network failure, it can also research, analyze and judge the possible causes of the failure based on the above-mentioned own network health information and shared network health information.
  • Step S30 the robot communicates with the server at the same time, so that the server collects the network health data corresponding to the robot in real time and/or receives the network health data reported by the robot, and according to the network health data of the robot, the server can check the network health of the robot The status is analyzed and judged, and the network health status of the robot is recognized.
  • the robot can also communicate with the server at the same time, and at the same time establish network health data sharing between the robot cluster and the server.
  • the server can collect the network health data corresponding to the robot in real time and/or receive the network health data reported by the robot; wherein the network health data includes the network health data collected by the robot itself and/ Or the network health data shared by the robot; from the robot side, the robot can also actively report the above network health data to the server.
  • the server analyzes and judges the network health status of the robot according to the above-mentioned network health data of the robot, and recognizes the network health status of the robot. In this way, the server can achieve more accurate testing and judgment of the real-time status of the robot.
  • the robot obtains the recognition result of the network health status of the robot by the server, and combines the current network quality of the robot itself obtained by the robot recognition to comprehensively evaluate the network health status of the robot itself.
  • the server can monitor the network health status inside and outside the robot cluster in real time.
  • the server can monitor the network health status inside and outside the robot cluster in real time.
  • the server can know the health level of the robot’s own network, even when the external network such as WIFI, 4G, etc. is interrupted.
  • the short-range wireless communication technology shares network health data, so that the cause of the network abnormality can be accurately determined when the robot has a network abnormality.
  • Fig. 2 is a schematic diagram of an embodiment of a robot and a server communicating and sharing network health information in the robot network monitoring method of the present invention; in the embodiment shown in Fig. 2, only one robot is taken as an example Describe.
  • solutions such as CDN acceleration and reverse proxy can be used.
  • the method and the specific deployment method of the server will not be specifically limited; for example, a local server can be directly deployed on the robot's work site to achieve network monitoring of the robot, or the server can be deployed in other locations.
  • S41 is the server and S42 is the offline warehousing robot.
  • the server collects the network health data corresponding to the network status of the robot, and obtains the robot's own network health data in real time.
  • the server provides a data reporting endpoint and a status acquisition endpoint for the robot to report the network health information of the robot in real time according to the data reporting endpoint, and according to The status acquisition endpoint acquires the robot network health status information analyzed by the server.
  • the robot can actively report the network health information collected by itself and the network health information obtained by sharing through the data reporting endpoint provided by the server.
  • the server performs data processing on the acquired network health data to obtain data-processed robot network data; in one embodiment, the server may perform data processing on the network health data collected by the server and/or reported by the robot in the following manner Data processing: summarize and sort the network health data; according to preset data filtering conditions, perform data cleaning and data sorting on part of the data that meets the preset data filtering conditions, and save it to disk for persistent storage; Part of the data that meets the preset data filtering conditions is cached in the memory after data processing.
  • the data required for subsequent data analysis can be directly cached in the memory, thereby speeding up subsequent data analysis, thereby improving the concurrent processing capability of the server; for historical data that has been processed by network analysis, this part of the data can be processed After data cleaning and data sorting, it is stored to disk for persistent storage of data, which is convenient to call when historical data needs to be queried later; part of the data can be cached in memory to speed up subsequent data analysis and improve concurrency.
  • the server combines the robot network data and the aggregated data related to the robot, analyzes the network monitoring status of the robot, and obtains the network health status information corresponding to the robot according to the analysis result. For example, in a specific application scenario, after the server collects the robot data of the entire warehouse, it can combine the aggregated data of the warehouse area, and even all the aggregated data of the entire network, to study and judge the network monitoring status of a single robot. Such analysis can be integrated into more regional network quality, robot average hardware quality and other information, and more accurate testing and analysis of the robot's real-time status can be performed.
  • the aggregated data related to the robot includes, but is not limited to: aggregated data of the area where the warehouse corresponds to the robot and/or aggregated data of the entire network corresponding to the robot; wherein, the aggregated data includes: The regional network quality of the area where the warehouse is located, the overall network quality corresponding to the area where the warehouse is located, and the average hardware quality of the robot.
  • the server in the embodiment of the present invention provides the data reporting endpoint for reporting data and the state acquisition endpoint for the robot to obtain the analysis and judgment results of its own network health status.
  • the robot reports the network health status data in real time through the data reporting endpoint, and obtains the analysis and judgment of the server when needed.
  • the endpoint pulls the server's evaluation suggestion information on its own network health status through the status acquisition.
  • the robot's processing method is as follows: that is, actively report real-time network health status data through the server's data reporting endpoint, and when the robot itself conducts network status testing and analysis and judgment, it can also request the server's status acquisition endpoint to obtain the server's status. Analysis and judgment suggestions improve the accuracy of the judgment results of the robot network state analysis method.
  • FIG. 3 is a schematic diagram of an implementation manner of communicating and sharing network health information between robots in the robot network monitoring method of the present invention; in the embodiment shown in FIG. 3, only three of the robot clusters are used. Two robots S21, S22, and S23 are described as examples.
  • the robot when the robot shares network health information with other robots within a preset range in the robot cluster based on the short-range communication technology, the robot may establish a data sharing endpoint in advance, and perform data communication with other robots through the data sharing endpoint.
  • the data sharing endpoint of the robot detects the existence of the data sharing endpoint of other robots, and then automatically connects to establish a two-way data channel with other robots; Based on the established two-way data channel, within the preset short-distance communication range, the robots share network health information with each other in real time.
  • the embodiment of the present invention does not limit the specific value of the preset short-range communication range.
  • the data sharing among the three robots S21, S22, and S23 is implemented based on the data sharing function modules deployed inside the three robots.
  • the S21 robot can establish a data sharing endpoint through its own data sharing function module.
  • the data sharing function module of the S22 robot can detect the existence of the S21 robot data sharing endpoint, and automatically connect to the S21 robot Establish a two-way data channel.
  • the distance between the S21 robot and the S22 robot is always within the effective range of the short-range communication connection, the data of the network health status can be shared with each other in real time.
  • S23 is another robot.
  • the distance can also be understood as the maximum distance specified by short-range communication
  • the S23 robot can communicate with the S21 robot and the S22 robot at the same time to share the network health status data of each other.
  • the three robots S21, S22 and S23 form a local data sharing network within the short-distance communication range corresponding to the short-distance wireless communication technology. Through this shared network robot, it can learn all the information in the shared network area in real time.
  • the overall network status of the robot in this way, the network unstable factors caused by the actual environment interference and the unstable external communication hardware status of the individual robot can be eliminated, and the network status of the robot itself can be accurately tested. Even when a robot has a network abnormality, the shared network corresponding to the robot cluster can accurately determine the specific cause of the robot's network failure.
  • the robot network monitoring method of the present invention collects its own network health information through the robot body, and at the same time, based on the short-range communication technology, shares the network health information with other robots within a preset range in the robot cluster; the robot is based on the collected own network health information and shares Network health information, according to preset rules, analyze and judge the robot's own network status in real time, and identify the current network quality of the robot itself; the robot communicates with the server at the same time for: the server collects the robot's corresponding network health in real time Data and/or receive the network health data reported by the robot, and according to the network health data of the robot, the server analyzes and judges the network health status of the robot, and recognizes the network health status of the robot; it achieves an accurate test of the network health of the robot cluster
  • the purpose of the status at the same time, improve the robot's monitoring system, improve the recognition rate and processing efficiency of robot network faults, ensure the timely detection and warning of network faults, and also improve the efficiency of later maintenance and repair of the
  • an embodiment of the present invention also provides a robot network monitoring device; as shown in FIG. 4, FIG. 4 is a schematic diagram of functional modules of an embodiment of the robot network monitoring device of the present invention ; Figure 2 only functionally describes a robot network monitoring device of the present invention.
  • the robot network monitoring device functionally includes:
  • the data collection and sharing module 100 is used to collect the network health information of the robot itself, and at the same time, based on the near-field communication technology, share the network health information with other robots within a preset range in the robot cluster;
  • the data research and judgment module 200 is used to analyze and judge the network status of the robot in real time based on the collected network health information of the robot itself and the shared network health information obtained by sharing, and to identify the current state of the robot itself according to preset rules.
  • Network quality
  • the data interaction module 300 is used to enable the robot to perform data communication with the server while working, so that the server collects the network health data corresponding to the robot in real time and/or receives the network health data reported by the robot, and according to the network of the robot Health data, the server analyzes and judges the network health status of the robot, and recognizes the network health status of the robot; wherein the network health data includes the network health data collected by the robot itself and/or the network health data shared by the robot.
  • the data research and judgment module 200 is used to:
  • the data exchange module 300 is used to:
  • the robot network data and the aggregated data related to the robot are combined to analyze the network monitoring status of the robot, and according to the analysis result, the network health status information corresponding to the robot is obtained.
  • the data exchange module 300 is used to:
  • a data reporting endpoint and a status acquisition endpoint for the robot to report real-time network health information of the robot according to the data reporting endpoint, and to acquire the robot network health status information analyzed by the server according to the status acquisition endpoint.
  • the data exchange module 300 is used to:
  • preset data screening conditions perform data cleaning and data sorting on part of the data that meets the preset data screening conditions, and save them to disk for persistent storage; perform data processing on part of the data that does not meet the preset data screening conditions After being cached in memory.
  • the aggregated data related to the robot includes:
  • the robot corresponds to the aggregated data of the area where the warehouse is located and/or the aggregated data of the entire network corresponding to the robot; wherein the aggregated data includes: the regional network quality of the area where the warehouse is located, and the overall network quality corresponding to the area where the warehouse is located And the average hardware quality of the robot.
  • the data collection and sharing module 100 is used to:
  • the data sharing endpoint of the robot detects the existence of the data sharing endpoint of other robots, and then automatically connects to establish a two-way data channel with other robots;
  • the robots Based on the established two-way data channel, within the preset short-distance communication range, the robots share network health information with each other in real time.
  • the robot network monitoring device of the present invention collects its own network health information through the robot body, and at the same time, based on the short-distance communication technology, shares the network health information with other robots within a preset range in the robot cluster; the robot is based on the collected own network health information and shares Network health information, according to preset rules, analyze and judge the robot's own network status in real time, and identify the current network quality of the robot itself; the robot communicates with the server at the same time for: the server collects the robot's corresponding network health in real time Data and/or receive the network health data reported by the robot, and according to the network health data of the robot, the server analyzes and judges the network health status of the robot, and recognizes the network health status of the robot; it achieves an accurate test of the network health of the robot cluster
  • the purpose of the status at the same time, improve the robot's monitoring system, improve the recognition rate and processing efficiency of robot network faults, ensure the timely detection and warning of network faults, and also improve the efficiency of later maintenance and repair
  • FIG. 5 is a schematic diagram of the internal structure of an embodiment of the electronic device of the present invention.
  • the electronic device 1 may be a PC (Personal Computer, personal computer), or a terminal device such as a smart phone, a tablet computer, or a portable computer.
  • the electronic device 1 at least includes a memory 11, a processor 12, a communication bus 13, and a network interface 14.
  • the memory 11 includes at least one type of readable storage medium, and the readable storage medium includes flash memory, hard disk, multimedia card, card-type memory (for example, SD or DX memory, etc.), magnetic memory, magnetic disk, optical disk, and the like.
  • the memory 11 may be an internal storage unit of the electronic device 1 in some embodiments, such as a hard disk of the electronic device 1.
  • the memory 11 may also be an external storage device of the electronic device 1, such as a plug-in hard disk equipped on the electronic device 1, a smart memory card (Smart Media Card, SMC), Secure Digital (Secure Digital, SD) card, flash card (Flash Card), etc.
  • the memory 11 may also include both an internal storage unit of the electronic device 1 and an external storage device.
  • the memory 11 can be used not only to store application software and various data installed in the electronic device 1, such as the code of the robot network monitoring program 01, etc., but also to temporarily store data that has been output or will be output.
  • the processor 12 may be a central processing unit (Central Processing Unit) in some embodiments.
  • Central Processing Unit CPU
  • controller a controller
  • microcontroller a microprocessor
  • other data processing chips are used to run program codes or process data stored in the memory 11, such as executing a robot network monitoring program 01.
  • the communication bus 13 is used to realize the connection and communication between these components.
  • the network interface 14 may optionally include a standard wired interface and a wireless interface (such as a WI-FI interface), and is usually used to establish a communication connection between the electronic device 1 and other electronic devices.
  • a standard wired interface and a wireless interface such as a WI-FI interface
  • the electronic device 1 may further include a user interface.
  • the user interface may include a display (Display) and an input unit such as a keyboard (Keyboard).
  • the optional user interface may also include a standard wired interface and a wireless interface.
  • the display may be an LED display, a liquid crystal display, a touch-sensitive liquid crystal display, and an OLED (Organic Light-Emitting Diode, organic light-emitting diode) touch device, etc.
  • the display can also be appropriately called a display screen or a display unit, which is used to display the information processed in the electronic device 1 and to display a visualized user interface.
  • FIG. 5 only shows the electronic device 1 with components 11-14 and the robot network monitoring program 01.
  • FIG. 5 does not constitute a limitation on the electronic device 1, and may include ratios Fewer or more parts are shown, or some parts are combined, or different parts are arranged.
  • a robot network monitoring program 01 is stored in the memory 11; the robot network monitoring program 01 stored in the memory 11 can be stored in all When the robot network monitoring program 01 is run by the processor 12, the following steps are implemented:
  • the robot body collects its own network health information, and at the same time, based on the short-range communication technology, shares the network health information with other robots within the preset range in the robot cluster;
  • the robot Based on the collected network health information and shared network health information, the robot performs real-time analysis and judgment of the robot's own network status in accordance with preset rules, and recognizes the current network quality of the robot itself;
  • the robot communicates with the server at the same time for: the server collects the network health data corresponding to the robot in real time and/or receives the network health data reported by the robot, and according to the network health data of the robot, the server analyzes the network health status of the robot And judge, identify the network health status of the robot; wherein, the network health data includes network health data collected by the robot itself and/or network health data shared by the robot.
  • the robot network monitoring program 01 may also be run by the processor 12 to implement the following steps:
  • the robot network monitoring program 01 may also be run by the processor 12 to implement the following steps:
  • the robot network data and the aggregated data related to the robot are combined to analyze the network monitoring status of the robot, and according to the analysis result, the network health status information corresponding to the robot is obtained.
  • the robot network monitoring program 01 may also be run by the processor 12 to implement the following steps:
  • a data reporting endpoint and a status acquisition endpoint for the robot to report real-time network health information of the robot according to the data reporting endpoint, and to acquire the robot network health status information analyzed by the server according to the status acquisition endpoint.
  • the robot network monitoring program 01 may also be run by the processor 12 to implement the following steps:
  • preset data screening conditions perform data cleaning and data sorting on part of the data that meets the preset data screening conditions, and save them to disk for persistent storage; perform data processing on part of the data that does not meet the preset data screening conditions After being cached in memory.
  • the aggregated data related to the robot includes:
  • the robot corresponds to the aggregated data of the area where the warehouse is located and/or the aggregated data of the entire network corresponding to the robot; wherein the aggregated data includes: the regional network quality of the area where the warehouse is located, and the overall network quality corresponding to the area where the warehouse is located And the average hardware quality of the robot.
  • the robot network monitoring program 01 can also be run by the processor 12 to share network health information with other robots within a preset range in the robot cluster based on the near-field communication technology, including:
  • the robot establishes a data sharing endpoint in advance
  • the data sharing endpoint of the robot detects the existence of the data sharing endpoint of other robots, and then automatically connects to establish a two-way data channel with other robots;
  • the robots Based on the established two-way data channel, within the preset short-distance communication range, the robots share network health information with each other in real time.
  • the embodiment of the present invention also provides a computer storage medium, the computer storage medium stores a robot network monitoring program, and the robot network monitoring program can be executed by one or more processors to realize the above-mentioned robot network monitoring method.
  • the specific implementation of the computer-readable storage medium of the present invention is basically the same as the implementation principles of the respective embodiments corresponding to the above-mentioned robot network monitoring method and electronic equipment, and will not be repeated here.
  • the embodiments of the present invention can be provided as a method, a system, or a computer program product. Therefore, the present invention may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware.
  • the embodiment of the present invention collects its own network health information through the robot body, and at the same time, based on the near field communication technology, shares the network health information with other robots within a preset range in the robot cluster; the robot is based on the collected own network health information and shares the network health Information, according to preset rules, analyze and judge the robot's own network status in real time, and identify the current network quality of the robot itself; the robot communicates with the server at the same time for: the server collects the network health data corresponding to the robot in real time and / Or receive the network health data reported by the robot, and according to the network health data of the robot, the server analyzes and judges the network health status of the robot, and recognizes the network health status of the robot; the network health status of the robot cluster is accurately tested Purpose, at the same time, to improve the robot's monitoring system, improve the recognition rate and processing efficiency of robot network faults, ensure the timely detection and warning of network faults, and also improve the efficiency of later maintenance and repair of the robot; further, also The overall

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Abstract

本发明公开了一种机器人网络监控方法、设备及存储介质，所述方法包括：机器人本体采集自身的网络健康信息，同时，基于近距离通信技术，与机器人集群中预设范围内的其他机器人共享网络健康信息（S10）；机器人基于采集的自身网络健康信息和共享网络健康信息，按照预设规则，对机器人自身的网络状态进行实时分析和判断，识别机器人自身当前所处的网络质量（S20）；机器人同时与服务器进行数据通信，以供服务器实时采集机器人对应的网络健康数据和/或接收机器人上报的网络健康数据，并根据机器人的所述网络健康数据，服务器对机器人的网络健康状态进行分析和判断，识别机器人的网络健康状态（S30）；达到了实时监控机器人本体网络状态的目的。

Description

机器人网络监控方法、设备及存储介质 技术领域
本发明涉及机器人技术领域，特别涉及一种机器人网络监控方法、设备及存储介质。
 背景技术
在现代物流业中，仓储机器人正扮演着越来越重要的角色，由于需要保证自主性、灵活性等特点，目前的机器人大多数是基于无线网络设计的，机器人彼此之间以及机器人与服务器之间大多是通过WIFI、4G/5G等方式进行通信的。另外，为提高整体作业效率，仓储机器人大多会采用集群的方式进行作业。在上述情况下，仓储机器人如果出现网络故障，且不能尽快恢复或者退出作业场地，将会大大影响整体的作业效率，严重时甚至可以造成整体或者局部作业的中断。因此，仓储机器人集群的网络故障监控就显得尤其重要。
目前，针对上述情况，行业内大多是采用基于服务器构建的监控系统，通过4G、WIFI等无线通信技术，实时拉取或者由机器人上报自身的网络健康状况。由于这类远程无线通信技术本身的不稳定性和不确定性，以及上述监控方案对故障来源识别不够精细等原因，所以在监控过程中，仓储机器人的网络健康状态经常会出现错判、漏判的情况，这同样会对作业效率造成折损。例如，仓储机器人在失去与外界的WIFI或者4G通信时，机器人自身无法判断这次故障是由于外部的网络出现异常导致的，还是由于自身出现故障引发通信能力丧失所导致的。因此，当网络恢复或者检修时，外界也无法得知导致上述状况的故障原因。
 技术问题
本发明提供一种机器人网络监控方法、设备及存储介质，用以实时监控机器人本体的网络状态。
 技术解决方案
为实现上述目的，本发明提供了一种机器人网络监控方法，所述方法包括：
机器人本体采集自身的网络健康信息，同时，基于近距离通信技术，与机器人集群中预设范围内的其他机器人共享网络健康信息；
机器人基于采集的自身网络健康信息和共享网络健康信息，按照预设规则，对机器人自身的网络状态进行实时分析和判断，识别机器人自身当前所处的网络质量；
机器人同时与服务器进行数据通信，以供：服务器实时采集机器人对应的网络健康数据和/或接收机器人上报的网络健康数据，并根据机器人的所述网络健康数据，服务器对机器人的网络健康状态进行分析和判断，识别机器人的网络健康状态；其中，所述网络健康数据包括机器人自身采集的网络健康数据和/或机器人共享的网络健康数据。
为实现上述目的，本发明还提供了一种机器人网络监控装置，所述机器人网络监控装置包括：
数据采集和共享模块，用于采集机器人自身的网络健康信息，同时，基于近距离通信技术，与机器人集群中预设范围内的其他机器人共享网络健康信息；
数据研判模块，用于基于采集的机器人自身网络健康信息和共享得到的所述共享网络健康信息，按照预设规则，对机器人自身的网络状态进行实时分析和判断，识别机器人自身当前所处的网络质量；
数据交互模块，用于使得机器人在工作的同时能够与服务器进行数据通信，以供：服务器实时采集机器人对应的网络健康数据和/或接收机器人上报的网络健康数据，并根据机器人的所述网络健康数据，服务器对机器人的网络健康状态进行分析和判断，识别机器人的网络健康状态；其中，所述网络健康数据包括机器人自身采集的网络健康数据和/或机器人共享的网络健康数据。
为实现上述目的，本发明还提供了一种电子设备，所述电子设备包括存储器和处理器，所述存储器上存储有可在所述处理器上运行的机器人网络监控程序，所述机器人网络监控程序被所述处理器运行时，执行所述的机器人网络监控方法。
为实现上述目的，本发明还提供了一种计算机存储介质，所述存储介质上存储有机器人网络监控程序，所述机器人网络监控程序可以被一个或者多个处理器执行，以实现所述的机器人网络监控方法的步骤。
 有益效果
本发明一种机器人网络监控方法、设备及存储介质可以达到如下有益效果：
通过机器人本体采集自身的网络健康信息，同时，基于近距离通信技术，与机器人集群中预设范围内的其他机器人共享网络健康信息；机器人基于采集的自身网络健康信息和共享网络健康信息，按照预设规则，对机器人自身的网络状态进行实时分析和判断，识别机器人自身当前所处的网络质量；机器人同时与服务器进行数据通信，以供：服务器实时采集机器人对应的网络健康数据和/或接收机器人上报的网络健康数据，并根据机器人的所述网络健康数据，服务器对机器人的网络健康状态进行分析和判断，识别机器人的网络健康状态；达到了准确测试机器人集群的网络健康状态的目的，同时，完善了机器人的监控体系，提高了机器人网络故障的识别率与处理效率，保证了网络故障的及时发现与告警，同时也提升了机器人后期的维护和检修效率；进一步地，也在整体上提高了机器人集群的作业效率和可用性。
本发明的其它特征和优点将在随后的说明书中阐述，并且，部分地从说明书中变得显而易见，或者通过实施本发明而了解。本发明的目的和其他优点可通过在所写的说明书、权利要求书、以及附图中所指出的内容来实现和获得。
下面通过附图和实施例，对本发明的技术方案做进一步描述。
 附图说明
附图用来提供对本发明的进一步理解，并且构成说明书的一部分，与本发明的实施例一起用于解释本发明，并不构成对本发明的限制。在附图中：
图1是本发明机器人网络监控方法的一种实施方式的流程示意图；
图2是本发明机器人网络监控方法中机器人与服务器进行通信连接共享网络健康信息的一种实施方式的场景示意图；
图3是本发明机器人网络监控方法中机器人之间进行通信连接共享网络健康信息的一种实施方式的场景示意图；
图4是本发明机器人网络监控装置的一种实施方式的功能模块示意图；
图5是本发明电子设备的一种实施方式的内部结构示意图。
 本发明的实施方式
以下结合附图对本发明的优选实施例进行说明，应当理解，此处所描述的优选实施例仅用于说明和解释本发明，并不用于限定本发明。
本发明提供一种机器人网络监控方法、设备及存储介质，用以通过在机器人集群内部建立网络健康信息共享，同时在机器人集群与服务器之间建立网络健康数据共享，形成多维度的单点网络故障感知体系，从而达到实时监控机器人本体的网络状态并在网络异常时准确判断异常原因的目的。
如图1所示，图1是本发明机器人网络监控方法的一种实施方式的流程示意图；本发明一种机器人网络监控方法可以实施为如下描述的步骤S10-S30：
步骤S10、机器人本体采集自身的网络健康信息，同时，基于近距离通信技术，与机器人集群中预设范围内的其他机器人共享网络健康信息；
本发明实施例中，可在机器人本体内部部署具备数据采集功能的功能模块，从而实时采集机器人本体所处网络环境对应的网络健康信息，比如实时采集WiFi、4G、5G等网络通信质量数据。其中，所述机器人对应的网络健康信息包括但不限于：机器人本体与外部的无线网络监控状态数据，比如：网络请求的网络延迟、丢包率等数据。
机器人在采集自身网络健康信息的同时，也能够基于近距离通信技术，进行网络健康信息的共享。比如，在近距离通信技术的可通信距离对应的预设范围内，机器人自身可以与机器人集群内的其他机器人共享网络健康信息。机器人的这种网络监控信息共享的功能，也可通过在机器人本体内部部署相应的共享功能模块来实现。其中，本发明实施例中描述的近距离通信技术包括但是不仅仅限于ZigBee、UWB、IrDA等近距离无线通信技术，只要是能够实现近距离的多工通信技术均可，本发明下述实施例中针对上述近距离通信技术的具体类型，将不再赘述。
机器人通过自身采集和共享预设范围内其他机器人采集的网络健康信息，即可获取机器人集群内各机器人相应的网络健康信息。进一步地，为了需要时对各机器人分别对应的网络健康信息进行区分和处理，在采集和共享对应的网络健康信息的同时，可以同步携带各机器人分别对应的唯一身份识别码，以便需要时，可以利用机器人的唯一身份识别码来查找和获取各机器人对应的网络健康信息。
步骤S20、机器人基于采集的自身网络健康信息和共享网络健康信息，按照预设规则，对机器人自身的网络状态进行实时分析和判断，识别机器人自身当前所处的网络质量；
本发明实施例中，机器人具备自查的功能，即机器人根据自身采集的网络健康信息和共享得到的网络健康信息，按照预先设定的分析规则或者算法，对机器人自身的网络状态进行实时分析、判断和评定，从而识别得出机器人自身当前所处的网络质量。
比如，在一个具体的应用场景中，机器人根据自身网络健康信息和共享网络健康信息，能够按照预设算法将自身的网络健康信息与机器人集群整体数据进行比对，从而能够判断出当前机器人自身的网络质量处于何种水平；也能够在机器人发生网络故障时，根据上述自身网络健康信息和共享网络健康信息对可能的故障原因进行研究分析和判断。
步骤S30、机器人同时与服务器进行数据通信，以供：服务器实时采集机器人对应的网络健康数据和/或接收机器人上报的网络健康数据，并根据机器人的所述网络健康数据，服务器对机器人的网络健康状态进行分析和判断，识别机器人的网络健康状态。
在机器人集群内部进行网络健康信息共享的同时，机器人也能够同时与服务器进行数据通信，同时在机器人集群与服务器之间建立网络健康数据共享。在机器人集群与服务器之间进行数据通信时，服务器可以实时采集机器人对应的网络健康数据和/或接收机器人上报的网络健康数据；其中，所述网络健康数据包括机器人自身采集的网络健康数据和/或机器人共享的网络健康数据；从机器人侧来讲，机器人也可以向服务器主动上报上述网络健康数据。
服务器根据机器人的上述网络健康数据，对机器人的网络健康状态进行分析和判断，识别机器人的网络健康状态。如此一来，服务器能够实现对机器人的实时状态进行更准确的测试和判断。
进一步地，在一个实施例中，机器人获取服务器对所述机器人网络健康状态的识别结果，并结合机器人识别得到的所述机器人自身当前所处的网络质量，综合评估机器人自身的网络健康状态。
利用这种方式，能够实现在机器人集群内部建立网络健康数据共享，同时在机器人集群与服务器之间也建立了网络健康数据共享，形成多维度的单点网络故障感知体系。在这样的监控体系下，服务器可以实时监控机器人集群内部与外部的网络健康状态。对于单个仓储机器人而言，通过与其他仓储机器人同伴实时共享机器人集群的网络健康状态，能够得知该机器人自身网络的健康水平，即便在外部网络比如WIFI、4G等中断的情况下，也能够通过近距离无线通信技术共享网络健康数据，从而能够在机器人出现网络异常时准确地判断出网络异常的原因。通过本发明实施例描述的上述机器人网络监控方法，有效地解决了难以监控机器人本体网络故障的问题。
进一步地，机器人与服务器共享网络健康状态可以参照图2所述实施例的描述。如图2所示，图2是本发明机器人网络监控方法中机器人与服务器进行通信连接共享网络健康信息的一种实施方式的场景示意图；图2所述实施例中，仅以一台机器人为例进行描述。本发明实施例中，机器人到服务器的通信过程中，为了提高通信的稳定性、可用性和效率时，可以使用CDN加速、反向代理等方案，本发明实施例对机器人与服务器之间的具体通信方式以及服务器的具体部署方式，将不做具体限定；比如，可以直接在机器人的作业场地直接部署本地服务器来实现机器人的网络监控，也可以将服务器部署在其他位置。
图2所述的应用场景中，S41为服务器、S42为线下仓储机器人，对于服务侧来讲，服务器采集机器人所处的网络状态对应的网络健康数据，实时获取机器人自身的网络健康数据的同时，获取所述机器人共享得到的其他机器人的网络健康数据；本发明实施例中，服务器提供数据上报端点和状态获取端点，以供机器人根据所述数据上报端点实时上报机器人的网络健康信息，以及根据所述状态获取端点获取服务器分析得出的机器人网络健康状态信息。从机器人侧来讲，机器人可以通过服务器提供的数据上报端点，主动上报自身采集的网络健康信息和共享得到的网络健康信息。
服务器对获取到的所述网络健康数据进行数据处理，得到数据处理后的机器人网络数据；在一个实施例中，服务器可以按照如下方式对服务器采集的和/或机器人上报的所述网络健康数据进行数据处理：对所述网络健康数据进行汇总和整理；按照预设数据筛选条件，对满足所述预设数据筛选条件的部分数据进行数据清洗和数据整理，保存至磁盘进行持久化存储；对不满足所述预设数据筛选条件的部分数据进行数据处理后缓存至内存中。比如，针对后续数据分析所需要的数据，可以直接缓存至内存中，从而加快后续数据分析速度，从而提高服务器的并发处理能力；针对已进行网络分析处理后的历史数据，可以对该部分数据进行数据清洗和数据整理后，存储至磁盘，以进行数据的持久化存储，方便后续需要查询历史数据时调用；部分数据可以缓存在内存中，加快后续数据分析的速度，提高并发能力。
服务器将所述机器人网络数据以及与机器人相关的汇总数据进行结合，对机器人的网络监控状态进行分析，根据分析结果，得到机器人对应的网络健康状态信息。比如，在一个具体的应用场景中，服务器在采集到整个仓库的机器人数据之后，能够结合仓库所在区域的汇总数据，乃至全网所有的汇总数据，对单个机器人的网络监控状态进行研究和判断。这样的分析能够整合到更多的区域网络质量、机器人平均硬件质量等信息，对机器人的实时状态进行更精确的测试和分析判断。本发明实施例中，所述与机器人相关的汇总数据包括但不限于：所述机器人对应仓库所在区域的汇总数据和/或机器人对应的全网的汇总数据；其中，所述汇总数据包括：所述仓库所在区域的区域网络质量、所述仓库所在区域对应的整体网络质量以及机器人平均硬件质量。
本发明实施例中的服务器，对外提供上报数据的数据上报端点和机器人获取自身网络健康状态分析判断结果的状态获取端点，机器人通过数据上报端点实时上报网络健康状态数据，在需要获取服务器的分析判断结果时，可以通过状态获取端点拉取服务器对自身的网络健康状态的评定建议信息。机器人的如下这种处理方式：即主动通过服务器的数据上报端点来上报实时的网络健康状态数据，并在机器人自身进行网络状态测试和分析判断时，也可以请求服务器的状态获取端点来获取服务器的分析判断建议，提高了机器人网络状态分析法判断结果的准确性。
进一步地，机器人集群之间共享网络健康信息可以参照图3所述实施例的描述。如图3所示，图3是本发明机器人网络监控方法中机器人之间进行通信连接共享网络健康信息的一种实施方式的场景示意图；图3所述实施例中，仅以机器人集群中的三个机器人S21、S22和S23为例进行描述。
本发明实施例中，机器人基于近距离通信技术，与机器人集群中预设范围内的其他机器人共享网络健康信息时，机器人可以预先建立数据共享端点，并通过数据共享端点与其他机器人进行数据通信。
当所述机器人与其他机器人的距离达到预设近距离通信范围内时，所述机器人的数据共享端点探知到其他机器人的数据共享端点的存在，则自动进行连接，与其他机器人建立双向数据通道；基于建立的双向数据通道，在所述预设近距离通信范围内，机器人之间实时彼此共享网络健康信息。本发明实施例中，由于不同类型的近距离无线通信技术所要求的通信范围不同，因此，本发明实施例对预设近距离通信范围的具体取值不做限定。
比如，图3所述实施例中，三个机器人S21、S22和S23之间的数据共享基于这三个机器人内部部署的数据共享功能模块来实现。S21机器人可以通过自身的数据共享功能模块建立数据共享端点。当S22机器人与S21机器人的距离足够接近，到达当前使用的近距离通信的范围内时，S22机器人的数据共享功能模块则能够探知到S21机器人数据共享端点的存在，并且自动进行连接，与S21机器人建立双向的数据通道。只要是S21机器人与S22机器人的距离一直处在近距离通信连接有效的范围内，就能实时彼此共享网络健康状态的数据。S23为另外一台机器人，当它接近S21机器人、S22机器人时（在该应用场景中该距离也可以理解为近距离通信规定的最大距离），能自动感知到S21机器人、S22机器人的数据共享端点。本发明实施例中，由于机器人的数据共享模块能够建立多工的数据通道，因此S23机器人能够同时分别于S21机器人、S22机器人进行通信连接，共享彼此的网络健康状态数据。如此，三台机器人S21、S22和S23在近距离无线通信技术所对应的近距离通信范围内，就形成了一个本地的数据共享网络，通过这个共享网络机器人能实时得知该共享网络区域内所有机器人的整体网络状态，如此一来，就能排除个体机器人因为实际环境干扰、外部通信硬件状态不稳定等情况所导致的网络不稳定因素，准确测试机器人自身的网络状态。即便当机器人发生网络异常时，基于该机器人集群对应的共享网络也能够准确地判定出机器人发生网络故障的具体原因。
本发明机器人网络监控方法通过机器人本体采集自身的网络健康信息，同时，基于近距离通信技术，与机器人集群中预设范围内的其他机器人共享网络健康信息；机器人基于采集的自身网络健康信息和共享网络健康信息，按照预设规则，对机器人自身的网络状态进行实时分析和判断，识别机器人自身当前所处的网络质量；机器人同时与服务器进行数据通信，以供：服务器实时采集机器人对应的网络健康数据和/或接收机器人上报的网络健康数据，并根据机器人的所述网络健康数据，服务器对机器人的网络健康状态进行分析和判断，识别机器人的网络健康状态；达到了准确测试机器人集群的网络健康状态的目的，同时，完善了机器人的监控体系，提高了机器人网络故障的识别率与处理效率，保证了网络故障的及时发现与告警，同时也提升了机器人后期的维护和检修效率；进一步地，也在整体上提高了机器人集群的作业效率和可用性。
对应于上述实施例描述的机器人网络监控方法，本发明实施例还提供了一种机器人网络监控装置；如图4所示，图4是本发明机器人网络监控装置的一种实施方式的功能模块示意图；图2仅仅从功能上描述本发明一种机器人网络监控装置。
在图4所示的实施例中，所述机器人网络监控装置在功能上包括：
数据采集和共享模块100，用于采集机器人自身的网络健康信息，同时，基于近距离通信技术，与机器人集群中预设范围内的其他机器人共享网络健康信息；
数据研判模块200，用于基于采集的机器人自身网络健康信息和共享得到的所述共享网络健康信息，按照预设规则，对机器人自身的网络状态进行实时分析和判断，识别机器人自身当前所处的网络质量；
数据交互模块300，用于使得机器人在工作的同时能够与服务器进行数据通信，以供：服务器实时采集机器人对应的网络健康数据和/或接收机器人上报的网络健康数据，并根据机器人的所述网络健康数据，服务器对机器人的网络健康状态进行分析和判断，识别机器人的网络健康状态；其中，所述网络健康数据包括机器人自身采集的网络健康数据和/或机器人共享的网络健康数据。
在一个实施例中，所述数据研判模块200用于：
获取服务器对所述机器人网络健康状态的识别结果，并结合机器人识别得到的所述机器人自身当前所处的网络质量，综合评估机器人自身的网络健康状态。
在一个实施例中，所述数据交互模块300用于：
与服务器进行数据通信，以供服务器：
采集机器人所处的网络状态对应的网络健康数据，实时获取机器人自身的网络健康数据的同时，获取所述机器人共享得到的其他机器人的网络健康数据；
对获取到的所述网络健康数据进行数据处理，得到数据处理后的机器人网络数据；
将所述机器人网络数据以及与机器人相关的汇总数据进行结合，对机器人的网络监控状态进行分析，根据分析结果，得到机器人对应的网络健康状态信息。
在一个实施例中，所述数据交互模块300用于：
与服务器进行数据通信，以供服务器：
提供数据上报端点和状态获取端点，以供机器人根据所述数据上报端点实时上报机器人的网络健康信息，以及根据所述状态获取端点获取服务器分析得出的机器人网络健康状态信息。
在一个实施例中，所述数据交互模块300用于：
与服务器进行数据通信，以供服务器：
对获取得到的各机器人对应的所述网络健康数据进行汇总和整理；
按照预设数据筛选条件，对满足所述预设数据筛选条件的部分数据进行数据清洗和数据整理，保存至磁盘进行持久化存储；对不满足所述预设数据筛选条件的部分数据进行数据处理后缓存至内存中。
在一个实施例中，所述与机器人相关的汇总数据包括：
所述机器人对应仓库所在区域的汇总数据和/或机器人对应的全网的汇总数据；其中，所述汇总数据包括：所述仓库所在区域的区域网络质量、所述仓库所在区域对应的整体网络质量以及机器人平均硬件质量。
在一个实施例中，所述数据采集和共享模块100用于：
预先建立数据共享端点；
当所述机器人与其他机器人的距离达到预设近距离通信范围内时，所述机器人的数据共享端点探知到其他机器人的数据共享端点的存在，则自动进行连接，与其他机器人建立双向数据通道；
基于建立的双向数据通道，在所述预设近距离通信范围内，机器人之间实时彼此共享网络健康信息。
本发明机器人网络监控装置通过机器人本体采集自身的网络健康信息，同时，基于近距离通信技术，与机器人集群中预设范围内的其他机器人共享网络健康信息；机器人基于采集的自身网络健康信息和共享网络健康信息，按照预设规则，对机器人自身的网络状态进行实时分析和判断，识别机器人自身当前所处的网络质量；机器人同时与服务器进行数据通信，以供：服务器实时采集机器人对应的网络健康数据和/或接收机器人上报的网络健康数据，并根据机器人的所述网络健康数据，服务器对机器人的网络健康状态进行分析和判断，识别机器人的网络健康状态；达到了准确测试机器人集群的网络健康状态的目的，同时，完善了机器人的监控体系，提高了机器人网络故障的识别率与处理效率，保证了网络故障的及时发现与告警，同时也提升了机器人后期的维护和检修效率；进一步地，也在整体上提高了机器人集群的作业效率和可用性。
本发明还提供了一种电子设备，所述电子设备可以按照图1所述的机器人网络监控方法对机器人的网络健康状态进行实时监控。如图5所示，图5是本发明电子设备的一种实施方式的内部结构示意图。
在本实施例中，电子设备1可以是PC（Personal Computer，个人电脑），也可以是智能手机、平板电脑、便携计算机等终端设备。该电子设备1至少包括存储器11、处理器12，通信总线13，以及网络接口14。
其中，存储器11至少包括一种类型的可读存储介质，所述可读存储介质包括闪存、硬盘、多媒体卡、卡型存储器（例如，SD或DX存储器等）、磁性存储器、磁盘、光盘等。存储器11在一些实施例中可以是电子设备1的内部存储单元，例如该电子设备1的硬盘。存储器11在另一些实施例中也可以是电子设备1的外部存储设备，例如电子设备1上配备的插接式硬盘，智能存储卡（Smart Media Card, SMC），安全数字（Secure Digital, SD）卡，闪存卡（Flash Card）等。进一步地，存储器11还可以既包括电子设备1的内部存储单元也包括外部存储设备。存储器11不仅可以用于存储安装于电子设备1的应用软件及各类数据，例如机器人网络监控程序01的代码等，还可以用于暂时地存储已经输出或者将要输出的数据。
处理器12在一些实施例中可以是一中央处理器（Central Processing Unit, CPU）、控制器、微控制器、微处理器或其他数据处理芯片，用于运行存储器11中存储的程序代码或处理数据，例如执行机器人网络监控程序01等。
通信总线13用于实现这些组件之间的连接通信。
网络接口14可选的可以包括标准的有线接口、无线接口（如WI-FI接口），通常用于在该电子设备1与其他电子设备之间建立通信连接。
可选地，该电子设备1还可以包括用户接口，用户接口可包括显示器（Display）、输入单元比如键盘（Keyboard），可选的用户接口还可以包括标准的有线接口、无线接口。可选地，在一些实施例中，显示器可以是LED显示器、液晶显示器、触控式液晶显示器以及OLED（Organic Light-Emitting Diode，有机发光二极管）触摸器等。其中，显示器也可以适当的称为显示屏或显示单元，用于显示在电子设备1中处理的信息以及用于显示可视化的用户界面。
图5仅示出了具有组件11-14以及机器人网络监控程序01的电子设备1，本领域技术人员可以理解的是，图5示出的结构并不构成对电子设备1的限定，可以包括比图示更少或者更多的部件，或者组合某些部件，或者不同的部件布置。
基于图1至图4实施例的描述，在图5所示的电子设备1实施例中，存储器11中存储有机器人网络监控程序01；所述存储器11上存储的机器人网络监控程序01可在所述处理器12上运行，所述机器人网络监控程序01被所述处理器12运行时实现如下步骤：
机器人本体采集自身的网络健康信息，同时，基于近距离通信技术，与机器人集群中预设范围内的其他机器人共享网络健康信息；
机器人基于采集的自身网络健康信息和共享网络健康信息，按照预设规则，对机器人自身的网络状态进行实时分析和判断，识别机器人自身当前所处的网络质量；
机器人同时与服务器进行数据通信，以供：服务器实时采集机器人对应的网络健康数据和/或接收机器人上报的网络健康数据，并根据机器人的所述网络健康数据，服务器对机器人的网络健康状态进行分析和判断，识别机器人的网络健康状态；其中，所述网络健康数据包括机器人自身采集的网络健康数据和/或机器人共享的网络健康数据。
在一个实施例中，所述机器人网络监控程序01还可以被所述处理器12运行，以实现如下步骤：
获取服务器对所述机器人网络健康状态的识别结果，并结合机器人识别得到的所述机器人自身当前所处的网络质量，综合评估机器人自身的网络健康状态。
在一个实施例中，所述机器人网络监控程序01还可以被所述处理器12运行，以实现如下步骤：
与服务器进行数据通信，以供服务器：
采集机器人所处的网络状态对应的网络健康数据，实时获取机器人自身的网络健康数据的同时，获取所述机器人共享得到的其他机器人的网络健康数据；
对获取到的所述网络健康数据进行数据处理，得到数据处理后的机器人网络数据；
将所述机器人网络数据以及与机器人相关的汇总数据进行结合，对机器人的网络监控状态进行分析，根据分析结果，得到机器人对应的网络健康状态信息。
在一个实施例中，所述机器人网络监控程序01还可以被所述处理器12运行，以实现如下步骤：
与服务器进行数据通信，以供服务器：
提供数据上报端点和状态获取端点，以供机器人根据所述数据上报端点实时上报机器人的网络健康信息，以及根据所述状态获取端点获取服务器分析得出的机器人网络健康状态信息。
在一个实施例中，所述机器人网络监控程序01还可以被所述处理器12运行，以实现如下步骤：
与服务器进行数据通信，以供服务器：
对获取得到的各机器人对应的所述网络健康数据进行汇总和整理；
按照预设数据筛选条件，对满足所述预设数据筛选条件的部分数据进行数据清洗和数据整理，保存至磁盘进行持久化存储；对不满足所述预设数据筛选条件的部分数据进行数据处理后缓存至内存中。
在一个实施例中，所述与机器人相关的汇总数据包括：
所述机器人对应仓库所在区域的汇总数据和/或机器人对应的全网的汇总数据；其中，所述汇总数据包括：所述仓库所在区域的区域网络质量、所述仓库所在区域对应的整体网络质量以及机器人平均硬件质量。
在一个实施例中，所述机器人网络监控程序01还可以被所述处理器12运行，以所述基于近距离通信技术，与机器人集群中预设范围内的其他机器人共享网络健康信息，包括：
机器人预先建立数据共享端点；
当所述机器人与其他机器人的距离达到预设近距离通信范围内时，所述机器人的数据共享端点探知到其他机器人的数据共享端点的存在，则自动进行连接，与其他机器人建立双向数据通道；
基于建立的双向数据通道，在所述预设近距离通信范围内，机器人之间实时彼此共享网络健康信息。
此外，本发明实施例还提供了一种计算机存储介质，所述计算机存储介质上存储有机器人网络监控程序，所述机器人网络监控程序可以被一个或者多个处理器执行，以实现上述机器人网络监控方法。
本发明计算机可读存储介质具体实施方式与上述机器人网络监控方法和电子设备对应的各实施例的实施原理基本相同，在此不作累述。
本领域内的技术人员应明白，本发明的实施例可提供为方法、系统、或计算机程序产品。因此，本发明可采用完全硬件实施例、完全软件实施例、或结合软件和硬件方面的实施例的形式。
显然，本领域的技术人员可以对本发明进行各种改动和变型而不脱离本发明的精神和范围。这样，倘若本发明的这些修改和变型属于本发明权利要求及其等同技术的范围之内，则本发明也意图包含这些改动和变型在内。
 工业实用性
本发明实施例通过机器人本体采集自身的网络健康信息，同时，基于近距离通信技术，与机器人集群中预设范围内的其他机器人共享网络健康信息；机器人基于采集的自身网络健康信息和共享网络健康信息，按照预设规则，对机器人自身的网络状态进行实时分析和判断，识别机器人自身当前所处的网络质量；机器人同时与服务器进行数据通信，以供：服务器实时采集机器人对应的网络健康数据和/或接收机器人上报的网络健康数据，并根据机器人的所述网络健康数据，服务器对机器人的网络健康状态进行分析和判断，识别机器人的网络健康状态；达到了准确测试机器人集群的网络健康状态的目的，同时，完善了机器人的监控体系，提高了机器人网络故障的识别率与处理效率，保证了网络故障的及时发现与告警，同时也提升了机器人后期的维护和检修效率；进一步地，也在整体上提高了机器人集群的作业效率和可用性。

Claims (10)

  1. 一种机器人网络监控方法，包括：
    机器人本体采集自身的网络健康信息，同时，基于近距离通信技术，与机器人集群中预设范围内的其他机器人共享网络健康信息；
    机器人基于采集的自身网络健康信息和共享网络健康信息，按照预设规则，对机器人自身的网络状态进行实时分析和判断，识别机器人自身当前所处的网络质量；
    机器人同时与服务器进行数据通信，以供：服务器实时采集机器人对应的网络健康数据和/或接收机器人上报的网络健康数据，并根据机器人的所述网络健康数据，服务器对机器人的网络健康状态进行分析和判断，识别机器人的网络健康状态；其中，所述网络健康数据包括机器人自身采集的网络健康数据和/或机器人共享的网络健康数据。
  2. 如权利要求1所述的机器人网络监控方法，其中，所述机器人网络监控方法还包括：
    机器人获取服务器对所述机器人网络健康状态的识别结果，并结合机器人识别得到的所述机器人自身当前所处的网络质量，综合评估机器人自身的网络健康状态。
  3. 如权利要求1所述的机器人网络监控方法，其中，所述机器人网络监控方法还包括：
    服务器采集机器人所处的网络状态对应的网络健康数据，实时获取机器人自身的网络健康数据的同时，获取所述机器人共享得到的其他机器人的网络健康数据；
    服务器对获取到的所述网络健康数据进行数据处理，得到数据处理后的机器人网络数据；
    服务器将所述机器人网络数据以及与机器人相关的汇总数据进行结合，对机器人的网络监控状态进行分析，根据分析结果，得到机器人对应的网络健康状态信息。
  4. 如权利要求3所述的机器人网络监控方法，其中，所述机器人网络监控方法还包括：
    服务器提供数据上报端点和状态获取端点，以供机器人根据所述数据上报端点实时上报机器人的网络健康信息，以及根据所述状态获取端点获取服务器分析得出的机器人网络健康状态信息。
  5. 如权利要求3所述的机器人网络监控方法，其中，所述服务器对获取到的所述网络健康数据进行数据处理，得到数据处理后的机器人网络数据，包括：
    服务器对获取得到的各机器人对应的所述网络健康数据进行汇总和整理；
    按照预设数据筛选条件，对满足所述预设数据筛选条件的部分数据进行数据清洗和数据整理，保存至磁盘进行持久化存储；对不满足所述预设数据筛选条件的部分数据进行数据处理后缓存至内存中。
  6. 如权利要求3所述的机器人网络监控方法，其中，所述与机器人相关的汇总数据包括：
    所述机器人对应仓库所在区域的汇总数据和/或机器人对应的全网的汇总数据；其中，所述汇总数据包括：所述仓库所在区域的区域网络质量、所述仓库所在区域对应的整体网络质量以及机器人平均硬件质量。
  7. 如权利要求1至6任一项所述的机器人网络监控方法，其中，所述基于近距离通信技术，与机器人集群中预设范围内的其他机器人共享网络健康信息，包括：
    机器人预先建立数据共享端点；
    当所述机器人与其他机器人的距离达到预设近距离通信范围内时，所述机器人的数据共享端点探知到其他机器人的数据共享端点的存在，则自动进行连接，与其他机器人建立双向数据通道；
    基于建立的双向数据通道，在所述预设近距离通信范围内，机器人之间实时彼此共享网络健康信息。
  8. 一种机器人网络监控装置，包括：
    数据采集和共享模块，用于采集机器人自身的网络健康信息，同时，基于近距离通信技术，与机器人集群中预设范围内的其他机器人共享网络健康信息；
    数据研判模块，用于基于采集的机器人自身网络健康信息和共享得到的所述共享网络健康信息，按照预设规则，对机器人自身的网络状态进行实时分析和判断，识别机器人自身当前所处的网络质量；
    数据交互模块，用于使得机器人在工作的同时能够与服务器进行数据通信，以供：服务器实时采集机器人对应的网络健康数据和/或接收机器人上报的网络健康数据，并根据机器人的所述网络健康数据，服务器对机器人的网络健康状态进行分析和判断，识别机器人的网络健康状态；其中，所述网络健康数据包括机器人自身采集的网络健康数据和/或机器人共享的网络健康数据。
  9. 一种电子设备，包括存储器和处理器，所述存储器上存储有可在所述处理器上运行的机器人网络监控程序，所述机器人网络监控程序被所述处理器运行时，执行如权利要求1至7中任一项所述的机器人网络监控方法。
  10. 一种计算机存储介质，所述存储介质上存储有机器人网络监控程序，所述机器人网络监控程序可以被一个或者多个处理器执行，以实现如权利要求1至7中任一项所述的机器人网络监控方法的步骤。
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