WO2018120079A1

WO2018120079A1 - Robot control device, method, system and computer program product

Info

Publication number: WO2018120079A1
Application number: PCT/CN2016/113646
Authority: WO
Inventors: 董孔明
Original assignee: 深圳前海达闼云端智能科技有限公司
Priority date: 2016-12-30
Filing date: 2016-12-30
Publication date: 2018-07-05
Also published as: CN106796666B; CN106796666A

Abstract

A robot control device, method, system and computer program product. The device (200) comprises: a parent cloud brain module (210) and a child cloud brain module (220); the parent cloud brain module is used on a parent server to provide pre-determined general functionality to a remote robot; the child cloud brain module is used on a child server to provide pre-determined basic functionality to the remote robot; said general functionality comprises said basic functionality; the device also comprises a control module (230), used on control equipment to select a server from among the parent server and the child server to serve the remote robot according to a set strategy. The present technical solution better protects parent cloud brain security, thereby ensuring stability of the present robot control system.

Description

机器人控制装置、方法、***及计算机程序产品Robot control device, method, system and computer program product

技术领域Technical field

本申请涉及机器人控制领域，特别是涉及一种机器人控制装置、方法、***及计算机程序产品。The present application relates to the field of robot control, and in particular to a robot control device, method, system and computer program product.

背景技术Background technique

目前，在越演越烈的人工智能时代，云大脑概念被提出，随之而来出现了云机器人，云机器人是云计算和机器人学的结合，云机器人一般采用终端机器人本体和云大脑模块相结合的方式。终端机器人本体主要负责与用户及周边环境的交互，云大脑模块主要负责复杂的智能处理。这种云机器人解决了传统机器人计算和存储能力低、复杂通信时不易管理等诸多问题。At present, in the era of more and more artificial intelligence, the concept of cloud brain has been proposed, and cloud robots have emerged. Cloud robots are a combination of cloud computing and robotics. Cloud robots generally use terminal robot ontology and cloud brain modules. The way to combine. The terminal robot body is mainly responsible for interaction with the user and the surrounding environment, and the cloud brain module is mainly responsible for complex intelligent processing. This kind of cloud robot solves many problems such as low computational and storage capacity of traditional robots and difficulty in management in complex communication.

发明人在实现本申请的过程中，发现相关技术存在以下问题：由于所有的机器人本体都受母体云大脑控制，当母体云大脑出现任何严重异常时，所有机器人本体的功能都将受到影响，且绝大部分功能都将停滞，这不仅损害了客户的利益，也同时损害了开发商的利益。然而，还没有一种合适的方法能够有效的保护母体云大脑。In the process of implementing the present application, the inventors have found that the related art has the following problems: since all robot bodies are controlled by the parent cloud brain, when any serious abnormality occurs in the parent cloud brain, the functions of all the robot bodies will be affected, and Most of the functions will be stagnant, which not only damages the interests of the customers, but also harms the interests of the developers. However, there is no suitable method to effectively protect the maternal cloud brain.

发明内容Summary of the invention

本申请实施例主要解决的技术问题是提供一种机器人控制装置、方法、***及计算机程序产品，主要用以解决相关技术中控制机器人的母体云大脑容易被破坏的问题。The technical problem to be solved by the embodiments of the present application is to provide a robot control device, a method, a system, and a computer program product, which are mainly used to solve the problem that the parent cloud cloud of the control robot is easily destroyed in the related art.

为解决上述技术问题，本申请实施例采用的一个技术方案是：提供一种机器人控制装置，包括：母体云大脑模块和子体云大脑模块；所述母体云大脑模块用于在母体服务器处，向远程机器人提供预设的通用功能；所述子体云大脑模块用于在子体服务器处，向所述远程机器人提供预设的基础功能，所述通用功能包括所述基础功能；该装置还包括控制模块，用于在控制设备处，根据设定策略从所述母体服务器和所述子体服务器中选择为所述远程机器人服务的服务器。In order to solve the above technical problem, a technical solution adopted by the embodiment of the present application is to provide a robot control device, including: a mother cloud brain module and a daughter cloud brain module; the parent cloud brain module is used at the parent server, The remote robot provides a preset universal function; the child cloud brain module is configured to provide a preset basic function to the remote robot at the child server, the universal function including the basic function; the device further includes a control module, configured to select, at the control device, a service serving the remote robot from the parent server and the child server according to a setting policy Server.

为解决上述技术问题，本申请实施例采用的另一个技术方案是：提供一种机器人控制方法，包括：在母体服务器处，向远程机器人提供预设的通用功能；In order to solve the above technical problem, another technical solution adopted by the embodiment of the present application is to provide a robot control method, including: providing a preset universal function to a remote robot at a parent server;

在子体服务器处，向所述远程机器人提供预设的基础功能；Providing a preset basic function to the remote robot at the child server;

在控制设备处，根据设定策略从所述母体服务器和所述子体服务器中选择为所述远程机器人服务的服务器。At the control device, a server serving the remote robot is selected from the parent server and the child server according to a setting policy.

为解决上述技术问题，本申请实施例采用的又一个技术方案是：提供一种机器人控制***，包括：母体服务器、子体服务器及控制设备；In order to solve the above technical problem, another technical solution adopted by the embodiment of the present application is to provide a robot control system, including: a mother server, a child server, and a control device;

所述母体服务器包括第一通信模组、第一存储器以及耦合至所述第一通信模组和第一存储器的第一处理器，所述第一存储器存储有可被所述第一处理器执行的指令程序，所述指令程序被所述第一处理器执行，以使所述第一处理器能够执行如上所述装置中在所述母体服务器处执行的步骤；The parent server includes a first communication module, a first memory, and a first processor coupled to the first communication module and a first memory, the first memory being stored for execution by the first processor An instruction program executed by the first processor to enable the first processor to perform the steps performed at the parent server in the apparatus as described above;

所述子体服务器包括第二通信模组、第二存储器以及耦合至所述第二通信模组和第二存储器的第二处理器，所述第二存储器存储有可被所述第二处理器执行的指令程序，所述指令程序被所述第二处理器执行，以使所述第二处理器能够执行如上所述装置中在所述子体服务器处执行的步骤；The child server includes a second communication module, a second memory, and a second processor coupled to the second communication module and the second memory, the second memory being stored with the second processor An executed instruction program executed by the second processor to enable the second processor to perform the steps performed at the child server in the apparatus as described above;

所述控制设备包括第三通信模组、第三存储器以及耦合至所述第三通信模组和第三存储器的第三处理器，所述第三存储器存储有可被所述第三处理器执行的指令程序，所述指令程序被所述第三处理器执行，以使所述第三处理器能够执行如上所述装置中在所述控制设备处执行的步骤；The control device includes a third communication module, a third memory, and a third processor coupled to the third communication module and a third memory, the third memory being stored for execution by the third processor An instruction program executed by the third processor to enable the third processor to perform the steps performed at the control device in the apparatus as described above;

其中，所述母体服务器的第一通信模组、所述子体服务器的第二通信模组均与所述控制设备的第三通信模组相连；所述母体服务器与所述子体服务器逻辑隔离。The first communication module of the parent server and the second communication module of the child server are all connected to a third communication module of the control device; the parent server is logically isolated from the child server .

为解决上述技术问题，本申请实施例采用的又一个技术方案是：提供一种计算机程序产品，所述计算机程序产品包括存储在非易失性计算机可读存储介质上的计算机程序，所述计算机程序包括程序指令，当所述程序指令被计算机执行时，使所述计算机执行如上所述的方法。In order to solve the above technical problem, another technical solution adopted by the embodiment of the present application is to provide a computer program product, the computer program product comprising a computer program stored on a non-transitory computer readable storage medium, the computer The program includes program instructions that, when executed by a computer, cause the computer to perform the method as described above.

本申请实施例提供了一种机器人控制装置、方法、***及计算机程序产品，区别于现有技术的情况，本申请实施例中，将控制机器人的云大脑进行了划分，划分为母体云大脑和子体云大脑，母体云大脑具有预设的通用功能，能够对所有的机器人进行控制，子体云大脑具有预设的基础功能，能够对所有机器人进行一些基本的控制，母体云大脑与子体云大脑之间逻辑隔离并且二者控制的机器人可以相互切换，通过这种划分，能够更好的保护母体云大脑的安全，从而确保了该机器人控制***的稳定性。The embodiment of the present application provides a robot control device, a method, a system, and a computer program product. Different from the prior art, in the embodiment of the present application, the cloud brain of the control robot is divided into a parent cloud brain and a child. The body cloud brain, the mother cloud brain has a preset universal function, able to Some robots control, the child cloud brain has a preset basic function, can perform some basic control on all the robots, the logical isolation between the parent cloud brain and the daughter cloud brain and the robots controlled by the two can switch each other through This division can better protect the safety of the mother cloud brain, thus ensuring the stability of the robot control system.

附图说明DRAWINGS

一个或多个实施例通过与之对应的附图中的图片进行示例性说明，这些示例性说明并不构成对实施例的限定，附图中具有相同参考数字标号的元件表示为类似的元件，除非有特别申明，附图中的图不构成比例限制。The one or more embodiments are exemplified by the accompanying drawings in the accompanying drawings, and FIG. The figures in the drawings do not constitute a scale limitation unless otherwise stated.

图1是本申请实施例提供的一种机器人控制装置的结构示意图；1 is a schematic structural diagram of a robot control apparatus according to an embodiment of the present application;

图2是本申请另一实施例提供的一种机器人控制装置的结构示意图；2 is a schematic structural diagram of a robot control apparatus according to another embodiment of the present application;

图3是本申请实施例提供的一种机器人控制方法的流程示意图；3 is a schematic flow chart of a robot control method according to an embodiment of the present application;

图4是本申请另一实施例提供的一种机器人控制方法的流程示意图；4 is a schematic flow chart of a robot control method according to another embodiment of the present application;

图5是本申请又一实施例提供的一种机器人控制方法的流程示意图；FIG. 5 is a schematic flowchart of a robot control method according to another embodiment of the present application; FIG.

图6是本申请实施例提供的一种机器人控制***的结构示意图。FIG. 6 is a schematic structural diagram of a robot control system according to an embodiment of the present application.

具体实施方式detailed description

为了使本申请的目的、技术方案及优点更加清楚明白，以下结合附图及实施例，对本申请进行进一步详细说明。应当理解，此处所描述的具体实施例仅用以解释本申请，并不用于限定本申请。In order to make the objects, technical solutions, and advantages of the present application more comprehensible, the present application will be further described in detail below with reference to the accompanying drawings and embodiments. It is understood that the specific embodiments described herein are merely illustrative of the application and are not intended to be limiting.

传统机器人在执行即时定位和地图构建、物品抓取、定位导航等任务时，大量数据的获取和计算的执行会给机器人本身带来巨大的存储和计算压力。基于此，***梅隆大学于2010年首次提出了“云机器人”的概念。云机器人即是云计算与机器人学的结合，如同其他网络终端一样，机器人本身不需要存储所有资料信息或具备超强的计算能力，只是在需要的时候可以连接相关服务器并获得所需信息。与传统机器人相比，云机器人具有更强的存储和计算能力，并且学习能力更强，机器人之间共享资源更方便，减少了开发人员重复工作时间。When performing traditional positioning and map construction, item capture, positioning and navigation tasks, the execution of large amounts of data and calculations will bring huge storage and computational pressure to the robot itself. Based on this, Carnegie Mellon University first proposed the concept of “cloud robot” in 2010. Cloud robots are a combination of cloud computing and robotics. Like other network terminals, the robot itself does not need to store all the information or has superior computing power. It can connect to the relevant server and obtain the required information when needed. Compared with traditional robots, cloud robots have stronger storage and computing capabilities, and have stronger learning ability. It is more convenient to share resources between robots and reduce the repetitive working time of developers.

云机器人是“大脑在云端”，即云大脑，由云大脑动态地计算为机器人分配资源，机器人通过网络获取处理后的结果。通常情况下，由一个云大脑来控制所有连接的机器人，假如一个云大脑控制的机器人的数量为百万级，当该云大脑出现任何异常时，不仅会影响到所有机器人的功能而且给用户和运营商带来极大的损失。因此，在云大脑部署上需要重点考虑稳定性和安全性的问题，特别是在互联网飞速发展的当代，安全性的作用尤其重要。The cloud robot is "the brain is in the cloud", that is, the cloud brain. The cloud brain dynamically calculates the resources allocated to the robot, and the robot obtains the processed result through the network. Usually, a cloud brain controls all connected robots, if the number of robots controlled by a cloud brain is one million, when the cloud is large When any abnormality occurs in the brain, it not only affects the functions of all the robots, but also causes great losses to users and operators. Therefore, the deployment of cloud brain needs to focus on stability and security issues, especially in the modern era of rapid development of the Internet, the role of security is particularly important.

基于上述考虑，本申请实施例提供了一种机器人控制装置。图1是该机器人控制装置的结构示意图，如图1所示，该装置200包括：母体云大脑模块210、子体云大脑模块220以及控制模块230，其中，子体云大脑模块220在数量上至少包含一个。Based on the above considerations, the embodiment of the present application provides a robot control apparatus. 1 is a schematic structural diagram of the robot control device. As shown in FIG. 1, the device 200 includes a mother cloud brain module 210, a daughter cloud brain module 220, and a control module 230, wherein the daughter cloud brain module 220 is in quantity. At least one.

在本实施例中，该母体云大脑模块210与子体云大脑模块220之间逻辑隔离，所谓逻辑隔离即两者存在物理上数据通道连线，但通过技术手段保证被隔离的两者没有数据通道，只有在***被要求时才可以传输数据。通过将母体云大脑模块和子体云大脑模块进行逻辑隔离，确保了母体云大脑模块与子体云大脑模块之间彼此不受干扰，当其中一个遭受攻击时也不会影响到另一个的正常使用，整体上保证了***的稳定性。In this embodiment, the parent cloud brain module 210 and the child cloud brain module 220 are logically isolated. The so-called logical isolation means that there is physical data channel connection between the two, but the technical means ensures that the two are not separated. Channels can only transmit data when the system is required. By logically isolating the parent cloud brain module and the daughter cloud brain module, it is ensured that the parent cloud brain module and the child cloud brain module are not interfered with each other, and when one of them is attacked, it will not affect the normal use of the other. The overall stability of the system is guaranteed.

该母体云大脑模块210用于在母体服务器处，向远程机器人提供预设的通用功能，该母体服务器可以是一台服务器，也可以是服务器集群，其包含所有机器人能够使用的、该通用功能对应的应用接口，从而使该母体云大脑模块210能够根据该预设的通用功能控制其连接的远程机器人。其中，该通用功能指的是，在该控制机器人的***中，由母体云大脑模块210控制所述机器人时，所述机器人能够全部执行的功能，该全部执行的功能包括：服务查询(例如航班查询、天气查询、旅游查询、地图查询等)；自动控制且可重复编程、有多个自由度、可固定或运动(例如自动化***中使用的机器人)；学习功能且自动重复所学的动作的功能；语音识别及语音理解功能；图像识别功能；环境适应功能；娱乐功能(例如唱歌、跳舞等)；微操作功能(例如医用机器人)；军用功能等等。The parent cloud brain module 210 is configured to provide a preset universal function to the remote robot at the parent server. The parent server may be a server or a server cluster, and the universal function corresponding to all the robots can be used. The application interface enables the parent cloud brain module 210 to control the remote robot to which it is connected according to the preset universal function. Wherein, the universal function refers to a function that the robot can perform all when the robot is controlled by the parent cloud brain module 210 in the system of the control robot, and the all performed functions include: a service query (eg, a flight) Query, weather query, travel query, map query, etc.; automatic control and reprogrammable, multiple degrees of freedom, fixed or motion (eg robots used in automated systems); learning functions and automatic repetition of learned actions Function; speech recognition and speech understanding function; image recognition function; environment adaptation function; entertainment function (such as singing, dancing, etc.); micro-operation function (such as medical robot); military function and so on.

需要说明的是，所述全部执行的功能是预先设置在所述***中的功能，可以根据***控制的所述机器人的服务领域等特征来增加或删除功能。It should be noted that the all-executed functions are functions preset in the system, and the functions may be added or deleted according to features such as the service area of the robot controlled by the system.

该子体云大脑模块220用于在子体服务器处，向所述远程机器人提供预设的基础功能，该子体服务器可以是一台服务器，也可以是服务器集群，其包含所有机器人能够使用的、该基础功能对应的应用接口，从而使该子体云大脑模块220能够根据该预设的基础功能控制其连接的远程机器人。其中，该基础功能指的是，在该控制机器人的***中，由子体云大脑模块220控制所述机器人时，所述机器人能够执行的一些基本的操作，例如，前进、后退、左转弯、右转弯、停止、抓取物体、发出声音等。The child cloud brain module 220 is configured to provide a preset basic function to the remote robot at the child server, and the child server may be a server or a server cluster, which can be used by all the robots. The application interface corresponding to the basic function, so that the child cloud brain module 220 can control the remote robot connected thereto according to the preset basic function. Among them, the basic work It can be said that in the system for controlling the robot, when the robot is controlled by the child cloud brain module 220, the basic operations that the robot can perform, for example, forward, backward, left turn, right turn, stop, Grab objects, make sounds, etc.

可以理解的是，所述母体云大脑模块210控制的机器人能够执行所述***下的全部功能，即所述通用功能包括所述基础功能。It will be appreciated that the robot controlled by the parent cloud brain module 210 is capable of performing all of the functions under the system, i.e., the generic functions include the basic functions.

在本申请的一些可选实施例中，该子体云大脑模块220还具有预设的专属功能，子体云大脑模块220根据该预设的专属功能控制所述机器人执行所述专属功能对应的操作，该预设的专属功能是为了满足某群体客户的需求，专属定制的一些功能，且不对其他广大机器人开放的功能，该专属功能具体的由客户需求来确定，在此不做限定。In some optional embodiments of the present application, the child cloud brain module 220 further has a preset exclusive function, and the child cloud brain module 220 controls the robot to perform the exclusive function according to the preset exclusive function. Operation, the preset exclusive function is to meet the needs of a certain group of customers, exclusive customization of some functions, and is not open to other robots. The exclusive function is determined by the customer's needs, and is not limited here.

例如，为盲人客户群体专属设置的导盲功能，可以在某一子体云大脑模块中添加该导盲功能的云服务应用，从而由该子体云大脑模块控制对应的机器人，以帮助用户导盲。For example, for the blind customer function set by the blind customer group, the cloud service application of the blind function can be added to a certain cloud cloud brain module, so that the corresponding cloud robot module controls the corresponding robot to help the user guide blind.

例如，为老人客户群体专属设置的陪护功能，该陪护功能包括与老人进行娱乐交互、老人出现意外情况时报警等，可以在某一子体云大脑模块中添加该陪护功能的云服务应用，从而由该子体云大脑模块控制对应的机器人，以陪护老人群体。For example, an accompanying function specially set for an elderly customer group, the accompanying function includes an entertainment interaction with an elderly person, an alarm when an elderly person has an unexpected situation, etc., and the cloud service application of the accompanying function can be added to a child cloud brain module, thereby The corresponding robot is controlled by the child cloud brain module to accompany the elderly group.

该控制模块230，用于在控制设备处，根据设定策略从所述母体服务器和所述子体服务器中选择为所述远程机器人服务的服务器，即为所述远程机器人分配合适的服务器，具体是分配母体服务器还是分配子体服务器由预设的策略来决定，可以为全部的远程机器人分配母体服务器，也可以部分分配母体服务器，部分(比如提供专属功能服务的机器人)分配子体服务器。如果提供母体服务器给所述远程机器人，则该远程机器人由母体云大脑控制，即能够执行预设的通用功能；如果提供子体服务器给所述远程机器人，则该远程机器人由子体云大脑控制，即能够执行预设的基础功能。The control module 230 is configured to select, at the control device, a server serving the remote robot from the parent server and the child server according to a setting policy, that is, assign a suitable server to the remote robot, specifically Whether the allocation of the parent server or the allocation of the child server is determined by a preset policy, the parent server may be allocated for all the remote robots, or the parent server may be partially allocated, and some (such as a robot providing a dedicated function service) to allocate the child server. If the parent server is provided to the remote robot, the remote robot is controlled by the parent cloud brain, that is, capable of performing a preset universal function; if the child server is provided to the remote robot, the remote robot is controlled by the child cloud brain. That is, the basic functions of the preset can be executed.

在本实施例中，该母体云大脑模块210和子体云大脑模块220均以虚拟的形式部署在云端。例如，可以在云端网络中部署若干虚拟私有云(Virtual Private Cloud，VPC)，划分一个或部分VPC网络作为所述母体云大脑模块，并配置全部功能的云服务应用，其余的VPC网络可以根据机器人行业或者功能单独划分，比如家庭保姆机器人、巡逻机器人、接待机器人等，根据需要的基础功能的不同，划分对应的子体云大脑模块，并安装基本的云服务应用，全部的VPC网络组成一个机器人控制装置。其中，划分的VPC网络之间逻辑隔离，可以采用沙箱的方式进行逻辑隔离，每一划分的VPC都在一个沙箱中，沙箱之间无可连接通道。沙箱是一种按照安全策略限制程序行为的执行环境，将划分的母体云大脑模块和子体云大脑模块放在沙箱中能够提高所述***的安全性。该控制模块230可以作为其中一个软件或者硬件功能单元，独立的部署在控制设备上，也可以作为整合在控制设备中的其中一个功能模块，用以根据设定策略从所述母体服务器和所述子体服务器中选择为所述远程机器人服务的服务器，其中，该控制设备可以是计算机等电子设备。In this embodiment, the parent cloud brain module 210 and the child cloud brain module 220 are all deployed in the cloud in a virtual form. For example, a virtual private cloud (VPC) may be deployed in the cloud network, one or a part of the VPC network may be divided into the parent cloud cloud module, and all functional cloud service applications may be configured, and the remaining VPC networks may be based on the robot. Industry or function is divided separately, such as family nanny robots, patrol robots, reception robots, etc., according to the basic functions required Similarly, the corresponding sub-cloud cloud module is divided and basic cloud service applications are installed, and all VPC networks form a robot control device. The logical isolation between the divided VPC networks can be logically isolated by using a sandbox. Each divided VPC is in a sandbox, and there is no connectable channel between the sandboxes. The sandbox is an execution environment that restricts the behavior of the program according to a security policy. The partitioning of the parent cloud brain module and the daughter cloud brain module in the sandbox can improve the security of the system. The control module 230 can be deployed as a software or hardware functional unit independently on the control device, or as one of the functional modules integrated in the control device, and configured from the parent server and according to the setting policy. A server serving the remote robot is selected among the child servers, wherein the control device may be an electronic device such as a computer.

本申请实施例提供了一种机器人控制装置，该装置将传统的云机器人的云大脑进行了划分，划分成母体云和子体云两部分，并为母体云和子体云配置不同的功能，通过这种划分，一方面，整体上能够保证***的稳定性和安全性，另一方面，能够更好的满足客户需求，定制不同的控制机器人的***，提升了用户体验。The embodiment of the present application provides a robot control device, which divides a cloud brain of a traditional cloud robot into two parts, a parent cloud and a child cloud, and configures different functions for the parent cloud and the child cloud. On the one hand, the system can ensure the stability and security of the system as a whole. On the other hand, it can better meet the needs of customers, customize different systems for controlling robots, and improve the user experience.

在一些实施例中，所述母体云大脑模块210还用于向所述远程机器人提供高人气服务需求对应的功能。其中，该高人气服务需求即广大客户都希望能够提供的需求，是用户对所述机器人的所有服务需求中用户需求数量最高的服务需求，该高人气服务需求应当区别客户的基本需求，可以结合客户需求和机器人的实施环境来评估出该高人气服务需求，例如，扫地机器人除了具备必备的扫地功能外还具有看家功能等，也可以以当时的流行元素来评估出该高人气服务需求，例如，使所述机器人具备自动播放当前热播剧的功能等。在确定所述高人气服务需求后，在母体云大脑模块中安装该高人气服务需求对应的云服务应用。In some embodiments, the parent cloud brain module 210 is also used to provide the remote robot with functionality corresponding to high popularity service requirements. Among them, the demand for high popularity service, that is, the demand that the majority of customers hope to provide, is the service demand that the user has the highest demand for all the service demands of the robot, and the high popularity service demand should distinguish the basic needs of the customer and can be combined. Customer demand and the implementation environment of the robot to evaluate the demand for high popularity services. For example, the sweeping robot has a housekeeping function in addition to the necessary sweeping function, and can also evaluate the high popularity service demand with the popular elements at that time. For example, the robot is provided with a function of automatically playing a current hit show, and the like. After determining the high popularity service demand, the cloud service application corresponding to the high popularity service demand is installed in the parent cloud brain module.

进一步地，所述子体云大脑模块220也用于向所述远程机器人提供所述高人气服务需求对应的功能。当所述母体云大脑模块中的该高人气服务需求对应的功能遭到破坏时，可以将当前的机器人切换至由子体云大脑模块控制，从而，通过备份的功能使机器人继续执行相应的操作。与此同时，可以对母体云大脑模块进行故障排查，母体云大脑模块恢复正常后再切换回所述母体云大脑模块。Further, the child cloud brain module 220 is also used to provide the remote robot with the function corresponding to the high popularity service demand. When the function corresponding to the high popularity service demand in the parent cloud brain module is destroyed, the current robot can be switched to be controlled by the child cloud brain module, so that the function of the backup enables the robot to continue to perform the corresponding operation. At the same time, the maternal cloud brain module can be trouble-shooted, and the maternal cloud brain module returns to normal before switching back to the maternal cloud brain module.

需要说明的是，除了对所述高人气服务需求进行备份之外，还可以对客户的一些特别需求或者一些重要需求进行备份，在子体云大脑模块中备份的需求可以添加、删除。It should be noted that in addition to backing up the high popularity service requirements, some special needs or some important requirements of the customer can be backed up, and the requirements for backup in the child cloud brain module are required. Can be added, deleted.

在本实施例中，通过在子体云大脑模块对母体云大脑模块的一些重要功能进行备份，一方面，确保了该装置运行的稳定性，使机器人不至于直接进入不能工作的状态，另一方面，为修复母体云大脑模块提供了一个缓冲的时间，使该装置能够平滑的恢复至正常状态，提升了用户体验。In this embodiment, by backing up some important functions of the parent cloud brain module in the daughter cloud brain module, on the one hand, the stability of the device operation is ensured, so that the robot does not directly enter the inoperable state, and the other On the other hand, it provides a buffering time for repairing the parent cloud brain module, which enables the device to smoothly return to the normal state and improve the user experience.

在一些实施例中，如图2所示，所述机器人控制装置与图1的区别在于，所述控制模块230还包括监控单元和切换单元。所述监控单元分别连接母体云大脑模块和切换单元，所述切换单元分别连接所述母体云大脑模块210和所述子体云大脑模块220。In some embodiments, as shown in FIG. 2, the robot control device differs from FIG. 1 in that the control module 230 further includes a monitoring unit and a switching unit. The monitoring unit is respectively connected to the parent cloud brain module and the switching unit, and the switching unit is respectively connected to the parent cloud brain module 210 and the child cloud brain module 220.

其中，所述监控单元用于监控所述母体云大脑模块控制的机器人；所述切换单元用于当所述母体云大脑模块控制的机器人处于异常状态时，切换所述母体云大脑模块控制的机器人至所述子体云大脑模块，由所述子体云大脑模块控制所述机器人。The monitoring unit is configured to monitor a robot controlled by the parent cloud brain module; the switching unit is configured to switch the robot controlled by the parent cloud brain module when the robot controlled by the parent cloud brain module is in an abnormal state To the daughter cloud brain module, the robot is controlled by the daughter cloud brain module.

其中，将母体云大脑模块控制的机器人切换至子体云大脑模块时，可以根据所述机器人的服务对象将所述母体云大脑模块控制的机器人切换至所述服务对象对应的子体云大脑模块。例如，所述机器人是家庭型机器人，则可以将该机器人切换至控制家庭型机器人的子体云大脑模块下；所述机器人是娱乐型机器人，则可以将该机器人切换至控制娱乐型机器人的子体云大脑模块下，等。需要说明的是，该子体云大脑模块包含多个，且每个子体云大脑模块根据服务对象的不同分别具备不同的基础功能。通过这种切换操作的设置，使切换至子体云大脑模块下的机器人适应性更强，从而能更好的执行基础操作。When the robot controlled by the parent cloud brain module is switched to the child cloud brain module, the robot controlled by the parent cloud brain module can be switched to the child cloud brain module corresponding to the service object according to the service object of the robot. . For example, if the robot is a family robot, the robot can be switched to a sub-cloud brain module that controls the home robot; if the robot is an entertainment robot, the robot can be switched to a child controlling the entertainment robot. Body cloud brain module, and so on. It should be noted that the daughter cloud brain module includes multiple, and each child cloud brain module has different basic functions according to different service objects. Through the setting of this switching operation, the robot switched to the brain module of the child cloud is more adaptable, so that the basic operation can be performed better.

此外，所述监控单元还用于监控所述母体云大脑模块210和所述子体云大脑模块控制的机器人，所述切换单元用于当所述子体云大脑模块控制的机器人恢复正常且所述母体云大脑模块为正常状态时，切换所述子体云大脑模块控制的机器人至所述母体云大脑模块，由所述母体云大脑模块控制所述机器人。在这里，由监控单元对整个***各部分进行全面监控，及时的将恢复至正常的机器人切换回母体云大脑模块210下，使机器人能够尽快的继续发挥其具备的功能，能尽可能的缩小***损失，提升用户体验。In addition, the monitoring unit is further configured to monitor the parent cloud cloud brain module 210 and the robot controlled by the child cloud brain module, and the switching unit is configured to restore the normal robot and the robot controlled by the child cloud brain module When the parent cloud brain module is in a normal state, the robot controlled by the daughter cloud brain module is switched to the parent cloud brain module, and the robot is controlled by the parent cloud brain module. Here, the monitoring unit comprehensively monitors all parts of the whole system, and timely restores the normal robot to the parent cloud cloud module 210, so that the robot can continue to play its functions as soon as possible, and can reduce the system as much as possible. Loss and enhance the user experience.

其中，在切换异常情况的机器人的同时，所述***对机器人的异常情况进行分析，以确定异常，并确定母体云大脑模块是否已遭受破坏，所述***根据确定的异常结果对故障进行自动修复，或者通过人工对该异常进行修复，具体的修复方法在相关技术中均有介绍，在此不做限定。Wherein, while switching the abnormal situation of the robot, the system analyzes the abnormal condition of the robot to determine the abnormality, and determines whether the parent cloud brain module has been damaged, the system is based on The abnormal result is automatically repaired, or the abnormality is repaired manually. The specific repair method is described in the related art, and is not limited herein.

其中，所述异常状态包括：所述机器人向所述母体云大脑传输大量异常流量，例如，通过DDos/CC攻击，不间断的向母体云大脑模块发送大量垃圾数据，造成母体云大脑模块网络拥塞或者对服务器造成拒绝服务现象。所述异常状态还包括：所述机器人在预设时间内利用非法密钥访问所述母体云大脑模块，例如，一段时间内非授权使用所述母体云大脑模块的云服务功能。所述异常状态还包括：所述机器人携带木马或病毒文件访问所述母体云大脑模块；以及，所述机器人访问所述母体云大脑时为ARP欺骗行为的访问，该ARP欺骗行为是一种黑客攻击手段，分为对路由器ARP表的欺骗和对内网PC的网关欺骗，前者是通过截获网关数据实现，后者是通过伪造网关实现。所述异常情况还包括其他情况，在此不一一列举。The abnormal state includes: the robot transmits a large amount of abnormal traffic to the mother cloud brain, for example, through a DDos/CC attack, continuously sending a large amount of garbage data to the parent cloud brain module, causing the mother cloud brain module network to be congested. Or cause a denial of service to the server. The abnormal state further includes: the robot accessing the parent cloud brain module by using an illegal key within a preset time, for example, a cloud service function that is unauthorized to use the parent cloud brain module for a period of time. The abnormal state further includes: the robot carrying a Trojan or virus file to access the parent cloud brain module; and the robot accessing the parent cloud brain for ARP spoofing behavior, the ARP spoofing behavior is a hacker The attack means is divided into the spoofing of the router ARP table and the gateway spoofing of the intranet PC. The former is implemented by intercepting the gateway data, and the latter is implemented by forging the gateway. The abnormal situation also includes other situations, which are not enumerated here.

本申请实施例提供了一种机器人控制装置，划分母体云大脑模块和子体云大脑模块后，该装置通过控制模块的监控单元来监控所述母体云大脑模块控制的机器人，当出现异常时，由控制模块的切换单元将母体云大脑模块控制的机器人切换至子体云大脑模块下。该技术方案能够减少母体云大脑模块被攻击的概率，提升了***的安全性和稳定性。The embodiment of the present application provides a robot control device, after dividing the parent cloud brain module and the daughter cloud brain module, the device monitors the robot controlled by the parent cloud brain module through a monitoring unit of the control module, when an abnormality occurs, The switching unit of the control module switches the robot controlled by the parent cloud brain module to the brain cloud brain module. The technical solution can reduce the probability of the mother cloud brain module being attacked, and improve the security and stability of the system.

请参考图3，图3是本申请实施例提供的一种机器人控制方法的流程示意图。如图3所示，所述方法包括：Please refer to FIG. 3. FIG. 3 is a schematic flowchart diagram of a robot control method according to an embodiment of the present application. As shown in FIG. 3, the method includes:

步骤31、在母体服务器处，向远程机器人提供预设的通用功能；Step 31: Provide a preset universal function to the remote robot at the parent server;

步骤32、在子体服务器处，向所述远程机器人提供预设的基础功能；Step 32: Provide a preset basic function to the remote robot at the child server;

步骤33、在控制设备处，根据设定策略从所述母体服务器和所述子体服务器中选择为所述远程机器人服务的服务器。Step 33: At the control device, select a server serving the remote robot from the parent server and the child server according to a setting policy.

值得说明的是，上述方法步骤所执行的内容，由于与本申请的装置实施例基于同一构思，具体内容可参见本申请装置实施例中的叙述，此处不再赘述。It is to be noted that the content of the above method steps is based on the same concept as the device embodiment of the present application. For details, refer to the description in the device embodiment of the present application, and details are not described herein again.

本申请实施例提供了一种机器人控制方法，该方法将传统的云机器人的云大脑进行了划分，划分成母体云和子体云两部分，该母体云和子体云分别应用在母体服务器和子体服务器上，并在母体服务器和子体服务器上配置不同的功能，用以向远程机器人提供服务。通过这种划分，一方面，整体上能够保证***的稳定性和安全性，另一方面，能够更好的满足客户需求，定制不同的机器人控制***，提升了用户体验。The embodiment of the present application provides a robot control method, which divides a cloud brain of a traditional cloud robot into two parts: a parent cloud and a child cloud, and the parent cloud and the child cloud are respectively applied to the parent server and the child server. And configure different functions on the parent server and the child server to provide services to the remote robot. Through this division, on the one hand, the stability and security of the system can be ensured as a whole, on the other hand, it can better meet the needs of customers and customize different machines. The human control system enhances the user experience.

请参考图4，图4是本申请另一实施例提供的一种机器人控制方法的流程示意图。本申请实施例与上述方法实施例的区别在于，所述方法还包括：Please refer to FIG. 4. FIG. 4 is a schematic flowchart diagram of a robot control method according to another embodiment of the present application. The difference between the embodiment of the present application and the foregoing method embodiment is that the method further includes:

步骤34、在所述母体服务器和所述子体服务器中设置高人气服务需求对应的功能；其中，所述高人气服务需求为用户对所述机器人的服务需求中用户需求数量超过设定值的服务需求。Step 34: The function corresponding to the high popularity service requirement is set in the parent server and the child server; wherein the high popularity service requirement is that the user demand for the service demand of the robot exceeds a set value. service requirements.

值得说明的是，上述方法步骤所执行的内容，由于与本申请的***实施例基于同一构思，具体内容可参见本申请***实施例中的叙述，此处不再赘述。It is to be noted that the content of the foregoing method steps is based on the same concept as the system embodiment of the present application. For details, refer to the description in the system embodiment of the present application, and details are not described herein again.

在本实施例中，通过在所述母体服务器和所述子体服务器中设置高人气服务需求对应的功能，一方面，确保了该装置运行的稳定性，使机器人不至于直接进入不能工作的状态，另一方面，为修复母体服务器提供了一个缓冲的时间，使该装置能够平滑的恢复至正常状态，提升了用户体验。In this embodiment, by setting a function corresponding to the high popularity service requirement in the parent server and the child server, on the one hand, the stability of the operation of the device is ensured, so that the robot does not directly enter the inoperable state. On the other hand, it provides a buffer time for repairing the parent server, which enables the device to smoothly return to the normal state and improve the user experience.

请参考图5，图5是本申请又一实施例提供的一种机器人控制方法的流程示意图。本申请实施例与上述方法实施例的区别在于，所述在控制设备处，根据设定策略从所述母体服务器和所述子体服务器中选择为所述远程机器人服务的服务器包括：Please refer to FIG. 5. FIG. 5 is a schematic flowchart diagram of a robot control method according to another embodiment of the present application. The difference between the embodiment of the present application and the foregoing method embodiment is that, at the control device, selecting, from the parent server and the child server, the server serving the remote robot according to the setting policy includes:

步骤331、对所述母体服务器连接的机器人进行监控。Step 331: Monitor the robot connected to the parent server.

步骤332、当检测到所述母体服务器连接的机器人处于异常状态时，切换所述母体服务器连接的机器人至所述子体服务器，由所述子体服务器控制所述机器人。Step 332: When it is detected that the robot connected to the parent server is in an abnormal state, switch the robot connected to the parent server to the child server, and the child server controls the robot.

步骤333、对所述母体服务器和所述子体服务器连接的机器人进行监控。Step 333: Monitor the robot connected to the parent server and the child server.

步骤334、当检测到所述子体服务器连接的机器人恢复正常且所述母体服务器为正常状态时，切换所述子体服务器连接的机器人至所述母体服务器，由所述母体服务器控制所述机器人。Step 334: When it is detected that the robot connected to the child server is restored to normal and the parent server is in a normal state, the robot connected to the child server is switched to the parent server, and the robot is controlled by the parent server. .

其中，所述切换所述母体服务器连接的机器人至所述子体服务器具体包括：根据所述机器人的服务对象将所述母体服务器连接的机器人切换至所述服务对象对应的子体服务器。The switching the robot connected to the parent server to the child server specifically includes: switching the robot connected to the parent server to the child server corresponding to the service object according to the service object of the robot.

其中，所述异常状态包括：所述机器人向所述母体云大脑传输大量异常流量；所述机器人在预设时间内利用非法密钥访问所述母体云大脑；所述机器人携带木马或病毒文件访问所述母体云大脑；所述机器人访问所述母体云大脑时为ARP欺骗行为的访问。Wherein the abnormal state comprises: the robot transmitting a large amount of abnormal traffic to the parent cloud brain; the robot accessing the parent cloud brain by using an illegal key within a preset time; the robot carrying a Trojan or virus file access The parent cloud brain; the robot accesses the parent cloud brain Access to ARP spoofing behavior.

本申请实施例提供了一种机器人控制方法，划分母体云大脑和子体云大脑后，该方法对所述母体云大脑控制的机器人进行监控，当出现异常时，将母体云大脑控制的机器人切换至子体云大脑下。该技术方案能够减少母体云大脑被攻击的概率，提升了***的安全性和稳定性。The embodiment of the present application provides a robot control method. After dividing the parent cloud brain and the daughter cloud brain, the method monitors the robot controlled by the parent cloud brain. When an abnormality occurs, the robot controlled by the parent cloud brain is switched to The daughter body is under the brain. The technical solution can reduce the probability of the mother cloud brain being attacked, and improve the security and stability of the system.

请参考图6，图6是本申请实施例提供的一种机器人控制***的结构示意图。该***300包括：母体服务器310、子体服务器320以及控制设备330。Please refer to FIG. 6. FIG. 6 is a schematic structural diagram of a robot control system according to an embodiment of the present application. The system 300 includes a parent server 310, a child server 320, and a control device 330.

该母体服务器310包括：第一通信模组、第一存储器以及耦合至所述第一通信模组和第一存储器的第一处理器。在一些实施例中，其还可以包括：第一输入装置和第一输出装置。The parent server 310 includes a first communication module, a first memory, and a first processor coupled to the first communication module and the first memory. In some embodiments, it may also include a first input device and a first output device.

第一处理器、第一存储器、第一输入装置和第一输出装置可以通过总线或者其他方式连接。The first processor, the first memory, the first input device, and the first output device may be connected by a bus or other means.

第一存储器作为一种非易失性计算机可读存储介质，可用于存储非易失性软件程序、非易失性计算机可执行程序以及模块，如本申请实施例中的机器人控制方法对应的程序指令/模块(例如，附图1所示的母体云大脑模块210)。第一处理器通过运行存储在第一存储器中的非易失性软件程序、指令以及模块，从而执行母体服务器310的各种功能应用以及数据处理，通过第一通信模组实现上述方法实施例机器人控制方法。The first memory is a non-volatile computer readable storage medium, and is usable for storing a non-volatile software program, a non-volatile computer executable program, and a module, such as a program corresponding to the robot control method in the embodiment of the present application. Instruction/module (eg, parent cloud brain module 210 shown in Figure 1). The first processor executes various functional applications and data processing of the parent server 310 by running non-volatile software programs, instructions, and modules stored in the first memory, and implements the above-described method embodiment robot by using the first communication module. Control Method.

第一存储器可以包括存储程序区和存储数据区，其中，存储程序区可存储操作***、至少一个功能所需要的应用程序；存储数据区可存储根据数据转发装置的使用所创建的数据等。此外，第一存储器可以包括高速随机存取存储器，还可以包括非易失性存储器，例如至少一个磁盘存储器件、闪存器件、或其他非易失性固态存储器件。在一些实施例中，第一存储器可选包括相对于第一处理器远程设置的存储器，这些远程存储器可以通过网络连接至机器人控制装置。上述网络的实例包括但不限于互联网、企业内部网、局域网、移动通信网及其组合。The first memory may include a storage program area and an storage data area, wherein the storage program area may store an operating system, an application required for at least one function; the storage data area may store data created according to usage of the data forwarding device, and the like. Further, the first memory may include a high speed random access memory, and may also include a nonvolatile memory such as at least one magnetic disk storage device, flash memory device, or other nonvolatile solid state storage device. In some embodiments, the first memory optionally includes a memory remotely located relative to the first processor, the remote memory being connectable to the robotic control device via a network. Examples of such networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.

第一输入装置可接收输入的数字或字符信息，以及产生与机器人控制装置的用户设置以及功能控制有关的键信号输入。第一输出装置可包括显示屏等显示设备。所述一个或者多个模块存储在所述第一存储器中，当被所述第一处理器执行时，以使所述第一处理器能够执行上述方法实施例中在所述母体服务器310处执行的步骤。The first input device can receive the input digital or character information and generate a key signal input related to user settings and function control of the robot control device. The first output device may include a display screen or the like Show equipment. The one or more modules are stored in the first memory, when executed by the first processor, to enable the first processor to perform execution at the parent server 310 in an embodiment of the method described above A step of.

该子体服务器320包括：第二通信模组、第二存储器以及耦合至所述第二通信模组和第二存储器的第二处理器。在一些实施例中，其还可以包括：第二输入装置和第二输出装置。The child server 320 includes a second communication module, a second memory, and a second processor coupled to the second communication module and the second memory. In some embodiments, it may also include: a second input device and a second output device.

第二处理器、第二存储器、第二输入装置和第二输出装置可以通过总线或者其他方式连接。The second processor, the second memory, the second input device, and the second output device may be connected by a bus or other means.

第二存储器作为一种非易失性计算机可读存储介质，可用于存储非易失性软件程序、非易失性计算机可执行程序以及模块，如本申请实施例中的机器人控制方法对应的程序指令/模块(例如，附图1所示的子体云大脑模块220)。第二处理器通过运行存储在第二存储器中的非易失性软件程序、指令以及模块，从而执行子体服务器320的各种功能应用以及数据处理，通过第二通信模组实现上述方法实施例机器人控制方法。The second memory is a non-volatile computer readable storage medium, and is usable for storing a non-volatile software program, a non-volatile computer executable program, and a module, such as a program corresponding to the robot control method in the embodiment of the present application. Instructions/modules (eg, the child cloud brain module 220 shown in Figure 1). The second processor executes various functional applications and data processing of the child server 320 by running non-volatile software programs, instructions, and modules stored in the second memory, and implements the foregoing method embodiments by using the second communication module. Robot control method.

第二存储器可以包括存储程序区和存储数据区，其中，存储程序区可存储操作***、至少一个功能所需要的应用程序；存储数据区可存储根据数据转发装置的使用所创建的数据等。此外，第二存储器可以包括高速随机存取存储器，还可以包括非易失性存储器，例如至少一个磁盘存储器件、闪存器件、或其他非易失性固态存储器件。在一些实施例中，第二存储器可选包括相对于第二处理器远程设置的存储器，这些远程存储器可以通过网络连接至机器人控制装置。上述网络的实例包括但不限于互联网、企业内部网、局域网、移动通信网及其组合。The second memory may include a storage program area and an storage data area, wherein the storage program area may store an operating system, an application required for at least one function; the storage data area may store data created according to usage of the data forwarding device, and the like. Further, the second memory may include a high speed random access memory, and may also include a nonvolatile memory such as at least one magnetic disk storage device, flash memory device, or other nonvolatile solid state storage device. In some embodiments, the second memory optionally includes a memory remotely located relative to the second processor, the remote memory being connectable to the robotic control device via a network. Examples of such networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.

第二输入装置可接收输入的数字或字符信息，以及产生与机器人控制装置的用户设置以及功能控制有关的键信号输入。第二输出装置可包括显示屏等显示设备。所述一个或者多个模块存储在所述第二存储器中，当被所述第二处理器执行时，以使所述第二处理器能够执行上述方法实施例中在所述子体服务器320处执行的步骤。The second input device can receive the input digital or character information and generate a key signal input related to user settings and function control of the robot control device. The second output device may include a display device such as a display screen. The one or more modules are stored in the second memory, when executed by the second processor, to enable the second processor to execute the method in the method embodiment described above at the child server 320 The steps performed.

该控制设备330包括：第三通信模组、第三存储器以及耦合至所述第三通信模组和第三存储器的第三处理器。在一些实施例中，其还可以包括：第三输入装置和第三输出装置。 The control device 330 includes a third communication module, a third memory, and a third processor coupled to the third communication module and the third memory. In some embodiments, it may also include: a third input device and a third output device.

第三处理器、第三存储器、第三输入装置和第三输出装置可以通过总线或者其他方式连接。The third processor, the third memory, the third input device, and the third output device may be connected by a bus or other means.

第三存储器作为一种非易失性计算机可读存储介质，可用于存储非易失性软件程序、非易失性计算机可执行程序以及模块，如本申请实施例中的机器人控制方法对应的程序指令/模块(例如，附图1所示的控制模块230)。第三处理器通过运行存储在第三存储器中的非易失性软件程序、指令以及模块，从而执行控制设备330的各种功能应用以及数据处理，通过第三通信模组实现上述方法实施例机器人控制方法。The third memory is a non-volatile computer readable storage medium, and is usable for storing a non-volatile software program, a non-volatile computer executable program, and a module, such as a program corresponding to the robot control method in the embodiment of the present application. Instructions/modules (eg, control module 230 shown in Figure 1). The third processor executes various functional applications and data processing of the control device 330 by running non-volatile software programs, instructions, and modules stored in the third memory, and implements the above-described method embodiment robot through the third communication module. Control Method.

第三存储器可以包括存储程序区和存储数据区，其中，存储程序区可存储操作***、至少一个功能所需要的应用程序；存储数据区可存储根据数据转发装置的使用所创建的数据等。此外，第三存储器可以包括高速随机存取存储器，还可以包括非易失性存储器，例如至少一个磁盘存储器件、闪存器件、或其他非易失性固态存储器件。在一些实施例中，第三存储器可选包括相对于第三处理器远程设置的存储器，这些远程存储器可以通过网络连接至机器人控制装置。上述网络的实例包括但不限于互联网、企业内部网、局域网、移动通信网及其组合。The third memory may include a storage program area and an storage data area, wherein the storage program area may store an operating system, an application required for at least one function; the storage data area may store data created according to usage of the data forwarding device, and the like. Further, the third memory may include a high speed random access memory, and may also include a nonvolatile memory such as at least one magnetic disk storage device, flash memory device, or other nonvolatile solid state storage device. In some embodiments, the third memory optionally includes a memory remotely located relative to the third processor, the remote memory being connectable to the robotic control device via a network. Examples of such networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.

第三输入装置可接收输入的数字或字符信息，以及产生与机器人控制装置的用户设置以及功能控制有关的键信号输入。第三输出装置可包括显示屏等显示设备。所述一个或者多个模块存储在所述第三存储器中，当被所述第三处理器执行时，以使所述第三处理器能够执行上述方法实施例中在所述控制设备330处执行的步骤。The third input device can receive the input digital or character information and generate a key signal input related to user settings and function control of the robot control device. The third output device may include a display device such as a display screen. The one or more modules are stored in the third memory, when executed by the third processor, to enable the third processor to perform the above-described method embodiment to perform at the control device 330 A step of.

在本实施例中，该母体服务器310的第一通信模组、子体服务器320的第二通信模组均与该控制设备330的第三通信模组相连；所述母体服务器310与所述子体服务器320逻辑隔离。In this embodiment, the first communication module of the parent server 310 and the second communication module of the child server 320 are all connected to the third communication module of the control device 330; the parent server 310 and the child The body server 320 is logically isolated.

最后应说明的是：以上实施例仅用以说明本申请的技术方案，而非对其限制；在本申请的思路下，以上实施例或者不同实施例中的技术特征之间也可以进行组合，步骤可以以任意顺序实现，并存在如上所述的本申请的不同方面的许多其它变化，为了简明，它们没有在细节中提供；尽管参照前述实施例对本申请进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本申请各实施例技术方案的范围。 Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, and are not limited thereto; in the idea of the present application, the technical features in the above embodiments or different embodiments may also be combined. The steps may be carried out in any order, and there are many other variations of the various aspects of the present application as described above, which are not provided in the details for the sake of brevity; although the present application has been described in detail with reference to the foregoing embodiments, The technician should understand that it can still be The technical solutions described in the embodiments are modified, or equivalent to some of the technical features are replaced; and the modifications or substitutions do not deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

一种机器人控制装置，其特征在于，包括：A robot control device, comprising:

母体云大脑模块和子体云大脑模块；Maternal cloud brain module and daughter cloud brain module;

所述母体云大脑模块用于在母体服务器处，向远程机器人提供预设的通用功能；所述子体云大脑模块用于在子体服务器处，向所述远程机器人提供预设的基础功能；所述通用功能包括所述基础功能；The parent cloud brain module is configured to provide a preset universal function to the remote robot at the parent server; the child cloud brain module is configured to provide a preset basic function to the remote robot at the child server; The universal function includes the basic function;

还包括：Also includes:

控制模块，用于在控制设备处，根据设定策略从所述母体服务器和所述子体服务器中选择为所述远程机器人服务的服务器。And a control module, configured to, at the control device, select a server serving the remote robot from the parent server and the child server according to a setting policy.
根据权利要求1所述的装置，其特征在于，所述母体云大脑模块和所述子体云大脑模块还均用于向所述远程机器人提供高人气服务需求对应的功能，其中，所述高人气服务需求为用户对所述机器人的服务需求中用户需求数量超过设定值的服务需求。The apparatus according to claim 1, wherein said parent cloud brain module and said daughter cloud brain module are both used to provide said remote robot with a function corresponding to a high popularity service demand, wherein said high The popularity service demand is a service demand in which the user demand for the robot in the service demand exceeds the set value.
根据权利要求1所述的装置，其特征在于，所述控制模块具体包括：The device according to claim 1, wherein the control module specifically comprises:

监控单元和切换单元，Monitoring unit and switching unit,

所述监控单元用于监控所述母体云大脑模块控制的机器人；所述切换单元用于当所述母体云大脑模块控制的机器人处于异常状态时，切换所述母体云大脑模块控制的机器人至所述子体云大脑模块，由所述子体云大脑模块控制所述机器人。The monitoring unit is configured to monitor a robot controlled by the parent cloud brain module; the switching unit is configured to switch the robot controlled by the parent cloud brain module to the robot when the robot controlled by the parent cloud brain module is in an abnormal state The slave body cloud brain module controls the robot by the child cloud brain module.
根据权利要求3所述的装置，其特征在于，所述监控单元还用于监控所述母体云大脑模块和所述子体云大脑模块控制的机器人，The apparatus according to claim 3, wherein the monitoring unit is further configured to monitor the robot controlled by the parent cloud brain module and the child cloud brain module,

所述切换单元用于当所述子体云大脑模块控制的机器人恢复正常且所述母体云大脑模块为正常状态时，切换所述子体云大脑模块控制的机器人至所述母体云大脑模块，由所述母体云大脑模块控制所述机器人。The switching unit is configured to switch the robot controlled by the child cloud brain module to the parent cloud brain module when the robot controlled by the child cloud brain module returns to normal and the mother cloud brain module is in a normal state, The robot is controlled by the parent cloud brain module.
根据权利要求3所述的装置，其特征在于，所述切换所述母体云大脑模块控制的机器人至所述子体云大脑模块具体包括：The device according to claim 3, wherein the switching the robot controlled by the parent cloud brain module to the child cloud brain module comprises:

根据所述机器人的服务对象将所述母体云大脑模块控制的机器人切换至所述服务对象对应的子体云大脑模块。Switching the robot controlled by the parent cloud brain module to the office according to the service object of the robot The child cloud brain module corresponding to the client object.
根据权利要求3至5任一项所述的装置，其特征在于，所述异常状态包括：The apparatus according to any one of claims 3 to 5, wherein the abnormal state comprises:

所述机器人向所述母体云大脑模块传输大量异常流量；或者The robot transmits a large amount of abnormal traffic to the parent cloud brain module; or

所述机器人在预设时间内利用非法密钥访问所述母体云大脑模块；或者The robot accesses the parent cloud brain module with an illegal key within a preset time; or

所述机器人携带木马或病毒文件访问所述母体云大脑模块；或者The robot carries a Trojan or virus file to access the parent cloud brain module; or

所述机器人访问所述母体云大脑模块时为ARP欺骗行为的访问。The robot accesses the parent cloud cloud module for access to ARP spoofing behavior.
一种机器人控制方法，其特征在于，包括：A robot control method, comprising:

在母体服务器处，向远程机器人提供预设的通用功能；Providing a preset universal function to the remote robot at the parent server;

在子体服务器处，向所述远程机器人提供预设的基础功能；Providing a preset basic function to the remote robot at the child server;

在控制设备处，根据设定策略从所述母体服务器和所述子体服务器中选择为所述远程机器人服务的服务器。At the control device, a server serving the remote robot is selected from the parent server and the child server according to a setting policy.
根据权利要求7所述的方法，其特征在于，所述方法还包括：The method of claim 7, wherein the method further comprises:

在所述母体服务器和所述子体服务器中设置高人气服务需求对应的功能；其中，所述高人气服务需求为用户对所述机器人的服务需求中用户需求数量超过设定值的服务需求。A function corresponding to a high popularity service requirement is set in the parent server and the child server; wherein the high popularity service requirement is a service demand in which a user demand for the robot in the service demand of the robot exceeds a set value.
根据权利要求7所述的方法，其特征在于，所述在控制设备处，根据设定策略从所述母体服务器和所述子体服务器中选择为所述远程机器人服务的服务器包括：The method according to claim 7, wherein at the control device, selecting a server serving the remote robot from the parent server and the child server according to a setting policy comprises:

对所述母体服务器连接的机器人进行监控；Monitoring the robot connected to the parent server;

当检测到所述母体服务器连接的机器人处于异常状态时，切换所述母体服务器连接的机器人至所述子体服务器，由所述子体服务器控制所述机器人。When it is detected that the robot connected to the parent server is in an abnormal state, the robot connected to the parent server is switched to the child server, and the robot is controlled by the child server.
根据权利要求9所述方法，其特征在于，所述方法还包括：The method of claim 9 wherein the method further comprises:

对所述母体服务器和所述子体服务器连接的机器人进行监控；Monitoring the robot connected to the parent server and the child server;

当检测到所述子体服务器连接的机器人恢复正常且所述母体服务器为正常状态时，切换所述子体服务器连接的机器人至所述母体服务器，由所述母体服务器控制所述机器人。When it is detected that the robot connected to the child server returns to normal and the parent server is in a normal state, the robot connected to the child server is switched to the parent server, and the robot is controlled by the parent server.
根据权利要求9所述的方法，其特征在于，所述切换所述母体服务器连接的机器人至所述子体服务器具体包括：The method according to claim 9, wherein the switching the robot connected to the parent server to the child server comprises:

根据所述机器人的服务对象将所述母体服务器连接的机器人切换至所述服务对象对应的子体服务器。Switching the robot connected to the parent server to the service according to the service object of the robot The child server corresponding to the service object.
根据权利要求9至11任一项所述的方法，其特征在于，所述异常状态包括：The method according to any one of claims 9 to 11, wherein the abnormal state comprises:

所述机器人向所述母体云大脑传输大量异常流量；或者The robot transmits a large amount of abnormal traffic to the parent cloud brain; or

所述机器人在预设时间内利用非法密钥访问所述母体云大脑；或者The robot accesses the parent cloud brain with an illegal key within a preset time; or

所述机器人携带木马或病毒文件访问所述母体云大脑；或者The robot carries a Trojan or virus file to access the parent cloud brain; or

所述机器人访问所述母体云大脑时为ARP欺骗行为的访问。The robot accesses the parent cloud cloud for access to ARP spoofing behavior.
一种计算机程序产品，其特征在于，所述计算机程序产品包括存储在非易失性计算机可读存储介质上的计算机程序，所述计算机程序包括程序指令，当所述程序指令被计算机执行时，使所述计算机执行如权利要求7至12任一项所述的方法。A computer program product, comprising: a computer program stored on a non-transitory computer readable storage medium, the computer program comprising program instructions, when the program instructions are executed by a computer, The computer is caused to perform the method of any one of claims 7 to 12.
一种机器人控制***，其特征在于，包括：母体服务器、子体服务器及控制设备；A robot control system, comprising: a mother server, a child server and a control device;

所述母体服务器包括第一通信模组、第一存储器以及耦合至所述第一通信模组和第一存储器的第一处理器，所述第一存储器存储有可被所述第一处理器执行的指令程序，所述指令程序被所述第一处理器执行，以使所述第一处理器能够执行如权利要求1-6中在所述母体服务器处执行的步骤；The parent server includes a first communication module, a first memory, and a first processor coupled to the first communication module and a first memory, the first memory being stored for execution by the first processor An instruction program executed by the first processor to enable the first processor to perform the steps performed at the parent server as in claims 1-6;

所述子体服务器包括第二通信模组、第二存储器以及耦合至所述第二通信模组和第二存储器的第二处理器，所述第二存储器存储有可被所述第二处理器执行的指令程序，所述指令程序被所述第二处理器执行，以使所述第二处理器能够执行如权利要求1-6中在所述子体服务器处执行的步骤；The child server includes a second communication module, a second memory, and a second processor coupled to the second communication module and the second memory, the second memory being stored with the second processor An executed instruction program executed by the second processor to enable the second processor to perform the steps performed at the child server as in claims 1-6;

所述控制设备包括第三通信模组、第三存储器以及耦合至所述第三通信模组和第三存储器的第三处理器，所述第三存储器存储有可被所述第三处理器执行的指令程序，所述指令程序被所述第三处理器执行，以使所述第三处理器能够执行如权利要求1-6中在所述控制设备处执行的步骤；The control device includes a third communication module, a third memory, and a third processor coupled to the third communication module and a third memory, the third memory being stored for execution by the third processor An instruction program executed by the third processor to enable the third processor to perform the steps performed at the control device in claims 1-6;

其中，所述母体服务器的第一通信模组、所述子体服务器的第二通信模组均与所述控制设备的第三通信模组相连；所述母体服务器与所述子体服务器逻辑隔离。 The first communication module of the parent server and the second communication module of the child server are all connected to a third communication module of the control device; the parent server is logically isolated from the child server .