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WO2018120079A1 - Dispositif de commande de robot, procédé, système et produit-programme d'ordinateur - Google Patents

Dispositif de commande de robot, procédé, système et produit-programme d'ordinateur Download PDF

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Publication number
WO2018120079A1
WO2018120079A1 PCT/CN2016/113646 CN2016113646W WO2018120079A1 WO 2018120079 A1 WO2018120079 A1 WO 2018120079A1 CN 2016113646 W CN2016113646 W CN 2016113646W WO 2018120079 A1 WO2018120079 A1 WO 2018120079A1
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WIPO (PCT)
Prior art keywords
robot
parent
server
child
cloud
Prior art date
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Ceased
Application number
PCT/CN2016/113646
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English (en)
Chinese (zh)
Inventor
董孔明
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Cloudminds Shenzhen Robotics Systems Co Ltd
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Cloudminds Shenzhen Robotics Systems Co Ltd
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Application filed by Cloudminds Shenzhen Robotics Systems Co Ltd filed Critical Cloudminds Shenzhen Robotics Systems Co Ltd
Priority to CN201680002658.3A priority Critical patent/CN106796666B/zh
Priority to PCT/CN2016/113646 priority patent/WO2018120079A1/fr
Publication of WO2018120079A1 publication Critical patent/WO2018120079A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06N—COMPUTING ARRANGEMENTS BASED ON SPECIFIC COMPUTATIONAL MODELS
    • G06N3/00—Computing arrangements based on biological models
    • G06N3/004—Artificial life, i.e. computing arrangements simulating life
    • G06N3/008—Artificial life, i.e. computing arrangements simulating life based on physical entities controlled by simulated intelligence so as to replicate intelligent life forms, e.g. based on robots replicating pets or humans in their appearance or behaviour

Definitions

  • the present application relates to the field of robot control, and in particular to a robot control device, method, system and computer program product.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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;
  • a server serving the remote robot is selected from the parent server and the child server according to a setting policy.
  • a robot control system including: a mother server, a child server, and a control device;
  • 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;
  • 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;
  • 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;
  • 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 .
  • 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.
  • the embodiment of the present application provides a robot control device, a method, a system, and a computer program product.
  • 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.
  • FIG. 1 is a schematic structural diagram of a robot control apparatus according to an embodiment of the present application.
  • FIG. 2 is a schematic structural diagram of a robot control apparatus according to another embodiment of the present application.
  • FIG. 3 is a schematic flow chart of a robot control method according to an embodiment of the present application.
  • FIG. 4 is a schematic flow chart of a robot control method according to another embodiment of the present application.
  • FIG. 5 is a schematic flowchart of a robot control method according to another embodiment of the present application.
  • FIG. 6 is a schematic structural diagram of a robot control system according to an embodiment of the present application.
  • 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.
  • 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.
  • 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
  • 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.
  • the embodiment of the present application provides a robot control apparatus.
  • 1 is a schematic structural diagram of the robot control device.
  • 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.
  • 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.
  • 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.
  • 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.
  • a service query eg, a flight
  • weather query e.g, 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 eg., speech recognition and speech understanding function; image recognition function; environment adaptation function; entertainment function (such as singing, dancing, etc.); micro-
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • an accompanying function specially set for an elderly customer group includes an entertainment interaction with an elderly person, an alarm when an elderly person has an unexpected situation, etc.
  • 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.
  • 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.
  • the parent cloud brain module 210 and the child cloud brain module 220 are all deployed in the cloud in a virtual form.
  • a virtual private cloud VPC
  • VPC virtual private cloud
  • 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
  • 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.
  • 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.
  • the system can ensure the stability and security of the system as a whole.
  • it can better meet the needs of customers, customize different systems for controlling robots, and improve the user experience.
  • the parent cloud brain module 210 is also used to provide the remote robot with functionality corresponding to high popularity service requirements.
  • 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.
  • the robot is provided with a function of automatically playing a current hit show, and the like.
  • the cloud service application corresponding to the high popularity service demand is installed in the parent cloud brain module.
  • the child cloud brain module 220 is also used to provide the remote robot with the function corresponding to the high popularity service demand.
  • 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.
  • 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.
  • the stability of the device operation is ensured, so that the robot does not directly enter the inoperable state, and the other
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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
  • 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
  • the robot is controlled by the parent cloud brain module.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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:
  • Step 31 Provide a preset universal function to the remote robot at the parent server;
  • Step 32 Provide a preset basic function to the remote robot at the child server;
  • 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.
  • 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.
  • 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.
  • 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:
  • 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.
  • the stability of the operation of the device is ensured, so that the robot does not directly enter the inoperable state.
  • 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.
  • 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:
  • Step 331 Monitor the robot connected to the parent server.
  • 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.
  • Step 333 Monitor the robot connected to the parent server and the child server.
  • 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. .
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the first processor, the first memory, the first input device, and the first output device may be connected by a bus or other means.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the second processor, the second memory, the second input device, and the second output device may be connected by a bus or other means.
  • 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 e.g, Robot control method.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the third processor, the third memory, the third input device, and the third output device may be connected by a bus or other means.
  • 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.
  • 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.
  • 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.
  • 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.

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Abstract

L'invention concerne un dispositif, un procédé, un système et un produit-programme d'ordinateur. Le dispositif (200) comprend : un module cerveau en nuage parent (210) et un module cerveau en nuage enfant (220), le module cerveau en nuage parent étant utilisé sur un serveur parent pour fournir une fonctionnalité générale prédéterminée à un robot distant, le module cerveau en nuage enfant étant utilisé sur un serveur enfant pour fournir une fonctionnalité de base prédéterminée au robot distant, ladite fonctionnalité générale comprenant ladite fonctionnalité de base ; et un module de commande (230) utilisé sur un équipement de commande pour sélectionner un serveur parmi le serveur parent et le serveur enfant afin de manipuler le robot distant selon une stratégie définie. La solution technique de l'invention protège mieux la sécurité du cerveau en nuage parent, ce qui permet de garantir la stabilité du système de commande de robot de l'invention.
PCT/CN2016/113646 2016-12-30 2016-12-30 Dispositif de commande de robot, procédé, système et produit-programme d'ordinateur Ceased WO2018120079A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
CN201680002658.3A CN106796666B (zh) 2016-12-30 2016-12-30 机器人控制装置、方法及系统
PCT/CN2016/113646 WO2018120079A1 (fr) 2016-12-30 2016-12-30 Dispositif de commande de robot, procédé, système et produit-programme d'ordinateur

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PCT/CN2016/113646 WO2018120079A1 (fr) 2016-12-30 2016-12-30 Dispositif de commande de robot, procédé, système et produit-programme d'ordinateur

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WO2018120079A1 true WO2018120079A1 (fr) 2018-07-05

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