CN107864200A - A kind of robot communication method and system - Google Patents
A kind of robot communication method and system Download PDFInfo
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- CN107864200A CN107864200A CN201711091034.6A CN201711091034A CN107864200A CN 107864200 A CN107864200 A CN 107864200A CN 201711091034 A CN201711091034 A CN 201711091034A CN 107864200 A CN107864200 A CN 107864200A
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- internal host
- robot
- outer net
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/50—Network services
- H04L67/56—Provisioning of proxy services
- H04L67/565—Conversion or adaptation of application format or content
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L45/00—Routing or path finding of packets in data switching networks
- H04L45/74—Address processing for routing
- H04L45/741—Routing in networks with a plurality of addressing schemes, e.g. with both IPv4 and IPv6
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- Computer Networks & Wireless Communication (AREA)
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Abstract
The present embodiments relate to communication technical field, more particularly to a kind of robot communication method and system, including：The interactive device of robot receives the first message of outer net equipment transmission by outside port, wherein, the source address of first message is the IP of outer net equipment, and destination address is the external IP of interactive device；Interactive device determines the message that first message is the internal host for being sent to robot according to outside port；Wherein, connected between interactive device and internal host by USB data line；Internal host is used for control machine people；Interactive device generates the second message according to first message, and the source address of the second message is the inside IP of interactive device, and the destination address of the second message is the inside IP of internal host；Second message is sent to internal host by interactive device.The embodiment of the present invention is solving the problems, such as that robot communication has Network Security Vulnerabilities in the prior art.
Description
Technical field
The present invention relates to communication technical field, more particularly to a kind of robot communication method and system.
Background technology
With fast developments such as computer technology, microelectric technique, network technologies, robot technology has also obtained hair at full speed
Exhibition.Robot includes interactive device and internal host, wherein, interactive device plays a part of and user mutual, internal host
In robot interior, order and the concrete action of control machine people are received.To make robot provide more intelligent service, robot
Need to connect network.
In the prior art, between external network and the interactive device of robot, and between external network and internal host,
Equal direct communication, i.e. external network can directly access the internal host of robot, thus for robot internal host and
, certain Network Security Vulnerabilities be present in speech.
The content of the invention
The application provides a kind of robot communication method and system, net be present to solve robot communication in the prior art
The problem of network potential safety hazard.
The embodiment of the present invention provides a kind of robot communication method, comprises the following steps：
The interactive device of robot receives the first message of outer net equipment transmission by outside port, wherein, described first
The source address of message is the IP of the outer net equipment, and destination address is the external IP of the interactive device；
For the interactive device according to the outside port, it is to be sent to the internal host of robot to determine the first message
Message；Wherein, connected between the interactive device and the internal host by USB data line；The internal host is used for
Control the robot；
The interactive device generates the second message according to the first message, and the source address of second message is the friendship
The inside IP of mutual equipment, the destination address of second message are the inside IP of the internal host；
Second message is sent to the internal host by the interactive device.
Optionally, in addition to：
The interactive device receives the 3rd message that the internal host is sent to the outer net equipment, the 3rd message
Source address be the internal host inside IP, the destination address of the 3rd message is the inside IP of the interactive device；
3rd message includes the IP of the outer net equipment；
The interactive device generates the 4th message according to the 3rd message, and the destination address of the 4th message is described
The IP of outer net equipment, the source address of the 4th message are the external IP of the interactive device.
Optionally, the interactive device of the robot by outside port receive first message that outer net equipment sends it
Before, in addition to：
When being connected between the interactive device and the internal host by USB data line, the interactive device distributes institute
State the inside IP of interactive device and the inside IP of the internal host；The interactive device is provided with Android operation system.
Optionally, the communication format of the 3rd message is the second communication format；
The interactive device generates the second message according to the first message, including：
The interactive device generates the second message according to the first message, and the communication format of second message is set
It is set to the first communication format.
A kind of robot communication method, including：
The internal host of robot receives the inside IP of the internal host of the interactive device distribution of robot；
The internal host receives the second message that the interactive device is sent, and second message is the interactive device
Generated according to first message, the message that the first message sends for external equipment to the internal host, the first message
Source address be the outer net equipment IP, the destination address of the first message is the external IP of the interactive device, described
The source address of second message is the inside IP of the interactive device, and the destination address of second message is the internal host
Inside IP.
Optionally, in addition to：
The internal host obtains the inside IP of the interactive device；Wherein, the internal host and the interactive device
Between connected by USB data line；The interactive device is provided with Android operation system；
The internal host sends the 3rd message to the interactive device, so that the interactive device disappears according to the described 3rd
Breath the 4th message of generation, the source address of the 3rd message are the inside IP of the internal host, the purpose of the 3rd message
Address is the inside IP of the interactive device, and the 3rd message includes the IP of the outer net equipment, the 4th message
Destination address is the IP of the outer net equipment, and the source address of the 4th message is the external IP of the interactive device.
A kind of robot communication system, including interactive device and internal host；
The interactive device, for receiving the first message of outer net equipment transmission by outside port, wherein, described first
The source address of message is the IP of the outer net equipment, and destination address is the external IP of the interactive device；According to the outer end
Mouthful, determine the message that the first message is the internal host for being sent to robot；Wherein, the interactive device and the inside
Connected between main frame by USB data line；Second message is generated according to the first message, the source address of second message is
The inside IP of the interactive device, the destination address of second message are the inside IP of the internal host；By described second
Message is sent to the internal host；
The internal host, the inside IP for the internal host that the interactive device for receiving robot distributes；Described in reception
The second message that interactive device is sent；The robot is controlled according to second message.
Optionally, the internal host, it is additionally operable to obtain the inside IP of the interactive device；Sent to the interactive device
3rd message, the source address of the 3rd message are the inside IP of the internal host, and the destination address of the 3rd message is
The inside IP of the interactive device；3rd message includes the IP of the outer net equipment；
The interactive device, it is additionally operable to receive the 3rd message that the internal host is sent to the outer net equipment；According to
3rd message generates the 4th message, and the destination address of the 4th message is the IP of the outer net equipment, and the described 4th disappears
The source address of breath is the external IP of the interactive device.
Optionally, the interactive device, is additionally operable to：
When being connected between the internal host by USB data line, the inside IP of the interactive device and described is distributed
The inside IP of internal host；The interactive device is provided with Android operation system.
Optionally, the interactive device, it is additionally operable to the form of second message being arranged to the first data format；
The internal host, it is additionally operable to the form of the 3rd message being arranged to the second data format.
In the embodiment of the present invention, connected between the interactive device and internal host in robot by USB data line；Its
In, internal host is used to control the robot.Interactive device receives the first message of outer net equipment transmission by outside port,
Wherein, the source address of first message is the IP of outer net equipment, and destination address is the external IP of interactive device.Interactive device is according to connecing
The outside port of first message is received, determines that the first message is sent to the message of robot interior main frame for outer net equipment.Hand over
Mutual equipment generates the second message according to first message, wherein, the source address of the second message is the inside IP of interactive device, and second disappears
The destination address of breath is the inside IP of internal host, afterwards, the second message is sent into internal host.In the embodiment of the present invention,
The data that external network is sent to robot are not the internal hosts being transmitted directly in robot, but by the interaction of robot
Equipment receives, and will be then forwarded to internal host after data conversion, avoids between external network and robot interior main frame
Direct communication, internal host can not directly be accessed by outer net, enhance the confidentiality of internal host, solve machine in the prior art
The problem of Network Security Vulnerabilities be present in device people communication.
Brief description of the drawings
Technical scheme in order to illustrate the embodiments of the present invention more clearly, make required in being described below to embodiment
Accompanying drawing is briefly introduced, it should be apparent that, drawings in the following description are only some embodiments of the present invention, for this
For the those of ordinary skill in field, without having to pay creative labor, it can also be obtained according to these accompanying drawings
His accompanying drawing.
Fig. 1 is the system architecture schematic diagram that the embodiment of the present invention is applicable；
Fig. 2 is a kind of schematic flow sheet of robot communication method provided in an embodiment of the present invention；
Fig. 3 is the schematic flow sheet of robot communication method in the embodiment of the present invention one；
Fig. 4 is the schematic flow sheet of robot communication method in the embodiment of the present invention two；
Fig. 5 is a kind of structural representation of robot communication device provided in an embodiment of the present invention；
Fig. 6 is the structural representation of another robot communication device provided in an embodiment of the present invention；
Fig. 7 is a kind of structural representation of robot communication system provided in an embodiment of the present invention.
Embodiment
In order that the object, technical solutions and advantages of the present invention are clearer, the present invention is made below in conjunction with accompanying drawing into
One step it is described in detail, it is clear that the described embodiment only a part of embodiment of the present invention, rather than whole implementation
Example.Based on the embodiment in the present invention, what those of ordinary skill in the art were obtained under the premise of creative work is not made
All other embodiment, belongs to the scope of protection of the invention.
As shown in figure 1, a kind of system architecture that the embodiment of the present invention is applicable, including outer net equipment 101 and robot are set
Standby 102, robot device 102 includes interactive device 103 and internal host 104.Wherein, interactive device 103 is provided with Android
(Android) operating system, and forwarded service is deployed with, the forwarded service can make interactive device 103 have net
The function of network route, the internal host 104 of robot is accessed so as to realize external equipment 101 by interactive device 103.Inside is main
Connected between machine 104 and interactive device 103 by USB (Universal Serial Bus, USB) data wire, it is interior
Portion's main frame 104 realizes the communication between outer net equipment 101, internal host 104 and interactive device 103 by interactive device 103
Between can also be in communication with each other.
Outer net equipment 101 can be that mobile phone, tablet personal computer or special handheld device etc. have radio communication function
Electronic equipment or personal computer (personal computer, abbreviation PC), notebook computer, server etc. has
The equipment of line access mode connection online.Outer net equipment 101 can be an independent equipment or multiple servers institute
The server cluster of formation.Preferably, outer net equipment 101, interactive device 103 and/or internal host 104 can use cloud computing
Technology carries out information processing.
Outer net equipment 101 can be communicated by INTERNET networks with interactive device 103, can also be moved by the whole world
Dynamic communication system (Global System for Mobile Communications, abbreviation GSM), Long Term Evolution (long
Term evolution, abbreviation LTE) GSM such as system communicated with interactive device 103.
Fig. 2 illustrates a kind of schematic flow sheet of robot communication method provided in an embodiment of the present invention.
As shown in Fig. 2 a kind of robot communication method provided in an embodiment of the present invention realized in interactive device side, including
Following steps：
Step 201, the interactive device of robot receive the first message of outer net equipment transmission by outside port, wherein,
The source address of the first message is the IP of the outer net equipment, and destination address is the external IP of the interactive device；
According to the outside port, it is to be sent to robot to determine the first message for step 202, the interactive device
The message of internal host；Wherein, connected between the interactive device and the internal host by USB data line；The inside
Main frame is used to control the robot；
Step 203, the interactive device generate the second message, the source address of second message according to the first message
For the inside IP of the interactive device, the destination address of second message is the inside IP of the internal host.
Second message is sent to the internal host by step 204, the interactive device.
In the embodiment of the present invention, connected between the interactive device and internal host in robot by USB data line；Its
In, internal host is used to control the robot.Interactive device receives the first message of outer net equipment transmission by outside port,
Wherein, the source address of first message is the IP of outer net equipment, and destination address is the external IP of interactive device.Interactive device is according to connecing
The outside port of first message is received, determines that the first message is sent to the message of robot interior main frame for outer net equipment.Hand over
Mutual equipment generates the second message according to first message, wherein, the source address of the second message is the inside IP of interactive device, and second disappears
The destination address of breath is the inside IP of internal host, afterwards, the second message is sent into internal host.In the embodiment of the present invention,
The data that external network is sent to robot are not the internal hosts being transmitted directly in robot, but by the interaction of robot
Equipment receives, and will be then forwarded to internal host after data conversion, avoids between external network and robot interior main frame
Direct communication, internal host can not directly be accessed by outer net, enhance the confidentiality of internal host, solve machine in the prior art
The problem of Network Security Vulnerabilities be present in device people communication.
Above-mentioned steps 201, first that the interactive device of the robot receives the transmission of outer net equipment by outside port disappear
Before breath, in addition to：
When being connected between the interactive device and the internal host by USB data line, the interactive device distributes institute
State the inside IP of interactive device and the inside IP of the internal host；The interactive device is provided with Android operation system.
Specifically, interactive device is by changing the IP address in message, realizing between external equipment and internal host
The forwarding of message, before this, it is necessary to distinguish the IP address of interactive device and internal host.Interactive device and internal host it
Between by USB data line establish connect when, interactive device can distribute the inside IP of interactive device and the inside IP of internal host, from
And distinguish the implicit IP address of interactive device and internal host, realize the hair of message between interactive device and internal host
Send.So as to which without root authority, its network route forwarding function can be achieved in interactive device.
Above-mentioned steps 201 are that internally main frame sends the process of message to interactive device forwarding outer net equipment to step 204.
For example, in robot navigation, the target location of robot is provided by outer net equipment, is sent to interactive device and is carried out message turn
Change, be then issued to internal host, internal host moves according to the information control machine people received.
Because different outside ports receives the message of different type or different purposes, therefore, interactive device can basis
The outside port of message is received, it is to be sent to the message of internal host to determine first message, so as to by between internal host
Connection, the content of first message is transmitted to internal host.
First message is the data message of outer net equipment guidance machine people motion, then the source address of first message sets for outer net
Standby IP, and outer net equipment needs for first message to be sent to the internal host of robot.In order to improve the safety of internal host
Property, the internal host direct communication that outer net equipment can not directly with robot, therefore the destination address of first message is interactive device
External IP, this is available to the external IP of the robot of outer net equipment.In order to realize the forwarding of first message content, interaction is set
The standby inside IP that destination address is changed to internal host, source address are changed to the inside IP of interactive device, so as to be set by interaction
The contents such as the positional information in the standby first message for sending outer net equipment have been transmitted to internal host, make internal host can be with
According to the motion of the positional information guidance machine people received.
Interactive device also needs to the message for forwarding internal host to be sent to external equipment, and important is robot running status
Feedback.Feedback message is to be sent to interactive device by internal host, is converted by the processing of interactive device, is then forwarded to outside
Equipment, finally stored in external equipment.Then the embodiment of the present invention also includes：
The interactive device receives the 3rd message that the internal host is sent to the outer net equipment, the 3rd message
Source address be the internal host inside IP, the destination address of the 3rd message is the inside IP of the interactive device；
3rd message includes the IP of the outer net equipment；
The interactive device generates the 4th message according to the 3rd message, and the destination address of the 4th message is described
The IP of outer net equipment, the source address of the 4th message are the external IP of the interactive device.
In simple terms, the message that interactive device forwarding internal host is sent to external equipment, equivalent to step 201 to step
204 inverse process.Because during step 201 to step 204, the source address for the guide message that internal host receives is friendship
The inside IP of mutual equipment, it is the using the inside IP of interactive device as feedback message when internal host carries out feedback of status therefore
The destination address of three message.The source address of 3rd message is the inside IP of internal host.Further, since the 3rd message is external
The feedback for the first message that net equipment is sent, therefore, the IP of outer net equipment is also included in the 3rd message, so that interactive device
Feedback message can be transmitted to by outer net equipment according to the IP of outer net equipment.
After interactive device receives the 3rd message of internal host transmission, the 4th message is generated according to the 3rd message.4th
The content-data of message feedback is identical with the content-data of the 3rd message, and change is source address and destination address.In order to by
Four message are sent to outer net equipment, and the destination address of the 4th message is arranged to the IP of outer net equipment by interactive device, and source address is set
It is set to the external IP of interactive device.
In order to be further ensured that the security of robot interior main frame, lead between the interactive device and internal host of robot
USB data line connection is crossed, and the communication format that there is a set of inside to define between interactive device and internal host.
In the embodiment of the present invention, the communication format of the 3rd message is the second communication format；
The interactive device generates the second message according to the first message, including：
The interactive device generates the second message according to the first message, and the communication format of second message is set
It is set to the first communication format.
A set of unique communication format is pre-set in the embodiment of the present invention, between interactive device and internal host, is handed over
Mutually the transmission of message follows the communication format set in advance between equipment and internal host.Wherein, the second message sets for interaction
Preparation gives the data of internal host, referred to as orders, and labeled as appCmd, represents to perform specific operation, such as voice pair
Words, robot motion, assisting navigation etc..3rd message is the data that internal host is sent to interactive device, referred to as event, is marked
AppEvt is designated as, the situation and report some system informations that mainly internal host feedback command performs, so that user understands
Robot running status, such as battery information, industrial computer state, network state etc..
Corresponding with a kind of robot communication method realized in interactive device side, the embodiment of the present invention is additionally provided in machine
A kind of robot communication method that device people's internal host side is realized, including：The internal host of robot receives the interaction of robot
The inside IP of the internal host of equipment distribution；
The internal host receives the second message that the interactive device is sent, and second message is the interactive device
Generated according to first message, the message that the first message sends for external equipment to the internal host, the first message
Source address be the outer net equipment IP, the destination address of the first message is the external IP of the interactive device, described
The source address of second message is the inside IP of the interactive device, and the destination address of second message is the internal host
Inside IP.
It is preferred that the embodiment of the present invention also includes：
The internal host obtains the inside IP of the interactive device；Wherein, the internal host and the interactive device
Between connected by USB data line；The interactive device is provided with Android operation system；
The internal host sends the 3rd message to the interactive device, so that the interactive device disappears according to the described 3rd
Breath the 4th message of generation, the source address of the 3rd message are the inside IP of the internal host, the purpose of the 3rd message
Address is the inside IP of the interactive device, and the 3rd message includes the IP of the outer net equipment, the 4th message
Destination address is the IP of the outer net equipment, and the source address of the 4th message is the external IP of the interactive device.
It is preferred that the communication format of second message is the first communication format；
Before the internal host sends the 3rd message to the interactive device, in addition to：
The communication format of 3rd message is arranged to the second communication format by the internal host.
Above-mentioned robot communication method is described in detail with specific embodiment below, first, embodiment one is with outer net
Equipment illustrates exemplified by sending movement position information to robot, and robot includes interactive device and internal host.Such as Fig. 3 institutes
Show, robot communication process comprises the following steps in the embodiment of the present invention one：
The code of forwarded service, is added to startup file by the interactive device modification startup file of step 301, robot
In.Interactive device opens wifi, connects outer net equipment.Interactive device connects internal host, between interactive device and internal host
USB network shared start.
The inside IP of step 302, the inside IP of interactive device distribution interactive device and internal host.
Step 303, interactive device receive the first message of outer net equipment transmission, the content of the first message by port 1
For the positional information of robot.The source address of first message is the IP of outer net equipment, and destination address is the external IP of interactive device.
Step 304, interactive device determine that first message is sent to the message of internal host for outer net equipment according to port 1.
Step 305, interactive device generate the second message according to first message, and the form of the second message are arranged into first
Data format.Specific practice can retain the content of first message, and increasing new source address on the header of first message is
The inside IP of interactive device, increase the inside IP that new destination address is internal host, so as to form the second message.Wherein,
Specific communication format of first communication format of two message between interactive device and internal host.That is, second disappears
All the elements in first message are remained in breath, only increase new source address and new destination address, and have changed logical
Believe form.
Second message is sent to internal host by step 306, interactive device.
Step 307, internal host handle the second message, the positional information control machine people motion in the second message.
For embodiment two by robot to illustrating exemplified by outer net equipment send feedback information, robot includes interactive device
And internal host.As shown in figure 4, robot communication process comprises the following steps in the embodiment of the present invention two：
Step 401, internal host generate the 3rd message, the 3rd message is machine human hair according to the motion conditions of robot
Give the feedback information of outer net equipment.Wherein, the source address of the 3rd message is the inside IP of internal host, and destination address is interaction
The inside IP of equipment；The communication format of 3rd message is the second communication format；3rd message includes the IP of outer net equipment.
Step 402, internal host are connected by USB, and the 3rd message is sent into interactive device.
Step 403, interactive device generate the 4th message according to the 3rd message.Specific practice can retain the 3rd message
Data content, the source address of the 3rd message is changed to the external IP of interactive device, the destination address of the 3rd message is changed to outer net
The IP of equipment, so as to form the 4th message.In addition, the communication format of the 4th message also needs to do corresponding change, it is outer to be sent to
Net equipment.
4th message is sent to outer net equipment by step 404, interactive device.
Fig. 5 illustrates a kind of structural representation of robot communication device provided in an embodiment of the present invention.
As shown in figure 5, a kind of robot communication device provided in an embodiment of the present invention, including：
First Transmit-Receive Unit 501, for receiving the first message of outer net equipment transmission by outside port, wherein, it is described
The source address of first message is the IP of the outer net equipment, and destination address is the external IP of interactive device；
Determining unit 502, for according to the outside port, it to be to be sent to the inside of robot to determine the first message
The message of main frame；Wherein, connected between the interactive device and the internal host by USB data line；The internal host
For controlling the robot；
Generation unit 503, for generating the second message according to the first message, the source address of second message is institute
The inside IP of interactive device is stated, the destination address of second message is the inside IP of the internal host；
First Transmit-Receive Unit 501, it is additionally operable to second message being sent to the internal host.
Optionally, first Transmit-Receive Unit 501, is additionally operable to receive the internal host and is sent to the outer net equipment
3rd message, the source address of the 3rd message are the inside IP of the internal host, and the destination address of the 3rd message is
The inside IP of the interactive device；3rd message includes the IP of the outer net equipment；
The generation unit 503, it is additionally operable to generate the 4th message, the purpose of the 4th message according to the 3rd message
Address is the IP of the outer net equipment, and the source address of the 4th message is the external IP of the interactive device.
Optionally, in addition to：
Allocation unit 504, for when being connected between the interactive device and the internal host by USB data line,
Distribute the inside IP of the interactive device and the inside IP of the internal host；The interactive device is provided with Android operation system
System.
Optionally, the form of the 3rd message is the second data format；
The generation unit 503, it is additionally operable to the form of second message being arranged to the first data format.
The embodiment of the present invention also provides another robot communication device, as shown in fig. 6, including
Second Transmit-Receive Unit 601, the inside IP for the internal host that the interactive device for receiving robot distributes；
Second Transmit-Receive Unit 601, it is additionally operable to receive the second message that the interactive device is sent, second message
Generated for the interactive device according to first message, the first message is that external equipment disappears to what the internal host was sent
Breath, the source address of the first message are the IP of the outer net equipment, and the destination address of the first message sets for the interaction
Standby external IP, the source address of second message are the inside IP of the interactive device, the destination of second message
Location is the inside IP of the internal host.
Optionally, in addition to acquiring unit 602, for obtaining the inside IP of the interactive device；Wherein, it is described internal main
Connected between machine and the interactive device by USB data line；The interactive device is provided with Android operation system；
Second Transmit-Receive Unit 601, it is additionally operable to send the 3rd message to the interactive device, so that the interactive device
4th message is generated according to the 3rd message, the source address of the 3rd message is the inside IP of the internal host, described
The destination address of 3rd message is the inside IP of the interactive device, and the 3rd message includes the IP of the outer net equipment,
The destination address of 4th message is the IP of the outer net equipment, and the source address of the 4th message is the interactive device
External IP.
Optionally, the form of second message is the first data format；
Also include setting unit 603, for the form of the 3rd message to be arranged into the second data format.
Fig. 7 illustrates a kind of structural representation of robot communication system provided in an embodiment of the present invention.
As shown in fig. 7, a kind of robot communication system provided in an embodiment of the present invention, including interactive device 701 and inside
Main frame 702.
The interactive device 701, for receiving the first message of outer net equipment transmission by outside port, wherein, it is described
The source address of first message is the IP of the outer net equipment, and destination address is the external IP of the interactive device；According to described outer
Portion port, determine the message that the first message is the internal host for being sent to robot；Wherein, the interactive device and described
Connected between internal host by USB data line；Second message, the source of second message are generated according to the first message
Location is the inside IP of the interactive device, and the destination address of second message is the inside IP of the internal host；By described in
Second message is sent to the internal host；
The internal host 702, the inside IP for the internal host that the interactive device for receiving robot distributes；Receive institute
State the second message of interactive device transmission；The robot is controlled according to second message.
Optionally, the internal host 702, it is additionally operable to obtain the inside IP of the interactive device；To the interactive device
Send the 3rd message, the source address of the 3rd message is the inside IP of the internal host, the destination of the 3rd message
Location is the inside IP of the interactive device；3rd message includes the IP of the outer net equipment；
The interactive device 701, it is additionally operable to receive the 3rd message that the internal host is sent to the outer net equipment；Root
The 4th message is generated according to the 3rd message, the destination address of the 4th message is the IP of the outer net equipment, the described 4th
The source address of message is the external IP of the interactive device.
Optionally, the interactive device 701, when being additionally operable to connect by USB data line between the internal host, point
The inside IP of inside IP and the internal host with the interactive device；The interactive device is provided with Android operation system.
Optionally, the interactive device 701, it is additionally operable to the form of second message being arranged to the first data format；
The internal host 702, it is additionally operable to the form of the 3rd message being arranged to the second data format.
The present invention is the flow with reference to method according to embodiments of the present invention, equipment (system) and computer program product
Figure and/or block diagram describe.It should be understood that can be by every first-class in computer program instructions implementation process figure and/or block diagram
Journey and/or the flow in square frame and flow chart and/or block diagram and/or the combination of square frame.These computer programs can be provided
The processors of all-purpose computer, special-purpose computer, Embedded Processor or other programmable data processing devices is instructed to produce
A raw machine so that produced by the instruction of computer or the computing device of other programmable data processing devices for real
The device for the function of being specified in present one flow of flow chart or one square frame of multiple flows and/or block diagram or multiple square frames.
These computer program instructions, which may be alternatively stored in, can guide computer or other programmable data processing devices with spy
Determine in the computer-readable memory that mode works so that the instruction being stored in the computer-readable memory, which produces, to be included referring to
Make the manufacture of device, the command device realize in one flow of flow chart or multiple flows and/or one square frame of block diagram or
The function of being specified in multiple square frames.
These computer program instructions can be also loaded into computer or other programmable data processing devices so that counted
Series of operation steps is performed on calculation machine or other programmable devices to produce computer implemented processing, so as in computer or
The instruction performed on other programmable devices is provided for realizing in one flow of flow chart or multiple flows and/or block diagram one
The step of function of being specified in individual square frame or multiple square frames.
Although preferred embodiments of the present invention have been described, but those skilled in the art once know basic creation
Property concept, then can make other change and modification to these embodiments.So appended claims be intended to be construed to include it is excellent
Select embodiment and fall into having altered and changing for the scope of the invention.
Obviously, those skilled in the art can carry out the essence of various changes and modification without departing from the present invention to the present invention
God and scope.So, if these modifications and variations of the present invention belong to the scope of the claims in the present invention and its equivalent technologies
Within, then the present invention is also intended to including these changes and modification.
Claims (10)
- A kind of 1. robot communication method, it is characterised in that including：The interactive device of robot receives the first message of outer net equipment transmission by outside port, wherein, the first message Source address be the outer net equipment IP, destination address be the interactive device external IP；For the interactive device according to the outside port, it is that the internal host for being sent to robot disappears to determine the first message Breath；Wherein, connected between the interactive device and the internal host by USB data line；The internal host is used to control The robot；The interactive device generates the second message according to the first message, and the source address of second message sets for the interaction Standby inside IP, the destination address of second message are the inside IP of the internal host；Second message is sent to the internal host by the interactive device.
- 2. the method as described in claim 1, it is characterised in that also include：The interactive device receives the 3rd message that the internal host is sent to the outer net equipment, the source of the 3rd message Address is the inside IP of the internal host, and the destination address of the 3rd message is the inside IP of the interactive device；It is described 3rd message includes the IP of the outer net equipment；The interactive device generates the 4th message according to the 3rd message, and the destination address of the 4th message is the outer net The IP of equipment, the source address of the 4th message are the external IP of the interactive device.
- 3. method as claimed in claim 1 or 2, it is characterised in that the interactive device of the robot is connect by outside port Before receiving the first message that outer net equipment is sent, in addition to：When being connected between the interactive device and the internal host by USB data line, the interactive device distributes the friendship The mutual inside IP of the equipment and inside IP of the internal host；The interactive device is provided with Android operation system.
- 4. method as claimed in claim 3, it is characterised in that the communication format of the 3rd message is the second communication format；The interactive device generates the second message according to the first message, including：The interactive device generates the second message according to the first message, and the communication format of second message is arranged to First communication format.
- A kind of 5. robot communication method, it is characterised in that including：The internal host of robot receives the inside IP of the internal host of the interactive device distribution of robot；The internal host receives the second message that the interactive device is sent, second message be the interactive device according to First message generates, the message that the first message sends for external equipment to the internal host, the source of the first message Address is the IP of the outer net equipment, and the destination address of the first message is the external IP of the interactive device, described second The source address of message is the inside IP of the interactive device, and the destination address of second message is the interior of the internal host Portion IP.
- 6. method as claimed in claim 5, it is characterised in that also include：The internal host obtains the inside IP of the interactive device；Wherein, between the internal host and the interactive device Connected by USB data line；The interactive device is provided with Android operation system；The internal host sends the 3rd message to the interactive device, so that the interactive device is given birth to according to the 3rd message Into the 4th message, the source address of the 3rd message is the inside IP of the internal host, the destination address of the 3rd message For the inside IP of the interactive device, the 3rd message includes the IP of the outer net equipment, the purpose of the 4th message Address is the IP of the outer net equipment, and the source address of the 4th message is the external IP of the interactive device.
- 7. a kind of robot communication system, it is characterised in that including interactive device and internal host；The interactive device, for receiving the first message of outer net equipment transmission by outside port, wherein, the first message Source address be the outer net equipment IP, destination address be the interactive device external IP；According to the outside port, really The fixed first message is the message for the internal host for being sent to robot；Wherein, the interactive device and the internal host Between connected by USB data line；Second message is generated according to the first message, the source address of second message is described The inside IP of interactive device, the destination address of second message are the inside IP of the internal host；By second message It is sent to the internal host；The internal host, the inside IP for the internal host that the interactive device for receiving robot distributes；Receive the interaction The second message that equipment is sent；The robot is controlled according to second message.
- 8. system as claimed in claim 7, it is characterised in thatThe internal host, it is additionally operable to obtain the inside IP of the interactive device；The 3rd message, institute are sent to the interactive device The source address for stating the 3rd message is the inside IP of the internal host, and the destination address of the 3rd message is the interactive device Inside IP；3rd message includes the IP of the outer net equipment；The interactive device, it is additionally operable to receive the 3rd message that the internal host is sent to the outer net equipment；According to described 3rd message generates the 4th message, and the destination address of the 4th message is the IP of the outer net equipment, the 4th message Source address is the external IP of the interactive device.
- 9. system as claimed in claim 7 or 8, it is characterised in that the interactive device, be additionally operable to：When being connected between the internal host by USB data line, the inside IP of the interactive device and the inside are distributed The inside IP of main frame；The interactive device is provided with Android operation system.
- 10. system as claimed in claim 9, it is characterised in thatThe interactive device, it is additionally operable to the form of second message being arranged to the first data format；The internal host, it is additionally operable to the form of the 3rd message being arranged to the second data format.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711091034.6A CN107864200A (en) | 2017-11-08 | 2017-11-08 | A kind of robot communication method and system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201711091034.6A CN107864200A (en) | 2017-11-08 | 2017-11-08 | A kind of robot communication method and system |
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| CN107864200A true CN107864200A (en) | 2018-03-30 |
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Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104202300A (en) * | 2014-08-06 | 2014-12-10 | 广东电网公司电力科学研究院 | Data communication method and device based on network isolating device |
| CN105306620A (en) * | 2015-11-13 | 2016-02-03 | 吴华瑜 | Data transmission control system |
| CN105763592A (en) * | 2014-12-19 | 2016-07-13 | 中兴通讯股份有限公司 | Cluster internal and external data interaction method, cluster gateway and source device |
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2017
- 2017-11-08 CN CN201711091034.6A patent/CN107864200A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104202300A (en) * | 2014-08-06 | 2014-12-10 | 广东电网公司电力科学研究院 | Data communication method and device based on network isolating device |
| CN105763592A (en) * | 2014-12-19 | 2016-07-13 | 中兴通讯股份有限公司 | Cluster internal and external data interaction method, cluster gateway and source device |
| CN105306620A (en) * | 2015-11-13 | 2016-02-03 | 吴华瑜 | Data transmission control system |
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Address after: 201210 Building 1, 399 Keyuan Road, Zhangjiang High Tech Park, Pudong New Area, Shanghai Applicant after: Huaqin Technology Co.,Ltd. Address before: 201210 Building 1, 399 Keyuan Road, Zhangjiang High Tech Park, Pudong New Area, Shanghai Applicant before: Huaqin Technology Co.,Ltd. Address after: 201210 Building 1, 399 Keyuan Road, Zhangjiang High Tech Park, Pudong New Area, Shanghai Applicant after: Huaqin Technology Co.,Ltd. Address before: 201210 Building 1, 399 Keyuan Road, Zhangjiang High Tech Park, Pudong New Area, Shanghai Applicant before: HUAQIN TELECOM TECHNOLOGY Co.,Ltd. |
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