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WO2018121693A1 - 一种机器人网络连接方法、系统及机器人 - Google Patents

一种机器人网络连接方法、系统及机器人 Download PDF

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Publication number
WO2018121693A1
WO2018121693A1 PCT/CN2017/119544 CN2017119544W WO2018121693A1 WO 2018121693 A1 WO2018121693 A1 WO 2018121693A1 CN 2017119544 W CN2017119544 W CN 2017119544W WO 2018121693 A1 WO2018121693 A1 WO 2018121693A1
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WO
WIPO (PCT)
Prior art keywords
terminal
network
robot
connection
local area
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2017/119544
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English (en)
French (fr)
Inventor
熊友军
查雄兴
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Ubtech Robotics Corp
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Ubtech Robotics Corp
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Filing date
Publication date
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Publication of WO2018121693A1 publication Critical patent/WO2018121693A1/zh
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Ceased legal-status Critical Current

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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W12/00—Security arrangements; Authentication; Protecting privacy or anonymity
    • H04W12/03—Protecting confidentiality, e.g. by encryption
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W12/00—Security arrangements; Authentication; Protecting privacy or anonymity
    • H04W12/02—Protecting privacy or anonymity, e.g. protecting personally identifiable information [PII]
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W12/00—Security arrangements; Authentication; Protecting privacy or anonymity
    • H04W12/06—Authentication
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W76/00—Connection management
    • H04W76/10—Connection setup
    • H04W76/15—Setup of multiple wireless link connections
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W76/00—Connection management
    • H04W76/10—Connection setup
    • H04W76/19—Connection re-establishment

Definitions

  • the invention relates to the field of intelligent robots, and in particular to a robot network connection method, system and robot.
  • robots With the rapid development of technology, intelligent robots have gradually become a research hotspot, which is favored by the market. In particular, service robots are more and more popular among users and have great market potential. As user demand continues to increase, robots are becoming more intelligent. At present, the robot can be controlled by a client installed on a terminal such as a mobile phone to realize human-computer interaction such as robot movement, singing, and human-machine dialogue.
  • a client installed on a terminal such as a mobile phone
  • a network type a local area network or a wide area network
  • the object of the present invention is to provide a robot network connection method, system and robot, which can make the operation of the robot more convenient and simple.
  • the present invention provides a robot network connection method, the method comprising:
  • the server is connected, and the server is used to establish a network connection with the terminal.
  • the establishing a network connection directly with the terminal by using the local area network includes:
  • the network connection is directly established with the terminal by using the local area network.
  • the establishing, by the server, the network connection with the terminal including:
  • the server is used to establish a network connection with the terminal.
  • the method includes:
  • the first disconnection time is less than or equal to the first preset time, establishing a network connection with the terminal again according to the network address;
  • first disconnection time is greater than the first preset time, connecting to the server, using the server to establish a network connection with the terminal again according to the network address, or returning to determine whether the robot and the at least one terminal are The same local area network steps;
  • the network address includes a MAC address or an IP address.
  • the establishing a network connection with the terminal again includes:
  • the receiving connection information sent by the terminal is not received in the second preset time, and the reject connection information sent by the terminal is received in the second preset time.
  • the method includes:
  • a second disconnection time disconnected from the server is recorded. And comparing the second disconnection time with a third preset time;
  • the server is used to find the terminal by using the network address, and establish a network connection with the terminal again;
  • the network address includes a MAC address or an IP address.
  • the present invention provides a robot network connection system, the system comprising:
  • a network judging module configured to determine whether the same local area network exists between the robot and the at least one terminal
  • a first network connection module configured to establish a network connection directly with the terminal by using the local area network when the network judgment module determines that the result is yes;
  • the second network connection module is configured to, when the determination result of the network determining module is negative, connect to the server, and establish a network connection with the terminal by using the server.
  • the first network connection module includes:
  • a first signal sending unit configured to send an encrypted network signal through the local area network
  • a first checking unit configured to receive a first connection request that is first fed back to the robot according to the encrypted network signal, and perform verification on the first connection request
  • the first connecting unit is configured to establish a network connection with the terminal directly by using the local area network when the verification of the first check unit is passed.
  • the second network connection module includes:
  • a second signal sending unit configured to send an encrypted network signal by using the server
  • a second check unit configured to receive a second connection request that is first fed back to the robot according to the encrypted network signal, and perform verification on the second connection request
  • a second connecting unit configured to establish a network connection with the terminal by using the server when the verification of the second verification unit passes.
  • the present invention provides a robot including a robot body and the above-described robot network connection system.
  • the present invention determines whether there is a same local area network between the robot and at least one terminal; if so, directly establishes a network connection with the terminal by using the local area network; if not, connects the server Establishing a network connection with the terminal by using the server.
  • the intelligent detection of the network environment of the robot enables the robot to preferentially connect to the terminal in the same local area network. If the robot does not have the same local area network as at least one terminal, the robot and the terminal are connected to the network through the server. Regardless of the type of network, you can use the above method to actively judge and connect the robot to the terminal. No manual operation is required, which makes the user's operation process on the robot more convenient and simple.
  • FIG. 1 is a schematic structural view of an embodiment of a robot network connection system according to the present invention.
  • FIG. 2 is a functional block diagram of a first embodiment of a robot network connection system of the present invention
  • FIG. 3 is a functional block diagram of the first network connection module 102 in the first embodiment of the system shown in FIG. 2;
  • FIG. 4 is a functional block diagram of a second network connection module 103 in the first embodiment of the system shown in FIG. 2;
  • Figure 5 is a schematic structural view of an embodiment of the robot of the present invention.
  • FIG. 6 is a schematic flow chart of a first embodiment of a robot network connection method according to the present invention.
  • FIG. 7 is a schematic flowchart of step S120 in the first embodiment of the method shown in FIG. 6;
  • step S130 is a schematic flow chart of step S130 in the first embodiment of the method shown in FIG. 6;
  • FIG. 9 is a schematic flow chart of a second embodiment of a robot network connection method according to the present invention.
  • FIG. 10 is a schematic flowchart of step S123 in the second embodiment of the method shown in FIG. 9;
  • FIG. 11 is a functional block diagram of a first embodiment of a robot network connection system of the present invention.
  • FIG. 12 is a schematic flow chart of a third embodiment of a robot network connection method according to the present invention.
  • FIG. 13 is a schematic flow chart of a fourth embodiment of a robot network connection method according to the present invention.
  • FIG. 1 is a schematic structural diagram of an embodiment of a robot network connection system according to the present invention.
  • the robot network connection system 100 includes a processor 101, and a network device 102 and a memory 103 respectively connected to the processor 101.
  • the memory 103 is configured to store an operation instruction executed by the processor 101.
  • the network device 102 is configured to establish a network connection with a terminal other than the robot.
  • the processor 101 is configured to perform the following operations:
  • the local area network is a communication network in a local geographical area. It is a network system that connects terminal devices of different physical locations distributed within a few kilometers and can communicate and share resources with the support of network software.
  • the router or gateway When a terminal initiates an external connection request in the LAN, the router or gateway will not block it, but the request from the WAN to the computer connection in the LAN will be intercepted by the router or gateway in most cases.
  • the network connection in the local area network is more stable than the wide area network, and the information transmission efficiency between the terminals connected in the local area network can be improved. At the same time, the information transmission between the terminals in the local area network does not require a fee, and the user can save the use cost.
  • the processor 101 determines whether the same local area network exists between the robot and the at least one terminal, and if so, the robot and the terminal are preferentially established to establish a network connection through the local area network, and the built-in network module of the robot is located under the local area network where the robot is located.
  • a search is performed to determine whether the same local area network exists between the robot and at least one terminal.
  • the operations performed by the processor 101 to establish a network connection with the terminals in the same local area network under the local area network through the network device 102 include:
  • Encrypted network signals are sent over the local area network.
  • the first connection request is verified by receiving a first connection request that is first fed back to the robot according to the encrypted network signal. If the verification is passed, the network connection is directly established with the terminal by using the local area network.
  • the processor 101 sends an encrypted encrypted network signal through a network module built in the robot, similar to a network signal sent by the wireless router; the terminal in the same local area network can detect the encrypted network signal through the built-in network module, and the terminal detects the The encrypted network signal is then fed back to the robot according to the encrypted network signal, and the first connection request includes at least verification information corresponding to the encrypted network signal, such as a verification password, a verification password, and the like. It can be understood that the number of terminals is at least one.
  • the processor 101 verifies the verification information of the first connection request information received first, and selects the execution content of the next step according to the verification result.
  • the multiple terminals respectively send a first connection request to the robot.
  • the robot first receives the first connection request that is first fed back. At this time, the verification information of the first connection request is verified. Of course, after receiving the first connection request information sent by all the terminals, the verification information of the first connection request received first is verified.
  • the network connection is directly established with the terminal by using the local area network; if the verification information of the first connection request by the processor 101 fails, the next reception is continued. The verification information of the first connection request is verified.
  • the processor 101 controls the robot to directly establish a network connection with the terminal by using the local area network
  • the processor 101 is further configured to perform the following operations:
  • the network address includes a MAC address or an IP address.
  • the manner of obtaining the network address of the terminal is not specifically limited.
  • the terminal may send the network address of the terminal to the robot, and then the terminal may send the terminal from the first connection request.
  • Network address In addition, after the robot establishes a network connection with the terminal, the network address of the terminal can be obtained through a network connection with the terminal.
  • the network address of the terminal is obtained. If the robot and the terminal are always connected to the local area network, the processor 101 does not actively change the network connection between the robot and the terminal. However, if the robot or the terminal is disconnected from the local area network, that is, the LAN disconnection occurs, the processor 101 starts recording the first disconnection time when the robot disconnects from the terminal, and records the first disconnection time and the first time. The preset time is compared, and the execution content of the next step is selected according to the comparison result.
  • the disconnection between the robot and the terminal may be that the LAN suddenly drops, causing the robot and the terminal to be unable to connect to the local area network, or the robot or the terminal may be disconnected unilaterally, causing the disconnection between the robot and the terminal.
  • the processor 101 disconnects the robot from the terminal.
  • the first disconnection time is recorded. Specifically, when it is detected that the robot is disconnected from the local area network, the timing of the first disconnection time is started, and during the timing, the first disconnection time to be obtained is compared with the first preset time, if the first disconnection time is When the robot is connected to the local area network less than or equal to the first preset time, the time of the first disconnection time is stopped. At this time, the processor 101 establishes a network connection with the terminal in the local area network again through the acquired network address.
  • the processor 101 controls the robot to connect to the server, and uses the server to pass the network address. Establish a network connection with the terminal again, or continue to determine whether the same local area network exists between the robot and at least one terminal.
  • the processor 101 records the first disconnection time at which the robot disconnects from the terminal. Specifically, when the processor 101 detects that the robot is disconnected from the terminal, the timing of the first disconnection time is started. During the timing, the corresponding terminal is searched by using the acquired network address through the local area network, if the first disconnection time is less than Or the first preset time, when the terminal is searched, the timing of the first disconnection time is stopped, and the network connection is again connected to the terminal, if the first disconnection time is greater than the first preset time, In order to search for the terminal, the timing of the first disconnection time is also stopped. At this time, the processor 101 controls the robot to connect to the server, establishes a network connection with the terminal again through the network address, or continues to determine the robot and the at least one terminal. Is there the same LAN between them?
  • the specific duration of the first preset time is not specifically limited, and the adjustment is performed according to a specific situation; since the first preset time is used to determine the length of time for the robot to disconnect the terminal, between the robot and the terminal The network connection is adjusted. If the first preset time is too long, the operation of the robot may be affected. Therefore, the first preset time should not be too long, and the first preset time may be 10 seconds, 15 seconds or 20 seconds.
  • the re-using the local area network to establish a network connection with the terminal by the processor 101 specifically includes:
  • Send a third connection request to the terminal It is determined in the second preset time whether the consent connection information sent by the terminal is received. If the consent connection information sent by the terminal is received within the second preset time, the network connection is established again with the terminal. If the consent connection information sent by the terminal is not received within the second preset time, whether the same local area network exists between the robot and the at least one terminal is continued.
  • the robot when the robot or the terminal is connected to the local area network again within the first preset time, the robot sends a third connection request to the terminal through the local area network, and the processor 101 obtains the consent according to the terminal receiving the third connection request or Feedback rejected to select the execution content of the next step.
  • the processor 101 starts timing by issuing a third connection request, and determines whether the consent connection information sent by the terminal is received during the timing. If the duration of the timing is less than or equal to the second preset time, the processor 101 receives the consent connection information sent by the terminal, and considers that the connection connection information sent by the terminal is received within the second preset time, and the network is selected to be established again with the terminal. connection.
  • the connection information continues to determine whether the same local area network exists between the robot and at least one terminal.
  • the operation performed by the processor 101 to connect to the server through the network device 102 and establish a network connection with the terminal under the wide area network of the server includes:
  • the control robot connects to the server, and establishes a network connection with the terminal through the server.
  • the processor 101 controls the robot to connect with the server, and sends an encrypted encrypted network signal through the server, and the encrypted network signal can be detected by the terminal through the built-in network module, and the terminal detects the encrypted network signal according to the
  • the encrypted network signal feeds back a second connection request to the robot, and the second connection request includes at least verification information corresponding to the encrypted network signal, such as a verification password, a verification password, and the like. It can be understood that the number of terminals is at least one.
  • the multiple terminals respectively send a second connection request to the robot.
  • the robot receives the second connection that is the first feedback for the first time.
  • the verification information of the second connection request is verified.
  • the verification information of the first connection request received first is verified.
  • the server establishes a network connection with the terminal that sends the second connection request; if the verification information of the second connection request fails, the next received message is continued. The verification information of the second connection request is verified.
  • the processor 101 controls the robot to establish a network connection with the terminal through the server, the processor 101 is further configured to perform the following operations:
  • the network address includes a MAC address or an IP address.
  • the processor 101 does not actively change the network connection between the robot and the terminal. However, if the robot is disconnected from the server, the network connection between the robot and the terminal will be processed accordingly to avoid affecting the user's operation on the robot.
  • the processor 101 When disconnected from the server, the processor 101 records the second disconnection time when the robot disconnects from the server, and compares the recorded second disconnection time with the third preset time, and selects according to the comparison result.
  • the execution content of a step When disconnected from the server, the processor 101 records the second disconnection time when the robot disconnects from the server, and compares the recorded second disconnection time with the third preset time, and selects according to the comparison result.
  • the recording of the second disconnection time when the robot is disconnected from the server is specifically: when the processor 101 detects that the robot is disconnected from the server, the timing of the second disconnection time is started, during the timing, The second disconnection time to be obtained is compared with the third preset time. If the second disconnection time is less than or equal to the third preset time, the robot stops connecting to the server and stops counting the second disconnection time. Then, the processor 101 uses the server to find the terminal through the network address, and establishes a network connection with the terminal again.
  • the timing of the second disconnection time is also stopped, and the processor 101 continues to determine whether there is a presence between the robot and the at least one terminal.
  • the same LAN The same LAN.
  • the specific time length of the third preset time is not specifically limited in this embodiment, and is adjusted according to specific conditions; since the third preset time is used to judge the length of time that the robot disconnects the server, to the robot and the terminal The network connection is modulated. If the third preset time is too long, the operation of the robot may be affected. Therefore, the third preset time should not be too long, and the third preset time may be 10 seconds, 15 seconds or 20 seconds. .
  • the execution content of the server 101 that is used by the processor 101 to establish a network connection with the terminal and establish a network connection with the terminal by using the local area network again is the same as the content that is used by the processor 101 to establish a network connection with the terminal by using the local area network. , will not repeat them here.
  • the robot network connection system is divided into functional modules.
  • Figure 2 is a functional block diagram of a first embodiment of the robotic network connection system of the present invention.
  • the first embodiment of the robot network connection system of the present invention is obtained by functional module division according to the execution content of the processor 101 of the robot network connection system 100 shown in FIG.
  • the robot network connection system 200 includes:
  • the network judging module 201 is configured to determine whether the same local area network exists between the robot and the at least one terminal.
  • the first network connection module 202 is configured to establish a network connection directly with the terminal by using a local area network when the network judgment module determines that the result is yes.
  • the second network connection module 203 is configured to connect to the server when the network judgment module determines that the result is no, and establish a network connection with the terminal by using the server.
  • the first network connection module 202 in FIG. 2 includes:
  • the first signal sending unit 2021 is configured to send an encrypted network signal through the local area network.
  • the first check unit 2022 is configured to receive a first connection request that is first fed back to the bot according to the encrypted network signal, and check the first connection request.
  • the first connection unit 2023 is configured to establish a network connection with the terminal under the local area network when the verification of the first verification unit passes.
  • the second network connection module 203 in FIG. 2 includes:
  • the second signal sending unit 2031 is configured to send an encrypted network signal by using a server.
  • the second verification unit 2032 is configured to receive a second connection request that is first fed back to the robot according to the encrypted network signal, and perform verification on the second connection request.
  • the second connection unit 2033 is configured to establish a network connection with the terminal under the wide area network of the server when the verification of the second verification unit passes.
  • the module/unit of the first embodiment of the robot network connection system of the present invention shown in FIG. 2 to FIG. 4 corresponds to the execution content of the processor 101 of the robot network connection system 100, and details are not described herein again.
  • FIG. 5 is a schematic structural diagram of an embodiment of a robot according to the present invention.
  • the robot 300 includes a robot body 301 and a robot network connection system 302.
  • the robot network connection system 302 may be the robot network connection system 100 shown in FIG. 1, or may be the robot network connection system 200 shown in FIG. 2 to FIG.
  • FIG. 6 is a schematic flowchart diagram of a first embodiment of a robot network connection method according to the present invention. The method runs on the processor 101 of the robot network connection system shown in FIG. 1, and includes the following steps:
  • the local area network is a communication network in a local geographical area. It is a network system that connects terminal devices of different physical locations distributed within a few kilometers and can communicate and share resources with the support of network software.
  • the router or gateway When a terminal initiates an external connection request in the LAN, the router or gateway will not block it, but the request from the WAN to the computer connection in the LAN will be intercepted by the router or gateway in most cases.
  • the network connection in the local area network is more stable than the wide area network, and the information transmission efficiency between the terminals connected in the local area network can be improved. At the same time, the information transmission between the terminals in the local area network does not require a fee, and the user can save the use cost.
  • the built-in network module of the robot performs a search under the local area network where the robot is located to determine whether the same local area network exists between the robot and the at least one terminal, according to the judgment.
  • the result selects the execution content of the next step.
  • step S110 When the result of the determination in step S110 is that the same local area network exists between the robot and the at least one terminal, the network connection is preferentially established with the terminal in the same local area network, and the network connection at this time is a network connection under the local area network.
  • step S120 includes the following steps:
  • S1201 Send an encrypted network signal through a local area network.
  • the robot sends an encrypted encrypted network signal through the built-in network module, similar to the network signal sent by the wireless router; the terminal in the same local area network can detect the encrypted network signal through the built-in network module, and the terminal detects the encrypted network signal according to the
  • the encrypted network signal feeds back a first connection request to the robot, and the first connection request includes at least verification information corresponding to the encrypted network signal, such as a verification password, a verification password, and the like. It can be understood that the number of the terminals is at least one.
  • S1202 Receive a first connection request that is first fed back to the robot according to the encrypted network signal, and check the first connection request.
  • the robot verifies the verification information in the first connection request received first, and selects the execution content of the next step according to the verification result.
  • the multiple terminals respectively send a first connection request to the robot.
  • the robot first receives the first connection request that is first fed back.
  • the verification information of the first connection request information is verified.
  • the verification information of the first connection request information received first is verified.
  • S1203 directly establish a network connection with the terminal by using a local area network.
  • the robot If the robot verifies the verification information in the first connection request received for the first time, the robot establishes a network connection directly with the terminal that sends the first connection request through the built-in network module through the built-in network module.
  • the network connection established at this time may be an encrypted network connection or an unencrypted network connection.
  • S130 Connect to the server, and establish a network connection with the terminal by using the server.
  • the control robot connects to the server, and establishes a network connection with the terminal through the server.
  • step S130 includes the following steps:
  • S1301 Send an encrypted network signal through a server.
  • step S1201. the encrypted network signal is sent through the wide area network of the server.
  • the specific transmission method of the encrypted network signal refer to step S1201.
  • S1302 Receive a second connection request that is first fed back to the robot according to the encrypted network signal, and verify the second connection request.
  • the server establishes a network connection with the terminal.
  • Step S1302 and step S1303 are the same as steps S1202 and S1203, respectively, and are not described herein again.
  • FIG. 9 is a schematic flowchart of a second embodiment of a method for connecting a robot network according to the present invention.
  • the present embodiment is improved based on the first embodiment of the connection method shown in FIG. 6. It can be understood that The network connection method of this embodiment also operates on the processor 101 of the robot network connection system shown in FIG. 1.
  • the embodiment further includes: after step S120 shown in FIG. 1 :
  • the network address of the terminal is obtained, where the network address includes the IP address or MAC address of the terminal.
  • the manner of obtaining the network address of the terminal is not specifically limited.
  • the terminal may send the network address of the terminal to the robot, and then the terminal may send the terminal from the first connection request.
  • Network address In addition, after the robot establishes a network connection with the terminal, the network address of the terminal can be obtained through a network connection with the terminal.
  • the network connection between the robot and the terminal will not be actively changed. However, if the robot or the terminal is disconnected from the local area network, that is, the LAN is disconnected, the first disconnection time of disconnecting the robot from the terminal is started, and the first disconnection time and the first preset time are recorded. For comparison, the execution content of the next step is selected based on the comparison result.
  • the disconnection between the robot and the terminal may be caused by a sudden drop of the LAN, causing the robot and the terminal to be unable to connect to the local area network, or the robot or the terminal may be disconnected unilaterally, causing the robot to disconnect from the terminal.
  • the first connection between the robot and the terminal is disconnected. Record the disconnection time.
  • the timing of the first disconnection time is started, and during the timing, the first disconnection time to be obtained is compared with the first preset time, if the first disconnection time is less than or equal to
  • the time of stopping the first disconnection time is stopped, and step S123 is selected; if the first disconnection time is greater than the first preset time, the robot is still disconnected from the local area network. , the timing of the first disconnection time is also stopped, and step S124 is selected to be performed.
  • the first disconnection time in which the robot is disconnected from the terminal is recorded.
  • the timing of the first disconnection time is started.
  • the corresponding terminal is searched by using the obtained network address through the local area network, if the first disconnection time is less than or equal to the first preset.
  • the terminal is stopped, and the time of the first disconnection time is stopped, and step S123 is selected. If the first disconnection time is greater than the first preset time, the terminal is still searched for, and the terminal is also stopped. The first off time is counted, and step S124 is selected to be performed.
  • the specific duration of the first preset time is not specifically limited, and the adjustment is performed according to a specific situation; since the first preset time is used to determine the length of time for the robot to disconnect the terminal, between the robot and the terminal The network connection is adjusted. If the first preset time is too long, the operation of the robot may be affected. Therefore, the first preset time should not be too long, and the first preset time may be 10 seconds, 15 seconds or 20 seconds.
  • the robot establishes a network connection with the terminal again through the network address.
  • the first disconnection is performed according to step S122.
  • the time recording method knows that if the first disconnection time is less than or equal to the first preset time, it means that the robot is connected to the local area network again in the first preset time, and at this time, the network address of the terminal can be found through the local area network.
  • the previously connected terminal establishes a network connection with the terminal again.
  • step S122 If the disconnection between the robot and the terminal is caused by the disconnection between the terminal and the local area network, according to the recording method of the first disconnection time in step S122, if the first disconnection time is less than or equal to the first preset time, If the terminal is connected to the local area network again in the first preset time, the network address obtained in step S121 is used to establish a network connection with the terminal again.
  • the server If the first disconnection time is greater than the first preset time, connect to the server, use the server to establish a network connection with the terminal again through the network address, or return to determine whether there is a same local area network between the robot and the at least one terminal.
  • the first disconnection is performed according to step S122.
  • the time recording method knows that if the first disconnection time is greater than the first preset time, it indicates that the local area network is still in the offline state or the robot is not connected to the local area network again within the first preset time, and if the time is not timely, the robot Connecting to the terminal may affect the user's operation of the robot. Then, the robot is connected to the server, and the server finds the corresponding terminal through the network address obtained in step S121, and establishes a network connection with the terminal again.
  • step S122 If the disconnection between the robot and the terminal is caused by the disconnection between the terminal and the local area network, according to the recording method of the first disconnection time in step S122, if the first disconnection time is greater than the first preset time, the terminal still If the local area network is in the offline state, the process returns to step S110 to re-determine whether the same local area network exists between the robot and the at least one terminal.
  • the robot can also be connected to the server, and the server uses the network address again.
  • the terminal establishes a network connection, but in order to improve the communication transmission efficiency between the robot and the terminal, preferably, the process returns to step S11 to re-determine whether the same local area network exists between the robot and the at least one terminal.
  • the embodiment solves the problem that when the terminal or the robot is suddenly disconnected from the local area network, or the network connection of the robot is processed in the case of the LAN disconnection, the robot network connection is processed in time so as not to affect the user's operation on the robot. .
  • the robot establishes a network connection with the terminal again in step S123, including the following steps:
  • the robot When the robot or the terminal is connected to the local area network again within the first preset time, the robot sends a third connection request to the terminal through the local area network, and selects the feedback according to the consent or rejection made by the terminal receiving the third connection request.
  • the execution content of a step When the robot or the terminal is connected to the local area network again within the first preset time, the robot sends a third connection request to the terminal through the local area network, and selects the feedback according to the consent or rejection made by the terminal receiving the third connection request.
  • S1232 Determine, in the second preset time, whether the consent connection information sent by the terminal is received.
  • the timing is started from the issuance of the third connection request, and it is determined whether the consent connection information sent by the terminal is received during the timing. If the duration of the timing is less than or equal to the second preset time, if the consent connection information sent by the terminal is received, it is considered that the consent connection information sent by the terminal is received within the second preset time, and step S1233 is selected to be performed; If the second connection is not received, but the consent connection information sent by the terminal is not received, it is considered that the connection connection information sent by the terminal is not received within the second preset time, and step S1234 is selected to be performed.
  • a case is also included, that is, when the time length of the timer is less than or equal to the second preset time, and the received connection information sent by the terminal is received, the consent of the terminal is not received within the second preset time. Connect the information and choose to perform step S1234.
  • the second preset time may be adjusted according to a specific situation; since the second preset time is used to determine the feedback condition of the terminal to the third connection request, the network connection between the robot and the terminal is adjusted according to the feedback situation, if The second preset time is too long, which may affect the operation of the robot. Therefore, the second person's preset time should not be too long.
  • the terminal performs the feedback of the consent connection according to the third connection request, and the robot is again established with the terminal. Internet connection.
  • the terminal does not receive the third connection request, or the terminal does not provide feedback to the third connection request, or the terminal rejects the third connection request. Then, the robot is no longer connected to the terminal, and then returns to step S110 to continue to determine whether the same local area network exists between the robot and the at least one terminal.
  • the robot connects to the server in step S124, and establishes a network connection with the terminal again by using the network address by the server, including the following steps:
  • S1241 Connect to the server, and find the terminal by using the network address by the server.
  • the robot is disconnected from the local area network, and the robot is connected to the server.
  • the server searches for the terminal by using the network address obtained in step S121, and then finds the terminal.
  • This step is similar to step S1231, except that the third connection request is sent to the terminal through the server.
  • Step S1243, step S1244, and step S1245 are the same as steps S1232, S1233, and S1234 shown in FIG. 5, respectively, and are not described herein again.
  • FIG. 12 is a schematic flowchart of a third embodiment of a method for connecting a robot network according to the present invention.
  • the present embodiment is improved based on the first embodiment of the connection method shown in FIG. 6. It can be understood that The network connection method of this embodiment also operates on the processor 101 of the robot network connection system shown in FIG. 1.
  • this embodiment further includes: after step S13 shown in FIG. 6:
  • step S131 is the same as step S121 in the second embodiment shown in FIG. 9, and details are not described herein again.
  • the network connection between the robot and the terminal will not be actively changed. However, if the robot is disconnected from the server, the network connection between the robot and the terminal will be processed accordingly to avoid affecting the user's operation.
  • the second disconnection time when the robot disconnects from the server is recorded, the recorded second disconnection time is compared with the third preset time, and the execution of the next step is selected according to the comparison result. content.
  • the record of the second disconnection time when the robot is disconnected from the server is specifically: when detecting that the robot is disconnected from the server, starting the timing of the second disconnection time, in the timing process, the upcoming The second disconnection time is compared with the third preset time. If the second disconnection time is less than or equal to the third preset time, the robot stops connecting to the server again, stops counting the second disconnection time, and selects execution. Step S133; if the robot is still disconnected from the server when the second disconnection time is greater than the third preset time, the timing of the second disconnection time is also stopped, and step S134 is selected to be performed.
  • the specific time length of the third preset time is not specifically limited in this embodiment, and is adjusted according to specific conditions; since the third preset time is used to judge the length of time that the robot disconnects the server, to the robot and the terminal The network connection is modulated. If the third preset time is too long, the operation of the robot may be affected. Therefore, the third preset time should not be too long, and the third preset time may be 10 seconds, 15 seconds or 20 seconds. .
  • the server is used to find the terminal through the network address, and the network connection is established again with the terminal.
  • the second disconnection time if the second disconnection time is less than or equal to the third preset time, it indicates that the robot is connected to the server again in the third preset time, and the server is utilized by the server.
  • the obtained network address finds the previously connected terminal and establishes a network connection with the found terminal.
  • step S132 if the second disconnection time is greater than the third preset time, the robot is still disconnected from the server, and then returns to step S110 to continue to determine the robot and the at least one terminal. Is there the same LAN between them?
  • FIG. 13 is a schematic flowchart of a fourth embodiment of a method for connecting a robot network according to the present invention.
  • the present embodiment is improved based on the first embodiment of the connection method shown in FIG. 6. It can be understood that The network connection method of this embodiment also operates on the processor 101 of the robot network connection system shown in FIG. 1. As shown in FIG. 13, the embodiment further includes: after step S130 shown in FIG. 6:
  • step S110 the process returns directly to step S110 to continue to determine whether the same local area network exists between the robot and the at least one terminal.
  • the robot network connection method shown in FIG. 12 and FIG. 13 is directed to a method of processing a robot network connection when a robot and a terminal use a server to perform a network connection and a disconnection with the server occurs.

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Abstract

本发明公开一种机器人网络连接方法、系统及机器人，该连接方法包括判断机器人与至少一终端之间是否存在相同的局域网；若是，则利用所述局域网直接与所述终端建立网络连接；若否，则连接服务器，利用所述服务器与所述终端建立网络连接。通过智能的使机器人优先与处于相同局域网的终端进行网络连接，若机器人与至少一终端之间不存在相同的局域网，则通过服务器使机器人与终端进行网络连接，在机器人选择要通过哪种网络与终端进行网络连接的过程中，不需要人为操作，使用户对机器人的操作更加便捷、简单。

Description

一种机器人网络连接方法、系统及机器人 技术领域
本发明涉及智能机器人领域，尤其涉及一种机器人网络连接方法、系统及机器人。
背景技术
随着技术的迅猛发展，智能机器人逐渐成为研究热点，受到市场的热捧，特别是服务型机器人越来越受到用户的欢迎，具有巨大的市场潜力。随着用户需求不断增加，机器人也越来越智能化。目前，通过手机等终端上安装的客户端即可机器人进行控制，实现机器人运动、唱歌及人机对话等人机互动。然而，现有技术中，机器人与手机等终端进行连接时，需要手动地在手机等终端上选择机器人与终端连接时需要连接的网络类型(局域网或广域网)，这样就导致用户使用操作变得繁琐。
发明内容
本发明的目的在于提供一种机器人网络连接方法、系统及机器人，能够使用户对机器人的操作更加便捷、简单。
为实现上述目的，本发明提供一种机器人网络连接方法，该方法包括：
判断机器人与至少一终端之间是否存在相同的局域网；
若是，则利用所述局域网直接与所述终端建立网络连接；
若否，则连接服务器，利用所述服务器与所述终端建立网络连接。
其中，所述利用所述局域网直接与所述终端建立网络连接，包括：
通过所述局域网发出加密网络信号；
接收根据所述加密网络信号最先反馈至机器人的第一连接请求，对所述第一连接请求进行校验；
若校验通过，则利用所述局域网直接与所述终端建立网络连接。
其中，所述利用所述服务器与所述终端建立网络连接，包括：
通过所述服务器发出加密网络信号；
接收根据所述加密网络信号最先反馈至所述机器人的第二连接请求，对所述第二连接请求进行校验；
若校验通过，则利用所述服务器与所述终端建立网络连接。
其中，所述利用所述局域网直接与所述终端建立网络连接之后，包括：
获取所述终端的网络地址；
当与所述终端断开时，记录与所述终端断开的第一断开时间，并将所述第一断开时间与第一预设时间进行比较；
若所述第一断开时间小于或等于所述第一预设时间，则根据所述网 络地址再次与所述终端建立网络连接；
若所述第一断开时间大于所述第一预设时间，则连接服务器，利用所述服务器根据所述网络地址再次与所述终端建立网络连接，或返回判断机器人与至少一终端之间是否存在相同的局域网的步骤；
其中，所述网络地址包括MAC地址或IP地址。
其中，所述再次与所述终端建立网络连接，包括：
向与所述终端发送第三连接请求；
在第二预设时间内判断是否接收到所述终端发送的同意连接信息；
若在第二预设时间内接收到所述终端发送的同意连接信息，则再次与所述终端建立网络连接；
若在第二预设时间内未接收到所述终端发送的同意连接信息，则返回判断机器人与至少一终端之间是否存在相同的局域网的步骤；
其中，所述在第二预设时间内未接收到所述终端发送的同意连接信息，包括在所述第二预设时间内接收到所述终端发送的拒绝连接信息。
其中，所述利用所述服务器与所述终端建立网络连接之后，包括：
若与所述服务器断开连接，则返回判断机器人与至少一终端之间是否存在相同的局域网的步骤；或
获取所述终端的网络地址；
当与所述服务器断开时，记录与所述服务器断开的第二断开时间。 并将所述第二断开时间与第三预设时间进行比较；
若所述第二断开时间小于或等于所述第三预设时间，则利用所述服务器通过所述网络地址查找到所述终端，再次与所述终端建立网络连接；
若所述第二断开时间大于所述第三预设时间，则返回判断机器人与至少一终端之间是否存在相同的局域网的步骤；
其中，所述网络地址包括MAC地址或IP地址。
另一方面，本发明提出了一种机器人网络连接系统，该系统包括：
网络判断模块，用于判断机器人与至少一终端之间是否存在相同的局域网；
第一网络连接模块，用于当所述网络判断模块的判断结果为是时，利用所述局域网直接与所述终端建立网络连接；
第二网络连接模块，用于当所述网络判断模块的判断结果为否时，连接服务器，利用所述服务器与所述终端建立网络连接。
其中，所述第一网络连接模块包括：
第一信号发送单元，用于通过所述局域网发出加密网络信号；
第一校验单元，用于接收根据所述加密网络信号最先反馈至机器人的第一连接请求，对所述第一连接请求进行校验；
第一连接单元，用于当所述第一校验单元的校验通过时，利用所述局域网直接与所述终端建立网络连接。
其中，所述第二网络连接模块包括：
第二信号发送单元，用于通过所述服务器发出加密网络信号；
第二校验单元，用于接收根据所述加密网络信号最先反馈至所述机器人的第二连接请求，对所述第二连接请求进行校验；
第二连接单元，用于当所述第二校验单元的校验通过时，利用所述服务器与所述终端建立网络连接。
另一方面，本发明提出了一种机器人，该机器人包括机器人本体和上述的机器人网络连接系统。
有益效果：区别于现有技术的情况，本发明通过判断机器人与至少一终端之间是否存在相同的局域网；若是，则利用所述局域网直接与所述终端建立网络连接；若否，则连接服务器，利用所述服务器与所述终端建立网络连接。智能的对机器人的网络环境进行检测，使机器人优先与处于相同局域网的终端进行网络连接，若机器人与至少一终端不存在相同的局域网时，通过服务器使机器人与终端进行网络连接。无论针对哪种网络类型，均可以使用上述方法主动判断并将机器人与终端连接，不需要手动操作，使用户对机器人的操作过程更加便捷、简单。
附图说明
图1是本发明机器人网络连接系统一实施例的结构示意图；
图2是本发明机器人网络连接系统第一实施例的功能模块图；
图3是图2所示的系统第一实施例中的第一网络连接模块102的功能模块图；
图4是图2所示的系统第一实施例中的第二网络连接模块103的功能模块图；
图5是本发明机器人一实施例的结构示意图；
图6是本发明机器人网络连接方法第一实施例的流程示意图；
图7是图6所示的方法第一实施例中的步骤S120的流程示意图；
图8是图6所示的方法第一实施例中的步骤S130的流程示意图；
图9是本发明机器人网络连接方法第二实施例的流程示意图；
图10是图9所示的方法第二实施例中的步骤S123的流程示意图；
图11是本发明机器人网络连接系统第一实施例的功能模块图；
图12是本发明机器人网络连接方法第三实施例的流程示意图；
图13是本发明机器人网络连接方法第四实施例的流程示意图。
具体实施方式
为使本领域的技术人员更好地理解本发明的技术方案，下面结合附图和具体实施方式对本发明所提供的一种机器人网络连接方法、系统及机器人做进一步详细描述。
参阅图1，图1是本发明机器人网络连接系统一实施例的结构示意图，该机器人网络连接系统100包括：处理器101，以及分别与处理器101连接的网络装置102和存储器103。
存储器103，用于存储处理器101执行的操作指令。网络装置102，用于与机器人之外的终端建立网络连接。
处理器101用于执行下述操作：
判断机器人与至少一终端之间是否存在相同的局域网。若机器人与至少一终端之间存在相同的局域网，则通过网络装置102在局域网下与终端建立网络连接。若机器人与至少一终端之间不存在相同的局域网，则通过网络装置102连接服务器，在服务器的广域网下与终端建立网络连接。
局域网是局部地理范围内的通信网络，是把分布在数公里范围内的不同物理位置的终端设备连在一起，在网络软件的支持下可以相互通讯和资源共享的网络系统。在局域网内终端发起的对外连接请求时，路由器或网关都不会加以阻拦，但来自广域网对局域网内电脑连接的请求，路由器或网关在绝大多数情况下都会进行拦截。通常在局域网内的网络连接相对于广域网更加稳定，能够提升局域网内连接的终端之间的信息传输效率，同时局域网内终端之间的信息传输不需要费用，能够为用户节约使用成本。
本实施例中，通过处理器101判断机器人与至少一终端之间是否存在相同的局域网，若是，则优先使机器人与终端通过局域网建立网络连接，通过机器人的内置网络模块在机器人所处的局域网下进行搜索，以 判断机器人与至少一终端之间是否存在相同的局域网。
进一步的，处理器101执行的通过网络装置102在局域网下与处于同一局域网的终端建立网络连接的操作包括：
通过局域网发出加密网络信号。接收根据加密网络信号最先反馈至机器人的第一连接请求，对该第一连接请求进行校验。若校验通过，则利用局域网直接与该终端建立网络连接。
具体的，处理器101通过机器人内置的网络模块发出经过加密的加密网络信号，类似于无线路由发出的网络信号；处于同一局域网的终端通过内置的网络模块能够检测到该加密网络信号，终端检测到该加密网络信号之后会根据该加密网络信号向机器人反馈第一连接请求，第一连接请求中至少包含有与该加密网络信号相对应的验证信息，例如验证密码、验证口令等。可以理解的是，该终端的数量为至少一个。
处理器101对最先接收到的第一连接请求信息的验证信息进行校验，根据验证结果选择下一步的执行内容。
可以理解的是，若与机器人处于相同局域网的终端有多个时，该多个终端会分别向机器人发送第一连接请求，在本实施例中，机器人首次接收到最先反馈的第一连接请求时，就对该第一连接请求的验证信息进行校验。当然，也可以接收全部终端发送的第一连接请求信息之后，再对最先接收到的第一连接请求的验证信息进行校验。
若处理器101对第一连接请求的验证信息校验通过，则利用局域网直接与该终端建立网络连接；若处理器101对第一连接请求的验证信息校验不通过，则继续对下一个接收到的第一连接请求的验证信息进行校验。
进一步的，在处理器101控制机器人利用局域网直接与终端建立网络连接之后，处理器101还用于执行下述操作：
获取该终端的网络地址。当与该终端断开连接时，记录与该终端断开的第一断开时间，并将第一断开时间与第一预设时间进行比较。若第一断开时间小于或等于第一预设时间，则通过该网络地址再次与该终端建立网络连接。若第一断开时间大于第一预设时间，则连接服务器，通过服务器利用网络地址再次与终端建立网络连接，或继续判断机器人与至少一终端之间是否存在相同的局域网。其中，网络地址包括MAC地址或IP地址。
本实施例对获取终端的网络地址的方式不做具体限定，终端可以在向机器人发送第一连接请求时，将自身的网络地址一并发送给机器人，则可以从第一连接请求中获取终端发送的网络地址。此外，也可以在机器人与终端建立网络连接后，通过与终端之间的网络连接获取终端的网络地址。
具体的，当机器人利用局域网与终端连接网络连接之后，获取该终 端的网络地址。若机器人和终端与局域网均始终保持连接，则处理器101不会主动改变机器人与终端之间的网络连接。但如果机器人或者终端与局域网断开，即出现局域网掉线的情况，则处理器101开始对机器人与终端断开连接的第一断开时间进行记录，将记录的第一断开时间与第一预设时间进行比较，根据比较结果选择下一步骤的执行内容。其中，机器人与终端断开连接可能是局域网忽然掉线，导致机器人和终端均连接不了局域网，也可能是机器人或者终端单方面掉线导致机器人与终端之间断开连接。
若是由于局域网掉线导致的机器人与终端之间断开连接，或局域网未掉线，但机器人与局域网之间断开连接导致的机器人与终端之间断开连接，则处理器101对机器人与终端断开连接的第一断开时间的进行记录。具体的，当检测到机器人与局域网断开，开始第一断开时间的计时，在计时过程中，即将得到的第一断开时间与第一预设时间进行比较，若在第一断开时间小于或等于第一预设时间时，机器人再次连接上局域网，则停止对第一断开时间的计时，此时，处理器101通过获取的网络地址再次与该终端在局域网内建立网络连接。若在第一断开时间大于第一预设时间时，机器人仍然与局域网断开，也会停止对第一断开时间的计时，此时，处理器101控制机器人连接服务器，利用服务器通过网络地址再次与该终端建立网络连接，或继续判断机器人与至少一终端之间是否存 在相同的局域网。
若是由于终端与局域网之间断开连接导致的机器人与终端之间断开连接，则处理器101对机器人与终端断开连接的第一断开时间的进行记录。具体的，当处理器101检测到机器人与终端断开连接，开始第一断开时间的计时，在计时过程中，通过局域网利用获取的网络地址搜索相应的终端，若在第一断开时间小于或等于第一预设时间时，搜索到该终端，则停止对第一断开时间的计时，并再次与该终端连接网络连接，若在第一断开时间大于第一预设时间时，仍然为搜索到该终端，也会停止对第一断开时间的计时，此时，处理器101控制机器人连接服务器，利用服务器通过网络地址再次与该终端建立网络连接，或继续判断机器人与至少一终端之间是否存在相同的局域网。
本实施例对第一预设时间的具体时长不做具体限定，根据具体情况进行调整；由于第一预设时间是用来对机器人断开终端的时间长短进行判断，以对机器人与终端之间的网络连接进行调整，如果第一预设时间过长，可能会影响机器人的操作，因此，第一预设时间不宜过长，第一预设时间可以为10秒、15秒或20秒。
进一步的，上述处理器101执行的再次利用局域网与终端建立网络连接具体包括：
向终端发送第三连接请求。在第二预设时间内判断是否接收到终端 发送的同意连接信息。若在第二预设时间内接收到终端发送的同意连接信息，则再次与终端建立网络连接。若在第二预设时间内未接收到终端发送的同意连接信息，则继续机器人与至少一终端之间是否存在相同的局域网。
具体的，当在第一预设时间内，机器人或终端再次连接上局域网，机器人通过局域网向该终端发送第三连接请求，处理器101根据终端接收到该第三连接请求而做出的同意或拒绝的反馈来选择下一步骤的执行内容。
处理器101从发出第三连接请求开始计时，在计时过程中判断是否接收到终端发送的同意连接信息。若计时的时长小于或等于第二预设时间时，处理器101接收到终端发送的同意连接信息，则认为在第二预设时间内接收到终端发送的同意连接信息，选择再次与终端建立网络连接。
若计时的时长大于第二预设时间，但仍未收到终端发送的同意连接信息，则认为在第二预设时间内未接收到终端发送的同意连接信息，则继续判断机器人与至少一终端之间是否存在相同的局域网。此外，还包括一种情况，即在计时的时长小于或等于第二预设时间时，接收到终端发送的拒接连接信息，则同样认为在第二预设时间内未接收到终端发送的同意连接信息，则继续判断机器人与至少一终端之间是否存在相同的局域网。
进一步的，处理器101执行的通过网络装置102连接服务器，在服务器的广域网下与终端建立网络连接的操作包括：
当处理器101判断机器人与至少一终端之间不存在相同的局域网时，控制机器人连接服务器，通过服务器与终端建立网络连接。
具体的，处理器101控制机器人与服务器连接，通过该服务器发出经过加密的加密网络信号，与终端通过内置的网络模块能够检测到该加密网络信号，终端检测到该加密网络信号后，会根据该加密网络信号向机器人反馈第二连接请求，第二连接请求中至少包含有与该加密网络信号相对应的验证信息，例如验证密码、验证口令等。可以理解的是，该终端的数量为至少一个。
可以理解的是，若与机器人不存在相同局域网的终端有多个时，该多个终端会分别向机器人发送第二连接请求，在本实施例中，机器人首次接收到最先反馈的第二连接请求时，就对该第二连接请求的验证信息进行校验。当然，也可以接收全部终端发送的第二连接请求信息之后，再对最先接收到的第二连接请求的验证信息进行校验。
若第二连接请求的验证信息校验通过，则利用服务器与发送该第二连接请求的终端建立网络连接；若第二连接请求的验证信息校验不通过，则继续对下一个接收到的第二连接请求的验证信息进行校验。
进一步的，在处理器101控制机器人通过服务器与终端建立网络连 接后，还用于执行下述操作：
获取终端的网络地址。当机器人与服务器断开连接时，记录与服务器断开的第二断开时间。并将第二断开时间与第三预设时间进行比较。若第二断开时间小于或等于第三预设时间，则利用服务器通过网络地址查找到终端，再次与终端建立网络连接。若第二断开时间大于第三预设时间，则继续判断机器人与至少一终端之间是否存在相同的局域网。其中，网络地址包括MAC地址或IP地址。
可以理解的是，若机器人与服务器始终保持连接，则处理器101不会主动改变机器人与终端之间的网络连接。但如果机器人与服务器之间断开连接，则会对机器人与终端之间的网络连接进行相应处理，避免影响用户对机器人的操作。
当与服务器断开连接时，处理器101对机器人与服务器断开连接的第二断开时间进行记录，并将记录的第二断开时间与第三预设时间进行比较，根据比较结果选择下一步骤的执行内容。
本实施例中，对机器人与服务器断开连接的第二断开时间的记录具体为：当处理器101检测到机器人与服务器断开连接，开始第二断开时间的计时，在计时过程中，即将得到的第二断开时间与第三预设时间进行比较，若在第二断开时间小于或等于第三预设时间时，机器人再次连接上服务器则停止对第二断开时间的计时，则处理器101利用服务器通 过网络地址查找到终端，再次与终端建立网络连接。
若在第二断开时间大于第三预设时间时，机器人仍然与服务器断开连接，也会停止对第二断开时间的计时，其处理器101继续判断机器人与至少一终端之间是否存在相同的局域网。
同样，本实施例对第三预设时间的具体时长不做具体限定，根据具体情况进行调整；由于第三预设时间是用来对机器人断开服务器的时间长短进行判断，以对机器人与终端之间的网络连接进行调制，如果第三预设时间过长，可能会影响机器人的操作，因此，第三预设时间不宜过长，第三预设时间可以为10秒、15秒或20秒。
值得注意的是，处理器101执行的利用服务器再次与终端建立网络连接与利用局域网再次与终端建立网络连接的执行内容相同，具体参照上述处理器101执行的再次利用局域网与终端建立网络连接的内容，此处不再赘述。
根据图1所示的机器人网络连接系统一实施例的处理器101的执行内容，将机器人网络连接系统按功能模块划分。
参阅图2，图2是本发明机器人网络连接系统第一实施例的功能模块图。本发明机器人网络连接系统第一实施例是按图1所示的机器人网络连接系统100的处理器101的执行内容进行功能模块划分得到的。
如图2所示，该机器人网络连接系统200包括：
网络判断模块201，用于判断机器人与至少一终端之间是否存在相同的局域网。
第一网络连接模块202，用于当网络判断模块的判断结果为是时，利用局域网直接与终端建立网络连接。
第二网络连接模块203，用于当网络判断模块的判断结果为否时，连接服务器，利用服务器与终端建立网络连接。
进一步的，如图3所示，图2中的第一网络连接模块202包括：
第一信号发送单元2021，用于通过局域网发出加密网络信号。
第一校验单元2022，用于接收根据加密网络信号最先反馈至机器人的第一连接请求，并对该第一连接请求进行校验。
第一连接单元2023，用于当第一校验单元的校验通过时，在局域网下与终端建立网络连接。
进一步的，如图4所示，图2中的第二网络连接模块203包括：
第二信号发送单元2031，用于通过服务器发出加密网络信号。
第二校验单元2032，用于接收根据加密网络信号最先反馈至机器人的第二连接请求，对第二连接请求进行校验。
第二连接单元2033，用于当第二校验单元的校验通过时，在服务器的广域网下与终端建立网络连接。
图2至图4所示的本发明机器人网络连接系统第一实施例的模块/ 单元与机器人网络连接系统100的处理器101的执行内容相对应，此处不再赘述。
参阅图5，图5是本发明机器人一实施例的结构示意图，该机器人300包括：机器人本体301以及机器人网络连接系统302。
该机器人网络连接系统302可以为图1所示的机器人网络连接系统100，也可以为图2至图4所示的机器人网络连接系统200。
参阅图6，图6是本发明机器人网络连接方法第一实施例的流程示意图，该方法运行于图1所示的机器人网络连接系统的处理器101，其包括如下步骤：
S110、判断机器人与至少一终端之间是否存在相同的局域网。
局域网是局部地理范围内的通信网络，是把分布在数公里范围内的不同物理位置的终端设备连在一起，在网络软件的支持下可以相互通讯和资源共享的网络系统。在局域网内终端发起的对外连接请求时，路由器或网关都不会加以阻拦，但来自广域网对局域网内电脑连接的请求，路由器或网关在绝大多数情况下都会进行拦截。通常在局域网内的网络连接相对于广域网更加稳定，能够提升局域网内连接的终端之间的信息传输效率，同时局域网内终端之间的信息传输不需要费用，能够为用户节约使用成本。
本实施例为了优先使机器人与存在相同局域网的终端建立网络连 接，通过机器人的内置网络模块在机器人所处的局域网下进行搜索，以判断机器人与至少一终端之间是否存在相同的局域网，根据判断结果选择下一步骤的执行内容。
S120、利用局域网直接与终端建立网络连接。
当步骤S110的判断结果为机器人与至少一终端之间存在相同的局域网时，优先与处于相同局域网的终端建立网络连接，此时的网络连接是在局域网下的网络连接。
进一步的，如图7所示，步骤S120包括如下步骤：
S1201、通过局域网发出加密网络信号。
机器人通过内置网络模块发出经过加密的加密网络信号，类似于无线路由发出的网络信号；处于同一局域网的终端通过内置的网络模块能够检测到该加密网络信号，终端检测到该加密网络信号之后会根据该加密网络信号向机器人反馈第一连接请求，第一连接请求中至少包含有与该加密网络信号相应的验证信息例如验证密码、验证口令等。可以理解的是，所述终端的数量为至少一个。
S1202、接收根据加密网络信号最先反馈至机器人的第一连接请求，并对该第一连接请求进行校验。
机器人对最先接收到的第一连接请求中的验证信息进行校验，根据校验结果选择下一步骤的执行内容。
可以理解的是，若与机器人处于相同局域网的终端有多个时，该多 个终端会分别向机器人发送第一连接请求，在本实施例中，机器人首次接收到最先反馈的第一连接请求时信息时，就对该第一连接请求信息的验证信息进行校验。当然，也可以接收全部终端发送的第一连接请求信息之后，再对最先接收到的第一连接请求信息的验证信息进行校验。
若验证信息的校验通过则进行执行步骤S1203，若校验不通过，则继续对下一个接收到的第一连接请求中的验证信息进行校验。
S1203、利用局域网直接与终端建立网络连接。
若机器人对首次接收到的第一连接请求中的验证信息校验通过，则机器人通过内置网络模块，利用局域网直接与发送该第一连接请求的终端建立网络连接。此时建立的网络连接可以是加密的网络连接，也可以是不加密的网络连接。
S130、连接服务器，利用服务器与终端建立网络连接。
当步骤S11的判断结果为机器人与至少一终端之间不存在相同的局域网时，则控制机器人连接服务器，通过服务器与终端建立网络连接。
进一步的，如图8所示，步骤S130包括如下步骤：
S1301、通过服务器发出加密网络信号。
该步骤与步骤S1201类似，不同在该步骤是通过服务器的广域网发出加密网络信号，具体加密网络信号的传输方法请参阅步骤S1201。
S1302、接收根据所述加密网络信号最先反馈至所述机器人的第二连接请求，对所述第二连接请求进行校验。
S1303、若校验通过，则利用服务器与终端建立网络连接。
步骤S1302和步骤S1303分别与步骤S1202和步骤S1203相同，此处不再赘述。
参阅图9，图9是本发明机器人网络连接方法第二实施例的流程示意图，本实施例是在图6所示的连接方法第一实施例的基础上进行改进得到的，可以理解的是，本实施例的网络连接方法同样运行于图1所示的机器人网络连接系统的处理器101。
如图9所示，本实施例在图1所示的步骤S120之后还包括：
S121、获取终端的网络地址。
在步骤S12利用局域网直接将机器人与终端建立网络连接之后，获取终端的网络地址，其中，网络地址包括终端的IP地址或MAC地址。
本实施例对获取终端的网络地址的方式不做具体限定，终端可以在向机器人发送第一连接请求时，将自身的网络地址一并发送给机器人，则可以从第一连接请求中获取终端发送的网络地址。此外，也可以在机器人与终端建立网络连接后，通过与终端之间的网络连接获取终端的网络地址。
S122、当与终端断开时，记录与局域网断开的第一断开时间，并将第一断开时间与第一预设时间进行比较。
若机器人和终端与局域网均始终保持连接，则不会主动改变机器人与终端之间的网络连接。但如果机器人或者终端与局域网断开，即出现 局域网掉线的情况，则开始对机器人与终端断开连接的第一断开时间进行记录，将记录的第一断开时间与第一预设时间进行比较，根据比较结果选择下一步骤的执行内容。机器人与终端断开连接可能是局域网忽然掉线，导致机器人和终端均连接不了局域网，也可能是机器人或者终端单方面掉线导致机器人与终端之间断开连接。
若是由于局域网掉线导致的机器人与终端之间断开连接，或局域网未掉线，但机器人与局域网之间断开连接导致的机器人与终端之间断开连接，则对机器人与终端断开连接的第一断开时间的进行记录。当检测到机器人与局域网断开，开始第一断开时间的计时，在计时过程中，即将得到的第一断开时间与第一预设时间进行比较，若在第一断开时间小于或等于第一预设时间时，机器人再次连接上局域网则停止对第一断开时间的计时，并选择执行步骤S123；若在第一断开时间大于第一预设时间时，机器人仍然与局域网断开，也会停止对第一断开时间的计时，并选择执行步骤S124。
若是由于终端与局域网之间断开连接导致的机器人与终端之间断开连接，则对机器人与终端断开连接的第一断开时间的进行记录。当检测到机器人与终端断开连接，开始第一断开时间的计时，在计时过程中，通过局域网利用获取的网络地址搜索相应的终端，若在第一断开时间小于或等于第一预设时间时，搜索到该终端，则停止对第一断开时间的计 时，并选择执行步骤S123，若在第一断开时间大于第一预设时间时，仍然为搜索到该终端，也会停止对第一断开时间的计时，并选择执行步骤S124。
本实施例对第一预设时间的具体时长不做具体限定，根据具体情况进行调整；由于第一预设时间是用来对机器人断开终端的时间长短进行判断，以对机器人与终端之间的网络连接进行调整，如果第一预设时间过长，可能会影响机器人的操作，因此，第一预设时间不宜过长，第一预设时间可以为10秒、15秒或20秒。
S123、若第一断开时间小于或等于第一预设时间，则通过网络地址使机器人再次与终端建立网络连接。
若是由于局域网掉线导致的机器人与终端之间断开连接，或局域网未掉线，但机器人与局域网之间断开连接导致的机器人与终端之间断开连接的情况，根据步骤S122中对第一断开时间的记录方法可知，若第一断开时间小于或等于第一预设时间，则说明在第一预设时间内，机器人再次连接上局域网，此时可以通过局域网，利用终端的网络地址查找到之前连接的终端，再次与该终端建立网络连接。
若是终端与局域网之间断开连接导致的机器人与终端之间断开连接的情况，根据步骤S122中对第一断开时间的记录方法可知，若第一断开时间小于或等于第一预设时间，则说明在第一预设时间内终端再次连接上该局域网，则通过步骤S121获取的网络地址再次与该终端建立 网络连接。
S124、若第一断开时间大于第一预设时间，则连接服务器，利用服务器通过网络地址再次与终端建立网络连接，或返回判断机器人与至少一终端之间是否存在相同的局域网的步骤。
若是由于局域网掉线导致的机器人与终端之间断开连接，或局域网未掉线，但机器人与局域网之间断开连接导致的机器人与终端之间断开连接的情况，根据步骤S122中对第一断开时间的记录方法可知，若第一断开时间大于第一预设时间，则说明在第一预设时间内，局域网仍然处于掉线状态或机器人没有再次连接上局域网，此时如果不及时对机器人与终端之间进行连接，可能会影响用户对机器人的操作。则将机器人与服务器连接，利用服务器通过步骤S121获取的网络地址查找到相应的终端，并与该终端再次建立网络连接。
若是终端与局域网之间断开连接导致的机器人与终端之间断开连接，根据步骤S122中对第一断开时间的记录方法可知，若第一断开时间大于第一预设时间，则终端仍然与局域网处于掉线状况，则返回步骤S110，重新判断机器人与至少一终端之间是否存在相同的局域网。
可以理解的是，若是终端与局域网之间断开连接导致的机器人与终端之间断开连接，在第一断开时间大于第一预设时间，也可以将机器人连接服务器，通过服务器利用网络地址再次与该终端建立网络连接，但出于提升机器人与终端之间的通信传输效率，优选的，返回步骤S11， 重新判断机器人与至少一终端之间是否存在相同的局域网。
本实施例解决了当终端或机器人突然与局域网断开连接，或在局域网掉线情况下，对机器人的网络连接的处理方法，及时对机器人网络连接进行相应处理，以便不影响用户对机器人的操作。
进一步的，如图10所示，在步骤S123中机器人再次与终端建立网络连接包括如下步骤：
S1231、向与终端发送第三连接请求。
当在第一预设时间内，机器人或终端再次连接上局域网，机器人通过局域网向该终端发送第三连接请求，根据终端接收到该第三连接请求而做出的同意或拒绝的反馈来选择下一步骤的执行内容。
S1232、在第二预设时间内判断是否接收到终端发送的同意连接信息。
从发出第三连接请求开始计时，在计时过程中判断是否接收到终端发送的同意连接信息。若计时的时长小于或等于第二预设时间时，接收到终端发送的同意连接信息，则认为在第二预设时间内接收到终端发送的同意连接信息，选择执行步骤S1233；若计时的时长大于第二预设时间，但仍未收到终端发送的同意连接信息，则认为在第二预设时间内未接收到终端发送的同意连接信息，选择执行步骤S1234。此外，还包括一种情况，即在计时的时长小于或等于第二预设时间时，接收到终端发 送的拒接连接信息，则同样认为在第二预设时间内未接收到终端发送的同意连接信息，选择执行步骤S1234。
第二预设时间可以根据具体情况进行调整；由于第二预设时间是用来判断终端对第三连接请求的反馈情况，以根据该反馈情况对机器人与终端之间的网络连接进行调整，如果第二预设时间过长，可能会影响机器人的操作，因此，第二人预设时间不宜过长。
S1233、若在第二预设时间内接收到终端发送的同意连接信息，则再次与终端建立网络连接。
若在第二预设时间内接收到终端发送的同意连接信息，则说明终端对机器人发送第三连接请求后，终端根据该第三连接请求执行同意连接的反馈，则再次使机器人与该终端建立网络连接。
S1234、若在第二预设时间内未接收到终端发送的同意连接信息，则返回判断机器人与至少一终端之间是否存在相同的局域网的步骤。
在第二预设时间内未接收到终端发送的同意连接信息，则说明终端未接收到第三连接请求，或终端未对第三连接请求做出反馈，或终端拒接了第三连接请求，则不再使机器人与该终端建立网络连接，进而返回步骤S110，继续判断机器人与至少一终端之间是否存在相同的局域网。
进一步的，如图11所示，步骤S124中机器人连接服务器，通过服务器利用网络地址再次与终端建立网络连接包括如下步骤：
S1241、连接服务器，通过服务器利用网络地址查找到终端。
此时机器人与局域网断开连接，则使机器人与服务器进行连接，通过服务器利用步骤S121获取的网络地址对终端进行查找，进而查找到该终端。
S1242、向与终端发送第三连接请求。
本步骤与步骤S1231类似，不同点在于，此时是通过服务器向该终端发送第三连接请求。
S1243、在第二预设时间内判断是否接收到终端发送的同意连接信息。
S1244、若在第二预设时间内接收到终端发送的同意连接信息，则再次与终端建立网络连接。
S1245、若在第二预设时间内未接收到终端发送的同意连接信息，则返回判断机器人与至少一终端之间是否存在相同的局域网的步骤。
步骤S1243、步骤S1244和步骤S1245分别与图5所示的步骤S1232、步骤S1233和步骤S1234相同，此处不再赘述。
参阅图12，图12是本发明机器人网络连接方法第三实施例的流程示意图，本实施例是在图6所示的连接方法第一实施例的基础上进行改进得到的，可以理解的是，本实施例的网络连接方法同样运行于图1所示的机器人网络连接系统的处理器101。
如图12所示，本实施例在图6所示的步骤S13之后还包括：
S131、获取终端的网络地址。
本实施例中，步骤S131与图9所示的第二实施例中的步骤S121相同，此处不再赘述。
S132、当与服务器断开时，记录与服务器断开的第二断开时间。并将第二断开时间与第三预设时间进行比较。
若此时，机器人与服务器始终保持连接，则不会主动改变机器人与终端之间的网络连接。但如果机器人与服务器之间断开连接，则会对机器人与终端之间的网络连接进行相应处理，避免影响用户的操作。
当与服务器断开连接时，对机器人与服务器断开连接的第二断开时间进行记录，将记录的第二断开时间与第三预设时间进行比较，根据比较结果选择下一步骤的执行内容。
本实施例中，对机器人与服务器断开连接的第二断开时间的记录具体为：当检测到机器人与服务器断开连接，开始第二断开时间的计时，在计时过程中，即将得到的第二断开时间与第三预设时间进行比较，若在第二断开时间小于或等于第三预设时间时，机器人再次连接上服务器则停止对第二断开时间的计时，并选择执行步骤S133；若在第二断开时间大于第三预设时间时，机器人仍然与服务器断开连接，也会停止对第二断开时间的计时，并选择执行步骤S134。
同样，本实施例对第三预设时间的具体时长不做具体限定，根据具 体情况进行调整；由于第三预设时间是用来对机器人断开服务器的时间长短进行判断，以对机器人与终端之间的网络连接进行调制，如果第三预设时间过长，可能会影响机器人的操作，因此，第三预设时间不宜过长，第三预设时间可以为10秒、15秒或20秒。
S133、若第二断开时间小于或等于第三预设时间，则利用服务器通过网络地址查找到终端，再次与终端建立网络连接。
根据步骤S132中对第二断开时间的记录方法可知，若第二断开时间小于或等于第三预设时间，则说明在第三预设时间内，机器人再次连接上服务器，则通过服务器利用获取的网络地址查找到之前连接的终端，并与查找到的终端建立网络连接。
S134、若第二断开时间大于第三预设时间，则返回判断机器人与至少一终端之间是否存在相同的局域网的步骤。
根据步骤S132中对第二断开时间的记录方法可知，若第二断开时间大于第三预设时间，则说明机器人仍然与服务器断开连接，则返回步骤S110，继续判断机器人与至少一终端之间是否存在相同的局域网。
参阅图13，图13是本发明机器人网络连接方法第四实施例的流程示意图，本实施例是在图6所示的连接方法第一实施例的基础上进行改进得到的，可以理解的是，本实施例的网络连接方法同样运行于图1所示的机器人网络连接系统的处理器101。如图13所示，本实施例在图6所示的步骤S130之后还包括：
S135、若与服务器断开连接，则返回判断机器人与至少一终端之间是否存在相同的局域网的步骤。
此时，不再对机器人与服务器断开连接的时间进行计时，即当机器人与服务器断开连接时，直接返回步骤S110，继续判断机器人与至少一终端之间是否存在相同的局域网。
图12和图13所示的机器人网络连接方法均针对机器人与终端利用服务器进行网络连接，出现与服务器断开连接的情况时，对机器人网络连接的处理方法。
以上仅为本发明的实施方式，并非因此限制本发明的专利范围，凡是利用本发明说明书及附图内容所作的等效结构或等效流程变换，或直接或间接运用在其他相关的技术领域，均同理包括在本发明的专利保护范围。

Claims (10)

  1. 一种机器人网络连接方法，其特征在于，包括：
    判断机器人与至少一终端之间是否存在相同的局域网；
    若是，则利用所述局域网直接与所述终端建立网络连接；
    若否，则连接服务器，利用所述服务器与所述终端建立网络连接。
  2. 根据权利要求1所述的连接方法，其特征在于，所述利用所述局域网直接与所述终端建立网络连接，包括：
    通过所述局域网发出加密网络信号；
    接收根据所述加密网络信号最先反馈至机器人的第一连接请求，对所述第一连接请求进行校验；
    若校验通过，则利用所述局域网直接与所述终端建立网络连接。
  3. 根据权利要求1所述的连接方法，其特征在于，所述利用所述服务器与所述终端建立网络连接，包括：
    通过所述服务器发出加密网络信号；
    接收根据所述加密网络信号最先反馈至所述机器人的第二连接请求，对所述第二连接请求进行校验；
    若校验通过，则利用所述服务器与所述终端建立网络连接。
  4. 根据权利要求1所述的连接方法，其特征在于，所述利用所述局 域网直接与所述终端建立网络连接之后，包括：
    获取所述终端的网络地址；
    当与所述终端断开时，记录与所述终端断开的第一断开时间，并将所述第一断开时间与第一预设时间进行比较；
    若所述第一断开时间小于或等于所述第一预设时间，则根据所述网络地址再次与所述终端建立网络连接；
    若所述第一断开时间大于所述第一预设时间，则连接服务器，利用所述服务器根据所述网络地址再次与所述终端建立网络连接，或返回判断机器人与至少一终端之间是否存在相同的局域网的步骤；
    其中，所述网络地址包括MAC地址或IP地址。
  5. 根据权利要求4所述的连接方法，其特征在于，所述再次与所述终端建立网络连接，包括：
    向与所述终端发送第三连接请求信息；
    在第二预设时间内判断是否接收到所述终端发送的同意连接信息；
    若在第二预设时间内接收到所述终端发送的同意连接信息，则再次与所述终端建立网络连接；
    若在第二预设时间内未接收到所述终端发送的同意连接信息，则返回判断机器人与至少一终端之间是否存在相同的局域网的步骤；
    其中，所述在第二预设时间内未接收到所述终端发送的同意连接信 息，包括在所述第二预设时间内接收到所述终端发送的拒绝连接信息。
  6. 根据权利要求1所述的连接方法，其特征在于，所述利用所述服务器与所述终端建立网络连接之后，包括：
    若与所述服务器断开连接，则返回判断机器人与至少一终端之间是否存在相同的局域网的步骤；或
    获取所述终端的网络地址；
    当与所述服务器断开时，记录与所述服务器断开的第二断开时间。并将所述第二断开时间与第三预设时间进行比较；
    若所述第二断开时间小于或等于所述第三预设时间，则利用所述服务器通过所述网络地址查找到所述终端，再次与所述终端建立网络连接；
    若所述第二断开时间大于所述第三预设时间，则返回判断机器人与至少一终端之间是否存在相同的局域网的步骤；
    其中，所述网络地址包括MAC地址或IP地址。
  7. 一种机器人网络连接系统，其特征在于，包括：
    网络判断模块，用于判断机器人与至少一终端之间是否存在相同的局域网；
    第一网络连接模块，用于当所述网络判断模块的判断结果为是时，利用所述局域网直接与所述终端建立网络连接；
    第二网络连接模块，用于当所述网络判断模块的判断结果为否时， 连接服务器，利用所述服务器与所述终端建立网络连接。
  8. 根据权利要求7所述的连接系统，其特征在于，所述第一网络连接模块包括：
    第一信号发送单元，用于通过所述局域网发出加密网络信号；
    第一校验单元，用于接收根据所述加密网络信号最先反馈至机器人的第一连接请求，对所述第一连接请求进行校验；
    第一连接单元，用于当所述第一校验单元的校验通过时，利用所述局域网直接与所述终端建立网络连接。
  9. 根据权利要求7所述的连接系统，其特征在于，所述第二网络连接模块包括：
    第二信号发送单元，用于通过所述服务器发出加密网络信号；
    第二校验单元，用于接收根据所述加密网络信号最先反馈至所述机器人的第二连接请求，对所述第二连接请求进行校验；
    第二连接单元，用于当所述第二校验单元的校验通过时，利用所述服务器与所述终端建立网络连接。
  10. 一种机器人，其特征在于，包括机器人本体和权利要求7-9任一项所述的机器人网络连接系统。
PCT/CN2017/119544 2016-12-28 2017-12-28 一种机器人网络连接方法、系统及机器人 Ceased WO2018121693A1 (zh)

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