Heterogeneous device management method and system oriented to cloud platform

Abstract

The invention relates to a cloud platform-oriented heterogeneous device management method and system, and the method comprises the steps: converting the original data of a physical device into standard format data through a standard hardware interface, and publishing the standard format data to a specified type of theme based on a real-time data distribution service; the physical equipment comprises perception type equipment and execution type equipment; the standard format data is found in a theme subscription mode, the found data is verified, format conversion is carried out on the verified data to obtain data in a target format, and the data in the target format is registered to a cloud platform; wherein the target format is a format which conforms to custom resources of the cloud platform; and creating a standardized instance of the physical equipment according to the data in the target format and a predefined standardized description template of the physical equipment, and managing the physical equipment based on the standardized instance of the physical equipment. Based on the scheme, unified management of the real-time heterogeneous equipment and the non-real-time heterogeneous equipment can be realized through the cloud platform.

Description

Technical Field

[0001] The present application relates to the field of cloud computing, and in particular to a heterogeneous device management method and system for a cloud platform. Background Art

[0002] With the development of industrial control, robotics, edge computing and other fields, the demand for access to heterogeneous hardware devices (such as GPUs, FPGA acceleration cards, industrial sensors, actuators, etc.) on cloud platforms has surged.

[0003] Currently, cloud platforms based on Kubernetes technology can achieve refined management of devices with basic computing resources such as CPU, memory, and storage through the cgroup mechanism. However, in actual applications, faced with a wide variety of heterogeneous devices (such as domain-specific accelerator cards, industrial control equipment, robotic sensors, etc.), the current Kubernetes native mechanism does not yet provide a unified management method. Currently, the management of heterogeneous devices often requires developers to develop specific management applications for different types of devices and communicate with the Kubernetes Master node through client-go or other Kubernetes API mechanisms, so that Kubernetes can manage these devices. However, this management method not only leads to high development costs and complex maintenance, but also makes it difficult to form a universal management framework, increasing the complexity of management. Summary of the Invention

[0004] In view of the above problems in the prior art, the present application provides a heterogeneous device management method and system for a cloud platform, which can realize unified management of real-time heterogeneous devices and non-real-time heterogeneous devices by the cloud platform.

[0005] To achieve the above-mentioned objectives, the first aspect of the present application provides a heterogeneous device management method for a cloud platform, comprising: converting the original data of a physical device into standard format data through a standard hardware interface, and publishing the standard format data to a topic of a specified type based on a real-time data distribution service; the physical device includes a perception device and an execution device; discovering the standard format data through topic subscription, and verifying the discovered data, format-converting the verified data to obtain data in a target format, and registering the data in the target format to the cloud platform; wherein the target format is a format defined by custom resources of the cloud platform; creating a standardized instance of the physical device based on the data in the target format and a pre-defined standardized description template of the physical device, and managing the physical device based on the standardized instance of the physical device.

[0006] As described above, various types of data from heterogeneous physical devices are converted into a standard format through a standard hardware interface and published. This allows the gateway to identify the various types of data published by heterogeneous devices. The gateway then converts the data into a format that conforms to the format defined by the cloud platform's custom resources, allowing it to connect to the cloud platform and achieve unified management of various heterogeneous devices through the cloud platform. In this aspect, sensing devices and execution devices are typical real-time resources, and the method provided in this aspect can achieve unified management of various heterogeneous real-time devices through the cloud platform.

[0007] As an implementation of the first aspect, the standard hardware interface includes a standard hardware interface that complies with a definition of a robot operating system control framework, and the standard hardware interface is obtained according to a driver of the physical device.

[0008] From the above, a standard hardware interface that complies with the definition of the robot operating system control framework is obtained through the physical device driver, which can unify different types of data from various heterogeneous devices for gateway recognition.

[0009] As an implementation of the first aspect, the verifying of the discovered data includes: verifying the data based on the management authority of the cloud platform and a customized security mechanism, and caching the data and the corresponding security certificate after the verification is passed.

[0010] From the above, in the device discovery step, system security can be guaranteed by performing security verification on data.

[0011] As an implementation method of the first aspect, the physical device also includes a computing device. When the physical device is the computing device: the original data of the physical device is converted into data in a target format through the device plug-in provided by the cloud platform, and a standardized instance of the physical device is created based on the data in the target format and the pre-defined standardized description template of the physical device, and the physical device is managed based on the standardized instance of the physical device.

[0012] From the above, computing devices are typical non-real-time devices. This method can achieve unified management of various heterogeneous non-real-time devices through the cloud platform.

[0013] As an implementation method of the first aspect, the pre-defined standardized description template of the physical device includes one or more of the following data fields: a name identifier of the physical device; a model identifier of the physical device; a type identifier of the physical device, used to distinguish the physical device as a perception device, an execution device or a computing device; an identifier of the network communication domain to which the physical device belongs; and service information corresponding to the physical device.

[0014] As an implementation method of the first aspect, the management of the physical device based on the standardized instance of the physical device includes: obtaining information filled in the standardized instance of the physical device, determining the corresponding physical device and the corresponding control instruction based on the information, and managing the physical device based on the corresponding physical device and the corresponding control instruction.

[0015] As an implementation of the first aspect, it also includes: displaying the status and real-time data of the physical device through a front-end panel; and triggering control instructions for the physical device through the front-end panel.

[0016] The second aspect of the present application provides a heterogeneous device management system for a cloud platform, comprising: a device agent module for converting the original data of a physical device into standard format data through a standard hardware interface, and publishing the standard format data to a topic of a specified type based on a real-time data distribution service; the physical device includes a perception device and an execution device; a registration gateway module for discovering the standard format data through topic subscription, verifying the discovered data, format-converting the verified data to obtain data in a target format, and registering the data in the target format to the cloud platform; wherein the target format is a format defined by custom resources of the cloud platform; a physical device abstraction module for creating a standardized instance of the physical device based on the data in the target format and a pre-defined standardized description template of the physical device, and managing the physical device based on the standardized instance of the physical device.

[0017] As an implementation method of the second aspect, the physical device also includes a computing device. When the physical device is the computing device: the original data of the physical device is converted into data in a target format through the device plug-in provided by the cloud platform, and a standardized instance of the physical device is created based on the data in the target format and the pre-defined standardized description template of the physical device, and the physical device is managed based on the standardized instance of the physical device.

[0018] As an implementation method of the second aspect, it also includes: a front-end panel module, used to display the status and real-time data of the physical device through the front-end panel module; and trigger control instructions for the physical device through the front-end panel module.

[0019] As an implementation of the second aspect, the standard hardware interface includes a standard hardware interface that complies with a definition of a robot operating system control framework, and the standard hardware interface is obtained according to a driver of the physical device.

[0020] As an implementation of the second aspect, the verifying the discovered data includes: verifying the data based on the management authority of the cloud platform and a customized security mechanism, and caching the data and the corresponding security certificate after the verification is passed.

[0021] As an implementation method of the second aspect, the pre-defined standardized description template of the physical device includes one or more of the following data fields: a name identifier of the physical device; a model identifier of the physical device; a type identifier of the physical device, used to distinguish the physical device as a perception device, an execution device or a computing device; an identifier of the network communication domain to which the physical device belongs; and service information corresponding to the physical device.

[0022] As an implementation method of the second aspect, the management of the physical device based on the standardized instance of the physical device includes: obtaining information filled in the standardized instance of the physical device, determining the corresponding physical device and the corresponding control instruction based on the information, and managing the physical device based on the corresponding physical device and the corresponding control instruction.

[0023] The beneficial effects of this aspect can be found in the description of the beneficial effects of each part of the first aspect above.

[0024] The third aspect of the present application provides a computing device comprising: at least one processor; and at least one memory connected to the processor and storing program instructions, wherein when the program instructions are executed by the at least one processor, the at least one processor causes the method described in any one of the first aspects above to be performed.

[0025] The beneficial effects of this aspect can be found in the description of the beneficial effects of each part of the first aspect above.

[0026] A fourth aspect of the present application provides a computer-readable storage medium having program instructions stored thereon, wherein when the program instructions are executed by a computer, the computer is caused to execute any one of the methods described in the first aspect.

[0027] The beneficial effects of this aspect can also be found in the description of the beneficial effects of each part of the first aspect above. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] The following further illustrates the various technical features of the present application and the relationships between them with reference to the accompanying drawings. The accompanying drawings are exemplary, and some technical features are not shown in actual proportion. In addition, some drawings may omit technical features that are commonly used in the technical field to which the present application belongs and are not essential for understanding and implementing the present application, or additional technical features that are not essential for understanding and implementing the present application may be shown. In other words, the combination of the various technical features shown in the accompanying drawings is not intended to limit the present application. In addition, throughout the present application, the same figure numbers refer to the same content. The specific description of the drawings is as follows:

[0029] Figure 1 A flowchart of a heterogeneous device management method for a cloud platform provided in an embodiment of the present application;

[0030] Figure 2 Device agent flow chart provided for the embodiment of this application;

[0031] Figure 3 Device registration gateway flow chart provided for an embodiment of the present application;

[0032] Figure 4 A flowchart of the cloud platform registration provided in the embodiment of this application;

[0033] Figure 5 The overall framework diagram of the heterogeneous device management method for cloud platforms provided in the embodiments of the present application;

[0034] Figure 6 The structural intention of a heterogeneous device management system for a cloud platform provided in an embodiment of the present application;

[0035] Figure 7 A schematic diagram of the structure of a computing device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0036] The technical solution provided by this application is further described below with reference to the accompanying drawings and examples. It should be understood that the systems provided in the examples of this application are primarily intended to illustrate possible implementations of the technical solution of this application and should not be interpreted as the sole limitation on the technical solution of this application. It will be appreciated by those skilled in the art that, as system architecture evolves, the technical solution provided by this application will be equally applicable to similar technical problems.

[0037] It should be understood that the embodiments of this application provide a heterogeneous device management solution for cloud platforms. Because these technical solutions solve the same or similar problems, some repetitions may not be repeated in the following specific embodiments. However, these specific embodiments should be considered as having referenced each other and can be combined with each other.

[0038] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art in the art of this application. In the event of any inconsistency, the meaning described in this specification or the meaning derived from the contents recorded in this specification shall prevail. In addition, the terms used herein are only for the purpose of describing the embodiments of the present application and are not intended to limit this application.

[0039] In order to accurately describe the technical content of this application and to accurately understand the present invention, the following explanations or definitions of the terms used in this specification are given before describing the specific embodiments:

[0040] 1) Kubernetes (often referred to as K8s) is an open source platform for automating the deployment, scaling, and management of containerized applications. It groups application containers into logical units for easier management and service discovery.

[0041] 2) Kubernetes Device Plugin: Kubernetes' native device plugin is a native Kubernetes extension mechanism used to discover, report, and manage non-real-time or less real-time-critical device resources (such as GPUs, specific network cards, and FPGAs). It informs Kubernetes of available devices and allows pods to declare their use. It is typically used for managing non-real-time devices.

[0042] 3) Kubernetes CRD (Custom Resource Definition): Allows users to extend the Kubernetes API and define their own resource types.

[0043] 4) ROS2 Control (Robot Operating System Control Framework): As the device control framework in the ROS2 ecosystem, it can provide device perception, control, and state management. However, its native mechanism lacks effective integration with the Kubernetes framework. Especially in real-time device scenarios, it requires the design of additional specialized management mechanisms to ensure real-time scheduling, deterministic communication, and resource allocation.

[0044] 5) Data Distribution Service (DDS): a real-time data communication middleware standard.

[0045] The following is a detailed introduction to a heterogeneous device management method for a cloud platform provided by an embodiment of the present application. In this embodiment, the cloud platform is described as an example of a cloud platform based on Kubernetes technology.

[0046] First, physical devices can be categorized into sensing devices, computing devices, and execution devices. Sensing devices are used to collect data, such as physical environment data and system status data. These sensing devices can include various data acquisition devices, such as cameras, sensors, and radars. In practical applications, to ensure the timeliness of collected data, sensing devices often have high real-time performance requirements, meaning they can be considered real-time devices. Computing devices provide logical processing (i.e., processing data collected by sensing devices to generate control instructions). These computing devices can include various data processing devices, such as GPUs, FPGAs, various accelerator cards, CPUs, and coprocessors. In practical applications, the order in which computing devices perform data processing often depends on the task scheduling priority order. Therefore, the real-time performance requirements for computing devices are not as high, meaning they can be considered non-real-time devices. Execution devices receive control instructions and execute corresponding physical actions. These execution devices can include various execution devices, such as robotic arms, motors, and indicator lights. In practical applications, in order to avoid affecting system stability due to delays in instruction execution, the real-time requirements for execution-type devices are often extremely high. Therefore, execution-type devices can be considered real-time devices.

[0047] For computing devices (i.e., non-real-time devices), you can directly connect them to Kubernetes through the Kubernetes native device plug-in DevicePlugin, allowing Kubernetes to uniformly manage such devices. Specifically, computing devices are connected to Kubernetes through the device plug-in DevicePlugin. The device plug-in DevicePlugin converts the raw data obtained by the computing device into data in the target format (the target format is in accordance with the format defined by the cloud platform's custom resources), and then fills the target format data into the relevant fields of the pre-defined standardized description template of the physical device (the template can be found in the relevant description below), thereby obtaining a standardized instance of the computing device. Then, unified management of the computing device can be achieved based on this standardized instance.

[0048] For perception devices and execution devices (i.e. real-time devices), Kubernetes can manage these devices in a unified manner by combining ROS2 Control (Robot Operating System Control Framework) and the Kubernetes CRD mechanism.

[0049] See also Figure 1 As shown in the flowchart, you can connect to Kubernetes and implement unified management through the following steps S110-S150:

[0050] S110: Converting original data of the physical device into standard format data through a standard hardware interface, and publishing the standard format data to a topic of a specified type based on a real-time data distribution service.

[0051] In this embodiment, the standard hardware interface is a standard hardware interface defined by the Robot Operating System Control framework (ROS2 Control). This standard hardware interface is obtained based on the driver of the physical device. Through this standard hardware interface, the raw data of the physical device can be read from the physical device, and the raw data is formatted into a standard format recognizable by ROS2Control. The data in this standard format is then published to a topic of a specified type based on the real-time data distribution service (DDS). The published data may also include device discovery identification data, device fingerprint, device status data, device heartbeat data, and other information.

[0052] For example Figure 2 As shown, when the physical device is a differential wheel, the corresponding standard hardware interface hardware_interface is obtained according to the differential wheel drive, and then connected to the ROS2 Control framework through hardware_interface. The ROS2Control framework also includes a differential wheel dedicated controller diff_drive_controller and a management controller controller_manager. The differential wheel dedicated controller diff_drive_controller is used to decompose the control instructions of the differential wheel into control instructions for the left and right wheels respectively, and the management controller controller_manager is used to coordinate the resource allocation of multiple controllers. The data output by the ROS2Control framework is then published to the topic of the instruction type. The published data may include device discovery identification data, device fingerprint, device status data, device heartbeat, etc., so that this information is registered with the gateway.

[0053] S120: Discovering the standard format data through topic subscription, verifying the discovered data, converting the format of the verified data to obtain data in a target format, and registering the data in the target format to the cloud platform; wherein the target format is a format defined by a custom resource of the cloud platform.

[0054] Next, see Figure 3 The flowchart shown below will help you understand this step more clearly. Figure 3As shown, first, the device registration gateway discovers data in a standard format (i.e., data output by the device agent) based on the FastDDS or DDS communication mechanism, then determines whether the data conforms to the data format predetermined by the device discovery, and verifies the data based on the cloud platform's management authority and customized security mechanism, issues a security certificate for the verified data, and then caches the data (i.e., device metadata) and its corresponding security certificate locally. Next, the verified data, the device's heartbeat data, the device's identification data, and other information are processed, and the processed data is formatted (i.e., protocol converted) to obtain data in the target format (the target format is in accordance with the format defined by the cloud platform's custom resources, and in this embodiment, the target format can be CRD), so that it can be connected to the Kubernetes cloud platform through Kubernetes CRD to register the data in the target format to the cloud platform. Specifically, the purpose of this step is to convert DDS protocol data into CRD protocol data, thereby communicating with the API service of the Kubernetes cloud platform through the CRD protocol data, so that the physical device data can be successfully registered with the Kubernetes cloud platform.

[0055] In this embodiment, the above-mentioned data verification process can be achieved by verifying information such as device fingerprints.

[0056] S130: Creating a standardized instance of the physical device according to the data in the target format and a predefined standardized description template of the physical device, and managing the physical device based on the standardized instance of the physical device.

[0057] As an example, the predefined standardized description template of the physical device may be as shown in Table 1 below. It should be understood that the fields included in the template may be changed according to actual needs.

[0058] Table 1

[0059]

[0060] By filling the data to be registered into the corresponding fields of the above template, the CR instance corresponding to the physical device is obtained. Then the cloud platform can monitor the status of the corresponding physical device or generate corresponding control instructions based on the physical device information contained in the instance, thereby realizing the monitoring or control of the physical device.

[0061] In this embodiment, if Figure 4As shown in the flowchart, after the physical device data is registered with the cloud platform, the cloud platform issues the security certificate of the physical device. Then, the cloud platform processes different types of data based on the above-mentioned pre-defined standardized description templates of the physical device. For example, for perception devices (sensors), the sensor status is monitored by obtaining the status data in the corresponding instance. For execution devices (actuators), the device is managed and control instructions are generated by obtaining the data in the corresponding instance.

[0062] In this embodiment, the front-end panel can also display the status and real-time data of physical devices, and can also provide human-computer interaction functions, such as issuing control instructions to physical devices through triggering operations. In this embodiment, the front-end panel provides a RESTful API interface to the front-end panel by adding a ROS2 Control hardware interface to the cloud platform backend, thereby enabling the front-end panel to have functions such as device management, device status display, and device data monitoring.

[0063] like Figure 5 As shown, the heterogeneous device management method for cloud platforms provided in an embodiment of the present application obtains three types of computing devices (non-real-time devices), perception devices (real-time devices) and execution devices (real-time devices) by abstracting the physical devices of the physical device layer. For computing devices (non-real-time devices), management is achieved through the device plug-in Device Plugin provided by the cloud platform. For perception devices (real-time devices) and execution devices (real-time devices), management is achieved through the ROS2Control framework in combination with the CRD of the cloud platform, thereby realizing unified management of real-time and non-real-time heterogeneous devices by the cloud platform. Through this method, in actual applications, there is no need to develop specific management programs for various devices separately, thereby saving development costs and making management more convenient.

[0064] The embodiment of the present application provides a heterogeneous device management system for a cloud platform. It should be understood that Figure 6 This is only an exemplary structural diagram of a heterogeneous device management system for cloud platforms. This application does not limit the division of functional modules in the heterogeneous device management system for cloud platforms. Figure 6 As shown, the system 60 can be logically divided into multiple modules, each module can have different functions, and the functions of each module can be implemented by the processor in the computing device reading and executing the instructions in the memory. Exemplarily, the system 60 includes a device agent module 610, a registration gateway module 620, and a physical device abstraction module 630. In some embodiments, the system 60 also includes a front-end panel module 640. In one implementation, the heterogeneous device management system 60 for the cloud platform is used to execute Figure 1The content shown.

[0065] Specifically: the device agent module 610 is used to convert the original data of the physical device into standard format data through a standard hardware interface, and publish the standard format data to a specified type of topic based on a real-time data distribution service; the physical device includes a perception device and an execution device.

[0066] The registration gateway module 620 is used to discover the standard format data through topic subscription, verify the discovered data, convert the format of the verified data to obtain data in the target format, and register the data in the target format to the cloud platform; wherein, the target format is a format defined by the custom resources of the cloud platform.

[0067] The physical device abstraction module 630 is configured to create a standardized instance of the physical device according to the target format data and a predefined standardized description template of the physical device, and manage the physical device based on the standardized instance of the physical device.

[0068] The front panel module 640 is used to display the status and real-time data of the physical device through the front panel module; and to trigger control instructions for the physical device through the front panel module.

[0069] In this embodiment, when the physical device is the computing device: the original data of the physical device can be converted into data in a target format through the device plug-in provided by the cloud platform, and a standardized instance of the physical device can be created based on the data in the target format and the pre-defined standardized description template of the physical device, and the physical device can be managed based on the standardized instance of the physical device.

[0070] The specific implementation of each functional module in this embodiment can be found in the introduction of the above embodiment, and will not be described in detail in this embodiment.

[0071] Figure 7 900 is a schematic structural diagram of a computing device provided in an embodiment of the present application. The computing device can execute the optional embodiments of the above-mentioned heterogeneous device management method for cloud platforms. The computing device can be a terminal or a chip or chip system inside the terminal. Figure 7 As shown, the computing device 900 includes: a processor 910 , a memory 920 , and a communication interface 930 .

[0072] It should be understood that Figure 7 The communication interface 930 in the computing device 900 shown may be used to communicate with other devices, and may specifically include one or more transceiver circuits or interface circuits.

[0073] The processor 910 may be connected to a memory 920. The memory 920 may be used to store the program code and data. Therefore, the memory 920 may be a storage unit within the processor 910, an external storage unit independent of the processor 910, or a component including both a storage unit within the processor 910 and an external storage unit independent of the processor 910.

[0074] Optionally, the computing device 900 may further include a bus. The memory 920 and the communication interface 930 may be connected to the processor 910 via the bus. The bus may be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 7 A line without an arrow is used to represent the bus, but this does not mean that there is only one bus or one type of bus.

[0075] It should be understood that in the embodiment of the present application, the processor 910 can adopt a central processing unit (CPU). The processor can also be other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor, etc. Alternatively, the processor 910 adopts one or more integrated circuits to execute relevant programs to implement the technical solutions provided in the embodiments of the present application.

[0076] The memory 920 may include a read-only memory and a random access memory, and provides instructions and data to the processor 910. A portion of the processor 910 may also include a non-volatile random access memory. For example, the processor 910 may also store information about the device type.

[0077] When the computing device 900 is running, the processor 910 executes the computer-executable instructions in the memory 920 to perform any operation step of the above method and any optional embodiment thereof.

[0078] It should be understood that the computing device 900 according to the embodiment of the present application can correspond to the corresponding subject in executing the method according to each embodiment of the present application, and the above-mentioned and other operations and / or functions of each module in the computing device 900 are respectively for implementing the corresponding processes of each method of the present embodiment. For the sake of brevity, they will not be repeated here.

[0079] Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0080] Those skilled in the art will clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0081] In the several embodiments provided in this application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are merely schematic. For example, the division of the units is merely a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0082] The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected to achieve the purpose of this embodiment according to actual needs.

[0083] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0084] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

[0085] An embodiment of the present application also provides a computer-readable storage medium having a computer program stored thereon. When the program is executed by a processor, the program is used to execute the above method, which includes at least one of the solutions described in the above embodiments.

[0086] The computer storage medium of the embodiment of the present application can adopt any combination of one or more computer-readable media.Computer-readable media can be computer-readable signal media or computer-readable storage media.Computer-readable storage media can be, for example, but not limited to, electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or components, or any combination thereof.More specific examples (non-exhaustive list) of computer-readable storage media include: electrical connection with one or more wires, portable computer disks, hard disks, random access memories (RAM), read-only memories (ROM), erasable programmable read-only memories (EPROM or flash memory), optical fibers, portable compact disk read-only memories (CD-ROMs), optical storage devices, magnetic storage devices, or any suitable combination thereof.In this document, computer-readable storage media can be any tangible medium containing or storing a program, which can be used by an instruction execution system, device or device or used in combination with it.

[0087] A computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, which carries computer-readable program code. Such propagated data signals may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. A computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium that can transmit, propagate, or transport a program for use by or in conjunction with an instruction execution system, apparatus, or device.

[0088] Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

[0089] The computer program code for performing the operations of the present application can be written in one or more programming languages, or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving a remote computer, the remote computer can be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or can be connected to an external computer (e.g., through the Internet using an Internet service provider).

[0090] In addition, the words "first, second, third, etc." or module A, module B, module C and other similar terms in the specification and claims are only used to distinguish similar objects and do not represent a specific ordering of the objects. It can be understood that the specific order or sequence can be interchanged where permitted so that the embodiments of the present application described herein can be implemented in an order other than that illustrated or described herein.

[0091] In the above description, the numbers representing the steps, such as S110, S120, etc., do not necessarily mean that the steps must be executed in this manner. If permitted, the order of the steps can be interchanged or they can be executed simultaneously.

[0092] The term "comprising" as used in the specification and claims should not be construed as limiting to what is listed thereafter; it does not exclude other elements or steps. Thus, it should be interpreted as specifying the presence of the features, integers, steps, or components mentioned, but not excluding the presence or addition of one or more other features, integers, steps, or components, or groups thereof. Thus, the expression "a device comprising means A and B" should not be limited to a device consisting solely of components A and B.

[0093] References in this specification to "one embodiment" or "an embodiment" mean that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment of the present application. Therefore, the phrases "in one embodiment" or "in an embodiment" appearing throughout this specification do not necessarily refer to the same embodiment, but may refer to the same embodiment. Furthermore, in one or more embodiments, the particular features, structures, or characteristics can be combined in any suitable manner, as would be apparent to one of ordinary skill in the art from this disclosure.

[0094] Note that the above are only preferred embodiments of the present application and the technical principles employed. Those skilled in the art will understand that the present application is not limited to the specific embodiments described herein, and that various obvious changes, readjustments, and substitutions can be made by those skilled in the art without departing from the scope of protection of the present application. Therefore, although the present application has been described in more detail through the above embodiments, the present application is not limited to the above embodiments and may include many other equivalent embodiments without departing from the scope of protection of the present application, all of which fall within the scope of protection of the present application.

Claims

1. A heterogeneous device management method for a cloud platform, characterized in that: include: Converting raw data of a physical device into standard format data through a standard hardware interface, and publishing the standard format data to a topic of a specified type based on a real-time data distribution service; the physical device includes a sensing device and an execution device; Discovering the standard format data through topic subscription, verifying the discovered data, converting the format of the verified data to obtain data in a target format, and registering the data in the target format with the cloud platform; wherein the target format is a format defined by a custom resource of the cloud platform; A standardized instance of the physical device is created according to the data in the target format and a predefined standardized description template of the physical device, and the physical device is managed based on the standardized instance of the physical device.

2. The method according to claim 1, characterized in that The standard hardware interface includes a standard hardware interface that complies with the definition of a robot operating system control framework, and the standard hardware interface is obtained according to a driver of the physical device.

3. The method according to claim 1, characterized in that The verification of the discovered data includes: The data is verified based on the management authority of the cloud platform and the customized security mechanism, and the data and the corresponding security certificate are cached after the verification is passed.

4. The method according to claim 1, wherein The physical device also includes a computing device. When the physical device is the computing device: The original data of the physical device is converted into data in a target format through the device plug-in provided by the cloud platform, and a standardized instance of the physical device is created based on the data in the target format and the pre-defined standardized description template of the physical device, and the physical device is managed based on the standardized instance of the physical device.

5. The method according to claim 4, characterized in that The predefined standardized description template for a physical device includes one or more of the following data fields: The name of the physical device; Model identification of the physical device; A type identifier of a physical device, used to distinguish whether the physical device is a sensing device, an execution device, or a computing device; The network communication domain identifier to which the physical device belongs; Service information corresponding to the physical device.

6. The method according to claim 1, characterized in that Managing the physical device based on the standardized instance of the physical device includes: Information filled in the standardized instance of the physical device is obtained, a corresponding physical device and a corresponding control instruction are determined according to the information, and the physical device is managed based on the corresponding physical device and the corresponding control instruction.

7. The method according to claim 1, characterized in that Also includes: Displaying the status and real-time data of the physical device through a front panel; as well as The control instructions for the physical device are triggered through the front panel.

8. A heterogeneous device management system for cloud platforms, characterized in that: include: A device agent module is used to convert raw data of physical devices into standard format data through a standard hardware interface, and publish the standard format data to a topic of a specified type based on a real-time data distribution service; the physical devices include perception-type devices and execution-type devices; A registration gateway module is used to discover the standard format data through topic subscription, verify the discovered data, convert the format of the verified data to obtain data in a target format, and register the data in the target format with the cloud platform; wherein the target format is a format defined by a custom resource of the cloud platform; The physical device abstraction module is used to create a standardized instance of the physical device according to the data in the target format and a predefined standardized description template of the physical device, and manage the physical device based on the standardized instance of the physical device.

9. The system according to claim 8, characterized in that The physical device also includes a computing device. When the physical device is the computing device: The original data of the physical device is converted into data in a target format through the device plug-in provided by the cloud platform, and a standardized instance of the physical device is created based on the data in the target format and the pre-defined standardized description template of the physical device, and the physical device is managed based on the standardized instance of the physical device.

10. The system according to claim 8, wherein: Also includes: A front panel module, configured to display the status and real-time data of the physical device via the front panel module; as well as The control instructions for the physical device are triggered through the front panel module.

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