Software Upgrade System, Method and Computer Readable Storage Medium Based on Charging Cabinet

Abstract

The present invention discloses a software upgrade system, method and computer-readable storage medium based on a charging cabinet. The system includes: an OTA server, a mobile robot remotely communicatively connected to the OTA server, a charging cabinet connected to the mobile robot via a CAN bus, and a battery plugged into the charging cabinet for charging. The mobile robot includes a tablet computer for receiving a firmware update file sent by the OTA server, and a robot system software communicatively connected to the tablet computer via an accessory. The charging cabinet includes a main control board MCU and a charger MCU, and the battery includes a battery MCU. The main control board MCU, the charger MCU and the battery MCU are respectively communicatively connected to the robot system software via the CAN bus. A software upgrade solution for the charging cabinet with better execution efficiency is realized, the complexity of the upgrade operation and the operation cost are reduced, and the product stability is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of mobile robots, and in particular to a software upgrade system, method and computer-readable storage medium based on a charging cabinet. Background Art

[0002] In the prior art, with the progress and development of information technology, various remote devices are widely used in various different scenarios. Nowadays, remote devices are applied in aspects such as remote control and outdoor monitoring. Usually, the firmware program of the device needs to be upgraded regularly or irregularly to improve the vulnerabilities of the operating system or previous software versions, repair faults, etc., or update new application functions to the firmware program, so as to make the system more perfect and user-friendly.

[0003] Currently, in the field of robot charging cabinets or charging piles, when the firmware program is upgraded, the charging cabinet or charging pile generally receives the firmware program sent by the server through a DTU (Data Transfer unit, a wireless terminal device used to convert serial data into IP data or convert IP data into serial data and transmit it through a wireless communication network), and sends the firmware program to the charging cabinet or charging pile to complete the remote firmware upgrade.

[0004] It can be seen that the method for upgrading the firmware program of the existing robot charging cabinet or charging pile is relatively single, and specific equipment and additional operations are required to upgrade the firmware program of the robot charging cabinet or charging pile. The complexity of the upgrade operation and the operating cost are relatively high, and the execution efficiency is relatively low, which is not conducive to the robot charging cabinet or charging pile to perform software upgrade according to actual needs immediately. Summary of the Invention

[0005] In order to solve the above technical deficiencies in the prior art, the present invention proposes a software upgrade system based on a charging cabinet, which includes: an OTA server, a mobile robot remotely communicatively connected to the OTA server, a charging cabinet connected to the mobile robot through a CAN bus, and a battery plugged into the charging cabinet for charging; wherein, the mobile robot includes a tablet computer for receiving a firmware update file sent by the OTA server, and a robot system software communicatively connected to the tablet computer through an accessory; the charging cabinet includes a main control board MCU and a charger MCU, and the battery includes a battery MCU. The main control board MCU, the charger MCU and the battery MCU are respectively communicatively connected to the robot system software through the CAN bus.

[0006] Optionally, a main control board and a plurality of chargers are provided inside the charging cabinet. Each charger is used to connect to a battery, and each battery is provided with a unique identification code ID, so that after several batteries are connected to the charger, they can be recognized by the robot system software or the charging cabinet, so as to obtain the status information of the battery or perform firmware upgrade on the battery.

[0007] Optionally, the main control board includes a main control board MCU, each charger includes a charger MCU, and each battery includes a battery MCU. When the mobile robot is connected to the charging cabinet, the firmware upgrade of the main control board MCU, the charger MCU, and the battery MCU that has been connected to the charger is started. If the battery is connected to the charger during the upgrade process, its MCU will not be upgraded.

[0008] The present invention also proposes a software upgrade method based on a charging cabinet, which is applied to a mobile robot. The method includes:

[0009] When the mobile robot is connected to the charging cabinet to be upgraded, a communication connection is established between the mobile robot and the charging cabinet through the CAN bus.

[0010] After a communication connection is established between the mobile robot and the charging cabinet, the firmware update file for updating the charging cabinet is obtained from the OTA server through the tablet computer of the mobile robot.

[0011] The firmware update file is sent from the tablet computer to the robot system software of the mobile robot.

[0012] The firmware update file is sent to the charging cabinet through the robot system software to perform software upgrade on the main control board MCU, charger MCU, and battery MCU of the charging cabinet.

[0013] The present invention also proposes a software upgrade method based on a charging cabinet, which is applied to the charging cabinet. The method includes:

[0014] When the charging cabinet detects the access of a mobile robot, it receives the enter OTA status instruction sent by the mobile robot.

[0015] When the charging cabinet determines that software upgrade is required, it verifies the firmware update file sent by the mobile robot.

[0016] When the firmware update file is successfully verified, it receives the firmware update file sent by the mobile robot.

[0017] After the firmware update file is successfully written, the upgraded verification result is returned to the mobile robot.

[0018] Optionally, when the charging cabinet determines that software upgrade is required, verifying the firmware update file sent by the mobile robot includes:

[0019] Detecting whether the software of the target device of the charging cabinet needs to be upgraded. If so, the target device jumps to the startup firmware component, where the target device includes the main control board, charger, and battery of the charging cabinet.

[0020] Optionally, when the charging cabinet determines that software upgrade is required, verifying the firmware update file sent by the mobile robot further includes:

[0021] When the startup firmware component determines that software upgrade is required, verifying the firmware update file to be upgraded.

[0022] If the firmware update file is verified successfully, it jumps to the upgrade firmware component to make the upgrade firmware component in the OTA state.

[0023] Optionally, after the firmware update file is verified successfully, receiving the firmware update file sent by the mobile robot includes:

[0024] Receiving the mobile robot to write the firmware update file into the flash memory of the target device, and after the writing is completed, the target device verifies the firmware update file according to the verification instruction of the mobile robot and returns the verification result to the mobile robot.

[0025] Optionally, before detecting whether the software of the target device of the charging cabinet needs to be upgraded, it includes:

[0026] Detecting whether the charger is connected to the target device. If so, receiving the anonymous message broadcast by the target device;

[0027] Receiving the anonymous message through the ID allocation node of the CAN bus and calculating the dynamic ID corresponding to the anonymous message.

[0028] Broadcasting the dynamic ID and the corresponding anonymous message through the ID allocation node.

[0029] When the target device receives the dynamic ID and the corresponding anonymous message, taking the dynamic ID as its own ID.

[0030] The present invention also proposes a software upgrade method based on a charging cabinet, which is applied to the charging cabinet. The method includes:

[0031] When the charging cabinet detects the access of the mobile robot, receiving the enter OTA state instruction sent by the mobile robot.

[0032] When the charging cabinet determines that software upgrade is required, verify the firmware update file sent by the mobile robot, where the firmware update file is used to upgrade the main control board MCU and the charger MCU of the charging cabinet.

[0033] After the firmware update file is successfully verified, receive the firmware update file sent by the mobile robot.

[0034] After the firmware update file is written, return the upgraded verification result to the mobile robot.

[0035] The present invention also provides a computer-readable storage medium, on which a charging cabinet software upgrade program is stored. When the charging cabinet software upgrade program is executed by a processor, the steps of the software upgrade method based on the charging cabinet as described in any one of the above are implemented.

[0036] Implementing the software upgrade system, method and computer-readable storage medium based on the charging cabinet of the present invention, a software upgrade system based on the charging cabinet is proposed. The system includes: an OTA server, a mobile robot remotely communicatively connected to the OTA server, a charging cabinet connected to the mobile robot through a CAN bus, and a battery plugged into the charging cabinet for charging; wherein, the mobile robot includes a tablet computer for receiving the firmware update file sent by the OTA server, and a robot system software communicatively connected to the tablet computer through an accessory; the charging cabinet includes a main control board MCU and a charger MCU, the battery includes a battery MCU, and the main control board MCU, the charger MCU and the battery MCU are respectively communicatively connected to the robot system software through the CAN bus. A software upgrade solution for the charging cabinet with better execution efficiency is realized, the complexity of the upgrade operation and the operation cost are reduced, and it is more conducive to the robot charging cabinet or charging pile to perform software upgrade according to actual needs in a timely manner, improving the product stability. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] The present invention will be further described below in conjunction with the drawings and embodiments. In the drawings:

[0038] Figure 1 is a structural block diagram of the first embodiment of the software upgrade system based on the charging cabinet of the present invention;

[0039] Figure 2 is another structural block diagram of the first embodiment of the software upgrade system based on the charging cabinet of the present invention;

[0040] Figure 3 is a flowchart of the second embodiment of the software upgrade method based on the charging cabinet of the present invention;

[0041] Figure 4 It is a flowchart of the third embodiment of the software upgrade method based on the charging cabinet of the present invention;

[0042] Figure 5 It is an upgrade timing diagram of the third embodiment of the software upgrade method based on the charging cabinet of the present invention;

[0043] Figure 6 It is a connection schematic diagram of the third embodiment of the software upgrade method based on the charging cabinet of the present invention;

[0044] Figure 7 It is a flowchart of the fourth embodiment of the software upgrade method based on the charging cabinet of the present invention. Detailed implementation manners

[0045] It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0046] In the subsequent descriptions, suffixes such as "module", "component", or "unit" used to represent elements are only for the convenience of explaining the present invention, and they have no specific meaning themselves. Therefore, "module", "component", or "unit" can be used interchangeably.

[0047] Embodiment 1

[0048] Figure 1 It is a structural block diagram of the first embodiment of the software upgrade method based on the charging cabinet of the present invention. In this embodiment, a software upgrade system based on the charging cabinet is proposed, and the system includes: an OTA server 10, a mobile robot 20 remotely communicatively connected to the OTA server 10, a charging cabinet 30 connected to the mobile robot 20 through a CAN bus, and a battery 40 plugged into the charging cabinet 30 for charging; wherein, the mobile robot 20 includes a tablet computer 21 for receiving a firmware update file sent by the OTA server, and a robot system software 22 communicatively connected to the tablet computer 21 through an accessory; the charging cabinet includes a main control board MCU 31 and a charger MCU 32, the battery 40 includes a battery MCU 41, and the main control board MCU 31, the charger MCU 32, and the battery MCU 41 are respectively communicatively connected to the robot system software 22 through the CAN bus.

[0049] In this embodiment, the OTA server 10 is a server set remotely and is remotely communicatively connected to the tablet computer 21 of the mobile robot 20.

[0050] In this embodiment, the mobile robot 20 includes a tablet computer 21 paired with itself. The tablet computer 21 can be a 4G tablet computer equipped with a 4G network communication component or a 5G tablet computer equipped with a 5G network communication component. Optionally, in this embodiment, one tablet computer 21 is paired with one mobile robot 20 for use, or one tablet computer 21 can be paired with multiple mobile robots 20 for use. Specifically, after scanning the QR code or other identity identification patterns on the body of the mobile robot 20 by one tablet computer 21, a pairing relationship between the current one tablet computer 21 and one mobile robot 20 is established.

[0051] In this embodiment, the mobile robot 20 further includes a robot system software 22. Specifically, in this embodiment, the robot system software 2 can be a software and hardware platform based on Jetson TX2.

[0052] In this embodiment, the mobile robot 20 further includes a power control board (not shown in the figure). Specifically, the power control board can be a PDB board (Power Dominate Board).

[0053] To further illustrate the software upgrade system based on the charging cabinet in this embodiment, please refer to Figure 2 Another structural block diagram of the first embodiment of the software upgrade method based on the charging cabinet of the present invention shown.

[0054] As Figure 2 shown, in this embodiment, one main control board and multiple chargers are provided in the charging cabinet. Among them, each charger is used to connect to a battery. The main control board includes one main control board MCU, each charger includes one charger MCU, and each battery includes one battery MCU.

[0055] As Figure 2 shown, in this embodiment, the battery is the battery of the mobile robot. Each battery further includes a battery management system MCU that runs a battery management system. When the battery is connected to the charger, a communication connection is established among the battery management system MCU, the main control board MCU, the charger MCU, and the robot system software.

[0056] Optionally, in this embodiment, as described in the above example, since the charging cabinet itself has a main control board MCU inside for managing charging, discharging, etc., similarly, there are also multiple chargers in the charging cabinet, and each charger also has one mcu-1, and each battery also has one mcu-2 for control. Based on this, when the battery is connected to the charging cabinet and connected to the charger, OTA remote upgrade can be performed on all the above MCUs, mcu-1, and mcu-2.

[0057] Optionally, in this embodiment, as Figure 2 shown, there are 4 chargers in this charging cabinet. Therefore, the software upgrade system of this embodiment includes firmware upgrade of the software of 9 MCUs in 3 categories.

[0058] Optionally, in this embodiment, the robot system software TX2 communicates with a 4G tablet through AOA. Among them, the AOA communication protocol (Android Open Accessory Protocol) is a special Accessory mode that allows external USB hardware to interact with Android devices.

[0059] Optionally, in this embodiment, the robot system software TX2 communicates with the charging cabinet MCU, charger MCU, and battery MCU through the uavcan interface communication protocol and CAN bus. Specifically, it can be used to verify and transfer the firmware update file during the upgrade process.

[0060] Optionally, in this embodiment, each charger can be connected to a robot battery. Among them, the battery can be detached and then connected to the charger, or the charger can be directly connected to the battery of the robot body.

[0061] Optionally, in this embodiment, when the charger is connected to the battery, the MCU that runs the battery management system BMS (Battery Management System) inside the connected battery will also form an overall battery management system with the charging cabinet, charger, and robot system software TX2.

[0062] The beneficial effects of this embodiment are as follows. By proposing a software upgrade system based on a charging cabinet, the system includes: an OTA server, a mobile robot remotely communicatively connected to the OTA server, a charging cabinet connected to the mobile robot via a CAN bus, and a battery plugged into the charging cabinet for charging; wherein, the mobile robot includes a tablet computer for receiving firmware update files sent by the OTA server, and a robot system software communicatively connected to the tablet computer via an accessory; the charging cabinet includes a main control board MCU and a charger MCU, and the battery includes a battery MCU. The main control board MCU, the charger MCU, and the battery MCU are respectively communicatively connected to the robot system software via the CAN bus. A software upgrade solution for the charging cabinet with better execution efficiency is achieved, reducing the complexity of upgrade operations and operating costs, and making it more conducive for the robot charging cabinet or charging pile to perform software upgrades immediately according to actual needs, thus improving product stability.

[0063] Embodiment 2

[0064] Figure 4 It is a flowchart of the third embodiment of the software upgrade method for the charging cabinet based on the present invention. Based on the above embodiment, the present invention also proposes a software upgrade method for the charging cabinet, which is applied to a mobile robot. The method includes:

[0065] S1. When the mobile robot accesses the charging cabinet to be upgraded, establish a communication connection between the mobile robot and the charging cabinet via the CAN bus.

[0066] S2. After establishing a communication connection between the mobile robot and the charging cabinet, obtain a firmware update file for updating the charging cabinet from the OTA server through the tablet computer of the mobile robot.

[0067] S3. Send the firmware update file from the tablet computer to the robot system software of the mobile robot.

[0068] S4. Send the firmware update file to the charging cabinet through the robot system software to perform software upgrades on the main control board MCU, charger MCU, and battery MCU of the charging cabinet.

[0069] Optionally, in this embodiment, firmware upgrades can also be performed by connecting any laptop computer to the charging cabinet through a USB to CAN;

[0070] Optionally, in this embodiment, upgrades can also be performed on the charging cabinet by running corresponding programs on any handheld device, where the handheld device has the same system software as the mobile robot.

[0071] Optionally, in this embodiment, it is also possible to provide a charging cable and a charging port to the mobile robot additionally, and perform software upgrade on the firmware of the charging cabinet through the CAN bus of the charging cable and the charging port.

[0072] Optionally, in this embodiment, the objects of software upgrade include the main control board MCU, charger MCU, and battery MCU of the charging cabinet.

[0073] Optionally, in this embodiment, the firmware of the MCU for running BMS of all the batteries that have been inserted into the charging cabinet; if no battery is inserted before the upgrade process starts and a battery is inserted during the upgrade process, the MCU of this battery will not be upgraded.

[0074] Optionally, in this embodiment, the charging cabinet itself does not need to add a wireless communication module, that is, in this solution, the wireless communication capability for downloading firmware update files is provided by the tablet computer of the mobile robot.

[0075] The beneficial effect of this embodiment lies in that by proposing a software upgrade method based on a charging cabinet, which is applied to a mobile robot, the method includes: when the mobile robot is connected to the charging cabinet to be upgraded, establishing a communication connection between the mobile robot and the charging cabinet through the CAN bus; after establishing a communication connection between the mobile robot and the charging cabinet, obtaining a firmware update file for updating the charging cabinet from the OTA server through the tablet computer of the mobile robot; sending the firmware update file from the tablet computer to the robot system software of the mobile robot; sending the firmware update file to the charging cabinet through the robot system software to perform software upgrade on the main control board MCU, charger MCU, and battery MCU of the charging cabinet. An improved software upgrade solution for the charging cabinet with higher execution efficiency is achieved, reducing the complexity of upgrade operations and operating costs, making it more conducive to the robot charging cabinet or charging pile to perform software upgrade immediately according to actual needs, and improving product stability.

[0076] Embodiment III

[0077] Figure 5 It is a flowchart of the third embodiment of the software upgrade method based on the charging cabinet of the present invention. Based on the above embodiment, the present invention also proposes a software upgrade method based on the charging cabinet, which is applied to the charging cabinet, and the method includes:

[0078] S10. When the charging cabinet detects the access of the mobile robot, receive the enter OTA state instruction sent by the mobile robot.

[0079] S20. When the charging cabinet determines that software upgrade is required, verify the firmware update file sent by the mobile robot.

[0080] S30. After the firmware update file is successfully verified, receive the firmware update file sent by the mobile robot.

[0081] S40. After the firmware update file is successfully written, return the upgraded verification result to the mobile robot.

[0082] Optionally, when the charging cabinet determines that software upgrade is required, verifying the firmware update file sent by the mobile robot includes: detecting whether the software of the target device of the charging cabinet needs to be upgraded. If so, the target device jumps to the startup firmware component, where the target device includes the main control board, charger, and battery of the charging cabinet.

[0083] Optionally, when the charging cabinet determines that software upgrade is required, verifying the firmware update file sent by the mobile robot further includes: when the startup firmware component determines that software upgrade is required, verifying the firmware update file to be upgraded; if the firmware update file is successfully verified, jump to the upgrade firmware component to make the upgrade firmware component in the OTA state.

[0084] Optionally, after the firmware update file is successfully verified, receiving the firmware update file sent by the mobile robot includes: receiving the mobile robot writing the firmware update file into the flash memory of the target device, and after the writing is completed, the target device verifies the firmware update file according to the verification instruction of the mobile robot and returns the verification result to the mobile robot.

[0085] Specifically, please refer to Figure 5 The upgrade timing diagram of the third embodiment of the software upgrade method based on the charging cabinet of the present invention shown. In this embodiment, first, the upgrade activity initiator, that is, the mobile robot, sends an instruction to enter the OTA state to the target device; the target device APP firmware marks that it needs to be upgraded; if it is determined that an upgrade is required, the target device jumps to the BOOT firmware; after the BOOT firmware discovers that the APP needs to be upgraded, it verifies the UPDATE firmware and jumps to UPDATE after successful verification; the UPDATE firmware sends that it is in the OTA state; the upgrade initiator starts writing data into the target flash; after the writing is completed, the upgrade initiator requests the target device to perform verification and return the result; if the result is correct, the upgrade activity initiator sends an OTA end instruction to the target device; at this time, the target device jumps to the BOOT firmware; finally, if the BOOT firmware verifies UPDATE and APP successfully, it jumps to the APP firmware to complete the upgrade task.

[0086] Optionally, in this embodiment, when the charger is connected to the battery, the MCU of the battery management system BMS (Battery Management System) running inside the connected battery will also form an integrated battery management system with the charging cabinet, the charger, and the robot system software TX2. Based on this, first, the OTA server queries the version information command; then, the BMS replies with the version information according to the version information command; the OTA server queries the data command according to the version information replied by the BMS; the BMS replies with the queried data content according to the query data command; the OTA server sends the update program and starts to execute the software upgrade; the program updates the data frame; the OTA server sends the query data block check; the BMS replies with the data block check according to the query data block check.

[0087] Optionally, in this embodiment, considering that in order to enable target devices such as batteries to perform software upgrades through the charging cabinet, it is necessary to implement the ability of the target device to dynamically access the can bus, that is, to implement the function of dynamically allocating Node ID so that the connected battery or other target devices can be correctly identified by other devices. Therefore, this embodiment proposes a dynamic ID allocation scheme for target devices. Specifically, please refer to Figure 6 the connection schematic diagram of the third embodiment of the software upgrade method based on the charging cabinet of the present invention shown in Figure 6 shows the topological relationship of all MCUs in the charging cabinet during firmware upgrade. Among them, when performing software upgrade based on the CAN bus network, each device connected to the network (for example, the above-mentioned battery, charger, main control MCU, TX2, etc.) must have a unique address that can be addressed. Therefore, this embodiment needs to implement the dynamic ID function of the above-mentioned target device.

[0088] To implement the dynamic ID function of the above-mentioned target device, before detecting whether the software of the target device of the charging cabinet needs to be upgraded, it includes: detecting whether the charger is connected to the target device. If so, receiving the anonymous message broadcast by the target device; receiving the anonymous message through the ID allocation node of the CAN bus and calculating the dynamic ID corresponding to the anonymous message; broadcasting the dynamic ID and the corresponding anonymous message through the ID allocation node; when the target device receives the dynamic ID and the corresponding anonymous message, using the dynamic ID as its own ID.

[0089] Specifically, taking a battery as an example for illustration. First, the battery connected to the CAN BUS broadcasts an anonymous message with a unique id; for a node in the CAN BUS that has the ID allocation ability, when it receives the anonymous message, it calculates the corresponding Node id using the unique id; then, the node with the ID allocation ability broadcasts a message with the Node id and the unique id; finally, when the battery receives the message with the Node id and the unique id, it uses the Node id in the message as its own ID, and the dynamic ID allocation is completed.

[0090] The beneficial effect of this embodiment is that when the charging cabinet detects the access of the mobile robot, it receives the instruction to enter the OTA state sent by the mobile robot; when the charging cabinet determines that software upgrade is required, it verifies the firmware update file sent by the mobile robot; when the firmware update file is verified successfully, it receives the firmware update file sent by the mobile robot; when the writing of the firmware update file is completed, it returns the upgraded verification result to the mobile robot. An improved software upgrade solution for the charging cabinet with higher execution efficiency is achieved, reducing the complexity of the upgrade operation and the operation cost, and making it more conducive for the robot charging cabinet or charging pile to perform software upgrade immediately according to actual needs, thus improving the product stability.

[0091] Embodiment 4

[0092] Figure 7 It is a flowchart of the fourth embodiment of the software upgrade method for the charging cabinet based on the present invention. Based on the above embodiments, the present invention also proposes a software upgrade method for the charging cabinet, which is applied to the charging cabinet. The method includes:

[0093] S100. When the charging cabinet detects the access of the mobile robot, receive the instruction to enter the OTA state sent by the mobile robot.

[0094] S200. When the charging cabinet determines that software upgrade is required, verify the firmware update file sent by the mobile robot, where the firmware update file is used to upgrade the main control board MCU and the charger MCU of the charging cabinet.

[0095] S300. When the firmware update file is verified successfully, receive the firmware update file sent by the mobile robot.

[0096] S400. When the writing of the firmware update file is completed, return the upgraded verification result to the mobile robot.

[0097] Optionally, when the charging cabinet determines that software upgrade is required, verifying the firmware update file sent by the mobile robot includes: detecting whether the software of the target device of the charging cabinet needs to be upgraded. If so, the target device jumps to the startup firmware component, where the target device includes the main control board and / or charger of the charging cabinet.

[0098] Optionally, when the charging cabinet determines that software upgrade is required, verifying the firmware update file sent by the mobile robot further includes: when the startup firmware component determines that software upgrade is required, verifying the firmware update file to be upgraded; if the firmware update file is verified successfully, jumping to the upgrade firmware component to make the upgrade firmware component in the OTA state.

[0099] Optionally, after the firmware update file is verified successfully, receiving the firmware update file sent by the mobile robot includes: receiving the mobile robot writing the firmware update file into the flash memory of the target device, and after the writing is completed, the target device verifies the firmware update file according to the verification instruction of the mobile robot and returns the verification result to the mobile robot.

[0100] Specifically, please refer to Figure 5 the upgrade timing diagram of the third embodiment of the software upgrade method based on the charging cabinet of the present invention shown. In this embodiment, first, the upgrade activity initiator, that is, the mobile robot, sends an instruction to enter the OTA state to the target device; the target device APP firmware marks that an upgrade is required; if it is determined that an upgrade is required, the target device jumps to the BOOT firmware; after the BOOT firmware discovers that the APP needs to be upgraded, it verifies the UPDATE firmware and jumps to UPDATE after the verification is successful; the UPDATE firmware sends that it is in the OTA state; the upgrade initiator starts writing data to the target flash; after the writing is completed, the upgrade initiator requests the target device to perform verification and return the result; if the result is correct, the upgrade activity initiator sends an OTA end instruction to the target device; at this time, the target device jumps to the BOOT firmware; finally, if the BOOT firmware verifies UPDATE and APP successfully, it jumps to the APP firmware to complete the upgrade task.

[0101] The beneficial effects of this embodiment are as follows: when the charging cabinet detects the access of the mobile robot, it receives the entering OTA state instruction sent by the mobile robot; when the charging cabinet determines that software upgrade is required, it verifies the firmware update file sent by the mobile robot, where the firmware update file is used to upgrade the main control board MCU and the charger MCU of the charging cabinet; when the verification of the firmware update file is successful, it receives the firmware update file sent by the mobile robot; when the writing of the firmware update file is completed, it returns the upgraded verification result to the mobile robot. A software upgrade solution for the charging cabinet with better execution efficiency is achieved, reducing the complexity of the upgrade operation and the operation cost, and making it more conducive for the robot charging cabinet or charging pile to perform software upgrade immediately according to actual needs, thus improving the product stability.

[0102] Embodiment 5

[0103] Based on the above embodiments, the present invention further provides a computer-readable storage medium, on which a charging cabinet software upgrade program is stored. When the charging cabinet software upgrade program is executed by a processor, it implements the steps of the software upgrade method based on the charging cabinet as described in any one of the above.

[0104] It should be noted that the above medium embodiment and the method embodiment belong to the same concept. The specific implementation process is detailed in the method embodiment, and the technical features in the method embodiment are equally applicable to the medium embodiment, which will not be elaborated here.

[0105] It should be noted that in this article, the term "including", "comprising" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements, but also includes other elements not explicitly listed, or further includes elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "including a..." does not exclude the existence of another identical element in the process, method, article or device including that element.

[0106] The serial numbers of the above embodiments of the present invention are only for description and do not represent the superiority or inferiority of the embodiments.

[0107] Through the description of the above embodiments, those skilled in the art can clearly understand that the above method of the embodiments can be implemented by means of software plus a necessary general hardware platform. Of course, it can also be implemented by hardware, but in many cases the former is a better implementation. Based on such an understanding, the technical solution of the present invention, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) and includes several instructions for causing a terminal (which can be a mobile phone, computer, server, air conditioner, or network device, etc.) to execute the methods described in the various embodiments of the present invention.

[0108] The embodiments of the present invention have been described above in conjunction with the accompanying drawings. However, the present invention is not limited to the above specific embodiments. The above specific embodiments are merely illustrative and not restrictive. Under the inspiration of the present invention, those of ordinary skill in the art can also make many forms without departing from the spirit and scope protected by the claims of the present invention. All of these fall within the protection scope of the present invention.

Claims

1. A software upgrade system based on a charging cabinet, characterized in that, The system includes: an OTA server, a mobile robot remotely communicating with the OTA server, a charging cabinet connected to the mobile robot via a CAN bus, and a battery plugged into the charging cabinet for charging; wherein, the mobile robot includes a tablet computer for receiving a firmware update file sent by the OTA server, and a robot system software communicatively connected to the tablet computer via an accessory; the charging cabinet includes a main control board MCU and a charger MCU, and the battery includes a battery MCU, and the main control board MCU, the charger MCU, and the battery MCU are respectively communicatively connected to the robot system software via the CAN bus; One main control board and multiple chargers are provided in the charging cabinet. Each charger is used to connect to one battery, and each battery is provided with a unique identification code ID, so that when several batteries are connected to the charger, they can be recognized by the robot system software or the charging cabinet to obtain the status information of the battery or perform firmware upgrade on the battery; The main control board includes one main control board MCU, each charger includes one charger MCU, and each battery includes one battery MCU. When the mobile robot is connected to the charging cabinet, the firmware upgrade of the main control board MCU, the charger MCU, and the battery MCU that has been connected to the charger is started. If the battery is not inserted before the upgrade process starts and the battery is connected to the charger during the upgrade process, its MCU will not be upgraded; Wherein, The mobile robot is used for, When the mobile robot is connected to the charging cabinet to be upgraded, a communication connection is established between the mobile robot and the charging cabinet via the CAN bus; After a communication connection is established between the mobile robot and the charging cabinet, the tablet computer of the mobile robot is used to obtain a firmware update file for updating the charging cabinet from the OTA server; The tablet computer sends the firmware update file to the robot system software of the mobile robot; The firmware update file is sent to the charging cabinet via the robot system software to perform software upgrade on the main control board MCU, charger MCU, and battery MCU of the charging cabinet; The charging cabinet is used for, When the charging cabinet detects the access of the mobile robot, it receives an enter OTA status instruction sent by the mobile robot; When the charging cabinet determines that software upgrade is required, it verifies the firmware update file sent by the mobile robot; After the firmware update file is successfully verified, it receives the firmware update file sent by the mobile robot; After the firmware update file is written, it returns the verification result after upgrade to the mobile robot; When the charging cabinet determines that software upgrade is required, verifying the firmware update file sent by the mobile robot includes: Detecting whether the software of the target device of the charging cabinet needs to be upgraded. If so, the target device jumps to the startup firmware component, where the target devices include the main control board, charger, and battery of the charging cabinet; When the startup firmware component determines that a software upgrade is required, verify the firmware update file to be upgraded; If the verification of the firmware update file is successful, jump to the upgrade firmware component to make the upgrade firmware component in the OTA state; After the verification of the firmware update file is successful, receive the firmware update file sent by the mobile robot, including: Receive the mobile robot writing the firmware update file into the flash memory of the target device, and after the writing is completed, the target device verifies the firmware update file according to the verification instruction of the mobile robot and returns the verification result to the mobile robot; Before detecting whether the software of the target device of the charging cabinet needs to be upgraded, include: Detect whether the charger is connected to the target device. If so, receive the anonymous message broadcast by the target device; Receive the anonymous message through the ID allocation node of the CAN bus and calculate the dynamic ID corresponding to the anonymous message; Broadcast the dynamic ID and the corresponding anonymous message through the ID allocation node; When the target device receives the dynamic ID and the corresponding anonymous message, use the dynamic ID as its own ID; Wherein, When the charger is connected to the battery, the MCU of the battery management system running inside the connected battery, the charging cabinet, the charger, and the robot system software form an integrated battery management system; based on the formed integrated battery management system, the OTA server queries the version information command; the integrated battery management system replies with the version information according to the version information command; the OTA server queries the data command according to the version information replied by the integrated battery management system; the integrated battery management system replies with the query data content according to the query data command; the OTA server sends the update program to start the software upgrade; the program updates the data frame; the OTA server sends the query data block check; the integrated battery management system replies with the data block check according to the query data block check.

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