A software package upgrade management method and device of an intelligent robot and a storage medium

Abstract

The application discloses a software package upgrade management method and device of an intelligent robot and a storage medium. The method comprises the following steps: performing module division on a to-be-updated upgrade package of the intelligent robot according to a preset division rule; determining upgrade package information of the to-be-updated upgrade package, and uploading the to-be-updated upgrade package to an external access server based on the upgrade package information; updating a topology structure diagram corresponding to the upgrade package in the external access server; in the case that the intelligent robot needs to be upgraded, accessing the intelligent robot based on an OTA service technology to read robot information of the intelligent robot; the robot information comprises a robot serial number and version information of each module of a current software; the topology structure diagram is queried based on the robot information to determine an upgrade scheme of the intelligent robot, and the upgrade scheme is sent to the intelligent robot through a calling interface. The application reduces the development cost of the software upgrade package of the intelligent robot and simplifies the upgrade process of the intelligent robot.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of intelligent robot development, and particularly relates to a software package upgrade management method and device of an intelligent robot and a storage medium. BACKGROUND

[0002] Common package management tools include dpkg (Debian Package), apt (Advanced Packaging Tool), RPM (Red Hat Package Manager), and YUM (Yellow dog Updater, Modified). These package management tools can install software packages of specified formats, wherein dpkg can only install local software packages, and apt, yum, and rpm can download and install packages from the Internet. In particular, the yum package management tool can automatically search and download dependent software packages, making software installation very simple and convenient.

[0003] Traditional software upgrades only provide a binary program, and the upgrade process is relatively simple. However, for an intelligent robot system, various software communicates through means such as semaphores and shared memory, and has strong correlation. Therefore, if the interfaces are incompatible when upgrading a software, another or several software may not be used normally. If multiple software are packaged into one upgrade package, the software upgrade package may be too large, requiring a high requirement for software package downloading, which is not conducive to software package upgrading. In addition, multiple software may use the same third-party library, and uploading a copy of each software package may also cause waste of cloud disk space resources. Furthermore, each software package may contain modules with the same function, such as log modules and string processing modules, which may cause additional development and maintenance costs.

[0004] With the increase in upgrade packages, the complexity of software upgrade installation increases exponentially, and manual installation of upgrade packages will become very difficult. Therefore, how to reduce the development cost of intelligent robot software upgrade packages and simplify the upgrade process of intelligent robots has become a technical problem to be solved. SUMMARY

[0005] The embodiments of the present application provide a software package upgrade management method and device of an intelligent robot and a storage medium, to solve the technical problem of how to reduce the development cost of intelligent robot software upgrade packages and simplify the upgrade process of intelligent robots.

[0006] In a first aspect, embodiments of the present application provide a software package upgrade management method of an intelligent robot, characterized in that the method comprises: performing module division on a to-be-updated upgrade package of the intelligent robot according to a preset division rule; determining upgrade package information of the to-be-updated upgrade package, and uploading the to-be-updated upgrade package to an external access server based on the upgrade package information; updating a topology structure diagram corresponding to the upgrade package in the external access server; in a case where the intelligent robot needs to be upgraded, accessing the intelligent robot based on an OTA service technology to read robot information of the intelligent robot; wherein the robot information comprises a robot serial number and version information of each module of a current software; querying the topology structure diagram based on the robot information to determine an upgrade scheme of the intelligent robot, and sending the upgrade scheme to the intelligent robot through a calling interface.

[0007] In an implementation manner of the present application, before performing module division on the to-be-updated upgrade package of the intelligent robot according to the preset division rule, the method further comprises: performing module division on system software and application software of the intelligent robot based on the division rule.

[0008] In an implementation manner of the present application, performing module division on the system software and the application software of the intelligent robot based on the division rule specifically comprises: obtaining names and version numbers of third-party libraries used by each software; determining a third-party library with the same name and version number as a common module; determining whether third-party libraries with the same name and different version numbers are compatible, and in a case where they are compatible, determining a high-version third-party library as the common module; in a case where any low-version third-party library is incompatible with the high-version third-party library, binding the low-version third-party library with the corresponding software, and determining a module generated by the binding as another module; binding a dedicated third-party library with the corresponding software, and determining a module generated by the binding as the another module; and determining a software package corresponding to a hardware system as the another module.

[0009] In an implementation manner of the present application, after performing module division on the to-be-updated upgrade package of the intelligent robot according to the preset division rule, the method further comprises: uploading a common module contained in the to-be-updated upgrade package to a common dependency library.

[0010] In an implementation manner of the present application, based on the upgrade package information, the to-be-updated upgrade package is uploaded to the external access server, specifically including: judging whether the to-be-updated upgrade package contains a common module, and in the case that the to-be-updated upgrade package contains the common module, determining storage address information of the common module, and adding attribute information of the common module to the storage address information based on the information of the common module contained in the upgrade package information; adding attribute information to corresponding other modules based on the information of each other module contained in the upgrade package information; uploading the storage address information and the other modules of the common module to the internal audit server; auditing the storage address information and the other modules based on a preset audit rule, and in the case that the audit is passed, uploading the storage address information and the other modules to the external access server.

[0011] In an implementation manner of the present application, after the storage address information and the other modules are uploaded to the external access server, the method further includes: updating an upgrade package list in the external access server.

[0012] In an implementation manner of the present application, the topology structure graph corresponding to the upgrade package in the external access server is updated, specifically including: reading the upgrade package list to determine a new upgrade item in the upgrade list; wherein the new upgrade item is the storage address information and / or the other modules newly added in the external access server; reading attribute information of the new upgrade item to determine whether the new upgrade item is a delta package; in the case that the new upgrade item is determined to be a delta package, creating a corresponding new upgrade item node after a corresponding upgrade item node in the topology structure graph, and associating the new upgrade item node with the new upgrade item; in the case that the new upgrade item is determined to be a full package, judging whether the new upgrade item contains all function modules of a corresponding historical upgrade item; in the case that the new upgrade item contains all function modules of the corresponding historical upgrade item, replacing the corresponding historical upgrade item of the new upgrade item; in the case that the new upgrade item does not contain all function modules of the corresponding historical upgrade item, creating a new upgrade item node parallel to the corresponding historical upgrade item.

[0013] In an implementation manner of the present application, the topology structure graph is queried based on the robot information to determine an upgrade scheme of the intelligent robot, specifically including: determining hardware information of the intelligent robot based on a robot serial number; and comparing the topology structure graph based on version information of each module of the current software of the intelligent robot and the hardware information of the intelligent robot to determine the upgrade scheme of the intelligent robot.

[0014] In a second aspect, the embodiments of the present application further provide a software package upgrade management device of an intelligent robot, characterized in that the device includes: a processor; and a memory having executable code stored thereon, when the executable code is executed, causing the processor to execute a software package upgrade management method of an intelligent robot according to any one of claims 1-8.

[0015] In a third aspect, the embodiments of the present application further provide a nonvolatile computer storage medium for software package upgrade management of an intelligent robot, which stores computer executable instructions, and the computer executable instructions are configured to: perform module division on a to-be-updated upgrade package of the intelligent robot according to a preset division rule; determine upgrade package information of the to-be-updated upgrade package, and upload the to-be-updated upgrade package to an external access server based on the upgrade package information; update a topology structure diagram corresponding to the upgrade package in the external access server; in a case where the intelligent robot needs to be upgraded, access the intelligent robot based on an OTA service technology to read robot information of the intelligent robot; the robot information includes a robot serial number and version information of each module of a current software; query the topology structure diagram based on the robot information to determine an upgrade scheme of the intelligent robot, and send the upgrade scheme to the intelligent robot through a calling interface.

[0016] The software package upgrade management method, device and storage medium for an intelligent robot provided by the embodiments of the present application split system software and application software into multiple modules to reduce the redundancy of software upgrade packages; meanwhile, the modules included in the upgrade package are specified, then an upgrade topology diagram is constructed according to the information of the upgrade package, and the next largest version that can be installed is obtained through the topology relationship of the upgrade package; cross-version upgrade is performed for the current version of the system to reduce the complexity of installation. BRIEF DESCRIPTION OF DRAWINGS

[0017] The accompanying drawings, which are included to provide a further understanding of the present application and constitute a part of this application, illustrate certain illustrative embodiments of the present application and together with the description help explain the present application. In the drawings:

[0018] Figure 1 A flowchart of a software package upgrade management method for an intelligent robot is provided for the embodiments of the present application;

[0019] Figure 2 An internal structure schematic diagram of a software package upgrade management device for an intelligent robot is provided for the embodiments of the present application. DETAILED DESCRIPTION

[0020] To make the objectives, technical solutions and advantages of the present application clearer, the technical solutions of the present application will be described below in conjunction with the embodiments of the present application and the corresponding drawings. Obviously, the described embodiments are only some of the embodiments of the present application, but not all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the scope of protection of the present application.

[0021] The embodiment of the present application provides a software package upgrade management method, device and storage medium of an intelligent robot, so as to solve the following technical problems: how to reduce the development cost of the intelligent robot software upgrade package and simplify the upgrade process of the intelligent robot.

[0022] The technical solutions provided by the embodiment of the present application are described in detail below with reference to the drawings.

[0023] Figure 1 A software package upgrade management method flowchart of an intelligent robot is provided in the embodiment of the present application. As shown in the figure, Figure 1 The software package upgrade management method of the intelligent robot provided by the embodiment of the present application specifically includes the following steps:

[0024] Step 101, according to a preset division rule, the to-be-updated upgrade package of the intelligent robot is divided into modules.

[0025] In an embodiment of the present application, in order to simplify the upgrade process of the intelligent robot, the system software and the application software of the intelligent robot need to be modularized first.

[0026] Specifically, the name and version number of the third-party library used by each software are obtained; the third-party library with the same name and version number is determined as a common module; whether the third-party library with the same name and different version numbers is compatible is determined, and in the case of compatibility, the high-version third-party library is determined as a common module; in the case that any low-version third-party library is incompatible with the high-version third-party library, the low-version third-party library is bound with the corresponding software, and the module generated by the binding is determined as another module; the exclusive third-party library is bound with the corresponding software, and the module generated by the binding is determined as another module; the software package corresponding to the hardware system is determined as another module.

[0027] It should be noted that since the software package corresponding to the hardware system needs to be specified to be suitable for the system, it is equivalent to the exclusive software of a certain software, and therefore it is also listed as another module.

[0028] In an embodiment of the present application, after the to-be-updated software package is developed, the to-be-updated upgrade package is divided into modules based on the same division rule.

[0029] Further, the common module contained in the to-be-updated upgrade package is uploaded to the public dependency library.

[0030] Step 102, the upgrade package information of the to-be-updated upgrade package is determined, and the to-be-updated upgrade package is uploaded to an external access server based on the upgrade package information.

[0031] In an embodiment of the present application, before uploading the to-be-updated upgrade package to the externally-accessible server, the upgrade package information of the to-be-updated upgrade package needs to be determined. It can be understood that the upgrade package information includes the types of the contained modules, the hardware configurations adapted to, the version of the system, the version of the upgrade package, the location of the upgrade package, the creator, the date, whether it is an incremental package, and the like.

[0032] In an embodiment of the present application, after determining the upgrade package information of the to-be-updated upgrade package, the to-be-updated upgrade package is uploaded to the externally-accessible server based on the upgrade package information.

[0033] Specifically, it is determined whether the to-be-updated upgrade package contains a common module, and in the case that the to-be-updated upgrade package contains the common module, the storage address information of the common module is determined, and the attribute information of the common module is added to the storage address information based on the information of the common module contained in the upgrade package information; the attribute information is added to the corresponding other modules based on the information of each of the other modules contained in the upgrade package information; the storage address information of the common module and the other modules are uploaded to the internally-audited server; the storage address information and the other modules are audited based on a preset auditing rule, and in the case that the auditing is passed, the storage address information and the other modules are uploaded to the externally-accessible server.

[0034] It should be noted that the auditing rule includes the type of the module contained in the upgrade package, the script information installed, and whether the document description of the upgrade package has interface changes, whether it is compatible, and the like. The externally-accessible server can be a minio server.

[0035] In an embodiment of the present application, after uploading the storage address information and the other modules to the externally-accessible server, the upgrade package list in the externally-accessible server is updated.

[0036] Step 103, updating the topology structure diagram corresponding to the upgrade package in the externally-accessible server.

[0037] In an embodiment of the present application, after uploading the storage address information and the other modules to the externally-accessible server, the upgrade package list is read to determine the newly-added upgrade items in the upgrade list; wherein the newly-added upgrade items are the newly-added storage address information and / or other modules in the externally-accessible server; the attribute information of the newly-added upgrade items is read to determine whether the newly-added upgrade items are incremental packages. It can be understood that the attribute information of the newly-added upgrade items is the attribute information of the storage address information or the other modules.

[0038] Further, in a case that the new upgrade item is determined to be an incremental package, a corresponding new upgrade item node is created after the corresponding upgrade item node in the topology graph, and the new upgrade item node is associated with the new upgrade item; in a case that the new upgrade item is determined to be a full package, it is determined whether the new upgrade item contains all function modules of the corresponding historical upgrade item; in a case that the new upgrade item contains all function modules of the corresponding historical upgrade item, the corresponding historical upgrade item of the new upgrade item is replaced; in a case that the new upgrade item does not contain all function modules of the corresponding historical upgrade item, a new upgrade item node is created in parallel with the corresponding historical upgrade item.

[0039] In step 104, in a case that the intelligent robot needs to be upgraded, the intelligent robot is accessed based on the OTA service technology to read robot information of the intelligent robot; the robot information includes a robot serial number and version information of each module of current software.

[0040] In an embodiment of the present application, after the topology graph in the external access server is updated, if there is an intelligent robot calling the calling interface of the external access server, the external access server accesses the intelligent robot based on the OTA service technology to read the robot serial number and the version information of each module of current software of the intelligent robot; it can be understood that the version information of each module of current software includes the version information of each module of the current system software and application software of the robot.

[0041] In step 105, the topology graph is queried based on the robot information to determine an upgrade scheme of the intelligent robot, and the upgrade scheme is sent to the intelligent robot through the calling interface.

[0042] In an embodiment of the present application, after the robot information of the intelligent robot is read, the hardware information of the intelligent robot needs to be determined based on the robot serial number first.

[0043] Further, based on the version information of each module of current software of the intelligent robot and the hardware information of the intelligent robot, the topology graph is referred to to determine the upgrade process and the highest upgrade version of the intelligent robot, so as to determine the upgrade scheme of the intelligent robot.

[0044] Further, the upgrade scheme is sent to the intelligent robot through the calling interface.

[0045] Based on the same inventive concept, the embodiments of the present application also provide a software package upgrade management device of an intelligent robot, an internal structure of which is shown in Figure 2 .

[0046] Figure 2 An internal structure of a software package upgrade management device of an intelligent robot provided by the embodiments of the present application is shown in Figure 2As shown, the device comprises: a processor 201; a memory 202, which stores executable instructions, when the executable instructions are executed, causing the processor 201 to perform the software package upgrade management method of the intelligent robot as described above.

[0047] In an embodiment of the present application, the processor 201 is configured to perform module division on the to-be-updated upgrade package of the intelligent robot according to a preset division rule; determine upgrade package information of the to-be-updated upgrade package, and upload the to-be-updated upgrade package to an external access server based on the upgrade package information; update a topology structure diagram corresponding to the upgrade package in the external access server; in the case that the intelligent robot needs to be upgraded, access the intelligent robot based on an OTA service technology to read robot information of the intelligent robot; wherein the robot information comprises a robot serial number and version information of each module of the current software; query the topology structure diagram based on the robot information to determine an upgrade scheme of the intelligent robot, and send the upgrade scheme to the intelligent robot through an invoking interface.

[0048] Some embodiments of the present application provide a non-volatile computer storage medium for managing software package upgrades of an intelligent robot corresponding to Figure 1 The computer executable instructions are set to:

[0049] perform module division on the to-be-updated upgrade package of the intelligent robot according to a preset division rule;

[0050] determine upgrade package information of the to-be-updated upgrade package, and upload the to-be-updated upgrade package to an external access server based on the upgrade package information;

[0051] update a topology structure diagram corresponding to the upgrade package in the external access server;

[0052] in the case that the intelligent robot needs to be upgraded, access the intelligent robot based on an OTA service technology to read robot information of the intelligent robot; wherein the robot information comprises a robot serial number and version information of each module of the current software;

[0053] query the topology structure diagram based on the robot information to determine an upgrade scheme of the intelligent robot, and send the upgrade scheme to the intelligent robot through an invoking interface.

[0054] Each of the embodiments in the present application is described in a progressive manner, and the same or similar parts of each of the embodiments can be referred to each other. Each of the embodiments mainly describes the difference from other embodiments. In particular, for the device and medium embodiments, since they are basically similar to the method embodiments, the description is relatively simple, and the relevant parts can be referred to the part of the method embodiment.

[0055] The device and medium provided by the embodiments of the present application are one-to-one corresponding, and therefore, the device and medium also have similar beneficial technical effects to the corresponding method. Since the beneficial technical effects of the method have been described in detail above, the beneficial technical effects of the device and medium will not be described here again.

[0056] Those skilled in the art should understand that the embodiments of the present application can be provided as a method, a system, or a computer program product. Therefore, the present application can take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. In addition, the present application can take the form of a computer program product implemented on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROMs, optical storage, etc.) containing computer-usable program code.

[0057] The present application is described with reference to flowcharts and / or block diagrams of the method, device (system), and computer program product according to the embodiments of the present application. It should be understood that each flow and / or block in the flowcharts and / or block diagrams, and the combination of flows and / or blocks in the flowcharts and / or block diagrams can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing apparatus to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing apparatus generate a means for implementing the functions specified in the flowcharts and / or block diagrams. Figure 1 one or more flows and / or blocks Figure 1 means for carrying out the functions specified in the flowcharts and / or block diagrams.

[0058] These computer program instructions can also be stored in a computer-readable memory capable of directing the computer or other programmable data processing apparatus to work in a specific manner, so that the instructions stored in the computer-readable memory produce a product including instruction means, which implements the functions specified in the flowcharts and / or block diagrams. Figure 1 one or more flows and / or blocks Figure 1 means for carrying out the functions specified in the flowcharts and / or block diagrams.

[0059] These computer program instructions can also be loaded into a computer or other programmable data processing apparatus, so that a series of operation steps are performed on the computer or other programmable data processing apparatus to produce a computer-implemented process, so that the instructions executed on the computer or other programmable data processing apparatus provide a means for implementing the functions specified in the flowcharts and / or block diagrams. Figure 1 one or more flows and / or blocks Figure 1 means for carrying out the functions specified in the flowcharts and / or block diagrams.

[0060] In a typical configuration, a computing device includes one or more processors (CPUs), input / output interfaces, network interfaces, and memories.

[0061] Memory can include non-persistent memory and / or volatile memory, such as random access memory (RAM) and / or cache memory, etc. in the form of a computer-readable medium, read only memory (ROM), or flash memory, etc. Memory is an example of computer-readable media.

[0062] Computer-readable media includes permanent and non-permanent, removable and non-removable media implemented in any method or technology for storage of information such as computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read only memory (ROM), electrically erasable programmable read only memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), digital versatile disc (DVD), or other optical storage, magnetic cassettes, magnetic tapes, magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information accessible to a computing device. According to the definition herein, computer-readable media does not include transitory media, such as modulated data signals and carrier waves.

[0063] It should also be noted that the terms "comprising", "containing", or any other variant thereof, are intended to encompass a non-exclusive inclusion, such that a process, method, article or apparatus that comprises a list of elements does not include only those elements recited, but can also include other elements not expressly listed or inherent to such process, method, article or apparatus. Without more limitations, an element defined by the statement "comprising a" does not exclude the existence of additional identical elements in the process, method, article or apparatus that includes the stated element.

[0064] The above description is only an example of the present application and is not intended to limit the present application. For those skilled in the art, the present application can have various modifications and changes. Any modification, equivalent replacement, improvement, etc. within the spirit and principle of the present application shall be included in the scope of claims of the present application.

Claims

1. A software package upgrade management method of an intelligent robot, characterized by, The method comprises: According to the preset division rule, the intelligent robot is divided into modules; Determine the upgrade package information of the upgrade package to be updated, and based on the upgrade package information, upload the upgrade package to be updated to the external access server; Update the topology structure diagram corresponding to the upgrade package in the external access server; In the case where the intelligent robot needs to be upgraded, based on the OTA service technology, access the intelligent robot to read the robot information of the intelligent robot; wherein the robot information includes: robot serial number, version information of each module of the current software; Based on the robot information, the topology structure diagram is queried to determine the upgrade scheme of the intelligent robot, and the upgrade scheme is sent to the intelligent robot through the calling interface; Before the intelligent robot is divided into modules according to the preset division rule, the method further comprises: Based on the division rule, the system software and application software of the intelligent robot are divided into modules, specifically including: Obtain the name and version number of each software used third-party library; Determine the third-party library with the same name and version number as the public module; Determine whether the third-party library with the same name and different version numbers is compatible, and in the case of compatibility, determine the high version third-party library as the public module; In the case where any low version third-party library is incompatible with the high version third-party library, the low version third-party library is bound with the corresponding software, and the module generated by binding is determined as other module; Bind the exclusive third-party library with its corresponding software, and determine the module generated by binding as other module; Determine the software package corresponding to the hardware system as other module; Update the topology structure diagram corresponding to the upgrade package in the external access server, specifically including: Read the upgrade package list to determine the new upgrade item in the upgrade package list; wherein the new upgrade item is the storage address information added in the external access server and / or the other module; Read the attribute information of the new upgrade item to determine whether the new upgrade item is a delta package; In the case where the new upgrade item is determined to be a delta package, a corresponding new upgrade item node is created after the corresponding upgrade item node in the topology structure diagram, and the new upgrade item node is associated with the new upgrade item; In the case where the new upgrade item is determined to be a full package, it is judged whether the new upgrade item contains all the function modules of the corresponding historical upgrade item; In the case where the new upgrade item contains all the function modules of the corresponding historical upgrade item, replace the corresponding historical upgrade item of the new upgrade item; In the case where the new upgrade item does not contain all the function modules of the corresponding historical upgrade item, create a new upgrade item node parallel to the corresponding historical upgrade item. 2.The software package upgrade management method of an intelligent robot according to claim 1, wherein, After the intelligent robot is divided into modules according to the preset division rule, the method further comprises: Upload the public module contained in the upgrade package to be updated to the public dependent library. 3.The software package upgrade management method of a smart robot according to claim 1, wherein, Based on the upgrade package information, the upgrade package to be updated is uploaded to the external access server, specifically including: determining storage address information of the common module, and adding attribute information of the common module to the storage address information based on information of the common module contained in the upgrade package information; adding attribute information to the corresponding other module based on information of each other module contained in the upgrade package information; uploading the storage address information of the common module and the other modules to an internal audit server; auditing the storage address information and the other modules based on a preset audit rule, and uploading the storage address information and the other modules to an external access server if the audit is passed. 4.The software package upgrade management method of a smart robot according to claim 3, wherein, After uploading the storage address information and the other modules to the external access server, the method further comprises: updating an upgrade package list in the external access server. 5.The software package upgrade management method of a smart robot according to claim 1, wherein, determining an upgrade scheme of the intelligent robot based on the robot information and the topology structure diagram, specifically comprising: determining hardware information of the intelligent robot based on the robot serial number; determining the upgrade scheme of the intelligent robot by matching the topology structure diagram based on version information of each module of the current software of the intelligent robot and the hardware information of the intelligent robot.

6. A software package upgrade management device of an intelligent robot, characterized by, The device comprises: a processor; and a memory having executable code stored thereon, which, when executed, causes the processor to perform the intelligent robot software package upgrade management method of any one of claims 1-5. 7.A non-transitory computer storage medium storing computer-executable instructions for software package upgrade management of an intelligent robot, the computer-executable instructions comprising: The computer executable instructions are configured to: perform module division on the intelligent robot upgrade package to be updated according to a preset division rule; determine upgrade package information of the upgrade package to be updated, and upload the upgrade package to be updated to an external access server based on the upgrade package information; update a topology structure diagram corresponding to the upgrade package in the external access server; in the case that the intelligent robot needs to be upgraded, access the intelligent robot based on an OTA service technology to read robot information of the intelligent robot; wherein the robot information comprises a robot serial number and version information of each module of the current software; determine an upgrade scheme of the intelligent robot by querying the topology structure diagram based on the robot information, and send the upgrade scheme to the intelligent robot through a calling interface; before performing module division on the intelligent robot upgrade package to be updated according to a preset division rule, the method further comprises: performing module division on system software and application software of the intelligent robot based on the division rule, specifically comprising: obtaining names and version numbers of third-party libraries used by each software; determining a third-party library with the same name and version number as a common module; determining whether third-party libraries with the same name and different version numbers are compatible, and determining a high-version third-party library as a common module if compatible; in the case that any low-version third-party library is incompatible with the high-version third-party library, binding the low-version third-party library with the corresponding software, and determining a module generated by the binding as an other module; Binding the exclusive third-party library with the corresponding software, and determining the generated module as another module; Determining the software package corresponding to the hardware system as another module; Updating the topology graph corresponding to the upgrade package in the external access server, specifically including: Reading the upgrade package list to determine the new upgrade item in the upgrade package list; wherein the new upgrade item is the newly added storage address information in the external access server and / or the other module; Reading the attribute information of the new upgrade item to determine whether the new upgrade item is a delta package; In the case of determining that the new upgrade item is a delta package, a corresponding new upgrade item node is created after the corresponding upgrade item node in the topology graph, and the new upgrade item node is associated with the new upgrade item; In the case of determining that the new upgrade item is a full package, it is judged whether the new upgrade item contains all the functional modules of the corresponding historical upgrade item; In the case that the new upgrade item contains all the functional modules of the corresponding historical upgrade item, the corresponding historical upgrade item of the new upgrade item is replaced; In the case that the new upgrade item does not contain all the functional modules of the corresponding historical upgrade item, a new upgrade item node is created parallel to the corresponding historical upgrade item.

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