Robot behavior judgment method, device, server and storage medium

Abstract

The embodiments of the present application are applicable to the field of robotics technology and provide a robot behavior judgment method, device, server, and storage medium. The method includes: in response to a detection instruction initiated by a user terminal, obtaining multiple data packets in a robot control network; the data packets include execution instruction data; the execution instruction data is used to determine the instruction executed by the initiating terminal to control the robot; based on the data packets, generating a behavior event corresponding to any robot connected to the robot control network; if the behavior event does not meet the preset legal behavior conditions, determining the behavior event as an abnormal event and sending an alarm message about the any robot to the user terminal. The method provided by the embodiments of the present application can quickly and accurately judge abnormal events of robots, thereby reducing the probability of robot safety accidents.

Description

Technical Field

[0001] The embodiments of the present application belong to the field of robotics technology, and in particular, relate to a robot behavior judgment method, device, server, and storage medium. Background Art

[0002] With the continuous development of industrial robots, they are widely used in various industrial fields, including electronics, logistics, and chemicals. Since industrial robots are often used to replace humans in dangerous industrial tasks, ensuring their operational safety is particularly important. In related technologies, industrial robot safety accidents primarily arise from two sources: user misoperation of the industrial robot; and hacker intrusion and control of the industrial robot. Both sources can cause industrial robots to engage in dangerous behaviors that violate safety regulations, resulting in safety accidents.

[0003] Existing robot control technology can only determine the robot's erroneous execution records during the task execution process when the administrator arrives at the site where the robot performs the task, obtains the robot's log records, and compares the log records with the control instructions sent by the administrator. This greatly reduces the management efficiency of the robot, makes it impossible to detect the robot's abnormal behavior in time, and poses a major safety hazard. Summary of the Invention

[0004] In view of this, the embodiments of the present application provide a robot behavior judgment method, device, server and storage medium to prevent robots from performing dangerous behaviors, thereby reducing the probability of robot safety accidents.

[0005] A first aspect of an embodiment of the present application provides a robot behavior judgment method, comprising:

[0006] In response to a detection instruction initiated by a user terminal, a plurality of data messages in a robot control network are acquired; the data messages include execution instruction data; the execution instruction data is used to determine the instruction executed by the initiating terminal to control the target robot;

[0007] Generate a behavior event corresponding to any robot connected to the robot control network based on the data message;

[0008] If the behavior event does not meet the preset legal behavior conditions, the behavior event is determined to be an abnormal event, and an alarm message about any robot is sent to the user terminal.

[0009] A second aspect of an embodiment of the present application provides a robot behavior judgment device, comprising:

[0010] an acquisition module, configured to acquire, in response to a detection instruction initiated by a user terminal, a plurality of data messages in a robot control network; the data messages including execution instruction data; the execution instruction data being used to determine the instruction executed by the initiating terminal to control the target robot;

[0011] A processing module, configured to generate, based on the data message, a behavior event corresponding to any robot connected to the robot control network;

[0012] An alarm module is used to determine that the behavior event is an abnormal event if the behavior event does not meet the preset legal behavior conditions, and send an alarm message about any robot to the user terminal.

[0013] A third aspect of an embodiment of the present application provides a server, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the robot behavior judgment method as described in the first aspect above is implemented.

[0014] A fourth aspect of an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the robot behavior judgment method as described in the first aspect above is implemented.

[0015] A fifth aspect of the embodiments of the present application provides a computer program product, which, when executed on a computer, enables the computer to execute the robot behavior judgment method described in the first aspect.

[0016] Compared with the prior art, the embodiments of the present application have the following advantages:

[0017] In an embodiment of the present application, a robot behavior judgment system can obtain multiple data packets from a robot control network. Because the data packets contain execution instruction data, the robot behavior judgment system can generate a robot behavior event corresponding to the data packet based on the data packet. When the robot behavior judgment system determines that the behavior event does not meet the robot's legal behavior conditions, the robot behavior judgment system can determine that the behavior event is an abnormal event and send an alarm message to the user terminal. Because the robot behavior judgment network can synchronously obtain multiple data packets from the robot control network and quickly judge the behavior event, the method provided in an embodiment of the present application allows users to promptly discover abnormal robot behavior, thereby promptly eliminating potential safety hazards of the robot and effectively reducing the probability of safety accidents. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] To more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the embodiments or descriptions of the prior art. Obviously, the drawings described below are only some embodiments of the present application, and those skilled in the art can derive other drawings based on these drawings without inventive effort.

[0019] Figure 1 is a schematic diagram of a robot behavior judgment system provided in an embodiment of the present application;

[0020] Figure 2 is a schematic diagram of a robot behavior judgment method provided in an embodiment of the present application;

[0021] Figure 3 This is a specific implementation flow chart of a robot behavior judgment method S201 provided in an embodiment of the present application; Figure 4 This is a specific implementation flow chart of a robot behavior judgment method S202 provided in an embodiment of the present application.

[0022] Figure 5 This is a flow chart of a robot behavior judgment method provided in an embodiment of the present application;

[0023] Figure 6 This is a specific implementation flow chart of a robot behavior judgment method S202 and S203 provided in an embodiment of the present application;

[0024] Figure 7 This is a specific implementation flow chart of a robot behavior judgment method S2202 and S203 provided in an embodiment of the present application;

[0025] Figure 8 This is a specific implementation flow chart of a robot behavior judgment method S202 and S203 provided in an embodiment of the present application;

[0026] Figure 9 This is a flow chart of a robot behavior judgment method provided in an embodiment of the present application;

[0027] Figure 10 Schematic diagram of a device for a robot behavior judgment method provided in an embodiment of the present application;

[0028] Figure 11 This is a schematic diagram of a terminal device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0029] In the following description, specific details such as specific system structures and technologies are provided for the purpose of illustration rather than limitation to facilitate a thorough understanding of the embodiments of the present application. However, it should be clear to those skilled in the art that the present application may be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to avoid obstructing the description of the present application with unnecessary details.

[0030] The robot behavior judgment method provided in the embodiment of the present application can be applied to a robot behavior judgment system. The robot behavior judgment system can be deployed on a server, and users can access the robot behavior judgment system through various user terminals such as smart phones, tablet computers, and computers. Figure 1 FIGURE 1 is a schematic diagram of a robot behavior judgment system provided by an embodiment of the present application. Figure 1 ,The robot behavior judgment system can include a system management module, ,acquisition module, analysis module, processing module, matching module, alarm module and ,display module.

[0031] See also Figure 1 , the system management module can respond to the configuration operation initiated by the user and manage and configure the robot behavior judgment system based on the configuration operation. The user can use the system management module to manage the regional information, asset information and condition library of multiple electronic devices and multiple robots in the robot control network. The user can set the corresponding regional information of each robot using the robot behavior judgment system in the system management module. In actual application, the user can partition the robots in the factory according to the function of the robot or the geographical location of the robot to obtain multiple different regional information. Robots in the same area will be associated with the same regional information. The regional information created by the user can include various information such as the area name, network segment information, person in charge information, whether the area can be connected externally, etc.

[0032] In an embodiment of the present application, a user can also set up an enterprise-related asset list in the system management module. The user can write asset information for various assets owned by the enterprise into the system management module. This asset information may include the enterprise's robot asset information and the enterprise's computer equipment asset information. The system management module can write the multiple asset information entered by the user into the enterprise's asset list for storage. The asset information entered by the user may include various information corresponding to each device, such as the network protocol address, hardware address, operating system type, manufacturer information, asset type, model information, and region information. The user can also set legal behavior conditions for each robot in the system management module. The robot behavior judgment system can write the legal behavior conditions for multiple robots set by the user into the condition library for storage. The user can also set various behavior events in the system management module. The behavior events set by the user may include various event information, such as the event name, event matching feature information, and event description corresponding to each behavior event. The behavior events set by the user may include normal events and abnormal events.

[0033] See also Figure 1 The acquisition module can be used to copy multiple control messages in the robot control network. The acquisition module can copy multiple control messages in the robot control network by enabling a mirror port in the robot behavior judgment system. The parsing module can parse the multiple control messages copied by the acquisition module and generate data messages. The processing module can determine the data type of multiple execution instruction data in the data message based on the robot identifier in the data message. Based on the data type, the processing module can determine the multiple execution instruction data in the data message and generate corresponding behavior events based on the multiple execution instruction data. The matching module can obtain multiple legal behavior conditions corresponding to the robot based on the robot identifier. Based on the obtained legal behavior conditions, the matching module can perform a legality judgment on the behavior event. The matching module can determine whether the behavior event is a normal event or an abnormal event. The alarm module can generate an alarm message when the generated behavior event is determined to be an abnormal event and send the alarm message to the user terminal. The display module can display multiple normal events and multiple abnormal events of the robot to the user terminal. After receiving a user query command, the robot behavior judgment system can send the corresponding event list to the user through the display module and display the event list on the user terminal.

[0034] The technical solution of this application is described below through specific embodiments.

[0035] Reference Figure 2, shows a schematic diagram of a robot behavior judgment method provided by an embodiment of the present application. The robot behavior judgment method can be applied to large industrial robots in multiple fields such as intelligent manufacturing, logistics, and chemical industries. The robot behavior judgment method can also be applied to small robots that users can remotely control through a robot control network, such as express robots, sweeping robots, and food delivery robots. The execution entity of the robot behavior judgment method can be a server deployed with a robot behavior judgment system. The above-mentioned robot behavior judgment method can specifically include the following steps:

[0036] S201. In response to a detection instruction initiated by a user terminal, a plurality of data messages in a robot control network are acquired; the data messages include execution instruction data; the execution instruction data is used to determine the instruction executed by the initiating terminal to control the robot.

[0037] In this embodiment, after receiving a detection command from a user terminal, the server of the robot behavior judgment system can obtain multiple data packets in the robot control network. As described above, the server can include a collection module that can collect various data packets transmitted in the robot control network.

[0038] In this embodiment, the data message may include a terminal identifier corresponding to the initiating terminal that initiated the data message and a robot identifier of the robot controlled by the initiating terminal. The terminal identifier is used to determine the initiating terminal corresponding to the data message, and the robot identifier is used to determine the robot that the initiating terminal needs to control. The server can use the two identifiers to determine the initiating terminal of the data message and the robot controlled by the initiating terminal. The data message may also include execution instruction data, and the server determines the instructions executed by the initiating terminal to control the robot through the execution instruction data. The instructions executed by the initiating terminal to control the robot can be used to control the robot to perform various robot tasks, such as robot configuration modification, operation control, project modification, job change, web access, login, power on, power off, status query, etc.

[0039] In one possible implementation, the terminal identifier may include one or more combinations of the initiating terminal's corresponding Internet Protocol (IP) address, local area network (MAC) address, and a port identifier for sending data packets. Similarly, the robot identifier may include the robot's corresponding IP address, local area network address, and a port identifier for receiving data packets.

[0040] In one possible implementation, a user terminal can access a robot behavior judgment system via a webpage, and the robot behavior judgment system can be equipped with a detection control. When a user needs to judge the robot's behavior, the user can initiate a detection instruction to the robot behavior judgment system by clicking the detection control on the application system. For example, when a user needs to remotely control the robot, the user can open the robot's data receiving port through the robot control network. At the same time, the user can initiate a detection instruction to the robot behavior judgment system by clicking the detection control on the application system. The above-mentioned user terminals include various electronic devices such as smartphones, mainframe computers, and tablet computers.

[0041] S202: Generate a behavior event corresponding to any robot connected to the robot control network based on the data message.

[0042] In this embodiment, the robot behavior determination system can acquire multiple data messages from the robot control network. Since the robot control network can include multiple initiating terminals and multiple robots, an initiating terminal can send data messages to a designated robot via the robot control network to control the designated robot to perform a corresponding task. Therefore, after acquiring multiple data messages, the robot behavior determination system can determine, based on the data messages, which sending terminal instructs which robot to perform which task, thereby identifying the aforementioned behavioral event.

[0043] In this embodiment, a data message can contain multiple execution instruction data to instruct the robot to perform various actions. After obtaining the multiple execution instruction data, the processing module in the server can query the robot behavior corresponding to each execution instruction data using a feature library associated with the robot identifier. Based on the robot behavior corresponding to each execution instruction data, a behavior event related to the data message is generated. The feature library may include, but is not limited to, various robot behaviors that industrial robots can perform, such as robot configuration modification, operation control, project modification, job change, web access, login, startup, shutdown, status query, and so on.

[0044] For example, if the data type corresponding to the execution instruction data that a robot can respond to is a string type, the processing module can obtain multiple ASCII strings in the data message and query the feature library for the robot behavior corresponding to each ASCII string. The processing module can obtain the multiple ASCII strings in the data message by converting the multiple application layer strings in the data message into ASCII strings and removing invisible characters.

[0045] In one possible implementation, if the data type corresponding to the execution instruction data to which a robot can respond is a protocol type, the processing module can obtain the request parameters, request method, and uniform resource locator in the data message and query the feature library for the robot behavior corresponding to each request parameter, request method, and uniform resource locator. The processing module obtains the protocol keyword in the data message and, based on the protocol features, retrieves execution instruction data of multiple protocol types.

[0046] In one possible implementation, if the data type corresponding to a robot is a fragment type, the processing module can obtain multiple hexadecimal fragments in the data message and query the robot behavior corresponding to each hexadecimal fragment in the feature library. The processing module can obtain multiple hexadecimal fragments in the data message by converting the data message into a hexadecimal string. For example, the hexadecimal fragment obtained by the processing module may be "030000c202f0800db". In this embodiment, in order to further illustrate the behavior event generated by the processing module, a behavior event generated by the processing module according to the execution instruction data may be that a terminal initiating the asset list terminal is using the local area network to control a robot to perform a shutdown operation at ten o'clock in the morning.

[0047] In one possible implementation, a user can pre-set the data type corresponding to each robot in the robot control network in the system management module. The server can store the robot identifiers and data types pre-set by the user for each robot in a robot data table. When the processing module needs to determine the data type corresponding to a particular robot, it can query the robot data table using the robot identifier corresponding to that robot.

[0048] In another possible implementation, before performing behavioral judgment on multiple robots in the robot control network, the server can generate multiple test messages with different data types. The robot behavior judgment system can send test messages to multiple robots through the robot control network. After receiving the test messages sent by the robot behavior judgment system, the robot control network can send the test messages to the corresponding robots based on the robot identifiers in each test message. After receiving the test messages, the robots can generate feedback information based on the multiple test messages and send the feedback information to the robot behavior judgment system through the robot control network. The server where the robot behavior judgment system is located can determine the data type that each robot can respond to based on the feedback information, and generate a data table based on the data type corresponding to each robot.

[0049] S203: If the behavior event does not meet the preset legal behavior conditions, determine that the behavior event is an abnormal event, and send an alarm message about any robot to the user terminal.

[0050] In this embodiment, after generating a behavior event corresponding to any robot connected to the robot control network based on a data message, the server can determine whether the generated behavior event meets the legal behavior conditions pre-set by the user. If the server determines that the generated behavior event does not meet the legal behavior conditions pre-set by the user, the server can determine that the behavior event is an abnormal event. The server can generate alarm information corresponding to the abnormal event according to the pre-set alarm mode and send the alarm information to the user terminal.

[0051] In this embodiment, the robot behavior judgment system can send alarm information to the user terminal in four ways, which are detailed as follows:

[0052] Method 1: When the user terminal responsible for receiving alarm information is a smartphone, the server can send alarm information to the user terminal via text message. A text message push unit can be deployed on the server. After the server determines that a certain behavior event is an abnormal event, it can determine the alarm number corresponding to the robot from the asset list pre-set by the user based on the robot identifier. The alarm number corresponding to the robot can be the mobile phone number corresponding to the smartphone used to receive the robot's alarm information. The SMS push unit in the server can generate an alarm SMS based on the abnormal event and send the alarm SMS to the corresponding smartphone through the SMS channel provider.

[0053] Method 2: When the user terminal receiving the alarm information is a computer device such as a tablet, computer, or smartphone, the server can send the alarm information to the user terminal via email. The server can also include an email sending unit. After determining that a behavior event is an abnormal event, the server can determine the alarm mailbox corresponding to the robot from a user-preset asset list based on the robot's identification. The robot's corresponding alarm mailbox can be the mailbox number corresponding to the email address used to receive the robot's alarm information. The email sending unit in the server can generate an alarm email based on the abnormal event and send the alarm email to the corresponding computer device according to the mailbox number.

[0054] Method three: When a user terminal for receiving alarm information accesses the robot behavior judgment system through a web page, the server can send an alarm message to the user terminal through a web page pop-up window. A pop-up window sending unit can be deployed on the server. After the server determines that a certain behavior event is an abnormal event, it can determine the alarm address corresponding to the robot based on the robot identification asset list. The alarm address can be the Internet Protocol address corresponding to the user terminal for receiving the alarm information of the robot. The pop-up window sending unit in the server can generate corresponding pop-up window information based on the specific content of the abnormal event, and send the pop-up window information to the user terminal through the alarm address. After receiving the pop-up window information, the user terminal can display an alarm pop-up window on the web page of the robot behavior judgment system based on the pop-up window information.

[0055] Method 4: When a speaker is installed on the user terminal used to receive alarm information, the server can send a voice alarm message to the user terminal. A voice alarm unit can be deployed on the server. After the server determines that a certain behavior event is an abnormal event, it can query the asset list for the alarm address corresponding to the robot based on the robot identifier. The alarm address can be the Internet Protocol address corresponding to the user terminal used to receive the alarm information of the robot. The voice alarm unit on the server can generate corresponding voice alarm information based on the specific content of the abnormal event and send the voice alarm information to the user terminal via the alarm address. After receiving the voice alarm information, the user terminal can turn on the speaker on the user terminal and play the alarm voice related to the voice alarm information through the speaker.

[0056] In this embodiment, the robot behavior judgment system can generate a behavior event corresponding to any robot in the robot control network based on the execution instruction data in the data message and determine whether the generated behavior event meets the robot's legal behavior conditions. Therefore, the method provided in this embodiment for robot behavior judgment can effectively and promptly detect abnormal robot behavior, helping users to promptly prevent the robot's abnormal behavior. Because the data message includes the execution instruction data and the terminal identifier corresponding to the user terminal that controls the robot to execute the instruction, the method provided in this embodiment for robot behavior judgment can help users determine the cause of the robot's abnormal behavior and, in turn, help users eliminate potential safety hazards caused by the robot.

[0057] Figure 3 FIG2 shows a specific implementation flow chart of a robot behavior judgment method S101 provided in the second embodiment of the present application. Figure 3 , compared to Figure 2 In the embodiment, the robot behavior determination method provided in this embodiment includes S2011 to S2012, which are described in detail as follows:

[0058] S2011. Open the mirror port and copy each control message transmitted in the robot control network through the mirror port.

[0059] In this embodiment, when a user needs to remotely control a robot to execute a specific command, the user can send a control message corresponding to the command to the robot via the robot control network from the user terminal. The robot can then receive the control message sent by the user terminal via the robot control network and execute the corresponding command accordingly. Therefore, upon receiving the detection command initiated by the user terminal, the server hosting the robot behavior judgment system can activate the acquisition module within the robot behavior judgment system and, in turn, enable the mirror port on the acquisition module. Because the mirror port on the acquisition module is connected to the server hosting the robot control network, the acquisition module can replicate each control message transmitted within the robot control network via the mirror port.

[0060] In this embodiment, when copying a control message, the acquisition module can perform preliminary parsing of the control message to obtain the identification segment in the control message, the data segment in the control message, and the type of transmission protocol used by the control message. The acquisition module can generate a duplicate control message based on the obtained identification segment, data segment, and transmission protocol, and send the duplicate control message to the parsing module of the robot behavior judgment system for further parsing. The identification segment can include a terminal identifier and a robot identifier. The transmission protocol in the control message can be the Transmission Control Protocol (TCP) and / or the User Datagram Protocol (UDP). The data segment can include various application layer information in the control message used to control the robot to execute instructions.

[0061] S2012: Parse the copied control message to generate the data message.

[0062] In this embodiment, the robot behavior judgment system copies multiple control messages transmitted in the robot control network via a mirrored port, thereby obtaining multiple replicated control messages. The robot behavior judgment system's parsing module can further parse the obtained replicated control messages to generate data messages. The data messages generated by the parsing module can include a terminal identifier, a robot identifier, and execution instruction data. The execution instruction data can include one or more combinations of the robot's communication protocol, message details within the data message, an ASCII fragment, and a hexadecimal fragment.

[0063] In this embodiment, the server can replicate multiple control messages in the robot control network through a mirrored port and perform behavioral assessments on multiple robots in the robot control network based on the replicated control messages. Therefore, the method provided in this embodiment allows for the security monitoring of multiple robots in the robot control network without interrupting normal traffic flow from the robot control network output port.

[0064] Figure 4 FIG3 shows a specific implementation flow chart of a robot behavior judgment method S302 provided in the third embodiment of the present application. Figure 4 , compared to Figure 2 In the embodiment, the method for determining robot behavior provided in this embodiment includes S2021 to S2022, which are described in detail as follows:

[0065] S2021. Determine a legal behavior condition corresponding to any robot based on the robot identification of any robot carried in the data message.

[0066] In this embodiment, after parsing and generating a data message, the parsing module on the server can send the data message to the processing module. The processing module can generate a corresponding behavior event based on the data message. Since the data message generated by the parsing module includes the robot identifier corresponding to the robot that needs to execute the instruction, the processing module can determine the robot corresponding to the data message based on the robot identifier in the data message. After obtaining the robot identifier, the processing module can query the condition library for the legal behavior conditions corresponding to the robot based on the robot identifier. The condition library can include the legal behavior conditions corresponding to all robots in the robot control network. The legal behavior conditions corresponding to each robot can be pre-set by the user through the system management module of the robot behavior judgment system, and the system management module can store the legal behavior conditions pre-set by the user in the condition library.

[0067] S2022: Determine whether the behavior event satisfies the legal behavior condition.

[0068] In this embodiment, after querying the legal behavior conditions corresponding to the robot, the processing module can determine whether the generated behavior event meets the legal behavior conditions corresponding to the robot. The processing module can determine whether the behavior event meets the legal behavior conditions by comparing whether the behavior event matches the legal behavior conditions. The legal behavior conditions can record the legal feature ranges corresponding to multiple event dimensions, and the server can extract the event feature values ​​corresponding to each event dimension from the behavior event. If all event feature values ​​in the behavior event are within the legal feature range, the server can determine that the behavior event meets the legal behavior conditions. If the event feature value corresponding to any event dimension in the behavior event is outside the corresponding legal feature range, the server can determine that the behavior event does not meet the legal behavior conditions. The event dimensions in the behavior event may include but are not limited to execution time, flow information and task events.

[0069] In this embodiment, the robot behavior judgment system can determine the legal behavior conditions of the robot corresponding to the data message based on the robot identifier in the data message, and judge the behavior event based on the robot's corresponding legal behavior conditions. Therefore, when using the method provided by this embodiment to judge robot behavior, users can customize the legal behavior conditions of the robot based on the specific usage of each robot. Therefore, the method provided by this embodiment helps to more accurately judge abnormal robot events.

[0070] Reference Figure 5 , shows a flow chart of a robot behavior judgment method provided by an embodiment of the present application. Figure 5As shown, after receiving a detection command initiated by a user terminal, the robot behavior judgment system can obtain multiple data packets through a mirrored port. Based on the robot identifier contained in the data packet, the robot behavior judgment system can query a user-preset condition library for multiple legal behavior conditions corresponding to the robot. The robot behavior judgment system can determine whether the legal behavior conditions corresponding to the robot have been found. If the robot behavior judgment system does not find the legal behavior conditions corresponding to the robot, it does not perform a legality check on the data packet. If the robot behavior judgment system does find the legal behavior conditions corresponding to the robot, it performs a legality check on the data packet based on the found legal behavior conditions. The robot behavior judgment system can determine whether the multiple execution instruction data in the data packet meet the legal behavior conditions. If the robot behavior judgment system determines that the multiple execution instruction data in the data packet meet the legal behavior conditions, it generates a normal event for the data packet and writes the generated normal event into the normal event library for storage. If the robot behavior judgment system determines that the multiple execution instruction data in the data packet do not meet the legal behavior conditions, it generates an abnormal event for the data packet and writes the generated abnormal event into the abnormal event library for storage.

[0071] Figure 6 The fourth embodiment of the present application provides a method for determining robot behavior S202 and S203. Figure 6 , compared to Figure 2 In the embodiment, the robot behavior determination method provided in this embodiment includes S202: S601 to S602, and S203 also includes S603, which are described in detail as follows:

[0072] Furthermore, the generating, based on the data message, a behavior event corresponding to any robot connected to the robot control network includes:

[0073] S601: Determine flow direction information of the data message based on the terminal identifier of the initiating terminal and the robot identifier carried in the data message; the initiating terminal controls the terminal of any robot through the data message;

[0074] In this embodiment, since the data message includes the terminal identifier of the initiating terminal and the robot identifier corresponding to the robot executing the command, the processing module can determine the data message's flow direction based on the terminal identifier and robot identifier. When a user needs to remotely control a robot to execute a command, the user generates a control message for the command through the initiating terminal and sends it to the corresponding robot via the robot control network. Simultaneously, the server can replicate the control message through the mirror port and generate a data message for determining the robot's behavior.

[0075] In this embodiment, before generating flow information, the processing module may determine the network type used by the initiating terminal and the robot based on the terminal identifier and the robot identifier. The network types used by the initiating terminal and the robot may include public networks and local area networks. The processing module may obtain intranet conditions pre-set by the user. If the robot identifier and / or the terminal identifier meet the intranet conditions pre-set by the user, the processing module may determine that the network used by the robot and / or the initiating terminal is a local area network. If the robot identifier and / or the terminal identifier do not meet the intranet conditions pre-set by the user, the processing module may determine that the network used by the robot and / or the initiating terminal is a public network.

[0076] For example, the processing module may obtain the Internet Protocol address in the terminal identifier and determine whether the obtained Internet Protocol address begins with 192.68. If the Internet Protocol address obtained by the processing module begins with 192.68, the processing module may determine that the network type used by the initiating terminal is a local area network. If the Internet Protocol address obtained by the processing module does not begin with 192.68, the processing module may determine that the network type used by the initiating terminal is a public network.

[0077] In this embodiment, if the processing module determines that the network type used by the robot and / or the initiating terminal is a public network, the processing module may further locate the robot and the initiating terminal using the identification and positioning library to obtain geographic location information of the robot and the initiating terminal. The geographic location information obtained by the processing module may include the country, province, city, street, and specific house number of the robot and the initiating terminal. The processing module may obtain the Internet Protocol addresses of the robot and the initiating terminal, and locate the robot and the initiating terminal using the identification and positioning library based on the Internet Protocol addresses to obtain geographic location information of the robot and the initiating terminal.

[0078] In an embodiment, the processing module may also obtain a user-preset asset list. The processing module may determine whether the initiating terminal and / or robot is in the asset list based on the terminal identifier and / or robot identifier, and generate ownership information about the initiating terminal and / or robot based on the determination result.

[0079] In this embodiment, if the processing module determines that a robot and / or initiating terminal using a local area network for message transmission is not included in the pre-set asset list, the processing module may write the robot identifier and / or terminal identifier corresponding to the robot and / or initiating terminal into the discovery list. By writing initiating terminals and / or robots using a local area network for message transmission that are not included in the asset list into the discovery list, the processing module can help users quickly discover enterprise devices that are not included in the asset list, allowing users to further improve the asset list in the robot behavior judgment system, and helping the robot behavior judgment system accurately judge robot behavior.

[0080] In this embodiment, the processing module can generate flow information about the data packet based on the network type, geographic location, and ownership information of the initiating terminal and the robot. For example, if the processing module determines that the terminal identifier in a data packet does not meet the user's pre-set intranet conditions, the processing module can determine that the network type corresponding to the initiating terminal is a public network. Furthermore, the processing module can locate the initiating terminal corresponding to the terminal identifier using an identifier location library. The processing module can determine the location information of the initiating terminal based on the Internet Protocol address in the terminal identifier. The location information of the initiating terminal can be Renmin Road, Guangzhou City, Guangdong Province, China. The processing module can obtain a user-preset asset list and determine whether the initiating terminal is included in the asset list based on the terminal identifier. If the initiating terminal is not included in the asset list, the ownership information corresponding to the terminal identifier can indicate that the terminal identifier does not belong to an existing asset. Furthermore, the processing module can also determine the robot based on the robot identifier in the data packet. If the processing module determines that the robot identifier in a data packet meets the user's pre-set intranet conditions, the processing module can determine that the network type corresponding to the robot is a local area network. Furthermore, the processing module can obtain a user-preset asset list and, based on the robot ID, determine whether the robot is on the asset list. If the robot is not on the asset list, the processing module can write the robot ID corresponding to the robot into the discovery list for storage. The processing module can then generate flow information regarding the data packet. The flow information generated by the processing module may indicate that an initiating terminal located on Renmin Road, Guangzhou City, Guangdong Province, China, and not an existing asset, is using the public network to control a robot using the local area network.

[0081] S602: Based on the robot identifier, query the legal flow condition corresponding to any robot from the condition library.

[0082] In this embodiment, the matching module on the server can query the robot's corresponding legal behavior conditions from the condition library based on the robot identifier contained in the data packet. The legal behavior conditions corresponding to the robot can include the robot's legal flow direction conditions. After querying the robot's corresponding legal flow direction conditions, the matching module can determine whether the flow direction information corresponding to the data packet meets the robot's legal flow direction conditions.

[0083] In this embodiment, if the flow information corresponding to a data message satisfies the robot's legal flow conditions, the robot behavior judgment system can further determine the legality of the behavior event corresponding to the data message based on the robot's other legal behavior conditions. For example, the legal flow condition for the robot corresponding to the robot identifier in a data message may be that the initiating terminal, which only receives data from the local area network and is listed in the asset list, controls the robot's behavior. If the processing module generates flow information based on the terminal identifier and robot identifier contained in the data message, indicating that the initiating terminal, which is listed in the asset list, controls the robot using the local area network via the local area network, the matching module can determine that the flow information satisfies the legal behavior conditions corresponding to the robot.

[0084] If the behavior event does not meet the preset legal behavior conditions, determining the behavior event as an abnormal event and sending an alarm message about any robot to the user terminal includes:

[0085] S603. If the flow information does not meet the legal flow condition, the behavior event is determined to be an abnormal flow event, and a first alarm message is sent to the user terminal; the first alarm message is used to notify the user terminal that an abnormal flow event has occurred on any of the robots.

[0086] In this embodiment, if the matching module on the server determines that the flow direction information does not meet the robot's legal flow direction conditions, the matching module can determine that the behavior event corresponding to the data packet is an abnormal flow direction event. The matching module can write the abnormal flow direction event into the abnormal event library for storage. The matching module can also send the abnormal flow direction event to the alarm module. The alarm module can generate a first alarm message based on the received abnormal flow direction event. The alarm module can send the first alarm message to the user terminal according to the alarm mode pre-set by the user. Through this first alarm message, the robot behavior judgment system can promptly inform the user that an abnormal flow direction event has occurred in a robot in the robot control network.

[0087] In this embodiment, the robot behavior judgment system can generate data message flow information based on the robot identifier and terminal identifier in the data message, and obtain the legal flow conditions corresponding to the robot based on the robot identifier. The robot behavior judgment system can make a legal judgment on the flow information of the data message based on the legal flow conditions, and send a first alarm message to the user terminal when the flow information does not meet the legal flow conditions of the robot. Based on the legal flow conditions, the robot behavior judgment system can promptly and effectively identify whether the robot control network has been hacked. Through the first alarm message, the robot behavior judgment system can promptly alert the user of abnormal flow events in the robot control network. The user can perform a security check on the robot control network based on the abnormal flow events to promptly discover system vulnerabilities in the robot control network. Therefore, this embodiment can effectively prevent industrial robots from being controlled by hackers and causing safety accidents.

[0088] Figure 7 FIG5 shows a specific implementation flow chart of a robot behavior judgment method S2202 and S203 provided in the fifth embodiment of the present application. Figure 7 , compared to Figure 2 In the embodiment, the method for determining robot behavior provided in this embodiment includes S202: S701, and S203 also includes S702, which are described in detail as follows:

[0089] Furthermore, the generating, based on the data message, a behavior event corresponding to any robot connected to the robot control network includes:

[0090] S701: Based on the robot identifier, query the allowed time range corresponding to any robot from the condition library.

[0091] In this embodiment, a behavior event can include an execution time. The execution time in a behavior event is the time it takes for the robot to execute instructions according to a control message. Specifically, the execution time is the time set by the user on the initiating terminal when sending a control message to the robot via the robot control network to execute the robot task. The user terminal can generate a corresponding control message based on the user-set execution time and robot task, and send the control message to the corresponding robot via the robot control network. The matching module can query the condition library for the robot's corresponding allowable time range based on the robot identifier contained in the data message. After querying the robot's corresponding allowable time range, the matching module can determine whether the behavior event corresponding to the data message meets the robot's allowable time range.

[0092] In one possible implementation, the allowed time range for a robot may include, but is not limited to, the allowed power-on time range, the allowed run time range, the allowed access time range, the allowed query time range, the allowed job change time range, and other allowed time ranges corresponding to various robot behaviors. Therefore, the matching module can query the robot's allowed time range from the condition library based on the task event and the robot ID in the behavior event. For example, if the task event in a certain behavior event is a power-on event, the matching module can query the robot's allowed power-on time range from the condition library based on the robot ID and the power-on event. After querying the allowed power-on time range, the processing module can determine whether the execution time in the behavior event meets the allowed power-on time range.

[0093] In this embodiment, if the execution time corresponding to the behavior event is within the allowed time range of the robot, the server can make further legal judgments on the behavior event corresponding to the data message through other legal behavior conditions corresponding to the robot. For example, the behavior event generated by the processing module based on the data message is that a terminal initiating the terminal in the asset list is using the local area network to control a robot to perform a power-on operation at ten o'clock in the morning. Then the task event in the behavior event is a power-on event. The matching module can query the allowed power-on range corresponding to the robot in the condition library based on the robot identifier and the power-on event in the data message. If the allowed power-on time range queried by the matching module is from nine o'clock in the morning to five o'clock in the afternoon, the matching module can determine that the execution time corresponding to the behavior event is within the allowed power-on range of the robot. The matching module can continue to query the legal task conditions corresponding to the robot and make further legal judgments on the behavior event.

[0094] If the behavior event does not meet the preset legal behavior conditions, determining the behavior event as an abnormal event and sending an alarm message about any robot to the user terminal includes:

[0095] S702. If the execution time is outside the allowed time range, the behavior event is determined to be the time abnormality event, and a second alarm message is sent to the user terminal; the second alarm message is used to notify the user terminal that a time abnormality event has occurred on any robot.

[0096] In this embodiment, if the matching module determines that the execution time corresponding to the behavior event is outside the permitted time range, the matching module may determine that the behavior event is a time anomaly event. The matching module may write the time anomaly event into the anomaly event library for storage and send the time anomaly event to the alarm module. The alarm module may generate a second alarm message based on the received time anomaly event. The alarm module may send the second alarm message to the user terminal according to the alarm mode pre-set by the user. This second alarm message allows the server to promptly notify the user that a time anomaly event has occurred on a robot in the robot control network. For example, the processing module may generate a behavior event based on a data message indicating that an initiating terminal located in the asset list is controlling a robot to perform a power-on operation at 2:00 AM using the local area network. The task event in this behavior event is a power-on event. The matching module may query the condition library for the permitted power-on range for the robot based on the robot identifier and the power-on event in the data message. If the permitted power-on time range found by the matching module is between 9:00 AM and 5:00 PM, the matching module may determine that the execution time corresponding to the behavior event is outside the permitted power-on range for the robot. The matching module may determine that the behavior event corresponding to the data message is a time anomaly event. The matching module can write the time anomaly event into the abnormal event library for storage. The matching module can send the time anomaly event to the alarm module of the robot behavior judgment system. The alarm module can generate a second alarm message based on the received time anomaly event.

[0097] In this embodiment, the robot behavior judgment system can generate a second alarm message based on the time anomaly event and send the second alarm message to the user terminal via a preset alarm mode. Therefore, the method provided by this embodiment of the application can promptly remind the user that the robot has performed an illegal operation within the illegal time. This helps users to promptly detect and prevent abnormal robot behavior, effectively reducing the probability of safety accidents.

[0098] Figure 8 FIG6 shows a specific implementation flow chart of a robot behavior judgment method S202 and S203 provided in the sixth embodiment of the present application. Figure 8 , compared to Figure 2 In the embodiment, the method for determining robot behavior provided in this embodiment includes S202: S801, and S203 also includes S802, which are described in detail as follows:

[0099] Furthermore, the generating, based on the data message, a behavior event corresponding to any robot connected to the robot control network includes:

[0100] S801: Based on the robot identification, query the legal task conditions corresponding to any robot from the condition library.

[0101] In this embodiment, the behavioral events generated by the processing module based on the data message may include task events. The task events within the behavioral events may represent the robot task that the robot performs according to the control message corresponding to the data message after receiving the control message corresponding to the data message. The matching module may query the condition library for valid task conditions corresponding to the robot based on the robot identifier contained in the data message. After finding the valid task conditions corresponding to the robot, the matching module may determine whether the behavioral event corresponding to the data message satisfies the valid task conditions for the robot.

[0102] In this embodiment, the robot's legal task conditions may include multiple illegal behavior data, and the matching module may determine whether the behavior event contains illegal behavior data. If the behavior event contains illegal behavior data, the matching module may determine that the behavior event does not meet the legal task conditions. If the behavior event does not contain illegal behavior data, the matching module may determine that the behavior event meets the legal task conditions. The data type of the illegal behavior data may include a string type, a protocol type, and a fragment type. Specifically, the illegal behavior data pre-set by the user may be an illegal ASCII string, an illegal hexadecimal fragment, or an illegal request parameter and / or request method and / or uniform resource locator.

[0103] In this embodiment, if the task event corresponding to the data message meets the legal task conditions of the robot, the robot behavior judgment system can determine that the behavior event is a normal event and write the behavior event into the normal event library for storage.

[0104] If the behavior event does not meet the preset legal behavior conditions, determining the behavior event as an abnormal event and sending an alarm message about any robot to the user terminal includes:

[0105] S802. If the task event does not meet the legal task condition, the behavior event is determined to be the task abnormality event, and a third alarm message is sent to the user terminal; the third alarm message is used to notify the user terminal that the task abnormality event has occurred on any robot.

[0106] In this embodiment, if the matching module determines that a task event within a behavior event does not meet the conditions for a valid robot task, the matching module can determine that the behavior event corresponding to the data message is a task exception event and store the task exception event in the exception event library. The matching module can also send the task exception event to the alarm module. Based on the task exception event and the user's pre-set alarm mode, the alarm module can send a third alarm message to the user terminal. This third alarm message allows the robot behavior judgment system to promptly notify the user that a task exception event has occurred on a robot in the robot control network.

[0107] In this embodiment, the robot behavior judgment system can generate a third alarm message based on a task anomaly event and send the third alarm message to the user terminal via a preset alarm mode. Therefore, the method provided by this embodiment of the application can promptly alert the user of any robot misoperation. This helps users promptly identify any robot misoperation and effectively prevents robot safety accidents caused by user misoperation.

[0108] Combined with the multiple abnormality judgment conditions of the fourth embodiment to the sixth embodiment, refer to Figure 9 , shows a flow chart of a robot behavior judgment method provided by an embodiment of the present application. Figure 9As shown, after receiving a detection command from a user terminal, the robot behavior judgment system can obtain multiple data packets through a mirrored port. Based on the robot identifier contained in the data packet, the robot behavior judgment system can query a user-preset condition library for multiple legal behavior conditions corresponding to the robot. The robot behavior judgment system can first generate flow information based on the terminal identifier and robot identifier in the data packet. Based on the robot identifier, the robot behavior judgment system can first obtain the robot's legal flow conditions from the condition library and determine whether the flow information meets the legal flow conditions. If the flow information does not meet the legal flow conditions, the robot behavior judgment system can generate an abnormal flow event and store it in the abnormal event library. If the flow information meets the legal flow conditions, the robot behavior judgment system can obtain the robot's allowed time range and determine whether the execution time is within the allowed time range. If the execution time is outside the allowed time range, the robot behavior judgment system can generate a time abnormality event and store it in the abnormal event library. If the execution time is within the allowed time range, the robot behavior judgment system can obtain the robot's illegal behavior data. The robot behavior judgment system can determine whether the task event in the data message contains illegal behavior data. If the data message contains illegal behavior data, the robot behavior judgment system can generate a task abnormality event and write the task abnormality event into the abnormal event library for storage. If the data message does not contain illegal behavior data, the robot behavior judgment system can generate a normal event and write the generated normal event into the normal event library for storage.

[0109] Figure 9 FIG2 shows a specific implementation flow chart of a robot behavior judgment method S202 provided in the seventh embodiment of the present application. Figure 9 , compared to Figure 2 In the embodiment, the robot behavior determination method provided in this embodiment includes S202, which includes S901 to S902, which are described in detail as follows:

[0110] S901: If the behavior event meets the legal behavior condition, write the behavior event into the normal event library.

[0111] In this embodiment, if the matching module of the robot behavior judgment system determines that the behavior events generated by the processing module all meet the multiple legal behavior conditions pre-set by the user, the robot behavior judgment system can determine that the behavior event is a normal event. The robot behavior judgment system can write the normal event into the normal event library for storage.

[0112] S902: In response to a behavior query instruction about the robot initiated by the user terminal, query multiple normal events of the robot from the normal event library, generate a normal event list, and send the normal event list to the user terminal.

[0113] In this embodiment, when a user needs to understand the situation of a particular robot, they can initiate a query command to the robot behavior judgment system through the user terminal. The query command may include a behavior query command and an exception query command. If the server receives the robot behavior query command initiated by the user terminal, it can query the normal event library for multiple normal events of the robot based on the robot identifier in the behavior query command, generate a normal event list, and send the normal event list to the user terminal. The normal behavior list sent by the server to the user terminal may include various information such as the normal event name, normal event type, the terminal identifier of the initiating terminal, the robot identifier of the robot, and the time when the normal event occurred.

[0114] In this embodiment, if the server receives a robot abnormality query instruction from a user terminal, the server can query the abnormal event library for multiple abnormal events related to the robot based on the robot identifier in the abnormality query instruction, generate a list of abnormal events, and send the abnormal event list to the user terminal. The normal behavior list sent by the server to the user terminal may include various information such as the abnormal event name, abnormal event type, the terminal identifier of the initiating terminal, the robot identifier, the time the abnormal event occurred, and a solution suggestion.

[0115] In this embodiment, in response to various user-initiated queries, the robot behavior judgment system can send a list of corresponding events to the user terminal. This list allows users to gain a detailed understanding and analyze multiple robot behavioral events. This helps users analyze and restore abnormal robot events, thereby reducing the recurrence of these events. This can reduce casualties from robot safety accidents and mitigate losses for businesses.

[0116] It should be noted that the size of the serial numbers of the steps in the above embodiments does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

[0117] Reference Figure 10 , shows a schematic diagram of a robot behavior judgment device provided in an embodiment of the present application, which may specifically include a collection module 1001, a processing module 1002 and an alarm module 1003, wherein:

[0118] The acquisition module 1001 is configured to acquire a plurality of data packets in the robot control network in response to a detection instruction initiated by a user terminal; the data packets include execution instruction data; the execution instruction data is used to determine the instruction executed by the initiating terminal to control the target robot;

[0119] A processing module 1002 is configured to generate a behavior event corresponding to any robot connected to the robot control network based on the data message;

[0120] The alarm module 1003 is configured to determine that the behavior event is an abnormal event if the behavior event does not meet the preset legal behavior conditions, and send an alarm message about any robot to the user terminal.

[0121] The robot behavior judgment device may further include a collection module. The collection module may be used to open a mirror port, copy each control message transmitted in the robot control network through the mirror port, and parse the copied control message to generate the data message.

[0122] The robot behavior judgment device may further include a matching module. The matching module may be configured to determine a legal behavior condition corresponding to any robot based on the robot identification of any robot carried in the data message, and to determine whether the behavior event satisfies the legal behavior condition.

[0123] The matching module may also be configured to determine the flow direction information of the data message based on the terminal identifier of the initiating terminal and the robot identifier carried in the data message; the initiating terminal controls the terminal of any robot through the data message;

[0124] The alarm module can also be used to determine that the behavior event is an abnormal flow event if the flow information does not meet the legal flow condition, and send a first alarm message to the user terminal; the first alarm message is used to notify the user terminal that an abnormal flow event has occurred on any of the robots.

[0125] The matching module may also be used to query the allowed time range corresponding to any robot from the condition library based on the robot identifier;

[0126] The alarm module can also be used to determine that the behavior event is a time abnormality event if the execution time is outside the allowed time range, and send a second alarm message to the user terminal; the second alarm message is used to notify the user terminal that a time abnormality event has occurred on any robot.

[0127] The matching module may also be used to query the legal task conditions corresponding to any robot from the condition library based on the robot identification;

[0128] The alarm module can also be used to determine that the behavior event is the task abnormality event if the task event does not meet the legal task conditions, and send a third alarm message to the user terminal; the third alarm message is used to notify the user terminal that the task abnormality event occurs on any robot.

[0129] The matching module may also be configured to write the behavior event into a normal event library if the behavior event meets the legal behavior condition;

[0130] The robot behavior judgment device may further include a display module. The display module may be configured to, in response to a robot behavior query instruction initiated by a user terminal, query a plurality of normal events of the robot from the normal event library, generate a normal event list, and send the normal event list to the user terminal.

[0131] As for the device embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the description of the method embodiment part.

[0132] Reference Figure 11 , shows a schematic diagram of a server provided by an embodiment of the present application. Figure 11 As shown, the server 1100 in the embodiment of the present application includes: a processor 1110, a memory 1120, and a computer program 1121 stored in the memory 1120 and executable on the processor 1110. When the processor 1110 executes the computer program 1121, the steps in each embodiment of the above-mentioned robot behavior judgment method are implemented, such as Figure 2 Alternatively, when the processor 1110 executes the computer program 1121, the functions of the modules / units in the above-mentioned device embodiments are realized, for example, Figure 10 Functions of modules 1001 to 1005 are shown.

[0133] Exemplarily, the computer program 1121 may be divided into one or more modules / units, which are stored in the memory 1120 and executed by the processor 1110 to complete the present application. The one or more modules / units may be a series of computer program instruction segments capable of performing specific functions, which may be used to describe the execution process of the computer program 1121 in the server 1100. For example, the computer program 1121 may be divided into a collection module, a processing module, and an alarm module, with the specific functions of each module being as follows:

[0134] an acquisition module, configured to acquire, in response to a detection instruction initiated by a user terminal, a plurality of data messages in a robot control network; the data messages including execution instruction data; the execution instruction data being used to determine the instruction executed by the initiating terminal to control the target robot;

[0135] A processing module, configured to generate, based on the data message, a behavior event corresponding to any robot connected to the robot control network;

[0136] An alarm module is used to determine that the behavior event is an abnormal event if the behavior event does not meet the preset legal behavior conditions, and send an alarm message about any robot to the user terminal.

[0137] The server 1100 may include, but is not limited to, a processor 1110 and a memory 1120. Those skilled in the art will appreciate that Figure 11 This is only an example of the server 1100 and does not constitute a limitation of the server 1100. The server 1100 may include more or fewer components than shown in the figure, or a combination of certain components, or different components. For example, the server 1100 may also include input and output devices, network access devices, buses, etc.

[0138] The processor 1110 may be a central processing unit (CPU), or 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. A general-purpose processor may be a microprocessor or any conventional processor.

[0139] The memory 1120 may be an internal storage unit of the server 1100, such as a hard disk or memory of the server 1100. The memory 1120 may also be an external storage device of the server 1100, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) card, a Flash Card, etc. equipped on the server 1100. Furthermore, the memory 1120 may include both an internal storage unit of the server 1100 and an external storage device. The memory 1120 is used to store the computer program 1121 and other programs and data required by the server 1100. The memory 1120 may also be used to temporarily store data that has been output or is about to be output.

[0140] An embodiment of the present application also discloses a server, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the robot behavior judgment method described in the aforementioned embodiments is implemented.

[0141] An embodiment of the present application further discloses a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the robot behavior judgment method as described in the aforementioned embodiments is implemented.

[0142] An embodiment of the present application further discloses a computer program product. When the computer program product is run on a computer, the computer is caused to execute the robot behavior judgment method described in the aforementioned embodiments.

[0143] The above embodiments are intended only to illustrate the technical solutions of the present application and are not intended to limit them. Although the present application has been described in detail with reference to the above embodiments, those skilled in the art should understand that they may still modify the technical solutions described in the above embodiments or replace some of the technical features therein with equivalents; and such modifications or replacements do not deviate from the spirit and scope of the technical solutions of the embodiments of the present application and should be included within the scope of protection of the present application.

Claims

1. A robot behavior judgment method, characterized in that: include: Responding to a detection instruction initiated by a user terminal, acquiring a plurality of data messages in a robot control network; The data message includes execution instruction data; The execution instruction data is used to determine the instruction executed by the initiating terminal to control the robot; Generate a behavior event corresponding to any robot connected to the robot control network based on the data message; If the behavior event does not meet the preset legal behavior conditions, the behavior event is determined to be an abnormal event, and an alarm message about any robot is sent to the user terminal; After generating a behavior event corresponding to any robot connected to the robot control network based on the data message, the method includes: Determining a legal behavior condition corresponding to any robot based on the robot identification of any robot carried in the data message; Determining whether the behavior event satisfies the legal behavior conditions; The legal behavior conditions include legal flow conditions of messages; the abnormal events include abnormal flow events; The generating, based on the data message, a behavior event corresponding to any robot connected to the robot control network includes: Determining flow direction information of the data message based on the terminal identifier of the initiating terminal and the robot identifier carried in the data message; the initiating terminal controls the terminal of any robot through the data message; Based on the robot identification, query the legal flow condition corresponding to any robot from the condition library; If the behavior event does not meet the preset legal behavior conditions, determining the behavior event as an abnormal event and sending an alarm message about any robot to the user terminal includes: If the flow direction information does not meet the legal flow direction condition, the behavior event is determined to be an abnormal flow direction event, and a first alarm message is sent to the user terminal; the first alarm message is used to notify the user terminal that an abnormal flow direction event has occurred on any of the robots; The determining the flow direction information of the data message based on the terminal identifier of the initiating terminal and the robot identifier carried in the data message includes: Based on the terminal identifier, the robot identifier, the network type, geographic location information, and ownership information corresponding to the initiating terminal and the robot, the flow direction information of the data message is determined.

2. The method according to claim 1, characterized in that The step of obtaining a plurality of data messages in the robot control network in response to a detection start instruction initiated by the user terminal includes: Opening a mirror port to copy each control message transmitted in the robot control network through the mirror port; The copied control message is parsed to generate the data message.

3. The method according to claim 1, characterized in that The legal behavior condition includes an allowed time range, the behavior event includes an execution time, and the execution time is the time when any robot performs a robot task. The abnormal event includes a time abnormality event; The generating, based on the data message, a behavior event corresponding to any robot connected to the robot control network includes: Based on the robot identification, query the allowed time range corresponding to any one of the robots from the condition library; If the behavior event does not meet the preset legal behavior conditions, determining the behavior event as an abnormal event and sending an alarm message about any robot to the user terminal includes: If the execution time is outside the allowed time range, the behavior event is determined to be the time abnormality event, and a second alarm message is sent to the user terminal; the second alarm message is used to notify the user terminal that a time abnormality event has occurred on any robot.

4. The method according to claim 1, wherein The legal behavior condition includes a legal task condition, the behavior event includes a task event, the task event is used to represent the robot task performed by any robot based on the data message, and the abnormal event includes a task abnormal event; The generating, based on the data message, a behavior event corresponding to any robot connected to the robot control network includes: Based on the robot identification, query the legal task conditions corresponding to any robot from the condition library; If the behavior event does not meet the preset legal behavior conditions, determining the behavior event as an abnormal event and sending an alarm message about any robot to the user terminal includes: If the task event does not meet the legal task condition, the behavior event is determined to be the task abnormality event, and a third alarm message is sent to the user terminal; the third alarm message is used to notify the user terminal that the task abnormality event has occurred on any robot.

5. The method according to any one of claims 1 to 4, characterized in that After generating a behavior event corresponding to any robot connected to the robot control network based on the data message, the method includes: If the behavior event meets the legal behavior condition, the behavior event is written into the normal event library; In response to a behavior query instruction about the robot initiated by a user terminal, multiple normal events of the robot are queried from the normal event library, a normal event list is generated, and the normal event list is sent to the user terminal.

6. A robot behavior judgment device, characterized in that: include: an acquisition module, configured to acquire a plurality of data packets in the robot control network in response to a detection instruction initiated by a user terminal; The data message includes execution instruction data; The execution instruction data is used to determine the instruction executed by the initiating terminal to control the robot; A processing module, configured to generate, based on the data message, a behavior event corresponding to any robot connected to the robot control network; an alarm module, configured to determine that the behavior event is an abnormal event if the behavior event does not meet the preset legal behavior conditions, and send an alarm message about the any robot to the user terminal; a judgment module, configured to determine a legal behavior condition corresponding to any robot based on the robot identification of any robot carried in the data message; and to judge whether the behavior event satisfies the legal behavior condition; The legal behavior conditions include legal flow conditions of messages; the abnormal events include abnormal flow events; The processing module is specifically used for: Determining flow direction information of the data message based on the terminal identifier of the initiating terminal and the robot identifier carried in the data message; the initiating terminal controls the terminal of any robot through the data message; Based on the robot identification, query the legal flow condition corresponding to any robot from the condition library; The alarm module is specifically used for: If the flow direction information does not meet the legal flow direction condition, the behavior event is determined to be an abnormal flow direction event, and a first alarm message is sent to the user terminal; the first alarm message is used to notify the user terminal that an abnormal flow direction event has occurred on any of the robots; The processing module is specifically used for: Based on the terminal identifier, the robot identifier, the network type, geographic location information, and ownership information corresponding to the initiating terminal and the robot, the flow direction information of the data message is determined.

7. A server comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the computer program, the robot behavior judgment method according to any one of claims 1 to 5 is implemented.

8. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the robot behavior judgment method according to any one of claims 1 to 5 is implemented.

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