Data access method, robot, server and computer readable storage medium

Abstract

The invention discloses a data access method, a robot, a server and a non-volatile computer readable storage medium. The method comprises the steps of receiving a request sent by the robot and used for requesting a permission certificate; responding to the robot, and issuing an authority certificate corresponding to the current task of the robot to the robot according to a preset task configuration file; when the authority certificate sent by the robot is received, the authority certificate is verified, after verification is passed, the robot is allowed to access target data corresponding to the authority certificate, and the target data are data needed by the robot for executing the current task. Therefore, the server can control the data acquired by the robot by controlling the granting of the authority certificate, and the server only issues the authority certificate of the current task to the robot, so that only when the current task is executed, the robot can acquire the authority certificate corresponding to the current task and acquire the corresponding target data; therefore, the data security is ensured.

Description

Technical Field

[0001] The present application relates to the field of robot technology, and in particular to a data access method, a robot, a server and a non-volatile computer-readable storage medium. Background Art

[0002] Robots have different tasks at different times. For example, they need to pick goods in the warehouse in the morning and broadcast daily news in the afternoon. However, in the prior art, there is no restriction on the data access of robots, so that robots can obtain data corresponding to all tasks at different times. For example, when robots are working in the afternoon, they can also obtain relevant data required for picking tasks in the morning, such as site maps, picking orders or details of goods. It can be seen that the existing data access method is not conducive to data security. Summary of the invention

[0003] Embodiments of the present application provide a data access method, a robot, a server, and a non-volatile computer-readable storage medium.

[0004] A data access method provided in an embodiment of the present application includes receiving a request for an authorization certificate from a robot; responding to the robot and issuing the authorization certificate corresponding to the current task of the robot to the robot according to a preset task configuration file; upon receiving the authorization certificate sent by the robot, verifying the authorization certificate, and after the verification is passed, allowing the robot to access target data corresponding to the authorization certificate, wherein the target data is the data required for the robot to perform the current task.

[0005] In some embodiments, the task configuration file includes: a first correspondence between a time period and a data identifier. The issuing of the authorization certificate corresponding to the current task of the robot to the robot according to the preset task configuration file includes: determining, according to the first correspondence, an identifier of target data required for the robot to perform the task in the current time period; and issuing the authorization certificate required to obtain the target data to the robot.

[0006] In some embodiments, the task configuration file includes: a second correspondence between a task identifier and a data identifier. The request includes an identifier of the current task. The issuing of the authorization certificate corresponding to the current task of the robot to the robot according to the preset task configuration file includes: determining whether the identifier of the current task exists in the second correspondence; if so, determining the identifier of the target data corresponding to the identifier of the current task according to the second correspondence, and issuing the authorization certificate required to obtain the target data to the robot.

[0007] In some embodiments, the authorization certificate includes a start effective time, an expiration time, and an identifier of the target data. The verification of the authorization certificate includes: determining whether the current time is between the start effective time and the expiration time, if so, the authorization certificate passes the verification, otherwise, the authorization certificate fails the verification. The allowing the robot to access the target data corresponding to the authorization certificate includes: allocating the robot with the authority to obtain the target data according to the identifier of the target data in the authorization certificate.

[0008] Another data access method provided in an embodiment of the present application includes sending a request for requesting an authorization certificate to a server, so that the server issues the authorization certificate corresponding to the current task of the robot to the robot according to a preset task configuration file; sending the authorization certificate sent by the server to the server, so that the server verifies the authorization certificate; after the authorization certificate passes the verification, accessing the target data corresponding to the authorization certificate, wherein the target data is the data required for the robot to perform the current task.

[0009] In some embodiments, the authority certificate includes a data identifier of the target data. After the authority certificate is verified, accessing the target data corresponding to the authority certificate includes: upon receiving the authority of the target data assigned by the server, accessing the target data according to the data identifier. And / or, the task configuration file includes: a second correspondence between a task identifier and a data identifier. The request includes an identifier of the current task, and when the identifier of the current task exists in the second correspondence, the robot obtains the authority certificate required for the target data issued by the server.

[0010] A server provided in an embodiment of the present application includes a receiving module, a response module and a verification module. The receiving module is used to receive a request for a permission certificate sent by a robot. The response module is used to respond to the robot and issue the permission certificate corresponding to the current task of the robot to the robot according to a preset task configuration file. The verification module is used to verify the permission certificate when receiving the permission certificate sent by the robot, and after the verification is passed, allow the robot to access the target data corresponding to the permission certificate, wherein the target data is the data required for the robot to perform the current task.

[0011] A robot provided in an embodiment of the present application includes a first sending module, a second sending module and an access module. The first sending module is used to send a request for requesting an authority certificate to a server, so that the server issues the authority certificate corresponding to the current task of the robot to the robot according to a preset task configuration file. The second sending module is used to send the authority certificate sent by the server to the server, so that the server verifies the authority certificate. The access module is used to access the target data corresponding to the authority certificate after the authority certificate is verified.

[0012] Another server provided in an embodiment of the present application includes a processor, and the processor is used to execute the above-mentioned first data access method.

[0013] The embodiment of the present application provides another robot. The robot includes a memory and a processor. The memory is used to store data; and the processor is used to execute the second data access method mentioned above.

[0014] The embodiment of the present application provides a non-volatile computer-readable storage medium, on which a computer program is stored. When the computer program is executed by one or more processors, the data access method described in any of the above embodiments is implemented.

[0015] In the data access method, robot, server and non-volatile computer-readable storage medium of the present application, each data has a corresponding authority certificate, and the robot can only access the corresponding target data when the robot obtains the authority certificate. Therefore, when the robot needs to perform the current task, it will send a request for requesting the authority certificate to the server. When the server receives the request, it will issue the authority certificate of the current task corresponding to the robot to the robot according to the preset task configuration file. When the robot receives the authority certificate of the current task and needs to perform the current task, it will send the authority certificate of the current task to the server. At this time, the server will verify the received authority certificate, and allow the robot to access the target data corresponding to the access authority certificate if the verification is passed, so that the robot can obtain the target data of the current task. In this way, the server can control the data obtained by the robot by controlling the granting of the authority certificate. The server will only issue the authority certificate of the current task to the robot, so that only when the current task is performed, the robot can obtain the authority certificate corresponding to the current task, and then obtain the corresponding target data. Compared with the scheme of not setting the authority certificate so that the robot can obtain the data corresponding to all tasks, the present application can enable the robot to only obtain the target data corresponding to the current task, and will not obtain the data of all tasks, which is conducive to ensuring data security.

[0016] Additional aspects and advantages of the embodiments of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0018] Figure 1 is a flowchart of a data access method of certain implementation modes of the present application;

[0019] Figure 2 It is a schematic diagram of a usage scenario of a data access method in some embodiments of the present application;

[0020] Figure 3 It is a schematic diagram of a usage scenario of a data access method in some embodiments of the present application;

[0021] Figure 4 It is a schematic diagram of a usage scenario of a resource server in some implementation modes of the present application;

[0022] Figure 5 is a task configuration file of a data access method of certain embodiments of the present application;

[0023] Figure 6 is a task configuration file of a data access method of some embodiments of the present application;

[0024] Figure 7 It is a flowchart of a data access method of some other implementation methods of the present application;

[0025] Figure 8 is a flowchart of a data access method of certain implementation modes of the present application;

[0026] Fig. 9 is a flowchart of a data access method of certain implementation modes of the present application;

[0027] Fig.10 is a flowchart of a data access method of certain implementation modes of the present application;

[0028] Fig.11 is a flowchart of a data access method of certain implementation modes of the present application;

[0029] Fig.12 is a module schematic diagram of a server in some embodiments of the present application;

[0030] Fig.13 is a schematic diagram of a module of a robot according to some embodiments of the present application;

[0031] Fig.14 It is a schematic diagram of the interaction between the non-volatile computer-readable storage medium and the processor in certain embodiments of the present application. DETAILED DESCRIPTION

[0032] The embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals represent the same or similar elements or elements having the same or similar functions from beginning to end. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the embodiments of the present application, and cannot be understood as limiting the embodiments of the present application.

[0033] In the present application, unless otherwise clearly specified and limited, a first feature being “above” or “below” a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being “above”, “above”, and “above” a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being “below”, “below”, and “below” a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0034] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one feature. In the description of this application, the meaning of "plurality" is at least two, such as two, three, unless otherwise clearly and specifically defined.

[0035] To facilitate understanding of this application, the terms appearing in this application are explained below:

[0036] A Public Key Infrastructure (PKI) server is an architecture and framework based on asymmetric encryption algorithms that is used to manage and verify the creation, distribution, and revocation of digital certificates to ensure secure communications and identity authentication.

[0037] A PKI server usually includes the following main components:

[0038] 1. Public key encryption algorithm: PKI servers use asymmetric encryption algorithms, such as RSA, DSA, or ECC, which include public and private keys. The public key is used to encrypt data and verify signatures, and the private key is used to decrypt data and generate signatures.

[0039] 2. Digital Certificate: A digital certificate is a core component of a PKI server. It is a digital file containing a public key and related identity information, issued by a certificate authority (CA). Certificates can be used to verify identity, encrypt and sign data, and establish secure communications.

[0040] 3. Certificate Authority: CA is the authority responsible for issuing and managing digital certificates. It verifies the identity of the certificate applicant and signs their public key with its own private key to create a digital certificate. A trusted CA can build a chain of trust so that the verification of the certificate can be traced back to the root CA.

[0041] 4. Registration Authority (RA): RA is an entity that works with CA and is responsible for verifying the identity of the certificate requester and submitting their identity information to CA. RA plays the role of an intermediary in the certificate issuance process.

[0042] 5. Certificate repository: A certificate repository is a centralized or distributed storage system for storing and retrieving digital certificates. It provides a public access point so that the verifying party can obtain and verify the required digital certificates.

[0043] It can be understood that by using the PKI server, the security and trustworthiness of the server 200 are enhanced, so that the server 200 can complete identity authentication, encryption, digital signature and digital certificate revocation. Among them, through the digital certificate, the PKI server can verify the identity of the two communicating parties and ensure communication with legal and trusted entities. The PKI server provides encryption algorithms and public key exchange mechanisms to protect the confidentiality and privacy of sensitive data. The PKI server can use private keys to generate digital signatures to verify the integrity and authenticity of data. The PKI server allows the CA to revoke digital certificates when necessary to ensure that invalid certificates are no longer used. Therefore, PKI servers are widely used in secure communications, e-commerce, remote access and other fields that need to ensure identity authentication and data security.

[0044] X.509 certificate is a commonly used Public Key Infrastructure (PKI) standard for authentication and encryption in network communications. The following are some common integer fields used in X.509 certificates:

[0045] 1. Serial Number: Each X.509 certificate has a unique serial number, which is used to identify the uniqueness of the certificate. The serial number is a positive integer.

[0046] 2. Public Key Exponent: When the X.509 certificate contains a public key, the public key exponent is the exponent used to encrypt and decrypt data. It is usually a small prime number.

[0047] 3. Signature Algorithm Identifier: An integer value used to identify the signature algorithm. This value indicates the type of algorithm used to generate and verify the certificate signature.

[0048] 4. Version Number: Used to indicate the X.509 version of the certificate. The version number is usually an integer, for example, 0 represents X.509v1, 1 represents X.509v2, and 2 represents X.509v3.

[0049] 5. Public Key Length: When a public key is included in a certificate, the public key length indicates the number of bits in the public key. It is a positive integer that indicates the strength and key length of the public key.

[0050] These integer fields play a key role in the encoding and parsing of the X.509 certificate, helping to ensure the integrity and security of the X.509 certificate, so that the handling device 100 can complete identity authentication and encryption by using the X.509 certificate.

[0051] See also Figures 1 to 3 , a data access method in an implementation manner of the present application includes:

[0052] Step 011: receiving a request for an authority certificate sent by the robot 100;

[0053] Specifically, the robot 100 is a mobile device, which is widely used in various fields, such as automated operations in logistics and warehousing. The staff can set a task schedule for the robot 100 so that the robot 100 performs tasks according to the corresponding task schedule at different time periods.

[0054] The data access method is mainly applied to the server 200. The server 200 may include a first server 201 and a second server 202. The first server 201, such as a PKI server 200, is used to generate and issue an authority certificate, and to verify whether the authority certificate is valid. Among them, the authority certificate, such as an X.509 certificate, can be used for identity authentication and encryption in network communications. The second server 202, such as a resource server 200, is specifically used to store data. The second server 202 and the first server 201 are two separate servers 200. Of course, if a server 200 has the ability to store data and generate and issue an authority certificate, then the number of servers 200 in this application can also be one.

[0055] The second server 202 stores multiple resources, each of which stores corresponding data, for example Figure 4 The server 200 stores 6 resources, each of which stores corresponding data. For example, resource A1 stores data A11 and data A12. The server 200 can configure a unique authority certificate for each resource, and the authority certificate includes a corresponding resource identifier, wherein each resource has a unique resource identifier. For example, an authority certificate C1 is configured for resource A1, and an authority certificate C2 is configured for resource A2, wherein authority certificates C1 and C2 are different. In this way, the robot 100 can access the resources corresponding to the current task and obtain the target data required to perform the task only if the authority certificate is obtained. Alternatively, the server 200 configures a corresponding authority certificate for each data, and the authority certificate includes a data identifier and a resource identifier corresponding to each data. When the robot 100 obtains the authority certificate, it can access the corresponding resource according to the resource identifier, and obtain the target data required to perform the task according to the data identifier.

[0056] Therefore, after the robot 100 starts working, the robot 100 will send a request for a permission certificate to the server 200. At this time, the first server 201 receives the request from the robot 100 for requesting a permission certificate, so as to issue the corresponding permission certificate to the robot 100 in time, ensuring that the robot 100 can successfully obtain the permission certificate for the current task.

[0057] Step 012: Responding to the robot 100, an authority certificate corresponding to the current task of the robot 100 is issued to the robot 100 according to a preset task configuration file.

[0058] Specifically, the tasks performed by the robot 100 in different time periods may be different, so that the target data that the robot 100 needs to obtain in different time periods are different. For example, the robot 100 needs to perform a picking task in the warehouse in the morning and needs to broadcast daily news in the afternoon. In this case, the robot 100 needs to obtain data related to the picking task in the morning, such as the picking order, cargo details or cargo location number, and the robot 100 needs to obtain news information in the afternoon. Therefore, a task configuration file can be set according to the tasks performed by the robot 100 in different time periods and the target data corresponding to the tasks. The task configuration file can indicate the data set required by the robot 100 in a certain time period, such as Figure 5 Alternatively, the task configuration file may also indicate the tasks that the robot 100 needs to perform within a certain period of time and the required data set, for example Figure 6 .

[0059] After receiving the request from the robot 100, the first server 201 will respond to the robot 100, and read the current task or required target data of the robot 100 according to the task configuration file, and then issue the currently required authority certificate to the robot 100, so that the robot 100 can obtain the authority to access the target data corresponding to the current task according to the authority certificate. After generating the authority certificate, the first server 201 sends the authority certificate to the robot 100, so that the robot 100 that receives the authority certificate can access the second server 202 according to the authority certificate and obtain the target data required for the robot 100 to perform the current task. Of course, if there is no authority certificate corresponding to the current task in the first server 201, the first server 201 can also generate the authority certificate corresponding to the current task first, and then issue it to the robot 100. In this way, the first server 201 can issue the authority certificate corresponding to the current task to the robot 100 according to the task configuration file, so that the robot 100 can obtain the target data required for the current task, thereby ensuring the normal operation of the robot 100.

[0060] The task configuration file can be set on the server 200, and the first server 201 directly issues the authorization certificate according to the task configuration file, so that the robot 100 can obtain the corresponding authorization certificate in a certain period of time. At this time, the authorization certificate is issued faster, which is conducive to the robot 100 to quickly obtain data and perform the current task. Alternatively, the task configuration file can also be set on the robot 100, and the robot 100 reads the task configuration file after booting up. When the first server 201 needs to issue an authorization certificate, it will read the task configuration file from the robot 100 to ensure that the robot 100 is in a communicative state when issuing the authorization certificate, and then arrange the task for the robot 100, so as to ensure that the robot 100 can smoothly receive the authorization certificate and perform the current task. The task configuration file can also be set on a trusted third party. When the robot 100 and the server 200 need a task configuration file, the task configuration file is obtained from the trusted third party.

[0061] Step 013: Upon receiving the authority certificate sent by the robot 100, the authority certificate is verified. After the verification is passed, the robot 100 is allowed to access the target data corresponding to the authority certificate, wherein the target data is the data required by the robot 100 to perform the current task.

[0062] Specifically, when the robot 100 needs to perform the current task and has obtained the authority certificate corresponding to the current task, the robot 100 will send the authority certificate to the second server 202 to access and obtain the target data corresponding to the authority certificate in the second server 202. The second server 202 will send a request to verify the authority certificate to the first server 201. The first server 201 that receives the request to verify the authority certificate will determine the current task of the robot 100 according to the task configuration file and verify whether the authority certificate matches the current task.

[0063] When the authority certificate matches the current task, the first server 201 can confirm that the verification is successful and send the verification success information to the second server 202. After receiving the verification success information, the second server 202 will allow the robot 100 to access the target data corresponding to the authority certificate. At this time, the robot 100 will first access the resources corresponding to the target data in the second server 202, and then access and obtain the target data from the resources. Then the robot 100 can complete the current task according to the target data.

[0064] In the case that the authority certificate does not match the current task, the first server 201 may confirm that the verification fails, and send a verification failure message to the second server 202. After receiving the verification failure message, the second server 202 will deny the robot 100 access to the target data corresponding to the authority certificate. At this time, the robot 100 needs to re-apply to the first server 201 for the authority certificate corresponding to the current task.

[0065] In the data access method of the implementation mode of the present application, each data has a corresponding authority certificate, and the robot 100 can only access the corresponding target data if the robot 100 obtains the authority certificate. Therefore, when the robot 100 needs to perform the current task, it will send a request for requesting the authority certificate to the server 200. When the server 200 receives the request, it will issue the authority certificate corresponding to the current task of the robot 100 to the robot 100 according to the preset task configuration file. When the robot 100 receives the authority certificate of the current task and needs to perform the current task, it will send the authority certificate of the current task to the server 200. At this time, the server 200 will verify the received authority certificate, and if the verification is passed, allow the robot 100 to access the target data corresponding to the authority certificate, so that the robot 100 can obtain the target data of the current task. In this way, the server 200 can control the data obtained by the robot 100 by controlling the granting of the authority certificate. The server 200 will only issue the authority certificate of the current task to the robot 100, so that only when executing the current task can the robot 100 obtain the authority certificate corresponding to the current task, and then obtain the corresponding target data. Compared with the solution of not setting the authority certificate so that the robot 100 can obtain the data corresponding to all tasks, the present application can enable the robot 100 to only obtain the target data corresponding to the current task, and not obtain the data of all tasks, which is conducive to ensuring data security.

[0066] See also Figure 3 and Figure 7 In some embodiments, the task configuration file includes: a first correspondence between a time period and a data identifier; Step 012: issuing an authority certificate corresponding to the current task of the robot 100 to the robot 100 according to the preset task configuration file, including:

[0067] Step 0121: Determine, according to the first corresponding relationship, the identifier of the target data required for the robot 100 to perform the task in the current time period;

[0068] Step 0122: Issue the authorization certificate required to obtain the target data to the robot 100.

[0069] Specifically, each data has a unique data identifier, and the robot 100 can obtain the data from the corresponding resource according to the data identifier. Figure 5 ,The task configuration file includes the first correspondence between the time period and the data identifier, that is, the task configuration file will configure the target data required for each time period.

[0070] Therefore, when receiving the request for the authorization certificate from the robot 100, the first server 201 will determine the identifier of the target data required for the robot 100 to perform the task in the current time period according to the current time period and the first corresponding relationship, that is, determine the data that the robot 100 needs to obtain in the current time period, determine the resource where the target data is located, and determine the authorization certificate required for the robot 100 to perform the task in the current time period. Then, the first server 201 can issue the authorization certificate required to obtain the target data to the robot 100.

[0071] Alternatively, the request for the authority certificate issued by the robot 100 may include the identifier of the requested target authority certificate. When the first server 201 receives the authority certificate, it may determine whether the target authority certificate matches the identifier of the target data required for the task in the current time period based on the first corresponding relationship, that is, determine whether the authority certificate requested by the robot 100 is used to perform the current task. If the first server 201 determines that the target authority certificate matches the identifier of the target data required for the task in the current time period, the target authority certificate is issued to the robot 100, so that the robot 100 uses the target authority certificate to obtain the target data and complete the current task. If the first server 201 determines that the target authority certificate does not match the identifier of the target data required for the task in the current time period, it refuses to issue the target authority certificate to ensure that the robot 100 can only obtain the data corresponding to the current task, which is beneficial to data security.

[0072] In this way, the first server 201 can determine the authorization certificate that needs to be issued to the robot 100 according to the current time and task profile, thereby ensuring that the robot 100 can only obtain data corresponding to the current task, but cannot obtain data for all tasks within a certain period of time, which is beneficial to ensure data security.

[0073] Similarly, when verifying the authority certificate, the first server 201 can also determine whether the authority certificate is valid based on the first corresponding relationship. In the case where the first server 201 needs to verify whether the authority certificate is valid, the first server 201 will determine whether the authority certificate matches the target data required for the current time period to determine whether the authority certificate of the robot 100 is used to perform the current task. If the first server 201 determines that the authority certificate matches the target data required for the current time period, the authority certificate is considered valid. If it is determined that the authority certificate does not match the target data required for the current time period, the authority certificate is considered invalid.

[0074] In this way, the first server 201 can determine whether the authority certificate sent by the robot 100 is valid based on the current time and task profile, thereby ensuring that the robot 100 can only obtain data corresponding to the current task, but cannot obtain data for all tasks within a certain period of time, which is beneficial to ensure data security.

[0075] See also Figure 3 and Figure 8 In some embodiments, the task configuration file includes: a second correspondence between the task identifier and the data identifier; the request includes an identifier of the current task; Step 012: issuing an authority certificate corresponding to the current task of the robot 100 to the robot 100 according to the preset task configuration file, including:

[0076] Step 0123: Determine whether there is an identifier of the current task in the second corresponding relationship;

[0077] Step 0124: If it exists, determine the identifier of the target data corresponding to the identifier of the current task according to the second corresponding relationship, and issue the authority certificate required to obtain the target data to the robot 100.

[0078] Specifically, please combine Figure 6 The task configuration file includes a second correspondence between the task identifier and the data identifier. The robot 100 can determine the current task at the current time according to the task schedule or the task configuration file, and mark the identifier of the current task in the request for the authority certificate.

[0079] After receiving the request, the first server 201 determines whether the identifier of the current task exists in the second corresponding relationship according to the identifier of the current task in the request and the second corresponding relationship, so as to determine whether the target data required for the current task exists in the second server 202. If the identifier of the current task exists in the second corresponding relationship, the identifier of the target data corresponding to the identifier of the current task is determined according to the second corresponding relationship and the identifier of the current task, so as to determine the authority certificate corresponding to the target data, and thus issue the authority certificate required for obtaining the target data to the robot 100.

[0080] In this way, the first server 201 can determine whether it is necessary to issue an authorization certificate to the robot 100 based on the current task and the second corresponding relationship. Only when the identifier of the current task exists in the second corresponding relationship will the robot 100 be issued authorization, thereby ensuring the data security in the second server 202.

[0081] See also Figure 3 and Fig. 9 In some implementations, the authority certificate includes a starting effective time, an expiration time, and an identifier of the target data; Step 013: verifying the authority certificate, further comprising:

[0082] Step 0131: Determine whether the current time is between the start effective time and the expiration time. If so, the authority certificate passes the verification; otherwise, the authority certificate fails the verification;

[0083] Step 013: Allowing the robot 100 to access the target data corresponding to the access right certificate also includes:

[0084] Step 0132: According to the identification of the target data in the authority certificate, the robot 100 is assigned the authority to obtain the target data.

[0085] Specifically, the starting effective time indicates that the authority certificate officially takes effect from this moment, and before this, the authority certificate still cannot pass the verification of the first server 201. The expiration time indicates that the authority certificate officially becomes invalid from this moment, and once the expiration time has passed, the authority certificate cannot pass the verification of the first server 201, so that the robot 100 cannot access the corresponding resources through the authority certificate and obtain the corresponding data. It can be understood that the time between the starting effective time and the expiration time is the validity period of the authority certificate. The task configuration file can also be provided with an execution time corresponding to each execution task. The starting time of the execution time is the starting effective time of the authority certificate, and the ending time of the execution time is the expiration time of the authority certificate.

[0086] When the current time is within the valid time, the first server 201 determines that the current task matches the authority certificate, which means that the robot 100 really needs the authority certificate to complete the current task. The authority certificate can be verified, and the first server 201 sends the verification pass information to the second server 202. Then the second server 202 will assign the robot 100 the authority to obtain the target data according to the identifier of the target data in the authority certificate, so that the robot 100 can access and obtain the target data.

[0087] When the current time is outside the valid time, the first server 201 determines that the current task does not match the authority certificate, which means that the robot 100 does not need to use the authority certificate at this time. The authority certificate fails to pass the verification, and the first server 201 sends a verification failure message to the second server 202. Then the second server 202 will reject the access of the robot 100, and the robot 100 needs to reapply to the first server 201 for the authority certificate corresponding to the current task.

[0088] In this way, the first server 201 can confirm whether the permission certificate is valid through the current time and the effective time, so that the second server 202 can decide whether to allow the robot 100 to access the data corresponding to the permission certificate according to the corresponding verification result, thereby ensuring that the robot 100 can only obtain the data required for the current task, and cannot obtain the data corresponding to tasks other than the current task, which is beneficial to data security.

[0089] See also Figure 3 and Fig.10 , the data access method of the implementation mode of the present application includes:

[0090] Step 021: Sending a request for requesting an authority certificate to the server 200, so that the server 200 issues an authority certificate corresponding to the current task of the robot 100 to the robot 100 according to a preset task configuration file;

[0091] Step 022: Send the authority certificate sent by the server 200 to the server 200, so that the server 200 verifies the authority certificate;

[0092] Step 023: After the authority certificate is verified, the target data corresponding to the authority certificate is accessed, wherein the target data is the data required for the robot 100 to perform the current task.

[0093] Specifically, when the robot 100 needs to perform a task, it can send a request for a permission certificate to the first server 201, so as to obtain the target data required for performing the current task according to the permission certificate. The first server 201 that receives the request can determine the current task of the robot 100 according to the task configuration file, and issue the permission certificate of the current task of the robot 100.

[0094] When the robot 100 is executing the current task, the robot 100 can send the authorization certificate of the current task sent by the first server 201 to the second server 202. At this time, the second server 202 will verify whether the authorization certificate is valid with the first server 201. When the first server 201 confirms that the authorization certificate corresponds to the current task, the first server 201 will send a verification pass message to the second server 202. At this time, the second server 202 will allow the robot 100 to access the data corresponding to the authorization certificate. The robot 100 can then access the resources corresponding to the target data and obtain the target data required for the current task, so that the robot 100 can use the data to complete the current task. For example, the authorization certificate C1 corresponds to the data A11. When the authorization certificate C1 is obtained, the robot 100 can obtain the data A11 in the resource A1 and use the data to complete the current task.

[0095] If the first server 201 determines that the authority certificate does not match the current task in the task configuration file, the authority certificate is confirmed to be invalid, and the second server 202 will deny the robot 100 from accessing the target data. When the robot 100 receives information denying access to the target data, it means that the robot 100 does not have an authority certificate corresponding to the current task. At this time, the robot 100 stops accessing the target data corresponding to the authority certificate and re-requests the first server 201 to issue an authority certificate corresponding to the current task, so that the robot 100 can obtain the authority certificate corresponding to the current task, so that the robot 100 can obtain the corresponding data and perform the current task.

[0096] Of course, the robot 100 can also obtain the task configuration file to determine what task it needs to perform in what time period and what data corresponds to the task. The first server 201 will read the task configuration file, and determine the current task that the robot 100 needs to perform at this time based on the task configuration file and the current time period, and then issue the data corresponding to the current task in the task configuration file to the robot 100. In this way, the robot 100 can know the current task that should be performed in the current time period based on the task configuration file, and use the authority certificate corresponding to the current task to obtain the data required to perform the current task, so that the robot 100 can actually only obtain the data corresponding to the current task, but cannot obtain the data corresponding to other tasks.

[0097] Of course, before the robot 100 sends the authority certificate to the second server 202, the robot 100 may also send the authority certificate to the first server 201 to complete a verification of the authority certificate before requesting the target data. The robot 100 will send the authority certificate to the second server 202 only if the authority certificate passes the verification. If the authority certificate does not pass the verification, the robot 100 will re-apply to the first server 201 for the authority certificate corresponding to the current task.

[0098] In the data access method of the implementation mode of the present application, each resource has a corresponding authority certificate. Only when the robot 100 obtains the authority certificate can the robot 100 access the corresponding resource and obtain the target data. Therefore, when the robot 100 performs the current task, it can send a request for requesting an authority certificate to the server 200, so as to obtain the corresponding authority certificate and obtain the authority to access the target data corresponding to the current task. Then the robot 100 accesses the target data according to the authority certificate. In this way, the data obtained by the robot 100 can be controlled by controlling the granting of the authority certificate. Only when the current task is performed can the robot 100 obtain the authority certificate corresponding to the current task and then obtain the corresponding data. Compared with the scheme of not setting the authority certificate so that the robot 100 can obtain the data corresponding to all tasks, the present application can enable the robot 100 to only obtain the data corresponding to the current task, and will not obtain the data of all tasks, which is conducive to ensuring data security.

[0099] See also Figure 3 and Fig.11 In some implementations, the authority certificate includes a data identifier of the target data; Step 023: After the authority certificate passes verification, the target data corresponding to the access authority certificate includes:

[0100] Step 0231: Upon receiving the authority of the target data assigned by the server 200, access the target data according to the data identifier.

[0101] In one implementation, the task configuration file includes: a second correspondence between the task identifier and the data identifier; the request includes the identifier of the current task; when the identifier of the current task exists in the second correspondence, the robot 100 obtains the authority certificate required for the target data issued by the server 200.

[0102] Specifically, each data has a unique data identifier, and the robot 100 can obtain the data in the corresponding resource according to the data identifier, and the authority certificate includes the data identifier of the target data. After the first server 201 issues the authority certificate corresponding to the current task to the robot 100 according to the task configuration file, for example, according to the first corresponding relationship, the identifier of the target data required for the robot 100 to perform the task in the current time period is determined, and then the authority certificate corresponding to the identifier of the target data is issued to the robot 100, the robot 100 can receive the authority of the target data assigned by the first server 201, and access the target data in the second server 202 according to the data identifier of the target data in the authority certificate. In this way, the first server 201 can issue the corresponding authority to the server 200 according to the data identifier of the target data, so that the robot 100 can obtain the target data corresponding to the data identifier according to the authority, thereby facilitating the control of the data accessed by the robot 100.

[0103] Alternatively, the task configuration file may also include a second correspondence between the task identifier and the data identifier. After obtaining the request, the first server 201 determines whether the identifier of the current task exists in the second correspondence according to the identifier of the current task in the request and the second correspondence, so as to determine whether the target data required for the current task exists in the second server 202. In the case where the identifier of the current task exists in the second correspondence, the identifier of the target data corresponding to the identifier of the current task is determined according to the second correspondence and the identifier of the current task, so as to determine the authority certificate corresponding to the target data, thereby issuing the authority certificate required for obtaining the target data to the robot 100. Then, the robot 100 can access the target data in the second server 202 according to the authority certificate. In this way, the first server 201 can use the second correspondence to determine the authority certificate issued to the robot 100 to ensure that the authority certificate obtained by the robot 100 corresponds to the current task, thereby ensuring that the robot 100 can only obtain the data corresponding to the current task.

[0104] All of the above technical solutions can be combined in any way to form optional implementations of the present application, and will not be described in detail here.

[0105] In order to better implement the data access method of the embodiment of the present application, the embodiment of the present application also provides a server 200. Figure 3 and Fig.12 , Fig.12 A schematic diagram of the structure of a server 200 provided in an embodiment of the present application. The server 200 may include:

[0106] The receiving module 11 is used to receive a request for an authority certificate sent by the robot 100;

[0107] The response module 12 is used to respond to the robot 100 and issue an authority certificate corresponding to the current task of the robot 100 to the robot 100 according to a preset task configuration file;

[0108] The verification module 13 is used to verify the authority certificate when receiving it from the robot 100. After the verification is passed, the robot 100 is allowed to access the target data corresponding to the authority certificate, wherein the target data is the data required by the robot 100 to perform the current task.

[0109] In the case where the task configuration file includes a first correspondence between a time period and a data identifier, the response module 12 is specifically used to determine, based on the first correspondence, the identifier of the target data required for the robot 100 to perform the task in the current time period; and issue to the robot 100 an authorization certificate required to obtain the target data.

[0110] In the case where the task configuration file includes a second correspondence between the task identifier and the data identifier, the response module 12 is specifically used to determine whether there is an identifier of the current task in the second correspondence; if so, the identifier of the target data corresponding to the identifier of the current task is determined based on the second correspondence, and the robot 100 is issued the authority certificate required to obtain the target data.

[0111] In the case where the authority certificate includes a starting effective time, an expiration time and an identification of the target data, the verification module 13 is specifically used to determine whether the current time is between the starting effective time and the expiration time. If so, the authority certificate passes the verification, otherwise, the authority certificate fails the verification; according to the identification of the target data in the authority certificate, the robot 100 is assigned the authority to obtain the target data.

[0112] In order to better implement the data access method of the embodiment of the present application, the embodiment of the present application also provides a robot 100. Figure 3 and Fig.13 , Fig.13 The schematic diagram of the structure of the robot 100 provided in the embodiment of the present application. The robot 100 may include:

[0113] The first sending module 21 is used to send a request for requesting an authority certificate to the server 200, so that the server 200 issues an authority certificate corresponding to the current task of the robot 100 to the robot 100 according to a preset task configuration file;

[0114] The second sending module 22 is used to send the authority certificate sent by the server 200 to the server 200, so that the server 200 verifies the authority certificate;

[0115] The access module 23 is used to access the target data corresponding to the access certificate after the access certificate passes the verification.

[0116] In the case where the authority certificate includes the data identifier of the target data, the access module 23 is further configured to access the target data according to the data identifier upon receiving the authority of the target data assigned by the server 200 .

[0117] Each module in the server 200 and the robot 100 can be implemented in whole or in part by software, hardware, or a combination thereof. Each module can be embedded in or independent of the processor in the computer device in the form of hardware, or can be stored in the memory in the computer device in the form of software, so that the processor can call and execute the operations corresponding to each module.

[0118] Please combine Figure 2The robot 100 of the embodiment of the present application includes a memory 30 and a controller 40. The memory 30 is used to store data. It can be understood that the controller 40 can be used to execute any of the above-mentioned data access methods for the embodiment of the robot 100. For the sake of brevity, it will not be repeated here.

[0119] The robot 100 may be an autonomous mobile robot (AMR), an automated guided vehicle (AGV), a gripper, a tractor, a forklift, a reach stacker, a warehouse robot or other mobile device.

[0120] Due to the mobility and other capabilities of the robot 100, the robot 100 is widely used in automated operations in various working environments. Taking the robot 100 as an example, the self-service mobile robot has the following characteristics and functions:

[0121] 1. Autonomous navigation: Autonomous mobile robots use technologies such as laser navigation, visual navigation, or Simultaneous Localization and Mapping (SLAM) to autonomously plan paths, avoid obstacles, and accurately navigate in warehouse environments.

[0122] 2. Intelligent task execution: Self-service mobile robots can perform a variety of tasks, such as cargo handling, picking, warehousing, loading and unloading, etc. They can make autonomous decisions and perform tasks according to the instructions of the warehouse management system to adapt to dynamic logistics needs.

[0123] 3. Flexibility and scalability: Self-service mobile robots have a modular design and can be flexibly configured and expanded as needed. They can be autonomously dispatched and work together to adapt to changes and different task requirements in the warehouse.

[0124] 4. Safety: Autonomous mobile robots are equipped with sensors and safety features that can sense the surrounding environment in real time and avoid collisions. They can safely share the workspace with people and other equipment, and have emergency stop and safety protection mechanisms.

[0125] 5. Real-time communication and monitoring: The self-service mobile robot can communicate with the warehouse management system or central control system in real time to transmit task status and receive instructions. Managers can track and monitor the location, task progress and performance indicators of the AMR through the monitoring system.

[0126] Based on the above characteristics and functions, it can be seen that the introduction of self-service mobile robots can improve the efficiency, accuracy and flexibility of warehouse operations, so self-service mobile robots are widely used in automated operations in warehousing and logistics environments. They can reduce manpower requirements, shorten logistics cycles, and improve the visibility and accuracy of inventory management. In addition, self-service mobile robots can also adapt to the rapidly changing logistics environment and needs, and provide higher productivity and customer satisfaction through autonomous scheduling and collaborative work.

[0127] Please combine Figure 2 and Figure 3 The server 200 of the embodiment of the present application includes a processor 203, and the processor 203 can be used to implement any of the above data access methods applied to the server 200. For the sake of brevity, it will not be repeated here.

[0128] Specifically, the relationship between the second server 202, the first server 201, the task configuration file and the robot 100 is shown in the figure: Figure 3 As shown, the task configuration file is used to arrange tasks for the robot 100 and is read by the first server 201 to issue the corresponding authority certificate to the robot 100. The first server 201 is used to generate and issue the authority certificate, and verify whether the authority certificate is valid. The resource server 201 can store and send data, and request the first server 201 to verify whether the authority certificate is valid. The robot 100 can apply for a certificate from the first server 201, or request the first server 201 to verify whether the authority certificate is valid, and can also request data from the second server 202 through the authority certificate to obtain data corresponding to the current task.

[0129] See also Fig.14 The present application also provides a computer-readable storage medium 300 on which a computer program 310 is stored. When the computer program 310 is executed by one or more processors 320, the steps of the data access method in any of the above embodiments are implemented, wherein the processor 320 may be the controller 40 of the robot 100. For the sake of brevity, it will not be described in detail here.

[0130] It can be understood that the computer program 310 includes computer program code. The computer program code can be in source code form, object code form, executable file or some intermediate form, etc. Computer readable storage media can include: any entity or device capable of carrying computer program code, recording medium, USB flash drive, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), and software distribution media, etc.

[0131] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples" or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiments or examples are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, unless they are contradictory.

[0132] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, segment or portion of code that includes one or more executable instructions for implementing the steps of a specific logical function or process, and the scope of the preferred embodiments of the present application includes alternative implementations in which functions may not be performed in the order shown or discussed, including performing functions in a substantially simultaneous manner or in the reverse order depending on the functions involved, which should be understood by technicians in the technical field to which the embodiments of the present application belong.

[0133] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A data access method, characterized in that: The method comprises: Receive a request from the robot for requesting an authority certificate; In response to the robot, issuing the authority certificate corresponding to the current task of the robot to the robot according to a preset task configuration file; When receiving the authority certificate sent by the robot, the authority certificate is verified. After the verification is passed, the robot is allowed to access the target data corresponding to the authority certificate, wherein the target data is the data required by the robot to perform the current task.

2. The data access method according to claim 1, characterized in that: The task configuration file includes: a first correspondence between a time period and a data identifier; The issuing of the authority certificate corresponding to the current task of the robot to the robot according to the preset task configuration file includes: Determining, according to the first corresponding relationship, an identifier of target data required for the robot to perform a task in the current time period; The authorization certificate required for obtaining the target data is issued to the robot.

3. The data access method according to claim 1, characterized in that: The task configuration file includes: a second corresponding relationship between the task identifier and the data identifier; The request includes an identifier of the current task; The issuing of the authority certificate corresponding to the current task of the robot to the robot according to the preset task configuration file includes: Determine whether there is an identifier of the current task in the second corresponding relationship; If so, the identifier of the target data corresponding to the identifier of the current task is determined according to the second corresponding relationship, and the authority certificate required to obtain the target data is issued to the robot.

4. The data access method according to any one of claims 1 to 3, characterized in that: The authorization certificate includes a starting effective time, an expiration time, and an identification of the target data; The verifying the authority certificate includes: Determine whether the current time is between the start effective time and the expiration time, if yes, the authority certificate passes the verification, otherwise, the authority certificate fails the verification; The allowing the robot to access the target data corresponding to the authority certificate includes: According to the identifier of the target data in the authority certificate, the robot is assigned authority to obtain the target data.

5. A data access method, characterized in that: The method comprises: Sending a request for requesting an authority certificate to a server, so that the server issues the authority certificate corresponding to the current task of the robot to the robot according to a preset task configuration file; Sending the authority certificate sent by the server to the server, so that the server verifies the authority certificate; After the authority certificate is verified, the target data corresponding to the authority certificate is accessed, wherein the target data is the data required for the robot to perform the current task.

6. The data access method according to claim 5, characterized in that: The authority certificate includes the data identifier of the target data; After the authority certificate is verified, accessing the target data corresponding to the authority certificate includes: Upon receiving the permission for the target data assigned by the server, accessing the target data according to the data identifier; and / or, The task configuration file includes: a second corresponding relationship between the task identifier and the data identifier; The request includes an identifier of the current task. When the identifier of the current task exists in the second corresponding relationship, the robot obtains the authority certificate required for the target data issued by the server.

7. A server, characterized in that: include: A receiving module, used to receive a request from the robot for requesting an authority certificate; A response module, used for responding to the robot and issuing the authority certificate corresponding to the current task of the robot to the robot according to a preset task configuration file; and The verification module is used to verify the authority certificate when receiving the authority certificate sent by the robot. After the verification is passed, the robot is allowed to access the target data corresponding to the authority certificate, wherein the target data is the data required by the robot to perform the current task.

8. A robot, characterized in that: include: A first sending module, used to send a request for requesting an authority certificate to a server, so that the server issues the authority certificate corresponding to the current task of the robot to the robot according to a preset task configuration file; A second sending module, used for sending the authority certificate sent by the server to the server, so that the server verifies the authority certificate; and The access module is used to access the target data corresponding to the authority certificate after the authority certificate passes the verification.

9. A server, characterized in that: include: A processor, wherein the processor is used to execute the data access method according to any one of claims 1 to 4.

10. A robot, characterized in that: include: A memory, wherein the memory is used to store data; A controller, wherein the controller is used to execute the data access method described in any one of claims 5-6.

11. A non-volatile computer-readable storage medium for a computer program, characterized in that: When the computer program is executed by one or more processors, the data access method according to any one of claims 1 to 6 is implemented.

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