Robot embedded firmware online differential upgrade and breakpoint resume system

Abstract

The application provides an online differential upgrading and breakpoint resuming system for robot embedded firmware, relates to the technical field of computer firmware updating, and is characterized in that the system comprises a cloud upgrading service platform and a plurality of robot embedded terminals; the cloud upgrading service platform comprises a firmware version management module, a lightweight differential package generation module, an upgrading task scheduling module and a breakpoint data synchronization module; the robot embedded terminal is provided with an embedded firmware upgrading management and control program, and the robot embedded terminal comprises a firmware information acquisition module, a differential data analysis module, a dynamic breakpoint resuming module, a firmware check writing module and an abnormal rollback module. The application has the advantages that the online upgrading system can generate lightweight differential packages in combination with the partition characteristics of embedded firmware, support multi-stage accurate breakpoint resuming, and guarantee the continuity of robot services.

Description

Technical Field

[0001] This invention relates to the field of computer firmware update technology, and in particular to a system for online differential upgrade and breakpoint resume of embedded firmware for robots. Background Technology

[0002] With the rapid development of robotics technology, various types of robotic equipment are widely used in industrial production, logistics distribution, security inspection, and other scenarios. These robotic devices are usually equipped with embedded systems, and their firmware needs to be continuously upgraded and updated with functional iterations and security patch releases.

[0003] Existing differential upgrade schemes typically treat firmware as a whole for differential comparison, failing to fully consider the partitioned and fixed characteristics of robot embedded firmware. This results in differential packets still containing a large amount of redundant fixed data that doesn't need to be transmitted, and differential efficiency needs further improvement. Robot terminals often operate in complex network environments with unstable network communication links, making interruptions during upgrades common. While existing schemes partially support breakpoint resumption, the breakpoint recording granularity is coarse, unable to pinpoint the three levels of transmission, verification, and writing at the fragment level. After an interruption, significant amounts of data often need to be retransmitted, leading to low resumption efficiency. Existing differential upgrade schemes lack effective solutions to address the interference with normal terminal operation during upgrades. When performing core tasks such as inspection, handling, and service, excessive CPU, memory, or storage I / O resources consumed by firmware upgrade operations directly impact the robot's motion control accuracy, data acquisition real-time performance, and task execution reliability. Existing schemes lack robust exception rollback mechanisms. When anomalies such as fragment verification failures or partition write errors occur during the upgrade process, there is a lack of tiered exception handling capabilities. This can lead to upgrade failure requiring restart, or even damage to the terminal device.

[0004] Therefore, there is an urgent need for an online upgrade system that takes into account the characteristics of robot embedded terminals, differential upgrade efficiency, breakpoint resume accuracy, operation interference isolation, and abnormal safe rollback to ensure robot business continuity. Summary of the Invention

[0005] The purpose of this invention is to provide an online differential upgrade and breakpoint resume system for embedded firmware of robots, which solves the technical problems of large differential package size, single breakpoint resume coverage dimension, poor upgrade scheduling and work condition adaptability, and insufficient reliability of batch upgrade in the existing embedded robot firmware upgrade. It realizes lightweight, highly reliable, and non-interfering online embedded firmware upgrade.

[0006] To achieve the above-mentioned objectives, the technical solution adopted by this invention is as follows:

[0007] A robot embedded firmware online differential upgrade and breakpoint resume system includes a cloud upgrade service platform and several robot embedded terminals; the cloud upgrade service platform includes a firmware version management module, a lightweight differential package generation module, an upgrade task scheduling module, and a breakpoint data synchronization module; the robot embedded terminals are equipped with an embedded firmware upgrade control program, and the robot embedded terminals include a firmware information acquisition module, a differential data parsing module, a dynamic breakpoint resume module, a firmware verification and writing module, and an exception rollback module;

[0008] The firmware version management module stores the original baseline firmware, iterative upgrade firmware versions, and corresponding firmware partition mapping information for each robot model, establishing a firmware version iteration association database. The lightweight differential package generation module compares the current running firmware of the target robot terminal with the latest upgraded firmware, eliminates redundant fixed data based on the embedded firmware partitioning and solidification characteristics, and generates a lightweight differential upgrade package containing only incremental difference data. The upgrade task scheduling module issues differentiated online upgrade tasks based on the robot terminal's online status, operating conditions, and network quality. The breakpoint data synchronization module records the transmission progress, fragment verification status, and upgrade execution stage data of each terminal's differential package in real time, establishing a cloud-based global breakpoint index.

[0009] The firmware information acquisition module is used to collect the version number, partition data, checksum, and running status of the local embedded firmware in real time and upload them to the cloud; the differential data parsing module is used to receive and parse the lightweight differential packets sent from the cloud, match the local firmware partition location, and generate firmware incremental update instructions; the dynamic breakpoint resume module is used to monitor the network transmission status, locate the differential fragments that have not been transmitted after abnormal interruption based on the global breakpoint index in the cloud, and realize incremental fragment resume transmission; the firmware verification and writing module is used to perform security verification on the parsed differential data and write it to the corresponding firmware partition; the abnormal rollback module is used to restore the local base firmware version when an upgrade is abnormal.

[0010] As an improvement, the lightweight differential package generation module adopts a partition differential comparison algorithm adapted to embedded firmware. Specifically, the robot embedded firmware is divided into three independent partitions: system core partition, driver partition, and application function partition. The binary data of the old and new firmware are compared partition by partition. Only the added, modified, and deleted difference data of each partition are extracted, and firmware fixed constant data, blank filling data, and device general redundant data are filtered out. At the same time, the difference data is compressed and encoded to generate a partition lightweight differential upgrade package with a size smaller than the global differential package, which is adapted to the low storage and low computing power resource characteristics of embedded terminals.

[0011] As an improvement, the dynamic breakpoint resume module is configured with an adaptive fragmentation and multi-level breakpoint marking mechanism, including a data fragmentation unit, a breakpoint marking unit, and a status monitoring unit. The data fragmentation unit dynamically adjusts the size of the differential packet fragments according to the real-time network bandwidth of the robot terminal. When the network bandwidth is lower than a preset threshold, small fragments are used for transmission, and large fragments are used for efficient transmission when the network is stable. The breakpoint marking unit independently marks the transmission status, verification result, and writing progress of each fragment, dividing it into three levels of breakpoint states: transmission breakpoint, parsing breakpoint, and writing breakpoint. The status monitoring unit monitors abnormal scenarios such as network disconnection, terminal restart, and job interruption in real time. When an interruption is triggered, the current three-level breakpoint status data is saved immediately and synchronized to the cloud.

[0012] As an improvement, the resume logic of the dynamic breakpoint resume module is as follows: after the terminal comes back online, it actively uploads local breakpoint status data to the cloud. The cloud breakpoint data synchronization module compares the cloud global breakpoint index with the local breakpoint data to accurately locate differential fragments that have not been transmitted, verified, or written. Incremental retransmission and secondary execution are performed only for abnormal fragments, without the need to retransmit the complete differential packet, thus achieving accurate breakpoint resume.

[0013] As an improvement, the firmware verification and writing module is equipped with a hierarchical hash verification mechanism, including three levels of verification logic: overall differential packet verification, partial fragment verification, and firmware partition writing verification. After receiving the differential packet from the cloud, the module first verifies the integrity and legality of the differential packet through the overall hash value. During fragment transmission, the fragment hash code is verified one by one, and fragments with transmission distortion are eliminated. After the firmware data is written to the corresponding partition, the global hash value of the updated partition is compared with the hash value of the standard firmware partition on the cloud. If the verification is correct, the upgrade write is determined to be valid. If the verification is abnormal, the writing is immediately terminated and an abnormal rollback mechanism is triggered.

[0014] As an improvement, the upgrade task scheduling module is configured with a partition-differentiated upgrade strategy, setting different upgrade rules for different firmware partitions: for the system core partition, the upgrade is only performed when the robot is in standby mode and has no work tasks, and the core process is locked during the upgrade process; for the driver partition and application function partition, online silent upgrade is supported, and incremental data writing and version updates are completed without interrupting the normal operation of the robot.

[0015] As an improvement, the system also includes a network adaptive management module, which is used to collect real-time data on the 4G / 5G, WiFi, and LAN network signal strength, packet loss rate, and latency of the robot terminal, and preset multiple network thresholds; when the network parameters are lower than the minimum threshold, the upgrade task is automatically paused and the current breakpoint state is saved; when the network parameters recover to the optimal threshold range, the resume task is automatically woken up, realizing intelligent scheduling of adaptive pause in weak network and adaptive resume in strong network.

[0016] As an improvement, the anomaly rollback module has a tiered anomaly handling function, specifically: for minor anomalies such as fragment transmission errors and data verification failures, the current fragment is retransmitted and written; for severe anomalies such as firmware partition writing errors and version matching failures, the written incremental differential data is immediately cleared, the locally pre-stored baseline firmware backup package is called, and the system is restored to the previous stable firmware version with one click; at the same time, anomaly logs and breakpoint fault information are recorded and uploaded to the cloud to complete the anomaly closed-loop recording.

[0017] As an improvement, the system is configured with a silent upgrade resource management mechanism. When the robot terminal performs an online silent upgrade, the differential data parsing module and the firmware verification and writing module adopt a low-priority process scheduling mode to limit the CPU and memory usage of the upgrade process. At the same time, the upgrade data read and write channel is isolated from the robot operation data channel to avoid the firmware upgrade operation from occupying device resources and interfering with the robot's core operation functions such as motion control, data acquisition, and task execution.

[0018] As an improvement, the cloud-based upgrade service platform also includes a cluster batch upgrade management module. This module is used to schedule batch upgrade tasks for multiple robot terminals of the same model and batch. During the batch upgrade process, the breakpoint status and upgrade progress of each terminal are recorded independently. It supports independent breakpoint resume and fault isolation for a single terminal. An upgrade failure of a single terminal does not affect the normal upgrade process of other terminals in the cluster. At the same time, the firmware upgrade version and status data of each terminal are synchronized in batches to achieve unified management of the cluster firmware version.

[0019] The beneficial effects of this invention are as follows:

[0020] 1. Partition-level lightweight differential upgrade significantly reduces upgrade package size and resource consumption. Targeting the partitioned solidification characteristics of embedded firmware, a regional differential comparison algorithm is adopted to filter redundant data such as solidified constants and blank padding. Combined with lossless compression, a lightweight differential package is generated, reducing the differential package size and adapting to the low storage, low computing power, and weak network operation characteristics of embedded terminals, thereby reducing upgrade traffic costs and transmission time.

[0021] 2. The end-to-end three-level breakpoint resume mechanism significantly improves upgrade reliability. The breakpoint marking is extended from the traditional transmission stage to the entire parsing and writing process. It divides the breakpoint status into three levels: transmission, parsing, and writing. Combined with the cloud-based global breakpoint index and the terminal's local breakpoint synchronization, it achieves accurate resume after the upgrade is interrupted, avoiding duplicate transmission and inconsistency of partitioned data.

[0022] 3. Differentiated scheduling and resource management by partition, balancing upgrades and normal equipment operation. Differentiated upgrade rules are set for firmware partitions with different functional weights. Core partitions are upgraded in standby mode to ensure system stability, while driver and application partitions are upgraded silently to avoid interrupting operations. At the same time, through process priority and resource isolation mechanisms, the resource consumption of the upgrade process is limited to avoid the upgrade affecting core businesses such as robot motion control, so as to achieve parallel operation and maintenance and production.

[0023] 4. End-to-end hierarchical verification and rollback ensure upgrade security. A three-level hash verification system is constructed, covering the data integrity and legality verification of the entire upgrade process, including the overall differential packet, partial fragment, and partition write. At the same time, a two-level rollback strategy for minor and major anomalies is configured. For minor anomalies, only fragments are retransmitted, while for major anomalies, the baseline version is restored with one click, effectively avoiding the risk of equipment failure due to upgrade failure.

[0024] 5. Cluster batch management and fault isolation improve the efficiency of large-scale operation and maintenance. Supports batch upgrade scheduling of robots of the same model, independent recording of breakpoint status of each terminal, automatic fault isolation without affecting the overall progress of the cluster, and unified management and status synchronization of cluster firmware versions, adapting to the operation and maintenance needs of large-scale robot clusters. Attached Figure Description

[0025] Figure 1 This is a schematic diagram of the overall framework of the robot embedded firmware online differential upgrade and breakpoint resume system of the present invention.

[0026] Figure 2 This is a schematic diagram of the lightweight differential package generation process.

[0027] Figure 3 The flowchart shows the logic for dynamic breakpoint resume and three-level breakpoint marking. Detailed Implementation

[0028] To make the content of this invention easier to understand, the technical solutions of the embodiments of this invention will be clearly and completely described below with reference to the accompanying drawings. Identical components are indicated by the same reference numerals.

[0029] Example 1: The robot embedded firmware online differential upgrade and breakpoint resume system of this example includes a cloud upgrade service platform and several robot embedded terminals. The cloud upgrade service platform is deployed on a public cloud or private cloud server and establishes a network connection with each robot embedded terminal via 4G / 5G, WiFi or local area network.

[0030] The cloud-based upgrade service platform includes a firmware version management module, a lightweight differential package generation module, an upgrade task scheduling module, and a breakpoint data synchronization module. The functions of each module are as follows:

[0031] The firmware version management module uses a relational database or time-series database to store the original baseline firmware, iterative upgrade firmware versions, and corresponding firmware partition mapping information for each robot model. For each robot model, a firmware version iteration association database is established to record the firmware binary difference index between versions V1.0, V2.0, V2.1, etc., so that the lightweight differential package generation module can quickly locate the difference data between any two versions.

[0032] After receiving a new firmware version in the cloud, the lightweight differential package generation module automatically triggers the differential package generation process. This module first obtains the firmware version information of the target robot terminal currently running from the firmware version management module, then loads the latest upgraded firmware, and calls the partition differential comparison algorithm to generate a lightweight differential upgrade package.

[0033] The upgrade task scheduling module determines the timing and method of issuing upgrade tasks based on the online status, working conditions, and network quality of each robot terminal.

[0034] The breakpoint data synchronization module uses high-performance cache databases such as Redis to store real-time breakpoint status data of each terminal, and establishes a global breakpoint index in the cloud to support fast breakpoint query and update in high-concurrency scenarios.

[0035] The robot's embedded terminal is equipped with an embedded firmware upgrade management program, including a firmware information acquisition module, a differential data parsing module, a dynamic breakpoint resume module, a firmware verification and writing module, and an exception rollback module. The terminal hardware platform can use an ARM Cortex-M series MCU or a RISC-V architecture chip, running an embedded real-time operating system, with firmware storage media being on-chip Flash or external SPI Flash.

[0036] Example 2: This example details the workflow of the lightweight differential package generation module.

[0037] First, the robot's embedded firmware is divided into three independent partitions according to its functional attributes:

[0038] System core partition: Stores core code such as bootloader, kernel, basic scheduling and communication protocol stack. Data in this partition changes infrequently but has a significant impact on system startup and operational stability.

[0039] Driver partition: Stores low-level hardware driver code such as motor driver, sensor driver, and communication interface driver. This partition is strongly related to the specific hardware platform and changes at a moderate frequency.

[0040] Application Function Partition: This partition contains application layer code such as robot motion control algorithms, task scheduling logic, and data acquisition and processing. This partition changes the most frequently and is the main area for firmware iteration.

[0041] The lightweight differential packet generation module compares the binary data of the old and new firmware partition by partition, and uses differential algorithms such as BsDiff or XDelta3 to optimize the process based on the characteristics of embedded firmware: it identifies and filters fixed constant data, blank padding data and general redundant data of the device in the firmware.

[0042] For each partition, only three types of difference data—added, modified, and deleted—are extracted to generate a partition-level difference description file. Subsequently, the difference data of each partition is compressed and encoded using LZ77 or Huffman, and the difference data of multiple partitions are packaged into a single lightweight partition difference upgrade package.

[0043] Taking a typical inspection robot firmware as an example, the total firmware size is 512KB, including a 128KB system core partition, a 192KB driver partition, and a 192KB application function partition. A particular iteration only modified the path planning algorithm module in the application function partition. Traditional global differential schemes generate differential packets of approximately 15KB to 20KB. The partition differential comparison scheme of this invention only performs differential analysis on the application function partition, filtering out all data from the system core partition and driver partition. The resulting lightweight differential packet is approximately 5KB to 8KB, significantly reducing the size and reducing transmission load and terminal storage pressure.

[0044] Example 3: This example details the workflow of the dynamic breakpoint resume module.

[0045] The dynamic breakpoint resume module is configured with adaptive fragmentation and multi-level breakpoint marking mechanism, including data fragmentation unit, breakpoint marking unit and status monitoring unit.

[0046] Before sending differential packets to the cloud, the data fragmentation unit dynamically calculates the optimal fragment size based on the network status data reported by the terminal. The preset fragment size range is 1KB to 64KB: when the network bandwidth is less than 100Kbps, small fragments of 1KB to 4KB are used to reduce the retransmission cost of a single transmission failure; when the network bandwidth is greater than 1Mbps and the packet loss rate is low, large fragments of 32KB to 64KB are used to reduce the number of fragments and transmission overhead.

[0047] The breakpoint marker unit establishes an independent status record for each fragment, which includes the following fields: fragment ID, transmission status, fragment hash code, verification status, write progress, and write address.

[0048] Based on the above fields, the system classifies breakpoint states into three levels:

[0049] Transmission interruption: The fragmented transmission status is either not being transmitted or in progress;

[0050] Breakpoint: Fragmentation transmission completed but verification status is unverified or verification failed;

[0051] Write breakpoint: Fragment verification passed, but the write progress is either not written or in progress.

[0052] During the upgrade process, the status monitoring unit continuously monitors the network connection status and terminal operation status. Once an abnormal interruption is detected, it immediately saves the current Level 3 breakpoint status data to the terminal's local non-volatile storage and simultaneously synchronizes it to the cloud breakpoint data synchronization module through a backup communication channel.

[0053] The continuation logic is as follows: After the terminal reconnects, it proactively uploads local breakpoint status data to the cloud. The cloud breakpoint data synchronization module compares the cloud global breakpoint index with the local breakpoint data to accurately locate the set of differential fragments that were not transmitted, not verified, or not written. Subsequently, the cloud only performs incremental retransmission for these abnormal fragments. After receiving the retransmitted fragments, the terminal continues to perform verification and write operations from the corresponding breakpoint state, without needing to retransmit the entire differential packet.

[0054] Taking a real-world scenario as an example: During an upgrade process, a robot's WiFi signal is interrupted when transmitting the 47th fragment. Traditional solutions require retransmitting all 100 fragments from the beginning after the robot is back online. The dynamic breakpoint resumption module of this invention, after the terminal is back online, uses the breakpoint index in the cloud to locate fragments 47-100 that were not transmitted, and only retransmits these 53 fragments. This reduces the amount of data to be transmitted and significantly improves upgrade efficiency.

[0055] Example 4: This example details the hierarchical hash verification mechanism of the firmware verification and writing module.

[0056] The firmware verification and writing module is equipped with three-level verification logic:

[0057] Level 1: Overall Differential Packet Verification. After receiving the complete lightweight differential packet from the cloud, the terminal first calculates the overall hash value of the entire differential packet and compares it with the standard overall hash value sent with the packet from the cloud. If they match, it is determined that the differential packet has not been tampered with or damaged during transmission, and proceeds to the next stage; if they do not match, it is determined that the transmission is abnormal, triggering a re-download.

[0058] Level 2: Fragment Partial Verification. During fragmented transmission, the fragment hash code of each received fragment is calculated and compared with the standard hash code of the fragment sent from the cloud. If they match, the fragment verification status is marked as passed and it enters the write queue; if they do not match, it is marked as failed, and a retransmission request for the fragment is triggered. Fragment partial verification can eliminate distorted fragments in real time during transmission, avoiding writing corrupted data to Flash.

[0059] Level 3: Firmware partition write verification. After all fragments pass verification and are written to the corresponding Flash partitions, the terminal reads the complete binary data of the updated partition, calculates the global hash value of the partition, and compares it with the standard firmware partition hash value in the cloud. If they match, the partition upgrade write is deemed valid, and the firmware version information is updated; if they do not match, an error has occurred during the write process, the write is immediately terminated, and the error rollback mechanism is triggered.

[0060] The three-level verification mechanism builds a complete security guarantee across the entire data transmission and writing chain: the first level intercepts overall errors, the second level precisely locates faulty fragments during transmission, and the third level verifies the validity of the write results, ensuring the integrity and security of the upgrade data.

[0061] Example 5: This example details the hierarchical exception handling function and silent upgrade resource management mechanism of the exception rollback module.

[0062] Tiered exception handling is a process where the exception rollback module performs tiered processing based on the exception type and severity.

[0063] Mild anomaly: No overall rollback is triggered; only the current fragment is retransmitted and re-verified. If the retransmission fails after 3 consecutive attempts, it is upgraded to a moderate anomaly.

[0064] Moderate anomaly: Pause the current upgrade task, retain the valid shard data that has been written, and continue from the breakpoint after the network recovers or manual intervention is required.

[0065] Severe anomaly: Immediately terminate all upgrade operations, clear all written incremental differential data, retrieve the locally pre-stored baseline firmware backup package, and restore to the previous stable firmware version with one click. After restoration, record the anomaly log and breakpoint fault information and upload them to the cloud, completing the anomaly closed-loop recording.

[0066] Silent upgrade resource management means that when the robot terminal performs an online silent upgrade, the differential data parsing module and the firmware verification and writing module adopt a low-priority process scheduling mode.

[0067] I / O channel isolation isolates the upgrade data read / write channel from the robot operation data channel at the driver level, preventing Flash read / write operations during the upgrade process from interfering with the real-time response of the robot's motion control commands.

[0068] Through the above resource management measures, the robot can continuously and stably perform core operational functions such as motion control, data acquisition, and task execution while performing online silent upgrades. The upgrade operation is completely imperceptible to the user and the task.

[0069] Example 6: This example uses the firmware upgrade of 100 inspection robots of the same model in an industrial park as an example to illustrate the workflow of cluster batch upgrade management module.

[0070] The cloud-based upgrade service platform initiates batch upgrade tasks through the cluster batch upgrade management module, specifying the target model, target version, and upgrade strategy.

[0071] During batch upgrades, the cluster batch upgrade management module independently maintains upgrade status records for each terminal, including: terminal ID, current firmware version, target firmware version, differential packet download progress, fragment verification status, partition write progress, and upgrade stage. Each terminal executes the upgrade process independently without affecting others.

[0072] When one robot experiences a network outage during an upgrade, the breakpoint status of that terminal is independently recorded in the cloud-based global breakpoint index. The upgrade process for other terminals remains unaffected and continues normally. Once the network for that terminal is restored, the upgrade can resume from the point of breakpoint using the dynamic breakpoint resume module.

[0073] After the upgrade is completed, the cluster batch upgrade management module summarizes the upgrade results of each terminal, generates a batch upgrade report, and updates the current version information of each terminal in the firmware version management module, thereby achieving unified management of the cluster firmware version.

[0074] This invention can be widely applied to remote firmware upgrade scenarios for various robot embedded terminals, including but not limited to:

[0075] Inspection robot: In scenarios such as power inspection, pipeline inspection, and security patrol, this invention enables remote batch upgrades of the inspection robot's firmware without the need for manual on-site operation;

[0076] Service robots: In scenarios such as hotel delivery, restaurant service, and medical care, firmware updates can be performed without interrupting service through silent upgrade functionality;

[0077] Industrial AGV / AMR: In scenarios such as warehousing and logistics, and factory handling, the breakpoint resume function ensures the reliability of upgrades in weak network environments;

[0078] Specialized robots: In high-risk scenarios such as firefighting, bomb disposal, and underwater operations, the graded anomaly rollback function ensures reliable recovery of equipment in the event of an upgrade anomaly.

[0079] This invention is also applicable to remote firmware upgrade scenarios for other resource-constrained embedded terminal devices.

[0080] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A robot embedded firmware online differential upgrade and breakpoint resume system, characterized in that, This includes a cloud-based upgrade service platform and several embedded robot terminals; The cloud-based upgrade service platform includes a firmware version management module, a lightweight differential package generation module, an upgrade task scheduling module, and a breakpoint data synchronization module. The robot embedded terminal is equipped with an embedded firmware upgrade and management program. The robot embedded terminal includes a firmware information acquisition module, a differential data parsing module, a dynamic breakpoint resume module, a firmware verification and writing module, and an exception rollback module. The firmware version management module is used to store the original baseline firmware, iterative upgrade firmware versions and corresponding firmware partition mapping information of each robot model, and establish a firmware version iteration association database; the lightweight differential package generation module is used to compare the current running firmware of the target robot terminal with the latest upgraded firmware, and eliminate redundant fixed data based on the embedded firmware partition solidification characteristics to generate a lightweight differential upgrade package containing only incremental difference data. The upgrade task scheduling module is used to issue differentiated online upgrade tasks based on the online status, working conditions and network quality of the robot terminal; the breakpoint data synchronization module is used to record the transmission progress, fragment verification status and upgrade execution stage data of each terminal in real time, and establish a global breakpoint index in the cloud. The firmware information acquisition module is used to collect the version number, partition data, checksum, and running status of the local embedded firmware in real time and upload them to the cloud; the differential data parsing module is used to receive and parse the lightweight differential packets sent from the cloud, match the local firmware partition location, and generate firmware incremental update instructions; the dynamic breakpoint resume module is used to monitor the network transmission status, locate the differential fragments that have not been transmitted after abnormal interruption based on the global breakpoint index in the cloud, and realize incremental fragment resume transmission; the firmware verification and writing module is used to perform security verification on the parsed differential data and write it to the corresponding firmware partition; the abnormal rollback module is used to restore the local base firmware version when an upgrade is abnormal.

2. The robot embedded firmware online differential upgrade and breakpoint resume system according to claim 1, characterized in that, The lightweight differential package generation module adopts a partition differential comparison algorithm adapted to embedded firmware. Specifically, the robot embedded firmware is divided into three independent partitions: system core partition, driver partition, and application function partition. The binary data of the old and new firmware are compared partition by partition. Only the added, modified, and deleted difference data of each partition are extracted, and firmware fixed constant data, blank filling data, and device general redundant data are filtered out. At the same time, the difference data is compressed and encoded to generate a partition lightweight differential upgrade package with a size smaller than the global differential package, which is adapted to the low storage and low computing power resource characteristics of embedded terminals.

3. The robot embedded firmware online differential upgrade and breakpoint resume system according to claim 1, characterized in that, The dynamic breakpoint resume module is configured with an adaptive fragmentation and multi-level breakpoint marking mechanism, including a data fragmentation unit, a breakpoint marking unit, and a status monitoring unit. The data fragmentation unit dynamically adjusts the size of differential packet fragments based on the real-time network bandwidth of the robot terminal. When the network bandwidth is lower than a preset threshold, small fragments are used for transmission, and large fragments are used for efficient transmission when the network is stable. The breakpoint marking unit independently marks the transmission status, verification result, and write progress of each fragment, dividing it into three levels of breakpoint states: transmission breakpoint, parsing breakpoint, and write breakpoint. The status monitoring unit monitors abnormal scenarios such as network disconnection, terminal restart, and job interruption in real time. When an interruption is triggered, the current three-level breakpoint status data is saved immediately and synchronized to the cloud.

4. The robot embedded firmware online differential upgrade and breakpoint resume system according to claim 3, characterized in that, The resume logic of the dynamic breakpoint resume module is as follows: After the terminal comes back online, it actively uploads local breakpoint status data to the cloud. The cloud breakpoint data synchronization module compares the cloud global breakpoint index with the local breakpoint data to accurately locate differential fragments that have not been transmitted, verified, or written. Incremental retransmission and secondary execution are performed only for abnormal fragments, without the need to retransmit the complete differential packet, thus achieving accurate breakpoint resume.

5. The robot embedded firmware online differential upgrade and breakpoint resume system according to claim 1, characterized in that, The firmware verification and writing module is equipped with a hierarchical hash verification mechanism, including three levels of verification logic: overall differential packet verification, fragment local verification, and firmware partition writing verification. After receiving the differential packet from the cloud, it first verifies the integrity and legality of the differential packet through the overall hash value. During the fragmented transmission process, the fragment hash code is verified one by one, and fragments with transmission distortion are eliminated. After the firmware data is written to the corresponding partition, the global hash value of the updated partition is compared with the hash value of the standard firmware partition in the cloud. If the verification is correct, the upgrade write is deemed valid. If the verification is abnormal, the write is immediately terminated and the abnormal rollback mechanism is triggered.

6. The robot embedded firmware online differential upgrade and breakpoint resume system according to claim 2, characterized in that, The upgrade task scheduling module is configured with a partition-differentiated upgrade strategy, setting different upgrade rules for different firmware partitions: for the system core partition, the upgrade is only performed when the robot is in standby mode and has no work tasks, and the core process is locked during the upgrade process; for the driver partition and application function partition, online silent upgrade is supported, and incremental data writing and version updates are completed without interrupting the normal operation of the robot.

7. The robot embedded firmware online differential upgrade and breakpoint resume system according to claim 1, characterized in that, The system also includes a network adaptive management module, which is used to collect real-time data on the 4G / 5G, WiFi, and LAN network signal strength, packet loss rate, and latency of the robot terminal, and preset multiple network thresholds. When the network parameters are lower than the minimum threshold, the upgrade task is automatically paused and the current breakpoint state is saved. When the network parameters recover to the optimal threshold range, the resume task is automatically woken up, realizing intelligent scheduling of adaptive pause in weak network and adaptive resume in strong network.

8. The robot embedded firmware online differential upgrade and breakpoint resume system according to claim 1, characterized in that, The anomaly rollback module has a tiered anomaly handling function, specifically: for minor anomalies such as fragment transmission errors and data verification failures, it performs retransmission and writing of the current fragment; for severe anomalies such as firmware partition writing errors and version matching failures, it immediately clears the written incremental differential data, calls the locally pre-stored baseline firmware backup package, and restores to the previous stable firmware version with one click; at the same time, it records the anomaly log and breakpoint fault information and uploads them to the cloud to complete the anomaly closed-loop recording.

9. The robot embedded firmware online differential upgrade and breakpoint resume system according to claim 6, characterized in that, The system is configured with a silent upgrade resource management mechanism. When the robot terminal performs an online silent upgrade, the differential data parsing module and the firmware verification and writing module adopt a low-priority process scheduling mode to limit the CPU and memory usage of the upgrade process. At the same time, the upgrade data read and write channel is isolated from the robot operation data channel to avoid the firmware upgrade operation from occupying device resources and interfering with the robot's core operation functions such as motion control, data acquisition, and task execution.

10. The robot embedded firmware online differential upgrade and breakpoint resume system according to claim 1, characterized in that, The cloud-based upgrade service platform also includes a cluster batch upgrade management module, which is used to schedule batch upgrade tasks for multiple robot terminals of the same model and batch. During batch upgrades, the breakpoint status and upgrade progress of each terminal are recorded independently. It supports independent breakpoint resume and fault isolation for a single terminal. An upgrade failure of a single terminal will not affect the normal upgrade process of other terminals in the cluster. At the same time, the firmware upgrade version and status data of each terminal are synchronized in batches to achieve unified management of the cluster firmware version.

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