Abstract: With the development of cloud computing, big data and other emerging technologies, the integration of cloud technology and multi-robot system makes it possible to design amulti-robot system with improved energy efficiency, high real-time and low cost.In order to solve the potential of the robot in the cloud enhancement system, this paper introduces the origin, development process of cloud robot and the research project of cloud robot.Secondly, the paper introduces the overall architecture of the cloud robot system, from the aspects of open source（ROS）, cloud computing, fog calculation, network switching management, Robot-as-a-Service（RaaS）, big data and other aspects of the main development of the cloud layer in a robot system driving force.Then, the key technologies in the current cloud robot system are described in detail, and some possible solutions are given.Finally, the future development of the cloud robot system is discussed.

Key words: cloud computing, fog calculation, cloud robot, big data, Robot-as-a-Service（RaaS）

摘要： 随着云计算、大数据和其他新兴技术的发展，云技术和多机器人系统的集成使得能够设计出具有改进能源效率、实时性高、成本低的多机器人系统。为了解决云增强系统中机器人的潜力，介绍了云机器人的起源、发展过程以及有关云机器人的研究项目。介绍了云机器人系统的整体架构，然后从开源源码、云计算、雾计算、网络切换管理、机器人即服务（RaaS）、大数据等方面分析了云机器人系统中各层的主要发展驱动力。详细阐述了当前云机器人系统中的关键技术，并给出了一些可能的解决方案。最后，对云机器人系统的未来发展进行了讨论。

关键词: 云计算, 雾计算, 云机器人, 大数据, 机器人即服务