A control method for a multifunctional intelligent mobile robot

Abstract

This invention provides a control method for a multifunctional intelligent mobile robot in the field of robotics, comprising: Step S1, the server receives a control command sent by a mobile terminal; Step S2, the control command is encrypted and sent to the robot; Step S3, the robot's control module decrypts the encrypted command to obtain the control command, and parses the control command to obtain the target address name, target address latitude and longitude, and control content; Step S4, the control module automatically plans a travel route based on the target address name and target address latitude and longitude; Step S5, the control module moves the robot to the target address based on the travel route; Step S6, the control module executes the control content, stores the executed data in a memory, and generates an execution report; Step S7, the control module displays the execution report through an LED holographic screen, encrypts the execution report, and sends it back to the mobile terminal. The advantages of this invention are: it greatly improves the convenience and security of robot control.

Description

Technical Field

[0001] This invention relates to the field of robotics, and in particular to a control method for a multifunctional intelligent mobile robot. Background Art

[0002] A robot is an intelligent machine capable of semi-autonomous or fully autonomous operation. Robots can perform tasks such as manual labor or movement through programming and automatic control. However, traditional robot control methods have the following drawbacks:

[0003] 1. The robot frequently collides or tipes over during its journey to its destination, requiring manual assistance and causing significant inconvenience to its operation; 2. The lack of encryption for the robot's control commands poses a risk of them being stolen or tampered with; 3. The robot has limited battery life, requiring constant monitoring of its power level and manual recharging when it runs out, thus limiting its usability.

[0004] Therefore, how to provide a control method for a multifunctional intelligent mobile robot to improve the convenience and safety of robot control has become an urgent technical problem to be solved. Summary of the Invention

[0005] The technical problem to be solved by the present invention is to provide a control method for a multifunctional intelligent mobile robot, thereby improving the convenience and safety of robot control.

[0006] This invention is implemented as follows: a control method for a multifunctional intelligent mobile robot, comprising the following steps:

[0007] Step S1: After authenticating the mobile terminal, the server receives control commands sent by the mobile terminal.

[0008] Step S2: After verifying the control command, the server encrypts the control command into an encrypted command and sends the encrypted command to the robot through the communication module based on the TCP protocol.

[0009] Step S3: The robot's control module decrypts the received encrypted instructions to obtain control instructions, and parses the control instructions to obtain the target address name, target address latitude and longitude, and control content;

[0010] Step S4: The control module automatically plans the travel route based on the target address name and the target address's latitude and longitude.

[0011] Step S5: The control module controls the hub motor to work based on the travel route to move the robot to the target address. During the movement, the travel route is continuously optimized and energy consumption is controlled.

[0012] Step S6: The control module executes the control content, stores the execution data generated during the execution process in real time to the memory, and generates an execution report;

[0013] Step S7: The control module displays the execution report through an LED holographic screen, encrypts the execution report into an encrypted report, and sends the encrypted report back to the mobile terminal via the TCP protocol;

[0014] Step S8: During the robot's operation, the control module controls the heat dissipation module to dissipate heat from the robot, monitors the battery level in real time, and controls the robot to return to its original position for charging based on the travel route.

[0015] Furthermore, step S1 specifically includes:

[0016] The mobile terminal sends a connection request to the server, carrying the account, password, request time, and a first hash value; the first hash value is obtained by hashing the account, password, and request time.

[0017] The server parses the received connection request to obtain the account, password, request time, and first hash value. It then performs integrity verification on the account, password, and request time using the first hash value, and time expiration verification using the request time. Finally, it authenticates the account and password using a preset password table to complete identity verification and sends a connection permission response to the mobile terminal.

[0018] The mobile terminal establishes a heartbeat connection with the server based on the received connection permission response, and sends a control command to the server carrying the target address name, target address latitude and longitude, control content, transmission time and a second hash value; the second hash value is obtained by hashing the target address name, target address latitude and longitude, control content and transmission time.

[0019] Furthermore, step S2 specifically includes:

[0020] The server receives the control command in real time, parses the control command to obtain the target address name, target address latitude and longitude, control content, sending time and second hash value, performs integrity verification on the target address name, target address latitude and longitude, control content and sending time based on the second hash value, and performs timeliness verification through the sending time to complete the verification of the control command;

[0021] The server creates a public and private key pair based on the ECC algorithm, encrypts the public key using the TDEA algorithm to obtain the key, calculates the first MAC value for the control command, compresses the control command using a preset compression algorithm to obtain compressed data, encrypts the compressed data using the private key to obtain an encrypted string, sets an expiration period, and encrypts the encrypted string, expiration period, first MAC value, and key using the IDEA algorithm to obtain an encrypted command. The encrypted command is then sent to the robot in real time via the communication module based on the TCP protocol.

[0022] Furthermore, step S3 specifically includes:

[0023] The robot's control module receives the encrypted instructions in real time, decrypts the instructions using the IDEA algorithm to obtain an encrypted string, validity period, first MAC value, and key. After verifying the validity period, it decrypts the key using the TDEA algorithm to obtain a public key. It then decrypts the encrypted string using the public key to obtain compressed data. Finally, it decompresses the compressed data using a preset compression algorithm to obtain control instructions. After verifying the integrity of the control instructions using the first MAC value, it parses the control instructions to obtain the target address name, target address latitude and longitude, and control content.

[0024] Furthermore, step S4 specifically includes:

[0025] The control module obtains the scanning results by performing environmental scanning with LiDAR, and automatically plans the travel route based on the target address name, target address latitude and longitude, scanning results and preset map.

[0026] Furthermore, step S5 specifically includes:

[0027] The control module controls the hub motors based on the travel route to move the robot to the target address. During the movement, it uses ultrasonic sensors to detect obstacles and 3D depth cameras to detect terrain, continuously optimizing the travel route and putting currently unused functional modules into a sleep state for energy consumption control.

[0028] Furthermore, step S6 specifically includes:

[0029] The control module executes the control content, stores the execution data generated during the execution process in real time to the memory, performs edge computing analysis on each execution data based on the control content to obtain analysis results, and generates an execution report that carries at least the execution time, robot number, control instructions and analysis results.

[0030] Furthermore, step S7 specifically includes:

[0031] The control module asynchronously controls the LED holographic screen to display the execution report, performs MAC calculation on the execution report to obtain a second MAC value, encrypts the execution report and the second MAC value using the 3DES algorithm to obtain first-level encrypted data, performs character mapping on the first-level encrypted data using a preset mapping rule to obtain second-level encrypted data, divides the second-level encrypted data based on a preset segmentation ratio and swaps the order to obtain third-level encrypted data, and encrypts the third-level encrypted data using the IDEA algorithm to obtain an encrypted report;

[0032] The control module selects the communication channel of the communication module based on the signal strength, and uploads the encrypted report to the server in real time based on the TCP protocol. The server then feeds back the received encrypted report to the mobile terminal.

[0033] Furthermore, step S8 specifically includes:

[0034] During robot operation, the control module dynamically adjusts the fan speed to dissipate heat from the robot based on the temperature value sensed by the temperature sensor, and monitors the battery level in real time. When the battery level equals the power consumption required for returning to its original position, or when the control command is executed, the module controls the robot to return to its original position for charging based on the travel route.

[0035] Furthermore, step S8 also includes:

[0036] The control module controls the light strip to change colors to indicate the current working status.

[0037] The advantages of this invention are:

[0038] 1. After authenticating the mobile terminal via the server, the system receives control commands from the mobile terminal, verifies the commands, encrypts them, and sends the encrypted commands to the robot via TCP protocol. The robot's control module then decrypts the encrypted commands, parses them to obtain the target address name, target address latitude and longitude, and control content. Based on the target address name and latitude and longitude, the system automatically plans a route and controls the hub motors to move the robot to the target address. During the movement, the system continuously optimizes the route and controls energy consumption. The control module then executes the control content, storing the execution data in real-time to the memory and generating an execution report. This report is displayed on an LED holographic screen and encrypted before being sent back to the mobile terminal. During robot operation, the control module controls the cooling module to dissipate heat, monitors the battery level in real-time, and controls the robot to return to its charging position based on the route. Because the travel route is based on the target address name, target address latitude and longitude, LiDAR scanning results, and map planning, the rationality of the travel route planning is effectively improved. During the movement, obstacle detection is performed using ultrasonic sensors, and terrain detection is performed using 3D depth cameras to continuously optimize the travel route and ensure that the robot can move smoothly to the target address. By monitoring the battery level in real time during the robot's operation, when the battery level equals the power consumption required for returning to the position, the robot is controlled to return to the position for charging based on the travel route, eliminating the need for manual charging. By authenticating the mobile terminal and verifying and encrypting the control commands sent by the mobile terminal, the encrypted commands are sent to the robot via the TCP protocol. The robot generates an execution report, which is then encrypted and fed back to the mobile terminal. This means that the entire lifecycle of control command transmission and execution is subject to corresponding verification and encryption / decryption to prevent related data from being stolen or tampered with in plaintext, ultimately greatly improving the convenience and security of robot control.

[0039] 2. The mobile terminal sends a connection request to the server, carrying the account, password, request time, and first hash value. The first hash value is obtained by hashing the account, password, and request time. Subsequently, integrity verification can be performed using the first hash value, timeliness verification can be performed using the request time, and identity verification can be performed using the account and password. These three security measures prevent unauthorized mobile terminals from connecting to the server and controlling the robot, effectively improving the security of robot control.

[0040] 3. The mobile terminal sends a control command to the server, carrying the target address name, target address latitude and longitude, control content, sending time, and a second hash value. The second hash value is obtained by hashing the target address name, target address latitude and longitude, control content, and sending time. The integrity can be verified by the second hash value and the timeliness can be verified by the sending time, which effectively ensures the security of the control command transmission.

[0041] 4. The server creates a public and private key pair based on the ECC algorithm. The public key is then encrypted using the TDEA algorithm to obtain the private key. The control command undergoes MAC calculation to obtain the first MAC value. The control command is then compressed to obtain compressed data. This compressed data is then encrypted using the private key to obtain an encrypted string. An expiration date is set. The encrypted string, expiration date, first MAC value, and private key are then encrypted using the IDEA algorithm to obtain the encrypted command. This encrypted command is then sent to the robot via the TCP protocol. Since data encrypted with the private key can only be decrypted by the public key, and the public key undergoes double encryption using the TDEA and IDEA algorithms, and the MAC calculation uses a hash function with a secret key, it is more secure than ordinary hash calculations. The TCP protocol involves a three-way handshake, employing at least seven security measures (ECC algorithm, public and private keys, TDEA algorithm, MAC calculation, expiration date, IDEA algorithm, and TCP protocol), thus greatly enhancing the security of control command transmission.

[0042] 5. A second MAC value is obtained by performing MAC calculation on the execution report. The execution report and the second MAC value are then encrypted using the 3DES algorithm to obtain first-level encrypted data. Second-level encrypted data is obtained by character mapping of the first-level encrypted data according to a preset mapping rule. The second-level encrypted data is then segmented based on a preset segmentation ratio and the order of the segments is changed to obtain third-level encrypted data. The third-level encrypted data is then encrypted using the IDEA algorithm to obtain an encrypted report. The encrypted report is then uploaded to the server using the TCP protocol. If the corresponding encryption algorithm, mapping rule, or segmentation ratio is unknown, the encrypted report cannot be cracked. At least six security measures are taken (MAC calculation, 3DES algorithm, mapping rule, segmentation ratio, IDEA algorithm, and TCP protocol), which greatly improves the security of the execution report transmission.

[0043] 6. By employing different encryption schemes in the stages of mobile terminal authentication, mobile terminal sending control commands, server encrypted control commands, and robot encrypted execution reports, the security of robot operation control is effectively improved.

[0044] 7. By putting currently unused functional modules into a sleep state, the fan speed is dynamically adjusted based on the temperature value sensed by the temperature sensor to dissipate heat from the robot, effectively reducing the robot's operating power consumption.

[0045] 8. As a widely used network protocol, TCP provides a reliable, connection-oriented communication method. In this communication mode, data transmission is bidirectional, and the integrity and order of data are guaranteed during data transmission. Before communication begins, both parties need to establish a TCP connection, which requires a three-way handshake process to ensure that both parties are ready to exchange data. To cope with network congestion, the TCP protocol implements congestion control algorithms, such as slow start, congestion avoidance, fast retransmission, and fast recovery, to dynamically adjust the data transmission rate. In other words, transmitting data through the TCP protocol effectively improves the reliability and speed of data transmission. Attached Figure Description

[0046] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0047] Figure 1 This is a flowchart of a control method for a multifunctional intelligent mobile robot according to the present invention.

[0048] Figure 2 This is one of the structural schematic diagrams of a multifunctional intelligent mobile robot according to the present invention.

[0049] Figure 3 This is the second structural schematic diagram of a multifunctional intelligent mobile robot according to the present invention.

[0050] Figure 4 This is one of the structural schematic diagrams of the omnidirectional mobile chassis of the present invention.

[0051] Figure 5 This is the second schematic diagram of the omnidirectional mobile chassis of the present invention.

[0052] Figure 6 This is a front view of the omnidirectional mobile chassis of the present invention.

[0053] Figure 7 This is a circuit block diagram of a multifunctional intelligent mobile robot according to the present invention.

[0054] Marking Description:

[0055] 100 - A multifunctional intelligent mobile robot, 1 - Omnidirectional mobile chassis, 2 - Shell, 3 - Control module, 4 - Power module, 5 - Communication module, 6 - USB interface, 7 - LED holographic screen, 8 - Environmental perception module, 9 - Voice interaction module, 10 - Heat dissipation module, 20 - Light strip, 30 - Emergency stop button, 40 - Positioner, 11 - Base plate, 12 - Driven wheel, 13 - Universal wheel, 14 - Hub motor, 15 - Sleeve, 31 - CPU, 32 - GPU, 33 - Memory, 41 - Battery, 42 - AC / DC module, 43 - Power interface, 81 - LiDAR, 82 - Ultrasonic sensor, 83 - 3D depth camera, 84 - Wide-angle camera, 85 - Humidity sensor, 91 - Microphone array, 92 - Speaker, 101 - Temperature sensor, 102 - Fan. Detailed Implementation

[0056] The overall concept of the technical solution in this application embodiment is as follows: Based on the target address name, target address latitude and longitude, LiDAR scanning results, and map planning, the rationality of the planning is effectively improved. During the movement, obstacle detection is performed by ultrasonic sensors, and terrain detection is performed by 3D depth cameras to continuously optimize the movement route and ensure that the robot can move smoothly to the target address. The battery level is monitored in real time during the robot's operation. When the battery level equals the power consumption required for returning to the position, the robot automatically returns to the position to recharge without manual charging. The mobile terminal is authenticated, and the control commands sent by the mobile terminal are verified and encrypted. The encrypted commands are sent to the robot based on the TCP protocol. The robot encrypts the generated execution report and sends it back to the mobile terminal. That is, the entire life cycle of control command transmission and execution is verified and encrypted / decrypted to prevent relevant data from being stolen or tampered with in plaintext, thereby improving the convenience and security of robot control.

[0057] Please refer to Figures 1 to 7 As shown, the present invention requires the use of a multifunctional intelligent mobile robot, comprising:

[0058] An omnidirectional mobile chassis 1 is used to carry the robot 100 and move the robot 100;

[0059] A housing 2 is vertically mounted on the top of the omnidirectional mobile chassis 1 to provide safety protection for the robot 100;

[0060] A control module 3 is located inside the housing 2 and connected to the omnidirectional mobile chassis 1, and is used to control the operation of the robot 100;

[0061] A power module 4 is located inside the omnidirectional mobile chassis 1 and connected to the control module 3, for supplying power to the robot 100;

[0062] A communication module 5 is located inside the housing 2 and connected to the control module 3, for the robot 100 to communicate with the outside world;

[0063] At least one USB interface 6 is provided on the outer surface of the housing 2 and connected to the control module 3 for transmitting data with the robot 100;

[0064] An LED holographic screen 7 is disposed on the outer surface of the housing 2 and connected to the control module 3 for displaying 3D content;

[0065] The principle of the LED holographic screen 7 displaying 3D content is as follows: Each pixel of the LED holographic screen 7 is individually equipped with a swing motor (not shown), so that each pixel can be precisely controlled to move to a direction that can only be seen by one eye, resulting in two pixels that are different for the left and right eyes. The user can only see one side of the pixels with one eye, that is, generating two slightly different images (stereoscopic images). These images are protected by parallax barrier technology to ensure that the left eye can only see the pixels designed for the left eye, and the right eye can only see the pixels designed for the right eye, thereby creating a sense of depth and producing a 3D visual effect.

[0066] An environmental sensing module 8 is connected to the control module 3 and is used to collect environmental parameters in real time.

[0067] A voice interaction module 9 is disposed on the outer surface of the housing 2 and connected to the control module 3, for voice interaction with the robot 100;

[0068] A heat dissipation module 10 is disposed inside the housing 2 and connected to the control module 3 for heat dissipation of the robot 100;

[0069] At least one light strip 20 is disposed on the outer surface of the housing 2 and connected to the control module 3, for indicating the working status of the robot 100;

[0070] An emergency stop button 30 is located on the outer surface of the housing 2 and connected to the control module 3, for emergency stopping of the robot 100.

[0071] The omnidirectional mobile chassis 1 includes:

[0072] A base plate 11;

[0073] Four driven wheels 12 are symmetrically installed at the bottom end of the base plate 11;

[0074] Two casters 13 are symmetrically installed at the bottom end of the base plate 11, respectively located between the two driven wheels 12;

[0075] Two hub motors 14 are located at the top of the base plate 11. Their power output ends are respectively connected to one of the casters 13, and their control ends are connected to the control module 3. The hub motors 14 are used to drive the casters 13 to rotate, thereby causing the driven wheels 12 to rotate.

[0076] A sleeve 15 is disposed at the top of the base plate 11; the housing 2 is disposed vertically at the top of the sleeve 15.

[0077] By controlling the two casters 13 to rotate in opposite directions at the same speed, a 360° rotation in place can be achieved. Controlling the two casters 13 to move in the same direction can achieve forward and backward movement, while moving in the same direction at different speeds can achieve left and right movement, but this will have a turning radius instead of rotating in place. Since there are four driven wheels 12 around the perimeter, they can serve as the main load-bearing structure. When not moving, the casters 13 can also serve as the secondary load-bearing structure. Because the driven wheels 12 of the entire omnidirectional moving chassis 1 are symmetrically distributed in the center, stable load-bearing can be achieved.

[0078] The control module 3 includes:

[0079] A CPU 31 is connected to the omnidirectional mobile chassis 1, power module 4, communication module 5, USB interface 6, LED holographic screen 7, environmental perception module 8, voice interaction module 9, heat dissipation module 10, light strip 20, and emergency stop button 30, respectively, and is used to control the operation of the robot 100. In specific implementation, any CPU that can perform this function can be selected from the existing technology, and it is not limited to any particular model, such as the STM32F103 series CPU from STMicroelectronics. Moreover, the control program is well known to those skilled in the art, and can be obtained by those skilled in the art without creative effort.

[0080] A GPU 32 is connected to the CPU 31 and the power module 4 respectively, and is used to render the content displayed on the LED holographic screen 7. In specific implementation, it is only necessary to select a GPU that can perform this function from the existing technology, and it is not limited to any particular model. Moreover, the control program is well known to those skilled in the art, and it can be obtained by those skilled in the art without creative effort.

[0081] A memory 33, connected to the CPU 31, is used to store the operating data of the robot 100.

[0082] The power module 4 includes:

[0083] A battery 41 is located inside the omnidirectional mobile chassis 1 and connected to the control module 3 to power the robot 100.

[0084] An AC / DC module 42 is located inside the omnidirectional mobile chassis 1 and connected to the battery 41, for converting AC power to DC power to charge the battery 41;

[0085] A power interface 43 is located on the outer surface of the omnidirectional mobile chassis 1 and is connected to the ACDC module 42 for connecting a charging dock (not shown) to charge the battery 41.

[0086] The communication module 5 is at least one of the following: 2G communication module, 3G communication module, 4G communication module, 5G communication module, NB-IoT communication module, LoRa communication module, WIFI communication module, Bluetooth communication module, ZigBee communication module, or wired communication module.

[0087] The USB interface 6 is equipped with a dust plug (not shown) to prevent dust accumulation in the USB interface 6.

[0088] The environment sensing module 8 includes:

[0089] At least one lidar 81 is disposed on the outer surface of the omnidirectional mobile chassis 1 and connected to the control module 3 for map drawing and navigation;

[0090] At least one ultrasonic sensor 82 is disposed on the outer surface of the omnidirectional mobile chassis 1 and connected to the control module 3 for obstacle avoidance;

[0091] At least one 3D depth camera 83 is disposed on the outer surface of the housing 2 and connected to the control module 3, and is used to prevent falls by voice.

[0092] At least one wide-angle camera 84 is disposed on the outer surface of the housing 2 and connected to the control module 3 for acquiring environmental images;

[0093] At least one humidity sensor 85 is disposed on the outer surface of the housing 2 and connected to the control module 3 for collecting ambient humidity.

[0094] The voice interaction module 9 includes:

[0095] A microphone array 91 is disposed on the outer surface of the housing 2 and connected to the control module 3 for sound pickup;

[0096] A speaker 92 is disposed on the outer surface of the housing 2 and connected to the control module 3 for playing audio.

[0097] The heat dissipation module 10 includes:

[0098] At least one temperature sensor 101 is disposed inside the housing 2 and connected to the control module 3 for collecting the temperature value inside the robot 100;

[0099] At least one fan 102 is disposed inside the housing 2 and connected to the control module 3 for heat dissipation of the robot 100.

[0100] Also includes:

[0101] A locator 40 is disposed inside the housing 2 and connected to the control module 3; the locator 40 is a GPS locator or a Beidou locator and is used for the positioning of the robot 100.

[0102] A preferred embodiment of the control method for a multifunctional intelligent mobile robot of the present invention includes the following steps:

[0103] Step S1: After authenticating the mobile terminal, the server receives control commands sent by the mobile terminal.

[0104] Step S2: After verifying the control command, the server encrypts the control command into an encrypted command and sends the encrypted command to the robot through the communication module based on the TCP protocol.

[0105] Step S3: The robot's control module decrypts the received encrypted instructions to obtain control instructions, and parses the control instructions to obtain the target address name, target address latitude and longitude, and control content;

[0106] Step S4: The control module automatically plans the travel route based on the target address name and the target address's latitude and longitude.

[0107] Step S5: The control module controls the hub motor to work based on the travel route to move the robot to the target address. During the movement, the travel route is continuously optimized and energy consumption is controlled.

[0108] Step S6: The control module executes the control content, stores the execution data generated during the execution process in real time to the memory, and generates an execution report;

[0109] Step S7: The control module displays the execution report through an LED holographic screen, encrypts the execution report into an encrypted report, and sends the encrypted report back to the mobile terminal via the TCP protocol;

[0110] Step S8: During the robot's operation, the control module controls the heat dissipation module to dissipate heat from the robot, monitors the battery level in real time, and controls the robot to return to its original position for charging based on the travel route.

[0111] Step S1 specifically involves:

[0112] The mobile terminal sends a connection request to the server, carrying the account, password, request time, and a first hash value; the first hash value is obtained by hashing the account, password, and request time.

[0113] The mobile terminal sends a connection request to the server, carrying the account, password, request time, and first hash value. The first hash value is obtained by hashing the account, password, and request time. Subsequently, integrity verification can be performed using the first hash value, timeliness verification can be performed using the request time, and identity verification can be performed using the account and password. These three security measures prevent unauthorized mobile terminals from connecting to the server and controlling the robot, effectively improving the security of robot control.

[0114] The server parses the received connection request to obtain the account, password, request time, and first hash value. It then performs integrity verification on the account, password, and request time using the first hash value, and time expiration verification using the request time. Finally, it authenticates the account and password using a preset password table to complete identity verification and sends a connection permission response to the mobile terminal.

[0115] The mobile terminal establishes a heartbeat connection with the server based on the received connection permission response, and sends a control command to the server carrying the target address name, target address latitude and longitude, control content, transmission time and a second hash value; the second hash value is obtained by hashing the target address name, target address latitude and longitude, control content and transmission time.

[0116] The mobile terminal sends a control command to the server, carrying the target address name, target address latitude and longitude, control content, sending time, and a second hash value. The second hash value is obtained by hashing the target address name, target address latitude and longitude, control content, and sending time. The integrity can be verified by the second hash value and the timeliness can be verified by the sending time, effectively ensuring the security of the control command transmission.

[0117] Step S2 specifically involves:

[0118] The server receives the control command in real time, parses the control command to obtain the target address name, target address latitude and longitude, control content, sending time and second hash value, performs integrity verification on the target address name, target address latitude and longitude, control content and sending time based on the second hash value, and performs timeliness verification through the sending time to complete the verification of the control command;

[0119] The server creates a public and private key pair based on the ECC algorithm, encrypts the public key using the TDEA algorithm to obtain the key, calculates the first MAC value for the control command, compresses the control command using a preset compression algorithm to obtain compressed data, encrypts the compressed data using the private key to obtain an encrypted string, sets an expiration period, and encrypts the encrypted string, expiration period, first MAC value, and key using the IDEA algorithm to obtain an encrypted command. The encrypted command is then sent to the robot in real time via the communication module based on the TCP protocol.

[0120] The server creates a public and private key pair based on the ECC algorithm. The public key is then encrypted using the TDEA algorithm to obtain the private key. A MAC value is calculated on the control command to obtain the first MAC value. The control command is then compressed to obtain compressed data. This compressed data is then encrypted using the private key to obtain an encrypted string. An expiration date is set. The encrypted string, expiration date, first MAC value, and private key are then encrypted using the IDEA algorithm to obtain an encrypted command. This encrypted command is then sent to the robot via the TCP protocol. Because data encrypted with the private key can only be decrypted by the public key, and the public key undergoes double encryption using the TDEA and IDEA algorithms, and the MAC calculation uses a hash function with a secret key, it is more secure than ordinary hash calculations. The TCP protocol involves a three-way handshake, employing at least seven security measures (ECC algorithm, public and private keys, TDEA algorithm, MAC calculation, expiration date, IDEA algorithm, and TCP protocol), thus greatly enhancing the security of control command transmission.

[0121] Because TCP is a widely used network protocol, it provides a reliable, connection-oriented communication method. In this communication mode, data transmission is bidirectional, and the integrity and order of data are guaranteed during the transmission process. Before communication begins, both parties need to establish a TCP connection, which requires a three-way handshake process to ensure that both parties are ready to exchange data. To cope with network congestion, the TCP protocol implements congestion control algorithms, such as slow start, congestion avoidance, fast retransmission, and fast recovery, to dynamically adjust the data transmission rate. In other words, transmitting data through the TCP protocol effectively improves the reliability and speed of data transmission.

[0122] Step S3 specifically involves:

[0123] The robot's control module receives the encrypted instructions in real time, decrypts the instructions using the IDEA algorithm to obtain an encrypted string, validity period, first MAC value, and key. After verifying the validity period, it decrypts the key using the TDEA algorithm to obtain a public key. It then decrypts the encrypted string using the public key to obtain compressed data. Finally, it decompresses the compressed data using a preset compression algorithm to obtain control instructions. After verifying the integrity of the control instructions using the first MAC value, it parses the control instructions to obtain the target address name, target address latitude and longitude, and control content.

[0124] Step S4 specifically involves:

[0125] The control module obtains the scanning results by performing environmental scanning with LiDAR, and automatically plans the travel route based on the target address name, target address latitude and longitude, scanning results and preset map.

[0126] Step S5 specifically involves:

[0127] The control module controls the hub motors based on the travel route to move the robot to the target address. During the movement, it uses ultrasonic sensors to detect obstacles and 3D depth cameras to detect terrain, continuously optimizing the travel route and putting currently unused functional modules into a sleep state for energy consumption control.

[0128] Step S6 specifically involves:

[0129] The control module executes the control content, stores the execution data generated during the execution process in real time to the memory, performs edge computing analysis on each execution data based on the control content to obtain analysis results, and generates an execution report that carries at least the execution time, robot number, control instructions and analysis results.

[0130] For example, if the control content is to identify the number of people at the target address, the control module needs to activate a wide-angle camera to capture environmental images, and then perform edge computing analysis on the environmental images based on a pre-trained neural network model to obtain analysis results including the number of people.

[0131] Step S7 specifically involves:

[0132] The control module asynchronously controls the LED holographic screen to display the execution report, performs MAC calculation on the execution report to obtain a second MAC value, encrypts the execution report and the second MAC value using the 3DES algorithm to obtain first-level encrypted data, performs character mapping on the first-level encrypted data using a preset mapping rule to obtain second-level encrypted data, divides the second-level encrypted data based on a preset segmentation ratio and swaps the order to obtain third-level encrypted data, and encrypts the third-level encrypted data using the IDEA algorithm to obtain an encrypted report;

[0133] The execution report is processed by performing a MAC calculation to obtain a second MAC value. The execution report and the second MAC value are then encrypted using the 3DES algorithm to obtain first-level encrypted data. A second-level encrypted data is obtained by mapping the first-level encrypted data to characters using a preset mapping rule. The second-level encrypted data is then segmented based on a preset segmentation ratio and its order is reversed to obtain third-level encrypted data. Finally, the third-level encrypted data is encrypted using the IDEA algorithm to obtain an encrypted report. This encrypted report is then uploaded to the server using the TCP protocol. Without knowing the corresponding encryption algorithm, mapping rule, or segmentation ratio, the encrypted report cannot be cracked. At least six security measures are implemented (MAC calculation, 3DES algorithm, mapping rule, segmentation ratio, IDEA algorithm, and TCP protocol), thus greatly enhancing the security of the execution report transmission.

[0134] By employing different encryption schemes in the stages of mobile terminal authentication, mobile terminal sending control commands, server encrypted control commands, and robot encrypted execution reports, the security of robot operation control is effectively improved.

[0135] The control module selects the communication channel of the communication module based on the signal strength, and uploads the encrypted report to the server in real time based on the TCP protocol. The server then feeds back the received encrypted report to the mobile terminal.

[0136] Step S8 specifically involves:

[0137] During robot operation, the control module dynamically adjusts the fan speed to dissipate heat from the robot based on the temperature value sensed by the temperature sensor, and monitors the battery level in real time. When the battery level equals the power consumption required for returning to its original position, or when the control command is executed, the module controls the robot to return to its original position for charging based on the travel route.

[0138] By putting currently unused functional modules into a sleep state, and dynamically adjusting the fan speed based on the temperature value sensed by the temperature sensor to dissipate heat from the robot, the robot's operating power consumption is effectively reduced.

[0139] Step S8 further includes:

[0140] The control module controls the light strip to change colors to indicate the current working status.

[0141] In summary, the advantages of this invention are:

[0142] 1. After authenticating the mobile terminal via the server, the system receives control commands from the mobile terminal, verifies the commands, encrypts them, and sends the encrypted commands to the robot via TCP protocol. The robot's control module then decrypts the encrypted commands, parses them to obtain the target address name, target address latitude and longitude, and control content. Based on the target address name and latitude and longitude, the system automatically plans a route and controls the hub motors to move the robot to the target address. During the movement, the system continuously optimizes the route and controls energy consumption. The control module then executes the control content, storing the execution data in real-time to the memory and generating an execution report. This report is displayed on an LED holographic screen and encrypted before being sent back to the mobile terminal. During robot operation, the control module controls the cooling module to dissipate heat, monitors the battery level in real-time, and controls the robot to return to its charging position based on the route. Because the travel route is based on the target address name, target address latitude and longitude, LiDAR scanning results, and map planning, the rationality of the travel route planning is effectively improved. During the movement, obstacle detection is performed using ultrasonic sensors, and terrain detection is performed using 3D depth cameras to continuously optimize the travel route and ensure that the robot can move smoothly to the target address. By monitoring the battery level in real time during the robot's operation, when the battery level equals the power consumption required for returning to the position, the robot is controlled to return to the position for charging based on the travel route, eliminating the need for manual charging. By authenticating the mobile terminal and verifying and encrypting the control commands sent by the mobile terminal, the encrypted commands are sent to the robot via the TCP protocol. The robot generates an execution report, which is then encrypted and fed back to the mobile terminal. This means that the entire lifecycle of control command transmission and execution is subject to corresponding verification and encryption / decryption to prevent related data from being stolen or tampered with in plaintext, ultimately greatly improving the convenience and security of robot control.

[0143] 2. The mobile terminal sends a connection request to the server, carrying the account, password, request time, and first hash value. The first hash value is obtained by hashing the account, password, and request time. Subsequently, integrity verification can be performed using the first hash value, timeliness verification can be performed using the request time, and identity verification can be performed using the account and password. These three security measures prevent unauthorized mobile terminals from connecting to the server and controlling the robot, effectively improving the security of robot control.

[0144] 3. The mobile terminal sends a control command to the server, carrying the target address name, target address latitude and longitude, control content, sending time, and a second hash value. The second hash value is obtained by hashing the target address name, target address latitude and longitude, control content, and sending time. The integrity can be verified by the second hash value and the timeliness can be verified by the sending time, which effectively ensures the security of the control command transmission.

[0145] 4. The server creates a public and private key pair based on the ECC algorithm. The public key is then encrypted using the TDEA algorithm to obtain the private key. The control command undergoes MAC calculation to obtain the first MAC value. The control command is then compressed to obtain compressed data. This compressed data is then encrypted using the private key to obtain an encrypted string. An expiration date is set. The encrypted string, expiration date, first MAC value, and private key are then encrypted using the IDEA algorithm to obtain the encrypted command. This encrypted command is then sent to the robot via the TCP protocol. Since data encrypted with the private key can only be decrypted by the public key, and the public key undergoes double encryption using the TDEA and IDEA algorithms, and the MAC calculation uses a hash function with a secret key, it is more secure than ordinary hash calculations. The TCP protocol involves a three-way handshake, employing at least seven security measures (ECC algorithm, public and private keys, TDEA algorithm, MAC calculation, expiration date, IDEA algorithm, and TCP protocol), thus greatly enhancing the security of control command transmission.

[0146] 5. A second MAC value is obtained by performing MAC calculation on the execution report. The execution report and the second MAC value are then encrypted using the 3DES algorithm to obtain first-level encrypted data. Second-level encrypted data is obtained by character mapping of the first-level encrypted data according to a preset mapping rule. The second-level encrypted data is then segmented based on a preset segmentation ratio and the order of the segments is changed to obtain third-level encrypted data. The third-level encrypted data is then encrypted using the IDEA algorithm to obtain an encrypted report. The encrypted report is then uploaded to the server using the TCP protocol. If the corresponding encryption algorithm, mapping rule, or segmentation ratio is unknown, the encrypted report cannot be cracked. At least six security measures are taken (MAC calculation, 3DES algorithm, mapping rule, segmentation ratio, IDEA algorithm, and TCP protocol), which greatly improves the security of the execution report transmission.

[0147] 6. By employing different encryption schemes in the stages of mobile terminal authentication, mobile terminal sending control commands, server encrypted control commands, and robot encrypted execution reports, the security of robot operation control is effectively improved.

[0148] 7. By putting currently unused functional modules into a sleep state, the fan speed is dynamically adjusted based on the temperature value sensed by the temperature sensor to dissipate heat from the robot, effectively reducing the robot's operating power consumption.

[0149] 8. As a widely used network protocol, TCP provides a reliable, connection-oriented communication method. In this communication mode, data transmission is bidirectional, and the integrity and order of data are guaranteed during data transmission. Before communication begins, both parties need to establish a TCP connection, which requires a three-way handshake process to ensure that both parties are ready to exchange data. To cope with network congestion, the TCP protocol implements congestion control algorithms, such as slow start, congestion avoidance, fast retransmission, and fast recovery, to dynamically adjust the data transmission rate. In other words, transmitting data through the TCP protocol effectively improves the reliability and speed of data transmission.

[0150] While specific embodiments of the present invention have been described above, those skilled in the art should understand that the specific embodiments described are merely illustrative and not intended to limit the scope of the present invention. Equivalent modifications and variations made by those skilled in the art in accordance with the spirit of the present invention should be covered within the scope of protection of the claims of the present invention.

Claims

1. A control method for a multifunctional intelligent mobile robot, characterized in that: Includes the following steps: Step S1: After authenticating the mobile terminal, the server receives control commands sent by the mobile terminal. Step S2: After verifying the control command, the server encrypts the control command into an encrypted command and sends the encrypted command to the robot through the communication module based on the TCP protocol. Step S3: The robot's control module decrypts the received encrypted instructions to obtain control instructions, and parses the control instructions to obtain the target address name, target address latitude and longitude, and control content; Step S4: The control module automatically plans the travel route based on the target address name and the target address's latitude and longitude. Step S5: The control module controls the hub motor to work based on the travel route to move the robot to the target address. During the movement, the travel route is continuously optimized and energy consumption is controlled. Step S6: The control module executes the control content, stores the execution data generated during the execution process in real time to the memory, and generates an execution report; Step S7: The control module displays the execution report through an LED holographic screen, encrypts the execution report into an encrypted report, and sends the encrypted report back to the mobile terminal via the TCP protocol; Step S8: During the robot's operation, the control module controls the heat dissipation module to dissipate heat from the robot, monitors the battery level in real time, and controls the robot to return to its original position for charging based on the travel route.

2. The control method for a multifunctional intelligent mobile robot as described in claim 1, characterized in that: Step S1 specifically involves: The mobile terminal sends a connection request to the server, carrying the account, password, request time, and a first hash value; the first hash value is obtained by hashing the account, password, and request time. The server parses the received connection request to obtain the account, password, request time, and first hash value. It then performs integrity verification on the account, password, and request time using the first hash value, and time expiration verification using the request time. Finally, it authenticates the account and password using a preset password table to complete identity verification and sends a connection permission response to the mobile terminal. The mobile terminal establishes a heartbeat connection with the server based on the received connection permission response, and sends a control command to the server carrying the target address name, target address latitude and longitude, control content, transmission time and a second hash value; the second hash value is obtained by hashing the target address name, target address latitude and longitude, control content and transmission time.

3. The control method for a multifunctional intelligent mobile robot as described in claim 1, characterized in that: Step S2 specifically involves: The server receives the control command in real time, parses the control command to obtain the target address name, target address latitude and longitude, control content, sending time and second hash value, performs integrity verification on the target address name, target address latitude and longitude, control content and sending time based on the second hash value, and performs timeliness verification through the sending time to complete the verification of the control command; The server creates a public and private key pair based on the ECC algorithm, encrypts the public key using the TDEA algorithm to obtain the key, calculates the first MAC value for the control command, compresses the control command using a preset compression algorithm to obtain compressed data, encrypts the compressed data using the private key to obtain an encrypted string, sets an expiration period, and encrypts the encrypted string, expiration period, first MAC value, and key using the IDEA algorithm to obtain an encrypted command. The encrypted command is then sent to the robot in real time via the communication module based on the TCP protocol.

4. The control method for a multifunctional intelligent mobile robot as described in claim 1, characterized in that: Step S3 specifically involves: The robot's control module receives the encrypted instructions in real time, decrypts the instructions using the IDEA algorithm to obtain an encrypted string, validity period, first MAC value, and key. After verifying the validity period, it decrypts the key using the TDEA algorithm to obtain a public key. It then decrypts the encrypted string using the public key to obtain compressed data. Finally, it decompresses the compressed data using a preset compression algorithm to obtain control instructions. After verifying the integrity of the control instructions using the first MAC value, it parses the control instructions to obtain the target address name, target address latitude and longitude, and control content.

5. The control method for a multifunctional intelligent mobile robot as described in claim 1, characterized in that: Step S4 specifically involves: The control module obtains the scanning results by performing environmental scanning with LiDAR, and automatically plans the travel route based on the target address name, target address latitude and longitude, scanning results and preset map.

6. The control method for a multifunctional intelligent mobile robot as described in claim 1, characterized in that: Step S5 specifically involves: The control module controls the hub motors based on the travel route to move the robot to the target address. During the movement, it uses ultrasonic sensors to detect obstacles and 3D depth cameras to detect terrain, continuously optimizing the travel route and putting currently unused functional modules into a sleep state for energy consumption control.

7. The control method for a multifunctional intelligent mobile robot as described in claim 1, characterized in that: Step S6 specifically involves: The control module executes the control content, stores the execution data generated during the execution process in real time to the memory, performs edge computing analysis on each execution data based on the control content to obtain analysis results, and generates an execution report that carries at least the execution time, robot number, control instructions and analysis results.

8. The control method for a multifunctional intelligent mobile robot as described in claim 1, characterized in that: Step S7 specifically involves: The control module asynchronously controls the LED holographic screen to display the execution report, performs MAC calculation on the execution report to obtain a second MAC value, encrypts the execution report and the second MAC value using the 3DES algorithm to obtain first-level encrypted data, performs character mapping on the first-level encrypted data using a preset mapping rule to obtain second-level encrypted data, divides the second-level encrypted data based on a preset segmentation ratio and swaps the order to obtain third-level encrypted data, and encrypts the third-level encrypted data using the IDEA algorithm to obtain an encrypted report; The control module selects the communication channel of the communication module based on the signal strength, and uploads the encrypted report to the server in real time based on the TCP protocol. The server then feeds back the received encrypted report to the mobile terminal.

9. The control method for a multifunctional intelligent mobile robot as described in claim 1, characterized in that: Step S8 specifically involves: During robot operation, the control module dynamically adjusts the fan speed to dissipate heat from the robot based on the temperature value sensed by the temperature sensor, and monitors the battery level in real time. When the battery level equals the power consumption required for returning to its original position, or when the control command is executed, the module controls the robot to return to its original position for charging based on the travel route.

10. The control method for a multifunctional intelligent mobile robot as described in claim 1, characterized in that: Step S8 further includes: The control module controls the light strip to change colors to indicate the current working status.

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