Pairing connection method, robot, and computer storage medium

Abstract

This invention relates to the field of robotics, and discloses a pairing and connection method, a robot, and a computer storage medium. The pairing and connection method is applied to a robot pairing and connecting with a base station. The robot scans for Bluetooth signals broadcast by the base station, wherein the Bluetooth signals carry base station Bluetooth information. If the robot has already been bound to a first base station, it determines whether the base station is the first base station based on the base station's Bluetooth information; if so, it pairs and connects with the first base station. This invention eliminates the need for users to send out both the robot and the base station when changing them, as both the robot and the base station can be adapted according to the pairing and connection method proposed in this invention. This not only improves the user experience but also effectively reduces the overall operation and maintenance costs of the robot.

Description

Technical Field

[0001] This invention relates to the field of robotics, and more particularly to a pairing and connection method, a robot, and a computer storage medium. Background Technology

[0002] With the continuous improvement of living standards and scientific and technological levels, more and more households are now using robots to provide services, especially to replace people in cleaning their homes or large spaces. This not only reduces people's workload but also improves cleaning efficiency.

[0003] Currently, robots need to establish a communication connection with a matching base station to obtain information related to performing cleaning operations. However, the most common connection method between existing robots and base stations is to pair the robot with the base station before it leaves the factory, based on 433MHz (an IoT protocol that generates 433 million clock pulses per second, with each clock signal having a period of 2.5 nanoseconds). Then, the robots are sold as a set to users. As a result, on the one hand, if either the robot or the base station malfunctions and needs repair or replacement during use, the user needs to send both the robot and the base station back together, resulting in high overall maintenance costs for the robot. On the other hand, because 433MHz has high power, it is easy to cause signal crosstalk between the robot or base station and other smart home devices, resulting in low accuracy of signal transmission between the robot and the base station.

[0004] However, Bluetooth connectivity also has its drawbacks. When a user has multiple robots and base stations in their home, crosstalk can easily occur between these devices. Furthermore, after replacing or resetting a robot or base station, pairing and connecting with other devices can also lead to crosstalk, and the connection speed is slow.

[0005] In summary, existing pairing connections between robots and base stations suffer from high maintenance costs for robots, poor signal transmission accuracy between robots and base stations, and slow connection speeds. Summary of the Invention

[0006] The main objective of this invention is to provide a pairing connection method, a robot, and a computer storage medium, aiming to solve the problems of high maintenance costs, poor signal transmission accuracy, and slow connection speed in existing pairing connections between robots and base stations.

[0007] To achieve the above objectives, the present invention provides a pairing connection method, which is applied to a robot to perform a pairing connection with a base station. The pairing connection method includes:

[0008] Scan the Bluetooth signal broadcast by the base station, wherein the Bluetooth signal carries the base station's Bluetooth information;

[0009] If the robot has already been bound to the first base station, then determine whether the base station is the first base station based on the base station's Bluetooth information;

[0010] If so, pair and connect with the first base station.

[0011] Furthermore, the base station Bluetooth information includes: the base station Bluetooth address;

[0012] The step of determining whether the base station is the first base station based on the base station Bluetooth information includes:

[0013] Obtain the Bluetooth address of the first base station stored locally;

[0014] Compare whether the Bluetooth address of the first base station matches the Bluetooth address of the base station;

[0015] If they match, then the base station is determined to be the first base station;

[0016] If there is a discrepancy, then the base station is determined not to be the first base station.

[0017] Further, if so, the step of pairing and connecting with the first base station includes:

[0018] If the base station is determined to be the first base station, a first Bluetooth connection request is sent to the first base station according to the base station Bluetooth address of the first base station, so that the first base station can directly pair and connect based on the first Bluetooth connection request.

[0019] Furthermore, after the step of sending a first Bluetooth connection request to the first base station based on the base station Bluetooth address of the first base station, the method further includes:

[0020] If the number of times the first base station sends a connection rejection notification based on the first Bluetooth connection request reaches a preset number, then the base station Bluetooth address of the first base station stored locally is cleared.

[0021] Furthermore, after the step of scanning the Bluetooth signal broadcast by the base station, the method further includes:

[0022] If the robot has already been bound to the first base station, then it is determined whether the base station is the second base station based on the base station's Bluetooth information, wherein the second base station's Bluetooth address is different from the first base station's Bluetooth address.

[0023] If the base station is determined to be the second base station, then pairing and connecting with the second base station is performed based on the second base station's Bluetooth address.

[0024] Furthermore, the Bluetooth signal also carries base station Bluetooth binding information;

[0025] The step of pairing and connecting with the second base station based on the second base station's Bluetooth address includes:

[0026] Determine whether the second base station has been bound to the robot based on the base station Bluetooth binding information;

[0027] If it is determined that the second base station is not bound to the robot, a second Bluetooth connection request is sent to the second base station according to the base station Bluetooth address of the second base station, so that the second base station can directly pair and connect based on the second Bluetooth connection request.

[0028] Furthermore, after the step of determining whether the second base station has been bound to the robot based on the base station Bluetooth binding information, the method further includes:

[0029] If it is determined that the second base station has been bound to the robot, a preset first prompt is output to perform a reset operation on the second base station.

[0030] Furthermore, each of the base stations broadcasts a Bluetooth signal, which also carries base station Bluetooth binding information, including the robot's Bluetooth address.

[0031] Following the step of scanning the Bluetooth signal broadcast by the base station, the method further includes:

[0032] If the robot has not been bound to the first base station, or if it is determined that the base station is not the first base station, then it is determined whether the base station Bluetooth binding information carried by each Bluetooth signal contains a robot Bluetooth address that is consistent with the robot Bluetooth address of the robot.

[0033] If a robot Bluetooth address that matches the robot's Bluetooth address is detected, a third Bluetooth connection request is sent to the third base station corresponding to the robot Bluetooth address.

[0034] Furthermore, the Bluetooth signal also carries the Bluetooth signal strength;

[0035] After the step of determining whether the base station Bluetooth binding information carried by each of the Bluetooth signals contains a robot Bluetooth address that matches the robot's robot Bluetooth address, the method further includes:

[0036] If it is determined that there is no robot Bluetooth address that matches the robot's robot Bluetooth address, then the fourth base station is identified;

[0037] It is paired and connected with the fourth base station.

[0038] Furthermore, the step of pairing and connecting with the fourth base station includes:

[0039] Determine whether the fourth base station has been bound to the robot based on the base station Bluetooth binding information;

[0040] If it is determined that the fourth base station is not bound to the robot, then the fourth base station with the strongest Bluetooth signal among the base stations is determined, and a fourth Bluetooth connection request is sent to the fourth base station according to the base station Bluetooth address of the fourth base station, so that the fourth base station can directly pair and connect based on the fourth Bluetooth connection request.

[0041] If it is determined that the fourth base station has been bound to the robot, a preset second prompt is output to perform a reset operation on the fourth base station.

[0042] Furthermore, the method also includes:

[0043] If it is determined that none of the base stations is the first base station and the base station Bluetooth binding information of each base station does not contain a robot Bluetooth address that matches the robot Bluetooth address of the robot, or if the number of times the base station sends a connection refusal notification to the robot reaches a preset number, then the base station Bluetooth address of the first base station stored locally is cleared.

[0044] Furthermore, to achieve the above objectives, the present invention also provides a pairing connection method, which is applied to a pairing connection between a robot and a base station, the pairing connection method comprising:

[0045] The robot scans the Bluetooth signal broadcast by the base station, wherein the Bluetooth signal carries the base station's Bluetooth information;

[0046] If the robot has already been bound to the first base station, the robot determines whether the base station is the first base station based on the base station's Bluetooth information;

[0047] If so, the robot will pair and connect with the first base station.

[0048] Furthermore, to achieve the above objectives, the present invention also provides a pairing connection device, which is used for pairing connections between a robot and a base station, the pairing connection device comprising:

[0049] A scanning module is used to scan Bluetooth signals broadcast by a base station, wherein the Bluetooth signals carry Bluetooth information of the base station;

[0050] The determination module is used to determine whether the base station is the first base station based on the Bluetooth information of the base station if the robot has been bound to the first base station.

[0051] The pairing connection module is used to pair and connect with the first base station.

[0052] In this invention, each functional module of the pairing connection device implements the steps of the pairing connection method described above during operation.

[0053] In addition, to achieve the above objectives, the present invention also provides a robot, the robot comprising: a memory, a processor, and a pairing connection program stored in the memory and executable on the processor, wherein the pairing connection program, when executed by the processor, implements the steps of the pairing connection method as described above.

[0054] In addition, to achieve the above objectives, the present invention also provides a computer storage medium storing a pairing connection program, which, when executed by a processor, implements the steps of the pairing connection method as described above.

[0055] In addition, to achieve the above objectives, the present invention also provides a computer program product comprising a computer program that, when executed by a processor, implements the steps of the pairing connection method as described above.

[0056] This invention provides a pairing connection method, apparatus, robot, computer storage medium, and computer program product. The pairing connection method is applied to a robot to pair with a base station. The robot scans the Bluetooth signal broadcast by the base station, wherein the Bluetooth signal carries the base station's Bluetooth information. If the robot has already been bound to a first base station, it determines whether the current base station is the first base station based on the base station's Bluetooth information. If so, it pairs with the first base station.

[0057] In the process of establishing a pairing connection between a robot and a base station, the robot first scans the Bluetooth signals broadcast by currently available base stations that carry its own base station's Bluetooth information. Then, if the robot has already been bound to a first base station, the robot immediately determines, based on the base station's Bluetooth information carried in the Bluetooth signal, whether the base station currently broadcasting the Bluetooth signal is the first base station it has already bound. If the robot determines that the base station is the first base station, the robot immediately pairs and connects with the first base station.

[0058] This invention enables robots to automatically scan base stations and determine if a base station is one they have already bound to. Upon confirming that the base station is one they have already bound to, the robot directly pairs and connects with it. This eliminates the need for traditional 433MHz protocol-based systems that restrict pairing to the pre-shipment environment. Instead, the robot can flexibly pair and connect with base stations in the user's actual usage environment after shipment. Furthermore, when users replace the robot or base station, they no longer need to send both the robot and the base station out, as both can be adapted to the pairing and connection method proposed in this invention. This not only improves the user experience but also effectively reduces the overall maintenance cost of the robot.

[0059] Furthermore, this invention enables the robot and the base station to quickly establish a pairing connection only when they are powered on and within each other's Bluetooth radiation range. This eliminates the need for users to trigger the corresponding pairing connection command in specific scenarios (such as placing the robot and the base station in specific locations), greatly simplifying user operations and improving the ease of establishing a pairing connection between the robot and the base station. Attached Figure Description

[0060] Figure 1 This is a schematic diagram of the device structure of the hardware operating environment of the mobile device involved in the embodiments of the present invention;

[0061] Figure 2 This is a flowchart illustrating the first embodiment of the pairing and connection method of the present invention;

[0062] Figure 3 This is a schematic diagram of an application process according to an embodiment of the pairing connection method of the present invention;

[0063] Figure 4 This is a schematic diagram of another application process involving an embodiment of the pairing connection method of the present invention;

[0064] Figure 5 This is a schematic diagram of the functional modules of the pairing and connecting device of the present invention.

[0065] The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0066] It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

[0067] Reference Figure 1 , Figure 1 This is a schematic diagram of the device structure of the robot involved in an embodiment of the present invention. The robot can be used for automatic cleaning of the ground, and its application scenarios include home cleaning, cleaning of large venues, etc.

[0068] The robot in this embodiment of the invention includes a sweeping component to enable sweeping function, and / or includes a mopping component to enable mopping function, and other types of cleaning robots, etc.

[0069] like Figure 1 As shown, the robot may include: a processor 1001, such as a CPU; a communication bus 1002; a user interface 1003; a network interface 1004; a memory 1005; and a sensing unit 1006. The communication bus 1002 is used to enable communication between these components. The user interface 1003 may include a display screen and an input unit such as a keyboard; optionally, the user interface 1003 may also include a standard wired interface or a wireless interface. The network interface 1004 may optionally include a standard wired interface or a wireless interface (such as a Wi-Fi interface).

[0070] A memory 1005 is disposed on the robot body and stores a program that performs corresponding operations when executed by the processor 1001. The memory 1005 also stores parameters used by the robot. The memory 1005 can be a high-speed RAM or a stable, non-volatile memory, such as a disk drive. Alternatively, the memory 1005 can be a storage device independent of the aforementioned processor 1001.

[0071] The robot can communicate with the user terminal via network interface 1004. The robot can also communicate with a base station via short-range communication technology. The base station is a cleaning device used in conjunction with the robot.

[0072] The sensing unit 1006 includes various types of sensors, such as lidar, collision sensors, distance sensors, drop sensors, counters, and gyroscopes.

[0073] Inside the robot's main body are a counter and a gyroscope. The counter accumulates the total rotation angles of the drive wheels to calculate the distance the robot travels. The gyroscope detects the robot's rotation angle, thus determining the robot's orientation.

[0074] Those skilled in the art will understand that Figure 1 The robot structure shown does not constitute a limitation on the robot and may include more or fewer parts than shown, or combine certain parts, or have different arrangements of parts.

[0075] like Figure 1As shown, the memory 1005, which serves as a computer storage medium, may include an operating system, a network communication module, a user interface module, and a pairing connection program.

[0076] exist Figure 1 In the robot shown, the network interface 1004 is mainly used to connect to the base station and charging dock used with the robot, and to communicate with the base station for data. The base station can be used to charge the robot and clean the cleaning parts on the robot. The user interface 1003 is mainly used to connect to the client and to communicate with the client for data. The processor 1001 can be used to call the pairing connection program stored in the memory 1005 and perform the following operations:

[0077] Scan the Bluetooth signal broadcast by the base station, wherein the Bluetooth signal carries the base station's Bluetooth information;

[0078] If the robot has already been bound to the first base station, then determine whether the base station is the first base station based on the base station's Bluetooth information;

[0079] If so, pair and connect with the first base station.

[0080] Furthermore, the base station Bluetooth information includes: the base station Bluetooth address;

[0081] Processor 1001 can call the pairing and linking program stored in memory 1005, and also perform the following operations:

[0082] Obtain the Bluetooth address of the first base station stored locally;

[0083] Compare whether the Bluetooth address of the first base station matches the Bluetooth address of the base station;

[0084] If they match, then the base station is determined to be the first base station;

[0085] If there is a discrepancy, then the base station is determined not to be the first base station.

[0086] Furthermore, the processor 1001 can call the pairing and linking program stored in the memory 1005 and also perform the following operations:

[0087] If the base station is determined to be the first base station, a first Bluetooth connection request is sent to the first base station according to the base station Bluetooth address of the first base station, so that the first base station can directly pair and connect based on the first Bluetooth connection request.

[0088] Furthermore, the processor 1001 can call the pairing connection program stored in the memory 1005, and after executing the sending of the first Bluetooth connection request to the first base station according to the base station Bluetooth address of the first base station, it also performs the following operations:

[0089] If the number of times the first base station sends a connection rejection notification based on the first Bluetooth connection request reaches a preset number, then the base station Bluetooth address of the first base station stored locally is cleared.

[0090] Furthermore, the processor 1001 can call the pairing and connection program stored in the memory 1005, and after scanning the Bluetooth signal broadcast by the base station, it also performs the following operations:

[0091] If the robot has already been bound to the first base station, then it is determined whether the base station is the second base station based on the base station's Bluetooth information, wherein the second base station's Bluetooth address is different from the first base station's Bluetooth address.

[0092] If the base station is determined to be the second base station, then pairing and connecting with the second base station is performed based on the second base station's Bluetooth address.

[0093] Furthermore, the Bluetooth signal also carries base station Bluetooth binding information;

[0094] Processor 1001 can call the pairing and linking program stored in memory 1005, and also perform the following operations:

[0095] Determine whether the second base station has been bound to the robot based on the base station Bluetooth binding information;

[0096] If it is determined that the second base station is not bound to the robot, a second Bluetooth connection request is sent to the second base station according to the base station Bluetooth address of the second base station, so that the second base station can directly pair and connect based on the second Bluetooth connection request.

[0097] Furthermore, the processor 1001 can call the pairing and connection program stored in the memory 1005, and after determining whether the second base station has been bound to the robot based on the base station Bluetooth binding information, it also performs the following operations:

[0098] If it is determined that the second base station has been bound to the robot, a preset first prompt is output to perform a reset operation on the second base station.

[0099] Furthermore, each of the base stations broadcasts a Bluetooth signal, which also carries base station Bluetooth binding information, including the robot's Bluetooth address.

[0100] The processor 1001 can call the pairing connection program stored in the memory 1005, and after scanning the Bluetooth signal broadcast by the base station, it also performs the following operations:

[0101] If the robot has not been bound to the first base station, or if it is determined that the base station is not the first base station, then it is determined whether the base station Bluetooth binding information carried by each Bluetooth signal contains a robot Bluetooth address that is consistent with the robot Bluetooth address of the robot.

[0102] If a robot Bluetooth address that matches the robot's Bluetooth address is detected, a third Bluetooth connection request is sent to the third base station corresponding to the robot Bluetooth address.

[0103] Furthermore, the Bluetooth signal also carries the Bluetooth signal strength;

[0104] The processor 1001 can call the pairing connection program stored in the memory 1005. After determining whether the base station Bluetooth binding information carried by each Bluetooth signal contains a robot Bluetooth address that matches the robot's robot Bluetooth address, the processor 1001 also performs the following operations:

[0105] If it is determined that there is no robot Bluetooth address that matches the robot's robot Bluetooth address, then the fourth base station is identified;

[0106] It is paired and connected with the fourth base station.

[0107] Furthermore, the processor 1001 can call the pairing and linking program stored in the memory 1005 and also perform the following operations:

[0108] Determine whether the fourth base station has been bound to the robot based on the base station Bluetooth binding information;

[0109] If it is determined that the fourth base station is not bound to the robot, the fourth base station is selected based on the preset Bluetooth signal strength rules, and a fourth Bluetooth connection request is sent to the fourth base station according to the base station Bluetooth address of the fourth base station, so that the fourth base station can directly pair and connect based on the fourth Bluetooth connection request.

[0110] If it is determined that the fourth base station has been bound to the robot, a preset second prompt is output to perform a reset operation on the fourth base station.

[0111] Furthermore, the processor 1001 can call the pairing and linking program stored in the memory 1005 and also perform the following operations:

[0112] If it is determined that each of the base stations is not the first base station and it is determined that the base station Bluetooth binding information of each of the base stations does not contain a robot Bluetooth address that matches the robot Bluetooth address of the robot, or if the number of times the base station sends a connection refusal notification to the robot reaches a preset number, then the base station Bluetooth address of the first base station stored locally is cleared and unbound from the first base station.

[0113] Furthermore, the processor 1001 can call the pairing and linking program stored in the memory 1005 and also perform the following operations:

[0114] The robot scans the Bluetooth signal broadcast by the base station, wherein the Bluetooth signal carries the base station's Bluetooth information;

[0115] If the robot has already been bound to the first base station, the robot determines whether the base station is the first base station based on the base station's Bluetooth information;

[0116] If so, the robot will pair and connect with the first base station.

[0117] Based on the structure of the robot described above, various embodiments of the pairing and connection method of the present invention are proposed.

[0118] Please refer to Figure 2 , Figure 2 This is a flowchart illustrating the first embodiment of the pairing and connection method of the present invention. It should be noted that although the logical order is shown in the flowchart, in some cases, the steps shown or described may be performed in a different order than that shown here.

[0119] The pairing and connection method of the present invention is applied to the robot described above for pairing and connection with a base station. It should be understood that in this embodiment and other embodiments of the pairing and connection method of the present invention described below, the implementing entity of the pairing and connection method of the present invention is the robot described above, and the environment in which the robot is located may also include multiple robots and multiple base stations. Any robot in this environment can use the pairing and connection method of the present invention to select any one of the multiple base stations for Bluetooth connection.

[0120] The pairing connection method of the present invention includes:

[0121] Step S10: Scan the Bluetooth signal broadcast by the base station, wherein the Bluetooth signal carries the base station's Bluetooth information;

[0122] When the robot is powered on, it scans the Bluetooth signals broadcast by one or more base stations in the current environment. These Bluetooth signals carry the base station Bluetooth information of each base station.

[0123] Specifically, please refer to the following: Figure 3 In the application flow shown in this embodiment, the robot begins scanning for Bluetooth signals broadcast by one or more base stations in its environment as soon as it is powered on. Simultaneously, each base station also broadcasts its own Bluetooth information as a Bluetooth signal upon power-on, allowing the robot to scan and process the signal.

[0124] It should be noted that, in this embodiment, since the Bluetooth signals scanned by the robot in the current environment may also be broadcast by other devices besides the base station, after the robot scans each Bluetooth signal in the current environment, it also filters the devices broadcasting the Bluetooth signals to filter out the Bluetooth signals of the base stations that can be connected.

[0125] Specifically, for example, through a pre-arranged agreement between the robot and the base station, the base station, during the process of encapsulating its own Bluetooth information to form a Bluetooth signal, will include its pre-generated base station device name, according to device naming rules, as part of the broadcast Bluetooth signal. Thus, after the base station broadcasts the Bluetooth signal and the robot scans it, the robot, according to the agreement, can first extract the base station device name from the Bluetooth signal to determine if the device broadcasting the signal is a base station capable of pairing and connecting. If the robot cannot extract the base station device name from the scanned Bluetooth signal, or if the extracted name does not conform to the device naming rules, the robot determines that the device broadcasting the Bluetooth signal is not a base station.

[0126] In this embodiment, the device name rule can, of course, be pre-agreed upon by the robot and the base station. The base station device name generated based on this rule can specifically be a string containing the device product signal and a unique device identifier. It should be understood that, based on different design needs in actual applications, in any other feasible real-time method, the robot and the base station can agree on different device name rules for the robot to filter out connectable base stations according to these rules. The pairing and connection method of this invention does not limit the specific content of the device name rule used to filter out base stations or the specific format of the base station device name.

[0127] Step S20: If the robot has already been bound to the first base station, determine whether the base station is the first base station based on the base station's Bluetooth information;

[0128] After scanning the Bluetooth signals broadcast by one or more base stations in the current environment, if the robot detects that it has already bound to a first base station at the current moment, the robot immediately uses the base station Bluetooth information carried in the Bluetooth signal to determine whether each base station is the first base station it has bound to.

[0129] It should be noted that in this embodiment, the robot detects whether the base station Bluetooth address of the first base station it is bound to is stored locally at the current moment, and determines that it has already bound to the first base station at the current moment when the base station Bluetooth address is detected to be stored.

[0130] Furthermore, in one feasible embodiment, the base station Bluetooth information includes: the base station Bluetooth address;

[0131] When each base station broadcasts its own base station Bluetooth information via Bluetooth signals, it also includes its own base station Bluetooth address as part of the broadcast Bluetooth information.

[0132] In step S20 above, the step of "determining whether the base station is the first base station based on the base station Bluetooth information" may include:

[0133] Step S201: Obtain the Bluetooth address of the first base station stored locally.

[0134] Step S202: Compare whether the Bluetooth address of the first base station is consistent with the Bluetooth address of the base station;

[0135] Step S203: If they match, then the base station is determined to be the first base station;

[0136] Step S204: If there is no consistency, then it is determined that the base station is not the first base station.

[0137] After the robot detects the Bluetooth address of the first base station it has already bound to by in its local storage, thus confirming that it has already bound to that first base station, it immediately retrieves that first base station's Bluetooth address from its local storage and compares it with the base station's Bluetooth address carried in the scanned Bluetooth signal. If the two base station Bluetooth addresses match, the robot determines that the base station broadcasting the Bluetooth signal is the first base station it has already bound to; otherwise, the robot determines that the base station is not the first base station.

[0138] Step S30: If yes, pair and connect with the current base station.

[0139] Once the robot determines that the base station whose Bluetooth signal was scanned by the broadcast is the first base station it has already bound to, it immediately pairs and connects with that first base station.

[0140] Furthermore, in one feasible embodiment, step S30 may include:

[0141] Step S301: If the base station is determined to be the first base station, a first Bluetooth connection request is sent to the first base station according to the base station Bluetooth address of the first base station, so that the first base station can directly pair and connect based on the first Bluetooth connection request.

[0142] Please refer to the example below. Figure 3As shown in the application process, when the robot determines that it has already bound to the first base station, and further determines that the current device scanning the Bluetooth signal at the current moment is the first base station, it immediately sends a first Bluetooth connection request to the first base station. After receiving the first Bluetooth connection request, the first base station directly responds to the request and establishes a pairing connection with the robot.

[0143] In this implementation, between powering on and not yet pairing with a base station, the robot scans the Bluetooth signals broadcast by one or more base stations in its current environment. These Bluetooth signals carry the base station's Bluetooth information. After scanning the Bluetooth signals broadcast by one or more base stations in the current environment, if the robot detects that it is already bound to a first base station, it immediately uses the base station's Bluetooth information carried in the Bluetooth signal to determine whether each base station is the first base station it is bound to. When the robot determines that the base station broadcasting the scanned Bluetooth signal is the first base station it has already bound to, it immediately pairs with that first base station.

[0144] This invention enables robots to automatically scan base stations and determine if a base station is one they have already bound to. Upon confirming that the base station is one they have already bound, the robot directly pairs and connects with it. Unlike traditional 433MHz protocol-based systems that require pairing before shipment, this invention allows for flexible, automatic pairing with base stations in the user's actual environment after shipment. Furthermore, when users replace the robot or base station, they no longer need to ship both the robot and the base station, as both can be adapted to the pairing and connection method proposed in this invention. This not only improves the user experience but also effectively reduces the overall maintenance costs of the robot.

[0145] Furthermore, this invention enables the robot and the base station to quickly establish a pairing connection only when they are powered on and within each other's Bluetooth radiation range. This eliminates the need for users to trigger the corresponding pairing connection command in specific scenarios (such as placing the robot and the base station in specific locations), greatly simplifying user operations and improving the ease of establishing a pairing connection between the robot and the base station.

[0146] Furthermore, based on the first embodiment of the pairing connection method of the present invention described above, a second embodiment of the pairing connection method of the present invention is proposed.

[0147] The main difference between this embodiment and the first embodiment described above is that, in this embodiment, after the step of "sending a first Bluetooth connection request to the current base station according to the base station Bluetooth address of the first base station", it may further include:

[0148] Step A: If the number of times the first base station sends a connection rejection notification based on the first Bluetooth connection request reaches a preset number, then the base station Bluetooth address of the first base station stored locally is cleared.

[0149] It should be noted that in this embodiment, after the base station initially pairs and establishes a binding relationship with the robot, it may re-pair and bind with a new robot. For example, if the robot is sent back to the factory for repair due to a malfunction, the base station will unbind from that robot and then pair and bind with a new robot. In this case, the base station bound to the new robot will directly send a connection rejection notification because the robot sending the first Bluetooth connection request is not the new robot it bound.

[0150] Furthermore, it should be understood that when the robot sends the first Bluetooth connection request to the current base station that has been identified as the first base station to which it is bound, it also carries its own robot Bluetooth address in the request. Thus, after receiving the first Bluetooth connection request, the current base station can extract the robot Bluetooth address, compare it with the robot Bluetooth address of the robot it has already bound, and if the comparison is inconsistent, it can determine that the robot that sent the request is not the new robot it has bound, and then directly send back a connection rejection notification.

[0151] Please refer to the example below. Figure 4 The application process shown is as follows: After the robot sends a first Bluetooth connection request to the current base station that has been identified as the first base station it is bound to, if the robot receives a connection rejection notification from the first base station based on the first Bluetooth connection request, it immediately counts the number of times the first base station sends out the notification. Once the robot counts the number of times the first base station sends out the connection rejection notification, it determines that the first base station has been bound to the new robot, and then immediately clears the base station Bluetooth address of the first base station stored locally to unbind itself from the first base station, and then rescans other base stations to pair and connect.

[0152] It should be noted that in this embodiment, the preset number of times is the maximum threshold number of times the robot can trigger the clearing of the base station Bluetooth address bound to the first base station and the unbinding of the first base station. Based on different design needs of actual applications, the preset number of times can of course be designed to be different in any different implementation method. The pairing connection method of the present invention does not limit the specific size of the preset number of times.

[0153] Further, please refer to, for example Figure 4In one feasible embodiment of the application process shown, after the robot sends a first Bluetooth connection request to a first base station that it has already bound to, if the first base station does not currently have a new robot already bound to it, nor does it record a binding relationship with the robot that sent the request, the first base station will directly pair and connect with that robot. Afterwards, it waits to establish a binding relationship with the robot. If, during this time, the first base station does not receive a binding request from the robot within a preset time and thus fails to establish a binding, the first base station will also disconnect from the robot.

[0154] In addition, please refer to the following: Figure 3 The application flow shown is as follows: After the robot establishes a Bluetooth pairing connection by responding to the Bluetooth connection request from the base station, if it detects that the base station is a new base station (confirmed by detecting the base station Bluetooth binding information contained in the Bluetooth signal broadcast by the base station), or if the robot itself is not bound to a base station, the robot will further send a binding request containing its own robot Bluetooth address to the base station. After receiving the request, if the base station determines that it is not currently bound to the robot based on the robot Bluetooth address in its own base station Bluetooth binding information (when the base station is not bound to any robot, the robot Bluetooth address in the base station Bluetooth binding information is empty or in a pre-set special format), the base station will respond to the request by storing the robot Bluetooth address carried in the request locally as base station Bluetooth binding information, thereby successfully establishing a binding relationship with the robot.

[0155] In this embodiment, after the robot establishes a Bluetooth connection with the base station, it establishes a binding relationship with the base station based on the fact that the base station has not yet bound the robot. In this way, when the robot tries to pair with the base station again, the base station can directly connect based on the binding relationship, which improves the speed and stability of Bluetooth pairing between the robot and the base station.

[0156] Furthermore, when the base station refuses or disconnects the Bluetooth pairing connection with the robot a preset number of times because it has already been paired with a new robot or because it has not received a pairing request for an extended period of time, the robot will unpair its connection with that base station. This allows the robot to scan for and pair with subsequent unpaired base stations. This avoids situations where the base station is unable to connect due to a new robot already connected or where the robot cannot pair with the base station due to network issues, thus greatly improving the intelligence of the pairing connection between the robot and the base station.

[0157] Furthermore, based on the first embodiment of the pairing connection method of the present invention described above, a third embodiment of the pairing connection method of the present invention is proposed.

[0158] The main difference between this embodiment and the first embodiment described above is that, in this embodiment, after scanning the Bluetooth signal broadcast by the base station in step S10, the pairing and connection method of the present invention may further include:

[0159] Step S40: If the robot has already been bound to the first base station, determine whether the base station is the second base station based on the base station's Bluetooth information, wherein the base station Bluetooth address of the second base station is inconsistent with the base station Bluetooth address of the first base station.

[0160] If the robot is already bound to a first base station at the current moment, in addition to determining whether the base station whose Bluetooth signal is scanned by the broadcast is the first base station, it also determines whether the base station is a second base station whose base station Bluetooth address is inconsistent with the base station Bluetooth address of the first base station.

[0161] It should be understood that in this embodiment, the process by which the robot determines whether a base station is a second base station based on the base station Bluetooth address carried in the Bluetooth signal is the same as the process by which the robot determines whether a base station is a first base station. Both involve comparing the base station Bluetooth addresses. The only difference is that when the two base station Bluetooth addresses are inconsistent, the base station is determined to be the second base station.

[0162] Step S50: If the base station is determined to be the second base station, then pair and connect with the second base station according to the base station Bluetooth address of the second base station.

[0163] After the robot determines that the base station broadcasting the Bluetooth signal is the second base station by comparing the base station Bluetooth address carried in the Bluetooth signal with the base station Bluetooth address of the first base station stored locally, it immediately pairs and connects with the second base station based on the base station Bluetooth address of the second base station.

[0164] It should be noted that, in this embodiment, since the current base station of the Bluetooth signal scanned by the broadcast is the second base station, the base station Bluetooth address of the second base station is the base station Bluetooth address carried in the scanned Bluetooth signal.

[0165] Furthermore, in a feasible embodiment, the Bluetooth signal also carries base station Bluetooth binding information. The step S50 above, "pairing and connecting with the second base station according to the base station Bluetooth address of the second base station," includes:

[0166] Step S501: Determine whether the second base station has been bound to the robot based on the base station Bluetooth binding information;

[0167] It should be noted that in this embodiment, the base station Bluetooth binding information is the robot Bluetooth address of the robot bound to the base station. When the base station is not bound to a robot, this robot Bluetooth address is either empty or in a pre-defined special format. The base station uses its own base station Bluetooth address as base station Bluetooth information to carry this address via broadcast Bluetooth signals, and also uses the bound robot's Bluetooth address as part of the base station Bluetooth binding information to carry this robot Bluetooth address via broadcast Bluetooth signals. In this way, the robot can determine whether the second base station broadcasting the Bluetooth signal has bound to it by scanning the Bluetooth signal, extracting the robot Bluetooth address, and checking whether the robot Bluetooth address is empty or in a special format.

[0168] Step S502: If it is determined that the second base station is not bound to the robot, a second Bluetooth connection request is sent to the second base station according to the base station Bluetooth address of the second base station, so that the second base station can directly pair and connect based on the second Bluetooth connection request.

[0169] When the robot detects that the Bluetooth address carried in the Bluetooth signal is empty or in a special format, and determines that the second base station broadcasting the Bluetooth signal and whose base station Bluetooth address is inconsistent with the base station Bluetooth address of the first base station stored locally, and the robot is not currently bound to the second base station, the robot immediately sends a second Bluetooth connection request to the second base station. Upon receiving the request, the second base station responds directly to pair and connect with the robot.

[0170] Furthermore, in a feasible embodiment, after step S501 above, the pairing connection method of the present invention further includes:

[0171] Step S503: If it is determined that the second base station has been bound to the robot, a preset first prompt is output to perform a reset operation on the second base station.

[0172] It should be noted that, in this embodiment, the preset first prompt is a prompt message output by the robot to the user or directly to the base station through a preset multimedia device, prompting the user to manually or the base station to automatically perform a reset operation. It should be understood that, based on different design needs in actual applications, the specific content of the preset first prompt can naturally be different in any feasible implementation, and the pairing and connection method of the present invention does not limit the specific content of the preset first prompt.

[0173] Once the robot determines that the second base station has been bound to the robot at the current moment, the robot begins to output a preset first prompt to instruct the base station to perform a reset operation.

[0174] It should be noted that, in this embodiment, the base station will clear the robot Bluetooth address of the robot that has been bound to it based on the reset operation, thereby unbinding from the robot and becoming a new base station that has not been bound to the robot, so that the robot can pair and connect in the future according to the process described in step S502 above.

[0175] Furthermore, after scanning the Bluetooth signal broadcast by the base station in step S10 above, the pairing and connection method of the present invention may further include:

[0176] Step S60: If the robot has not been bound to the first base station, or if it is determined that the base station is not the first base station, then determine whether the base station Bluetooth binding information carried by each Bluetooth signal contains a robot Bluetooth address that is consistent with the robot Bluetooth address of the robot.

[0177] Step S70: If it is determined that there is a robot Bluetooth address that matches the robot Bluetooth address of the robot, then a third Bluetooth connection request is sent to the third base station corresponding to the robot Bluetooth address.

[0178] If the robot determines that it is not currently bound to the first base station, or if the robot has already bound to the first base station but determines that the base station broadcasting the currently scanned Bluetooth signal is not the first base station, the robot further determines whether the base station Bluetooth binding information carried by each of the multiple scanned Bluetooth signals contains a robot Bluetooth address that is consistent with the robot's own robot Bluetooth address.

[0179] Therefore, after the robot detects a Bluetooth address that matches its own Bluetooth address from the Bluetooth binding information of various base stations, it immediately determines that the base station broadcasting the robot's Bluetooth address is the third base station that the robot has previously bound to, and sends a third Bluetooth connection request to the third base station to directly pair and connect with the third base station.

[0180] Furthermore, in one feasible embodiment, the Bluetooth signal also carries Bluetooth signal strength.

[0181] When each base station broadcasts its own base station Bluetooth address as part of its Bluetooth information into a Bluetooth signal, it also broadcasts the Bluetooth signal strength of the broadcast Bluetooth signal. In this way, after the robot scans the Bluetooth signal, it can obtain the Bluetooth signal strength for subsequent processing.

[0182] Following step S60 above, the pairing connection method of the present invention may further include:

[0183] Step S80: If it is determined that there is no robot Bluetooth address that matches the robot Bluetooth address of the robot, then the fourth base station is determined.

[0184] Step S90: Pair and connect with the fourth base station.

[0185] If the robot does not detect a matching Bluetooth address among the Bluetooth binding information from various base stations, it will further identify a new base station (also known as an empty base station) that has not connected to other robots, or a base station that has already connected to and established binding relationships with other robots, as a fourth base station, and then pair and connect with that fourth base station.

[0186] It should be noted that, in this embodiment, when determining the fourth base station, the robot prioritizes identifying new base stations that have not been connected to other robots. If the robot detects that there is no new base station in the current environment that has not been connected to other robots, the robot further selects the fourth base station from those that have already been connected and bound to other robots for pairing and connection.

[0187] Furthermore, in a feasible embodiment, step S90 above may include:

[0188] Step S901: Determine whether the fourth base station has been bound to the robot based on the base station Bluetooth binding information;

[0189] The robot detects whether the robot's Bluetooth address carried in the Bluetooth signal broadcast by the fourth base station is empty or in a special format. If the robot's Bluetooth address is empty or in a special format, the robot determines that the fourth base station has not bound the robot at the current moment. Alternatively, if the robot's Bluetooth address is not empty or in a special format, the robot determines that the fourth base station has bound the robot at the current moment.

[0190] Step S902: If it is determined that the fourth base station is not bound to the robot, then the fourth base station is selected based on the preset Bluetooth signal strength rules, and a fourth Bluetooth connection request is sent to the fourth base station according to the base station Bluetooth address of the fourth base station, so that the fourth base station can directly pair and connect based on the fourth Bluetooth connection request.

[0191] It should be noted that in this embodiment, the preset Bluetooth signal strength rule is to determine the base station with the strongest Bluetooth signal strength among all current base stations as the fourth base station. It should be understood that, based on different design needs in actual applications, different preset Bluetooth signal strength rules can be set in any different feasible implementation methods. The pairing and connection method of this invention does not limit the specific content of this rule, as long as the rule is based on Bluetooth signal strength.

[0192] If the robot determines that the fourth base station is not bound to the robot, the robot further obtains the Bluetooth signal strength carried in each Bluetooth signal and sorts the Bluetooth signals in descending order of signal strength, so as to determine the Bluetooth signal ranked first as the strongest Bluetooth signal. Then, the robot determines the base station that broadcasts the strongest Bluetooth signal and is not bound to the robot as the fourth base station. Then, the robot sends a fourth Bluetooth connection request to the fourth base station according to the base station Bluetooth address of the fourth base station, so that the fourth base station can directly pair and connect based on the fourth Bluetooth connection request.

[0193] Step S903: If it is determined that the fourth base station has been bound to the robot, a preset second prompt is output to perform a reset operation on the base station.

[0194] The robot, after reviewing the Bluetooth binding information from various base stations, did not detect a matching Bluetooth address. Furthermore, the Bluetooth addresses in the binding information were neither empty nor in a special format. Therefore, the robot determined that each base station broadcasting the Bluetooth signal had previously bound to another robot. At this point, the robot outputs a pre-set second prompt to reset the base station.

[0195] It should be noted that, in this embodiment, the preset second prompt is a prompt message output by the robot to the user or directly to the base station through a preset multimedia device, prompting the user to manually or the base station to automatically perform a reset operation. It should be understood that, based on different design needs in actual applications, the specific content of the preset second prompt can naturally be different in any feasible implementation, and the pairing and connection method of the present invention does not limit the specific content of the preset second prompt.

[0196] It should be noted that, in this embodiment, the base station will clear the robot Bluetooth address of the robot that has been bound to it based on the reset operation, thereby unbinding from the robot and becoming a new base station that has not been bound to the robot, so that the robot can pair and connect in the future according to the process described in step S902 above.

[0197] Furthermore, in one feasible embodiment, the pairing connection method of the present invention may further include:

[0198] Step B: If it is determined that each of the base stations is not the first base station and it is determined that the base station Bluetooth binding information of each base station does not contain a robot Bluetooth address that matches the robot Bluetooth address of the robot, or if the number of times the base station sends a connection refusal notification to the robot reaches a preset number, then the base station Bluetooth address of the first base station stored locally is cleared and unbound from the first base station.

[0199] In this embodiment and the above embodiments, when the robot determines that the base station broadcasting the currently scanned Bluetooth signal is not the first base station that the robot has recorded and bound, and the robot determines whether the base station Bluetooth binding information carried by the Bluetooth signals broadcast by each of the multiple base stations contains a robot Bluetooth address that matches its own robot Bluetooth address, and when it detects that the base station broadcasting the Bluetooth signal does not contain the robot Bluetooth address that matches its own robot Bluetooth address, that is, when it determines that the base station broadcasting the Bluetooth signal is not the third base station that the robot has previously bound, or when the number of times the robot receives connection refusal notifications from the base station reaches a preset number, the robot clears the base station Bluetooth address of the first base station stored locally to unbind from the first base station, and then rescans other base stations to pair and connect.

[0200] In this embodiment, if the robot is already bound to a first base station at the current moment, in addition to determining whether the base station broadcasting the scanned Bluetooth signal is the first base station, it also determines whether the base station is a second base station whose base station Bluetooth address is inconsistent with that of the first base station. After the robot determines that the base station broadcasting the Bluetooth signal is the second base station by comparing the base station Bluetooth address carried in the Bluetooth signal with the base station Bluetooth address of the first base station stored locally, it immediately pairs and connects with the second base station based on the second base station's base station Bluetooth address.

[0201] Alternatively, if the robot determines that it is not currently bound to a first base station, or if the robot is already bound to a first base station but determines that the base station broadcasting the currently scanned Bluetooth signal is not that first base station, the robot further determines whether the Bluetooth binding information carried by each of the multiple Bluetooth signals contains a robot Bluetooth address that matches its own robot Bluetooth address. Therefore, after detecting a robot Bluetooth address matching its own from the Bluetooth binding information of each base station, the robot immediately determines that the base station broadcasting that robot Bluetooth address is the third base station it previously bound to, and sends a third Bluetooth connection request to that third base station to directly pair and connect with it.

[0202] Furthermore, if the robot determines that it is not currently bound to a first base station, or if it is already bound to a first base station but determines that the base station broadcasting the currently scanned Bluetooth signal is not that first base station, the robot further determines whether the base station Bluetooth binding information carried by each of the multiple Bluetooth signals contains a robot Bluetooth address that matches its own robot Bluetooth address. If the robot does not detect a robot Bluetooth address that matches its own robot Bluetooth address, thus determining that there is no third base station among the base stations currently broadcasting the various Bluetooth signals, and further confirming that none of these base stations are bound to the robot, the robot obtains the Bluetooth signal strength carried by the Bluetooth signal broadcast by each base station, and sorts the Bluetooth signals in descending order of signal strength, determining the Bluetooth signal ranked first as the strongest Bluetooth signal. The robot then identifies the base station broadcasting this strongest Bluetooth signal as the fourth base station, and finally, the robot pairs and connects with this fourth base station.

[0203] In this way, even after the robot or base station is reset, because the robot and base station store each other's information, the robot can still quickly find and pair with the base station during the pairing process. Therefore, even after replacing or resetting the robot or base station, or after the robot or base station has lost connection, it can still quickly and stably connect to the base station or robot that needs pairing, without connecting to other devices. This avoids confusion during the pairing process between the base station and the robot, ensuring the speed and stability of the pairing connection.

[0204] Furthermore, based on the first, second, and third embodiments of the pairing connection method of the present invention described above, a fourth embodiment of the pairing connection method of the present invention is proposed.

[0205] In this embodiment, the pairing connection method of the present invention is applied to the pairing connection between a robot and a base station. The pairing connection method of the present invention includes:

[0206] Step a, the robot scans the Bluetooth signal broadcast by the base station, wherein the Bluetooth signal carries the base station Bluetooth information of the base station;

[0207] When the robot is powered on, it scans the Bluetooth signals broadcast by one or more base stations in the current environment. These Bluetooth signals carry the base station Bluetooth information of each base station.

[0208] Specifically, please refer to the following: Figure 3In the application flow shown in this embodiment, the robot starts scanning for Bluetooth signals broadcast by one or more base stations in its current environment as soon as it is powered on. On the other hand, each base station also broadcasts its own Bluetooth information via Bluetooth signals as soon as it is powered on, so that the robot can extract the Bluetooth information from the base station after scanning the Bluetooth signal for further processing.

[0209] It should be noted that, in this embodiment, since the Bluetooth signals scanned by the robot in the current environment may also be broadcast by other devices besides the base station, after the robot scans each Bluetooth signal in the current environment, it also filters the devices broadcasting the Bluetooth signals to filter out the Bluetooth signals of the base stations that can be connected.

[0210] Specifically, for example, through a pre-arranged agreement between the robot and the base station, the base station, during the process of encapsulating its own Bluetooth information to form a Bluetooth signal, will include its pre-generated base station device name, according to device naming rules, as part of the Bluetooth signal broadcast. Thus, after the base station broadcasts the Bluetooth signal and the robot scans it, the robot, according to the agreement, can first extract the base station device name from the Bluetooth signal to determine if the device broadcasting the signal is a base station that can be paired and connected. If the robot cannot extract the base station device name from the scanned Bluetooth signal, or if the extracted name does not conform to the device naming rules, the robot determines that the device broadcasting the Bluetooth signal is not a base station.

[0211] In this embodiment, the device name rule can, of course, be pre-agreed upon by the robot and the base station. The base station device name generated based on this rule can specifically be a string containing the device product signal and a unique device identifier. It should be understood that, based on different design needs in actual applications, in any other feasible real-time method, the robot and the base station can agree on different device name rules for the robot to filter out connectable base stations according to these rules. The pairing and connection method of this invention does not limit the specific content of the device name rule used to filter out base stations or the specific format of the base station device name.

[0212] Step b: If the robot has already been bound to the first base station, the robot determines whether the base station is the first base station based on the base station's Bluetooth information.

[0213] It should be noted that in this embodiment, the robot detects whether the base station Bluetooth address of the first base station it is bound to is stored locally at the current moment, and determines that it has already bound to the first base station at the current moment when the base station Bluetooth address is detected to be stored.

[0214] Furthermore, in one feasible embodiment, the base station Bluetooth information includes: the base station Bluetooth address of the current base station;

[0215] During the process of encapsulating its own base station Bluetooth information to generate Bluetooth signals, each base station uses its own base station Bluetooth address as a type of Bluetooth information and carries the base station Bluetooth address through broadcast Bluetooth signals.

[0216] Specifically, after the robot determines that it has already bound to a first base station by detecting the base station Bluetooth address stored locally, it immediately retrieves that first base station's Bluetooth address from its local storage and compares it with the base station Bluetooth address carried in the scanned Bluetooth signal. If the two base station Bluetooth addresses match, the robot determines that the current base station broadcasting the Bluetooth signal is the first base station it has already bound to; otherwise, the robot determines that the current base station is not the first base station.

[0217] Step c, if yes, the robot pairs and connects with the base station.

[0218] Once the robot determines that the current base station scanning the Bluetooth signal is the same as the first base station it has already bound to, it immediately pairs and connects with that current base station.

[0219] Specifically, please refer to the following: Figure 3 As shown in the application process, when the robot determines that it has already bound to the first base station, and further determines that the base station whose Bluetooth signal is being scanned by the broadcast at the current moment is the first base station, it sends the first Bluetooth connection request to the first base station. After receiving the first Bluetooth connection request, the first base station will directly respond to the request and establish a pairing connection with the robot.

[0220] In this implementation, upon powering on, the robot scans for Bluetooth signals broadcast by one or more base stations in its current environment. These Bluetooth signals carry the base station's Bluetooth information. After scanning the Bluetooth signals broadcast by one or more base stations in the current environment, if the robot detects that it is already bound to a first base station, it immediately uses the base station's Bluetooth information carried in the Bluetooth signal to determine whether each base station is the first base station it is bound to. When the robot determines that the currently scanned base station is the first base station it has already bound to, it immediately pairs and connects with that base station.

[0221] This invention enables robots to automatically scan base stations and determine if a base station is one they have already bound to. Upon confirming that the base station is one they have already bound, the robot directly pairs and connects with it. Unlike traditional 433MHz protocol-based systems that require pairing before shipment, this invention allows for flexible, automatic pairing with base stations in the user's actual environment after shipment. Furthermore, when users replace the robot or base station, they no longer need to ship both the robot and the base station, as both can be adapted to the pairing and connection method proposed in this invention. This not only improves the user experience but also effectively reduces the overall maintenance costs of the robot.

[0222] Furthermore, this invention enables the robot and the base station to quickly establish a pairing connection only when they are powered on and within each other's Bluetooth radiation range. This eliminates the need for users to trigger the corresponding pairing connection command in specific scenarios (such as placing the robot and the base station in specific locations), greatly simplifying user operations and improving the ease of establishing a pairing connection between the robot and the base station.

[0223] Furthermore, based on the first, second, third, and fourth embodiments of the pairing connection method of the present invention described above, a fifth embodiment of the pairing connection method of the present invention is proposed.

[0224] The main difference between this embodiment and the above embodiments is that, in this embodiment, after the robot establishes a pairing connection and Bluetooth binding with the base station, or after the robot and the base station that have already been bound to each other have paired and connected, the robot further synchronizes network information with the base station. That is, the robot requests the AP (Access Point) information of the base station, reports its own WiFi configuration information, and reports its own WiFi MAC information (the robot's WiFi MAC address) from the paired and bound base station. The base station responds by returning the base station AP information to the robot, and saves and responds to the WiFi configuration information and WiFi MAC information reported by the robot.

[0225] Following this, the robot also performs firmware version synchronization with the base station. Specifically, the robot requests the base station firmware version information based on its connection with the base station. The base station responds to the request by returning the base station firmware version information to the robot. After receiving the version information, the robot verifies it against the base station firmware version information stored in its own memory. If the two versions are found to be inconsistent, the robot initiates the base station firmware OTA (Over-the-Air Technology) upgrade operation. Thus, the robot and the base station execute the OTA process simultaneously or sequentially to upgrade the version.

[0226] In this embodiment, after the robot and base station of the present invention are paired and / or Bluetooth bound, information is synchronized based on the Bluetooth connection. During the communication connection process of multiple sets of robots or base stations, there will be no crosstalk between them, and the connection speed is fast.

[0227] Furthermore, the present invention also provides a mating connection device. Please refer to... Figure 5 , Figure 5 This is a functional block diagram of an embodiment of the pairing and connection device of the present invention. The pairing and connection device of the present invention is used for pairing and connecting a robot with a base station, such as... Figure 5 As shown, the mating connection device of the present invention includes:

[0228] A scanning module is used to scan Bluetooth signals broadcast by a base station, wherein the Bluetooth signals carry Bluetooth information of the base station;

[0229] The determination module is used to determine whether the base station is the first base station based on the Bluetooth information of the base station if the robot has been bound to the first base station.

[0230] The pairing connection module is used to pair and connect with the first base station.

[0231] Furthermore, the base station Bluetooth information includes: the base station Bluetooth address;

[0232] The determining module is further configured to obtain the first base station Bluetooth address of the first base station stored locally; compare whether the first base station Bluetooth address is consistent with the base station Bluetooth address; if consistent, determine that the base station is the first base station; if inconsistent, determine that the base station is not the first base station.

[0233] Furthermore, the pairing and connection module is also configured to, if it is determined that the base station is the first base station, send a first Bluetooth connection request to the first base station according to the base station Bluetooth address of the first base station, so that the first base station can directly perform pairing and connection based on the first Bluetooth connection request.

[0234] Furthermore, the mating connection device of the present invention further includes:

[0235] The unbinding module is used to clear the local storage of the base station's Bluetooth address if the number of times the first base station sends a connection rejection notification based on the first Bluetooth connection request reaches a preset number.

[0236] Furthermore, the determining module is also configured to, if the robot has already been bound to the first base station, determine whether the base station is the second base station based on the base station's Bluetooth information, wherein the second base station's Bluetooth address is inconsistent with the first base station's Bluetooth address; if the base station is determined to be the second base station, then pair and connect with the second base station based on the second base station's Bluetooth address.

[0237] Furthermore, the Bluetooth signal also carries base station Bluetooth binding information;

[0238] The pairing and connection module is also used to determine whether the second base station has been bound to the robot based on the base station Bluetooth binding information; if it is determined that the second base station has not been bound to the robot, a second Bluetooth connection request is sent to the second base station based on the base station Bluetooth address of the second base station, so that the second base station can directly pair and connect based on the second Bluetooth connection request.

[0239] Furthermore, the mating connection device of the present invention further includes:

[0240] The reset module is used to output a preset first prompt to perform a reset operation on the second base station if it is determined that the second base station has been bound to the robot.

[0241] Furthermore, each of the base stations broadcasts a Bluetooth signal, which also carries base station Bluetooth binding information, including the robot's Bluetooth address.

[0242] The determination module is further configured to determine whether the base station Bluetooth binding information carried by each of the Bluetooth signals contains a robot Bluetooth address that is consistent with the robot Bluetooth address of the robot if the robot has not been bound to the first base station, or if it is determined that the base station is not the first base station.

[0243] The pairing and connection module is also used to send a third Bluetooth connection request to the third base station corresponding to the robot Bluetooth address if it determines that there is a robot Bluetooth address that matches the robot Bluetooth address of the robot.

[0244] Furthermore, the Bluetooth signal also carries the Bluetooth signal strength;

[0245] The pairing and connection module is also used to determine each fourth base station and pair and connect with the fourth base station if it is determined that there is no robot Bluetooth address that matches the robot's robot Bluetooth address.

[0246] Furthermore, the pairing and connection module is also used to determine whether the fourth base station has been bound to the robot based on the base station Bluetooth binding information; if it is determined that the fourth base station has not been bound to the robot, the module selects the fourth base station based on a preset Bluetooth signal strength rule, and sends a fourth Bluetooth connection request to the fourth base station based on the base station Bluetooth address of the fourth base station, so that the fourth base station can directly pair and connect based on the fourth Bluetooth connection request; if it is determined that the fourth base station has been bound to the robot, the module outputs a preset second prompt to perform a reset operation on the fourth base station.

[0247] Furthermore, the unbinding module is used to clear the locally stored base station Bluetooth address of the first base station if it is determined that each of the base stations is not the first base station and it is determined that the base station Bluetooth binding information of each of the base stations does not contain a robot Bluetooth address that matches the robot Bluetooth address of the robot, or if the number of times the connection refusal notification is received from the base station reaches a preset number.

[0248] The functions of each module in the above-mentioned pairing connection device correspond to the steps in the above-mentioned pairing connection method embodiment. Therefore, the functions and implementation processes of each module will not be described in detail here.

[0249] The present invention also provides a computer storage medium storing a pairing connection program, which, when executed by a processor, implements the steps of the pairing connection method as described in any of the above embodiments.

[0250] The specific embodiments of the computer storage medium of the present invention are basically the same as the embodiments of the pairing connection method described above, and will not be repeated here.

[0251] The present invention also provides a computer program product comprising a computer program that, when executed by a processor, implements the steps of the pairing connection method as described in any of the above embodiments.

[0252] The specific embodiments of the computer storage medium of the present invention are basically the same as the embodiments of the pairing connection method described above, and will not be repeated here.

[0253] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or system. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or system that includes that element.

[0254] The sequence numbers of the above embodiments of the present invention are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0255] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) as described above, and includes several instructions to cause a robot to execute the methods described in the various embodiments of the present invention.

[0256] The above are merely preferred embodiments of the present invention and do not limit the scope of the patent. Any equivalent structural or procedural transformations made based on the description and drawings of the present invention, or direct or indirect applications in other related technical fields, are similarly included within the scope of patent protection of the present invention.

Claims

1. A pairing connection method, characterized in that, The pairing connection method is applied to the robot to establish a pairing connection with a base station. The pairing connection method includes: Scan the Bluetooth signal broadcast by the base station, wherein the Bluetooth signal carries base station Bluetooth information and base station Bluetooth binding information, and the base station Bluetooth binding information includes the robot's Bluetooth address and Bluetooth signal strength; If the robot has already been bound to the first base station, then determine whether the base station is the first base station based on the base station's Bluetooth information; if so, pair and connect with the first base station; or, determine whether the base station is the second base station based on the base station's Bluetooth information, wherein the second base station's Bluetooth address is different from the first base station's Bluetooth address; if the base station is determined to be the second base station, then if it is determined based on the base station's Bluetooth binding information that the second base station is not bound to the robot, pair and connect with the second base station based on the second base station's Bluetooth address. If the robot has not been bound to the first base station, or if the base station is not the first base station, then a third base station is determined based on the robot's Bluetooth address, and the robot is paired with the third base station, wherein the third base station and the robot have the same robot Bluetooth address; or, if a third base station is not determined based on the robot's Bluetooth address, then among the base stations that are not bound to the robot determined based on the base station's Bluetooth binding information, a base station is selected for pairing based on the Bluetooth signal strength.

2. The pairing connection method as described in claim 1, characterized in that, The base station Bluetooth information includes: the base station Bluetooth address; The step of determining whether the base station is the first base station based on the base station Bluetooth information includes: Obtain the Bluetooth address of the first base station stored locally; Compare whether the Bluetooth address of the first base station matches the Bluetooth address of the base station; If they match, then the base station is determined to be the first base station; If there is a discrepancy, then the base station is determined not to be the first base station.

3. The pairing connection method as described in claim 1 or 2, characterized in that, If so, the step of pairing and connecting with the first base station includes: If the base station is determined to be the first base station, a first Bluetooth connection request is sent to the first base station according to the base station Bluetooth address of the first base station, so that the first base station can directly pair and connect based on the first Bluetooth connection request.

4. The pairing connection method according to claim 3, characterized in that, After the step of sending a first Bluetooth connection request to the first base station based on the base station's Bluetooth address, the method further includes: If the number of times the first base station sends a connection rejection notification based on the first Bluetooth connection request reaches a preset number, then the base station Bluetooth address of the first base station stored locally is cleared.

5. The pairing connection method as described in claim 1, characterized in that, After determining that the base station is the second base station, the following steps are included: Determine whether the second base station has been bound to the robot based on the base station Bluetooth binding information; If it is determined that the second base station is not bound to the robot, a second Bluetooth connection request is sent to the second base station according to the base station Bluetooth address of the second base station, so that the second base station can directly pair and connect based on the second Bluetooth connection request.

6. The pairing connection method as described in claim 5, characterized in that, After the step of determining whether the second base station has been bound to the robot based on the base station Bluetooth binding information, the method further includes: If it is determined that the second base station has been bound to the robot, a preset first prompt is output to perform a reset operation on the second base station.

7. The pairing connection method as described in claim 1, characterized in that, Each of the aforementioned base stations broadcasts a Bluetooth signal. Following the step of stating that the robot has not been bound to the first base station, or that the base station is not the first base station, the method further includes: Determine whether the base station Bluetooth binding information carried by each of the Bluetooth signals contains a robot Bluetooth address that matches the robot's robot Bluetooth address; If a robot Bluetooth address that matches the robot's Bluetooth address is detected, a third Bluetooth connection request is sent to the third base station corresponding to the robot Bluetooth address.

8. The pairing connection method as described in claim 7, characterized in that, After the step of determining whether the base station Bluetooth binding information carried by each of the Bluetooth signals contains a robot Bluetooth address that matches the robot's robot Bluetooth address, the method further includes: If it is determined that there is no robot Bluetooth address that matches the robot's robot Bluetooth address, then each fourth base station is identified; It is paired and connected with the fourth base station.

9. The pairing connection method as described in claim 8, characterized in that, The step of pairing and connecting with the fourth base station includes: Determine whether the fourth base station has been bound to the robot based on the base station Bluetooth binding information; If it is determined that the fourth base station is not bound to the robot, the fourth base station is selected based on the preset Bluetooth signal strength rules, and a fourth Bluetooth connection request is sent to the fourth base station according to the base station Bluetooth address of the fourth base station, so that the fourth base station can directly pair and connect based on the fourth Bluetooth connection request. If it is determined that the fourth base station has been bound to the robot, a preset second prompt is output to perform a reset operation on the fourth base station.

10. The pairing connection method as described in claim 1, characterized in that, The method further includes: If it is determined that each of the base stations is not the first base station and it is determined that the base station Bluetooth binding information of each of the base stations does not contain a robot Bluetooth address that matches the robot Bluetooth address of the robot, or if the number of times the base station sends a connection refusal notification to the robot reaches a preset number, then the base station Bluetooth address of the first base station stored locally is cleared.

11. A pairing connection method, characterized in that, The pairing connection method is applied to the pairing connection between the robot and the base station, and the pairing connection method includes: The robot scans the Bluetooth signal broadcast by the base station, wherein the Bluetooth signal carries the base station's Bluetooth information and base station Bluetooth binding information, and the base station Bluetooth binding information includes the robot's Bluetooth address and Bluetooth signal strength; If the robot has already been bound to a first base station, the robot determines whether the base station is the first base station based on the base station's Bluetooth information; if so, the robot pairs and connects with the first base station; or, the robot determines whether the base station is a second base station based on the base station's Bluetooth information, wherein the second base station's Bluetooth address is different from the first base station's Bluetooth address; if the base station is determined to be the second base station, then if the robot is not bound to the second base station based on the base station's Bluetooth binding information, the robot pairs and connects with the second base station based on the second base station's Bluetooth address. If the robot has not been bound to the first base station, or if the base station is not the first base station, then a third base station is determined based on the robot's Bluetooth address and paired with the third base station, wherein the third base station and the robot have the same robot Bluetooth address; or, if a third base station is not determined based on the robot's Bluetooth address, then among the base stations that are not bound to the robot determined based on the base station Bluetooth binding information, a base station is selected for pairing based on the Bluetooth signal strength.

12. A robot, characterized in that, The robot includes: a memory, a processor, and a pairing connection program stored in the memory and executable on the processor, wherein when executed by the processor, the pairing connection program implements the steps of the pairing connection method as described in any one of claims 1 to 10 or as described in claim 11.

13. A computer storage medium, characterized in that, The computer storage medium stores a pairing connection program, which, when executed by a processor, implements the steps of the pairing connection method as described in any one of claims 1 to 10 or as described in claim 11.

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