Robot control method and device, electronic equipment and storage medium

Abstract

The application provides a robot control method and device, electronic equipment and storage medium, and belongs to the technical field of robot communication. The method comprises the following steps: a robot control device generates target communication data and sends the target communication data to a signal sending device, the target communication data comprising communication parameters and robot control data, the communication parameters being used for indicating the identification and communication mode of a signal processing device; the signal sending device sends the robot control data to the target signal processing device in a first communication mode based on the communication parameters; the target signal processing device sends the robot control data to a target robot which can communicate with the target signal processing device after signal amplification processing; and the target robot performs a target action based on the robot control data. The application can realize the control of all robots in a scene and improve the uniformity of the control of multiple robots.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robot communication, in particular to a robot control method and device, electronic equipment and storage medium. BACKGROUND

[0002] When robots perform group performances, corresponding robot control data usually needs to be sent to each robot, so as to control the corresponding robot to perform corresponding actions.

[0003] In the prior art, in order to control each robot, a robot control device, such as a robot control handle, is usually used to send corresponding control data to each robot.

[0004] However, since the group performance is usually performed in a relatively open space, the distance between the handle and the robot can be far, so that after the robot control handle sends the control signal, some robots may be missed, which will cause errors in the group performance process and reduce the uniformity of the control of multiple robots. SUMMARY

[0005] The purpose of the present application is to provide a robot control method, device, electronic equipment and storage medium, which can control all robots in a scene and improve the uniformity of the control of multiple robots.

[0006] Embodiments of the present application are implemented as follows:

[0007] In one aspect of the present application, a robot control method is provided, which is applied to a robot control system including a robot control device, a signal sending device, at least one signal processing device and multiple target robots. The robot control device is in communication connection with the signal sending device, and the signal sending device is also in communication connection with the at least one signal processing device. The method includes:

[0008] The robot control device generates target communication data and sends the target communication data to the signal sending device. The target communication data includes communication parameters and robot control data. The communication parameters are used to indicate the identification and communication mode of the signal processing device.

[0009] The signal sending device sends the robot control data to the target signal processing device in a first communication mode based on the communication parameters. The first communication mode is a fixed-point communication mode.

[0010] The target signal processing device sends the robot control data to the target robot in communication with the target signal processing device in a second communication mode after signal amplification processing. The second communication mode is a broadcast communication mode.

[0011] The target robot performs a target action based on the robot control data.

[0012] Optionally, the communication parameter comprises an address of the target signal processing device and a target communication channel; the signal sending device sends the robot control data to the target signal processing device based on the communication parameter by using the first communication mode, comprising:

[0013] The signal sending device determines the target signal processing device based on the address of the target signal processing device;

[0014] The signal sending device sends the robot control data to the target signal processing device based on the target communication channel by using the first communication mode.

[0015] Optionally, the target robot is sent to the target signal processing device in the second communication mode, comprising:

[0016] The target signal processing device determines each target robot in the communicable range;

[0017] The target signal processing device sends the processed robot control data to each target robot.

[0018] Optionally, the robot control data comprises an identification of the robot and action data to be executed; the target robot performs a target action based on the robot control data, comprising:

[0019] Determining whether the identification of the robot in the robot control data matches the identification of the target robot;

[0020] If yes, the target robot performs a target action based on the action data to be executed.

[0021] Optionally, the robot control device and the signal sending device are connected through a data line; the robot control device generates target communication data and sends the target communication data to the signal sending device, comprising:

[0022] The robot control device generates target communication data and sends the target communication data to the signal sending device through the data line.

[0023] Optionally, in the robot control system, each target robot is communicatively connected, and the method further comprises:

[0024] The target robot acquires action data to be executed of a plurality of associated robots, the associated robots being robots having the same execution task as the target robot;

[0025] If the action data to be executed of more than a preset number of associated robots is different from the action data to be executed of the target robot, and the action data to be executed of each associated robot is the same, the target robot updates the action data to be executed to the action data to be executed of the associated robots.

[0026] Optionally, if the to-be-executed action data of the associated robots exceeds the preset number and is different from the to-be-executed action data of the target robot, and the to-be-executed action data of each associated robot is the same, the method further comprises:

[0027] If the target robot can communicate with the robot control device, the target robot feeds back an action abnormality signal to the robot control device.

[0028] In another aspect of the embodiments of the present application, a robot control device is provided, which is applied to a robot control system, the robot control system comprising a robot control device, a signal sending device, at least one signal processing device, and a plurality of target robots, the robot control device being in communication connection with the signal sending device, and the signal sending device being in communication connection with the at least one signal processing device; the device comprising a generation module, a first transmission module, a second transmission module, and an execution module.

[0029] The generation module is configured to generate target communication data by the robot control device and send the target communication data to the signal sending device, the target communication data comprising communication parameters and robot control data, the communication parameters being used to indicate the identity of the signal processing device and the communication mode.

[0030] The first transmission module is configured to send the robot control data to the target signal processing device by the signal sending device based on the communication parameters in a first communication mode, the first communication mode being a fixed-point communication mode.

[0031] The second transmission module is configured to send the robot control data to the target robots that can communicate with the target signal processing device after signal amplification processing by the target signal processing device in a second communication mode, the second communication mode being a broadcast communication mode.

[0032] The execution module is configured to execute a target action by the target robot based on the robot control data.

[0033] Optionally, the communication parameters comprise the address of the target signal processing device and a target communication channel; the first transmission module is specifically configured to determine the target signal processing device based on the address of the target signal processing device by the signal sending device, and send the robot control data to the target signal processing device by the signal sending device in the first communication mode based on the target communication channel.

[0034] Optionally, the second transmission module is specifically configured to determine each target robot in the communicable range by the target signal processing device, and send the processed robot control data to each target robot by the target signal processing device.

[0035] Optionally, the robot control data comprises an identification of the robot and action data to be performed; and the execution module is specifically configured to determine whether the identification of the robot in the robot control data matches an identification of the target robot; and if yes, the target robot performs a target action based on the action data to be performed.

[0036] Optionally, the generation module is specifically configured to generate the target communication data by the robot control device and send the target communication data to the signal sending device through the data line.

[0037] Optionally, in the robot control system, the target robots are communicatively connected; and the execution module is further configured to acquire, by the target robot, action data to be performed of a plurality of associated robots, the associated robots being robots having the same execution task as the target robot; and if the action data to be performed of more than a preset number of the associated robots is different from the action data to be performed of the target robot, and the action data to be performed of each of the associated robots is the same, update, by the target robot, the action data to be performed to the action data to be performed of the associated robots.

[0038] Optionally, the execution module is further configured to, if the target robot can communicate with the robot control device, feed back, by the target robot, an action abnormality signal to the robot control device.

[0039] In another aspect of the embodiments of the present application, an electronic device is provided, comprising a memory and a processor, the memory storing a computer program executable on the processor, and the processor implements the steps of the robot control method when executing the computer program.

[0040] In another aspect of the embodiments of the present application, a computer readable storage medium is provided, the storage medium storing a computer program, and the computer program implements the steps of the robot control method when executed by a processor.

[0041] The beneficial effects of the embodiments of the present application include:

[0042] The robot control method, device, electronic device and storage medium provided by the embodiments of the present application, the robot control device generates target communication data and sends the target communication data to the signal sending device; the signal sending device sends the robot control data to the target signal processing device based on the communication parameter by using the first communication mode; the target signal processing device sends the robot control data to the target robot which can communicate with the target signal processing device after signal amplification processing; the target robot executes the target action based on the robot control data. Wherein, the robot control data can be sent to the signal processing device through the signal sending device, and then the corresponding robot control data can be sent to the target robot within the range through the signal processing device arranged at different positions, so as to realize the control of the target robot, avoid the situation that the target robot is missed, and improve the integrity and unity of the robot executing action when the robot group performs. BRIEF DESCRIPTION OF DRAWINGS

[0043] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present application, and therefore should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can also be obtained without creative labor.

[0044] Figure 1 The structural schematic diagram of the robot control system provided by the embodiments of the present application;

[0045] Figure 2 The flowchart of the robot control method provided by the embodiments of the present application;

[0046] Figure 3 Another flowchart of the robot control method provided by the embodiments of the present application;

[0047] Figure 4 Another flowchart of the robot control method provided by the embodiments of the present application;

[0048] Figure 5 Another flowchart of the robot control method provided by the embodiments of the present application;

[0049] Figure 6 Another flowchart of the robot control method provided by the embodiments of the present application;

[0050] Figure 7 The structural schematic diagram of the robot control device provided by the embodiments of the present application;

[0051] Figure 8 The structural schematic diagram of the electronic device provided by the embodiments of the present application. Detailed Implementation

[0052] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. The components of the embodiments of this application described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0053] Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely to illustrate selected embodiments of the application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0054] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0055] In the description of this application, it should be noted that the terms "first," "second," "third," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0056] To achieve group control of a large number of robots, existing technologies typically rely on robot control devices, such as robot controllers, to send control data in bulk. Each robot then receives the control data sent by the controller and executes the corresponding action.

[0057] During robot performances, the scenes are usually relatively open, such as stages or squares. In such environments, when controlling the robots with a robot control handle, if the handle is far away, the robots may not be able to receive the control data properly. This can lead to some robots not receiving the data when performing the same action, resulting in errors during group performances and reducing the uniformity of control over multiple robots.

[0058] To address the aforementioned problems in the prior art, this application provides a robot control method. The specific structural relationship of the robot control system corresponding to this robot control method will be explained in detail below.

[0059] Figure 1 Please refer to the structural schematic diagram of the robot control system provided in the embodiments of this application. Figure 1The robot control system comprises a robot control device 110, a signal sending device 120, at least one signal processing device 130, and a plurality of target robots 140. The robot control device 110 is communicatively connected to the signal sending device 120, and the signal sending device 120 is further communicatively connected to the at least one signal processing device 130.

[0060] The robot control device 110 can be a control handle, a control terminal, or any type of control device, and is not limited herein.

[0061] The signal sending device 120 can be a transmitting end of a data radio station, and the signal processing device 130 can be a receiving end of a data radio station. During transmission, one signal sending device 120 can correspond to one signal processing device 130, or one signal sending device 120 can correspond to multiple signal processing devices 130. If one signal sending device 120 corresponds to one signal processing device 130, multiple signal sending devices 120 can be provided when multiple signal processing devices 130 are needed.

[0062] The signal processing device 130 has a processing and forwarding function, and can perform signal amplification processing on the received signal, such as amplification of the frequency or amplitude of the signal. The signal processing device 130 can have a 2.4G communication module, which can realize communication between the signal processing device 130 and the target robot 140.

[0063] The target robot 140 can be a humanoid robot or any type of robot that needs to be controlled in groups, such as robots performing collective performances on a stage, multiple robotic arms that need to be controlled synchronously in a factory, and the like. The robot is not limited herein, and any robot that can meet the group control requirement can be used.

[0064] In the robot control system, the target robot 140 can also be provided with a 2.4G communication module. The signal processing device 130 can send control data within a certain range, and the target robot 140 within the range can receive the data through the 2.4G communication module, and then perform corresponding actions based on the received control data.

[0065] The specific implementation process of the robot control method provided in the present application will be explained below based on the structure of the above robot control system.

[0066] Figure 2 For the flowchart of the robot control method provided in the present application, please refer to Figure 2 The method comprises the following steps.

[0067] S210: The robot control device generates target communication data and sends the target communication data to the signal sending device.

[0068] The target communication data includes communication parameters and robot control data, and the communication parameters are used to indicate the identity of the signal processing device and the communication mode.

[0069] Optionally, the execution subject of the method can be the aforementioned robot control system, and when executing a specific step, one or more devices in the system can be used to implement the execution.

[0070] The target communication data can be extracted based on a pre-stored data sequence or generated based on user input, and no specific limitation is made herein. The communication parameters can be data required by the signal sending device when sending the robot control data, such as the signal processing device to which the data is sent and the communication mode (specific communication channel) used when sending.

[0071] After the robot control device generates the target communication data, the robot control device can send the target communication data to the signal sending device.

[0072] S220: The signal sending device sends the robot control data to the target signal processing device based on the communication parameters and using a first communication mode.

[0073] The first communication mode is a fixed-point communication mode.

[0074] Optionally, after the signal sending device receives the target communication data, the signal sending device can determine the target and the communication channel used when sending based on the communication parameters, and can send the robot control data to the target signal processing device using the first communication mode.

[0075] It should be noted that the fixed-point communication mode specifically refers to a mode of sending robot control data to one or more fixed targets.

[0076] S230: After the target signal processing device performs signal amplification processing on the robot control data, the target signal processing device sends the robot control data to a target robot that can communicate with the target signal processing device according to a second communication mode.

[0077] The second communication mode is a broadcast communication mode.

[0078] Optionally, after the target signal processing device receives the robot control data, the target signal processing device can perform amplification processing on the received robot control data, such as amplifying the frequency or amplitude of the signal, and different types of signal amplification modes can be used according to different types of signals.

[0079] The amplified signal can be sent to a target robot in a second communication mode.

[0080] The broadcast communication mode specifically refers to sending robot control data without a sending target, and can specifically be sending to a certain range.

[0081] The target signal processing device can send the amplified robot control data within its own sending range, and target robots within the range can receive the robot control data.

[0082] It should be noted that in actual scenarios, the target signal processing device can be fixedly arranged at a certain position in the scene, and these positions can be pre-planned. Multiple target signal processing devices can correspond to multiple ranges, and each target signal processing device can forward robot control data to target robots in the range corresponding to the target signal processing device.

[0083] S240: The target robot performs a target action based on the robot control data.

[0084] Optionally, the target robot can receive the robot control data sent by the target signal processing device based on the 2.4G communication module set by itself. After obtaining the robot control data, the target robot can analyze the robot control data and perform a target action corresponding to the robot control data based on the analysis result.

[0085] In the robot control method provided by the embodiments of the present application, the robot control device generates target communication data and sends the target communication data to the signal sending device; the signal sending device sends robot control data to the target signal processing device in a first communication mode based on a communication parameter; the target signal processing device performs signal amplification processing on the robot control data and sends it to a target robot that can communicate with the target signal processing device in a second communication mode; and the target robot performs a target action based on the robot control data. Wherein, the robot control data can be sent to the signal processing device through the signal sending device, and the corresponding robot control data can be sent to the target robot within the range through the signal processing device arranged at different positions, so as to realize the control of the target robot, avoid the situation that the target robot is missed, and improve the overall and uniformity of the robot performing action when the robot group performs.

[0086] The specific implementation process of data transmission from the signal sending device to the signal processing device in the robot control method provided in the embodiments of the present application will be explained below.

[0087] Figure 3 Another flowchart of the robot control method provided by the embodiments of the present application is shown in FIG. 4.Figure 3 The communication parameter includes an address of the target signal processing device and a target communication channel. The signal sending device sends the robot control data to the target signal processing device based on the communication parameter by using the first communication mode, including:

[0088] S310: The signal sending device determines the target signal processing device based on the address of the target signal processing device.

[0089] Optionally, in the communication parameter, the address of the target signal processing device can be a pre-set address string. Different signal processing devices can set different addresses, and the signal sending device can determine the target signal processing device based on the corresponding address.

[0090] S320: The signal sending device sends the robot control data to the target signal processing device based on the target communication channel by using the first communication mode.

[0091] Optionally, after determining the target signal processing device, the signal sending device can use the target communication channel in the communication parameter to send the robot control data to the target signal processing device by using the first communication mode.

[0092] For example, the generated target communication data can be displayed in the format of the address of the target signal processing device + the target communication channel + the robot data. After receiving the target communication data, the signal sending device can extract the data included in the target communication data, and then send the robot control data to the target signal processing device by using the first communication mode based on the target communication channel.

[0093] In the robot control method provided by the embodiment of the application, the signal sending device determines the target signal processing device based on the address of the target signal processing device, and the signal sending device sends the robot control data to the target signal processing device based on the target communication channel by using the first communication mode. Specifically, the signal sending device can determine the target signal processing device and the target communication channel based on the communication parameter, so as to communicate with the corresponding target signal processing device by using the target channel, which can improve the accuracy of communication.

[0094] The specific implementation process of realizing the communication transmission between the target signal processing device and the target robot in the robot control method provided by the embodiment of the application will be explained below.

[0095] Figure 4 Another flowchart of the robot control method provided by the embodiment of the application is shown in FIG. 4. Figure 4 According to the second communication mode, the target robot can communicate with the target signal processing device, including:

[0096] S410: The target signal processing device determines each target robot in the communicable range.

[0097] S420: The target signal processing device sends the processed robot control data to each target robot.

[0098] Optionally, the target signal processing device can have a fixed communicable range, and the target signal processing device can send the robot control data to the communicable range, so that the target robots in the range receive the robot control data.

[0099] Alternatively, the target signal processing device can first determine the target robots in the current communicable range, and then send the robot control data to the target robots in the range.

[0100] In the process of sending the robot control data, the second communication mode can be used, which is not limited here.

[0101] The specific implementation process of the target robot performing the target action in the robot control method provided in the embodiments of the present application will be explained below.

[0102] Figure 5 Another flowchart of the robot control method provided in the embodiments of the present application is shown in Figure 5 The robot control data includes the identification of the robot and the to-be-executed action data; the target robot performs the target action based on the robot control data, including:

[0103] S510: Determine whether the robot identification in the robot control data matches the robot identification of the target robot.

[0104] Optionally, in the robot control data, the identification of the robot can represent the robot that can execute the to-be-executed action data, and the to-be-executed action data can be a corresponding action instruction, and the robot can execute the target action corresponding to the action instruction based on the action instruction.

[0105] After the target robot receives the robot control data, it can be determined whether the robot identification in the robot control data matches the robot identification of the target robot. It should be noted that the two are matched when the identifications are the same or the identifications are the same type of identification. The specific matching condition can be pre-set, which is not limited here.

[0106] S520: If yes, the target robot performs the target action based on the to-be-executed action data.

[0107] Optionally, when it is determined that the robot identifiers match, the target robot can perform a target action based on the to-be-executed action data; in contrast, if they do not match, it can be determined that the target robot does not need to perform the target action corresponding to the to-be-executed action data, and the target robot can continue to maintain the original action execution.

[0108] In the robot control method provided in the embodiments of the present application, it can be determined whether the robot identifier in the robot control data matches the robot identifier of the target robot; if yes, the target robot performs a target action based on to-be-executed action data. Through the determination based on the robot identifier, it can be determined whether the target robot needs to perform the target action, thereby avoiding the influence of the mis-transmission of messages and improving the accuracy of robot control.

[0109] Optionally, the robot control device and the signal sending device are connected through a data line; the robot control device generates target communication data and sends the target communication data to the signal sending device, including: the robot control device generates target communication data and sends the target communication data to the signal sending device through the data line.

[0110] It should be noted that the robot control device and the signal sending device can be connected by wire, preferably through a data line. After the robot control device generates target communication data, the target communication data can be sent to the signal sending device through the data line.

[0111] The following will specifically explain another specific implementation process of the robot control method provided in the embodiments of the present application.

[0112] Figure 6 For another flowchart of the robot control method provided in the embodiments of the present application, please refer to Figure 6 In the robot control system, the target robots are communicatively connected, and the method further includes:

[0113] S610: The target robot acquires to-be-executed action data of a plurality of associated robots.

[0114] Among them, the associated robot is a robot that has the same execution task as the target robot.

[0115] Optionally, the associated robot can be a robot of the same model as the target robot and having the same execution task, for example: in a stage performance, there are multiple groups of robots, a group of robots A performs a first set of dance actions, and a group of robots B performs a second set of dance actions; when any robot in group A is the target robot, the other robots in group A are associated robots.

[0116] The plurality of robots can keep a communicable state, and the target robot can acquire the to-be-executed action data of the associated robots in a time manner. It should be noted that the target action corresponding to the to-be-executed data has not been executed.

[0117] For example, after the target robot acquires the to-be-executed action data, the target robot can first store the to-be-executed action data in a to-be-executed sequence, and execute the action after a certain time. Within the time interval, the target robot can acquire the to-be-executed action data of the associated robots.

[0118] S620: If the to-be-executed action data of more than a preset number of associated robots is different from the to-be-executed action data of the target robot, and the to-be-executed action data of each associated robot is the same, the target robot updates the to-be-executed action data to the to-be-executed action data of the associated robots.

[0119] Optionally, the target robot can acquire the to-be-executed action data of a plurality of associated robots. After the target robot acquires the to-be-executed action data of the associated robots, the target robot can actively determine. If the to-be-executed action data of more than a preset number of associated robots is different from the to-be-executed action data of the target robot, and the to-be-executed action data of each associated robot is the same, it can be determined that the to-be-executed action of the target robot has an error. The target robot can update the to-be-executed action data of the target robot to the to-be-executed action data of the associated robots, and can execute the target action corresponding to the updated to-be-executed action data.

[0120] In the robot control method provided in the embodiments of the present application, the target robot acquires to-be-executed action data of a plurality of associated robots. If the to-be-executed action data of more than a preset number of associated robots is different from the to-be-executed action data of the target robot, and the to-be-executed action data of each associated robot is the same, the target robot updates the to-be-executed action data to the to-be-executed action data of the associated robots. By calibrating the to-be-executed action, the error in data reception in the group control process can be avoided, thereby improving the accuracy and integrity of the robot in the group control process.

[0121] Optionally, if the to-be-executed action data of more than a preset number of associated robots is different from the to-be-executed action data of the target robot, and the to-be-executed action data of each associated robot is the same, the method further comprises: if the target robot can communicate with the robot control device, the target robot feeds back an action abnormal signal to the robot control device.

[0122] It should be noted that when the target robot has different to-be-executed action data, it can be determined that the target robot may have a certain configuration error. The target robot can feed back an action abnormal signal to the robot control device when the target robot can communicate with the robot control device.

[0123] The action abnormality signal can be used to indicate that there is an error in data reception when the target robot performs an action. Based on the action abnormality signal, the worker can determine the target robot with data reception error in the robot group control performance, thereby facilitating the worker's maintenance processing.

[0124] The following describes the device, equipment, and storage medium corresponding to the robot control method provided by the present application for implementation, and the specific implementation process and technical effects are described above. The following will not be described again.

[0125] Figure 7 For the structure of the robot control device provided by the embodiments of the present application, please refer to Figure 7 , a robot control device, which is applied to a robot control system, the robot control system comprising: a robot control device, a signal sending device, at least one signal processing device, and a plurality of target robots, the robot control device being in communication connection with the signal sending device, and the signal sending device being in communication connection with at least one signal processing device; the device comprises: a generation module 710, a first transmission module 720, a second transmission module 730, and an execution module 740;

[0126] The generation module 710 is configured to generate target communication data by the robot control device and send the target communication data to the signal sending device, the target communication data comprising: communication parameters and robot control data, the communication parameters being used to indicate the identity of the signal processing device and the communication mode;

[0127] The first transmission module 720 is configured to send the robot control data to the target signal processing device based on the communication parameters by the signal sending device in the first communication mode, the first communication mode being a fixed-point communication mode;

[0128] The second transmission module 730 is configured to send the robot control data to the target robot that can communicate with the target signal processing device in the second communication mode after signal amplification processing by the target signal processing device, the second communication mode being a broadcast communication mode;

[0129] The execution module 740 is configured to execute a target action by the target robot based on the robot control data.

[0130] Optionally, the communication parameters comprise: the address of the target signal processing device and the target communication channel; the first transmission module 720 is specifically configured to determine the target signal processing device based on the address of the target signal processing device by the signal sending device; and send the robot control data to the target signal processing device in the first communication mode by the signal sending device based on the target communication channel.

[0131] Optionally, the second transmission module 720 is specifically configured to determine each target robot in the communicable range through the target signal processing device; and send the processed robot control data to each target robot through the target signal processing device.

[0132] Optionally, the robot control data comprises an identifier of the robot and action data to be executed; and the execution module 740 is specifically configured to determine whether the identifier of the robot in the robot control data matches the identifier of the target robot; if yes, the target robot executes a target action based on the action data to be executed.

[0133] Optionally, the generation module 710 is specifically configured to generate target communication data through the robot control device and send the target communication data to the signal transmission device through a data line.

[0134] Optionally, in the robot control system, each target robot is communicatively connected; and the execution module 740 is further configured to acquire, through the target robot, action data to be executed of a plurality of associated robots, the associated robots being robots having the same execution task as the target robot; if the action data to be executed of more than a preset number of associated robots is different from the action data to be executed of the target robot, and the action data to be executed of each associated robot is the same, update, through the target robot, the action data to be executed to the action data to be executed of the associated robots.

[0135] Optionally, the execution module 740 is further configured to, if the target robot can communicate with the robot control device, feed back, through the target robot, an action abnormality signal to the robot control device.

[0136] In the robot control device provided by the embodiment, the robot control device generates target communication data and sends the target communication data to the signal transmission device; the signal transmission device sends robot control data to a target signal processing device through a first communication mode based on a communication parameter; the target signal processing device performs signal amplification processing on the robot control data and sends the robot control data to a target robot that can communicate with the target signal processing device according to a second communication mode; and the target robot executes a target action based on the robot control data. Through the signal transmission device, the robot control data can be sent to the signal processing device, and then the corresponding robot control data can be sent to the target robot in the range through the signal processing devices arranged at different positions, so as to realize the control of the target robot, avoid the situation that the target robot is missed, and improve the integrity and uniformity of the robot execution action when the robot group performs.

[0137] The above device is used to execute the method provided by the foregoing embodiments, and has similar implementation principles and technical effects, which are not described herein again.

[0138] The above modules can be one or more integrated circuits configured to implement the above methods, for example, one or more application specific integrated circuits (ASICs), or one or more microprocessors, or one or more field programmable gate arrays (FPGAs), etc. For another example, when a certain module above is implemented in the form of a processing element scheduling code, the processing element can be a general purpose processor, such as a central processing unit (CPU) or other processor that can invoke program code. For another example, the modules can be integrated together to implement in the form of a system on a chip (SOC).

[0139] Figure 8 For the structure schematic diagram of the electronic device provided in the embodiments of the present application, please refer to Figure 8 , the electronic device comprises a memory 810 and a processor 820, the memory 810 stores a computer program capable of running on the processor 820, and the processor 820 implements the steps of the robot control method when executing the computer program.

[0140] Optionally, the electronic device can be any one of the above robot control systems, and the corresponding steps can be implemented by the corresponding electronic device.

[0141] Another aspect of the embodiments of the present application also provides a computer readable storage medium, and the storage medium stores a computer program, and the computer program is executed by the processor to implement the steps of the robot control method.

[0142] In several embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are merely schematic, for example, the division of units is only a logical function division, and actual implementation can have another division manner, for example, a plurality of units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between the displayed or discussed units can be indirect coupling or communication connection through some interfaces, devices or units, and can be electrical, mechanical or other forms.

[0143] The units described as separate components may or may not be physically separate, and the components displayed as units may or may not be physical units, i.e. may be located in one place, or may be distributed on multiple network units. Part or all of the units can be selected according to actual needs to achieve the purpose of the embodiment of the present application.

[0144] In addition, each functional unit in each embodiment of the present application can be integrated in one processing unit, or each unit can exist physically, or two or more units can be integrated in one unit. The integrated unit can be realized in the form of hardware or in the form of hardware plus software functional unit.

[0145] The integrated unit realized in the form of software functional unit can be stored in a computer readable storage medium. The software functional unit stored in a storage medium includes a plurality of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) or a processor (English: processor) to execute part of the steps of the method of each embodiment of the present application. The foregoing storage medium includes a variety of storage media that can store program codes, such as a U disk, a mobile hard disk, a read-only memory (English: Read-Only Memory, abbreviated as: ROM), a random access memory (English: Random Access Memory, abbreviated as: RAM), a magnetic disk or an optical disk.

[0146] The above is only a specific embodiment of the present application, but the protection scope of the present application is not limited thereto. Any skilled person in the art can easily think of changes or replacements within the technical scope disclosed in the present application, which should be covered within the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

[0147] The above is only a preferred embodiment of the present application and is not used to limit the present application. For those skilled in the art, the present application can have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the protection scope of the present application.

Claims

1. A robot control method characterized by, The method is applied to a robot control system, the robot control system comprising: a robot control device, a signal sending device, at least one signal processing device, and a plurality of target robots, the robot control device being in communication connection with the signal sending device, the signal sending device being further in communication connection with at least one of the signal processing devices; the method comprising: The robot control device generates target communication data and sends the target communication data to the signal sending device, the target communication data comprising: communication parameters and robot control data, the communication parameters being used to indicate the identity of the signal processing device and the communication mode; The signal sending device sends the robot control data to the target signal processing device based on the communication parameters, using a first communication mode, the first communication mode being a point-to-point communication mode; The target signal processing device sends the robot control data to the target robots that can communicate with the target signal processing device after signal amplification processing, according to a second communication mode, the second communication mode being a broadcast communication mode; The target robots execute target actions based on the robot control data; In the robot control system, each of the target robots is in communication connection, and the method further comprises: The target robot acquires a plurality of associated robots' to-be-executed action data, the associated robots being robots that have the same execution task as the target robot; If the to-be-executed action data of more than a preset number of associated robots is different from the to-be-executed action data of the target robot, and the to-be-executed action data of each associated robot is the same, the target robot updates the to-be-executed action data to the to-be-executed action data of the associated robots.

2. The robot control method of claim 1, wherein, The communication parameters comprise: the address of the target signal processing device and the target communication channel; the signal sending device sends the robot control data to the target signal processing device based on the communication parameters, using a first communication mode, comprising: The signal sending device determines the target signal processing device based on the address of the target signal processing device; The signal sending device sends the robot control data to the target signal processing device based on the target communication channel, using a first communication mode.

3. The robot control method of claim 1, wherein, The target signal processing device determines each target robot in the communicable range; The target signal processing device sends the processed robot control data to each of the target robots. The robot control data comprises the identity of the robot and the to-be-executed action data; the target robot executes target actions based on the robot control data, comprising:

4. The robot control method of claim 1, wherein, Determining whether the robot identity in the robot control data matches the robot identity of the target robot; If yes, the target robot executes target actions based on the to-be-executed action data. ​ 5. The robot control method of claim 1, wherein, The robot control device is connected with the signal sending device through a data line; the robot control device generates target communication data and sends the target communication data to the signal sending device, comprising: The robot control device generates target communication data and sends the target communication data to the signal sending device through the data line.

6. The robot control method of claim 1, wherein, If the to-be-executed action data of more than a preset number of associated robots is different from the to-be-executed action data of the target robot, and the to-be-executed action data of each associated robot is the same, the method further comprises: If the target robot can communicate with the robot control device, the target robot feeds back an action abnormality signal to the robot control device.

7. A robot control device characterized by comprising: The device is applied to a robot control system, the robot control system comprising: a robot control device, a signal sending device, at least one signal processing device, and a plurality of target robots, the robot control device being in communication connection with the signal sending device, the signal sending device also being in communication connection with at least one signal processing device; the device comprising: a generation module, a first transmission module, a second transmission module, and an execution module; The generation module is configured to generate target communication data by the robot control device and send the target communication data to the signal sending device, the target communication data comprising: communication parameters and robot control data, the communication parameters being used to indicate the identity of the signal processing device and the communication mode; The first transmission module is configured to send the robot control data to the target signal processing device in a first communication mode based on the communication parameters by the signal sending device, the first communication mode being a fixed-point communication mode; The second transmission module is configured to send the robot control data to the target robot that can communicate with the target signal processing device in a second communication mode after signal amplification processing by the target signal processing device, the second communication mode being a broadcast communication mode; The execution module is configured to execute a target action by the target robot based on the robot control data. In the robot control system, each of the target robots is in communication connection, and each target robot acquires to-be-executed action data of a plurality of associated robots, the associated robots being robots that have the same execution task as the target robot. The execution module is further configured to: if the to-be-executed action data of more than a preset number of associated robots is different from the to-be-executed action data of the target robot, and the to-be-executed action data of each associated robot is the same, the target robot updates the to-be-executed action data to the to-be-executed action data of the associated robots.

8. An electronic device, comprising: Comprising: A memory and a processor, the memory storing a computer program executable on the processor, and the processor implementing the steps of the method of any one of claims 1 to 6 when executing the computer program.

9. A computer-readable storage medium, characterized in that, The storage medium stores a computer program, and the computer program is executed by the processor to implement the steps of the method of any one of claims 1 to 6.

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