Robot control method and device, electronic equipment and readable storage medium

Abstract

The embodiment of the invention provides a robot control method and device, electronic equipment and a readable storage medium. The method comprises the steps that a target robot platform selected by target movable equipment connected with a cloud server is determined; determining a target robot in a target robot platform selected by the target movable equipment; receiving a robot control signal sent by the target movable equipment for the target robot; verifying the equipment information and the platform information stored in the mobile equipment in the robot control signal according to the equipment information and the platform information stored in the cloud server; and when verification succeeds, the robot control signal is sent to a target intelligent gateway corresponding to the target robot, so that the target intelligent gateway sends the robot control signal to a corresponding target robot platform, and the target robot platform is used for controlling the corresponding target robot according to the robot control signal. According to the embodiment of the invention, the operation flexibility and convenience of the robot are improved.

Description

Technical Field

[0001] Embodiments of the present invention relate to the field of computer technology, and in particular, to a robot control method, a robot control device, an electronic device, and a computer-readable storage medium. Background Art

[0002] With the advancement of intelligent manufacturing and industrialization, multi-robot systems are increasingly used in modern industry. However, the existing control methods for multi-robot usage scenarios mainly rely on fixed terminals (such as fixed computers, control panels, etc.), especially in remote operation and multi-device management, fixed terminals have certain limitations in terms of operational flexibility and convenience. Summary of the invention

[0003] The embodiments of the present invention provide a robot control method, device, electronic device and computer-readable storage medium to solve the problem that the current management of robots has certain limitations in terms of operational flexibility and convenience.

[0004] An embodiment of the present invention discloses a robot control method, which is applied to a cloud server, wherein the cloud server is connected to an intelligent gateway, a mobile device, and a robot platform, and the cloud server, the mobile device, and the robot platform store device information of the mobile device and platform information of the robot platform. The method includes:

[0005] Determine a target robot platform selected by a target mobile device connected to the cloud server;

[0006] Determine a target robot in the target robot platform selected by the target movable device;

[0007] Receiving a robot control signal for the target robot sent by the target movable device; wherein the robot control signal includes the device information and the platform information stored in the movable device;

[0008] Verifying the device information and the platform information stored in the removable device in the robot control signal according to the device information and the platform information stored in the cloud server;

[0009] When the verification is successful, the robot control signal is sent to the target intelligent gateway corresponding to the target robot, so that the target intelligent gateway sends the robot control signal to the corresponding target robot platform, and the target robot platform is used to control the corresponding target robot according to the robot control signal.

[0010] Optionally, before determining the target robot platform selected by the target mobile device connected to the cloud server, the method further includes:

[0011] Receiving input device information sent by the removable device; wherein the input device information at least includes a device name, a device type, a device model and a device address;

[0012] When it is determined according to the input device information that the input device information of the mobile device is not stored in the cloud server, generating a first unique identification code and a first communication verification code for the mobile device;

[0013] saving the input device information, the first unique identification code and the first communication verification code as device information;

[0014] The device information is sent to the robot platform, and the robot platform is used to store the device information.

[0015] Optionally, before determining the target robot platform selected by the target mobile device connected to the cloud server, the method further includes:

[0016] Receiving input platform information sent by the robot platform; wherein the input platform information at least includes a platform name, a platform location, and a device address;

[0017] When it is determined according to the input platform information that the input platform information of the robot platform is not stored in the cloud server, generating a second unique identification code and a second communication verification code for the robot platform;

[0018] saving the input platform information, the second unique identification code and the second communication verification code as platform information;

[0019] The platform information is sent to the removable device, and the removable device is used to store the platform information.

[0020] Optionally, before determining the target robot platform selected by the target mobile device connected to the cloud server, the method further includes:

[0021] Receiving the current operating status sent by the robot platform;

[0022] The current operating status of the robot platform is sent to the movable device to be displayed on the movable device.

[0023] Optionally, determining a target robot platform selected by a target mobile device connected to the cloud server includes:

[0024] In response to a selection operation for the robot platform, determining a target robot platform;

[0025] Displaying robot information of the robot in the target robot platform;

[0026] Then determining the target robot in the target robot platform selected by the target movable device comprises:

[0027] In response to a selection operation on a robot in the target robot platform, a target robot in the target robot platform is determined.

[0028] Optionally, the robot includes a power control module, which includes a switch module, a first control on-off coil, a second control on-off coil, a first control on-off contact, a second control on-off contact, a third control on-off contact, a power on-off coil and a power on-off contact.

[0029] Optionally, when the robot is controlled locally, when the switch module is turned on, after the first control on-off coil, the first control on-off contact, the power on-off coil and the power on-off contact are turned on in sequence, the robot's electrical power source provides power for the robot.

[0030] Optionally, when the target robot receives the robot control signal and determines that the target robot has a feedback signal at the second control on-off contact, it is determined that the target robot is under local control and execution of the robot control signal is prohibited.

[0031] Optionally, when it is determined that the target robot does not have a feedback signal at the second control on-off contact, the target robot is determined to be non-locally controlled. If it is determined that the second control on-off coil is not turned on, it is determined that the target robot is not powered on, and the robot control signal is executed to control the target robot to power on.

[0032] The embodiment of the present invention further discloses a robot control device, which is applied to a cloud server, wherein the cloud server is connected to an intelligent gateway, a mobile device and a robot platform, wherein the cloud server, the mobile device and the robot platform store device information of the mobile device and platform information of the robot platform, and the device comprises:

[0033] A robot platform determination module, used to determine a target robot platform selected by a target mobile device connected to the cloud server;

[0034] A robot determination module, used to determine a target robot in the target robot platform selected by the target movable device;

[0035] A robot control signal receiving module, configured to receive a robot control signal sent by the target movable device to the target robot; wherein the robot control signal includes the device information and the platform information stored in the movable device;

[0036] An information verification module, used to verify the device information and the platform information stored in the removable device in the robot control signal according to the device information and the platform information stored in the cloud server;

[0037] The robot control module is used to send the robot control signal to the target intelligent gateway corresponding to the target robot when the verification is successful, so that the target intelligent gateway sends the robot control signal to the corresponding target robot platform, and the target robot platform is used to control the corresponding target robot according to the robot control signal.

[0038] The embodiment of the present invention further discloses an electronic device, comprising a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory communicate with each other via the communication bus;

[0039] The memory is used to store computer programs;

[0040] The processor is used to implement the method described in the embodiment of the present invention when executing the program stored in the memory.

[0041] The embodiment of the present invention further discloses a computer program product, which is stored in a storage medium and is executed by at least one processor to implement the method described in the embodiment of the present invention.

[0042] The embodiment of the present invention further discloses a computer-readable storage medium having instructions stored thereon, which, when executed by one or more processors, enables the processors to execute the method described in the embodiment of the present invention.

[0043] The embodiments of the present invention include the following advantages:

[0044] In an embodiment of the present invention, a target robot platform selected by a target mobile device connected to a cloud server is determined, and a target robot in the target robot platform selected by the target mobile device is determined, a robot control signal for the target robot sent by the target mobile device is received, and the device information and platform information stored in the mobile device in the robot control signal are verified according to the device information and platform information saved by the cloud server. When the verification is successful, the robot control signal can be sent to a target intelligent gateway corresponding to the target robot, so that the target intelligent gateway sends the robot control signal to the corresponding target robot platform, and the target robot platform is used to control the corresponding target robot according to the robot control signal, thereby realizing remote control of the robot by the mobile device. The embodiment of the present invention can remotely control the robot through the mobile device, which improves the flexibility and convenience of robot operation compared to the operation method through a fixed terminal. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Figure 1 is a flowchart of a robot control method provided in an embodiment of the present invention;

[0046] Figure 2 is a schematic diagram of an application environment provided in an embodiment of the present invention;

[0047] Figure 3 It is a schematic diagram of adding a movable device in a platform remote control system provided in an embodiment of the present invention;

[0048] Figure 4 It is a schematic diagram of adding a robot platform in a platform remote control system provided in an embodiment of the present invention;

[0049] Figure 5 is a schematic diagram of rapid switching of robots in a platform remote control system provided in an embodiment of the present invention;

[0050] Figure 6 is a schematic diagram of rapid switching of a robot platform in a platform remote control system provided in an embodiment of the present invention;

[0051] Figure 7 is a control schematic diagram of a robot provided in an embodiment of the present invention;

[0052] Figure 8 is a local end startup flow chart of a robot provided in an embodiment of the present invention;

[0053] Fig. 9 is a flowchart of a robot remote control provided in an embodiment of the present invention;

[0054] Fig.10is a schematic diagram of a remote control system provided in an embodiment of the present invention;

[0055] Fig.11 is a control flow chart of a remote control system provided in an embodiment of the present invention;

[0056] Fig.12 is a structural block diagram of a robot control device provided in an embodiment of the present invention;

[0057] Fig.13 It is a schematic diagram of the hardware structure of an electronic device for implementing various embodiments of the present invention. DETAILED DESCRIPTION

[0058] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0059] Reference Figure 1 , shows a flowchart of a robot control method provided in an embodiment of the present invention, which is applied to a cloud server, the cloud server is connected to an intelligent gateway, a mobile device and a robot platform, and the cloud server, the mobile device and the robot platform store device information of the mobile device and platform information of the robot platform. The method may specifically include the following steps:

[0060] Step 101: Determine a target robot platform selected by a target mobile device connected to the cloud server.

[0061] Step 102: Determine a target robot in the target robot platform selected by the target movable device.

[0062] Among them, the movable device and the robot platform can be multiple or one. Specifically, the movable device can include a series of mobile electronic devices such as smart phones, tablet computers, smart watches, etc. The robot platform can be a platform that can control multiple robots (robotic devices / equipment). Specifically, the robot platform is used to manage and control various types of robot devices. Users can operate, monitor and maintain different types of robots to complete various tasks such as industrial tasks and agricultural tasks.

[0063] Reference Figure 2, is a schematic diagram of an application environment provided by an embodiment of the present invention, the platform remote control system may include a cloud server 201, an intelligent gateway 202, a mobile device 203 and a robot platform 204, the mobile device 203 is connected to the cloud server 201 in communication, and the cloud server 201 may be connected to the robot in the robot platform 204 in communication through the intelligent gateway 202. Optionally, the mobile device 203 may also be directly connected to the robot platform 204 in communication after being verified by the cloud server 201.

[0064] In an embodiment of the present invention, the cloud server, the mobile device and the robot platform store the device information of the mobile device and the platform information of the robot platform respectively, and the device information and the platform information can be used to verify whether the robot platform and the mobile device are authorized devices. Specifically, the device information can at least include the device name, device type, device model, device address, first unique identification code and first communication verification code of the mobile device, and the platform information can at least include the platform name, platform location, device address, second unique identification code and second communication verification code of the robot platform. Among them, the unique identification code is the unique identifier of each device or platform in the system, and the unique identification code is a string, which can distinguish different mobile devices or robot platforms based on the displacement identification code. The communication verification code is a code for verifying the integrity and security of data, which is used to ensure that the data has not been tampered with during the transmission process. Based on the dynamic verification mechanism of the unique identification code and the communication verification code, the uniqueness of each robot platform and the mobile device can be ensured, and the security of remote operation can be strengthened by the dynamically updated communication verification code to prevent unauthorized access and operation conflicts.

[0065] In an embodiment of the present invention, the cloud server can be connected to multiple mobile devices, wherein the mobile device currently connected to the cloud server is the target mobile device. The cloud server can determine the target robot platform selected by the target mobile device connected to it. Then, after determining the target robot platform, the target robot in the target robot platform that needs to be controlled can be further determined, wherein the target robot can be one or more robots in the target robot platform, or all robots.

[0066] Step 103: Receive a robot control signal sent by the target movable device for the target robot; wherein the robot control signal includes the device information and the platform information stored in the movable device.

[0067] In an embodiment of the present invention, the cloud server can receive a robot control signal sent by a target mobile device to a target robot, wherein the robot control signal can at least include a control signal for controlling the robot to power on or off, and the robot control signal can carry device information and platform information stored in the target mobile device.

[0068] Step 104: verify the device information and the platform information stored in the removable device in the robot control signal according to the device information and the platform information stored in the cloud server.

[0069] Step 105. When the verification is successful, the robot control signal is sent to the target intelligent gateway corresponding to the target robot, so that the target intelligent gateway sends the robot control signal to the corresponding target robot platform, and the target robot platform is used to control the corresponding target robot according to the robot control signal.

[0070] In an embodiment of the present invention, after receiving the robot control signal, the cloud server can determine whether the target movable device is an authorized device by comparing the device information and platform information in the robot control signal with the locally stored device information and platform information. For example, if the device information and platform information not stored in the cloud server are different from the device information and platform information in the robot control signal sent by the target movable device, it can be determined that the verification has failed. Otherwise, it can be determined that the verification has succeeded. When the verification is successful, the cloud server sends the robot control signal to the target intelligent gateway corresponding to the target robot, and the target intelligent gateway can send the robot control signal to the corresponding target robot platform. The target robot platform can control the corresponding target robot according to the robot control signal, for example, it can control the target robot to power on or off.

[0071] In an embodiment of the present invention, a target robot platform selected by a target mobile device connected to a cloud server is determined, and a target robot in the target robot platform selected by the target mobile device is determined, a robot control signal for the target robot sent by the target mobile device is received, and the device information and platform information stored in the mobile device in the robot control signal are verified according to the device information and platform information saved by the cloud server. When the verification is successful, the robot control signal can be sent to a target intelligent gateway corresponding to the target robot, so that the target intelligent gateway sends the robot control signal to the corresponding target robot platform, and the target robot platform is used to control the corresponding target robot according to the robot control signal, thereby realizing remote control of the robot by the mobile device. The embodiment of the present invention can remotely control the robot through the mobile device, which improves the flexibility and convenience of robot operation compared to the operation method through a fixed terminal.

[0072] In one embodiment of the present invention, before determining the target robot platform selected by the target mobile device connected to the cloud server, the method may further include:

[0073] Receiving input device information sent by the removable device; wherein the input device information at least includes a device name, a device type, a device model and a device address;

[0074] When it is determined according to the input device information that the input device information of the mobile device is not stored in the cloud server, generating a first unique identification code and a first communication verification code for the mobile device;

[0075] saving the input device information, the first unique identification code and the first communication verification code as device information;

[0076] The device information is sent to the robot platform, and the robot platform is used to store the device information.

[0077] Reference Figure 3 , which is a schematic diagram of adding a removable device in a platform remote control system provided in an embodiment of the present invention. The input device information of the removable device that needs to be added to the platform remote control system can be added according to needs, such as device name, device type, device model and device address, etc. Then, the cloud server can first search whether the removable device has been added (specifically, it can be determined by comparing the input device information of the removable device stored in the cloud server). If so, it is determined to be a repeated addition, and the addition of the removable device will be prohibited. If not, it is determined to be not a repeated addition, and a first unique identification code and a first communication verification code can be generated for the removable device, and the input device information, the first unique identification code and the first communication verification code can be saved as the device information of the removable device, and the device information of the removable device can be synchronized to the robot platform that has been added to the platform remote control system for subsequent verification of robot control signals, etc.

[0078] In an embodiment of the present invention, based on a removable device, the platform information of the robot platform can be archived in a cloud server, and the robot information of the robots (devices) in the robot platform can also be archived in a cloud server, and a unique identification code and a communication verification code can also be set for the robot platform and the robot respectively, and then the robot platform can be multiple confirmed based on the robot platform information such as the unique identification code and communication verification code of the robot platform, and / or the robot can be multiple confirmed based on the robot information such as the unique identification code and communication verification code of the robot.

[0079] In one embodiment of the present invention, before determining the target robot platform selected by the target mobile device connected to the cloud server, the method may further include:

[0080] Receiving input platform information sent by the robot platform; wherein the input platform information at least includes a platform name, a platform location, and a device address;

[0081] When it is determined according to the input platform information that the input platform information of the robot platform is not stored in the cloud server, generating a second unique identification code and a second communication verification code for the robot platform;

[0082] saving the input platform information, the second unique identification code and the second communication verification code as platform information;

[0083] The platform information is sent to the removable device, and the removable device is used to store the platform information.

[0084] Reference Figure 4 , which is a schematic diagram of adding a robot platform in a platform remote control system provided in an embodiment of the present invention. The input platform information of the robot platform that needs to be added to the platform remote control system can be, for example, the platform name, platform location, device address, etc., as required. Then, the cloud server can first retrieve whether the robot platform has been added (specifically, it can be determined by comparing the input platform information of the robot platform stored in the cloud server). If so, it is determined to be a repeated addition, and the addition of the robot platform will be prohibited. If not, it is determined to be not a repeated addition, and a second unique identification code and a second communication verification code can be generated for the robot platform, and the input platform information, the second unique identification code and the second communication verification code can be saved as the platform information of the robot platform, and the platform information of the robot platform can be synchronized to the removable device that has been added to the platform remote control system for subsequent verification of robot control signals, etc.

[0085] In one embodiment of the present invention, before determining the target robot platform selected by the target mobile device connected to the cloud server, the method may further include:

[0086] Receiving the current operating status sent by the robot platform;

[0087] The current operating status of the robot platform is sent to the movable device to be displayed on the movable device.

[0088] In an embodiment of the present invention, after the robot platform logs in to the cloud server, the control end and the robot will feedback the current operating status (for example, whether it is powered on) to the cloud server when a signal change occurs. When the remote client of the mobile device is opened, the latest current operating status can be obtained from the cloud server in real time and displayed on the client. In this way, the robot platform can be monitored or operated according to the current operating status.

[0089] In one embodiment of the present invention, determining a target robot platform selected by a target mobile device connected to the cloud server includes:

[0090] In response to a selection operation for the robot platform, determining a target robot platform;

[0091] Displaying robot information of the robot in the target robot platform;

[0092] Then determining the target robot in the target robot platform selected by the target movable device comprises:

[0093] In response to a selection operation on a robot in the target robot platform, a target robot in the target robot platform is determined.

[0094] In an embodiment of the present invention, when the client of the mobile device starts the platform remote control system, a platform list of robot platforms in the platform remote control system can be provided, and the user can select the target robot platform from the platform list according to the control requirements. Then, the robot information (device list) of the robot in the target robot platform can be displayed on the client. At this time, the user can further select the target robot from the device list according to the requirements, and then send a robot control signal to the target robot to control the target robot such as powering on. In some embodiments, when the remote platform remote control system is turned on, the first robot of the robot platform selected last time will be displayed by default.

[0095] For example, refer to Figure 5 , is a schematic diagram of a robot fast switching in a platform remote control system provided in an embodiment of the present invention, obtains the device list of the current robot platform (current platform) from the cloud server (including robot information corresponding to multiple robots of the robot platform, such as robot names, etc.), selects other robots of the current platform, and sends them to the cloud server to obtain other robot information corresponding to other robots, such as the current operating status, and the server feeds back the currently selected robot information to the client, and the client displays the currently selected robot information. Figure 6, is a schematic diagram of rapid switching of robot platforms in a platform remote control system provided in an embodiment of the present invention, obtaining a platform list from a cloud server (including platform information corresponding to robot platforms that have been added to the platform remote control system, such as platform names, etc.), selecting other platforms, and sending it to the cloud server to switch to other platforms. At this time, the first robot of the other platform to be switched is automatically selected, and the server feeds back the currently selected robot information (robot name, current operating status, etc.) to the client, and the client displays the currently selected robot information.

[0096] In one embodiment of the present invention, the robot includes a power control module, which includes a switch module, a first control on-off coil, a second control on-off coil, a first control on-off contact, a second control on-off contact, a third control on-off contact, a power on-off coil and a power on-off contact.

[0097] For example, in order to realize remote control and take into account the multiple confirmation mechanism safety protection measures of remote control, the embodiment of the present invention adds additional software and hardware modules to the robot to realize control support, specifically, adding a power control module to the robot side. Figure 7 , is a control schematic diagram of a robot provided in an embodiment of the present invention, the robot may include a power control module, the power control module may be connected to the control end of the robot platform through an intelligent gateway, the power control module includes a switch module, a first control on-off coil (control on-off coil 1), a second control on-off coil (control on-off coil 2), a first control on-off contact (control on-off contact 1-1), a second control on-off contact (control on-off contact 1-2), a third control on-off contact (control on-off contact 2), a power on-off coil (power on-off coil 1) and a power on-off contact (power on-off contact 1), wherein the switch module is connected to the power input end, and the power on-off contact 1 is connected to the robot power input.

[0098] In one embodiment of the present invention, when the robot is controlled locally, when the switch module is turned on, after the first control on-off coil, the first control on-off contact, the power on-off coil and the power on-off contact are turned on in sequence, the power supply of the robot provides power for the robot.

[0099] The robot of the embodiment of the present invention can realize the local power-on process through local control without remote control. For example, refer to Figure 8 , is a local end startup flow chart of a robot provided in an embodiment of the present invention. Specifically, when the switch module is turned on, the control on-off coil 1, the control on-off contact 1-1, the power on-off coil 1 and the power on-off contact 1 are turned on in sequence, and the power supply of the robot starts to provide power to the robot, thereby powering on the robot.

[0100] In one embodiment of the present invention, when the target robot receives a robot control signal and determines that the target robot has a feedback signal at the second control on-off contact, it determines that the target robot is under local control and prohibits the execution of the robot control signal; when it is determined that the target robot does not have a feedback signal at the second control on-off contact, it is determined that the target robot is under non-local control, and if it is determined that the second control on-off coil is not turned on, it is determined that the target robot is not powered on, and the robot control signal is executed to control the target robot to power on.

[0101] In an embodiment of the present invention, in order to realize remote control of the robot based on a movable device (for example, remote control of power on and off), feedback signals of the control on and off contacts 1-2, the control on and off contacts 2, the control power on and off coil 1 and the input and output signals of the control end of the robot platform are added to the robot to identify the current power on and off status of the robot.

[0102] Exemplarily, the method for realizing remote control of power on and off in an embodiment of the present invention is that the robot platform is equipped with an intelligent gateway, which is used to connect with the control end of the robot platform and the robot, and can specify a network address connected to the Internet, so that the robot platform can be connected to the cloud server. When the user adds the robot information of the robot platform through the platform remote control system and uploads it to the cloud server for archiving, generates a platform unique identification code and a communication verification code (for multiple confirmations), and then also feeds back the unique identification code to the client of the remote removable device for archiving. Similarly, adding a removable device through the platform remote control system will also generate a unique identification code for the removable device.

[0103] The power of the robot platform's smart gateway and control terminal must remain on to send the latest information to the cloud server. Otherwise, the robot platform is offline and cannot be remotely controlled and tracked. After the robot platform logs in to the cloud server, the robot platform's control terminal and the robot will feedback the current operating status to the cloud server when the signal changes. When the remote client of the mobile device is turned on, the latest data can be obtained from the cloud server in real time and displayed on the client.

[0104] When the switch module on the robot platform is not turned on, the encrypted device opening signal (robot control signal) for the target robot platform can be sent to the cloud server through the removable device (encryption is to prevent data from being captured and tampered with). After receiving the corresponding signal, the cloud server first retrieves the network address, platform name, and platform unique identification code information of the target robot platform, decrypts the information and decomposes the operation content, and sends the relevant operation to the control end of the target robot platform and the robot for control. For example, refer to Fig. 9 , is a flow chart of a robot remote control provided in an embodiment of the present invention, the remote control system of the movable device sends a power-on signal to the corresponding robot, the cloud server receives the corresponding signal and forwards it to the intelligent gateway of the corresponding platform, the intelligent gateway receives the information from the remote server and sends it to the control system (control end) of the corresponding robot platform, the control system detects whether the robot corresponding to the current platform has been powered on locally, if the local end is not powered on, the system signal output of the corresponding robot that needs to be turned on is controlled according to the corresponding robot control, and then the control on-off coil 2 is turned on, the control on-off contact 2 is turned on, the power on-off coil 1 is turned on, the power on-off contact 1 is turned on, and the power input end of the robot is powered on.

[0105] Although the control end will promptly feedback to the cloud server when refreshing the relevant signals, considering the multiple confirmation mechanism, after receiving the robot control signal, the control end will first determine whether the corresponding robot has a switch feedback signal, such as whether the "control on-off contact 1-2" has a signal feedback. If there is feedback, it is currently under local control, and the remote client can no longer perform any power-on and power-off operations (the robot platform will send the latest information to the cloud server in real time, so that the switch module of the remote control system will be locked on the mobile device, but considering security, this judgment function will still be retained to prevent network fluctuations and other factors from affecting the overall control). On the contrary, it is determined whether the "control on-off coil 2" has been output. If it has been output, it means that the remote control power-on has been turned on and it cannot be powered on. The latest information is fed back to the cloud server and then sent to the remote client of the mobile device to prevent repeated power-on.

[0106] When the switch module of the robot platform is turned on, the encrypted device shutdown signal can be sent to the cloud server through the removable device (encryption is to prevent data from being captured and tampered with). After receiving the corresponding signal, the server first retrieves the network address, platform name and unique identification code information of the current platform, decrypts the information and decomposes the operation content, and sends the relevant operations to the control end and the robot for control, realizing the process and Fig. 9 The process is similar, so I won’t go into details.

[0107] After receiving the robot control signal, if the "control on-off contact 1-2" has a signal feedback, it is currently under local control and the remote end can no longer perform any power-on and power-off operations. Otherwise, it determines whether the "control on-off coil 2" has output. If there is no output, it means that the device is not connected and cannot be powered off. The latest information is fed back to the cloud server and then sent to the remote client of the mobile device to prevent repeated power-off and other repeated robot control.

[0108] Reference Fig.10 , is a schematic diagram of a remote control system (client) provided in an embodiment of the present invention, and the remote control system (client) includes five major parts, namely, a basic information layer, a control panel layer, a monitoring camera layer, a navigation layer, and a communication layer. The basic information layer includes a title bar module, a device module, and a device position display module. The control panel layer includes an operation control unit and an information feedback unit, wherein the operation control unit includes a switch module, a run module, a stop module, a pause module, an enable module, a reset module, a robot hand automatic switching module, a robot motion control module, and a robot program switching module. The information feedback unit includes a robot motion information module, an alarm indication module, and an alarm information module. The monitoring camera layer includes a monitoring display module and a monitoring control module. The navigation layer includes a device selection module, a device addition module, a platform selection module, and a platform addition module. The communication layer includes a custom protocol function module, a verification module, an information parsing module, and a firewall module. Among them, the parts that users can intuitively see in the remote control system are the basic information layer, the control panel layer, the monitoring camera layer, and the navigation layer.

[0109] In the navigation layer, the control method of "Device (Robot) Add Module" is as follows Figure 3 As shown, the control method of "platform add module" is as follows Figure 4 As shown in the figure, the control method of the "device selection module" is as follows Figure 5 As shown, the control method of the "platform selection module" is as follows Figure 6 As shown, it should be noted that no matter what operation is performed, the unique identification code of the removable device or robot platform cannot be modified, and the communication verification code will be encrypted and modified according to each operation. Among them, when the remote control system is turned on, the first robot of the robot platform selected last time will be displayed by default. Fig.11 As shown, open the mobile device client, the software checks the current network environment, the client connects to the cloud server, and by default selects the platform that was monitored last time (if no empty parameters are displayed), and the device (robot) that was monitored last time (if no empty parameters are displayed), and waits for other user operations. If the robot platform is offline, no power on or off or other operations can be performed on the robot under the robot platform.

[0110] The embodiment of the present invention integrates the intelligent gateway and the cloud server, realizes the remote control of multiple robots based on the mobile device, and enhances the security and reliability of the control. The present invention can control the robot platform and the robot through the intelligent gateway and the cloud server based on the mobile device. After authorization, the robot platform and the robot can also be directly controlled based on the mobile device. The present invention does not limit this. At the same time, the present invention simplifies the operation process through a user-friendly control interface, improves the efficiency of remote management and monitoring, ensures safe and correct robot operation, real-time status monitoring, simplifies equipment management, and realizes system scalability and high adaptability, thereby greatly improving the remote control capability of the multi-robot system and promoting the development and application of intelligent automation technology.

[0111] In summary, the embodiments of the present invention have at least the following advantages: Secure remote control architecture: Through the integration of the intelligent gateway and the cloud server, remote power-on and power-off control of the equipment is realized, and multiple confirmation mechanisms are provided to ensure operational safety, including encrypted signal transmission and real-time feedback of the equipment status. Unified remote control system for mobile devices: A remote control system integrated on mobile devices has been developed, including key modules such as basic information, control panel, monitoring, navigation and communication, providing an intuitive user interface and comprehensive equipment management. Unique identification and dynamic verification mechanism: Ensure the uniqueness of each robot platform and mobile device, and enhance the security of remote operations through dynamically updated communication verification codes to prevent unauthorized access and operation conflicts.

[0112] It should be noted that, for the sake of simplicity, the method embodiments are described as a series of action combinations, but those skilled in the art should be aware that the embodiments of the present invention are not limited by the order of the actions described, because according to the embodiments of the present invention, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions involved are not necessarily required by the embodiments of the present invention.

[0113] Reference Fig.12 , shows a structural block diagram of a robot control device provided in an embodiment of the present invention, which is applied to a cloud server, the cloud server is connected to an intelligent gateway, a mobile device and a robot platform, and the cloud server, the mobile device and the robot platform store device information of the mobile device and platform information of the robot platform, and specifically may include the following modules:

[0114] A robot platform determination module 1201, used to determine a target robot platform selected by a target mobile device connected to the cloud server;

[0115] A robot determination module 1202, configured to determine a target robot in the target robot platform selected by the target movable device;

[0116] The robot control signal receiving module 1203 is used to receive the robot control signal sent by the target movable device to the target robot; wherein the robot control signal includes the device information and the platform information stored in the movable device;

[0117] An information verification module 1204, configured to verify the device information and the platform information stored in the removable device in the robot control signal according to the device information and the platform information stored in the cloud server;

[0118] The robot control module 1205 is used to send the robot control signal to the target intelligent gateway corresponding to the target robot when the verification is successful, so that the target intelligent gateway sends the robot control signal to the corresponding target robot platform, and the target robot platform is used to control the corresponding target robot according to the robot control signal.

[0119] In one embodiment of the present invention, the device further comprises: an input module, configured to:

[0120] Receiving input device information sent by the removable device; wherein the input device information at least includes a device name, a device type, a device model and a device address;

[0121] When it is determined according to the input device information that the input device information of the mobile device is not stored in the cloud server, generating a first unique identification code and a first communication verification code for the mobile device;

[0122] saving the input device information, the first unique identification code and the first communication verification code as device information;

[0123] The device information is sent to the robot platform, and the robot platform is used to store the device information.

[0124] In one embodiment of the present invention, the device further comprises: an input module, configured to:

[0125] Receiving input platform information sent by the robot platform; wherein the input platform information at least includes a platform name, a platform location, and a device address;

[0126] When it is determined according to the input platform information that the input platform information of the robot platform is not stored in the cloud server, generating a second unique identification code and a second communication verification code for the robot platform;

[0127] saving the input platform information, the second unique identification code and the second communication verification code as platform information;

[0128] The platform information is sent to the removable device, and the removable device is used to store the platform information.

[0129] In one embodiment of the present invention, the device further comprises:

[0130] Receiving the current operating status sent by the robot platform;

[0131] The current operating status of the robot platform is sent to the movable device to be displayed on the movable device.

[0132] In one embodiment of the present invention, determining a target robot platform selected by a target mobile device connected to the cloud server includes:

[0133] In response to a selection operation for the robot platform, determining a target robot platform;

[0134] Displaying robot information of the robot in the target robot platform;

[0135] Then determining the target robot in the target robot platform selected by the target movable device comprises:

[0136] In response to a selection operation on a robot in the target robot platform, a target robot in the target robot platform is determined.

[0137] In one embodiment of the present invention, the robot includes a power control module, which includes a switch module, a first control on-off coil, a second control on-off coil, a first control on-off contact, a second control on-off contact, a third control on-off contact, a power on-off coil and a power on-off contact.

[0138] In one embodiment of the present invention, when the robot is controlled locally, when the switch module is turned on, after the first control on-off coil, the first control on-off contact, the power on-off coil and the power on-off contact are turned on in sequence, the power supply of the robot provides power for the robot.

[0139] In one embodiment of the present invention, when the target robot receives the robot control signal and determines that the target robot has a feedback signal at the second control on-off contact, it determines that the target robot is under local control and prohibits execution of the robot control signal.

[0140] In one embodiment of the present invention, when it is determined that the target robot does not have a feedback signal at the second control on-off contact, it is determined that the target robot is non-locally controlled. If it is determined that the second control on-off coil is not turned on, it is determined that the target robot is not powered on, and the robot control signal is executed to control the target robot to power on.

[0141] In an embodiment of the present invention, a target robot platform selected by a target mobile device connected to a cloud server is determined, and a target robot in the target robot platform selected by the target mobile device is determined, a robot control signal for the target robot sent by the target mobile device is received, and the device information and platform information stored in the mobile device in the robot control signal are verified according to the device information and platform information saved by the cloud server. When the verification is successful, the robot control signal can be sent to a target intelligent gateway corresponding to the target robot, so that the target intelligent gateway sends the robot control signal to the corresponding target robot platform, and the target robot platform is used to control the corresponding target robot according to the robot control signal, thereby realizing remote control of the robot by the mobile device. The embodiment of the present invention can remotely control the robot through the mobile device, which improves the flexibility and convenience of robot operation compared to the operation method through a fixed terminal.

[0142] As for the device embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0143] In addition, an embodiment of the present invention further provides an electronic device, including: a processor, a memory, and a computer program stored in the memory and executable on the processor. When the computer program is executed by the processor, the various processes of the above-mentioned robot control method embodiment are implemented, and the same technical effect can be achieved. To avoid repetition, it will not be described here.

[0144] The embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, each process of the above-mentioned robot control method embodiment is implemented, and the same technical effect can be achieved. To avoid repetition, it is not repeated here. The computer-readable storage medium is, for example, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0145] An embodiment of the present invention also provides a computer program product, which is stored in a storage medium. The program product is executed by at least one processor to implement the various processes of the above-mentioned robot control method embodiment and can achieve the same technical effect. To avoid repetition, it will not be repeated here.

[0146] Fig.13 A schematic diagram of the hardware structure of an electronic device for implementing various embodiments of the present invention.

[0147] The electronic device 1300 includes but is not limited to: a radio frequency unit 1301, a network module 1302, an audio output unit 1303, an input unit 1304, a sensor 1305, a display unit 1306, a user input unit 1307, an interface unit 1308, a memory 1309, a processor 1310, and a power supply 1311. Those skilled in the art will appreciate that Fig.13 The electronic device structure shown in the figure does not constitute a limitation on the electronic device, and the electronic device may include more or fewer components than shown in the figure, or combine certain components, or arrange the components differently. In the embodiments of the present invention, the electronic device includes but is not limited to a mobile phone, a tablet computer, a laptop computer, a PDA, a vehicle-mounted terminal, a wearable device, and a pedometer.

[0148] It should be understood that in the embodiment of the present invention, the radio frequency unit 1301 can be used for receiving and sending signals during information transmission or call. Specifically, after receiving the downlink data from the base station, it is sent to the processor 1310 for processing; in addition, the uplink data is sent to the base station. Generally, the radio frequency unit 1301 includes but is not limited to an antenna, at least one amplifier, a transceiver, a coupler, a low noise amplifier, a duplexer, etc. In addition, the radio frequency unit 1301 can also communicate with the network and other devices through a wireless communication system.

[0149] The electronic device provides users with wireless broadband Internet access through the network module 1302, such as helping users to send and receive emails, browse web pages, and access streaming media.

[0150] The audio output unit 1303 can convert the audio data received by the RF unit 1301 or the network module 1302 or stored in the memory 1309 into an audio signal and output it as sound. Moreover, the audio output unit 1303 can also provide audio output related to a specific function performed by the electronic device 1300 (for example, a call signal reception sound, a message reception sound, etc.). The audio output unit 1303 includes a speaker, a buzzer, a receiver, etc.

[0151] The input unit 1304 is used to receive audio or video signals. The input unit 1304 may include a graphics processor (GPU) 13041 and a microphone 13042. The graphics processor 13041 processes the image data of a static picture or video obtained by an image capture device (such as a camera) in a video capture mode or an image capture mode. The processed image frame can be displayed on the display unit 1306. The image frame processed by the graphics processor 13041 can be stored in the memory 1309 (or other storage medium) or sent via the radio frequency unit 1301 or the network module 1302. The microphone 13042 can receive sound and can process such sound into audio data. The processed audio data can be converted into a format output that can be sent to a mobile communication base station via the radio frequency unit 1301 in the case of a telephone call mode.

[0152] The electronic device 1300 also includes at least one sensor 1305, such as a light sensor, a motion sensor, and other sensors. Specifically, the light sensor includes an ambient light sensor and a proximity sensor, wherein the ambient light sensor can adjust the brightness of the display panel 13061 according to the brightness of the ambient light, and the proximity sensor can turn off the display panel 13061 and / or the backlight when the electronic device 1300 is moved to the ear. As a type of motion sensor, the accelerometer sensor can detect the magnitude of acceleration in each direction (generally three axes), and can detect the magnitude and direction of gravity when stationary, which can be used to identify the posture of the electronic device (such as horizontal and vertical screen switching, related games, magnetometer posture calibration), vibration recognition related functions (such as pedometer, tapping), etc.; the sensor 1305 can also include a fingerprint sensor, a pressure sensor, an iris sensor, a molecular sensor, a gyroscope, a barometer, a hygrometer, a thermometer, an infrared sensor, etc., which will not be repeated here.

[0153] The display unit 1306 is used to display information input by the user or information provided to the user. The display unit 1306 may include a display panel 13061, which may be configured in the form of a liquid crystal display (LCD), an organic light-emitting diode (OLED), or the like.

[0154] The user input unit 1307 can be used to receive input digital or character information, and to generate key signal input related to user settings and function control of the electronic device. Specifically, the user input unit 1307 includes a touch panel 13071 and other input devices 13072. The touch panel 13071, also known as a touch screen, can collect the user's touch operation on or near it (such as the user's operation on the touch panel 13071 or near the touch panel 13071 using any suitable object or accessory such as a finger, stylus, etc.). The touch panel 13071 may include two parts: a touch detection device and a touch controller. Among them, the touch detection device detects the user's touch orientation, detects the signal brought by the touch operation, and transmits the signal to the touch controller; the touch controller receives the touch information from the touch detection device, converts it into contact coordinates, and then sends it to the processor 1310, receives the command sent by the processor 1310 and executes it. In addition, the touch panel 13071 can be implemented in various types such as resistive, capacitive, infrared, and surface acoustic waves. In addition to the touch panel 13071, the user input unit 1307 may also include other input devices 13072. Specifically, other input devices 13072 may include but are not limited to physical keyboards, function keys (such as volume control keys, switch keys, etc.), trackballs, mice, and joysticks, which will not be repeated here.

[0155] Furthermore, the touch panel 13071 may be overlaid on the display panel 13061. When the touch panel 13071 detects a touch operation on or near it, it is transmitted to the processor 1310 to determine the type of touch event. Then, the processor 1310 provides corresponding visual output on the display panel 13061 according to the type of touch event. Fig.13 In the figure, the touch panel 13071 and the display panel 13061 are two independent components to realize the input and output functions of the electronic device. However, in some embodiments, the touch panel 13071 and the display panel 13061 can be integrated to realize the input and output functions of the electronic device, which is not limited here.

[0156] The interface unit 1308 is an interface for connecting an external device to the electronic device 1300. For example, the external device may include a wired or wireless headset port, an external power supply (or battery charger) port, a wired or wireless data port, a memory card port, a port for connecting a device with an identification module, an audio input / output (I / O) port, a video I / O port, a headphone port, etc. The interface unit 1308 may be used to receive input (e.g., data information, power, etc.) from an external device and transmit the received input to one or more elements within the electronic device 1300 or may be used to transmit data between the electronic device 1300 and an external device.

[0157] The memory 1309 can be used to store software programs and various data. The memory 1309 can mainly include a program storage area and a data storage area, wherein the program storage area can store an operating system, an application required for at least one function (such as a sound playback function, an image playback function, etc.), etc.; the data storage area can store data created according to the use of the mobile phone (such as audio data, a phone book, etc.), etc. In addition, the memory 1309 can include a high-speed random access memory, and can also include a non-volatile memory, such as at least one disk storage device, a flash memory device, or other volatile solid-state storage devices.

[0158] The processor 1310 is the control center of the electronic device. It uses various interfaces and lines to connect various parts of the entire electronic device. By running or executing software programs and / or modules stored in the memory 1309 and calling data stored in the memory 1309, it performs various functions of the electronic device and processes data, thereby monitoring the electronic device as a whole. The processor 1310 may include one or more processing units; preferably, the processor 1310 may integrate an application processor and a modem processor, wherein the application processor mainly processes the operating system, user interface, and application programs, and the modem processor mainly processes wireless communications. It is understandable that the above-mentioned modem processor may not be integrated into the processor 1310.

[0159] The electronic device 1300 may also include a power supply 1311 (such as a battery) for supplying power to each component. Preferably, the power supply 1311 may be logically connected to the processor 1310 through a power management system, thereby implementing functions such as managing charging, discharging, and power consumption management through the power management system.

[0160] In addition, the electronic device 1300 includes some functional modules not shown, which will not be described in detail here.

[0161] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or device including the element.

[0162] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus a necessary general hardware platform, and of course by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present invention, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, a magnetic disk, or an optical disk), and includes a number of instructions for enabling a terminal (which can be a mobile phone, a computer, a server, an air conditioner, or a network device, etc.) to execute the methods described in each embodiment of the present invention.

[0163] The embodiments of the present invention are described above in conjunction with the accompanying drawings, but the present invention is not limited to the above-mentioned specific implementation modes, which are merely illustrative rather than restrictive. Under the guidance of the present invention, ordinary technicians in this field can also make many forms without departing from the scope of protection of the present invention and the claims, all of which are within the protection of the present invention.

[0164] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed in the embodiments of the present invention can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present invention.

[0165] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0166] In the 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 only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0167] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0168] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0169] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, server, or network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: various media that can store program codes, such as USB flash drives, mobile hard disks, ROM, RAM, magnetic disks, or optical disks.

[0170] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed by the present invention, which should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. A robot control method, characterized in that: Applied to a cloud server, the cloud server is connected to an intelligent gateway, a mobile device and a robot platform, the cloud server, the mobile device and the robot platform store device information of the mobile device and platform information of the robot platform, the method comprises: Determine a target robot platform selected by a target mobile device connected to the cloud server; Determine a target robot in the target robot platform selected by the target movable device; Receiving a robot control signal for the target robot sent by the target movable device; wherein the robot control signal includes the device information and the platform information stored in the movable device; Verifying the device information and the platform information stored in the removable device in the robot control signal according to the device information and the platform information stored in the cloud server; When the verification is successful, the robot control signal is sent to the target intelligent gateway corresponding to the target robot, so that the target intelligent gateway sends the robot control signal to the corresponding target robot platform, and the target robot platform is used to control the corresponding target robot according to the robot control signal.

2. The method according to claim 1, characterized in that Before determining the target robot platform selected by the target mobile device connected to the cloud server, the method further includes: Receiving input device information sent by the removable device; wherein the input device information at least includes a device name, a device type, a device model and a device address; When it is determined according to the input device information that the input device information of the mobile device is not stored in the cloud server, generating a first unique identification code and a first communication verification code for the mobile device; saving the input device information, the first unique identification code and the first communication verification code as device information; The device information is sent to the robot platform, and the robot platform is used to store the device information.

3. The method according to claim 1, characterized in that Before determining the target robot platform selected by the target mobile device connected to the cloud server, the method further includes: Receiving input platform information sent by the robot platform; wherein the input platform information at least includes a platform name, a platform location, and a device address; When it is determined according to the input platform information that the input platform information of the robot platform is not stored in the cloud server, generating a second unique identification code and a second communication verification code for the robot platform; saving the input platform information, the second unique identification code and the second communication verification code as platform information; The platform information is sent to the removable device, and the removable device is used to store the platform information.

4. The method according to claim 1, characterized in that: Before determining the target robot platform selected by the target mobile device connected to the cloud server, the method further includes: Receiving the current operating status sent by the robot platform; The current operating status of the robot platform is sent to the movable device to be displayed on the movable device.

5. The method according to claim 4, characterized in that Determining a target robot platform selected by a target mobile device connected to the cloud server includes: In response to a selection operation for the robot platform, determining a target robot platform; Displaying robot information of the robot in the target robot platform; Then determining the target robot in the target robot platform selected by the target movable device comprises: In response to a selection operation on a robot in the target robot platform, a target robot in the target robot platform is determined.

6. The method according to claim 1, characterized in that The robot includes a power control module, which includes a switch module, a first control on-off coil, a second control on-off coil, a first control on-off contact, a second control on-off contact, a third control on-off contact, a power on-off coil and a power on-off contact.

7. The method according to claim 6, characterized in that When the robot is controlled locally, when the switch module is turned on, after the first control on-off coil, the first control on-off contact, the power on-off coil and the power on-off contact are turned on in sequence, the power supply of the robot provides power for the robot.

8. The method according to claim 6, characterized in that When the target robot receives the robot control signal and determines that the target robot has a feedback signal at the second control on-off contact, the target robot is determined to be under local control and execution of the robot control signal is prohibited.

9. The method according to claim 6, characterized in that When it is determined that the target robot does not have a feedback signal at the second control on-off contact, it is determined that the target robot is non-locally controlled. If it is determined that the second control on-off coil is not conducting, it is determined that the target robot is not powered on, and the robot control signal is executed to control the target robot to power on.

10. A robot control device, characterized in that: Applied to a cloud server, the cloud server is connected to an intelligent gateway, a mobile device and a robot platform, the cloud server, the mobile device and the robot platform store device information of the mobile device and platform information of the robot platform, the device comprises: A robot platform determination module, used to determine a target robot platform selected by a target mobile device connected to the cloud server; A robot determination module, used to determine a target robot in the target robot platform selected by the target movable device; A robot control signal receiving module, configured to receive a robot control signal sent by the target movable device to the target robot; wherein the robot control signal includes the device information and the platform information stored in the movable device; An information verification module, used to verify the device information and the platform information stored in the removable device in the robot control signal according to the device information and the platform information stored in the cloud server; The robot control module is used to send the robot control signal to the target intelligent gateway corresponding to the target robot when the verification is successful, so that the target intelligent gateway sends the robot control signal to the corresponding target robot platform, and the target robot platform is used to control the corresponding target robot according to the robot control signal.

11. An electronic device, characterized in that: It includes a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory communicate with each other through the communication bus; The memory is used to store computer programs; The processor is used to implement the method according to any one of claims 1 to 9 when executing the program stored in the memory.

12. A computer-readable storage medium having instructions stored thereon, which, when executed by one or more processors, cause the processors to perform the method according to any one of claims 1 to 9.

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