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

Abstract

Embodiments of the present application provide a robot control method and device, electronic equipment and readable storage medium, the method comprises: determining the target robot platform selected by the target movable device connected with the cloud server; determining the target robot in the target robot platform selected by the target movable device; receiving the robot control signal for the target robot sent by the target movable device; verifying the device information and platform information stored in the movable device in the robot control signal according to the device information and platform information saved by 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 for controlling the corresponding target robot according to the robot control signal. The embodiments of the present application improve the flexibility and convenience of robot operation.

Description

Technical Field

[0001] The present invention relates 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 Technology

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

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

[0004] This invention discloses a robot control method applied to a cloud server. The cloud server is connected to a smart 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 includes:

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

[0006] The target robot in the target robot platform selected by the target movable device is determined;

[0007] The system receives robot control signals for the target robot sent by the target mobile device; wherein the robot control signals include device information and platform information stored in the mobile device.

[0008] The device information and platform information stored in the mobile device in the robot control signal are verified based on the device information and platform information stored on the cloud server.

[0009] Upon successful verification, the robot control signal is sent to the target smart gateway corresponding to the target robot, so that the target smart 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] Receive input device information sent by the mobile device; wherein the input device information includes at least device name, device type, device model and device address;

[0012] When it is determined, based on the input device information, that the input device information of the mobile device is not stored in the cloud server, a first unique identification code and a first communication verification code are generated for the mobile device.

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

[0014] The device information is sent to the robot platform, which 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] Receive input platform information sent by the robot platform; wherein, the input platform information includes at least the platform name, platform location, and device address;

[0017] When it is determined, based on the input platform information, that the input platform information of the robot platform is not stored in the cloud server, a second unique identification code and a second communication verification code are generated for the robot platform.

[0018] Save 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 mobile device, which 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] Receive the current operating status sent by the robot platform;

[0022] The current operating status of the robot platform is sent to the mobile device for display on the mobile device.

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

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

[0025] Display robot information for the robots in the target robot platform;

[0026] Determining the target robot in the target robot platform selected by the target mobile device includes:

[0027] In response to a selection operation for 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, the first control on / off coil, the first control on / off contact, the power on / off coil, and the power on / off contact are sequentially turned on, and the robot's power supply provides power to the robot.

[0030] Optionally, 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.

[0031] Optionally, if 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 conducting, the target robot is determined to be not powered on, and the robot control signal is executed to control the target robot to be powered on.

[0032] This invention also discloses a robot control device applied to a cloud server. The cloud server is connected to a smart 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 includes:

[0033] The robot platform determination module is used to determine the target robot platform selected by the target mobile device connected to the cloud server.

[0034] A robot determination module is used to determine the target robot in the target robot platform selected by the target mobile device;

[0035] A robot control signal receiving module is used to receive robot control signals sent by the target mobile device for the target robot; wherein, the robot control signal includes the device information and the platform information stored in the mobile device;

[0036] The information verification module is used to verify the device information and platform information stored in the mobile device in the robot control signal based on the device information and platform information stored in the cloud server.

[0037] The robot control module is used to send the robot control signal to the target smart gateway corresponding to the target robot when the verification is successful, so that the target smart 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] This invention also discloses an electronic device, including 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;

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

[0040] When the processor executes a program stored in the memory, it implements the method described in the embodiments of the present invention.

[0041] This invention also discloses a computer program product stored in a storage medium, which is executed by at least one processor to implement the method described in this invention.

[0042] This invention also discloses a computer-readable storage medium storing instructions that, when executed by one or more processors, cause the processors to perform the methods described in this invention.

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

[0044] In this embodiment of the invention, a target robot platform selected by a target mobile device connected to a cloud server is determined, and a target robot within that target robot platform is also determined. A robot control signal for the target robot is received from the target mobile device. The device and platform information stored in the robot control signal are verified against the device and platform information stored on the cloud server. Upon successful verification, the robot control signal is sent to the target smart gateway corresponding to the target robot. This smart gateway then forwards the robot control signal to the corresponding target robot platform. The target robot platform controls the corresponding target robot based on the robot control signal, thereby enabling remote control of the robot by the mobile device. This embodiment of the invention allows for remote robot control via a mobile device, improving the flexibility and convenience of robot operation compared to operation via a fixed terminal. Attached Figure Description

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

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

[0047] Figure 3 This is a schematic diagram illustrating the addition of a mobile device in a platform remote control system provided in an embodiment of the present invention;

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

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

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

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

[0052] Figure 8 This is a flowchart of a robot's local startup process provided in an embodiment of the present invention;

[0053] Figure 9 This is a flowchart of a robot remote control method provided in an embodiment of the present invention;

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

[0055] Figure 11 This is a control flowchart of a remote control system provided in an embodiment of the present invention;

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

[0057] Figure 13 This is a schematic diagram of the hardware structure of an electronic device that implements various embodiments of the present invention. Detailed Implementation

[0058] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

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

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

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

[0062] The mobile devices and robot platform can be multiple or a single entity. Specifically, mobile devices can include smartphones, tablets, smartwatches, and other mobile electronic devices. The robot platform can be a platform capable of controlling multiple robots (robot devices / equipment). Specifically, the robot platform is used to manage and control various types of robot devices, allowing users to operate, monitor, and maintain different types of robots to complete various tasks such as industrial and agricultural tasks.

[0063] Reference Figure 2This 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, a smart gateway 202, a mobile device 203, and a robot platform 204. The mobile device 203 is communicatively connected to the cloud server 201, and the cloud server 201 can communicate with the robot in the robot platform 204 through the smart gateway 202. Optionally, after being verified by the cloud server 201, the mobile device 203 can also directly communicate with the robot platform 204.

[0064] In this embodiment of the invention, the cloud server, the mobile device, and the robot platform respectively store device information for the mobile device and platform information for the robot platform. This device information and platform information can be used to verify whether the robot platform and the mobile device are authorized devices. Specifically, the device information may include at least the device name, device type, device model, device address, first unique identifier, and first communication verification code for the mobile device. The platform information may include at least the robot platform name, platform location, device address, second unique identifier, and second communication verification code. The unique identifier is a unique identifier for each device or platform in the system. The unique identifier is a string, and its displacement-based identifier distinguishes different mobile devices or robot platforms. The communication verification code is a code used to verify data integrity and security, ensuring that data is not tampered with during transmission. Based on the dynamic verification mechanism of the unique identifier and the communication verification code, the uniqueness of each robot platform and mobile device can be ensured, and the security of remote operation is enhanced by dynamically updated communication verification codes, preventing unauthorized access and operational conflicts.

[0065] In this embodiment of the 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, it can further determine the target robot in the target robot platform that needs to be controlled. The target robot can be one or more robots in the target robot platform, or it can be all the robots.

[0066] Step 103: Receive robot control signals sent by the target mobile device for the target robot; wherein the robot control signals include the device information and platform information stored in the mobile device.

[0067] In this embodiment of the invention, the cloud server can receive robot control signals sent by the target mobile device for the target robot. The robot control signals can include at least control signals for powering on or off the robot, and can carry device information and platform information stored in the target mobile device.

[0068] Step 104: Verify the device information and platform information stored in the mobile device in the robot control signal based on the device information and platform information stored on the cloud server.

[0069] Step 105: Upon successful verification, the robot control signal is sent to the target smart gateway corresponding to the target robot, so that the target smart 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 this embodiment of the invention, after receiving the robot control signal, the cloud server can determine whether the target mobile device is an authorized device by comparing the device information and platform information in the robot control signal with the device information and platform information stored locally. 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 mobile device, the verification can be determined to have failed; otherwise, the verification can be determined to have succeeded. When the verification is successful, the cloud server sends the robot control signal to the target smart gateway corresponding to the target robot. The target smart gateway can then 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 this embodiment of the invention, a target robot platform selected by a target mobile device connected to a cloud server is determined, and a target robot within that target robot platform is also determined. A robot control signal for the target robot is received from the target mobile device. The device and platform information stored in the robot control signal are verified against the device and platform information stored on the cloud server. Upon successful verification, the robot control signal is sent to the target smart gateway corresponding to the target robot. This smart gateway then forwards the robot control signal to the corresponding target robot platform. The target robot platform controls the corresponding target robot based on the robot control signal, thereby enabling remote control of the robot by the mobile device. This embodiment of the invention allows for remote robot control via a mobile device, improving the flexibility and convenience of robot operation compared to operation via 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] Receive input device information sent by the mobile device; wherein the input device information includes at least device name, device type, device model and device address;

[0074] When it is determined, based on the input device information, that the input device information of the mobile device is not stored in the cloud server, a first unique identification code and a first communication verification code are generated for the mobile device.

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

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

[0077] Reference Figure 3 This is a schematic diagram illustrating the addition of a mobile device to a platform remote control system provided in this embodiment of the invention. The input device information of the mobile device to be added to the platform remote control system can be entered as needed, such as device name, device type, device model, and device address. Then, the cloud server can first check whether the mobile device has already been added (specifically, this can be determined by comparing the input device information of the mobile device already stored in the cloud server). If it has, it is determined to be a duplicate addition, and the addition of the mobile device will be prohibited. If not, it is determined to be a non-duplicate addition, and a first unique identification code and a first communication verification code can be generated for the mobile device. The input device information, the first unique identification code, and the first communication verification code are saved as the device information of the mobile device, and the device information of the mobile device is synchronized to the robot platform already added to the platform remote control system for subsequent verification of robot control signals, etc.

[0078] In this embodiment of the invention, based on a mobile device, the platform information of the robot platform can be archived in a cloud server, and the robot information of the robot (device) in the robot platform can also be archived in a cloud server. Furthermore, unique identification codes and communication verification codes can be set for the robot platform and the robot respectively, so that multiple confirmations can be performed on the robot platform based on the robot platform information such as the unique identification code and communication verification code, and vice versa.

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

[0081] When it is determined, based on the input platform information, that the input platform information of the robot platform is not stored in the cloud server, a second unique identification code and a second communication verification code are generated for the robot platform.

[0082] Save 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 mobile device, which is used to store the platform information.

[0084] Reference Figure 4 This is a schematic diagram illustrating the addition of a robot platform in a platform remote control system provided in this embodiment of the invention. The robot platform to be added to the platform remote control system can be input platform information, such as platform name, platform location, and device address, according to requirements. Then, the cloud server can first check whether a robot platform has already been added (specifically, this can be determined by comparing the input platform information of the robot platform stored in the cloud server). If it has, it is determined to be a duplicate addition, and adding the robot platform will be prohibited. If not, it is determined to be a non-duplicate addition, and a second unique identification code and a second communication verification code can be generated for the robot platform. The input platform information, the second unique identification code, and the second communication verification code are saved as the platform information of the robot platform, and the platform information of the robot platform is synchronized to the mobile device already 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] Receive the current operating status sent by the robot platform;

[0087] The current operating status of the robot platform is sent to the mobile device for display on the mobile device.

[0088] In this embodiment of the invention, after the robot platform logs into the cloud server, the control terminal and the robot will report the current operating status (e.g., 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 the target robot platform selected by the target mobile device connected to the cloud server includes:

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

[0091] Display robot information for the robots in the target robot platform;

[0092] Determining the target robot in the target robot platform selected by the target mobile device includes:

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

[0094] In this embodiment of the 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. The user can select a target robot platform from the platform list according to 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 a target robot from the device list according to requirements, and then send robot control signals to the target robot to perform control such as powering on the target robot. In some embodiments, when the remote control system is opened, the first robot of the previously selected robot platform will be displayed by default.

[0095] For example, refer to Figure 5 This diagram illustrates rapid robot switching in a platform remote control system provided in this embodiment of the invention. It retrieves a device list (including robot information such as robot names) for the current robot platform from a cloud server, selects another robot on the current platform, and sends this information to the cloud server to retrieve other robot information, such as current operating status. The server then sends the selected robot information back to the client, which displays the selected robot's information. (See reference...) Figure 6This is a schematic diagram of rapid switching of robot platforms in a platform remote control system provided in an embodiment of the present invention. The system obtains a platform list (including platform information corresponding to robot platforms that have been added to the platform remote control system, such as platform names, etc.) from the cloud server, selects another platform, and sends it to the cloud server to switch to another platform. At this time, the first robot of the other platform is automatically selected, and the server feeds back the information of the currently selected robot (robot name, current running status, etc.) to the client. The client displays the information of the currently selected robot.

[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, to achieve remote control and considering the security protection measures of multi-confirmation mechanisms for remote control, this embodiment of the invention adds additional software and hardware modules to the robot to support control, specifically adding a power control module on the robot side. (Refer to...) Figure 7 This is a control diagram of a robot provided in an embodiment of the present invention. The robot may include a power control module, which can be connected to the control terminal of the robot platform through a smart 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). The switch module is connected to the power input terminal, 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, the first control on / off coil, the first control on / off contact, the power on / off coil and the power on / off contact are sequentially turned on, and the power supply of the robot provides power to the robot.

[0099] The robot of this invention can achieve the local power-on process through local control without remote control. For example, refer to... Figure 8 This is a flowchart of a robot's local startup process 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 robot's power supply provides power to the robot to start, thus enabling the robot to be powered on.

[0100] In one embodiment of the present invention, when the target robot receives a robot control signal, if it is determined 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 the execution of the robot control signal is prohibited; if 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; 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 be powered on.

[0101] In this embodiment of the invention, in order to realize remote control of the robot based on a mobile device (e.g., remote power on / off control), feedback signals of control on / off contacts 1-2, input / output signals of control on / off contacts 2 controlling power on / off coil 1 and robot platform control terminal are added to the robot to identify the current power on / off status of the robot.

[0102] For example, the method for remotely controlling power-on and power-off in this embodiment of the invention is to equip the robot platform with a smart gateway. The smart gateway is used to connect to the robot platform's control terminal and the robot, and can specify a network address to connect to the Internet, enabling the robot platform to connect to a cloud server. When this happens, the user can add robot information to the robot platform through the platform's remote control system and upload it to the cloud server for archiving, generating a unique platform identifier and a communication verification code (for multiple confirmations). Subsequently, this unique identifier is also sent back to the client of the remote mobile device for archiving. Similarly, adding a mobile device through the platform's remote control system also generates a unique identifier for that mobile device.

[0103] The robot platform's smart gateway and control unit must be powered on to send the latest information to the cloud server; otherwise, the robot platform is offline and cannot be remotely controlled or tracked. After logging into the cloud server, the robot platform's control unit and the robot itself will report their current operating status to the cloud server when signal changes occur. When the remote client on a mobile device is open, it can retrieve the latest data from the cloud server in real time and display it on the client.

[0104] When the switch module on the robot platform is not turned on, an encrypted device-on signal (robot control signal) can be sent to the cloud server via a mobile device (encryption is to prevent data interception and tampering). Upon receiving the signal, the cloud server first retrieves platform information such as the target robot platform's network address, platform name, and unique identification code. Then, it decrypts the information, decomposes the operation content, and sends the relevant operation to the target robot platform's control terminal and the robot for control. For example, refer to... Figure 9 This is a flowchart of a robot remote control provided in an embodiment of the present invention. The remote control system of the mobile device sends a power-on signal to the corresponding robot. After receiving the corresponding signal, the cloud server forwards it to the smart gateway of the corresponding platform. After receiving the information from the remote server, the smart gateway sends it to the control system (control terminal) 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 terminal is not powered on, the system signal output is controlled according to the robot that needs to be turned on, thereby turning on the control on / off coil 2, the control on / off contact 2, the power on / off coil 1, the power on / off contact 1, and the robot power input terminal is powered on.

[0105] Although the control terminal promptly feeds back to the cloud server when refreshing relevant signals, considering a multi-confirmation mechanism, upon receiving a robot control signal, the control terminal first checks if the corresponding robot has a switch feedback signal, such as whether "control on / off contact 1-2" has a signal feedback. If there is feedback, the current control is local, and the remote client cannot perform any power-on or power-off operations (the robot platform will send the latest information to the cloud server in real time; thus, the switch module of the remote control system will be locked on the mobile device. However, for security reasons, this judgment function will still be retained to prevent network fluctuations and other factors from affecting the overall control). Conversely, if there is no feedback, it checks whether "control on / off coil 2" has output. If it has, it means that the remote control power-on is already on, and power-on operations cannot be performed. The latest information is then fed back to the cloud server and sent to the remote client on the mobile device to prevent repeated power-on.

[0106] When the robot platform's switch module is turned on, an encrypted device-off signal can be sent to the cloud server via a removable device (encryption is to prevent data interception and tampering). Upon receiving the signal, the server first retrieves the platform's network address, platform name, and unique identification code. It then decrypts the information, breaks down the operation content, and sends the relevant operations to the control terminal and the robot for control, thus realizing the process... Figure 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" provides feedback, the current control is local, and the remote end cannot perform any power-on or power-off operations. Otherwise, it checks whether the "control on / off coil 2" has output. If there is no output, it means the device is not connected, and it cannot be powered off. The latest information is then sent to the cloud server and distributed to the remote client on the mobile device to prevent repeated power-offs and other redundant robot control.

[0108] Reference Figure 10 This is a schematic diagram of a remote control system (client) provided in an embodiment of the present invention. The remote control system (client) comprises five main parts: 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 location display module. The control panel layer includes an operation control unit and an information feedback unit. 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. The parts that the user can directly 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 for the "Device (Robot) Adding Module" is as follows: Figure 3 As shown, the control method for "Adding a module to the platform" is as follows: Figure 4 As shown, the control method of the "device selection module" is as follows: Figure 5 As shown, the control method for the "Platform Selection Module" is as follows: Figure 6 As shown, it's important to note that regardless of the operation, the unique identifier of the mobile device or robot platform cannot be modified, while the communication verification code will be encrypted and modified with each operation. Specifically, when opening the remote control system, the first robot from the previously selected robot platform will be displayed by default. Figure 11 As shown, upon opening the mobile device client, the software checks the current network environment and connects to the cloud server. It defaults to selecting the platform from which the last monitoring was recorded (if no parameters are displayed), and also defaults to selecting the device (robot) from which the last monitoring was recorded (if no parameters are displayed). It then waits for further user input. If the robot platform is offline, no power-on / off or other operations can be performed on the robot under that platform.

[0110] This invention integrates a smart gateway and a cloud server to achieve remote control of multiple robots based on mobile devices, enhancing the security and reliability of control. This invention allows control of the robot platform and robots via a smart gateway and cloud server using mobile devices. With authorization, control of the robot platform and robots can also be directly achieved via mobile devices; this invention does not impose any limitations on this. Furthermore, this invention simplifies the operation process through a user-friendly control interface, improving the efficiency of remote management and monitoring, ensuring safe and error-free robot operation, real-time status monitoring, simplified equipment management, and achieving system scalability and high adaptability. This significantly enhances the remote control capabilities of multi-robot systems and promotes the development and application of intelligent automation technology.

[0111] In summary, the embodiments of the present invention possess at least the following advantages: Secure remote control architecture: Through the integration of a smart gateway and a cloud server, remote power-on / off control of the device is achieved, providing multiple confirmation mechanisms to ensure operational security, including encrypted signal transmission and real-time feedback of device 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 device management. Unique identification and dynamic verification mechanism: Ensuring the uniqueness of each robot platform and mobile device, and strengthening the security of remote operation through dynamically updated communication verification codes to prevent unauthorized access and operational conflicts.

[0112] It should be noted that, for the sake of simplicity, the method embodiments are all described as a series of actions. However, those skilled in the art should understand that the embodiments of the present invention are not limited to the described order of actions, because according to the embodiments of the present invention, some steps can be performed in other orders or simultaneously. Furthermore, those skilled in the art should also understand that the embodiments described in the specification are preferred embodiments, and the actions involved are not necessarily essential to the embodiments of the present invention.

[0113] Reference Figure 12 This diagram illustrates a structural block diagram of a robot control device provided in an embodiment of the present invention. The device is applied to a cloud server, which is connected to a smart 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. Specifically, the device may include the following modules:

[0114] The robot platform determination module 1201 is used to determine the target robot platform selected by the target mobile device connected to the cloud server.

[0115] Robot determination module 1202 is used to determine the target robot in the target robot platform selected by the target mobile device;

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

[0117] The information verification module 1204 is used to verify the device information and platform information stored in the mobile device in the robot control signal based on the device information and platform information stored in the cloud server;

[0118] The robot control module 1205 is used to send the robot control signal to the target smart gateway corresponding to the target robot when the verification is successful, so that the target smart 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 includes: an input module, used for:

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

[0121] When it is determined, based on the input device information, that the input device information of the mobile device is not stored in the cloud server, a first unique identification code and a first communication verification code are generated for the mobile device.

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

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

[0124] In one embodiment of the present invention, the device further includes: an input module, used for:

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

[0126] When it is determined, based on the input platform information, that the input platform information of the robot platform is not stored in the cloud server, a second unique identification code and a second communication verification code are generated for the robot platform.

[0127] Save 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 mobile device, which is used to store the platform information.

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

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

[0131] The current operating status of the robot platform is sent to the mobile device for display on the mobile device.

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

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

[0134] Display robot information for the robots in the target robot platform;

[0135] Determining the target robot in the target robot platform selected by the target mobile device includes:

[0136] In response to a selection operation for 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, the first control on / off coil, the first control on / off contact, the power on / off coil and the power on / off contact are sequentially turned on, and the power supply of the robot provides power to the robot.

[0139] 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.

[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, the target robot is determined to be non-local control. If it is determined that the second control on / off coil is not conducting, the target robot is determined to be not powered on, and the robot control signal is executed to control the target robot to be powered on.

[0141] In this embodiment of the invention, a target robot platform selected by a target mobile device connected to a cloud server is determined, and a target robot within that target robot platform is also determined. A robot control signal for the target robot is received from the target mobile device. The device and platform information stored in the robot control signal are verified against the device and platform information stored on the cloud server. Upon successful verification, the robot control signal is sent to the target smart gateway corresponding to the target robot. This smart gateway then forwards the robot control signal to the corresponding target robot platform. The target robot platform controls the corresponding target robot based on the robot control signal, thereby enabling remote control of the robot by the mobile device. This embodiment of the invention allows for remote robot control via a mobile device, improving the flexibility and convenience of robot operation compared to operation via a fixed terminal.

[0142] As the device embodiment is basically similar to the method embodiment, the description is relatively simple, and relevant parts can be found in the description of the method embodiment.

[0143] In addition, this invention also 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, it implements the various processes of the above-described robot control method embodiments and achieves the same technical effects. To avoid repetition, it will not be described again here.

[0144] This invention also provides a computer-readable storage medium storing a computer program. When the computer program is executed by a processor, it implements the various processes of the robot control method embodiments described above and achieves the same technical effects. To avoid repetition, it will not be described again here. The computer-readable storage medium may be a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk, etc.

[0145] This invention also provides a computer program product, which is stored in a storage medium and executed by at least one processor to implement the various processes of the robot control method embodiments described above, and can achieve the same technical effects. To avoid repetition, it will not be described again here.

[0146] Figure 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, components such as: 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 understand that... Figure 13 The electronic device structures shown are not intended to limit the electronic device. An electronic device may include more or fewer components than shown, or combine certain components, or have different component arrangements. In embodiments of the present invention, the electronic device includes, but is not limited to, mobile phones, tablet computers, laptops, PDAs, in-vehicle terminals, wearable devices, and pedometers.

[0148] It should be understood that, in this embodiment of the invention, the radio frequency unit 1301 can be used for receiving and transmitting signals during information transmission or calls. Specifically, it receives downlink data from the base station and processes it with the processor 1310; additionally, it transmits uplink data to the base station. Typically, 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. Furthermore, the radio frequency unit 1301 can also communicate with networks 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 send and receive emails, browse web pages, and access streaming media.

[0150] The audio output unit 1303 can convert audio data received by the radio frequency unit 1301 or the network module 1302 or stored in the memory 1309 into audio signals and output them as sound. Furthermore, the audio output unit 1303 can also provide audio output related to specific functions performed by the electronic device 1300 (e.g., call signal reception sound, message reception sound, etc.). The audio output unit 1303 includes a speaker, a buzzer, and a receiver, etc.

[0151] Input unit 1304 is used to receive audio or video signals. Input unit 1304 may include a graphics processing unit (GPU) 13041 and a microphone 13042. GPU 13041 processes image data of still images or videos acquired by an image capture device (such as a camera) in video capture mode or image capture mode. The processed image frames can be displayed on display unit 1306. The image frames processed by GPU 13041 can be stored in memory 1309 (or other storage medium) or transmitted via radio frequency unit 1301 or network module 1302. Microphone 13042 can receive sound and process such sound into audio data. The processed audio data can be converted into a format that can be transmitted to a mobile communication base station via radio frequency unit 1301 in 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. The ambient light sensor can adjust the brightness of the display panel 13061 according to the ambient light level, and the proximity sensor can turn off the display panel 13061 and / or backlight when the electronic device 1300 is moved to the ear. As a type of motion sensor, an accelerometer sensor can detect the magnitude of acceleration in various directions (generally three axes). When stationary, it can detect the magnitude and direction of gravity and can be used to identify the posture of the electronic device (such as landscape / portrait switching, related games, magnetometer posture calibration), vibration recognition related functions (such as pedometer, tapping), etc. The sensor 1305 may also include a fingerprint sensor, pressure sensor, iris sensor, molecular sensor, gyroscope, barometer, hygrometer, thermometer, infrared sensor, etc., which will not be described in detail 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] User input unit 1307 can be used to receive input numerical or character information, and to generate key signal inputs related to user settings and function control of electronic devices. Specifically, user input unit 1307 includes a touch panel 13071 and other input devices 13072. Touch panel 13071, also known as a touch screen, can collect touch operations performed by the user on or near it (such as operations performed by the user using a finger, stylus, or any suitable object or accessory on or near touch panel 13071). Touch panel 13071 may include two parts: a touch detection device and a touch controller. The touch detection device detects the user's touch position and the signal generated by the touch operation, and transmits the signal to the touch controller; the touch controller receives touch information from the touch detection device, converts it into touch point coordinates, and sends it to the processor 1310, which receives and executes commands from the processor 1310. In addition, touch panel 13071 can be implemented using various types such as resistive, capacitive, infrared, and surface acoustic wave. 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 buttons, power buttons, etc.), trackballs, mice, joysticks, etc., which will not be described in detail here.

[0155] Furthermore, the touch panel 13071 can cover the display panel 13061. When the touch panel 13071 detects a touch operation on or near it, it transmits the information to the processor 1310 to determine the type of touch event. Subsequently, the processor 1310 provides corresponding visual output on the display panel 13061 based on the type of touch event. Although in Figure 13 In this embodiment, 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. The specific implementation is not limited here.

[0156] Interface unit 1308 serves as an interface for connecting external devices to electronic device 1300. For example, external devices may include a wired or wireless headphone 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, and so on. Interface unit 1308 can be used to receive input from external devices (e.g., data, power, etc.) and transmit the received input to one or more components within electronic device 1300, or it can be used to transmit data between electronic device 1300 and external devices.

[0157] The memory 1309 can be used to store software programs and various data. The memory 1309 may primarily include a program storage area and a data storage area. The program storage area may store the operating system, applications required for at least one function (such as sound playback, image playback, etc.), etc.; the data storage area may store data created based on the use of the mobile phone (such as audio data, phonebook, etc.). Furthermore, the memory 1309 may include high-speed random access memory, and may also include non-volatile memory, such as at least one disk storage device, flash memory device, or other volatile solid-state storage device.

[0158] Processor 1310 is the control center of the electronic device. It connects various parts of the electronic device via various interfaces and lines. By running or executing software programs and / or modules stored in memory 1309, and by calling data stored in memory 1309, it performs various functions and processes data, thereby providing overall monitoring of the electronic device. Processor 1310 may include one or more processing units; preferably, processor 1310 may integrate an application processor and a modem processor. The application processor mainly handles the operating system, user interface, and applications, while the modem processor mainly handles wireless communication. It is understood that the modem processor may not be integrated into processor 1310.

[0159] The electronic device 1300 may also include a power supply 1311 (such as a battery) for supplying power to various components. Preferably, the power supply 1311 can be logically connected to the processor 1310 through a power management system, thereby enabling functions such as managing charging, discharging, and power consumption 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 document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0162] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk), and includes several instructions to cause a terminal (which may be a mobile phone, computer, server, air conditioner, or network device, etc.) to execute the methods described in the various embodiments of the present invention.

[0163] The embodiments of the present invention have been described above with reference to the accompanying drawings. However, the present invention is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of the present invention without departing from the spirit and scope of the claims, and all of these forms are within the protection scope of the present invention.

[0164] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed in this invention can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementations should not be considered beyond the scope of this invention.

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

[0166] In the embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative. For instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

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

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

[0169] If the aforementioned functions are implemented as 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 this invention, essentially, or the part that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, ROM, RAM, magnetic disks, or optical disks.

[0170] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A robot control method, characterized in that, The method is applied to a cloud server, which is connected to a smart 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. Determine the target robot platform selected by the target mobile device connected to the cloud server; The target robot in the target robot platform selected by the target movable device is determined; The system receives robot control signals for the target robot sent by the target mobile device; wherein the robot control signals include device information and platform information stored in the mobile device. The device information and platform information stored in the mobile device in the robot control signal are verified based on the device information and platform information stored on the cloud server. Upon successful verification, the robot control signal is sent to the target smart gateway corresponding to the target robot, so that the target smart 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; The robot includes a power control module, which comprises 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. When the robot is controlled locally, when the switch module is turned on, the first control on / off coil, the first control on / off contact, the power on / off coil, and the power on / off contact are sequentially turned on, and the robot is powered by the power supply.

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: Receive input device information sent by the mobile device; wherein the input device information includes at least device name, device type, device model and device address; When it is determined, based on the input device information, that the input device information of the mobile device is not stored in the cloud server, a first unique identification code and a first communication verification code are generated for the mobile device. The input device information, the first unique identification code, and the first communication verification code are saved as device information; The device information is sent to the robot platform, which 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: Receive input platform information sent by the robot platform; wherein, the input platform information includes at least the platform name, platform location, and device address; When it is determined, based on the input platform information, that the input platform information of the robot platform is not stored in the cloud server, a second unique identification code and a second communication verification code are generated for the robot platform. Save 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 mobile device, which 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: Receive the current operating status sent by the robot platform; The current operating status of the robot platform is sent to the mobile device for display on the mobile device.

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

7. The method according to claim 1, characterized in that, If 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-local control. If it is determined that the second control on / off coil is not conducting, the target robot is determined to be not powered on, and the robot control signal is executed to control the target robot to be powered on.

8. A robot control device, characterized in that, An application is made on a cloud server, which is connected to a smart gateway, a mobile device, and a robot platform. The cloud server, the mobile device, and the robot platform store device information for the mobile device and platform information for the robot platform. The robot includes a power control module, which comprises 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. When the robot is controlled locally, when the switch module is turned on, the first control on / off coil, the first control on / off contact, the power on / off coil, and the power on / off contact are sequentially turned on, supplying power to the robot. The device includes: The robot platform determination module is used to determine the target robot platform selected by the target mobile device connected to the cloud server. A robot determination module is used to determine the target robot in the target robot platform selected by the target mobile device; A robot control signal receiving module is used to receive robot control signals sent by the target mobile device for the target robot; wherein, the robot control signal includes the device information and the platform information stored in the mobile device; The information verification module is used to verify the device information and platform information stored in the mobile device in the robot control signal based on the device information and platform information stored in the cloud server. The robot control module is used to send the robot control signal to the target smart gateway corresponding to the target robot when the verification is successful, so that the target smart 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.

9. 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; When the processor executes a program stored in the memory, it implements the method as described in any one of claims 1-7.

10. A computer-readable storage medium having instructions stored thereon that, when executed by one or more processors, cause the processors to perform the method as described in any one of claims 1-7.

Images