Robot control method and device, robot remote control equipment and storage medium

Abstract

The invention relates to a robot control method and device, robot remote control equipment and a storage medium, and the method comprises the steps: in response to a robot switching instruction, keeping physical connection with a currently controlled first robot, stopping communication with the first robot, and starting a physical connection broadcast mode; and in response to establishment of the physical connection with the second robot, starting communication with the second robot, and disconnecting the physical connection with the first robot.

Description

Technical Field

[0001] The present disclosure relates to the field of robot technology, and in particular to a robot control method, a robot remote control device, and a storage medium. Background Art

[0002] In recent years, the technology of robotics has been continuously developing, becoming more and more intelligent and automated, and the richness, stability and flexibility of actions have been improved to varying degrees. In daily use of robots, users can send control instructions to the robots through remote control devices, and the robots can automatically perform various actions under the control instructions of the users, making the control of the robots very convenient. However, in the related technology, there is a scenario in which a remote control device is used to control multiple robots. In this scenario, the remote control device needs to frequently switch connections between the robots, but switching failures often occur during the switching process, resulting in low control efficiency and affecting the user experience. Summary of the invention

[0003] In order to overcome the problems existing in the related art, the embodiments of the present disclosure provide a robot control method, an apparatus, a robot remote control device and a storage medium to solve the defects in the related art.

[0004] According to a first aspect of an embodiment of the present disclosure, there is provided a robot control method, which is applied to a robot remote control device, and the method comprises:

[0005] In response to the robot switching instruction, maintaining the physical connection with the currently controlled first robot, stopping the communication with the first robot, and starting the physical connection broadcast mode;

[0006] In response to establishing a physical connection with a second robot, communication with the second robot is initiated, and the physical connection with the first robot is disconnected.

[0007] In some embodiments of the present disclosure, when the second robot is not a historically controlled robot and the second robot starts a physical connection scanning function, the method further includes:

[0008] Receive a physical connection request sent by the second robot, and establish a physical connection with the second robot.

[0009] In some embodiments of the present disclosure, the method further comprises:

[0010] sending a secure connection request to the second robot based on the physical connection with the second robot, and performing security authentication with the second robot based on a response of the second robot to the secure connection request;

[0011] In response to successful security authentication with the second robot, saving information of the second robot and causing the second robot to save information of the robot remote control device;

[0012] In response to a security failure with the second robot, a physical connection with the second robot is disconnected.

[0013] In some embodiments of the present disclosure, the method further comprises:

[0014] Performing a protocol handshake with the second robot based on the identification information of the second robot;

[0015] In response to the protocol handshake failure, deleting the information of the second robot and disconnecting the physical connection with the second robot.

[0016] In some embodiments of the present disclosure, when the second robot is a historically controlled robot and the second robot starts a physical connection scanning function, the method further includes:

[0017] Receive a connection recovery request sent by the second robot and establish a physical connection with the second robot, wherein the second robot sends a connection recovery request to the robot remote control device when the information of the robot remote control device scanned by the second robot is consistent with the stored information of the robot remote control device.

[0018] In some embodiments of the present disclosure, the method further comprises:

[0019] In response to establishing a physical connection with the second robot, turning off the physical connection broadcast mode.

[0020] In some embodiments of the present disclosure, the method further comprises:

[0021] In response to not establishing a physical connection with any robot within a preset time period after the physical connection broadcast mode is started, the physical connection broadcast mode is turned off and communication with the first robot is restored.

[0022] In some embodiments of the present disclosure, the method further comprises:

[0023] In response to not establishing a physical connection with any robot after starting the physical connection broadcast mode and receiving a robot recovery instruction, the physical connection broadcast mode is turned off and communication with the first robot is restored.

[0024] In some embodiments of the present disclosure, the physical connection includes a Bluetooth connection and a network connection.

[0025] According to a second aspect of an embodiment of the present disclosure, there is provided a robot control device, which is applied to a robot remote control device, and the device comprises:

[0026] a broadcast module, for maintaining a physical connection with a first robot currently being controlled, stopping communication with the first robot, and starting a physical connection broadcast mode in response to a robot switching instruction;

[0027] The communication module is used for initiating communication with the second robot in response to establishing a physical connection with the second robot, and disconnecting the physical connection with the first robot.

[0028] In some embodiments of the present disclosure, when the second robot is not a historically controlled robot and the second robot starts a physical connection scanning function, the device further includes a connection module for:

[0029] Receive a physical connection request sent by the second robot, and establish a physical connection with the second robot.

[0030] In some embodiments of the present disclosure, the device further includes a security module, which is used to:

[0031] sending a secure connection request to the second robot based on the physical connection with the second robot, and performing security authentication with the second robot based on a response of the second robot to the secure connection request;

[0032] In response to successful security authentication with the second robot, saving information of the second robot and causing the second robot to save information of the robot remote control device;

[0033] In response to a security failure with the second robot, a physical connection with the second robot is disconnected.

[0034] In some embodiments of the present disclosure, the device further includes a protocol module, which is used to:

[0035] Performing a protocol handshake with the second robot based on the identification information of the second robot;

[0036] In response to the protocol handshake failure, deleting the information of the second robot and disconnecting the physical connection with the second robot.

[0037] In some embodiments of the present disclosure, when the second robot is a historically controlled robot and the second robot starts a physical connection scanning function, the device further includes a backconnection module, which is used to:

[0038] Receive a connection recovery request sent by the second robot and establish a physical connection with the second robot, wherein the second robot sends a connection recovery request to the robot remote control device when the information of the robot remote control device scanned by the second robot is consistent with the stored information of the robot remote control device.

[0039] In some embodiments of the present disclosure, the device further includes a first closing module, which is used to:

[0040] In response to establishing a physical connection with the second robot, turning off the physical connection broadcast mode.

[0041] In some embodiments of the present disclosure, the device further includes a second closing module, which is used to:

[0042] In response to not establishing a physical connection with any robot within a preset time period after the physical connection broadcast mode is started, the physical connection broadcast mode is turned off and communication with the first robot is restored.

[0043] In some embodiments of the present disclosure, the device further includes a recovery module, which is used to:

[0044] In response to not establishing a physical connection with any robot after starting the physical connection broadcast mode and receiving a robot recovery instruction, the physical connection broadcast mode is turned off and communication with the first robot is restored.

[0045] In some embodiments of the present disclosure, the physical connection includes a Bluetooth connection and a network connection.

[0046] According to a third aspect of an embodiment of the present disclosure, a robot remote control device is provided, wherein the robot comprises a memory and a processor, wherein the memory is used to store computer instructions executable on the processor, and the processor is used to implement the robot control method described in the first aspect when executing the computer instructions.

[0047] According to a fourth aspect of an embodiment of the present disclosure, a computer-readable storage medium is provided, on which a computer program is stored, and when the program is executed by a processor, the method described in the first aspect is implemented.

[0048] The technical solution provided by the embodiments of the present disclosure may have the following beneficial effects:

[0049] The robot control method provided in the disclosed embodiment can be applied to a robot remote control device, for example, in response to a robot switching instruction, maintaining a physical connection with the currently controlled first robot, stopping communication with the first robot, and starting a physical connection broadcast mode; further, in response to establishing a physical connection with a second robot, starting communication with the second robot, and disconnecting the physical connection with the first robot. Since the robot remote control device maintains a physical connection with the first robot when connecting to the second robot using the physical connection broadcast mode (i.e., only stops communication with the first robot), there is no need to turn off the physical connection scanning function of the first robot, and the first robot will not interfere with the connection between the remote control device and the second robot, thereby improving the efficiency and success rate of the remote control device switching the controlled robot and improving the user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and, together with the description, serve to explain the principles of the invention.

[0051] Figure 1 is a flow chart of a robot control method shown in an exemplary embodiment of the present disclosure;

[0052] Figure 2 is a schematic diagram of a scene in which a remote controller switches a controlled robot according to an exemplary embodiment of the present disclosure;

[0053] Figure 3 is a schematic diagram showing the first connection between a robot and a remote control device according to an exemplary embodiment of the present disclosure;

[0054] Figure 4 is a schematic diagram of a historical controlled robot and a remote control device being connected back together according to an exemplary embodiment of the present disclosure;

[0055] Figure 5 It is a flowchart of a remote controller switching a controlled robot in the related art;

[0056] Figure 6 is a flowchart of a remote controller switching a controlled robot shown in an exemplary embodiment of the present disclosure;

[0057] Figure 7 is a schematic diagram of event-driven according to an exemplary embodiment of the present disclosure;

[0058] Figure 8 is a schematic structural diagram of a robot control device shown in an exemplary embodiment of the present disclosure;

[0059] Fig. 9 It is a structural block diagram of a robot remote control device shown in an exemplary embodiment of the present disclosure. DETAILED DESCRIPTION

[0060] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present disclosure. Instead, they are merely examples of devices and methods consistent with some aspects of the present disclosure as detailed in the appended claims.

[0061] The terms used in this disclosure are for the purpose of describing specific embodiments only and are not intended to limit the disclosure. The singular forms of "a", "said" and "the" used in this disclosure and the appended claims are also intended to include plural forms unless the context clearly indicates otherwise. It should also be understood that the term "and / or" used herein refers to and includes any or all possible combinations of one or more associated listed items.

[0062] It should be understood that although the terms first, second, third, etc. may be used in the present disclosure to describe various information, such information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other. For example, without departing from the scope of the present disclosure, the first information may also be referred to as the second information, and similarly, the second information may also be referred to as the first information. Depending on the context, the word "if" as used herein may be interpreted as "at the time of" or "when" or "in response to determining".

[0063] In recent years, the technology of robotics has been continuously developing, becoming more and more intelligent and automated, and the richness, stability and flexibility of actions have been improved to varying degrees. In daily use of robots, users can send control instructions to the robots through remote control devices, and the robots can automatically perform various actions under the control instructions of the users, making the control of the robots very convenient. However, in the related technology, there is a scenario in which a remote control device is used to control multiple robots. In this scenario, the remote control device needs to frequently switch connections between the robots, but switching failures often occur during the switching process, resulting in low control efficiency and affecting the user experience.

[0064] Based on this, in the first aspect, at least one embodiment of the present disclosure provides a robot control method, please refer to the attached Figure 1 , which shows the process of the method, including step S101 to step S102.

[0065] Among them, the method can be applied to robot remote control devices, such as the remote control of the robot, or a terminal device bound to the robot and installed with a robot control APP. As the name implies, the robot remote control device is used to control the robot, such as controlling the movement and operation mode of the robot. The controlled robot can be a bipedal robot (anatomical robot) or a quadruped robot or other legged robot. The remote control device can communicate with the robot by establishing a physical connection with the robot such as a Bluetooth connection, a network (such as a WiFi network) connection, etc., that is, sending control instructions to the robot.

[0066] It is understandable that the method can be applied to the scenario where a robot remote control device switches a controlled robot, such as Figure 1 The remote control device shown is switched from controlling robot A to controlling robot B. The method aims to improve the success rate and efficiency of the switch.

[0067] In step S101, in response to a robot switching instruction, the physical connection with the currently controlled first robot is maintained, the communication with the first robot is stopped, and the physical connection broadcast mode is started.

[0068] Among them, the robot switching instruction can be generated by the user through operating the remote control device, for example, the user operates the remote control by clicking the buttons of the remote control device (physical buttons of the remote control, or virtual buttons of the terminal device, etc.) or voice input.

[0069] The first robot may be the controlled robot before the remote control device is switched, and the second robot may be the controlled robot after the remote control device is switched, that is, the robot that the user wishes to control.

[0070] The physical connection between the remote control device and the robot can be a Bluetooth connection, a network (such as a WiFi network) connection, etc. Furthermore, the physical connection broadcast mode started in this step can be a Bluetooth broadcast mode, a wireless broadcast mode, etc.

[0071] After the remote control device starts the physical connection broadcast mode, it can be scanned by the robot through the physical connection scanning function and establish a physical connection. For example, when the remote control device starts the physical broadcast mode, it can be scanned by the robot through the Bluetooth scanning function and establish a Bluetooth connection.

[0072] In this step, the physical connection with the first robot is not disconnected when the physical connection broadcast mode is started, so the user does not need to turn off the physical scanning function of the first robot, reducing the user's operation complexity. In the related art, when switching the controlled robot, if the remote control starts the physical connection scanning mode, the physical connection with the first robot is disconnected synchronously. At this time, in order to prevent the first robot from establishing a physical connection with the remote control device earlier than the second robot, the user needs to turn off the physical scanning function of the first robot, which has a high operation complexity.

[0073] In step S102, in response to establishing a physical connection with a second robot, communication with the second robot is initiated, and the physical connection with the first robot is disconnected.

[0074] The second robot is a robot that starts the physical connection scanning function, so when the remote control device starts the physical connection broadcast mode, the user can start the physical connection scanning function of the robot that the user wants to control, so that the robot can establish a physical connection with the remote control device as the second robot. Preferably, if there are multiple robots in the environment, the physical connection scanning function of each robot can be turned off at ordinary times, and the physical connection scanning function of the robot can be started when the user wants to control a certain robot, so as to avoid multiple robots starting the physical connection scanning function at the same time, causing other robots to establish a physical connection with the remote control device before the robot that the user wants to control, and then the controlled robot needs to be switched, which increases the operating cost and reduces the control efficiency.

[0075] In this step, the physical connection between the remote control device and the second robot is established. This may be the first time that the remote control device establishes a physical connection with the second robot, or a return connection of a historically controlled robot (i.e., the second robot is a historically controlled robot, and the historically controlled robot is a robot that has established a physical connection with the remote control device). The specific details of the first connection between the robot and the remote control device and the return connection will be described in detail in the following embodiments, and will not be described here.

[0076] Exemplarily, in response to establishing a physical connection with the second robot, the physical connection broadcast mode is turned off. That is, after the remote control device establishes a physical connection with the second robot, it starts to control the second robot, and the switch has been successful at this time, so the physical connection with the first robot can be disconnected, thereby reducing the power consumption of the robot.

[0077] In another exemplary embodiment, in response to not establishing a physical connection with any robot within a preset time after starting the physical connection broadcast mode, the physical connection broadcast mode is turned off and the communication with the first robot is restored. The preset time can be configured in the remote control device, such as 30s, 60s, 90s, 120s, etc. In other words, if the remote control device fails to establish a physical connection with any robot other than the first robot in the physical connection broadcast mode, the communication with the first robot is restored, that is, the control of the first robot is restored. Preferably, in this case, the user can be reminded to check whether the robot to be controlled is in the environment and whether the physical connection scanning function is activated.

[0078] In another exemplary embodiment, in response to not establishing a physical connection with any robot after starting the physical connection broadcast mode, and receiving a robot recovery instruction, the physical connection broadcast mode is turned off and the communication with the first robot is restored. That is to say, before the remote control device establishes a physical connection with other robots other than the first robot, the user can interrupt the switching process at any time, and can directly restore control of the first robot by starting communication with the first robot, which is very convenient. In this case, the relevant technology needs to turn off the physical connection scanning function of the second robot and restart the physical connection scanning function of the first robot, so that the remote control device can re-establish a communication connection with the first robot and communicate.

[0079] The robot control method provided in the disclosed embodiment can be applied to a robot remote control device, for example, in response to a robot switching instruction, maintaining a physical connection with the currently controlled first robot, stopping communication with the first robot, and starting a physical connection broadcast mode; further, in response to establishing a physical connection with a second robot, starting communication with the second robot, and disconnecting the physical connection with the first robot. Since the robot remote control device maintains a physical connection with the first robot when connecting to the second robot using the physical connection broadcast mode (i.e., only stops communication with the first robot), there is no need to turn off the physical connection scanning function of the first robot, and the first robot will not interfere with the connection between the remote control device and the second robot, thereby improving the efficiency and success rate of the remote control device switching the controlled robot and improving the user experience.

[0080] In some embodiments of the present disclosure, the second robot is not a historically controlled robot, and the second robot starts a physical connection scanning function. In this case, the second robot can scan a remote control device that starts a physical connection broadcast mode, and send a physical connection request to the remote control device. The remote control device can receive the physical connection request sent by the second robot and establish a physical connection with the second robot.

[0081] Exemplarily, after the remote control device establishes a physical connection with the second robot, it can establish a secure connection with the second robot in the following manner:

[0082] First, based on the physical connection with the second robot, a secure connection request is sent to the second robot, and based on the response of the second robot to the secure connection request, a secure authentication is performed with the second robot. For example, when the physical connection is a Bluetooth connection, the pairing binding authentication implemented in the Bluetooth protocol stack can be performed by both parties.

[0083] Next, in response to the success of the security authentication with the second robot, the information of the second robot is saved, and the second robot is caused to save the information of the robot remote control device.

[0084] Finally, in response to a security failure with the second robot, the physical connection with the second robot is disconnected.

[0085] In this example, the robot can be further bound to the remote control device through a secure connection, and the above physical connection can be disconnected if the secure connection is not completed, thereby improving the security and reliability of the connection and avoiding connection with illegal devices.

[0086] Exemplarily, after the remote control device establishes a physical connection with the second robot, the remote control device may perform a protocol handshake with the second robot in the following manner:

[0087] First, based on the identification information of the second robot, a protocol handshake is performed with the second robot. For example, when the physical connection is a Bluetooth connection, an application layer protocol handshake can be performed after both parties have achieved pairing and binding authentication.

[0088] Next, in response to the failure of the protocol handshake, the information of the second robot is deleted and the physical connection with the second robot is disconnected.

[0089] In this example, the protocol handshake is used to further verify whether the second robot is a legitimate robot, thereby improving the security and reliability of the connection and avoiding connection with illegal devices.

[0090] This embodiment introduces the connection process when the second robot is connected to the remote control device for the first time. Figure 3 , taking Bluetooth connection as an example, the process of connecting the second robot to the remote control device for the first time is explained in a more vivid way.

[0091] In the accompanying drawings, after the remote control device enters the Bluetooth broadcast mode, if a Bluetooth connection is established with the second robot, the Bluetooth broadcast mode is exited; then security authentication is performed with the second robot. If the authentication fails, the Bluetooth broadcast mode is re-entered; if the authentication is successful, the pairing information is saved, and a protocol handshake is performed with the second robot. If the handshake fails, the pairing information is deleted and the Bluetooth broadcast mode is re-entered; if the handshake is successful, communication with the second robot is started.

[0092] In some embodiments of the present disclosure, the second robot is a historically controlled robot, and the second robot starts a physical connection scanning function. In this case, the second robot can scan a remote control device that starts a physical connection broadcast mode, and when the scanned information of the robot remote control device is consistent with the stored information of the robot remote control device, the second robot sends a connection recovery request to the remote control device. The remote control device can receive the connection recovery request sent by the second robot and establish a physical connection with the second robot.

[0093] In this embodiment, the second robot is a historically controlled robot. The above process is the process of the historically controlled robot connecting back to the remote control device, which is simpler, more convenient and faster than the first connection to the remote control device. Figure 4 , taking Bluetooth connection as an example, the process of connecting the historically controlled robot back to the remote control device from the second robot side is explained in a more vivid way.

[0094] In the accompanying drawings, the second robot scans for connectable Bluetooth devices and determines whether a paired device is scanned. If not, it continues to scan for connectable Bluetooth devices; if so, it sends a (restore) connection request, if the connection fails, it continues to scan for connectable Bluetooth devices; if the connection is successful, communication begins.

[0095] Next, taking the communication between the remote control device and the robot via Bluetooth connection as an example, the process of switching the controlled robot in the related art and the process of switching the controlled robot in the present disclosure are compared.

[0096] Please refer to the attached Figure 5 , which exemplarily shows the process of switching the controlled robot by the remote control device in the related art, and the process corresponds to the attached Figure 2 The scene shown is that the controlled robot of the remote controller switches from robot A to robot B. First, the remote controller disconnects from robot A and turns off the automatic reconnection of robot A. Then the remote controller enters the Bluetooth broadcast mode and turns on the scanning of robot B. Next, the communication with the remote controller is established through the Bluetooth connection / automatic reconnection process of robot B.

[0097] Please refer to the attached Figure 6 , which exemplarily shows the process of switching the controlled robot by the remote control device in the present disclosure, and the process corresponds to the attached Figure 2 The scene shown is that the controlled robot of the remote controller switches from robot A to robot B. First, the user requests to enter the Bluetooth broadcast mode, then the remote controller stops communicating with robot A and enters the Bluetooth broadcast mode, and then establishes a communication connection with the remote controller through the Bluetooth connection / automatic reconnection process of robot B. If the connection is successful, the physical connection with robot A is disconnected, and if the connection fails, the communication with robot A is restored.

[0098] From the above attached Figure 5 and attached Figure 6 It can be seen from the flow shown that in the related art, the user needs to turn off the scanning function of robot A when switching (if turned off, it may connect to the remote controller before robot B), while the present disclosure does not need to turn off the scanning function of robot A; and in the related art, if the switching fails, the user needs to manually turn on the scanning function of robot A and reconnect to robot A, while in the present disclosure, if the switching fails, there is no need to operate robot A, and the remote controller will automatically resume communication with robot A, that is, restore control of robot A. It can be seen that the present disclosure improves the success rate and efficiency of the remote controller switching the controlled robot, and improves the user experience.

[0099] It is understandable that the processes in the above-mentioned embodiments of the present disclosure can be implemented by software based on an event-driven approach. Figure 7 Shown is the attached Figure 6 The process is based on an event-driven schematic diagram; this reduces the logical complexity of the application layer, and there is no need to back up the information of the historical controlled robots, reducing storage overhead.

[0100] According to a second aspect of the embodiment of the present disclosure, a robot control device is provided, which is applied to a robot remote control device. Figure 8 , the device comprises:

[0101] The broadcast module 801 is used to maintain the physical connection with the first robot currently being controlled, stop the communication with the first robot, and start the physical connection broadcast mode in response to the robot switching instruction;

[0102] The communication module 802 is used to initiate communication with the second robot in response to establishing a physical connection with the second robot, and disconnect the physical connection with the first robot.

[0103] In some embodiments of the present disclosure, when the second robot is not a historically controlled robot and the second robot starts a physical connection scanning function, the device further includes a connection module for:

[0104] Receive a physical connection request sent by the second robot, and establish a physical connection with the second robot.

[0105] In some embodiments of the present disclosure, the device further includes a security module, which is used to:

[0106] sending a secure connection request to the second robot based on the physical connection with the second robot, and performing security authentication with the second robot based on a response of the second robot to the secure connection request;

[0107] In response to successful security authentication with the second robot, saving information of the second robot and causing the second robot to save information of the robot remote control device;

[0108] In response to a security failure with the second robot, a physical connection with the second robot is disconnected.

[0109] In some embodiments of the present disclosure, the device further includes a protocol module, which is used to:

[0110] Performing a protocol handshake with the second robot based on the identification information of the second robot;

[0111] In response to the protocol handshake failure, deleting the information of the second robot and disconnecting the physical connection with the second robot.

[0112] In some embodiments of the present disclosure, when the second robot is a historically controlled robot and the second robot starts a physical connection scanning function, the device further includes a backconnection module, which is used to:

[0113] Receive a connection recovery request sent by the second robot and establish a physical connection with the second robot, wherein the second robot sends a connection recovery request to the robot remote control device when the information of the robot remote control device scanned by the second robot is consistent with the stored information of the robot remote control device.

[0114] In some embodiments of the present disclosure, the device further includes a first closing module, which is used to:

[0115] In response to establishing a physical connection with the second robot, turning off the physical connection broadcast mode.

[0116] In some embodiments of the present disclosure, the device further includes a second closing module, which is used to:

[0117] In response to not establishing a physical connection with any robot within a preset time period after the physical connection broadcast mode is started, the physical connection broadcast mode is turned off and communication with the first robot is restored.

[0118] In some embodiments of the present disclosure, the device further includes a recovery module, which is used to:

[0119] In response to not establishing a physical connection with any robot after starting the physical connection broadcast mode and receiving a robot recovery instruction, the physical connection broadcast mode is turned off and communication with the first robot is restored.

[0120] In some embodiments of the present disclosure, the physical connection includes a Bluetooth connection and a network connection.

[0121] In a third aspect, at least one embodiment of the present disclosure provides a robot remote control device, please refer to the attached Fig. 9 , which shows the structure of the robot, the robot includes a memory and a processor, the memory is used to store computer instructions that can be executed on the processor, and the processor is used to control the robot based on the method described in any one of the first aspects when executing the computer instructions.

[0122] In a fourth aspect, at least one embodiment of the present disclosure provides a computer-readable storage medium having a computer program stored thereon, wherein the program, when executed by a processor, implements the robot control method described in any one of the first aspects.

[0123] Those skilled in the art will readily appreciate other embodiments of the present disclosure after considering the specification and practicing the disclosure disclosed herein. This application is intended to cover any variations, uses, or adaptations of the present disclosure that follow the general principles of the present disclosure and include common knowledge or customary techniques in the art that are not disclosed in the present disclosure. The description and examples are intended to be exemplary only, and the true scope and spirit of the present disclosure are indicated by the following claims.

[0124] It should be understood that the present disclosure is not limited to the exact structures that have been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.

Claims

1. A robot control method, characterized in that: Applied to a robot remote control device, the method comprises: In response to the robot switching instruction, maintaining the physical connection with the currently controlled first robot, stopping the communication with the first robot, and starting the physical connection broadcast mode; In response to establishing a physical connection with a second robot, communication with the second robot is initiated, and the physical connection with the first robot is disconnected.

2. The robot control method according to claim 1, characterized in that: In the case where the second robot is not a historically controlled robot and the second robot starts a physical connection scanning function, the method further includes: Receive a physical connection request sent by the second robot, and establish a physical connection with the second robot.

3. The robot control method according to claim 1 or 2, characterized in that: The method further comprises: sending a secure connection request to the second robot based on the physical connection with the second robot, and performing security authentication with the second robot based on a response of the second robot to the secure connection request; In response to successful security authentication with the second robot, saving information of the second robot and causing the second robot to save information of the robot remote control device; In response to a security failure with the second robot, a physical connection with the second robot is disconnected.

4. The robot control method according to claim 3, characterized in that: The method further comprises: Performing a protocol handshake with the second robot based on the identification information of the second robot; In response to the protocol handshake failure, deleting the information of the second robot and disconnecting the physical connection with the second robot.

5. The robot control method according to claim 3, characterized in that: In the case where the second robot is a history-controlled robot and the second robot starts a physical connection scanning function, the method further includes: Receive a connection recovery request sent by the second robot and establish a physical connection with the second robot, wherein the second robot sends a connection recovery request to the robot remote control device when the information of the robot remote control device scanned by the second robot is consistent with the stored information of the robot remote control device.

6. The robot control method according to claim 1, characterized in that: The method further comprises: In response to establishing a physical connection with the second robot, turning off the physical connection broadcast mode.

7. The robot control method according to claim 1, characterized in that: The method further comprises: In response to not establishing a physical connection with any robot within a preset time period after the physical connection broadcast mode is started, the physical connection broadcast mode is turned off and communication with the first robot is restored.

8. The robot control method according to claim 1, characterized in that: The method further comprises: In response to not establishing a physical connection with any robot after starting the physical connection broadcast mode and receiving a robot recovery instruction, the physical connection broadcast mode is turned off and communication with the first robot is restored.

9. The robot control method according to claim 1, characterized in that: The physical connection includes a Bluetooth connection and a network connection.

10. A robot control device, characterized in that: Applied to a robot remote control device, the device comprises: a broadcast module, for maintaining a physical connection with a first robot currently being controlled, stopping communication with the first robot, and starting a physical connection broadcast mode in response to a robot switching instruction; The communication module is used for initiating communication with the second robot in response to establishing a physical connection with the second robot, and disconnecting the physical connection with the first robot.

11. The robot control device according to claim 10, characterized in that: In the case where the second robot is not a historically controlled robot and the second robot starts a physical connection scanning function, the device further includes a connection module, which is used to: Receive a physical connection request sent by the second robot, and establish a physical connection with the second robot.

12. The robot control device according to claim 10 or 11, characterized in that: The device also includes a security module for: Based on the physical connection between the second robot and the second robot, sending a security connection request to the second robot, and performing security authentication with the second robot based on a response of the second robot to the security connection request; In response to successful security authentication with the second robot, saving information of the second robot and causing the second robot to save information of the robot remote control device; In response to a security failure with the second robot, a physical connection with the second robot is disconnected.

13. The robot control device according to claim 12, characterized in that: The device also includes a protocol module, which is used to: Performing a protocol handshake with the second robot based on the identification information of the second robot; In response to the protocol handshake failure, deleting the information of the second robot and disconnecting the physical connection with the second robot.

14. The robot control device according to claim 12, characterized in that: In the case where the second robot is a historically controlled robot and the second robot starts a physical connection scanning function, the device further includes a back-connection module, which is used to: Receive a connection recovery request sent by the second robot and establish a physical connection with the second robot, wherein the second robot sends a connection recovery request to the robot remote control device when the information of the robot remote control device scanned by the second robot is consistent with the stored information of the robot remote control device.

15. The robot control device according to claim 10, characterized in that: The device also includes a first closing module, which is used to: In response to establishing a physical connection with the second robot, turning off the physical connection broadcast mode.

16. The robot control device according to claim 10, characterized in that: The device also includes a second closing module, which is used to: In response to not establishing a physical connection with any robot within a preset time period after the physical connection broadcast mode is started, the physical connection broadcast mode is turned off and communication with the first robot is restored.

17. The robot control device according to claim 10, characterized in that: The device also includes a recovery module, which is used to: In response to not establishing a physical connection with any robot after starting the physical connection broadcast mode and receiving a robot recovery instruction, the physical connection broadcast mode is turned off and communication with the first robot is restored.

18. The robot control device according to claim 10, characterized in that: The physical connection includes a Bluetooth connection and a network connection.

19. A robot remote control device, characterized in that: The robot comprises a memory and a processor, wherein the memory is used to store computer instructions executable on the processor, and the processor is used to implement the robot control method according to any one of claims 1 to 9 when executing the computer instructions.

20. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the method according to any one of claims 1 to 9 is implemented.

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