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

Abstract

The present disclosure relates to a robot control method and device, a robot remote control apparatus, and a storage medium. The method comprises: in response to a robot switching instruction, maintaining a physical connection with a first robot currently controlled and stopping communication with the first robot, and starting a physical connection broadcast mode; and 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.

Description

Technical Field

[0001] This disclosure relates to the field of robotics technology, specifically to a robot control method, apparatus, robot remote control device, and storage medium. Background Technology

[0002] In recent years, robotics technology has continuously developed, becoming increasingly intelligent and automated, with improvements in the richness, stability, and flexibility of its movements. In daily use, users can send control commands to robots via remote control devices, allowing the robots to automatically execute various actions, making robot control very convenient. However, there are scenarios where a single remote control device is used to control multiple robots. In such scenarios, the remote control device needs to frequently switch connections between the various robots, but switching failures often occur, resulting in low control efficiency and negatively impacting the user experience. Summary of the Invention

[0003] To overcome the problems existing in the related technologies, the present disclosure provides a robot control method, apparatus, robot remote control device and storage medium to solve the defects in the related technologies.

[0004] According to a first aspect of the present disclosure, a robot control method is provided, applied to a robot remote control device, the method comprising:

[0005] In response to a robot switching command, maintain the physical connection with the currently controlled first robot, stop communication with the first robot, and initiate a physical connection broadcast mode;

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

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

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

[0009] In some embodiments of this disclosure, the method further includes:

[0010] Based on the physical connection with the second robot, a secure connection request is sent to the second robot, and based on the second robot's response to the secure connection request, secure authentication is performed with the second robot;

[0011] In response to successful security authentication with the second robot, the information of the second robot is saved, and the second robot is also made to save the information of the robot remote control device;

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

[0013] In some embodiments of this disclosure, the method further includes:

[0014] Based on the identification information of the second robot, a protocol handshake is performed with the second robot;

[0015] 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.

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

[0017] The system receives a connection restoration request from the second robot and establishes a physical connection with the second robot. The second robot sends a connection restoration request to the robot remote control device if the information of the scanned robot remote control device matches the information of the stored robot remote control device.

[0018] In some embodiments of this disclosure, the method further includes:

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

[0020] In some embodiments of this disclosure, the method further includes:

[0021] If no physical connection is established 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 this disclosure, the method further includes:

[0023] In response to failing to establish a physical connection with any robot after activating the physical connection broadcast mode, and upon receiving a robot recovery command, the physical connection broadcast mode is deactivated and communication with the first robot is restored.

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

[0025] According to a second aspect of the present disclosure, a robot control device is provided for use in a robot remote control device, the device comprising:

[0026] The broadcast module is used to respond to robot switching commands, maintain physical connection with the currently controlled first robot, stop communication with the first robot, and start physical connection broadcast mode;

[0027] A communication module is used to initiate communication with the second robot and disconnect the physical connection with the first robot in response to establishing a physical connection with the second robot.

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

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

[0030] In some embodiments of this disclosure, the device further includes a security module for:

[0031] Based on the physical connection with the second robot, a secure connection request is sent to the second robot, and based on the second robot's response to the secure connection request, secure authentication is performed with the second robot;

[0032] In response to successful security authentication with the second robot, the information of the second robot is saved, and the second robot is also made to save the information of the robot remote control device;

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

[0034] In some embodiments of this disclosure, the apparatus further includes a protocol module for:

[0035] Based on the identification information of the second robot, a protocol handshake is performed with the second robot;

[0036] 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.

[0037] In some embodiments of this disclosure, when the second robot is a historically controlled robot and the second robot initiates a physical connection scanning function, the device further includes a reconnection module for:

[0038] The system receives a connection restoration request from the second robot and establishes a physical connection with the second robot. The second robot sends a connection restoration request to the robot remote control device if the information of the scanned robot remote control device matches the information of the stored robot remote control device.

[0039] In some embodiments of this disclosure, the apparatus further includes a first shut-off module for:

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

[0041] In some embodiments of this disclosure, the apparatus further includes a second shut-off module for:

[0042] If no physical connection is established 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 this disclosure, the apparatus further includes a recovery module for:

[0044] In response to failing to establish a physical connection with any robot after activating the physical connection broadcast mode, and upon receiving a robot recovery command, the physical connection broadcast mode is deactivated and communication with the first robot is restored.

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

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

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

[0048] The technical solutions provided by the embodiments of this disclosure may include the following beneficial effects:

[0049] The robot control method provided in this disclosure can be applied to robot remote control devices. For example, in response to a robot switching command, it maintains a physical connection with the currently controlled first robot, stops communication with the first robot, and initiates a physical connection broadcast mode. Furthermore, in response to establishing a physical connection with a second robot, it initiates communication with the second robot and disconnects 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), it is not necessary to disable 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. This improves the efficiency and success rate of the remote control device switching controlled robots and enhances the user experience. Attached Figure Description

[0050] The accompanying drawings, which are incorporated in and form 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 This is a flowchart illustrating a robot control method according to an exemplary embodiment of this disclosure;

[0052] Figure 2 This is a schematic diagram illustrating a scenario of a remote controller switching a controlled robot, as shown in an exemplary embodiment of this disclosure;

[0053] Figure 3 This is a schematic diagram illustrating the initial connection between a robot and a remote control device, as shown in an exemplary embodiment of this disclosure;

[0054] Figure 4 This is a schematic diagram illustrating the historical connection between a controlled robot and a remote control device, as shown in an exemplary embodiment of this disclosure;

[0055] Figure 5 This is a flowchart of the remote control switching to the controlled robot in related technologies;

[0056] Figure 6 This is a flowchart illustrating a remote control switching controlled robot according to an exemplary embodiment of the present disclosure;

[0057] Figure 7 This is a schematic diagram illustrating an event-driven process according to an exemplary embodiment of this disclosure;

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

[0059] Figure 9 This is a structural block diagram of a robot remote control device illustrated in an exemplary embodiment of this disclosure. Detailed Implementation

[0060] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numerals in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this disclosure. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this disclosure as detailed in the appended claims.

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

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

[0063] In recent years, robotics technology has continuously developed, becoming increasingly intelligent and automated, with improvements in the richness, stability, and flexibility of its movements. In daily use, users can send control commands to robots via remote control devices, allowing the robots to automatically execute various actions, making robot control very convenient. However, there are scenarios where a single remote control device is used to control multiple robots. In such scenarios, the remote control device needs to frequently switch connections between the various robots, but switching failures often occur, resulting in low control efficiency and negatively impacting the user experience.

[0064] Based on this, in a first aspect, at least one embodiment of this disclosure provides a robot control method, please refer to the appendix. Figure 1 It illustrates the process of the method, including steps S101 to S102.

[0065] This method can be applied to robot remote control devices, such as robot remote controllers or terminal devices that are bound to the robot and have a robot control app installed. As the name suggests, robot remote control devices are used to control robots, such as controlling their movement and operating modes. The controlled robot can be a bipedal robot (bionic robot) or a quadrupedal robot. The remote control device can communicate with the robot by establishing a physical connection, such as a Bluetooth connection or a network connection (e.g., WiFi network), to send control commands to the robot.

[0066] Understandably, this method can be applied to scenarios where a robot remote control device switches between controlled robots, such as... Figure 1 The remote control device shown is switched from controlling robot A to controlling robot B. This method aims to improve the success rate and efficiency of the switching process.

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

[0068] The robot switching command can be generated by the user through operation of the remote control device, such as by clicking the buttons on the remote control device (physical buttons on the remote control, or virtual buttons on the terminal device, etc.) or by voice input.

[0069] The first robot can be the robot under control before the remote control device is switched, and the second robot can be the robot under control after the remote control device is switched, that is, the robot that the user wants to control.

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

[0071] After a remote-controlled device activates physical connection broadcast mode, it can be scanned by a robot using the physical connection scanning function and a physical connection can be established. For example, if a remote-controlled device activates physical broadcast mode, it can be scanned by a robot using the Bluetooth scanning function and a Bluetooth connection can be established.

[0072] In this step, the physical connection with the first robot is not disconnected when the physical connection broadcast mode is activated. Therefore, the user does not need to disable the physical scanning function of the first robot, reducing the user's operational complexity. In related technologies, when switching controlled robots, if the remote control activates the physical connection scanning mode, the physical connection with the first robot is simultaneously disconnected. In this case, to prevent the first robot from establishing a physical connection with the remote control device before the second robot, the user needs to disable the physical scanning function of the first robot, which is more complex.

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

[0074] The second robot is the one that initiates the physical connection scanning function. Therefore, when the remote control device activates the physical connection broadcast mode, the user can activate the physical connection scanning function of the robot they wish to control, allowing it to establish a physical connection with the remote control device as the second robot. Preferably, if multiple robots exist in the environment, the physical connection scanning function of each robot can be disabled under normal circumstances, and activated only when a particular robot needs to be controlled. This avoids situations where multiple robots simultaneously activate their physical connection scanning functions, causing other robots to establish a physical connection with the remote control device before the desired robot, thus requiring switching of the controlled robot, increasing operating costs, and reducing control efficiency.

[0075] In this step, a physical connection is established between the remote control device and the second robot. This can be the first time the remote control device establishes a physical connection with the second robot, or a reconnection from a previously controlled robot (i.e., the second robot is a previously controlled robot that has previously established a physical connection with the remote control device). Specific details regarding the initial connection and reconnection between the robot and the remote control device will be described in detail in the embodiments below, and will not be repeated here.

[0076] For example, 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 and begins to control the second robot, and the switch has been successfully completed, the physical connection with the first robot can be disconnected, thereby reducing the robot's power consumption.

[0077] For another example, in response to the failure to establish a physical connection with any robot within a preset time after activating the physical connection broadcast mode, the physical connection broadcast mode is deactivated and communication with the first robot is restored. The preset time can be configured within 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 physical connection broadcast mode, communication with the first robot is restored, i.e., control of the first robot is restored. Preferably, in this case, the user can be prompted to check whether the robot they wish to control is in the environment and whether the physical connection scanning function is activated.

[0078] For example, in response to not establishing a physical connection with any robot after activating the physical connection broadcast mode, and upon receiving a robot recovery command, the physical connection broadcast mode is deactivated and communication with the first robot is restored. In other words, before the remote control device establishes a physical connection with any robot other than the first robot, the user can interrupt the switching process at any time and directly restore control of the first robot by reactivating communication with it, which is very convenient. In this case, the relevant technology needs to disable the physical connection scanning function of the second robot and restart the physical connection scanning function of the first robot, thereby enabling the remote control device to re-establish a communication connection with the first robot and resume communication.

[0079] The robot control method provided in this disclosure can be applied to robot remote control devices. For example, in response to a robot switching command, it maintains a physical connection with the currently controlled first robot, stops communication with the first robot, and initiates a physical connection broadcast mode. Furthermore, in response to establishing a physical connection with a second robot, it initiates communication with the second robot and disconnects 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), it is not necessary to disable 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. This improves the efficiency and success rate of the remote control device switching controlled robots and enhances the user experience.

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

[0081] For example, after the remote control device establishes a physical connection with the second robot, it can securely connect to 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 second robot's response to the secure connection request, secure authentication is performed with the second robot. For example, in the case of a Bluetooth connection, pairing and binding authentication implemented in the Bluetooth protocol stack can be performed by both parties.

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

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

[0085] In this example, a secure connection can be used to further bind the robot to the remote control device, and the physical connection can be disconnected if the secure connection is not completed, thereby improving the security and reliability of the connection and preventing connection to unauthorized devices.

[0086] For example, after the remote control device establishes a physical connection with the second robot, it can perform a protocol handshake with the second robot in the following manner:

[0087] First, a protocol handshake is performed with the second robot based on the robot's identification information. For example, in the case of a physical connection via Bluetooth, an application-layer protocol handshake can be performed after both parties have completed 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, a 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 preventing connection with unauthorized devices.

[0090] This embodiment describes the connection process in a scenario where the second robot connects to a remote control device for the first time. The following will be combined with the attached... Figure 3 To illustrate the process of the second robot connecting to the remote control device for the first time using Bluetooth connection as an example, we will use Bluetooth connection as an example to make the process more vivid.

[0091] In the attached diagram, after the remote control device enters Bluetooth broadcast mode, it exits Bluetooth broadcast mode if it establishes a Bluetooth connection with the second robot; then it performs security authentication with the second robot. If authentication fails, it re-enters Bluetooth broadcast mode; if authentication is successful, it saves the pairing information and performs a protocol handshake with the second robot; if the handshake fails, it deletes the pairing information and re-enters Bluetooth broadcast mode; if the handshake is successful, it begins communication with the second robot.

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

[0093] In this embodiment, the second robot is a previously controlled robot. The above process is the process of a previously controlled robot reconnecting to the remote control device, which is simpler, more convenient, and faster than the initial connection. Next, we will refer to the attached... Figure 4 Taking Bluetooth connection as an example, this paper provides a more vivid explanation of the process of a historically controlled robot reconnecting to the remote control device from the perspective of the second robot.

[0094] In the attached diagram, the second robot scans for connectable Bluetooth devices and determines whether a paired device has been found. 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] The following section compares the process of switching the controlled robot in related technologies with that in this disclosure, using the example of communication between the remote control device and the robot via Bluetooth connection.

[0096] Please refer to the appendix. Figure 5 It exemplarily illustrates the process of switching a controlled robot using a remote control device in related technologies, and this process corresponds to the attached... Figure 2 The diagram shows a scenario where the remote controller switches from robot A to robot B. First, the remote controller disconnects from robot A and disables robot A's automatic reconnection. Then, the remote controller enters Bluetooth broadcast mode and starts scanning for robot B. Next, communication is established between the remote controller and robot B through the Bluetooth connection / automatic reconnection process.

[0097] Please refer to the appendix. Figure 6 The example illustrates the process of switching the controlled robot by the remote control device in this disclosure, which corresponds to the attached... Figure 2 The diagram illustrates a scenario where the remote controller switches from robot A to robot B. First, the user requests to enter Bluetooth broadcast mode. The remote controller then stops communicating with robot A and enters Bluetooth broadcast mode. Next, it establishes a communication connection with the remote controller via robot B's Bluetooth connection / automatic reconnection process. If the connection is successful, the physical connection to robot A is disconnected; otherwise, communication with robot A is restored.

[0098] From the above appendix Figure 5 and attached Figure 6 As shown in the process diagram, in related technologies, the user needs to disable the scanning function of robot A during switching (if disabled, it may reconnect to the remote control before robot B), while this disclosure eliminates the need to disable the scanning function of robot A. Furthermore, in related technologies, if the switching fails, the user needs to manually enable the scanning function of robot A and reconnect to robot A. In this disclosure, if the switching fails, no operation on robot A is required; the remote control will automatically resume communication with robot A, thus restoring control of robot A. Therefore, this disclosure improves the success rate and efficiency of remote control switching of controlled robots, enhancing the user experience.

[0099] It is understood that the processes in the above embodiments of this disclosure can be implemented in software based on an event-driven approach, for example, as shown in the attached figure. Figure 7 The attached document shows Figure 6 The process is based on an event-driven diagram, which reduces the logical complexity of the application layer and eliminates the need to back up the information of historical controlled robots, thus reducing storage overhead.

[0100] According to a second aspect of the embodiments of this disclosure, a robot control device is provided, applied to a robot remote control device. Please refer to the appendix. Figure 8 The device includes:

[0101] The broadcast module 801 is used to respond to a robot switching command, maintain a physical connection with the currently controlled first robot, stop communication with the first robot, and start a physical connection broadcast mode;

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

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

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

[0105] In some embodiments of this disclosure, the device further includes a security module for:

[0106] Based on the physical connection with the second robot, a secure connection request is sent to the second robot, and based on the second robot's response to the secure connection request, secure authentication is performed with the second robot;

[0107] In response to successful security authentication with the second robot, the information of the second robot is saved, and the second robot is also made to save the information of the robot remote control device;

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

[0109] In some embodiments of this disclosure, the apparatus further includes a protocol module for:

[0110] Based on the identification information of the second robot, a protocol handshake is performed with the second robot;

[0111] 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.

[0112] In some embodiments of this disclosure, when the second robot is a historically controlled robot and the second robot initiates a physical connection scanning function, the device further includes a reconnection module for:

[0113] The system receives a connection restoration request from the second robot and establishes a physical connection with the second robot. The second robot sends a connection restoration request to the robot remote control device if the information of the scanned robot remote control device matches the information of the stored robot remote control device.

[0114] In some embodiments of this disclosure, the apparatus further includes a first shut-off module for:

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

[0116] In some embodiments of this disclosure, the apparatus further includes a second shut-off module for:

[0117] If no physical connection is established 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 this disclosure, the apparatus further includes a recovery module for:

[0119] In response to failing to establish a physical connection with any robot after activating the physical connection broadcast mode, and upon receiving a robot recovery command, the physical connection broadcast mode is deactivated and communication with the first robot is restored.

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

[0121] Thirdly, at least one embodiment of this disclosure provides a robot remote control device, please refer to the appendix. Figure 9 The diagram illustrates the structure of the robot, which includes a memory and a processor. The memory stores computer instructions that can run on the processor, and the processor controls the robot based on the method described in any of the first aspects when executing the computer instructions.

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

[0123] Other embodiments of this disclosure will readily occur to those skilled in the art upon consideration of the specification and practice of the disclosure herein. This application is intended to cover any variations, uses, or adaptations of this disclosure that follow the general principles of this disclosure and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only, and the true scope and spirit of this disclosure are indicated by the following claims.

[0124] It should be understood that this disclosure is not limited to the precise structures described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of this disclosure is limited only by the appended claims.

Claims

1. A robot control method, characterized in that, The method, applied to robot remote control devices, includes: In response to a robot switching command, the system maintains a physical connection with the currently controlled first robot, stops communication with the first robot, and initiates a physical connection broadcast mode, wherein the robot switching command includes a command generated by the user through operation of the robot remote control device; If the second robot is not a previously controlled robot and the second robot activates the physical connection scanning function, the robot receives the physical connection request sent by the second robot and establishes a physical connection with the second robot. In response to establishing a physical connection with the 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, The method further includes: Based on the physical connection with the second robot, a secure connection request is sent to the second robot, and based on the second robot's response to the secure connection request, secure authentication is performed with the second robot; In response to successful security authentication with the second robot, the information of the second robot is saved, and the second robot is also made to save the information of the robot remote control device; In response to a safety failure with the second robot, the physical connection with the second robot is disconnected.

3. The robot control method according to claim 2, characterized in that, The method further includes: Based on the identification information of the second robot, a protocol handshake is performed with the second robot; 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.

4. The robot control method according to claim 2, characterized in that, If the second robot is a historically controlled robot and the second robot has activated its physical connection scanning function, the method further includes: The system receives a connection restoration request from the second robot and establishes a physical connection with the second robot. The second robot sends a connection restoration request to the robot remote control device if the information of the scanned robot remote control device matches the information of the stored robot remote control device.

5. The robot control method according to claim 1, characterized in that, The method further includes: In response to establishing a physical connection with the second robot, the physical connection broadcast mode is turned off.

6. The robot control method according to claim 1, characterized in that, The method further includes: If no physical connection is established 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.

7. The robot control method according to claim 1, characterized in that, The method further includes: In response to failing to establish a physical connection with any robot after activating the physical connection broadcast mode, and upon receiving a robot recovery command, the physical connection broadcast mode is deactivated and communication with the first robot is restored.

8. The robot control method according to claim 1, characterized in that, The physical connections include Bluetooth connections and network connections.

9. A robot control device, characterized in that, The device is used in robot remote control equipment and includes: The broadcast module is used to respond to robot switching commands, maintain physical connection with the currently controlled first robot, stop communication with the first robot, and start physical connection broadcast mode; The connection module is used to receive a physical connection request sent by the second robot and establish a physical connection with the second robot when the second robot is not a historically controlled robot and the second robot has started the physical connection scanning function. A communication module is used to initiate communication with the second robot and disconnect the physical connection with the first robot in response to establishing a physical connection with the second robot.

10. The robot control device according to claim 9, characterized in that, The device also includes a safety module for: Based on the physical connection with the second robot, a secure connection request is sent to the second robot, and based on the second robot's response to the secure connection request, secure authentication is performed with the second robot; In response to successful security authentication with the second robot, the information of the second robot is saved, and the second robot is also made to save the information of the robot remote control device; In response to a safety failure with the second robot, the physical connection with the second robot is disconnected.

11. The robot control device according to claim 10, characterized in that, The device further includes a protocol module for: Based on the identification information of the second robot, a protocol handshake is performed with the second robot; 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.

12. The robot control device according to claim 10, characterized in that, When the second robot is a historically controlled robot and the second robot initiates the physical connection scanning function, the device further includes a reconnection module for: The system receives a connection restoration request from the second robot and establishes a physical connection with the second robot. The second robot sends a connection restoration request to the robot remote control device if the information of the scanned robot remote control device matches the information of the stored robot remote control device.

13. The robot control device according to claim 9, characterized in that, The device further includes a first shut-off module for: In response to establishing a physical connection with the second robot, the physical connection broadcast mode is turned off.

14. The robot control device according to claim 9, characterized in that, The device further includes a second shut-off module for: If no physical connection is established 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.

15. The robot control device according to claim 9, characterized in that, The device further includes a recovery module for: In response to failing to establish a physical connection with any robot after activating the physical connection broadcast mode, and upon receiving a robot recovery command, the physical connection broadcast mode is deactivated and communication with the first robot is restored.

16. The robot control device according to claim 9, characterized in that, The physical connections include Bluetooth connections and network connections.

17. A robot remote control device, characterized in that, The robot includes a memory and a processor. The memory is used to store computer instructions that can be executed on the processor. The processor is used to implement the robot control method of any one of claims 1 to 8 when executing the computer instructions.

18. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the program is executed by the processor, it implements the method of any one of claims 1 to 8.

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