Communication reconnection interaction method and system for mobile robot

Abstract

The invention provides a communication reconnection interaction method and system for a mobile robot. According to the invention, after discovering that the mobile robot is disconnected, the communication terminal prompts to re-establish the communication connection with the mobile robot. In the process, according to the operation of the user on the communication end, when the sensing signal triggered by the touch screen interaction mode or the user operation meets the instruction requirement, the communication end sends a communication connection request to the mobile robot, and the communication connection is established. On the basis of an existing reconnection triggering mode, a reconnection confirmation mode based on a sensing signal of a communication end such as a mobile phone is added, and reconnection can be directly achieved through modes such as swinging of the mobile phone or deflection of the posture or deflection of the inclination angle or voice instructions and pressing actions in the state that a user does not click the mobile phone for confirmation. The interaction mode is more convenient and efficient, user operation can be simplified in an operation scene, automatic connection between the communication terminal and the mobile robot is achieved, and user experience is optimized.

Description

Technical Field

[0001] The present application relates to the technical field of mobile robots, and in particular to a communication reconnection interaction method and system for mobile robots. Background Art

[0002] In recent years, there are more and more intelligent robots that do not require human intervention, such as smart lawn mowers, smart pool cleaners, cleaning robots, etc. These products free people's hands, save time, and make human life more convenient and beautiful.

[0003] Early users had dedicated communication devices for data processing and human-computer interaction with robots, such as PDAs, remote controls, touch screens, etc. With the popularization of general smart devices, most manufacturers will customize and develop corresponding APPs on pads and mobile phones to process data and interact with robots.

[0004] The direct communication between the APP and the robot is carried out through a wireless communication system. Common short-range wireless communication methods include: Bluetooth wireless communication technology, ZigBee wireless communication technology, WLAN wireless communication technology, IrDA wireless communication technology, RFID wireless communication technology, NFC wireless communication technology, UWB wireless communication technology, visible light wireless communication technology, and Ad hoc network wireless communication technology. During use, the machine side can select the corresponding wireless communication method according to the actual application scenario, and pair with the wireless communication technologies such as Wi-Fi, Bluetooth, NFC, and infrared technology included in the mobile phone side to realize the data interaction channel.

[0005] Taking Bluetooth as an example, the APP establishes a master-slave connection with the robot for data communication by calling the built-in Bluetooth module of the mobile phone. However, during use, when the amount of data exceeds the channel bandwidth, packet loss and disconnection will occur. Packet loss can be improved by changing the transmission protocol at both ends and modifying the software code. After the disconnection, the data communication between the APP and the machine stops, and the user is required to manually click a button to reconnect in the existing technology. However, when controlling the movement or work of the robot, the user rarely looks down at the mobile phone screen. Generally, they only look down at the mobile phone when they cannot operate the machine, and then manually communicate and connect. This process is not only difficult to ensure the safety of the equipment operation during the disconnection, but also users are often troubled by the disconnection and reconnection process. As more and more users enter the market, the user feedback is more obvious that the use is unfriendly, so the problem of equipment disconnection has gradually become prominent and urgently needs to be solved. Summary of the invention

[0006] In view of the shortcomings of the prior art, this application provides a communication reconnection interaction method and system for a mobile robot. This application uses the sensor unit of the communication terminal itself and adds other communication connection confirmation mechanisms on the basis of manual reconnection, which can realize automatic connection between the communication terminal and the mobile robot and optimize the user experience. This application specifically adopts the following technical solutions.

[0007] Firstly, to achieve the above-mentioned purpose, a communication reconnection interaction method for a mobile robot is proposed, which executes the following steps after determining that the mobile robot is disconnected: prompting at the communication end to reestablish the communication connection with the mobile robot; receiving the user's operation on the communication end, and when the user operation meets the instruction requirements, sending a communication connection request to the mobile robot to establish a communication connection; after receiving the communication connection information fed back by the mobile robot, continuing to interact and communicate with the mobile robot according to the communication connection information; wherein the instruction requirements of the user operation include: the user operation clicks to confirm, or receiving a sensor signal in the communication end that meets the instruction requirements.

[0008] Optionally, in the above-mentioned communication reconnection interaction method for a mobile robot, the communication end is provided with one or a combination of an acceleration sensor, a gravity sensor, a gyroscope, a voice recognition module, a pressure sensor, an acoustic sensor, a touch screen, and buttons; each sensor is connected to a monitoring module, and the monitoring module is triggered and turned on when the communication end prompts to re-establish the communication connection with the mobile robot, receives the sensor signals of each sensor, and feeds back the user's operation on the communication end.

[0009] Optionally, in the above-mentioned communication reconnection interaction method for a mobile robot, the instruction requirements include any one of the following: the inclination or rotation angle of the communication terminal detected by the acceleration sensor reaches a preset standard; the posture angle of the communication terminal detected by the gravity sensor or the change in the posture angle of the communication terminal reaches a preset standard; the posture of the communication terminal detected by the gyroscope or the change in the posture of the communication terminal reaches a preset standard; the voice signal detected by the voice recognition module meets the preset recognition feature; the pressure signal of the communication terminal detected by the pressure sensor or the change in the pressure signal reaches a preset standard; the sound signal detected by the acoustic sensor meets the preset recognition feature or reaches the preset standard; the touch screen detects that the preset position of the communication terminal touch screen is triggered by the user; the button detects that the communication terminal is triggered by the user.

[0010] Optionally, the above-mentioned communication reconnection interaction method for a mobile robot, wherein, when the communication end prompts to re-establish the communication connection with the mobile robot, any one of the following information or a combination thereof is prompted in a pop-up window: the disconnected state of the mobile robot and the touch screen button area corresponding to the confirmation of reconnection; the preset standard for the inclination or rotation angle of the communication end required for detection by the acceleration sensor; the preset standard for the posture angle of the communication end required for detection by the gravity sensor or the change in the posture angle of the communication end; the preset standard for the posture of the communication end required for detection by the gyroscope or the change in the posture of the communication end; the recognition feature of the voice signal required for detection by the voice recognition module; the preset standard for the pressure signal of the communication end required for detection by the pressure sensor or the change in the pressure signal; the preset recognition feature or preset standard for the sound signal required for detection by the acoustic sensor; the key position and / or trigger standard corresponding to the key detection.

[0011] Optionally, in the above-mentioned communication reconnection interaction method for a mobile robot, the communication connection established or the re-established communication connection between the communication end and the mobile robot includes any one of the following or a combination thereof: Bluetooth wireless communication link, ZigBee wireless communication link, WLAN wireless communication link, IrDA wireless communication link, RFID wireless communication link, NFC wireless communication link, UWB wireless communication link, visible light wireless communication link, Ad hoc network wireless communication link, Wi-Fi wireless communication link, infrared wireless communication link.

[0012] Optionally, the above-mentioned communication reconnection interaction method for a mobile robot, wherein the communication connection established or the re-established communication connection between the communication end and the mobile robot directly processes and interacts with the mobile robot through the application software of the communication end, or processes and interacts with the mobile robot through background transfer.

[0013] At the same time, in order to achieve the above-mentioned purpose, the present application also provides a communication reconnection interaction system for a mobile robot, including a communication terminal capable of communicating with the mobile robot, wherein the communication terminal executes any of the communication reconnection interaction methods described above after determining that the mobile robot is disconnected.

[0014] Optionally, in the above-mentioned communication reconnection interaction system for mobile robots, any one of the following sensors or a combination of any one of the following sensors is integrated in the communication terminal: an acceleration sensor for detecting whether the inclination or rotation angle of the communication terminal meets a preset standard; a gravity sensor for detecting whether the posture angle of the communication terminal or the change in the posture angle of the communication terminal meets a preset standard; a gyroscope for detecting whether the posture of the communication terminal or the change in the posture of the communication terminal meets a preset standard; a voice recognition module for detecting whether the voice signal meets a preset recognition feature; a pressure sensor for detecting whether the pressure signal of the communication terminal or the change in the pressure signal meets a preset standard; an acoustic sensor for detecting whether the sound signal meets a preset recognition feature or meets a preset standard; a touch screen for detecting whether a preset position of the touch screen of the communication terminal is triggered by a user; a button for detecting whether the corresponding button of the communication terminal is triggered by a user; each of the above-mentioned sensors is controlled by SensorManager Monitor and provide trigger signals to the communication unit at the communication end.

[0015] Optionally, in the above-mentioned communication reconnection interaction system for a mobile robot, the communication unit of the communication end includes any one or a combination of the following that can communicate with the mobile robot: Bluetooth wireless communication unit, ZigBee wireless communication unit, WLAN wireless communication unit, IrDA wireless communication unit, RFID wireless communication unit, NFC wireless communication unit, UWB wireless communication unit, visible light wireless communication unit, Ad hoc network wireless communication unit, Wi-Fi wireless communication unit, infrared wireless communication unit.

[0016] Optionally, in the above-mentioned communication reconnection interaction method for a mobile robot, data processing and interaction are performed between the communication terminal and the mobile robot directly through the application software of the communication terminal, or data processing and interaction are performed through background transfer.

[0017] Beneficial Effects

[0018] The communication reconnection interaction method and system for a mobile robot provided in the present application prompts the communication terminal to re-establish the communication connection with the mobile robot after discovering that the mobile robot is disconnected. In this process, the communication terminal of the present application sends a request for communication connection to the mobile robot and establishes a communication connection based on the user's operation on the communication terminal through a touch screen interaction method or when the sensor signal triggered by the user's operation meets the instruction requirements. On the basis of the existing reconnection triggering method, the present application adds a reconnection confirmation method based on the sensor signal of the communication terminal itself, such as a mobile phone, so that the reconnection can be directly achieved through the swing of the mobile phone, the deflection of the posture, the deflection of the tilt angle, or voice commands, pressing actions, etc., without the user clicking on the mobile phone for confirmation. Such an interactive method is more convenient and efficient, which is conducive to simplifying user operations in the operation scene, realizing automatic connection between the communication terminal and the mobile robot, and optimizing the user experience.

[0019] Other features and advantages of the present application will be set forth in the following description, and in part will become apparent from the description, or may be understood by practicing the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The accompanying drawings are used to provide a further understanding of the present application and constitute a part of the specification. Together with the embodiments of the present application, they are used to explain the present application and do not constitute a limitation of the present application. In the accompanying drawings:

[0021] Figure 1 It is a schematic diagram of the system data communication architecture between the mobile robot and the communication terminal of the present application;

[0022] Figure 2 It is a schematic diagram of the process of connecting the mobile robot of the present application to the communication terminal via Bluetooth;

[0023] Figure 3 It is a sequence diagram of the mobile robot of the present application reconnecting with the communication terminal via Bluetooth;

[0024] Figure 4 is an interactive diagram of the swing control used in this application;

[0025] Figure 5 This is a schematic diagram of the combined pop-up window used in this application. DETAILED DESCRIPTION

[0026] In order to make the purpose and technical solution of the embodiment of the present application clearer, the technical solution of the embodiment of the present application will be clearly and completely described in conjunction with the drawings of the embodiment of the present application. Obviously, the described embodiment is a part of the embodiment of the present application, not all of the embodiments. Based on the described embodiment of the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0027] It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as generally understood by those skilled in the art to which this application belongs. It should also be understood that terms such as those defined in common dictionaries should be understood to have meanings consistent with the meanings in the context of the prior art, and will not be interpreted with idealized or overly formal meanings unless defined as herein.

[0028] The meaning of "and / or" described in this application means that the situations where each exists alone or both exist at the same time are included.

[0029] The meaning of "left and right" mentioned in this application refers to that when a user is facing the display screen of a communication terminal such as a mobile phone, the left side of the user is left and the right side of the user is right, rather than a specific limitation on the device structure of this application.

[0030] The term “connection” as used in this application may mean a direct connection between components or an indirect connection between components via other components.

[0031] The meaning of "up and down" mentioned in this application refers to that when a user is facing the display screen of a communication terminal such as a mobile phone, the direction from the lower side of the display direction of the display screen to the upper side of the display direction is up, and the opposite is down, rather than a specific limitation on the device structure of this application.

[0032] Figure 1 The communication and interaction system of the mobile robot according to the present application. In the whole system, the machine end represented by the mobile mowing robot and the APP end represented by the mobile phone communication end can process and interact with data through the background, and can also process and interact with data directly through the radio frequency module such as Bluetooth.

[0033] When the mobile terminal chooses to communicate with the machine device via Bluetooth, the connection process of the Bluetooth communication units of both parties can refer to Figure 2 As shown in the figure: The establishment of a Bluetooth communication link between the two parties requires a series of operations such as scanning, initiating a connection, starting a service, starting a subscription notification, writing a descriptor, setting parameters, and pairing. The data transmission channel can only be established after all steps have been fed back to interact normally. However, this series of actions may fail, which requires reconnecting the APP on the communication end such as a mobile phone with a robot device such as a lawn mower. During the data communication between the APP and the robot, the connection may be interrupted due to response timeout, excessive data volume, etc., and a reconnection mechanism is also required.

[0034] refer to Figure 3The interactive system of the present application first checks the connection status of the device, and then after the communication end determines that the mobile robot is disconnected, the APP on the communication end initiates a reconnection request, prompts the communication end to re-establish the communication connection with the mobile robot, and then, based on the user's operation on the communication end, when the user operation meets the instruction requirements, sends a communication connection request to the mobile robot to establish a communication connection. As a result, after receiving the communication connection information fed back by the mobile robot, that is, after receiving a response from the machine end and displaying a successful reconnection, the communication end can continue to interact with the mobile robot according to the communication connection information, and the restorer and the APP can communicate data normally.

[0035] In the above reconnection process, the present application can not only allow the user to confirm the reconnection request to the mobile robot based on the existing touch screen interaction method or the more conventional button triggering method, but also can detect the device connection status, and after the disconnection, the APP can directly trigger the reconnection process through the sensor signal that meets the instruction requirements in the communication end, directly obtain the machine end response, and ensure that the machine and APP can communicate normally after the reconnection is displayed successfully.

[0036] In order to facilitate the user to trigger the reconnection with the mobile robot, the present application can generally use any of the following sensors or any combination of the following sensors, using SensorManager Monitor the detection signals of each sensor and provide a trigger signal to the communication unit at the communication end when the sensing signal meets the requirements:

[0037] An acceleration sensor is used to detect whether the inclination or rotation angle of the communication terminal reaches a preset standard;

[0038] A gravity sensor is used to detect whether the attitude angle of the communication terminal or the change in the attitude angle of the communication terminal reaches a preset standard;

[0039] A gyroscope is used to detect whether the attitude of the communication terminal or the change in the attitude of the communication terminal reaches a preset standard;

[0040] A speech recognition module is used to detect whether the speech signal meets the preset recognition features;

[0041] A pressure sensor is used to detect whether the pressure signal or the change of the pressure signal at the communication end reaches a preset standard;

[0042] An acoustic sensor is used to detect whether the sound signal meets a preset identification feature or reaches a preset standard;

[0043] Touch screen, used to detect whether the preset position of the touch screen of the communication end is triggered by the user;

[0044] The button is used to detect whether the corresponding button on the communication end is triggered by the user.

[0045] More preferably, this application can refer to Figure 4 As shown, use SensorManager To monitor device sensors, especially Accelerometer By adjusting the acceleration threshold or the monitoring sensitivity of the sensor, you can avoid false triggering or difficulty in triggering while maintaining the user experience. Figure 4 In the two-way arrow, the internal fill color can be set to change according to the tilt of the phone, 0 when kept horizontal, and full switch when 90 degrees to re-establish the connection. In the two-way arrow, the filling content of the left and right directions is the same, the difference is the rotation angle of the lower block, the left and right degrees are the same, their rotation is symmetrical about the perpendicular bisector. The fill value of the two-way key and the rotation angle of the lower box change with the change of the gravity sensor value of the machine. Users can preset the action standard of shaking to trigger reconnection through software, so that when the communication is disconnected, the mobile phone app can be directly triggered to start reconnecting with the Bluetooth module on the robot side based on the action of reaching the corresponding shaking amplitude.

[0046] This process can be specifically referred to Figure 5 After the APP is disconnected from the device, a prompt box pops up on the real interface based on the disconnection status value it detects. The prompt box also prompts the user to reconnect with the robot by shaking the phone, and to confirm the reconnection with the robot by clicking the button in the interface. When the user is working with the robot and the device is disconnected due to various reasons, a pop-up window will be displayed on the APP side, and the user can choose any method to trigger the reconnection with the device according to their usage habits.

[0047] The above-mentioned reconnection interaction method provided in the present application is not only applicable to the establishment and reconnection of the Bluetooth communication link between a mobile communication terminal such as a mobile phone and a robot, but also can be used to flexibly trigger the establishment and reconnection of the Bluetooth wireless communication link and / or ZigBee wireless communication link and / or WLAN wireless communication link and / or IrDA wireless communication link and / or RFID wireless communication link and / or NFC wireless communication link and / or UWB wireless communication link and / or visible light wireless communication link and / or Ad hoc network wireless communication link and / or Wi-Fi wireless communication link and / or infrared wireless communication link between the communication terminal and the mobile robot through signals from various sensors when any one or more communication modules among the Bluetooth wireless communication unit, ZigBee wireless communication unit, WLAN wireless communication unit, IrDA wireless communication unit, RFID wireless communication unit, NFC wireless communication unit, UWB wireless communication unit, visible light wireless communication unit, Ad hoc network wireless communication unit, Wi-Fi wireless communication unit and infrared wireless communication unit are provided in the device.

[0048] After the communication link is established, the communication end of this application and the mobile robot can use Figure 1 The lower side method is to process and interact data directly between the application software on the communication end and the mobile robot; Figure 1 The method shown in the upper part uses the communication link of the communication end to upload the interaction information to the cloud or background, and then transfers the interaction information to the mobile robot for data processing and interaction.

[0049] This application can utilize one or a combination of built-in acceleration sensors, gravity sensors, gyroscopes, voice recognition modules, pressure sensors, acoustic sensors, touch screens, and buttons in mobile phones and other communication terminals; or utilize its external interface to connect to the corresponding sensor module to confirm the need for reconnection. Regardless of the sensing method used, each of the above sensors can be connected to a monitoring module of a mobile phone or other communication terminal, and the monitoring module is triggered to open when the communication terminal prompts to re-establish the communication connection with the mobile robot, receive the sensor signals of each sensor, and feedback the user's operation on the communication terminal based on the sensor signals, thereby triggering various communication units in the device to establish a communication link with the mobile robot.

[0050] In this process, when the user sets the reconnection action with the mobile robot to be confirmed by triggering the acceleration sensor, when the inclination or rotation angle of the communication end detected by the acceleration sensor reaches the preset standard, a trigger signal is sent to the corresponding communication module in the user's communication end device to start the process of establishing the communication link between it and the mobile robot;

[0051] When the user sets the gravity sensor to trigger the confirmation of the reconnection action with the mobile robot, when the attitude angle of the communication end detected by the gravity sensor or the change in the attitude angle of the communication end reaches the preset standard, a trigger signal is sent to the corresponding communication module in the user's communication end device to start the process of establishing the communication link between it and the mobile robot;

[0052] When the user sets the reconnection action with the mobile robot to be confirmed by triggering the gyroscope, when the posture of the communication terminal or the change in the posture of the communication terminal detected by the gyroscope reaches the preset standard, a trigger signal is sent to the corresponding communication module in the user's communication terminal device to start the process of establishing the communication link between it and the mobile robot;

[0053] When the user sets the voice recognition module to trigger the confirmation of the reconnection action with the mobile robot, when the voice signal detected by the voice recognition module meets the preset recognition characteristics, a trigger signal can be sent to the corresponding communication module in the user's communication terminal device to start the process of establishing a communication link between it and the mobile robot;

[0054] When the user sets the reconnection action with the mobile robot to be confirmed by triggering the pressure sensor, when the pressure signal of the communication end or the change amount of the pressure signal detected by the pressure sensor reaches the preset standard, a trigger signal is sent to the corresponding communication module in the user's communication end device to start the process of establishing the communication link between it and the mobile robot;

[0055] When the user sets the reconnection action with the mobile robot to be confirmed by triggering the acoustic sensor, when the sound signal detected by the acoustic sensor meets the preset identification feature or reaches the preset standard, a trigger signal is sent to the corresponding communication module in the user's communication terminal device to start the process of establishing the communication link between it and the mobile robot;

[0056] When the user sets the touch screen to trigger the confirmation of the reconnection action with the mobile robot, when the preset position of the touch screen of the communication end is detected to be triggered by the user, a trigger signal is sent to the corresponding communication module in the user's communication end device to start the process of establishing the communication link between it and the mobile robot;

[0057] When the user sets the reconnection action with the mobile robot to be confirmed by button triggering, when it detects that the communication end is triggered by the user, a trigger signal is sent to the corresponding communication module in the user's communication end device to start the process of establishing a communication link between it and the mobile robot.

[0058] Any of the above detection trigger mechanisms can be used in conjunction with each other, and the communication links triggered by them can be used in conjunction with each other between various communication modules carried by the device according to the interaction requirements of the device.

[0059] In summary, the interactive method based on reconnection after the mobile robot's radio frequency communication is interrupted, provided in this application, enables the user to reconnect the Bluetooth communication by clicking the original reconnect button, and reconnect the Bluetooth communication by swinging the mobile phone. This application uses the sensors that come with the communication terminal such as the mobile phone, and can directly trigger the reconnection of Bluetooth communication through the action of the user swinging the mobile phone. The method of reconnecting by swinging provided in this application makes the interaction between the application software of the communication terminal and the mobile robot more friendly, improves the user experience, and increases user stickiness. Clicking to reconnect and swinging to reconnect increase the diversity of the reconnection function, giving users more usage options.

[0060] The above is only an implementation method of the present application, and its description is relatively specific and detailed, but it cannot be understood as limiting the scope of the patent of the present application. It should be pointed out that for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present application, which all belong to the protection scope of the present application.

Claims

1. A communication reconnection interaction method for a mobile robot, characterized in that: After determining that the mobile robot is disconnected, perform the following steps: The communication terminal is prompted to re-establish the communication connection with the mobile robot; Receive the user's operation on the communication terminal, and when the user's operation meets the instruction requirements, send a communication connection request to the mobile robot to establish a communication connection; After receiving the communication connection information fed back by the mobile robot, continue to interact and communicate with the mobile robot according to the communication connection information; The user operation instruction requirements include: The user clicks to confirm the operation, or receives a sensor signal from the communication terminal that meets the instruction requirements.

2. The communication reconnection interaction method for a mobile robot according to claim 1, characterized in that: The communication terminal is provided with one or a combination of an acceleration sensor, a gravity sensor, a gyroscope, a voice recognition module, a pressure sensor, an acoustic sensor, a touch screen, and a button; Each sensor is connected to a monitoring module, which is triggered to start when the communication terminal prompts to re-establish the communication connection with the mobile robot, receives the sensing signals of each sensor, and feeds back the user's operation on the communication terminal.

3. The communication reconnection interaction method for a mobile robot according to claim 2, characterized in that: The instruction requirements include any of the following: The inclination or rotation angle of the communication terminal detected by the acceleration sensor reaches a preset standard; The attitude angle of the communication terminal or the change in attitude angle of the communication terminal detected by the gravity sensor reaches a preset standard; The attitude of the communication terminal or the change in attitude of the communication terminal detected by the gyroscope reaches a preset standard; The speech signal detected by the speech recognition module meets the preset recognition characteristics; The pressure signal or the change in the pressure signal detected by the pressure sensor at the communication end reaches a preset standard; The sound signal detected by the acoustic sensor meets the preset identification characteristics or reaches the preset standard; The preset position of the touch screen of the communication terminal detected by the touch screen is triggered by the user; The key detected that the communication terminal was triggered by the user.

4. The communication reconnection interaction method for a mobile robot as described in any of claims 1 to 3, characterized in that: When the communication end prompts to re-establish the communication connection with the mobile robot, any one or a combination of the following information is prompted in a pop-up window: The touch screen button area corresponding to the disconnection status of the mobile robot and confirmation of reconnection; The acceleration sensor detects the preset standard of the communication terminal inclination or rotation angle required; A preset standard for the attitude angle of the communication terminal or the amount of change in the attitude angle of the communication terminal required for the gravity sensor to detect; The preset standard of the attitude of the communication terminal or the change of the attitude of the communication terminal required by the gyroscope detection; The speech recognition module detects the required recognition features of the speech signal; A preset standard for the pressure signal or the change in the pressure signal at the communication end required for the pressure sensor to detect; Preset identification features or preset criteria of the sound signal required for the acoustic sensor to detect; The key position and / or trigger criteria corresponding to the key detection.

5. The communication reconnection interaction method for a mobile robot as claimed in any one of claim 4, characterized in that: The communication connection established or re-established between the communication terminal and the mobile robot includes any one or a combination of the following: Bluetooth wireless communication link, ZigBee wireless communication link, WLAN wireless communication link, IrDA wireless communication link, RFID wireless communication link, NFC wireless communication link, UWB wireless communication link, visible light wireless communication link, Ad hoc network wireless communication link, Wi-Fi Wireless communication links, Infrared wireless communication link .

6. The communication reconnection interaction method for a mobile robot as claimed in any one of claim 4, characterized in that: The communication connection established or the re-established communication connection between the communication terminal and the mobile robot directly processes and interacts with the mobile robot through the application software of the communication terminal, or processes and interacts with the mobile robot through background transfer.

7. A reconnection interaction system, comprising a communication terminal capable of communicating with the mobile robot, characterized in that: After determining that the mobile robot is disconnected, the communication end executes the communication reconnection interaction method as described in any one of claims 1-6.

8. The communication reconnection for a mobile robot according to claim 7, characterized in that: The communication terminal is integrated with any of the following sensors or any combination of the following sensors: An acceleration sensor is used to detect whether the inclination or rotation angle of the communication terminal reaches a preset standard; A gravity sensor is used to detect whether the attitude angle of the communication terminal or the change in the attitude angle of the communication terminal reaches a preset standard; A gyroscope is used to detect whether the attitude of the communication terminal or the change in the attitude of the communication terminal reaches a preset standard; A speech recognition module is used to detect whether the speech signal meets the preset recognition characteristics; A pressure sensor is used to detect whether the pressure signal or the change of the pressure signal at the communication end reaches a preset standard; An acoustic sensor is used to detect whether the sound signal meets a preset identification feature or reaches a preset standard; Touch screen, used to detect whether the preset position of the touch screen of the communication end is triggered by the user; Button, used to detect whether the corresponding button on the communication end is triggered by the user; Each sensor is SensorManager Monitor and provide trigger signals to the communication unit at the communication end.

9. The communication reconnection interaction system for a mobile robot according to claim 7, characterized in that: The communication unit of the communication terminal includes any one or a combination of the following that can be connected to the mobile robot for communication: Bluetooth wireless communication unit, ZigBee wireless communication unit, WLAN wireless communication unit, IrDA wireless communication unit, RFID wireless communication unit, NFC wireless communication unit, UWB wireless communication unit, visible light wireless communication unit, Ad hoc network wireless communication unit, Wi-Fi Wireless communication unit, Infrared wireless communication unit .

10. The communication reconnection interaction system for a mobile robot as described in claims 7-9, characterized in that: The communication terminal and the mobile robot perform data processing and interaction directly through the application software of the communication terminal, or perform data processing and interaction through background transfer.

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