Method for accurately pairing multiple robots

Abstract

The invention discloses a method for accurately pairing multiple robots, and belongs to the technical field of robots. Connection between the robot receiver and the remote controller is divided into primary connection, secondary connection, third connection and nth connection. In the process of establishing the connection, an encryption and decryption process, a random number generation and recombination process and a random number and mark information dual verification process are involved; the connection information sent by the method is encrypted and decrypted through an asymmetric encryption algorithm, so that the transmitted information is safe and reliable; according to the method, the mark information is formed by combining the random numbers, and the mark information is continuously updated and changed along with the change of the random numbers, so that the verification of the mark information is safer; according to the method, the receiver needs to verify the mark information and the random number, and the remote controller needs to verify the recombined feature code, so that the purpose of bidirectional verification is achieved, and the phenomenon of matching errors when a plurality of robots exist at the same time is prevented.

Description

Technical Field

[0001] The present invention relates to the field of robotics technology, and in particular to a method for accurately pairing multiple robots. Background Art

[0002] In robotics, controlling a robot first requires establishing a connection between the remote control and the robot, which usually involves matching the remote control with the robot's receiver. By establishing the correct matching relationship between the remote control and the robot, the robot can be controlled by the remote control.

[0003] However, due to the interference of various information in real life, the remote control and receiver may be paired incorrectly. Especially when a large number of robots are present at the same time, pairing crosstalk often occurs. For example, when conducting large-scale robot science competitions for young people, there are often cases where individual robots are paired incorrectly, affecting the comparative results. Therefore, what method should be used to ensure that each robot can be accurately paired even when a large number of robots are present at the same time is a technical problem that needs to be solved urgently. Summary of the Invention

[0004] The purpose of the present invention is to overcome the above problems existing in the prior art and to greatly improve its technical effect on the basis of the existing technology. To this end, the present invention provides a method for accurately pairing multiple robots, the method comprising:

[0005] First, the initial connection between each robot remote control and receiver is made; the switches of the remote control and the receiver are turned on respectively, and the remote control transmits the generated feature code to the receiver of the corresponding robot through a randomly generated feature code, and the receiver compares the feature code generated by the remote control with the feature code information generated by itself; if the feature codes are the same, it agrees to establish a match with the corresponding remote control, and randomly recombines the feature code generated by itself and the feature code generated by the corresponding remote control to generate a first recombined feature code, saves the first recombined feature code, and sends the first recombined feature code to the corresponding remote control; the corresponding remote control determines whether to establish the initial match by judging the length and elements of the first recombined feature code, and saves the first recombined feature code; secondly, when establishing the second connection, at least three feature codes of the same number are generated by the receiver and the remote control to form a feature code sequence; and the feature code sequence generated by the remote control is passed The saved hash value of the first recombinant feature code is marked, and the marked feature code sequence is sent to the receiver; the receiver determines whether to establish a connection with the corresponding remote control by verifying the mark and comparing the feature code sequence; and randomly selects two feature codes from the feature code sequence of the corresponding remote control and merges them into a second recombinant feature code, and transmits the second recombinant feature code to the corresponding remote control, which saves the second recombinant feature code and establishes a connection with the corresponding receiver; finally, when establishing the third connection, in addition to marking the generated feature code sequence with the hash value of the second recombinant feature code, the third connection is established in the same manner as the second connection; and the latest second recombinant feature code is generated in the same manner as the second recombinant feature code; subsequent connections are made in the same manner as the third connection, but are marked with the latest second recombinant feature code, and the latest second recombinant feature code is continuously updated.

[0006] Specifically, the initial connection also includes: initializing the robot, and the first connection after the initialization is called the initial connection; the passing of the generated feature code to the receiver of the corresponding robot includes: the robot receiver and the corresponding remote control are both provided with an asymmetric encryption algorithm, and when the robot is produced, the public key information of the corresponding remote control is stored on the robot's receiver, and the public key information of the corresponding receiver is stored on the remote control; the encryption and decryption process includes: before the generated feature code is passed to the receiver of the corresponding robot, the generated feature code needs to be encrypted by the corresponding receiver public key stored in the remote control to generate encrypted information; and then the encrypted information is passed to the receiver of the corresponding robot. The receiver decrypts the encrypted information with its own private key to obtain the feature code information, and compares it with the feature code information generated by itself; if the feature codes are the same, it agrees to establish a match with the corresponding remote control, and randomly recombines the feature code generated by itself and the feature code generated by the corresponding remote control to generate a first recombined feature code, saves the first recombined feature code, and encrypts the first recombined feature code with the public key information of the corresponding remote control to generate encrypted information, and sends the encrypted information to the corresponding remote control; the corresponding remote control decrypts the encrypted information with its own private key to obtain the first recombined feature code, determines whether to establish an initial match by judging the length and elements of the feature code, and saves the first recombined feature code.

[0007] Specifically, the remote control and receiver include: the remote control and receiver are configured with the same random number generator, the same random number generator means that the paired remote control and receiver pass the time synchronization rule and have the same built-in random number generation function; so that the paired remote control and receiver generate the same random number at the same time; the remote control and receiver also include: the remote control and receiver that cannot be paired have different built-in random number generation functions, so that the remote control and receiver that cannot be paired at the same time generate different random numbers; and the random recombining of the self-generated feature code and the feature code generated by the corresponding remote control to generate the first recombined feature code includes: Random recombination refers to recombining all the feature code elements in the receiver and the corresponding remote control to generate a feature code with a length twice that of the original feature code, and using it as the first recombined feature code; the corresponding remote control determines whether to establish an initial match by judging the length and elements of the first recombined feature code, including: the corresponding remote control first determines whether the length of the first recombined feature code is twice the length of the feature code generated by itself, and then determines whether two elements of the feature code generated by itself exist in the first recombined feature code; if the remote control determines that the length of the first recombined feature code is twice the length of the feature code generated by itself, and two elements of the feature code generated by itself exist in the first recombined feature code, then a match is established with the receiver of the corresponding robot.

[0008] Specifically, the establishment of the second connection includes: in the process of establishing the matching between the remote control and the receiver, the encryption and decryption process of the asymmetric encryption algorithm is also involved; the receiver and the remote control each generate the same number of at least three feature codes, including: the receiver and the remote control generate the same number of feature codes a, then the value of a is: 3≤a≤10, and a is an integer; the receiver verifies the mark and compares the feature code sequence, including: first, the receiver converts the first recombined feature code it saves into a hash value using the same hash algorithm as the remote control, and then compares the converted hash value with the mark information. If the hash values ​​are the same, it proves that the mark information is correct; then the receiver compares the feature code in the feature code sequence generated by itself with the feature code of the remote control to determine whether the feature codes generated by the receiver and the remote control at all the same times in the feature code sequence are the same. If the feature codes generated by the receiver and the remote control at all the same times are the same, then it agrees to connect with the remote control. The corresponding remote control establishes a connection; the randomly selected two feature codes from the feature code sequence of the corresponding remote control are merged into a second recombined feature code, including: the merging method is to directly splice the two randomly selected feature codes without disrupting the order of elements in the original feature code, and the spliced ​​feature code is twice the length of the original feature code, and is used as the second recombined feature code; the corresponding remote control saves the second recombined feature code, and establishes a connection with the corresponding receiver, including: before saving the second recombined feature code, the second recombined feature code needs to be verified; the verification process is: restoring the second recombined feature code from the middle into two feature codes, and comparing whether the two restored feature codes are in the feature code sequence generated by the remote control, and whether the time of generating the same feature code is the same; if the two restored feature codes are in the feature code sequence generated by the remote control, and the time of generating the same feature code is the same, then establishing a match with the corresponding receiver to complete the second connection.

[0009] Specifically, the generating of the same number of at least three feature codes by the receiver and the remote control also includes: the receiver and the remote control generate feature codes based on the moment; the method of generating at least three feature codes is: except for the first feature code of each being generated based on the moment corresponding to its own current synchronous clock, the other feature codes are generated based on the virtual moment; the virtual moment is generated based on the current moment, and a virtual moment sequence is generated based on each increase of 0.1 second from the current moment as a virtual moment; the remote control and the receiver generate feature codes other than the first feature code based on the virtual moments in the virtual moment sequences generated by each of them.

[0010] Specifically, the establishment of the third connection includes: in the process of establishing the matching between the remote control and the receiver, the encryption and decryption process of the asymmetric encryption algorithm is also involved; the establishment of the third connection in the same manner as the second connection includes: first, generating at least three feature codes of the same number by the receiver and the remote control to form a feature code sequence; and marking the feature code sequence generated by the remote control with the hash value of the saved second recombined feature code, and sending the marked feature code sequence to the receiver; the receiver verifies the marking information and compares the feature code sequence in the same manner as the second connection to determine whether a connection is established with the corresponding remote control; and randomly selects two from the feature code sequence of the corresponding remote control The feature codes are merged into the latest second recombined feature code, and the latest second recombined feature code is transmitted to the corresponding remote control. The corresponding remote control saves the latest second recombined feature code and establishes a connection with the corresponding receiver. Before saving the latest second recombined feature code, the latest second recombined feature code needs to be verified. The verification process is: the latest second recombined feature code is restored from the middle into two feature codes, and the two restored feature codes are compared to see whether they are in the feature code sequence generated by the remote control, and whether the time when the same feature code is generated is the same; if the two restored feature codes are in the feature code sequence generated by the remote control, and the time when the same feature code is generated is the same, then a match is established with the corresponding receiver, and the third connection is completed.

[0011] Specifically, the subsequent connection is the same as the third connection method, including: the subsequent connection refers to the nth connection; where n≥4, and n is an integer; starting from the fourth time the connection between the receiver and the remote control is established, the method of establishing the connection between the receiver and the remote control is exactly the same, and the latest second recombinant feature code is continuously updated during the establishment process, so that the receiver and remote control of each robot are accurately matched.

[0012] The beneficial effects of the present invention are:

[0013] The present invention proposes a method for accurately pairing multiple robots; the advantages of the present invention are: a1, the connection information sent by the present invention is encrypted and decrypted by an asymmetric encryption algorithm, making the transmitted information safe and reliable; a2, the tag information of the present invention is composed of random numbers and is continuously updated as the random numbers change, making the verification of the tag information more secure; a3, the receiver of the present invention needs to verify the tag information and the random number, and the remote control needs to verify the recombined feature code, thereby achieving the purpose of two-way verification and preventing the occurrence of matching errors when multiple robots exist at the same time. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 This is a flow chart of a method for accurately pairing multiple robots according to the present invention. DETAILED DESCRIPTION

[0015] The specific embodiments of the present invention are described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments given here are only used to illustrate and explain the present invention and cannot be used to limit the present invention.

[0016] like Figure 1 As shown, it is a flow chart of a method for precise pairing of multiple robots according to an embodiment of the present invention, the flow chart comprising: step S1, performing the initial connection between the remote controller and the receiver of each robot; turning on the switches of the remote controller and the receiver respectively, and the remote controller transmits the generated feature code to the receiver of the corresponding robot through a randomly generated feature code, and the receiver compares the feature code generated by the remote controller with the feature code information generated by itself; if the feature codes are the same, it agrees to establish a match with the corresponding remote controller, and randomly recombines the feature code generated by itself and the feature code generated by the corresponding remote controller to generate a first recombined feature code, saves the first recombined feature code, and sends the first recombined feature code to the corresponding remote controller at the same time; the corresponding remote controller determines whether to establish the initial match by judging the length and elements of the first recombined feature code, and saves the first recombined feature code; step S2, when establishing the second connection, at least three feature codes of the same number are generated by the receiver and the remote controller, and the combination into a feature code sequence; and mark the feature code sequence generated by the remote control by the saved hash value of the first recombined feature code, and send the marked feature code sequence to the receiver; the receiver determines whether to establish a connection with the corresponding remote control by verifying the mark and comparing the feature code sequence; and randomly selects two feature codes from the feature code sequence of the corresponding remote control and merges them into a second recombined feature code, and transmits the second recombined feature code to the corresponding remote control, the corresponding remote control saves the second recombined feature code, and establishes a connection with the corresponding receiver; step S3, when establishing the third connection, in addition to marking the generated feature code sequence by the hash value of the second recombined feature code, the third connection is established in the same manner as the second connection; and the latest second recombined feature code is generated in the same manner as the second recombined feature code; subsequent connections are the same as the third connection, but are marked by the latest second recombined feature code, and the latest second recombined feature code is continuously updated.

[0017] Specifically, in step S1, the initial connection refers to the initialization setting of the robot, and the first connection after the initialization setting is called the initial connection. It should be pointed out that the robot is also in the initialization state when the user uses it for the first time; in addition, the robot receiver and the corresponding remote control are both provided with an asymmetric encryption algorithm. When the robot is produced, the public key information of the corresponding remote control is stored on the robot's receiver, and the public key information of the corresponding receiver is stored on the remote control; their encryption and decryption processes include: before the generated feature code is transmitted to the receiver of the corresponding robot, the generated feature code needs to be encrypted by the corresponding receiver public key stored in the remote control to generate encrypted information; the encrypted information is then transmitted to the corresponding robot On the receiver, the receiver decrypts the encrypted information with its own private key to obtain the feature code information, and compares it with the feature code information generated by itself; if the feature codes are the same, it agrees to establish a match with the corresponding remote control, and randomly recombines the feature code generated by itself and the feature code generated by the corresponding remote control to generate a first recombined feature code, saves the first recombined feature code, and encrypts the first recombined feature code with the public key information of the corresponding remote control to generate encrypted information, and sends the encrypted information to the corresponding remote control; the corresponding remote control decrypts the encrypted information with its own private key to obtain the first recombined feature code, determines whether to establish an initial match by judging the length and elements of the feature code, and saves the first recombined feature code.

[0018] In the above embodiment, specifically, step S1 also includes: the remote control and the receiver are configured with the same random number generator, and the same random number generator refers to the paired remote control and the receiver through time synchronization rules, and the same built-in random number generation function; so that the paired remote control and the receiver generate the same random number at the same time; and the remote control and the receiver that cannot be paired have different built-in random number generation functions, so that the random numbers generated by the remote control and the receiver that cannot be paired at the same time are different; and the feature code generated by itself and the feature code generated by the corresponding remote control are randomly recombined to generate the first recombined feature code, which means: randomly recombining Grouping refers to recombining all the feature code elements in the receiver and the corresponding remote control to generate a feature code with a length twice that of the original feature code, and using it as the first recombined feature code; the corresponding remote control determines whether to establish an initial match by judging the length and elements of the first recombined feature code, including: the corresponding remote control first judges whether the length of the first recombined feature code is twice the length of the feature code generated by itself, and then judges whether the elements of the feature code generated by itself exist in two in the first recombined feature code; if the remote control judges that the length of the first recombined feature code is twice the length of the feature code generated by itself, and that the elements of the feature code generated by itself exist in two in the first recombined feature code, then a connection is established with the receiver of the corresponding robot.

[0019] Specifically, if the feature codes generated by the remote control and the receiver are both: 8637294; the feature codes generated by the remote control and the receiver are scrambled and reorganized, and the first reorganized feature code generated is: 72498366432879. It can be seen that the length of the first reorganized feature code is twice the length of the original feature code, and each element of the original feature code appears twice in the first reorganized feature code; when the remote control performs feature code verification, if the above two rules are met, a connection is established with the receiver of the corresponding robot.

[0020] Among them, in step S2, in the process of establishing the matching between the remote control and the receiver, the encryption and decryption process of the asymmetric encryption algorithm is also involved; the receiver and the remote control each generate the same number of at least three feature codes, including: the receiver and the remote control generate the same number of feature codes a, then the value of a is: 3≤a≤10, and a is an integer; the receiver verifies the mark and compares the feature code sequence, including: first, the receiver converts the first recombined feature code it saves into a hash value using the same hash algorithm as the remote control, and then compares the converted hash value with the tag information. If the hash values ​​are the same, it proves that the tag information is correct; then the receiver compares the feature code in the feature code sequence generated by itself with the feature code of the remote control to determine whether the feature codes generated by the receiver and the remote control at all the same times in the feature code sequence are the same. If the feature codes generated by the receiver and the remote control at all the same times are the same, then it agrees with the corresponding remote control. The method further comprises: randomly selecting two feature codes from the feature code sequence of the corresponding remote control and merging them into a second recombined feature code, wherein the merging method is to directly splice the two randomly selected feature codes without disrupting the order of elements in the original feature code, and the spliced ​​feature code is twice the length of the original feature code, and the feature code is used as the second recombined feature code; the corresponding remote control saves the second recombined feature code, and establishes a connection with the corresponding receiver, wherein the method further comprises: verifying the second recombined feature code before saving the second recombined feature code; the verification process is: restoring the second recombined feature code from the middle into two feature codes, and comparing whether the two restored feature codes are in the feature code sequence generated by the remote control, and whether the time when the same feature code is generated is the same; if the two restored feature codes are in the feature code sequence generated by the remote control, and the time when the same feature code is generated is the same, then matching is established with the corresponding receiver, and the second connection is completed.

[0021] Furthermore, in step S2, the receiver and the remote control each generate the same number of at least three feature codes, which also includes: the receiver and the remote control generate feature codes based on time; the method of generating at least three feature codes is: except for the first feature code of each being generated based on the time corresponding to its own current synchronous clock, the other feature codes are generated based on virtual time; the virtual time is generated based on the current time, and a virtual time sequence is generated based on each increase of 0.1 second from the current time; the remote control and the receiver generate feature codes other than the first feature code based on the virtual time in the virtual time sequence generated by each; for example: 6 feature codes need to be generated, and the time when the remote control generates the first feature code is 9:30:20.5 seconds; then each increase of 0.1 is a virtual time, and the generation times of the next five feature codes are: 9:30:20.6 seconds, 9:30:20.7 seconds, 9:30:20.8 seconds, 9:30:20.9 seconds, and 9:30:21 seconds, so it is necessary to limit the time when the remote control and the receiver generate random feature codes to the tenth place of a second.

[0022] Among them, in step S3, when establishing the third connection, the process of establishing the matching of the remote control and the receiver also involves the encryption and decryption process of the asymmetric encryption algorithm; establishing the third connection in the same way as the second connection includes: first, generating the same number of at least three feature codes by the receiver and the remote control to form a feature code sequence; and marking the feature code sequence generated by the remote control with the hash value of the saved second recombined feature code, and sending the marked feature code sequence to the receiver; the receiver verifies the marking information and compares the feature code sequence in the same way as the second connection to determine whether a connection is established with the corresponding remote control; and randomly selects from the feature code sequence of the corresponding remote control The two feature codes are merged into the latest second recombined feature code, which is transmitted to the corresponding remote control. The corresponding remote control saves the latest second recombined feature code and establishes a connection with the corresponding receiver. Before saving the latest second recombined feature code, the latest second recombined feature code needs to be verified. The verification process is: the latest second recombined feature code is restored from the middle into two feature codes, and the two restored feature codes are compared to see whether they are in the feature code sequence generated by the remote control, and whether the time when the same feature code is generated is the same. If the two restored feature codes are in the feature code sequence generated by the remote control, and the time when the same feature code is generated is the same, then a match is established with the corresponding receiver, completing the third connection.

[0023] In the above embodiment, specifically, in step S3, the subsequent connection refers to the nth connection; wherein n≥4, and n is an integer; starting from the fourth time the connection between the receiver and the remote control is established, the method of establishing the connection between the receiver and the remote control is exactly the same, and the latest second recombinant feature code is continuously updated during the establishment process, so that the receiver and remote control of each robot are accurately paired.

[0024] In addition, the embodiments of the present invention are applied to youth robot science competitions; if the initial connection and the second connection of the robot receiver and the remote control have not been completed before the competition, the initial connection and the second connection need to be completed before the competition; this is because after the third connection, the connection method of the receiver and the remote control is exactly the same, and the connection is relatively stable; after completing the initial connection and the second connection, the third and subsequent connections are performed at the competition site; if the connection is interrupted, the remote control and the receiver will immediately generate a random number sequence and reconnect; even if different robots need to be controlled at the same time, because the paired robot receivers and remote controls need to perform double verification of the marking information and random numbers, there will be no crosstalk or matching errors, so that each robot can complete the competition normally; therefore, the embodiments of the present invention can meet the needs of conducting large-scale youth robot science competitions.

Claims

1. A method for accurate pairing of multiple robots, characterized in that: The method comprises the following steps: Perform the initial connection between each robot's remote controller and receiver; turn on the remote controller and receiver respectively. The remote controller transmits the randomly generated signature code to the corresponding robot's receiver. The receiver compares the signature code generated by the remote controller with its own signature code information. If the feature codes are the same, the device agrees to establish a match with the corresponding remote control, and randomly recombines the feature code generated by the device and the feature code generated by the corresponding remote control to generate a first recombined feature code, saves the first recombined feature code, and sends the first recombined feature code to the corresponding remote control; The corresponding remote control determines whether to establish an initial match by judging the length and elements of the first recombined feature code, and saves the first recombined feature code; When establishing a second connection, the receiver and remote control each generate an equal number of at least three feature codes to form a feature code sequence; the feature code sequence generated by the remote control is marked using the saved hash value of the first reconstructed feature code, and the marked feature code sequence is sent to the receiver; the receiver determines whether to establish a connection with the corresponding remote control by verifying the mark and comparing the feature code sequence; and randomly selects two feature codes from the feature code sequence of the corresponding remote control, combines them into a second reconstructed feature code, and transmits the second reconstructed feature code to the corresponding remote control. The corresponding remote control saves the second reconstructed feature code and establishes a connection with the corresponding receiver; When establishing the third connection, the third connection is established in the same manner as the second connection, except that the generated feature code sequence needs to be marked with the hash value of the second recombinant feature code; and the latest second recombinant feature code is generated in the same manner as the second recombinant feature code; subsequent connections are made in the same manner as the third connection, but are marked with the latest second recombinant feature code, and the latest second recombinant feature code is continuously updated.

2. A method for accurate pairing of multiple robots according to claim 1, characterized in that: The initial connection includes: initializing the robot, and the first connection after the initialization is called the initial connection; the transmission of the generated characteristic code to the receiver of the corresponding robot includes: the robot receiver and the corresponding remote control are both provided with an asymmetric encryption algorithm, when the robot is produced, the public key information of the corresponding remote control is stored on the robot receiver, and the public key information of the corresponding receiver is stored on the remote control; the encryption and decryption process includes: before the generated characteristic code is transmitted to the receiver of the corresponding robot, the generated characteristic code needs to be encrypted by the public key of the corresponding receiver stored in the remote control to generate encrypted information; then the encrypted information is transmitted to the receiver of the corresponding robot, and then the encrypted information is transmitted to the receiver of the corresponding robot. The receiver decrypts the encrypted information with its own private key to obtain the feature code information, and compares it with the feature code information generated by itself; if the feature codes are the same, it agrees to establish a match with the corresponding remote control, and randomly recombines the feature code generated by itself and the feature code generated by the corresponding remote control to generate a first recombined feature code, saves the first recombined feature code, and encrypts the first recombined feature code with the public key information of the corresponding remote control to generate encrypted information, and sends the encrypted information to the corresponding remote control; the corresponding remote control decrypts the encrypted information with its own private key to obtain the first recombined feature code, determines whether to establish an initial match by judging the length and elements of the feature code, and saves the first recombined feature code.

3. A method for accurate pairing of multiple robots according to claim 1, characterized in that: The remote control and receiver include: the remote control and receiver are configured with the same random number generator, the same random number generator means that the paired remote control and receiver are synchronized by time rules and have the same built-in random number generation function; so that the paired remote control and receiver generate the same random number at the same time; the remote control and receiver also include: the remote control and receiver that cannot be paired have different built-in random number generation functions, so that the remote control and receiver that cannot be paired at the same time generate different random numbers; and the random recombining of the self-generated feature code and the feature code generated by the corresponding remote control to generate the first recombined feature code includes: randomly Recombination refers to recombining all the feature code elements in the receiver and the corresponding remote control to generate a feature code with a length twice that of the original feature code, and use it as the first recombined feature code; the corresponding remote control determines whether to establish an initial match by judging the length and elements of the first recombined feature code, including: the corresponding remote control first judges whether the length of the first recombined feature code is twice the length of the feature code generated by itself, and then judges whether the elements of the feature code generated by itself exist in two in the first recombined feature code; if the remote control judges that the length of the first recombined feature code is twice the length of the feature code generated by itself, and the elements of the feature code generated by itself exist in two in the first recombined feature code, then a match is established with the receiver of the corresponding robot.

4. A method for accurate pairing of multiple robots according to claim 1, characterized in that: The establishment of the second connection includes: in the process of establishing the matching of the remote control and the receiver, the encryption and decryption process of the asymmetric encryption algorithm is also involved; the receiver and the remote control each generate the same number of at least three feature codes, including: the receiver and the remote control generate the same number of feature codes a, then the value of a is: 3≤a≤10, and a is an integer; the receiver verifies the mark and compares the feature code sequence, including: first, the receiver converts the first recombined feature code it saves into a hash value using the same hash algorithm as the remote control, and then compares the converted hash value with the tag information. If the hash values ​​are the same, it proves that the tag information is correct; then the receiver compares the feature code in the feature code sequence it generates with the feature code of the remote control to determine whether the feature codes generated by the receiver and the remote control at all the same times in the feature code sequence are the same. If the feature codes generated by the receiver and the remote control at all the same times are the same, then it agrees to connect with the corresponding remote control. The method further comprises: randomly selecting two feature codes from the feature code sequence of the corresponding remote control and merging them into a second recombined feature code, wherein the merging method is to directly splice the two randomly selected feature codes without disrupting the order of elements in the original feature code, and the spliced ​​feature code is twice the length of the original feature code, and the feature code is used as the second recombined feature code; the corresponding remote control saves the second recombined feature code, and establishes a connection with the corresponding receiver, wherein the method further comprises: verifying the second recombined feature code before saving the second recombined feature code; the verification process is: restoring the second recombined feature code from the middle into two feature codes, and comparing whether the two restored feature codes are in the feature code sequence generated by the remote control, and whether the time when the same feature code is generated is the same; if the two restored feature codes are in the feature code sequence generated by the remote control, and the time when the same feature code is generated is the same, then matching is established with the corresponding receiver, and the second connection is completed.

5. The method for accurate pairing of multiple robots according to claim 1, characterized in that: The generating of the same number of at least three feature codes by the receiver and the remote control also includes: the receiver and the remote control generate feature codes based on the time; the method of generating at least three feature codes is: except for the first feature code of each being generated based on the time corresponding to its own current synchronous clock, the other feature codes are generated based on the virtual time; the virtual time is generated based on the current time, and a virtual time sequence is generated by adding 0.1 seconds to the current time as a virtual time; the remote control and the receiver generate feature codes other than the first feature code based on the virtual time in the virtual time sequence generated by each.

6. The method for accurate pairing of multiple robots according to claim 1, characterized in that: The establishment of the third connection includes: in the process of establishing the matching between the remote control and the receiver, the encryption and decryption process of the asymmetric encryption algorithm is also involved; the establishment of the third connection in the same manner as the second connection includes: first, generating at least three feature codes of the same number by the receiver and the remote control to form a feature code sequence; marking the feature code sequence generated by the remote control by the saved hash value of the second recombined feature code, and sending the marked feature code sequence to the receiver; the receiver verifies the marking information and compares the feature code sequence in the same manner as the second connection to determine whether a connection is established with the corresponding remote control; and randomly selects two feature codes from the feature code sequence of the corresponding remote control. The signature codes are merged into the latest second recombined signature code, and the latest second recombined signature code is transmitted to the corresponding remote control. The corresponding remote control saves the latest second recombined signature code and establishes a connection with the corresponding receiver. Before saving the latest second recombined signature code, the latest second recombined signature code needs to be verified. The verification process is: the latest second recombined signature code is restored from the middle into two signature codes, and the two restored signature codes are compared to see whether they are in the signature code sequence generated by the remote control, and whether the time when the same signature code is generated is the same. If the two restored signature codes are in the signature code sequence generated by the remote control, and the time when the same signature code is generated is the same, then a match is established with the corresponding receiver, and the third connection is completed.

7. The method for accurate pairing of multiple robots according to claim 1, characterized in that: The subsequent connections are the same as the third connection method, including: the subsequent connections refer to the nth connection; where n≥4, and n is an integer; starting from the fourth time the connection between the receiver and the remote control is established, the method of establishing the connection between the receiver and the remote control is exactly the same, and the latest second recombined feature code is continuously updated during the establishment process, so that the receiver and remote control of each robot are accurately paired.

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