A method for accurate pairing of multiple robots

Abstract

The application discloses a kind of methods for accurate pairing of multiple robots, belong to robot technical field;The application is by connecting the receiver of robot with remote controller and divided into: initial connection, second connection, third connection and nth connection;In the process of establishing connection, it involves encryption decryption process, random number generation and reorganization process, random number and label information double verification process;The connection information sent by the method is encrypted and decrypted by asymmetric encryption algorithm, so that the information transmitted is safe and reliable;The label information of the method is formed by random number combination, and the verification of label information is more secure with the continuous update of random number change;The receiver of the method needs to verify the label information and random number, while the remote controller needs to verify the reorganized feature code, to achieve the purpose of two-way verification, to prevent multiple robots from existing at the same time, the phenomenon of matching error occurs.

Description

Technical Field

[0001] This invention relates to the field of robotics, and more specifically, to a method for precise pairing of multiple robots. Background Technology

[0002] In robotics, controlling a robot first requires establishing a connection between the remote controller and the robot, which typically involves matching the remote controller and the robot receiver. By establishing the correct matching relationship between the remote controller and the robot, the robot can be controlled via the remote controller.

[0003] However, due to interference from various sources of information in real life, pairing errors between remote controllers and receivers can occur. This is especially true when a large number of robots are present simultaneously, where pairing crosstalk often occurs. For example, in large-scale robotics science competitions for teenagers, there are often cases where individual robots are paired incorrectly, affecting the comparison results. Therefore, finding a method to ensure that robots can be accurately paired even when a large number of robots are present is an urgent technical problem to be solved. Summary of the Invention

[0004] The purpose of this invention is to overcome the above-mentioned problems existing in the prior art and to greatly improve its technical effect based on the original technology; to this end, this invention provides a method for precise pairing of multiple robots, the method comprising:

[0005] First, initial connection is established between each robot remote controller and receiver. The remote controllers and receivers are switched on. The remote controller transmits a randomly generated feature code to the corresponding robot's receiver. The receiver compares the feature code generated by the remote controller with its own generated feature code. If they match, a match is established, and the receiver randomly recombines its own and the remote controller's feature codes to generate a first recombined feature code. This first recombined feature code is saved and sent to the corresponding remote controller. The remote controller determines whether to establish an initial match based on the length and elements of the first recombined feature code and saves it. Second, to establish a second connection, both the receiver and remote controller generate at least three identical feature codes to form a feature code sequence. This sequence is then transmitted via... The hash value of the first recombined signature is used as a marker, and the marked signature sequence is sent to the receiver. The receiver verifies the marker and compares the signature sequence to determine whether to establish a connection with the corresponding remote control. It then randomly selects two signatures from the corresponding remote control's signature sequence and merges them into a second recombined signature, which is then transmitted to the corresponding remote control. The remote control saves the second recombined signature and establishes a connection with the corresponding receiver. Finally, when establishing a third connection, in addition to marking the generated signature sequence using the hash value of the second recombined signature, the third connection is established in the same way as the second connection. The latest second recombined signature is generated in the same way as the second recombined signature. Subsequent connections follow the same method as the third connection, but are marked using the latest second recombined signature and continuously updated.

[0006] Specifically, the initial connection also includes: initializing the robot, and the first connection after initialization is called the initial connection; transmitting the generated feature code to the corresponding robot's receiver includes: both the robot receiver and the corresponding remote controller are equipped with an asymmetric encryption algorithm; during robot production, the robot receiver stores the public key information of the corresponding remote controller, and the remote controller stores the public key information of the corresponding receiver; the encryption and decryption process includes: before transmitting the generated feature code to the corresponding robot's receiver, the generated feature code needs to be encrypted using the public key of the corresponding receiver stored in the remote controller to generate encrypted information; then the encrypted information is transmitted to the corresponding robot's receiver. The receiver decrypts the encrypted information using its private key to obtain the signature information and compares it with its own generated signature information. If the signatures match, it agrees to establish a match with the corresponding remote control and randomly recombines its own generated signature and the signature generated by the corresponding remote control to generate a first recombined signature. The first recombined signature is saved, and the first recombined signature is encrypted using the public key information of the corresponding remote control to generate encrypted information, which is then sent to the corresponding remote control. The corresponding remote control decrypts the encrypted information using its private key to obtain the first recombined signature, determines whether to establish an initial match by judging the length and elements of the signature, and saves the first recombined signature.

[0007] Specifically, the remote control and receiver include: the remote control and receiver are configured with the same random number generator, wherein the same random number generator means that the paired remote control and receiver, through time synchronization rules and the built-in same random number generation function, enable the paired remote control and receiver to generate the same random number at the same time; the remote control and receiver also include: remote control and receiver that cannot be paired use different built-in random number generation functions, so that the random numbers generated by the remote control and receiver that cannot be paired at the same time are different; the step of randomly recombining the self-generated feature code and the feature code generated by the corresponding remote control to generate a first recombined feature code includes: Random recombination refers to recombining all the feature code elements in the receiver and the corresponding remote controller to generate a feature code twice the length of the original feature code, which is then used as the first recombined feature code. The corresponding remote controller determines whether to establish an initial match by judging the length and elements of the first recombined feature code, including: the corresponding remote controller first judging whether the length of the first recombined feature code is twice the length of its own generated feature code, and then judging whether all the elements of its own generated feature code exist twice in the first recombined feature code; if the remote controller judges that the length of the first recombined feature code is twice the length of its own generated feature code, and all the elements of its own generated feature code exist twice in the first recombined feature code, then a match is established with the receiver of the corresponding robot.

[0008] Specifically, establishing the second connection includes: during the pairing process between the remote controller and the receiver, the encryption and decryption process using an asymmetric encryption algorithm is also involved; generating at least three identical feature codes for both the receiver and the remote controller includes: generating the same number of feature codes 'a' for both the receiver and the remote controller, where 'a' takes the value 3 ≤ a ≤ 10, and 'a' is an integer; the receiver's verification of the marker and comparison of the feature code sequence includes: first, the receiver converts its stored first recombined feature code into a hash value using the same hash algorithm as the remote controller, then compares the converted hash value with the marker information; if the hash values ​​are the same, the marker information is correct; then, the receiver compares the feature codes in its generated feature code sequence with the feature codes of the remote controller, determining whether all feature codes generated by the receiver and the remote controller at the same time in the feature code sequence are the same; if all feature codes generated by the receiver and the remote controller at the same time are the same, then agreement is reached. The connection is established by the remote controller; the step of randomly selecting two feature codes from the feature code sequence of the corresponding remote controller and merging them into a second recombined feature code includes: the merging method is to directly splice the two randomly selected feature codes together without disrupting the order of elements in the original feature codes, resulting in a feature code with a length twice that of the original feature code, which is then used as the second recombined feature code; the step of the corresponding remote controller saving the second recombined feature code and establishing a connection with the corresponding receiver includes: before saving the second recombined feature code, it is necessary to verify the second recombined feature code; the verification process is: the second recombined feature code is restored from the middle into two feature codes, and the two restored feature codes are compared to see if they are in the feature code sequence generated by the remote controller, 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 controller, and the time when the same feature code is generated is the same, then a match is established with the corresponding receiver, and the second connection is completed.

[0009] Specifically, the step of generating at least three feature codes of the same number by the receiver and the remote controller further includes: the receiver and the remote controller generate feature codes based on time; the method for generating at least three feature codes is: except for the first feature code of each of them which is generated based on the time corresponding to its current synchronization 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 by adding 0.1 seconds to the current time; the remote controller and the receiver generate feature codes other than the first feature code based on the virtual times in their respective generated virtual time sequences.

[0010] Specifically, establishing the third connection includes: during the pairing process between the remote controller and the receiver, the encryption and decryption process using an asymmetric encryption algorithm is also involved; establishing the third connection in the same way as the second connection includes: first, the receiver and the remote controller each generate at least three identical feature codes to form a feature code sequence; then, the feature code sequence generated by the remote controller is marked using the hash value of the saved second recombined feature code, and the marked feature code sequence is sent to the receiver; the receiver verifies the marking information and compares the feature code sequence in the same way as during the second connection to determine whether to establish a connection with the corresponding remote controller; and randomly selects two feature codes from the feature code sequence of the corresponding remote controller. The two signature codes are merged into a new second recombined signature code, which is then transmitted to the corresponding remote control. The remote control saves the new second recombined signature code and establishes a connection with the corresponding receiver. Before saving the new second recombined signature code, it needs to be verified. The verification process is as follows: the new second recombined signature code is restored from the middle into two signature codes, and the two restored signature codes are compared to see if they are in the signature code sequence generated by the remote control and if 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.

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

[0012] The beneficial effects of this invention are:

[0013] This invention proposes a method for accurate pairing of multiple robots. The advantages of this invention are: a1, the connection information sent by this invention is encrypted and decrypted using an asymmetric encryption algorithm, making the transmitted information secure and reliable; a2, the tagging information of this invention is composed of random numbers and is continuously updated as the random numbers change, making the verification of the tagging information more secure; a3, the receiver of this invention needs to verify the tagging information and the random numbers, while the remote controller needs to verify the recombined feature code, achieving two-way verification and preventing matching errors when multiple robots are present simultaneously. Attached Figure Description

[0014] Figure 1 This is a flowchart of a method for precise pairing of multiple robots according to the present invention. Detailed Implementation

[0015] The specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings; it should be understood that the specific embodiments given herein are only for illustration and explanation of the present invention and cannot be used to limit the present invention.

[0016] like Figure 1 The diagram shows a flowchart of a method for precise pairing of multiple robots according to an embodiment of the present invention. The flowchart includes: Step S1, initial connection of each robot remote controller and receiver; turning on the switches of the remote controller and receiver respectively; the remote controller transmits a randomly generated feature code to the receiver of the corresponding robot; the receiver compares the feature code generated by the remote controller with its own generated feature code; if the feature codes are the same, it agrees to establish a match with the corresponding remote controller, and randomly recombines its own generated feature code and the feature code generated by the corresponding remote controller to generate a first recombined feature code, which is saved and sent to the corresponding remote controller; the corresponding remote controller 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; Step S2, when establishing a second connection, the receiver and remote controller each generate at least three identical feature codes to form a group. A feature code sequence is generated; the feature code sequence generated by the remote control is marked with the hash value of the saved first recombined 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 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; in step S3, when establishing the third connection, in addition to marking the generated feature code sequence with the hash value of the second recombined feature code, the third connection is established in the same way as the second connection; and the latest second recombined feature code is generated in the same way as the second recombined feature code is generated; subsequent connections are in the same way as the third connection, but are marked with 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 first connection after initializing the robot. It should be noted that the robot is also in an initialization state when the user uses it for the first time. Furthermore, both the robot receiver and the corresponding remote controller are equipped with asymmetric encryption algorithms. During robot production, the robot receiver stores the public key information of the corresponding remote controller, and the remote controller stores the public key information of the corresponding receiver. Their encryption and decryption processes include: before transmitting the generated signature to the corresponding robot receiver, the generated signature needs to be encrypted using the public key of the corresponding receiver stored in the remote controller to generate encrypted information; subsequently, the encrypted information is transmitted to the corresponding robot. On the receiver, the receiver decrypts the encrypted information using its private key to obtain the signature information, and compares it with the signature information it generated. If the signatures are the same, it agrees to establish a match with the corresponding remote control, and randomly recombines its own generated signature and the signature generated by the corresponding remote control to generate a first recombined signature. The first recombined signature is saved, and the first recombined signature is encrypted using the public key information of the corresponding remote control to generate encrypted information, which is then sent to the corresponding remote control. The corresponding remote control decrypts the encrypted information using its private key to obtain the first recombined signature, determines whether to establish an initial match by judging the length and elements of the signature, and saves the first recombined signature.

[0018] In the above embodiments, specifically, step S1 further includes: the remote controller and the receiver are configured with the same random number generator, wherein the same random number generator means that the paired remote controller and the receiver use time synchronization rules and the same built-in random number generation function; so that the paired remote controller and the receiver generate the same random number at the same time; and, the remote controller and the receiver that cannot be paired use different built-in random number generation functions, so that the random numbers generated by the remote controller and the receiver that cannot be paired at the same time are different; the step of randomly recombining the feature code generated by itself and the feature code generated by the corresponding remote controller to generate a first recombined feature code means: random recombining The process involves recombining all the feature code elements in the receiver and the corresponding remote controller to generate a feature code twice the length of the original feature code, which is then used as the first recombined feature code. The corresponding remote controller determines whether to establish an initial match by judging the length and elements of the first recombined feature code, including: firstly, judging whether the length of the first recombined feature code is twice the length of its own generated feature code, and then judging whether all the elements of its own generated feature code exist twice in the first recombined feature code; if the remote controller judges that the length of the first recombined feature code is twice the length of its own generated feature code, and all the elements of its own generated feature code exist twice in the first recombined feature code, then a connection is established with the receiver of the corresponding robot.

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

[0020] In step S2, the process of establishing the matching between the remote controller and the receiver also involves the encryption and decryption process of an asymmetric encryption algorithm. Generating at least three identical feature codes for both the receiver and the remote controller includes: generating the same number of feature codes 'a' for both the receiver and the remote controller, where 'a' takes the value 3 ≤ a ≤ 10, and 'a' is an integer. The receiver verifies the tag and compares the feature code sequence, including: first, the receiver converts its stored first recombined feature code into a hash value using the same hash algorithm as the remote controller; then, it compares the converted hash value with the tag information. If the hash values ​​are the same, the tag information is correct. Next, the receiver compares the feature codes in its generated feature code sequence with the feature codes of the remote controller, determining whether all feature codes generated by the receiver and the remote controller at the same time are identical. If all feature codes generated by the receiver and the remote controller at the same time are identical, then the receiver agrees to match the corresponding remote controller. The controller establishes a connection; the step of randomly selecting two feature codes from the corresponding remote control's feature code sequence and merging them into a second recombined feature code includes: the merging method is to directly splice the two randomly selected feature codes together without disrupting the order of elements in the original feature codes, resulting in a feature code with a length twice that of the original feature code, which is then 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 includes: before saving the second recombined feature code, it needs to be verified; the verification process is: the second recombined feature code is restored from the middle into two feature codes, and the two restored feature codes are compared to see if 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 second connection.

[0021] Furthermore, in step S2, generating at least three feature codes of the same number by the receiver and remote control further includes: the receiver and remote control generate feature codes based on time; the method for generating at least three feature codes is: except for the first feature code of each, which is generated based on the time corresponding to its current synchronization 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 by adding 0.1 seconds to the current time; the remote control and receiver generate feature codes other than the first feature code based on the virtual times in their respective generated virtual time sequences; for example: if 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, adding 0.1 seconds to the virtual time, 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, respectively. Therefore, it is necessary to limit the time when the remote control and receiver generate random feature codes to the tenths of a second.

[0022] In step S3, when establishing the third connection, the process of matching the remote control and the receiver also involves encryption and decryption using an asymmetric encryption algorithm. Establishing the third connection in the same way as the second connection includes: first, the receiver and the remote control each generate at least three identical feature codes to form a feature code sequence; then, the feature code sequence generated by the remote control is marked using the hash value of the saved second recombined feature code, and the marked feature code sequence is sent to the receiver; the receiver verifies the marked information and compares the feature code sequence in the same way as in the second connection to determine whether to establish a connection 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 a new second recombined feature code, which is then transmitted to the corresponding remote control. The remote control saves the new second recombined feature code and establishes a connection with the corresponding receiver. Before saving the new second recombined feature code, it needs to be verified. The verification process is as follows: the new second recombined feature code is restored from the middle into two feature codes, and the two restored feature codes are compared to see if 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, subsequent connections refer to the nth connection; where n≥4 and n is an integer; starting from the 4th connection between the receiver and the remote controller, the method of establishing the connection between the receiver and the remote controller is exactly the same, and the latest second recombinant feature code is continuously updated during the establishment process, so that the receivers and remote controllers of each robot are accurately paired.

[0024] Furthermore, when the embodiments of this invention are applied to youth robotics science popularization competitions, if the initial and second connections between the robot receiver and remote controller have not been performed before the competition, these connections must be completed before the competition can proceed. This is because after the third connection, the connection method between the receiver and remote controller is exactly the same, resulting in a more stable connection. After completing the initial and second connections, the third and subsequent connections are performed at the competition venue. If the connection is interrupted, the remote controller and receiver will immediately generate a random number sequence and reconnect. Even when different robots need to be controlled simultaneously, crosstalk or mismatches will not occur because the paired robot receivers and remote controllers require dual verification of tag information and random numbers, ensuring that each robot can complete the competition normally. Therefore, the embodiments of this invention can meet the needs of conducting large-scale youth robotics science popularization competitions.

Claims

1. A method for accurate pairing of multiple robots, characterized by, The method comprises the following steps: The initial connection of each robot remote controller and receiver is performed; the switches of the remote controller and the receiver are opened respectively, the remote controller transmits the generated feature code to the corresponding robot receiver through the 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, the corresponding remote controller is agreed to establish a match, and the first recombined feature code is generated by randomly recombining the feature code generated by the remote controller and the feature code generated by the corresponding remote controller, the first recombined feature code is saved, and the first recombined feature code is sent to the corresponding remote controller; 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; When the second connection is established, the receiver and the remote controller each generate the same number of at least three feature codes to form a feature code sequence; the feature code sequence generated by the remote controller is marked by the hash value of the saved first recombined feature code, and the marked feature code sequence is sent to the receiver; the receiver judges whether to establish a connection with the corresponding remote controller by verifying the mark and comparing the feature code sequence; and two feature codes are randomly selected from the feature code sequence of the corresponding remote controller to combine into a second recombined feature code, and the second recombined feature code is transmitted to the corresponding remote controller; the corresponding remote controller saves the second recombined feature code and establishes a connection with the corresponding receiver; When the third connection is established, 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 way as the second connection; and the latest second recombined feature code is generated in the same way as generating the second recombined feature code; the subsequent connection is the same as the third connection, but is marked by the latest second recombined feature code, and the latest second recombined feature code is updated constantly.

2. The method for precise pairing of multiple robots according to claim 1, wherein, The initial connection includes: initializing the robot, and the first connection after the initialization is called the initial connection; the transferring of the generated feature code to the receiver of the corresponding robot includes: the robot receiver and the corresponding remote controller are both provided with an asymmetric encryption algorithm, the public key information of the corresponding remote controller is stored in the receiver of the robot when the robot is produced, and the public key information of the corresponding receiver is stored in the remote controller; the encryption and decryption process includes: before the generated feature code is transferred to the receiver of the corresponding robot, the generated feature code needs to be encrypted to generate encrypted information by the corresponding receiver public key stored in the remote controller; then the encrypted information is transferred to the receiver of the corresponding robot, the receiver decrypts the encrypted information by 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, the corresponding remote controller is matched, and the feature code generated by itself and the feature code generated by the corresponding remote controller are randomly recombined to generate a first recombined feature code, the first recombined feature code is saved, and the first recombined feature code is encrypted by the public key information of the corresponding remote controller to generate encrypted information, which is sent to the corresponding remote controller; the corresponding remote controller decrypts the encrypted information by its own private key to obtain the first recombined feature code, determines whether to establish the initial matching by judging the length and elements of the feature code, and saves the first recombined feature code.

3. The method for precise pairing of multiple robots of claim 1, wherein, The remote controller and the receiver include: the remote controller and the receiver are configured with the same random number generator, the same random number generator is assigned to the paired remote controller and the receiver through the time synchronization rule, and the same random number generation function is built-in; so that the paired remote controller and the receiver generate the same random number at the same time; the remote controller and the receiver further include: the remote controller and the receiver that cannot be paired generate different random numbers at the same time by the random number built-in random number generation function; and the random recombination of the feature code generated by itself and the feature code generated by the corresponding remote controller to generate a first recombined feature code includes: the random recombination refers to recombining all the elements of the feature code in the receiver and the corresponding remote controller to generate a feature code with a length twice that of the original feature code, and the feature code is used as the first recombined feature code; the corresponding remote controller determines whether to establish the initial matching by judging the length and elements of the first recombined feature code includes: the corresponding remote controller first judges whether the length of the first recombined feature code is twice the length of the generated feature code, and then judges whether the elements of the generated feature code exist twice in the first recombined feature code; if the remote controller judges that the length of the first recombined feature code is twice the length of the generated feature code, and the elements of the generated feature code exist twice in the first recombined feature code, the corresponding robot receiver is matched.

4. The method for precise pairing of multiple robots of claim 1, wherein, The establishing the second connection comprises: in the process of establishing the matching of the remote controller and the receiver, the encryption and decryption process involving the asymmetric encryption algorithm; generating the same number of at least three characteristic codes by the receiver and the remote controller comprises: generating the same number of characteristic codes a by the receiver and the remote controller, wherein a is an integer and 3≤a≤10; the verification of the mark and the comparison of the characteristic code sequence by the receiver comprises: first, the receiver converts the first recombined characteristic code saved by itself into a hash value by using the same hash algorithm as the remote controller, 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 characteristic codes in the characteristic code sequence generated by itself with the characteristic codes of the remote controller, and determines whether the characteristic codes generated by the receiver and the remote controller at the same time in the characteristic code sequence are the same, if the characteristic codes generated by the receiver and the remote controller at the same time are the same, the connection with the corresponding remote controller is established; the combining two characteristic codes randomly selected from the characteristic code sequence of the corresponding remote controller into a second recombined characteristic code comprises: the combining method is directly splicing the two randomly selected characteristic codes without disturbing the order of elements in the original characteristic code, splicing into a characteristic code with a length twice that of the original characteristic code, and taking it as the second recombined characteristic code; the corresponding remote controller saves the second recombined characteristic code and establishes the connection with the corresponding receiver comprises: before saving the second recombined characteristic code, the second recombined characteristic code needs to be verified; the verification process is: restoring the second recombined characteristic code into two characteristic codes from the middle, and comparing whether the restored two characteristic codes are in the characteristic code sequence generated by the remote controller and whether the time of generating the same characteristic codes is the same; if the restored two characteristic codes are in the characteristic code sequence generated by the remote controller and the time of generating the same characteristic codes is the same, the matching with the corresponding receiver is established, and the second connection is completed.

5. The method for precise pairing of multiple robots of claim 1, wherein, The generating the same number of at least three characteristic codes by the receiver and the remote controller further comprises: the receiver and the remote controller generate the characteristic codes according to the time; the method of generating at least three characteristic codes is: except that the first characteristic code is generated according to the corresponding time of the current synchronization clock, the other characteristic codes are generated according to the virtual time; the virtual time is generated according to the current time, a virtual time sequence is generated according to the current time, and each increase of 0.1 second is taken as a virtual time; the remote controller and the receiver generate the characteristic codes except the first characteristic code according to the virtual time in the virtual time sequence generated by themselves.

6. The method for precise pairing of multiple robots of claim 1, wherein, The establishing the third connection comprises: in the process of establishing the matching between the remote controller and the receiver, the encryption and decryption process involving the asymmetric encryption algorithm; the establishing the third connection in the same way as the second connection comprises: first, generating the same number of at least three characteristic codes by the receiver and the remote controller respectively to form a characteristic code sequence; and marking the characteristic code sequence generated by the remote controller with the saved hash value of the second recombined characteristic code, and sending the marked characteristic code sequence to the receiver; the receiver verifies the marking information and compares the characteristic code sequence in the same way as the second connection to determine whether to establish a connection with the corresponding remote controller; and randomly selects two characteristic codes from the characteristic code sequence of the corresponding remote controller to combine into the latest second recombined characteristic code, and transmits the latest second recombined characteristic code to the corresponding remote controller; the corresponding remote controller saves the latest second recombined characteristic code and establishes a connection with the corresponding receiver; before saving the latest second recombined characteristic code, the latest second recombined characteristic code needs to be verified; the verification process is: restoring the latest second recombined characteristic code into two characteristic codes, and comparing whether the restored two characteristic codes are in the characteristic code sequence generated by the remote controller and whether the time of generating the same characteristic codes is the same; if the restored two characteristic codes are in the characteristic code sequence generated by the remote controller and the time of generating the same characteristic codes is the same, the matching with the corresponding receiver is established, and the third connection is completed.

7. The method for precise pairing of multiple robots of claim 1, wherein, The subsequent connection in the same way as the third connection comprises: the subsequent connection refers to the nth connection; wherein n≥4, and n is an integer; starting from the fourth time of establishing the connection between the receiver and the remote controller, the way of establishing the connection between the receiver and the remote controller is completely the same, and the latest second recombined characteristic code is constantly updated during the establishing process, so that the receiver and the remote controller of each robot are accurately paired.

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