Robot message transmission method, system, and mobile robot

Abstract

The application relates to the technical field of robots, and discloses a robot message transmission method, a system and a mobile robot. The method comprises the following steps: when it is detected that a candidate object exists in a preset range of the mobile robot, a target object to which a message is to be pushed is selected from the candidate object; a Bluetooth mode of a communication module is started, and a terminal device of the target object is paired; after successful pairing, the Bluetooth mode is switched to a WiFi mode for message transmission; in the message transmission, a real-time distance of the target object is acquired in real time, and the transmission power of the communication module in the WiFi mode is adjusted in real time based on the real-time distance. The above method can realize close-range accurate message transmission without the support of a public network, and improves the efficiency of human-computer interaction.

Description

Technical Field

[0001] This application relates to the field of mobile robot technology, and more particularly to a robot message transmission method, system, and mobile robot. Background Technology

[0002] With the development of intelligent technology, mobile robots are widely used in daily operations in parks, communities, and other places. The core functions of existing mobile robots are concentrated on environmental perception, and their information interaction methods with people around them are relatively simple, mainly relying on loudspeaker broadcasts, display screens, or message pushes based on public networks.

[0003] However, the aforementioned information exchange methods have significant drawbacks: First, loudspeaker broadcasts cause noise pollution, and the message transmission range is uncontrollable, easily leading to information leakage or inaccurate delivery; second, display screens require active viewing, resulting in low information transmission efficiency; third, message push based on public networks relies on base station or Wi-Fi coverage, making it unusable in environments without network access, and requiring recipients to pre-register on relevant platforms or install specific applications, resulting in poor versatility. Therefore, there is an urgent need for a mobile robot with air-drop message delivery capabilities to solve these technical problems. Summary of the Invention

[0004] In view of this, embodiments of this application provide a robot message transmission method, system, and mobile robot, which can effectively solve the technical problems of existing mobile robots having a single way of interacting with people around them, relying on public networks, and having low transmission efficiency.

[0005] In a first aspect, embodiments of this application provide a robot message transmission method applied to a mobile robot, the mobile robot including a communication module supporting two modes, the method comprising: When a candidate object is detected within a preset range of the mobile robot, the target object to be pushed the message is selected from the candidate object; The communication module is activated in Bluetooth mode and paired with the target device's terminal device. After successful pairing, the Bluetooth mode is switched to WiFi mode for message transmission. During message transmission, the real-time distance of the target object is acquired in real time, and based on the real-time distance, the transmission power of the communication module in the WiFi mode is adjusted in real time so that the communication distance of the mobile robot dynamically matches the real-time distance of the target object.

[0006] Secondly, embodiments of this application provide a robot message transmission system, the system comprising: The first module is used to filter out the target object of the message to be pushed from the candidate objects when a candidate object is detected within a preset range of the mobile robot; The second module is used to activate the Bluetooth mode of the communication module and pair it with the terminal device of the target object. After successful pairing, the Bluetooth mode is switched to WiFi mode for message transmission. The third module is used to acquire the real-time distance of the target object during message transmission, and adjust the transmission power of the communication module in the WiFi mode in real time based on the real-time distance, so that the communication distance of the mobile robot dynamically matches the real-time distance of the target object.

[0007] Thirdly, this application also provides a mobile robot, including a distance sensor component, a camera component, a processor, and a memory. The distance sensor component is used to acquire the target distance of a candidate object, the camera component is used to acquire a target image of the candidate object, and the memory stores a computer program. When the processor executes the computer program, it performs the following steps: When a candidate object is detected within a preset range of the mobile robot, the target object to be pushed the message is selected from the candidate object; The communication module is activated in Bluetooth mode and paired with the target device's terminal device. After successful pairing, the Bluetooth mode is switched to WiFi mode for message transmission. During message transmission, the real-time distance of the target object is acquired in real time, and based on the real-time distance, the transmission power of the communication module in the WiFi mode is adjusted in real time so that the communication distance of the mobile robot dynamically matches the real-time distance of the target object.

[0008] The embodiments of this application have the following beneficial effects: First, it breaks through the bottleneck of network dependence: relying on Bluetooth / Wi-Fi dual-mode direct connection, it does not require base stations or Wi-Fi coverage, and is suitable for network-free scenarios such as underground garages and enclosed factories.

[0009] Second, it significantly improves the accuracy and security of push notifications: by filtering target objects through multi-source fusion, it avoids broadcast-style false pushes; and by dynamically adjusting the Wi-Fi transmission power based on real-time distance, it ensures that the communication range is close to the target personnel, eliminating interference from edge devices and ensuring link stability.

[0010] Third, optimize resource utilization and user experience: Bluetooth is only used for low-power fast pairing, while Wi-Fi is dedicated to high-speed encrypted transmission. The dual-mode division of labor and cooperation shortens end-to-end latency. Attached Figure Description

[0011] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0012] Figure 1 A schematic diagram of a mobile robot according to an embodiment of this application is shown; Figure 2 A flowchart of a robot message transmission method according to an embodiment of this application is shown; Figure 3 A schematic diagram of a robot message transmission system according to an embodiment of this application is shown.

[0013] Explanation of key component symbols: 102-Movement module; 104-Torso module; 106-Perception module; 108-Communication module; 110-Control module; 112-Semantic interaction module. Detailed Implementation

[0014] The technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments.

[0015] The components of the embodiments of this application described and illustrated in the accompanying drawings can be arranged and designed in a variety of different configurations. Therefore, the following detailed description of the embodiments of this application provided in the drawings is not intended to limit the scope of the claimed application, but merely to illustrate selected embodiments of the application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0016] In the following text, the terms "comprising," "having," and their cognates, which may be used in various embodiments of this application, are intended only to indicate a particular feature, number, step, operation, element, component, or combination thereof, and should not be construed as primarily excluding the presence of one or more other features, numbers, steps, operations, elements, components, or combinations thereof, or adding the possibility of one or more combinations thereof. Furthermore, the terms "first," "second," "third," etc., are used only for distinguishing descriptions and should not be construed as indicating or implying relative importance.

[0017] Unless otherwise specified, all terms used herein (including technical and scientific terms) shall have the same meaning as commonly understood by one of ordinary skill in the art to which the various embodiments of this application pertain. Terms (such as those defined in a generally used dictionary) shall be interpreted as having the same meaning as in the context of the relevant technical field and shall not be interpreted as having an idealized or overly formal meaning, unless clearly defined in the various embodiments of this application.

[0018] The following detailed description of some embodiments of this application is provided in conjunction with the accompanying drawings. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0019] The following describes the robot message transmission method, system, and mobile robot method using specific embodiments.

[0020] Figure 1 A schematic diagram of a mobile robot according to an embodiment of this application is shown. Exemplarily, the mobile robot mainly includes: Mobile module 102: It only has basic mobility capabilities and can respond to the mobility control commands of the control module 110 to meet the path movement requirements of the mobile robot.

[0021] Torso Module 104: It carries all core functional modules, and the head display screen can display message content in a synchronized manner for easy viewing by personnel.

[0022] The perception module 106 includes a distance sensor component, a radar component, and a camera component. The radar component is a 64-line lidar used to construct a 3D map of the environment and achieve autonomous obstacle avoidance. The distance sensor component is an infrared human body sensor with a detection range of 0.5m-10m. When a person is detected, it sends a trigger signal to the control module 110. All data from the perception module 106 is transmitted to the control module 110 via an Ethernet interface. The camera component is an 8-megapixel high-definition camera with 30x optical zoom, capable of clearly capturing image information of people within a 10m range.

[0023] Communication module 108 integrates a Bluetooth 5.3 unit and a Wi-Fi 6 Direct unit. The Bluetooth 5.3 unit is responsible for terminal device discovery and pairing, while the Wi-Fi 6 Direct unit handles high-speed data transmission, supporting simultaneous connections with up to 8 terminal devices, with a maximum message transmission rate of 1.2Gbps. The communication distance of communication module 108 is adjustable via control module 110. In open areas such as main roads within the park, it can be adjusted to a 10m coverage range for wide-area message push; in enclosed areas such as office areas, it can be adjusted to a 2m coverage range for precise targeted delivery.

[0024] Control module 110 includes a memory and a processor. The memory stores a computer program, and the processor can be an NVIDIA Jetson AGX Orin processor or other processors. It integrates a synchronous localization and mapping algorithm, a target detection algorithm, and message sending control logic. The synchronous localization and mapping algorithm constructs an environmental map based on LiDAR data and plans the optimal movement path. The target detection algorithm processes images captured by a high-definition camera, identifies the number of people, their direction of movement, name tag information, and uniform information, and filters target objects. The message sending control logic generates corresponding messages (such as visitor notifications, security alerts, etc.) based on the personnel identification results and sends them to the communication module 108. It also receives transmission status feedback from the communication module 108 and retransmits if transmission fails.

[0025] The control module 110 has a built-in AES encryption unit that performs 128-bit encryption on the message content to be transmitted. The terminal device needs to enter a preset verification code or verify the information through the employee ID card before it can be decrypted and viewed.

[0026] The semantic interaction module 112 includes a microphone array and a directional speaker. The microphone array supports voice command recognition within a 5m range, and the directional speaker avoids noise diffusion. Users can interact by repeating messages, sending help requests, and other voice commands. The control module 110 adjusts the message sending status of the communication module 108 according to the voice command.

[0027] Figure 2 A flowchart of a robot message transmission method according to an embodiment of this application is shown. Exemplarily, the robot message transmission method includes the following steps: Step S202: When a candidate object is detected within a preset range of the mobile robot, the target object to be pushed is selected from the candidate objects.

[0028] The preset range refers to the spatial area that the mobile robot pre-sets through the distance sensor or visual perception module 106 to trigger the detection of candidate objects. The boundary of the preset range is centered on the mobile robot and is spherical or cylindrical with a radius of, for example, 0.5 meters to 5 meters.

[0029] Candidates refer to independent individuals with human-shaped features that are located within a preset range, detected by the mobile robot's vision or infrared sensors, and have not yet undergone identity and intent verification.

[0030] The target object refers to the unique candidate object that meets the push conditions and has been confirmed through the screening process; it is the specific recipient to whom this message transmission is directed.

[0031] In one embodiment, when a candidate object is detected within a preset range of the mobile robot, the target image and target distance of the candidate object are obtained; based on the target image and target distance, the target object to be pushed message is selected from the candidate objects.

[0032] The target image refers to a frame of original color image containing one or more candidate objects, captured by the camera mounted on the mobile robot after the mobile robot detects a candidate object.

[0033] The target distance refers to the straight-line spatial distance between the center point of the mobile robot and a candidate object, calculated by a depth sensor or binocular parallax, and is measured in centimeters.

[0034] In one embodiment, selecting the target object for the push message from the candidate objects based on the target image and target distance includes the following steps: The target image is segmented into at least one sub-image. For each sub-image, the identity features and movement direction of the candidate object in the sub-image are determined. Each sub-image includes one candidate object. Based on the identity characteristics, movement direction, and target distance of each candidate object, the target object to be pushed message is selected from the candidate objects.

[0035] A sub-image is an independent image segment extracted from the target image that contains only a complete human body region of a single candidate object. Each sub-image corresponds to one candidate object.

[0036] Identity features refer to identifiable visual information used to characterize the identity category to which a candidate belongs, and in this application, they specifically refer to two categories: work badge information and work uniform information.

[0037] The direction of movement refers to the direction of travel reflected by the changing trend of the center position of the candidate object's body in two consecutive frames of images, expressed as an angle relative to the orientation of the mobile robot itself.

[0038] Specifically, when the mobile robot detects one or more candidate objects within a preset range around it, it first acquires a full target image containing these candidate objects and simultaneously obtains the target distance between each candidate object and the robot.

[0039] Next, the target image is segmented. Optionally, the segmentation method is to identify each independent human body region in the target image, and then crop out each identified human body region separately to form several non-overlapping sub-images; each sub-image contains only one complete candidate object, and the candidate object is centered in the sub-image, with a small amount of reasonable background retained above, below, left and right to ensure that the human body outline is completely visible.

[0040] For each generated sub-image, two analysis operations are performed: the first is to analyze the identity features of the candidate objects in the sub-image; the second is to analyze the movement direction of the candidate objects in the sub-image.

[0041] Analysis of identity features: After adjusting the sub-images to a uniform size, they are input into a lightweight face recognition model deployed locally on the robot. This lightweight face recognition model outputs a set of data that represents the identity characteristics of the candidate. This set of data is compared with a pre-stored authorized personnel information database to determine whether the candidate belongs to a category of personnel who need to receive specific messages. If a match is successful, the degree of match is recorded. If no match is found, the set of data is temporarily stored and marked as identity information to be further confirmed.

[0042] Analysis of movement direction: Two consecutive temporally adjacent target images are acquired, and the body center position of the same candidate object is located in each frame; then, based on the changes in the center position in the two target images and combined with the known target distance, the movement trend of the candidate object relative to the robot is calculated; for example, it is determined whether it is walking towards the robot, approaching from the left, passing by from the right, or moving away from the robot; this trend is classified into one of several distinct direction types.

[0043] After completing the above two analyses, we consider three aspects of information to determine which candidate should be selected as the target: the first aspect is the degree of identity matching of the candidate; the higher the degree of matching, the greater the possibility of being selected. The second aspect is the movement direction of the candidate; if its movement trend shows an intention to actively approach the robot, the possibility of being selected increases. The third aspect is the target distance between the candidate and the robot; too far or too close a distance is not conducive to effective communication, so objects within a suitable interaction distance range will be given priority.

[0044] Finally, based on the importance of the three aspects of information mentioned above, corresponding weights are assigned, and the three indicators of identity matching degree, movement direction tendency, and distance suitability are weighted and summarized to obtain a comprehensive score for each candidate. The candidate with the highest comprehensive score is selected as the target of this message push. Optionally, if the comprehensive scores of all candidates do not meet the preset minimum qualification standard, the message push will not be executed this time, and the mobile robot will continue to wait for the next detection cycle.

[0045] The above embodiments segment a target image containing multiple people into multiple sub-images containing only a single candidate object, allowing subsequent identity feature analysis and movement direction estimation to be performed within a single, clean data unit containing only one person. This fundamentally eliminates the interference of multiple overlapping objects, pose occlusion, and background clutter on feature extraction, significantly improving the accuracy of identity recognition and the reliability of motion trend judgment, making it particularly suitable for densely populated scenarios such as shopping malls, exhibition halls, and hospitals.

[0046] In one embodiment, the target object for the message to be pushed is selected from the candidate objects based on their identity features, movement direction, and target distance, including the following steps: Based on the employee badge template library, determine the first confidence level of the employee badge information, and based on the uniform template library, determine the second confidence level of the uniform information; Calculate the target angle between the direction of movement and the position direction of the mobile robot; Candidate objects whose first and second confidence levels are both greater than the confidence threshold, whose target angle is less than the angle threshold, and whose target distance is less than the distance threshold are selected as target objects.

[0047] The employee badge template library refers to a data set stored locally on the mobile robot that contains various standard styles of authorized employee badges, covering features such as layout structure, text font, color combination, and icon position.

[0048] The first confidence level refers to the numerical score output by the system after matching the employee badge information identified in the sub-image based on the employee badge template library, which reflects the reliability of the matching result.

[0049] The uniform template library refers to the data set stored locally on the mobile robot, which contains the visual features of various standard uniforms of the organization, covering elements such as main color distribution, stripe direction, logo position, and texture pattern.

[0050] The second confidence level refers to the numerical score output by the system after comparing the identified workwear features in the sub-image with the workwear template library, which reflects the credibility of the comparison result.

[0051] The positional orientation of a mobile robot refers to the reference orientation of the center of the robot's chassis pointing towards the direction of the drive wheel axis extending forward, serving as a reference coordinate axis for judging the movement trend of others.

[0052] The target angle is the smallest angle formed between the moving direction of the candidate object and the position direction of the mobile robot, used to measure whether it is approaching the robot.

[0053] The confidence threshold is the minimum score limit used to determine whether the identification results of employee badge information or uniform information meet the usability standard. If the score is lower than the confidence threshold, it is considered as insufficient identity evidence.

[0054] Angle threshold refers to the maximum allowable angle value used to determine whether a candidate object has a positive interaction intention. If the angle threshold is exceeded, the movement trend is considered not to meet the push conditions.

[0055] The distance threshold is used to limit the effective communication distance that a target object must be in. If the distance exceeds the threshold, it will not be selected due to excessive signal attenuation.

[0056] Specifically, firstly, for each candidate object's corresponding sub-image, two independent analyses are performed: identification of employee badge information and identification of work uniform information.

[0057] In employee badge information recognition, a rectangular region located in the upper body area of ​​the sub-image is extracted and fed into a pre-trained employee badge detection and recognition model. Based on a built-in employee badge template library, the model compares visual features such as text layout, color combination, icon style, and document number format in the current region and outputs a value reflecting the reliability of the match. This value is the first confidence score of the employee badge information. The higher the value, the more likely the recognized employee badge content is to be real and valid.

[0058] In work uniform information recognition, the color distribution, texture patterns, and distinctive features (such as company logos, stripe direction, and reflective stripe positions) of the human torso in the sub-image are analyzed. The results are then compared with standard samples in a pre-stored work uniform template library in multiple dimensions. A numerical value reflecting the degree of matching is output, which is the second confidence score of the work uniform information. The higher the score, the greater the likelihood that the person is wearing the specified work uniform.

[0059] Secondly, the relative relationship between the candidate object's movement direction and the mobile robot's own orientation is determined. Specifically, this includes: establishing a local reference coordinate system with the center of the mobile robot's chassis as the origin and the front of the mobile robot as the reference direction; then, combining the position change trend of the candidate object in two consecutive frames of images obtained in the previous section, calculating the direction of the candidate object's movement in this coordinate system; finally, calculating the minimum angle formed between the movement direction and the mobile robot's reference direction, which is the target angle; the smaller the angle, the closer the candidate object is to walking towards the robot.

[0060] Finally, for each candidate, four conditions are simultaneously checked: First, whether the first confidence level of its employee ID information is higher than a pre-set confidence threshold; second, whether the second confidence level of its uniform information is also higher than the same confidence threshold; third, whether its target angle is less than a pre-set angle threshold; and fourth, whether its target distance is less than a pre-set distance threshold. Only when all four conditions are met is the candidate confirmed as the target of this message push; if any condition is not met, the candidate is excluded.

[0061] In one example, in a hospital's mobile triage robot application scenario, the confidence threshold was set to 70%, the angle threshold to 45 degrees, and the distance threshold to 3 meters. When a medical staff member wearing the hospital's blue and white uniform and a clear electronic name tag on their chest steadily approaches the mobile robot at an angle of less than 45 degrees and a distance of 2.8 meters, their first and second confidence levels both exceed 70%, the target angle is 28 degrees, and the target distance is 2.8 meters, satisfying all four conditions. Therefore, they are selected as the target object. On the other hand, if another person meets the name tag recognition confidence level but is wearing casual clothes, or is wearing uniform but walking with their back to the robot, or is approaching from the front but at a distance of more than 4 meters, they will not be selected.

[0062] Through the above embodiments, by combining the confidence verification of dual information of work badge and uniform, the judgment of frontal approach direction, and the effective communication distance constraint, highly reliable identification of target objects, strong intent matching and stable communication guarantee are achieved, effectively avoiding false pushes, missed pushes and invalid connections, and significantly improving the accuracy of message push, user acceptance and system usability.

[0063] In step S204, the Bluetooth mode of the communication module 108 is activated and paired with the terminal device of the target object. After successful pairing, the Bluetooth mode is switched to WiFi mode for message transmission.

[0064] Bluetooth mode refers to the working state of the mobile robot communication module 108 when the Bluetooth wireless communication protocol is enabled, which is used to complete low-power discovery, pairing and identity binding with the terminal device.

[0065] Terminal devices refer to smart electronic devices carried by the target object and with Bluetooth enabled, including smartphones, tablets, or dedicated receiving terminals.

[0066] WiFi mode refers to a point-to-point direct communication link established based on the Wi-Fi Direct protocol (not connected to a router or hotspot). It is initiated by a mobile robot as the Group Owner and is dedicated to high-speed push of encrypted messages. It supports real-time adjustment of transmission power according to the target distance (controllable from 0.5 to 10m). The connection is disconnected as soon as the transmission is completed, ensuring directionality and low interference.

[0067] In one embodiment, a symmetric encryption key associated with the target object is dynamically generated based on the target object's identity characteristics. The message content to be transmitted is then encrypted using the symmetric encryption key to obtain the encrypted message content.

[0068] Among them, the symmetric encryption key refers to a binary data sequence that is dynamically generated from the identity characteristics of the target object and is only valid in this communication, and is used to encrypt and decrypt the message content.

[0069] Encrypted message content refers to the unreadable data packet obtained after encrypting the original message text, voice, or image data using a symmetric encryption key.

[0070] Specifically, firstly, several stable and reproducible information fragments are extracted from the target object's identity characteristics. These information fragments include, but are not limited to: the unique number registered on the target object's work badge, the code of the work badge's affiliated unit, the color combination category of the work uniform, and the spatial region code of the target object at the current identification moment (provided by the mobile robot localization module). All information fragments are represented in text form and have undergone standardization processing, such as uniformly converting them to a combination of uppercase letters and Arabic numerals, and removing spaces and special characters.

[0071] Next, the above information fragments are arranged in a preset fixed order to form a continuous string; then, a lightweight hash operation is performed on the string to generate a digest data of fixed length; the digest data is then converted and truncated by the robot's built-in key derivation module to finally generate a set of binary data that meets the requirements of the communication protocol. This set of binary data is the symmetric encryption key used for this communication.

[0072] The symmetric encryption key is only valid during this message transmission and has a unique correspondence with the identity characteristics of the target object: if the target object changes its employee ID number or its location changes, the generated key will change accordingly; if another object with different identity characteristics is selected as the target object, the above process will be repeated to generate a completely new and different key.

[0073] Finally, the robot's locally integrated general symmetric encryption module is invoked, and the dynamically generated key is used to encrypt the original message content to be sent to the target object. After encryption, an encrypted message content that cannot be directly read is output and encapsulated into the data packet to be sent, thus entering the subsequent communication process.

[0074] In one example, in a bank's smart reception scenario, when a customer with employee number XXX, belonging to the VIP Wealth Management Center, wearing a dark blue and gold patterned uniform, and currently located in Area A of the lobby is identified as the target, the system generates a key by concatenating the employee number, department code, uniform type, and area code. This key is only used for the encryption process of pushing exclusive wealth management benefit notifications to the customer's terminal device. The next time the same customer approaches, as long as their location has changed to Area B or their employee ID information has been updated, the system will generate a different key to ensure the uniqueness and dynamism of the key for each communication.

[0075] Through the above embodiments, the key is strongly bound to the user identity and unique for each communication, balancing security and lightweight design. This avoids the risk of static keys being intercepted and reused over a long period of time, and does not require reliance on cloud authentication or public key infrastructure. Key generation and encryption / decryption can be completed in real time on the mobile robot terminal, ensuring the confidentiality of message transmission and low-latency response capabilities.

[0076] In one embodiment, after successful pairing, switching from Bluetooth mode to WiFi mode for message transmission includes the following steps: After successful pairing, obtain the Bluetooth Media Access Control address of the terminal device; bind the Bluetooth Media Access Control address and the symmetric encryption key; switch the Bluetooth mode to WiFi mode, and send the encrypted message content to the terminal device in WiFi mode.

[0077] The Bluetooth Media Access Control Address refers to the unique hardware identifier (48 bits) of the Bluetooth chip in the target personnel's terminal device. In this application, it specifically refers to the key credential that is read by the mobile robot after successful pairing and used to bind identity, generate encryption keys, and ensure that messages are only sent to the terminal device. It does not include random addresses in privacy mode.

[0078] Specifically, once the mobile robot completes Bluetooth pairing with the target device's terminal and confirms a stable connection, it immediately reads the terminal device's Bluetooth Media Access Control (MAC) address from the current Bluetooth communication link. This MAC address is a unique identifier composed of hexadecimal numbers and letters, with a fixed length, and remains unchanged when the terminal device's Bluetooth function is enabled.

[0079] Subsequently, the Bluetooth media access control address is associated with and stored in conjunction with the symmetric encryption key previously dynamically generated for the target object. Optionally, the association method involves creating a record in the robot's local secure storage area, which simultaneously stores the Bluetooth media access control address and the symmetric encryption key, with the two pointing to each other and inseparable; this record is only valid during the duration of this message transmission task and is automatically deleted after the task ends, without long-term persistence.

[0080] Next, an instruction is sent to the communication module 108 of the mobile robot to switch the working mode of the communication module 108 from the current Bluetooth mode to WiFi mode; during the switching process, the communication module 108 automatically disconnects the Bluetooth connection and activates the built-in WiFi radio frequency unit to access the robot's preset local secure WiFi network (this WiFi network is not publicly accessible and is only accessible to internal devices).

[0081] Finally, after the WiFi mode is successfully established and the network connection is ready, the encrypted message content, together with the aforementioned bound Bluetooth Media Access Control address, is encapsulated into a standard data packet. This standard data packet is sent to the target terminal device through the WiFi channel. After receiving it, the terminal device retrieves the matching symmetric encryption key based on the same Bluetooth Media Access Control address stored in its own memory, and uses the symmetric encryption key to decrypt the encrypted message content, restoring the original message.

[0082] In one example, in a corporate showroom tour robot application, after a visitor wearing an employee badge completes Bluetooth pairing with the mobile robot, the robot obtains the phone's Bluetooth Media Access Control (MAC) address and binds it to a symmetric encryption key generated based on the visitor's employee ID and uniform information. It then switches to WiFi mode and sends an encrypted audio introduction file of the exhibits to the phone. The phone only calls the corresponding key to decrypt the message when it recognizes that the sender's address matches its own Bluetooth address, ensuring that the message is only correctly received and parsed by the target device, thus eliminating the risk of misreceived messages across devices or eavesdropping in the middle.

[0083] Through the above embodiments, using Bluetooth addresses as trusted anchors, accurate identity mapping and secure message delivery under WiFi communication are achieved. This not only utilizes Bluetooth pairing to reliably confirm the terminal's identity, but also ensures that messages are only decrypted and received by the target device during WiFi transmission through strong binding of addresses and dynamic keys, thus avoiding the risks of mistransmission, eavesdropping, and replay caused by broadcast transmission in open WiFi environments.

[0084] In step S206, during message transmission, the real-time distance of the target object is obtained in real time, and based on the real-time distance, the transmission power of the communication module 108 in WiFi mode is adjusted in real time so that the communication distance of the mobile robot dynamically matches the real-time distance of the target object.

[0085] Among them, real-time distance refers to the latest spatial distance value between the target object and the mobile robot itself, which is continuously updated by the mobile robot during WiFi message transmission.

[0086] Transmit power refers to the signal strength output by the WiFi communication module 108 during the radio frequency transmission phase, measured in milliwatts or decibels of milliwatts, and directly affects the signal coverage and penetration capability.

[0087] Communication range refers to the effective spatial area in which a WiFi signal can be stably received and correctly decoded by the target terminal device at the current transmission power.

[0088] In one embodiment, the transmission power of the communication module 108 in WiFi mode is adjusted in real time based on the real-time distance, including the following steps: The real-time distance is input into a preset mapping function to determine the target transmission power value; the transmission power of the communication module 108 in WiFi mode is adjusted to the target transmission power value; wherein, the preset mapping function is used to characterize the linear mapping relationship between the transmission power of the communication module 108 in WiFi mode and the real-time distance.

[0089] The preset mapping function refers to a set of rules governing the correspondence between distance and power that are locally fixed on the mobile robot, which is used to automatically convert real-time distance into the target transmission power value.

[0090] The target transmit power value refers to the WiFi transmit power level that should actually be used in this operation, calculated according to a preset mapping function.

[0091] Specifically, when the mobile robot enters the WiFi message transmission stage, the distance sensing unit on the mobile robot continuously measures the real-time distance between the target object and the mobile robot; the real-time distance data is in centimeters, updated every two hundred milliseconds, and transmitted to the communication control module 110 in real time.

[0092] The communication control module 110 has a built-in preset mapping function. This preset mapping function takes the real-time distance as the only input variable and outputs the corresponding target transmission power value. This preset mapping function is not a fixed algorithm, but a set of mapping relationship tables obtained through experimental calibration, which is stored in the local read-only storage area of ​​the mobile robot. This preset mapping relationship table covers the typical interaction distance range from 0.5 meters to 5 meters, ensuring that each input distance has a clear corresponding power level.

[0093] The currently acquired real-time distance value is directly substituted into the preset mapping function for table lookup or calculation to obtain the target transmit power value to be used this time. The target transmit power value corresponds to a set of calibrated RF parameter combinations in the communication module 108, including power amplifier bias voltage, filter passband gain and antenna matching network configuration, etc.

[0094] Subsequently, the communication control module 110 sends an instruction to the WiFi communication chip to switch the current working state of the communication control module 110 to the hardware configuration corresponding to the target transmission power value; the switching process is completed within ten milliseconds without interrupting the ongoing data packet transmission; the adjusted transmission power ensures that the effective coverage of the WiFi signal precisely covers the location of the current target object, ensuring stable signal reach while avoiding excessive radiation.

[0095] In one example, in an airport information robot scenario, when a passenger is 1.2 meters away from the robot, the corresponding target transmission power is found to be at a low power level (equivalent to 30% of full power). When the passenger moves closer to 0.8 meters, the power level is immediately updated to an even lower level (15%). When the passenger briefly retreats to 3.5 meters away to answer a phone call, the power level is automatically increased to a medium-high level (65%) to ensure continuous message reception. The entire process is automatic, smooth, and seamless, requiring no user intervention.

[0096] Through the above embodiments, precise on-demand adjustment of WiFi communication power is achieved. Real-time distance is used as the sole basis for control. The physical distance is directly converted into an appropriate transmission intensity through a preset mapping function. This ensures low power consumption and electromagnetic friendliness for short-range communication while maintaining the reliability of long-range connections. It effectively reduces overall power consumption, reduces channel interference, extends device battery life, and enhances the orderliness of wireless communication in multi-robot coexistence environments.

[0097] In one embodiment, the linear mapping relationship includes: If the real-time distance is less than or equal to the first threshold, the target transmission power value is determined to be the lowest power level; if the real-time distance is greater than or equal to the second threshold, the target transmission power value is determined to be the highest power level; if the real-time distance is equal to the third threshold, the target transmission power value is determined to be the target power level, which is the intermediate power level between the lowest and highest power levels; if the real-time distance is greater than the first threshold, less than the second threshold, and not equal to the third threshold, the target transmission power value is determined by interpolation.

[0098] The first threshold refers to the minimum effective distance critical point set in the preset mapping function. When the real-time distance is less than or equal to this value, the lowest power output is activated.

[0099] The lowest power level refers to the minimum transmit power level supported by the WiFi communication module 108, which is suitable for short-range communication to reduce power consumption and electromagnetic interference.

[0100] The second threshold refers to the maximum effective distance critical point set in the preset mapping function. When the real-time distance is greater than or equal to this value, the highest power output level is activated.

[0101] The highest power level refers to the maximum safe transmission power level supported by the WiFi communication module 108, which is used to ensure the stability of long-distance connections.

[0102] The third threshold refers to the optimal interaction distance reference point set in the preset mapping function, which corresponds to the middle power value and represents the balance position between energy efficiency and performance.

[0103] Specifically, in a typical embodiment, the linear mapping relationship embodied by the preset mapping function is specifically set as follows: Three key distance thresholds are preset: The first threshold is 0.8 meters, representing the closest safe interaction distance between the mobile robot and the target object; the second threshold is 4 meters, representing the maximum effective distance at which the mobile robot's WiFi module can ensure stable communication under the current hardware configuration; the third threshold is 2 meters, representing the golden distance most suitable for human-computer interaction, corresponding to the optimal balance point of communication quality, power consumption and user experience.

[0104] Meanwhile, three preset transmission power values ​​are available: The lowest power setting corresponds to the minimum output strength of the WiFi module, suitable for short-range communication, with low power consumption, low electromagnetic radiation, and strong resistance to multipath interference; the highest power setting corresponds to the maximum usable output strength of the WiFi module, suitable for long-range communication, ensuring signal penetration and connection robustness; the target power setting is set as the middle value between the lowest and highest power settings, which avoids excessive power consumption while providing sufficient signal-to-noise ratio.

[0105] The mapping execution process is as follows: When the real-time distance measurement is less than or equal to 0.8 meters, the lowest power level is directly selected as the target transmission power value; when the real-time distance measurement is greater than or equal to 4 meters, the highest power level is directly selected as the target transmission power value; when the real-time distance measurement is exactly equal to 2 meters, the target power level is directly selected as the target transmission power value; when the real-time distance measurement is between 0.8 meters and 4 meters, but not equal to 2 meters, the target transmission power value is calculated using a piecewise linear method with 0.8 meters corresponding to the lowest power level, 2 meters corresponding to the target power level, and 4 meters corresponding to the highest power level as three anchor points: that is, within the range of 0.8 meters to 2 meters, the power is increased proportionally according to the distance; within the range of 2 meters to 4 meters, the power continues to be increased proportionally according to the distance, maintaining continuous, smooth, and non-jumping power changes throughout the entire process.

[0106] For example, when the real-time distance is 1.5 meters, it is identified as being between 0.8 meters and 2 meters. Based on this, its relative position within this range (approximately 71%) is calculated. This ratio is then applied to the power difference between the lowest and target power levels to obtain the final target transmission power value. When the real-time distance is 3.2 meters, a similar calculation is performed within the 2-4 meter range. All calculations are performed locally on the robot's microcontroller, with a response latency of less than five milliseconds.

[0107] This mapping relationship has been calibrated in various real-world scenarios: in different electromagnetic environments such as open exhibition halls, glass curtain wall corridors, and high-traffic halls, the effects of various threshold and gear combinations on connection success rate, retransmission rate, and overall power consumption have been verified and solidified into the parameter configuration adopted in this embodiment.

[0108] Through the above embodiments, a segmented, controllable, clearly defined, and smoothly transitioning power regulation mechanism is constructed. By setting three key distance thresholds and corresponding power anchor points, and using linear interpolation within the interval, communication jitter caused by frequent jumps in power due to small distance fluctuations is avoided. At the same time, it ensures graded response capabilities of energy saving at close range, balanced power at medium range, and reliable power at long range, significantly improving WiFi transmission stability, energy efficiency ratio, and environmental adaptability.

[0109] Figure 3 A schematic diagram of a robot message transmission system according to an embodiment of this application is shown. Exemplarily, the robot message transmission system 300 includes: The first module is used to filter out the target object of the message to be pushed from the candidate objects when the mobile robot detects that there are candidate objects within a preset range. The second module is used to start the Bluetooth mode of the communication module and pair it with the terminal device of the target object. After successful pairing, the Bluetooth mode is switched to WiFi mode for message transmission. The third module is used to obtain the real-time distance of the target object during message transmission, and adjust the transmission power of the communication module in WiFi mode in real time based on the real-time distance, so that the communication distance of the mobile robot dynamically matches the real-time distance of the target object.

[0110] It is understood that the system in this embodiment corresponds to the robot message transmission method in the above embodiments, and the options in the above embodiments are also applicable to this embodiment, so they will not be described again here.

[0111] The processor can be an integrated circuit chip with signal processing capabilities. The processor can be a general-purpose processor, including at least one of a Central Processing Unit (CPU), Graphics Processing Unit (GPU), Network Processor (NP), Digital Signal Processor (DSP), Application-Specific Integrated Circuit (ASIC), Field-Programmable Gate Array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. The general-purpose processor can be a microprocessor or any conventional processor, capable of implementing or executing the methods, steps, and logic block diagrams disclosed in the embodiments of this application.

[0112] Memory can be, but is not limited to, Random Access Memory (RAM), Read Only Memory (ROM), Programmable Read-Only Memory (PROM), Erasable Programmable Read-Only Memory (EPROM), and Electrically Erasable Programmable Read-Only Memory (EEPROM). Memory is used to store computer programs, and the processor can execute these programs upon receiving execution instructions.

[0113] This application also provides a computer-readable storage medium for storing computer programs used in the aforementioned terminal devices. For example, the computer-readable storage medium may include, but is not limited to, various media capable of storing program code, such as a USB flash drive, a portable hard drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

[0114] In the several embodiments provided in this application, it should be understood that the disclosed systems and methods can also be implemented in other ways. The system embodiments described above are merely illustrative. For example, the flowcharts and block diagrams in the accompanying drawings show the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of this application. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that, as an alternative implementation, the functions marked in the blocks may occur in a different order than those marked in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagram and / or flowchart, and combinations of blocks in the block diagram and / or flowchart, can be implemented using a dedicated hardware-based system that performs the specified function or action, or using a combination of dedicated hardware and computer instructions.

[0115] In addition, the functional modules or units in the various embodiments of this application can be integrated together to form an independent part, or each module can exist independently, or two or more modules can be integrated to form an independent part.

[0116] If the aforementioned functions are implemented as software functional modules and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a smartphone, personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application.

[0117] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any changes or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application.

Claims

1. A robot message transmission method, characterized in that, Applied to a mobile robot, the mobile robot including a communication module supporting two modes, the method includes: When a candidate object is detected within a preset range of the mobile robot, the target object for the message to be pushed is selected from the candidate object; The communication module is activated in Bluetooth mode and paired with the target device's terminal device. After successful pairing, the Bluetooth mode is switched to WiFi mode for message transmission. During message transmission, the real-time distance of the target object is acquired in real time, and based on the real-time distance, the transmission power of the communication module in the WiFi mode is adjusted in real time so that the communication distance of the mobile robot dynamically matches the real-time distance of the target object.

2. The method according to claim 1, characterized in that, When a candidate object is detected within a preset range of the mobile robot, the process of filtering out the target object from the candidate object to be pushed the message includes: When a candidate object is detected within a preset range of the mobile robot, the target image and target distance of the candidate object are acquired. Based on the target image and the target distance, the target object to be pushed message is selected from the candidate objects.

3. The method according to claim 2, characterized in that, The step of filtering the target objects for the push message from the candidate objects based on the target image and the target distance includes: The target image is segmented into at least one sub-image. For each sub-image, the identity features and movement direction of the candidate object in the sub-image are determined. Each sub-image includes one candidate object. Based on the identity features, movement direction, and target distance of each candidate object, the target object to be pushed the message is selected from the candidate objects.

4. The method according to claim 3, characterized in that, The identity features include employee badge information and work uniform information; The step of selecting the target object for the push message from the candidate objects based on the identity features, movement direction, and target distance of each candidate object includes: Based on the employee badge template library, a first confidence level of the employee badge information is determined, and based on the uniform template library, a second confidence level of the uniform information is determined. Calculate the target angle between the direction of movement and the position direction of the mobile robot; Candidate objects whose first confidence level and second confidence level are both greater than the confidence level threshold, whose target angle is less than the angle threshold, and whose target distance is less than the distance threshold are selected as target objects.

5. The method according to claim 1, characterized in that, The step of adjusting the transmission power of the communication module in WiFi mode in real time based on the real-time distance includes: The real-time distance is input into a preset mapping function to determine the target transmission power value; Adjust the transmission power of the communication module in the WiFi mode to the target transmission power value; The preset mapping function is used to characterize the linear mapping relationship between the transmission power of the communication module in the WiFi mode and the real-time distance.

6. The method according to claim 5, characterized in that, The linear mapping relationship includes: If the real-time distance is less than or equal to the first threshold, the target transmission power value is determined to be the lowest power value. If the real-time distance is greater than or equal to the second threshold, the target transmission power value is determined to be the highest power value. If the real-time distance is equal to the third threshold, the target transmission power value is determined to be the target level power value, and the target level power value is the intermediate level power value located between the lowest level power value and the highest level power value; If the real-time distance is greater than the first threshold, less than the second threshold, and not equal to the third threshold, the target transmission power value is determined by interpolation.

7. The method according to claim 3, characterized in that, The method further includes: Based on the identity characteristics of the target object, a symmetric encryption key associated with the target object is dynamically generated, and the message content to be transmitted is encrypted using the symmetric encryption key to obtain the encrypted message content.

8. The method according to claim 7, characterized in that, After successful pairing, switching the Bluetooth mode to WiFi mode for message transmission includes: After successful pairing, obtain the Bluetooth Media Access Control address of the terminal device; Bind the Bluetooth media access control address and the symmetric encryption key; Switch the Bluetooth mode to WiFi mode, and send the encrypted message content to the terminal device in WiFi mode.

9. A robot message transmission system, characterized in that, include: The first module is used to filter out the target object of the message to be pushed from the candidate objects when a candidate object is detected within a preset range of the mobile robot. The second module is used to activate the Bluetooth mode of the communication module and pair it with the terminal device of the target object. After successful pairing, the Bluetooth mode is switched to WiFi mode for message transmission. The third module is used to acquire the real-time distance of the target object during message transmission, and adjust the transmission power of the communication module in the WiFi mode in real time based on the real-time distance, so that the communication distance of the mobile robot dynamically matches the real-time distance of the target object.

10. A mobile robot, characterized in that, The mobile robot includes a distance sensor assembly, a camera assembly, a processor, and a memory. The distance sensor assembly is used to acquire the target distance of a candidate object, the camera assembly is used to acquire a target image of the candidate object, the memory stores a computer program, and the processor is used to execute the computer program to implement the robot message transmission method according to any one of claims 1-7.

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