Robot communication method, robot device, and computer-readable storage medium

Abstract

The present disclosure provides a robot communication method, which is applied to a first robot, and comprises: in a case where the first robot is capable of performing near-field communication with a second robot, acquiring second identity information of the second robot, and determining an identity of the second robot according to the second identity information; and upon determining that the second robot is a target robot of a target task and receiving a successful identity authentication notification message sent by the second robot, executing the target task. The present disclosure further provides a robot device and a computer-readable storage medium.

Description

Robot communication method, robot device, and computer-readable storage medium

[0001] Cross-reference to Related Applications

[0002] The present disclosure claims priority to Chinese Patent Application No. 202410868036.5, filed on June 28, 2024, the contents of which are incorporated herein by reference in their entirety. TECHNICAL FIELD

[0003] The present disclosure relates to the field of communication technology, and in particular, to a robot communication method, a robot device, and a computer-readable storage medium. BACKGROUND

[0004] With the vigorous development of the robot industry, it has become a development trend to realize communication between robots and between robots and humans. With the increase of robot functions, especially the appearance of humanoid robots, robots need to quickly master human skills. Currently, when multiple robots appear at the same location at the same time, the related technology is difficult to quickly and accurately identify the target robot for performing a task, making it difficult for robots to adapt to complex interactive scenarios in human society. SUMMARY

[0005] The present disclosure provides a robot communication method, a robot device, and a computer-readable storage medium.

[0006] In a first aspect, the embodiments of the present disclosure provide a robot communication method applied to a first robot, including: in a case where the first robot and a second robot can perform near field communication, acquiring second identity information of the second robot, and determining an identity of the second robot according to the second identity information; in a case where it is determined that the second robot is a target robot of a target task, and a notification message of identity verification passing sent by the second robot is received, performing the target task.

[0007] In a second aspect, the embodiments of the present disclosure also provide a robot device, including a memory and a processor; the memory stores a computer program executable by the processor, and the computer program is executed by the processor, so that the processor implements the robot communication method as described above.

[0008] In a third aspect, the embodiments of the present disclosure also provide a computer-readable storage medium having a computer program stored thereon, and the computer program is executed by a processor, so that the processor implements the robot communication method as described above. BRIEF DESCRIPTION OF DRAWINGS

[0009] In the drawings of the embodiments of the present disclosure:

[0010] Fig. 1 is a schematic diagram of a system architecture according to an embodiment of the present disclosure;

[0011] Fig. 2 is a schematic diagram of a robot communication method according to an embodiment of the present disclosure;

[0012] Fig. 3 is a schematic diagram of a robot near field communication according to an embodiment of the present disclosure;

[0013] Fig. 4 is a schematic diagram of a process of obtaining second identity information of a second robot according to an embodiment of the present disclosure;

[0014] Fig. 5 is a schematic diagram of robot storage information according to an embodiment of the present disclosure;

[0015] Fig. 6 is a schematic diagram of a robot application distribution process according to an embodiment of the present disclosure;

[0016] Fig. 7 is a schematic diagram of a process of initiating a session request according to an embodiment of the present disclosure;

[0017] Fig. 8 is a schematic diagram of a signaling process of establishing an end-to-end session between robots and exchanging temporary identity information according to an embodiment of the present disclosure;

[0018] Fig. 9 is a block diagram of a robot device according to an embodiment of the present disclosure. DETAILED DESCRIPTION

[0019] To make the skilled in the art better understand the technical solutions of the present disclosure, the embodiments of the present disclosure will be described in detail below with reference to the drawings.

[0020] In the following, the present disclosure will be described more fully with reference to the accompanying drawings, but the embodiments shown can be embodied in different forms and the present disclosure should not be construed as being limited to the embodiments set forth below. The purpose of providing these embodiments is to make the present disclosure more thorough and complete and to enable those skilled in the art to fully understand the scope of the present disclosure.

[0021] The drawings of the embodiments of the present disclosure are used to provide a further understanding of the embodiments of the present disclosure and constitute a part of the specification, which, together with the detailed description, serves to explain the present disclosure and does not constitute a limitation of the present disclosure. The above and other features and advantages will become more apparent to those skilled in the art by referring to the detailed description in conjunction with the drawings.

[0022] The present disclosure can be described with reference to plan views and / or sectional views by means of ideal schematic drawings of the present disclosure. Therefore, the example drawings can be modified according to manufacturing techniques and / or tolerances.

[0023] In the case of no conflict, the embodiments of the present disclosure and the features in the embodiments can be combined with each other.

[0024] The terminology used by the present disclosure is for the purpose of describing particular embodiments only and is not intended to be limiting of the present disclosure. As used in the present disclosure, the term "and / or" includes any and all combinations of one or more of the associated listed items. As used in the present disclosure, the singular forms "a," "an," and "the" include plural referents unless the context clearly dictates otherwise. As used in the present disclosure, the term "comprises," "comprising," "consists of and / or "consisting of" specifies the presence of stated features, integers, steps, operations, elements, and / or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or groups thereof.

[0025] Unless otherwise defined, all terms (including technical and scientific terms) used in the present disclosure have the same meaning as commonly understood by one of ordinary skill in the art. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the relevant art and the present disclosure, and will not be interpreted in an overly literal or overly formal sense unless expressly so defined herein.

[0026] The present disclosure is not limited to the embodiments and implementations shown in the drawings, but includes modifications of configurations formed based on manufacturing processes. Therefore, the regions illustrated in the drawings have a schematic property, and the shape of the regions shown in the drawings exemplifies a specific shape of a region of an element, but is not restrictive.

[0027] The embodiment of the present disclosure provides a robot communication method, and FIG. 1 is a schematic diagram of a system architecture provided by the embodiment of the present disclosure. As shown in FIG. 1, the system includes a robot 1, a communication network 2, and a service server 3. The application environment of the embodiment of the present disclosure is a communication network, which can be a network of a telecommunications operator or other communication network. The communication network provides a communication component for the robot, for example, a USIM (Universal Subscriber Identity Module) entity card, an eSIM (Embedded-SIM), and the like in the network of the telecommunications operator. When providing a communication identity, the communication network registers information such as an identity of the robot, so as to ensure that the identity information of the robot in the communication network is real and reliable. The robot can access the communication network in multiple ways such as wired, wireless, satellite, and the like by using the communication component. Different robots can access different communication systems, as long as the corresponding communication systems can normally interwork. The form of the robot is not limited, which can be a humanoid robot or a special-purpose robot.

[0028] The robot 1 is a device with autonomous behavior, and realizes communication with other robots or devices by accessing the communication network 2. The robot 1 can also obtain application services from the service server 3, so as to master various human skills. The robot 1 can convert instructions in the application services into control instructions of its own limb components, so as to drive the corresponding actions of the limb components. The robot manufacturer can assign a permanent identity to the robot 1, and provide corresponding communication capabilities.

[0029] The communication network 2 provides communication services between robots and between robots and other devices, and provides identity authentication, application distribution, session routing and the like for the robot 1.

[0030] The service server 3 provides various application services, and the robot 1 can obtain the application services from the service server 3. The user can obtain or upload the application services through the handheld device 4.

[0031] The user can obtain the robot 1 from the robot manufacturer, apply for a communication component for the robot 1 in the communication network 2, and store information such as the permanent identity of the user, the permanent identity of the robot, the communication identity of the human, the communication identity of the robot, and the identity of the user for the robot in the communication network 2. The user can also purchase application services for the robot 1 from the service server 3 or upload custom application services, and save the corresponding information in the communication network 2. The user can communicate with the robot 1 remotely through the handheld device 4 to realize information interaction or instruction control, and can also contact the robot manufacturer through the handheld device 4 to obtain related information of the robot 1 and perform upgrade operation on the robot 1. On the other hand, the handheld device 4 can also obtain application services from the service server 3 to realize collaborative business control with the robot 1.

[0032] The robot communication method provided by the embodiment of the disclosure is applied to a first robot. FIG. 2 is a flowchart of a robot communication method provided by an embodiment of the disclosure, and FIG. 3 is a schematic diagram of near field communication of a robot provided by an embodiment of the disclosure. In combination with FIGS. 2 and 3, the method includes the following steps S101 and S102.

[0033] In step S101, in a case that the first robot and a second robot can perform near field communication, second identity information of the second robot is obtained, and the identity of the second robot is determined according to the second identity information.

[0034] The near field communication can include but is not limited to voice, video, Bluetooth, laser and the like.

[0035] As shown in FIG. 3, a plurality of robots are located in a certain area, and the distance between each robot meets the requirement of near field communication, and can perform near field communication. Assuming that the second robot B enters the near field communication range of the first robot A, the first robot A can obtain the second identity information of the second robot B, and determine whether the second robot is the target robot for the target task to be executed by the first robot A according to the second identity information. Similarly, the second robot B can also obtain the first identity information of the first robot A, and determine whether the first robot is the target robot for the target task to be executed by the second robot B according to the first identity information.

[0036] In the embodiment of the present disclosure, the task needs to be completed by at least two robots in cooperation, therefore, at least two robots completing the same task need to identify the identity of each other to ensure the accuracy of the task. It should be noted that the task to be executed by each robot has been previously issued to each robot through a far field communication mode, and the task information issued includes the identity information of the robot completing the task. The far field communication mode includes but is not limited to 4G / 5G communication, WIFI (Wireless Fidelity) communication, broadcast, optical fiber, microwave, twisted pair and the like.

[0037] In step S102, in the case that it is determined that the second robot is the target robot of the target task, and the identity authentication passing notification message sent by the second robot is received, the target task is executed.

[0038] If the first robot A determines that the second robot B is the target robot of the target task, the identity authentication passing notification message is sent to the second robot B, and similarly, if the second robot B determines that the first robot A is the target robot of the target task, the identity authentication passing notification message is sent to the first robot A.

[0039] If the first robot A receives the identity authentication passing notification message sent by the second robot B, it means that the first robot A passes the identity authentication, and if the first robot A also determines that the second robot B is the target robot of the target task, it means that the first robot A and the second robot B are the robots for jointly executing the target task, then the first robot A executes the related instructions of the target task, and correspondingly, the second robot B also executes the related instructions of the target task, so that the target task is completed by the first robot A and the second robot B through interaction.

[0040] The robot communication method provided in the embodiments of the present disclosure is applied to a first robot, and in the case that the first robot and a second robot can perform near field communication, second identity information of the second robot is acquired, and the identity of the second robot is determined according to the second identity information; in the case that the second robot is determined to be a target robot of a target task and a notification message of identity verification passing sent by the second robot is received, the target task is performed. The robot communication method provided in the embodiments of the present disclosure is safe and reliable, identity information is exchanged between two robots by using a near field communication mode, identity recognition is performed, in the case that both sides recognize that the robot at the other end is a target robot for performing the same task, the target task is performed together, the robot is quickly and accurately paired, autonomous communication between robots is realized, the method can be applied to more complex scenes, and the robot is more flexible to use.

[0041] In some embodiments, as shown in FIG. 4, the acquiring of the second identity information of the second robot (i.e., step S101) includes the following steps S111-S112.

[0042] In step S111, the indication information sent by the second robot is received by using the near field communication mode, and the indication information is used to represent the acquisition mode of the second identity information.

[0043] The indication information is used to indicate the acquisition mode of the second identity information of the second robot, and the indication information can be delivered to the first robot by using the near field communication mode.

[0044] In some embodiments, the indication information includes at least one of the following: a carrying mode of the second identity information, a presentation mode of the second identity information, and a presentation position of the second identity information. For example, the carrying mode can be carried by the second robot, the presentation mode can be a two-dimensional code, and the presentation position can be a body trunk position of the second robot.

[0045] In some embodiments, in different tasks, the presentation position of the second identity information can be different. For example, in task one, the presentation position of the second identity information is a specific position of the face, and in task two, the presentation position of the second identity information can be a specific position of the arm or a specific position of the leg. In this way, the presentation position of the second identity information is different each time the near field communication is interacted, the second identity information of the second robot is avoided to be used by others, and the security is improved.

[0046] In step S112, the second identity information of the second robot is acquired from the second robot according to the indication information.

[0047] In this step, the first robot can acquire the second identity information of the second robot from the corresponding position of the second robot according to the indication information by using a corresponding acquisition mode. For example, the second identity information can be acquired by scanning a two-dimensional code presented at the trunk position of the second robot.

[0048] The indication information is acquired first, and then the identity information of the peer robot is acquired according to the indication information. The acquisition mode of the identity information can be set according to actual needs, which is more flexible and has wider applicability.

[0049] It should be noted that the second robot can acquire the first identity information of the first robot in the same way.

[0050] FIG. 5 is a schematic diagram of robot storage information provided by an embodiment of the present disclosure. Taking the first robot as an example, the first robot stores the second identity information of the second robot. As shown in FIG. 5, in some embodiments, the second identity information can include temporary identity information and a communication identifier. The temporary identity information is generated according to the permanent identity information of the second robot. For example, the permanent identity information of the second robot can be subjected to a hash operation to obtain the temporary identity information. The permanent identity information can be a permanent identity identifier, including but not limited to a device number, which can be set by a robot manufacturer before leaving the factory. The communication identifier can include but is not limited to a communication number, such as an IMSI (International Mobile Subscriber Identity, International Mobile Subscriber Identity).

[0051] Correspondingly, the step of determining the identity of the second robot according to the second identity information (i.e., step S101) includes the following steps: in the case that the temporary identity information matches the target temporary identity information and the communication identifier matches the target communication identifier, determining that the second robot is the target robot of the target task; the target temporary identity information and the target communication identifier are sent by the second robot to the first robot during the process of establishing a session with the first robot.

[0052] Before the first robot and the second robot perform near-field communication, the first robot and the second robot first establish an end-to-end session in a communication network. During the session establishment process, operations such as data channel establishment, identity information transmission, identity authentication, etc. are completed. Therefore, the second robot sends the target temporary identity information and the target communication identifier of the second robot to the first robot during the process of establishing a session with the first robot, which are stored by the first robot. After the first robot acquires the temporary identity information and the communication identifier of the second robot, the first robot respectively matches the target temporary identity information and the target communication identifier of the second robot stored locally. If both are matched, it can be determined that the second robot is the target robot of the target task.

[0053] It should be noted that, on the second robot side, the first robot is determined to be the target robot of the target task in the same way. If it is determined that the first robot is the target robot of the target task and the identity authentication passing notification message sent by the first robot is received, it indicates that the first robot and the second robot have passed the identity authentication, and the first robot and the second robot are successfully paired, and then the first robot and the second robot can start to execute the target task.

[0054] In some embodiments, the robot communication method can further include the following steps: during the execution of the target task, or after the execution of the target task is completed, sending task execution information of the target task to a service server corresponding to the target task. The task execution information is used to represent the task completion condition. During the execution of the task or after the execution of the task, the first robot feeds back the task execution condition to the service server for recording.

[0055] In some embodiments, when the first robot and the second robot can perform near field communication, before the second identity information of the second robot is acquired (i.e., step S101), the robot communication method can further include the following steps: after the end-to-end session with the second robot is established, acquiring the application corresponding to the target task from the capability network element, and instructing the second robot to acquire the application from the capability network element.

[0056] FIG. 6 is a schematic diagram of a robot application distribution process provided by an embodiment of the present disclosure. As shown in FIG. 6, robot A is the first robot, and robot B is the second robot. The robot application distribution process includes the following steps S61 to S65.

[0057] S61, after the end-to-end session between robot A and robot B is established, robot A sends an application acquisition request to capability network element A using the established first media channel, so as to download the specified application skill program from the capability network element (A). The first media channel passes through A-SBC (A) and media server (A), and sends the application acquisition request to the capability network element (A);

[0058] S62, robot A sends an application acquisition notification to robot B through the established second media channel, so as to notify robot B to download the application skill program from the capability network element (A), i.e., the application downloaded by robot A in step S61. The second media channel passes through A-SBC (A), media server (A), media server (B) and A-SBC (B).

[0059] S63, robot B sends an application acquisition request to capability network element (A) through the established third media channel, so as to download the specified application skill program from the capability network element (A). The third media channel passes through A-SBC (B) and media server (B).

[0060] After the robot A finishes downloading the application, the robot B that performs the same task is notified to download the same application, so that the robot B can perform the target task together with the robot A in the future.

[0061] S64, the robot A interacts with the service server (A) through the established fourth media channel to complete the specific application logic. The fourth media channel passes through the A-SBC (A) and the media server (A).

[0062] S65, the robot B interacts with the service server (A) through the established fifth media channel to complete the specific application logic. The fifth media channel passes through the A-SBC (B), the media server (B), and the media server (A).

[0063] In some embodiments, as shown in FIG. 7, before the second identity information of the second robot is acquired (i.e., step S101) in the case that the first robot and the second robot can perform near field communication, the robot communication method can further include the following steps S31 and S32.

[0064] Step S31, generating first identity authentication information according to the permanent identity information of the first robot.

[0065] In some embodiments, the first identity authentication information includes a temporary key and encrypted authentication information, and the generating of the first identity authentication information according to the permanent identity information of the first robot (i.e., step S31) includes: randomly generating a temporary key (i.e., a first temporary key), and performing an encryption calculation on the permanent identity information of the first robot according to the temporary key to obtain encrypted authentication information (i.e., a first encrypted authentication information).

[0066] In some embodiments, the permanent identity information can include at least one of the following: a permanent identity of the robot, a communication identifier of the robot, and an alias of the robot.

[0067] Step S32, sending a first session request message to the second robot, the first session request message carrying the first identity authentication information; the first session request message is used to instruct the second robot to initiate identity authentication to an authentication server corresponding to the first robot, so that the authentication server performs identity authentication on the first robot according to the first identity authentication information.

[0068] The authentication server corresponding to the first robot stores the permanent identity information of the first robot. In the process of establishing an end-to-end session with the second robot, the first robot sends its first identity authentication information to the second robot through a first session request (INVITE). After the second robot receives the first session request sent by the first robot and a data channel is established between the authentication server corresponding to the second robot and the authentication server corresponding to the first robot, the second robot requests the authentication server corresponding to the first robot to authenticate the identity of the first robot, that is, the second robot sends an identity authentication request message to the authentication server corresponding to the first robot, and the identity authentication request message carries the first identity authentication information (including the first temporary key and the first encrypted authentication information). The authentication server corresponding to the first robot encrypts the locally stored permanent identity information of the first robot according to the first temporary key to obtain an encryption calculation result, and matches the encryption calculation result with the first encrypted authentication information. If the match is successful, the identity authentication of the first robot is passed.

[0069] In some embodiments, the first session request message also carries robot communication indication information, which is used to represent that the first session request message is initiated by a robot. The first session request message is used to instruct the second robot to initiate identity authentication to the authentication server corresponding to the first robot in the case where it is determined according to the robot communication indication information that the first session request message is initiated by a robot. That is, if the first session request message carries robot communication indication information, it means that the first session request message is initiated by a robot, and accordingly, the second robot receiving the first session request initiates identity authentication to the authentication server corresponding to the first robot that initiates the first session request message.

[0070] In some embodiments, in the case where the first robot and the second robot can perform near field communication, before the second identity information of the second robot is obtained (i.e., step S101), the robot communication method can further include the following steps: receiving a second session request message sent by the second robot, and obtaining the second identity authentication information carried in the second session request message; in the case where a data channel has been established between the authentication servers corresponding to the first robot and the second robot, sending an identity authentication request message carrying the second identity authentication information to the authentication server corresponding to the second robot, and the identity authentication request message is used to instruct the authentication server corresponding to the second robot to authenticate the identity of the second robot.

[0071] The first robot can also receive a second session request initiated by the second robot, in which case the first robot requests the second identity authentication information of the second robot to be authenticated by the identity authentication server corresponding to the second robot. The identity authentication server corresponding to the second robot stores the permanent identity information of the second robot, and the second robot sends its second identity authentication information to the first robot through the second session request (INVITE) in the process of establishing an end-to-end session with the first robot. After the first robot receives the second session request sent by the second robot, and the first robot establishes a data channel with the authentication server corresponding to the second robot, the first robot requests the authentication server corresponding to the second robot to authenticate the identity of the second robot, that is, the first robot sends an identity authentication request message to the authentication server corresponding to the second robot, and the identity authentication request message carries the second identity authentication information (including the second temporary key and the second encrypted authentication information). The authentication server corresponding to the second robot encrypts the locally stored permanent identity information of the second robot according to the second temporary key to obtain an encryption calculation result, and matches the encryption calculation result with the second encrypted authentication information. If the match is successful, the identity authentication of the second robot is passed.

[0072] To clearly illustrate the technical solutions of the embodiments of the present disclosure, the process of establishing an end-to-end session between robots and interacting with temporary identity information in the embodiments of the present disclosure is described in detail below in combination with FIG. 8. As shown in FIG. 8, the process of establishing an end-to-end session between robots and interacting with temporary identity information involves the following network element devices:

[0073] Robots A / B: Support session negotiation with the communication network through a "data channel", and receive application data from the communication network through the "data channel".

[0074] SBC (Session Border Controller, Session Border Control Entity) / P-CSCF (Proxy-Call Session Control Function, Proxy-Call Session Control Function Entity): Provides access to the signaling plane and the media plane for robots, supports negotiation of "data channel" sessions, and serves as a forwarding entity for "data channels". It establishes a media channel with the robot and the media server respectively to realize data forwarding.

[0075] I / S-CSCF (Interrogation / Service Call Session Control Function Entity): Provides routing functions for session establishment, and triggers sessions to IMS AS (Application Server).

[0076] IMS AS: IMS call management capability, provides session control and media resource application functions for capability network elements.

[0077] Capability network element: provides the external exposure of communication capabilities, and the specific functions include: (1) providing management of audio / video call and data channel call, including but not limited to: call establishment, media path redirection, call removal, call event reporting, etc.; (2) providing external exposure of communication capabilities, providing an open interface to application functions, realizing call control of audio / video call and data channel, and application of media service resources, etc.; (3) providing management functions of media servers, operating media according to the control instructions of application AS, including but not limited to: application, modification, deletion of "data channel"; application, modification, deletion of "voice recognition capability"; application, modification, deletion of "face recognition capability"; application, modification, deletion of "AI capability".

[0078] Media server: provides management of media capabilities, and is responsible for creation, modification, deletion, etc. of media resources;

[0079] Authentication server: provides authentication services for robot identity;

[0080] Service server: provides skills for robots or humans.

[0081] The process of robot A and robot B establishing an end-to-end session includes an end-to-end session negotiation phase and an end-to-service session negotiation phase, and the following steps S1-S14 are performed in the end-to-end session negotiation phase.

[0082] S1, robot A initiates a session request (INVITE) to robot B, carries robot communication indication, first temporary key, first encryption authentication information and media negotiation information SDP (Session Description Protocol, Session Description Protocol) information in the session request, and carries audio / video, data channel and other media information in the SDP information. The session request passes through A-SBC, S-CSCF to reach IMS AS (A).

[0083] S2, IMS AS (A) reports the call event to the capability network element (A), and the message reporting the call event carries the robot communication indication.

[0084] S3, the capability network element (A) instructs the IMS AS (A) to create a data channel.

[0085] S4, IMS AS (A) interacts with media server (A), applies for data channel resources, and forwards the information of the media server as SDP information in the INVITE request to S-CSCF (A).

[0086] S5, S-CSCF(A) finds I / S-CSCF(B) of the network where robot B is located according to the communication identity of robot B, and forwards the INVITE request to I / S-CSCF(B).

[0087] S6, S-CSCF(B) triggers sending of the INVITE request to IMS AS(B) according to the subscription information of robot B.

[0088] S7, IMS AS(B) reports a call event to capability network element (B), and the message reporting the call event carries robot communication indication information.

[0089] S8, capability network element (B) instructs IMS AS(B) to create a data channel.

[0090] S9, IMS AS(B) interacts with media server (B), applies for data channel resources, and forwards the information of the media server as SDP information in the INVITE request to S-CSCF(B) and to robot B via A-SBC.

[0091] S10, robot B returns a 183 response, which carries robot communication indication, identity authentication information (including a second temporary key, second encryption authentication information, etc.) of robot B, and the 183 response reaches IMS AS(B) via A-SBC(B) and S-CSCF(B).

[0092] S11, IMS AS(B) interacts with media server (B), completes data channel update, and forwards the information of the media server as SDP information in the 183 response to S-CSCF(B).

[0093] S12, S-CSCF(B) forwards the 183 response to S-CSCF(A) according to routing information.

[0094] S13, S-CSCF(A) forwards the 183 response to IMS AS(A).

[0095] S14, IMS AS(A) interacts with media server (A), completes data channel update, and forwards the information of the media server as SDP information in the 183 response to S-CSCF(A) and to robot A via A-SBC(A).

[0096] The following steps S15 to S26 are performed in the end-to-end service session negotiation phase.

[0097] S15, robot B initiates a new session request (INVITE) to establish a data channel with authentication service (A) of robot A, and the SDP information in the INVITE request only includes data channel information.

[0098] S16, IMS AS (B) interacts with media server (B) to apply for data channel resources, and forwards the information of the media server as SDP information in the INVITE request to S-CSCF (B).

[0099] S17, S-CSCF (B) finds I / S-CSCF (A) of the network where the authentication service A is located according to the communication identifier of the authentication service (A) of A, and forwards the INVITE request to I / S-CSCF (A) and forwards it to IMS AS (A) by I / S-CSCF (A).

[0100] S18, IMS AS (A) reports a call event to the capability network element (A), and the message reporting the call event carries a robot communication indication.

[0101] S19, the capability network element (A) judges the communication identifier of the authentication service when the called number, and forwards the call event to the authentication service (A).

[0102] S20, the authentication service (A) instructs IMS AS (A) to create a data channel through the capability network element (A), and instructs to request termination on the network side.

[0103] S21, IMS AS (A) interacts with media server (A) to apply for data channel resources, and forwards the information of the media server as SDP information in the 200 OK response to S-CSCF (A).

[0104] S22, S-CSCF (A) forwards the 200 OK response to S-CSCF (B) according to the routing information.

[0105] S23, S-CSCF (B) forwards the 183 response to IMS AS (B).

[0106] S24, IMS AS (B) interacts with media server (B) to complete data channel update, and forwards the information of the media server as SDP information in the 200 OK response to S-CSCF (B), and reaches robot B through A-SBC (B).

[0107] S25, robot B sends an authentication request to the authentication service (A) through the established data channel, carries the second temporary key and the second encrypted authentication information in the authentication request, and returns the authentication result by the authentication service (A).

[0108] S26, robot B judges the identity authentication of robot A to pass, and establishes an end-to-end session with robot A.

[0109] After the robot A and the robot B establish the end-to-end session, the robot A and the robot B interact the temporary identity information, and the process is as follows S27 to S28.

[0110] S27, the robot A and the robot B respectively download the skill application from the capability network element (A) through the established data channel.

[0111] S28, the robot A generates the near field communication information A', the robot B generates the near field communication information B', and transmits the near field communication information A' and the near field communication information B' to each other through the established data channel.

[0112] Up to now, the autonomous communication between the robot A and the robot B is completed.

[0113] With the increase of the robot functions, especially the appearance of the humanoid robot, it is necessary to provide a solution to enable the robot to quickly master the skills of human beings. The current robot communication has relatively fixed content and relatively fixed behavior, and cannot adapt to the complex interactive scenarios of the human society. For example, in the express delivery application, the same person can be a sender, a delivery person, and a receiver, different roles need to perform different business logic, and how to enable the robot to quickly master the skills of different roles is also a challenge currently faced. The robot communication method provided in the embodiments of the present disclosure can enable the robots on both sides of the communication to download the application required for the current interaction from the capability network element of the communication system after normally establishing the session between the robots, and use the application in the subsequent interaction, so that the same robot can obtain the skills of different roles in the task.

[0114] When multiple robots appear at the same place at the same time, the robot communication method provided in the embodiments of the present disclosure can quickly identify the identity of the robot. For example, when multiple robot delivery persons are delivering goods, the robot responsible for receiving the goods can determine which delivery robot carries the goods that need to be received through identity determination.

[0115] The robot communication method provided in the embodiments of the present disclosure provides a robot identity authentication service, and performs calculation and comparison on the collected robot identity authentication information and the robot identity authentication information stored in the communication system to determine whether the identity of the robot to be authenticated is real. The specific authentication method is that the authentication server uses the received temporary key to perform encryption calculation on the permanent identity information of the robot (including the permanent identity identifier, the alias of the robot, and the communication identifier of the robot) to obtain a calculation result, and compares the calculation result with the received encrypted authentication information. If the calculation result is the same as the encrypted authentication information, it is determined that the identity of the robot to be authenticated is real.

[0116] The robot communication method provided in the embodiments of the present disclosure is as follows: the robot of a service initiator carries a robot indication in a session request, indicating that the current session is initiated by the robot, and carries identity authentication information in the session request. When receiving the session request, the robot of a service receiver identifies whether the opposite end is a robot according to the robot indication, initiates a robot identity authentication service to a communication system (i.e., an identity authentication server) of the service initiator, determines whether the identity of the robot is real, and allows the session to continue only after determining that the identity of the robot is authentic. The identity authentication service is provided in a session mode, and can provide identity authentication services for users of different operators.

[0117] The robot communication method provided in the embodiments of the present disclosure is as follows: after a session is normally established between robots, the two parties perform near field communication, i.e., face-to-face interaction and mutual identification of the robots. The identity information exchanged in the near field communication includes but is not limited to indication information used to represent an identity information acquisition mode (including a carrying mode, a presentation mode, a presented position, etc.). When the robots perform face-to-face interaction, identity identification is performed according to the near field communication information sent by the opposite party, and corresponding interaction behaviors are completed according to instructions in a target task. In addition, the communication system automatically records the interaction content between the robots throughout the process, and can complete information transmission by establishing a session with other communication terminals (such as handheld devices).

[0118] The embodiments of the present disclosure further provide a robot device, as shown in FIG. 9, which includes a memory 91 and a processor 92. The memory 91 stores a computer program executable by the processor. The computer program is executed by the processor, so that the processor implements the robot communication method provided in the embodiments of the present disclosure.

[0119] The processor 92 is a device with data processing capability, including but not limited to a central processing unit (CPU) and the like. The memory is a device with data storage capability, including but not limited to a random access memory (RAM, more specifically, SDRAM, DDR, etc.), a read-only memory (ROM), an electrically erasable programmable read-only memory (EEPROM), and a flash memory (FLASH). The I / O interface (read-write interface) is connected between the processor and the memory, and can realize information interaction between the memory 91 and the processor 92, including but not limited to a data bus (Bus) and the like.

[0120] The embodiments of the present disclosure further provide a computer readable storage medium, which stores a computer program. The computer program is executed by the processor, so that the robot communication method provided in the embodiments of the present disclosure is implemented.

[0121] Those skilled in the art can understand that the function modules / cells in all or some of the steps, systems, and devices disclosed above can be implemented as software, firmware, hardware, and appropriate combinations thereof.

[0122] In hardware implementations, the division of functionality between the functional modules / units referred to in the above description does not necessarily correspond to a division of physical components; for example, one physical component can have multiple functionalities, or one functionality or step can be performed by several physical components in cooperation.

[0123] Some or all of the physical components can be implemented as software executed by a processor (e.g., a central processing unit (CPU), a digital signal processor, or a microprocessor) or hardware, or as an integrated circuit, such as an application- specific integrated circuit. Such software can be distributed on computer readable media, which can comprise computer storage media (or non-transitory media) and communication media (or transitory media). As is known to those skilled in the art, computer storage media includes both volatile and nonvolatile, removable and non-removable media implemented in any method or technology for storage of information such as computer readable instructions, data structures, program modules or other data. Computer storage media includes, but is not limited to, random access memory (RAM, more specifically SDRAM, DDR, etc.), read only memory (ROM), erasable programmable read only memory (EEPROM), FLASH memory or other memory technology, compact disc read-only memory (CD-ROM), digital versatile disks (DVD) or other optical disk storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other medium which can be used to store the desired information and which can be accessed by a computer. Further, as is known to those skilled in the art, communication media typically embodies computer readable instructions, data structures, program modules or other data in a modulated data signal such as a carrier wave or other transport mechanism and includes any information delivery media. In this context, the term "modulated data signal" means a signal that has one or more of its characteristics changed or set in a manner so as to encode information in the signal. By way of example, and not limitation, communication media includes wired media such as a wired network or direct-wired connection, and wireless media such as acoustic, RF, infrared, Bluetooth, and other wireless media.

[0124] The present disclosure has disclosed example embodiments and implementations, and although specific terms are employed, they are used in a generic and descriptive sense only and not for purposes of limitation. In some instances, it will be apparent to those skilled in the art that features, characteristics or / and elements described in connection with a particular implementation can be used in conjunction with other implementations, unless explicitly stated to the contrary. Accordingly, it will be understood that various changes in form and details can be made without departing from the scope of the disclosure as set forth in the appended claims.

Claims

1. A robot communication method, applied to a first robot, comprising: When the first robot and the second robot are able to communicate near the field, the second identity information of the second robot is obtained, and the identity of the second robot is determined based on the second identity information. If the second robot is determined to be the target robot for the target task, and an authentication success notification message is received from the second robot, the target task is executed.

2. The method according to claim 1, wherein, The process of obtaining the second identity information of the second robot includes: The system receives instruction information sent by the second robot via near-field communication, and the instruction information is used to characterize the method of obtaining the second identity information. The second identity information of the second robot is obtained from the second robot according to the instruction information.

3. The method according to claim 2, wherein, The instruction information includes at least one of the following: the method of carrying the second identity information, the method of presenting the second identity information, and the location where the second identity information is presented.

4. The method according to claim 1, wherein, The second identity information includes temporary identity information and a communication identifier, wherein the temporary identity information is generated based on the permanent identity information of the second robot; determining the identity of the second robot based on the second identity information includes: If the temporary identity information matches the target temporary identity information and the communication identifier matches the target communication identifier, the second robot is determined to be the target robot for the target task; wherein the target temporary identity information and the target communication identifier are sent by the second robot to the first robot during the process of establishing a session with the first robot.

5. The method according to claim 1, further comprising: During the execution of the target task, or after the target task is completed, the task execution information of the target task is sent to the business server corresponding to the target task.

6. The method according to claim 1, further comprising: Before obtaining the second identity information of the second robot when the first robot and the second robot are able to communicate near the field, after establishing an end-to-end session with the second robot, the application corresponding to the target task is obtained from the capability network element, and the second robot is instructed to obtain the application from the capability network element.

7. The method according to claim 1, further comprising: Before obtaining the second identity information of the second robot when the first robot and the second robot are able to communicate near the field, the first identity authentication information is generated based on the permanent identity information of the first robot. A first session request message is sent to the second robot, the first session request message carrying the first identity authentication information; the first session request message is used to instruct the second robot to initiate identity authentication with the authentication server corresponding to the first robot, so that the authentication server can authenticate the first robot based on the first identity authentication information.

8. The method according to claim 7, wherein, The first identity authentication information includes a temporary key and encrypted authentication information; generating the first identity authentication information based on the permanent identity information of the first robot includes: Randomly generate temporary keys; The permanent identity information of the first robot is encrypted using the temporary key to obtain encrypted authentication information.

9. The method according to claim 7, wherein, The permanent identity information includes at least one of the following: the robot's permanent identity identifier, the robot's communication identifier, and the robot's alias.

10. The method according to claim 7, wherein, The first session request message also carries robot communication indication information, which is used to indicate that the first session request message was initiated by a robot; The first session request message is used to instruct the second robot to initiate identity authentication with the authentication server corresponding to the first robot when it is determined from the robot communication instruction information that the first session request message was initiated by the robot.

11. The method according to any one of claims 1 to 10, further comprising: Before obtaining the second identity information of the second robot when the first robot and the second robot are able to communicate near the field, the second robot sends a second session request message and obtains the second identity authentication information carried in the second session request message. If a data channel has been established between the authentication server corresponding to the first robot and the second robot, an authentication request message carrying the second identity authentication information is sent to the authentication server corresponding to the second robot. The authentication request message is used to instruct the authentication server corresponding to the second robot to perform identity authentication on the second robot.

12. A robot device, comprising a memory and a processor; the memory storing a computer program executable by the processor, the computer program being executed by the processor to cause the processor to implement the robot communication method according to any one of claims 1 to 11.

13. A computer-readable storage medium having a computer program stored thereon, the computer program being executed by a processor such that the processor implements the robot communication method according to any one of claims 1 to 11.

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