CN111203874A - Robot control method, device, electronic device and storage medium - Google Patents

Abstract

The present application is applicable to the field of robotics, and provides a method for controlling a robot, including: in response to a received first control instruction for one or more target robots, the first control instruction includes identification information of the target robot; Determine the type of each of the target robots according to the identification information; determine a target communication mode corresponding to each of the target robots from a plurality of preset communication modes according to the identification information; convert the first control instruction is a second control instruction corresponding to the type of each target robot; the second control instruction is sent to each target robot through each target communication mode corresponding to each target robot. Therefore, the purpose of controlling multiple robots simultaneously by one terminal device through multiple communication methods is realized, the operation efficiency is improved, and the user experience is improved.

Description

Robot control method, device, electronic device and storage medium

technical field

The present application belongs to the field of robot technology, and in particular, relates to a control method, device, electronic device and storage medium of a robot.

Background technique

The current mobile robot control software can generally only control one robot or a series of robots, and these robots all have similar communication protocols. However, in some application scenarios, multiple different robots have different communication methods, and how to obtain the status information of the robots at the same time or control multiple robots at the same time becomes a problem that needs to be solved.

SUMMARY OF THE INVENTION

The embodiments of the present application provide a robot control method, device, electronic device, and storage medium, which can solve at least part of the above problems.

In a first aspect, an embodiment of the present application provides a method for controlling a robot, including:

In response to the received first control instructions for one or more target robots, the first control instructions include identification information of the target robots; determine the type of each of the target robots according to the identification information; identification information, determining a target communication mode corresponding to each of the target robots in a plurality of preset communication modes; converting the first control instruction into a second control instruction corresponding to the type of each of the target robots; by Each of the target communication methods corresponding to each target robot sends the second control instruction to each of the target robots.

It can be understood that by converting user instructions into instructions recognizable by the target robot according to the type of robot, and communicating with the target robot by presetting multiple communication methods for communicating with the robot in the control software, the instructions recognizable by the robot are sent to the robot. In order to control the robot, the purpose of controlling multiple robots at the same time by one terminal device through various communication methods is realized, the operation efficiency is improved, and the user experience is improved.

In a second aspect, an embodiment of the present application provides a control device for a robot, including:

an instruction response module, configured to respond to received first control instructions for one or more target robots, where the first control instructions include identification information of the target robots;

a robot type determination module, configured to determine the type of each of the target robots according to the identification information;

a communication mode determination module, configured to determine a target communication mode corresponding to each of the target robots among a plurality of preset communication modes according to the identification information;

an instruction conversion module for converting the first control instruction into a second control instruction corresponding to each type of the target robot;

An instruction sending module, configured to send the second control instruction to each of the target robots through each of the target communication modes corresponding to each of the target robots.

In a third aspect, an embodiment of the present application provides an electronic device, including:

It includes a memory, a processor, and a computer program stored in the memory and executable on the processor, the computer program implementing the method steps of the first aspect when executed by the processor.

In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, including: the computer-readable storage medium stores a computer program, and the computer program implements the method described in the first aspect when the computer program is executed by a processor step.

Fifth Aspect An embodiment of the present application provides a computer program product, which, when the computer program product runs on an electronic device, causes the electronic device to execute the method steps described in the first aspect above.

It can be understood that, for the beneficial effects of the second aspect to the fifth aspect, reference may be made to the relevant description in the first aspect, which is not repeated here.

Description of drawings

In order to illustrate the technical solutions in the embodiments of the present application more clearly, the following briefly introduces the accompanying drawings that need to be used in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only for the present application. In some embodiments, for those of ordinary skill in the art, other drawings can also be obtained according to these drawings without any creative effort.

1 is a schematic diagram of an application scenario of a robot control system provided by an embodiment of the present application;

2 is a schematic flowchart of a method for controlling a robot provided by an embodiment of the present application;

3 is a schematic diagram of a software architecture to which the method for controlling a robot provided by an embodiment of the present application is applicable;

4 is a schematic flowchart of a method for controlling a robot provided by another embodiment of the present application;

5 is a schematic flowchart of a method for controlling a robot provided by another embodiment of the present application;

6 is a schematic structural diagram of a control device of a robot provided by an embodiment of the present application;

FIG. 7 is a schematic structural diagram of a terminal device provided by an embodiment of the present application.

Detailed ways

In the following description, for the purpose of illustration rather than limitation, specific details such as a specific system structure and technology are set forth in order to provide a thorough understanding of the embodiments of the present application. However, it will be apparent to those skilled in the art that the present application may be practiced in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.

It is to be understood that, when used in this specification and the appended claims, the term "comprising" indicates the presence of the described feature, integer, step, operation, element and/or component, but does not exclude one or more other The presence or addition of features, integers, steps, operations, elements, components and/or sets thereof.

It will also be understood that, as used in this specification and the appended claims, the term "and/or" refers to and including any and all possible combinations of one or more of the associated listed items.

As used in the specification of this application and the appended claims, the term "if" may be contextually interpreted as "when" or "once" or "in response to determining" or "in response to detecting ". Similarly, the phrases "if it is determined" or "if the [described condition or event] is detected" may be interpreted, depending on the context, to mean "once it is determined" or "in response to the determination" or "once the [described condition or event] is detected. ]" or "in response to detection of the [described condition or event]".

In addition, in the description of the specification of the present application and the appended claims, the terms "first", "second", "third", etc. are only used to distinguish the description, and should not be construed as indicating or implying relative importance.

References in this specification to "one embodiment" or "some embodiments" and the like mean that a particular feature, structure or characteristic described in connection with the embodiment is included in one or more embodiments of the present application. Thus, appearances of the phrases "in one embodiment," "in some embodiments," "in other embodiments," "in other embodiments," etc. in various places in this specification are not necessarily All refer to the same embodiment, but mean "one or more but not all embodiments" unless specifically emphasized otherwise. The terms "including", "including", "having" and their variants mean "including but not limited to" unless specifically emphasized otherwise.

The current mobile robot control software can generally only control one robot or a series of robots, and these robots all have similar communication protocols. However, in some application scenarios, multiple different robots have different communication methods, and different communication protocols are applied. How to obtain the status information of the robots at the same time or control multiple robots at the same time becomes a problem that needs to be solved.

FIG. 1 shows a robot control system provided by an embodiment of the present application, including a terminal device 10 and one or more robots. FIG. 1 is an application scenario of multi-robot control of the robot control system. In this application scenario, the terminal The device 10 controls multiple robots through the built-in robot control software 11 , including but not limited to a wheeled self-propelled robot 201 , an auxiliary cleaning robot 202 , and a crawler self-propelled robot 203 . The application scenario shown in FIG. 1 is only a demonstration of the embodiments of the present application, and those skilled in the art should be able to understand that the embodiments of the present application are applicable to other scenarios of multi-robot control under the teaching of the embodiments of the present application.

In the application scenario shown in FIG. 1 , the wheeled self-propelled robot 201 communicates with the terminal device 10 through the Bluetooth communication protocol; the auxiliary cleaning robot 202 communicates with the terminal device 10 through the WiFi communication protocol; the crawler self-propelled robot 203 communicates with the terminal through the mobile communication network protocol Device 10 communicates.

In the application scenario shown in Figure 1, in some embodiments, the terminal device 10 needs to send a wake-up command to three robots at the same time, so that the three robots work according to a predetermined program; or send a travel command to the three robots at the same time , so that the three robots can move to the designated location; or the terminal device 10 needs to obtain the status information of the three robots at the same time, so that the user can know the working status of the robots. However, the three robots communicate with the terminal through different communication protocols; if the terminal device 10 respectively controls each robot or inquires about the status, the operation is extremely inconvenient.

In order to solve at least a part of the above problems, the present application provides a control method of a robot. By converting user instructions into instructions recognizable by the target robot according to the robot type, by presetting multiple communication methods with the robot in the control software, communicating with the target robot, and sending the robot-recognizable instructions to the robot to control the robot, Therefore, the purpose of controlling multiple robots simultaneously by one terminal device through multiple communication methods is realized, the operation efficiency is improved, and the user experience is improved.

The terminal devices provided by the embodiments of the present application include but are not limited to mobile phones, tablet computers, wearable devices, in-vehicle devices, augmented reality (AR)/virtual reality (VR) devices, notebook computers, and super mobile personal computers (ultra-mobile personal computer, UMPC), netbook, personal digital assistant (personal digital assistant, PDA) and other terminal devices, the embodiment of the present application does not impose any limitation on the specific type of the terminal device.

The robots provided by this application include, but are not limited to, various robots that communicate with terminal devices through wireless communication methods such as Bluetooth communication networks, WiFi communication networks, mobile communication networks, or infrared communication methods, or through wired communication methods.

FIG. 2 shows a robot control method provided by an embodiment of the present application, which is applied to the terminal device 10 in the robot control system shown in FIG. 1 and can be implemented by software/hardware of the terminal device. As shown in FIG. 2, the method includes steps S110-S150. The specific implementation principles of each step are as follows:

S110. In response to the received first control instructions for one or more target robots, the first control instructions include identification information of the target robots.

In a non-limiting example, the user selects one or more target robots through the user operation interface of the terminal device, and sends a first control instruction to the target robot through the user operation interface; the terminal device receives and responds to the target robot for one or more First control instructions for multiple target robots. Wherein, the first control instruction includes identification information of each target robot.

In a non-limiting example, the terminal device receives the first control instruction sent by the apparatus to the terminal device in response to the user's instruction through voice, gesture, motion, or bioelectric signal.

Non-limitingly, the first control instructions include, but are not limited to, instructions for controlling the robot to perform specified actions and instructions for controlling robot communication; the instructions for controlling the robot to perform specified actions include but are not limited to lighting control instructions, travel control instructions. Instructions, voice control instructions, wake-up/standby control instructions, and communication control instructions; the instructions for controlling robot communication include, but are not limited to, instructions for controlling robot feedback status information, and instructions for controlling communication between the target robot and other devices or robots.

Non-limiting, the identification information of the robot is used to uniquely identify the robot to distinguish different robots; the identification information of the robot can be the number of the robot, the certificate of the robot, or the address information of the robot, which is not specifically limited here. .

In a non-limiting example, FIG. 3 shows a schematic diagram of a software system architecture of the robot control software 11 running in the terminal device 10 in some embodiments of the present application. The software architecture includes an application layer component 111, a software development kit (Software Development Kit, SDK) component 112 and an operating system communication interface component 113; wherein the SDK component 112 includes an external interface layer component 1121, a search and connection layer component 1122, and a logic The processing layer component 1123; wherein, the external interface layer components include but are not limited to the robot control interface component 11211, the robot data query interface component 11212 and the robot search and connection interface component 11213; wherein, the search and connection layer component 1122 includes a plurality of Robot connector components 11221 corresponding to different preset communication modes; wherein, the logic processing layer component 1123 includes one or more robot object components 11231, which are used for processing the conversion of instructions or status data corresponding to the identification information of each robot, and using communicate with the robot connector corresponding to the communication mode corresponding to the robot identification information; wherein, the application layer component 111 is used for data interaction with the user; wherein, the external interface layer component 1121 is used to realize the application layer component 111 and the search connection layer component 1122. The interface between the logical processing layer components 1123; wherein, the operating system communication interface component 113 is used for the terminal device 10 to communicate with multiple robot entities 20; exemplarily, the robot entities 20 include but are not limited to those shown in FIG. 1 The wheeled self-propelled robot 201, the auxiliary cleaning robot 202, and the crawler self-propelled robot 203 are provided.

As shown in Figure 3, the user selects one or more robots through the user operation interface of the terminal device, and sends a travel instruction to the selected robot. The instruction contains the identification information of each target robot that needs to execute the instruction, such as the robot number. . The application layer component of the robot control software in the terminal device receives the travel instruction in response to the user operation interface, and sends the travel instruction to the external interface layer component of the robot control software, and the external interface layer component passes the robot control interface of the component. The control command, that is, the travel command, is sent to the logic processing layer component of the robot control software.

S120: Determine the type of each of the target robots according to the identification information.

In a non-limiting example, the terminal device obtains the type of the robot corresponding to the identification information by querying the mapping relationship between the identification information and the robot type according to the identification information of the target robot, such as the robot number.

In a non-limiting example, as shown in FIG. 3 , the logic processing layer component of the robot control software in the terminal device, after receiving the first control instruction through the robot control interface, Identification information, query the mapping relationship between the identification information and the robot type to determine the type of target robot corresponding to each identification information, and send the first control instruction to the object components corresponding to different types of robots. Non-limitingly, each type can correspond to multiple different robot object components, each robot object component corresponds to unique robot identification information, and each robot object component is used to process the control instructions for the target robot corresponding to the robot identification information. .

S130: Determine, according to the identification information, a target communication mode corresponding to each of the target robots among a plurality of preset communication modes.

In a non-limiting example, the terminal device determines, according to the mapping relationship between the identification information of the target robot and the plurality of preset communication modes, a communication mode corresponding to each target among the plurality of preset communication modes.

In a non-limiting example, after receiving the first control instruction, the robot object component in the logic processing layer component of the robot control software in the terminal device requests the search and connection component in multiple preset communication modes according to the identification information Determining the target communication mode corresponding to each of the target robots, but not limitedly, determining the target communication mode corresponding to each of the target robots among a plurality of preset communication modes includes: connecting a plurality of preset robot connectors A connector component corresponding to the identification information of the target robot is selected from the components for processing the communication between the target robot and the terminal device.

S140: Convert the first control instruction into a second control instruction corresponding to each type of the target robot.

In a non-limiting example, the terminal device converts the first control instructions into second control instructions corresponding to the types of each target robot.

In a non-limiting example, the first control instruction is a user instruction, which is an action that the user expects the robot to perform; the second control instruction is an instruction that the robot can execute, including but not limited to invocation of the robot instruction interface function, instruction message, Instruction codes, etc., which can be recognized and executed by the robot. In some implementations, the first control command received by the terminal device is a flashing light command, but the commands that can be directly executed by each robot, such as a wheeled self-propelled robot, a crawler robot, or the respective flashing prompts of an auxiliary cleaning robot, are different. As shown in FIG. 3 , the robot object component in the logic processing component of the robot control software converts the first control command into a second control command corresponding to the type of each target robot. For example, converting the flashing light command into a crawler robot can Directly executed instruction encoding.

It can be understood that the steps S130 and S140 are not in sequence, and the execution sequence of the steps S130 and S140 may be selected according to actual needs when actually implementing the embodiments of the present application.

S150: Send the second control instruction to each target robot through each target communication manner corresponding to each target robot.

In a non-limiting example, the terminal device sends the second control instruction to each target robot through each target communication manner corresponding to each target robot.

In a non-limiting example, the first control command is a command to travel to the target position; for the target robot on wheels, the second control command is a control message corresponding to the wheeled self-propelled robot and carried by the Bluetooth communication protocol; for For the auxiliary cleaning robot, the second control instruction is a control message corresponding to the auxiliary cleaning robot and carried by the WiFi communication protocol. The terminal device sends the second control instruction to the wheeled self-propelled robot and the auxiliary cleaning robot through the Bluetooth communication protocol and the WiFi communication protocol respectively.

In a non-limiting example, as shown in FIG. 3 , the robot object component corresponding to each robot identification information in the logic processing layer component of the robot control software in the terminal device is obtained through the robot connector component corresponding to the robot identification information The communication mode of each target robot is obtained, and the second control instruction of each target robot is sent to each target robot through the communication interface component of the operating system.

It can be understood that by converting user instructions into instructions recognizable by the target robot according to the type of robot, and communicating with the target robot by presetting multiple communication methods for communicating with the robot in the control software, the instructions recognizable by the robot are sent to the robot. In order to control the robot, the purpose of controlling multiple robots at the same time by one terminal device through various communication methods is realized, the operation efficiency is improved, and the user experience is improved.

On the basis of the embodiment of the robot control method shown in the above-mentioned FIG. 2, before responding to the received first control instructions for one or more target robots, as shown in FIG. 4, the method further includes:

S101, in response to the received search instruction, search for robots in the current environment that respectively match a plurality of preset communication modes.

In a non-limiting example, the user sends a search instruction through the user operation interface of the terminal device, and the terminal device searches the network environment of various communication networks that the current terminal device can connect to in response to the search instruction received by the user operation interface. Robots matched with multiple preset communication methods. Non-limitingly, the terminal device searches the Bluetooth network environment, the WiFi network environment, and the mobile communication network environment respectively for robots that can be detected through these network connection methods.

In a non-limiting example, as shown in FIG. 3, the user sends a search instruction through the user operation interface of the terminal device, the terminal device receives the search instruction through the application layer component and responds to the search instruction, and the robot through the external interface layer component receives the search instruction and responds to the search instruction. The search and connection interface sends the search instruction to the search and connection layer component, and the search and connection layer component presets multiple robot connector components corresponding to different communication methods. Through the operating system communication interface component, each communication method can be connected to the robot.

S102: Generate a second robot list according to the identification information of one or more robots found by the search.

In a non-limiting example, the terminal device generates a second robot list according to the identification information of one or more robots found; the second robot list includes the information that the terminal device can establish a communication connection through various preset communication methods. A list of robots; non-limitingly, the second list of robots includes identification information of each robot and a communication method corresponding to the identification information;

In a non-limiting example, as shown in FIG. 3 , each preset communication mode is implemented by a robot connector assembly corresponding to each communication mode.

S103, in response to the selection instruction for the second robot list, establish a connection with the robot corresponding to the identification information of the robot in the selection instruction, and generate a first robot list.

In a non-limiting example, in response to the selection instruction for the second robot list, the terminal device establishes a connection with the robot corresponding to the identification information of the robot in the selection instruction, and generates the first robot list. Without limitation, the first machine list is a list of robots that establish a communication connection with the terminal device.

In a non-limiting example, after the terminal device generates the second robot list, it displays the second robot list through the user operation interface, and the user selects the robot in the second robot list through the user operation interface to determine the need to establish communication One or more bots in the connected second bot list.

In a non-limiting example, after establishing a connection with one or more robots, the logic processing layer establishes a mapping relationship between the robot identification information and the communication method according to the identification information of the connected robots, and generates a robot corresponding to the robot identification information An instance of an object component.

In a non-limiting example, after generating the first robot list, the method further includes: displaying the first robot list through a user operation interface, so that the user can view the connected robot information.

In a non-limiting example, it should be understood that, in response to the received first control instructions for one or more target robots, the terminal device includes: responding to the received one or more of the first robot lists. First control instructions for multiple target robots.

It can be understood that by searching for robots in the current network environment that can establish a communication connection with the terminal device and establishing a communication connection, the controlled robot can be confirmed in advance, thereby providing convenience for the user to control multiple robots through the terminal device.

On the basis of the embodiment of the robot control method shown in FIG. 4 above, in response to the selection instruction for the second robot list, after a connection is established with the robot corresponding to the identification information of one or more robots in the selection instruction , as shown in Figure 5, also includes:

S210: Receive first status data sent by each connected robot, where the first status data includes identification information of the robot.

In a non-limiting example, the terminal device communicates with each robot that has established a communication connection; the terminal device receives first status data sent by each connected robot, where the first status data includes identification information of the robot; wherein , the first state data includes but is not limited to the position information of the robot, the software and hardware information of the robot, the running state information of the software and hardware of the robot, the fault information of the robot and the feedback information of the robot executing the control instruction.

In a non-limiting example, it can be understood that after the robot establishes a communication connection with the terminal device, it can send the first status data to the terminal device according to its own software and hardware settings and operating conditions; it can also respond to the first state data sent by the terminal device. After two control instructions, the second control instruction is used to instruct the target robot to feed back the first state data; correspondingly, the target robot communicates the second state data through each of the target communication units corresponding to each target robot. After the control instruction is sent to each target robot, the first state data sent by each connected robot is received.

In a non-limiting example, the terminal device receives, through the operating system communication interface component, the first status data sent by each robot that has established a communication connection.

S220: Determine the type of each of the connected robots according to the identification information.

In a non-limiting example, the terminal device determines the type of each connected robot through the mapping relationship between the identification information and the robot type according to the identification information in each first state data.

In a non-limiting example, the logic processing component of the robot control software in the terminal device, according to the robot identification information in the received first state data, queries the identification information and the robot type mapping table to determine the type of the robot, and determines the processing identification The instance of the robot object component corresponding to the message. Each first state data is assigned to the object component processing corresponding to the robot identification information.

S230: Convert the first state data into second state data corresponding to the type of each of the connected robots.

In a non-limiting example, the terminal device converts the first state data into second state data corresponding to the types of each connected robot; wherein the second state data includes, but is not limited to, the terminal device can display to the user Interface data, terminal equipment can be converted into voice playback data through a sound device, and terminal equipment can be used to control the display status of the display light.

In a non-limiting example, the object component corresponding to the robot identification information receives the first state data, and according to the first state data and the robot type corresponding to the identification information, converts the first state data to the second state corresponding to the robot type data.

S240, displaying the second state data through a user operation interface.

In a non-limiting example, the robot object component of the robot control software in the terminal device passes the second state data through the robot data application layer component of the external interface layer component; the application layer component displays the second state data on the user operation interface.

In a non-limiting example, displaying the second status data through a user operation interface includes: in response to a first query instruction, displaying the second status data through a user operation interface. Non-limitingly, the user sends a first query instruction through the user operation interface, the terminal device will convert the first query instruction into a second query instruction executable by each robot, and send the second query instruction to each established communication connection. robot.

It can be understood that by receiving various first state data sent by the robot that cannot be directly recognized by the user, and according to the robot identification information in the first state data, the first state data is converted into a unified user-identifiable second state data. Status data enables users to view the running status of multiple different types of robots through terminal devices, thereby improving user experience.

It should be understood that the size of the sequence numbers of the steps in the above embodiments does not mean the sequence of execution, and the execution sequence of each process should be determined by its function and internal logic, and should not constitute any limitation to the implementation process of the embodiments of the present application.

Corresponding to the robot control method shown in FIG. 2 above, FIG. 6 shows a robot control device provided by an embodiment of the present application, including:

an instruction response module M110, configured to respond to a received first control instruction for one or more target robots, where the first control instruction includes identification information of the target robot;

A robot type determination module M120, configured to determine the type of each of the target robots according to the identification information;

A communication mode determination module M130, configured to determine a target communication mode corresponding to each of the target robots among a plurality of preset communication modes according to the identification information;

an instruction conversion module M140, configured to convert the first control instruction into a second control instruction corresponding to the type of each target robot;

The instruction sending module M150 is configured to send the second control instruction to each target robot through each target communication manner corresponding to each target robot.

It can be understood that, various implementations and implementation combinations and their beneficial effects in the above embodiments are also applicable to this embodiment, which will not be repeated here.

FIG. 7 is a schematic structural diagram of a terminal device according to an embodiment of the present application. As shown in FIG. 7 , the terminal device D7 of this embodiment includes: at least one processor D70 (only one is shown in FIG. 7 ), a processor, a memory D71, and a processor stored in the memory D71 and can be processed in the at least one processor A computer program D72 running on the processor D70, and the processor D70 implements the steps in any of the foregoing method embodiments when the processor D70 executes the computer program D72. Alternatively, when the processor D70 executes the computer program D72, the functions of the modules/units in the foregoing device embodiments are implemented.

The terminal device D7 may be a computing device such as a desktop computer, a notebook, a palmtop computer, and a cloud server. The terminal device may include, but is not limited to, a processor D70 and a memory D71. Those skilled in the art can understand that FIG. 7 is only an example of the terminal device D7, and does not constitute a limitation on the terminal device D7, and may include more or less components than the one shown, or combine some components, or different components , for example, may also include input and output devices, network access devices, and the like.

The so-called processor D70 may be a central processing unit (Central Processing Unit, CPU), and the processor D70 may also be other general-purpose processors, digital signal processors (Digital Signal Processors, DSP), application specific integrated circuits (Application Specific Integrated Circuit, ASIC), off-the-shelf programmable gate array (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.

The memory D71 may be an internal storage unit of the terminal device D7 in some embodiments, such as a hard disk or a memory of the terminal device D7. In other embodiments, the memory D71 may also be an external storage device of the terminal device D7, for example, a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, flash memory card (Flash Card), etc. Further, the memory D71 may also include both an internal storage unit of the terminal device D7 and an external storage device. The memory D71 is used to store an operating system, an application program, a boot loader (Boot Loader), data, and other programs, such as program codes of the computer program. The memory D71 can also be used to temporarily store data that has been output or will be output.

It should be noted that the information exchange, execution process and other contents between the above-mentioned devices/units are based on the same concept as the method embodiments of the present application. For specific functions and technical effects, please refer to the method embodiments section. It is not repeated here.

Those skilled in the art can clearly understand that, for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example. Module completion, that is, dividing the internal structure of the device into different functional units or modules to complete all or part of the functions described above. Each functional unit and module in the embodiment may be integrated in one processing unit, or each unit may exist physically alone, or two or more units may be integrated in one unit, and the above-mentioned integrated units may adopt hardware. It can also be realized in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing from each other, and are not used to limit the protection scope of the present application. For the specific working processes of the units and modules in the above-mentioned system, reference may be made to the corresponding processes in the foregoing method embodiments, which will not be repeated here.

Embodiments of the present application further provide a computer-readable storage medium, where a computer program is stored in the computer-readable storage medium, and when the computer program is executed by a processor, the steps in the foregoing method embodiments can be implemented.

The embodiments of the present application provide a computer program product, when the computer program product runs on a terminal device, so that the terminal device can implement the steps in the foregoing method embodiments when executed.

The integrated unit, if implemented in the form of a software functional unit and sold or used as an independent product, may be stored in a computer-readable storage medium. Based on this understanding, the present application realizes all or part of the processes in the methods of the above embodiments, which can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a computer-readable storage medium. When executed by a processor, the steps of each of the above method embodiments can be implemented. Wherein, the computer program includes computer program code, and the computer program code may be in the form of source code, object code, executable file or some intermediate form, and the like. The computer-readable medium may include at least: any entity or device capable of carrying computer program codes to the photographing device/terminal device, recording medium, computer memory, read-only memory (ROM), random access memory (Random Access Memory, RAM), electrical carrier signals, telecommunication signals, and software distribution media. For example, U disk, mobile hard disk, disk or CD, etc. In some jurisdictions, under legislation and patent practice, computer readable media may not be electrical carrier signals and telecommunications signals.

In the foregoing embodiments, the description of each embodiment has its own emphasis. For parts that are not described or described in detail in a certain embodiment, reference may be made to the relevant descriptions of other embodiments.

Those of ordinary skill in the art can realize that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Skilled artisans may implement the described functionality using different methods for each particular application, but such implementations should not be considered beyond the scope of this application.

In the embodiments provided in this application, it should be understood that the disclosed apparatus/network device and method may be implemented in other manners. For example, the apparatus/network device embodiments described above are only illustrative. For example, the division of the modules or units is only a logical function division. In actual implementation, there may be other division methods, such as multiple units. Or components may be combined or may be integrated into another system, or some features may be omitted, or not implemented. On the other hand, the shown or discussed mutual coupling or direct coupling or communication connection may be through some interfaces, indirect coupling or communication connection of devices or units, and may be in electrical, mechanical or other forms.

The units described as separate components may or may not be physically separated, and components displayed as units may or may not be physical units, that is, may be located in one place, or may be distributed to multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution in this embodiment.

The above-mentioned embodiments are only used to illustrate the technical solutions of the present application, but not to limit them; although the present application has been described in detail with reference to the above-mentioned embodiments, those of ordinary skill in the art should understand that: it can still be used for the above-mentioned implementations. The technical solutions described in the examples are modified, or some technical features thereof are equivalently replaced; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions in the embodiments of the application, and should be included in the within the scope of protection of this application.

Claims (10)

1. A method for controlling a robot, comprising:

in response to receiving a first control instruction for one or more target robots, the first control instruction comprising identification information of the target robots;

determining the type of each target robot according to the identification information;

determining a target communication mode corresponding to each target robot in a plurality of preset communication modes according to the identification information;

converting the first control instruction into a second control instruction corresponding to the type of each target robot;

and sending the second control instruction to each target robot through each target communication mode corresponding to each target robot.

2. The method of claim 1, further comprising, in response to receiving the first control instruction for the one or more target robots:

responding to the received search instruction, and searching robots respectively matched with a plurality of preset communication modes in the current environment;

generating a second robot list according to the identification information of one or more searched robots;

responding to a selection instruction aiming at the second robot list, establishing connection with the robots corresponding to the identification information of the robots in the selection instruction, and generating a first robot list.

3. The method of claim 2, wherein after generating the first list of robots, further comprising:

and displaying the first robot list through a user operation interface.

4. A method according to claim 2 or 3, wherein in response to receiving a first control instruction for one or more target robots, comprising:

in response to receiving a first control instruction for one or more target robots in the first robot list.

5. The method of claim 2, wherein in response to a selection instruction for the second robot list, after establishing a connection with robots corresponding to identification information of one or more of the selection instructions, further comprising:

receiving first state data sent by each connected robot, wherein the first state data comprise identification information of the robot;

determining the type of each connected robot according to the identification information;

converting the first state data into second state data corresponding to the type of each of the connected robots;

and displaying the second state data through a user operation interface.

6. The method of claim 5, wherein presenting the second state data via a user interface comprises:

and responding to the first query instruction, and displaying the second state data through a user operation interface.

7. The method of claim 5, wherein the second control instruction is for instructing the target robot to feed back the first state data; accordingly, the method can be used for solving the problems that,

and receiving first state data transmitted by each connected robot after transmitting the second control command to each target robot through each target communication unit corresponding to each target robot.

8. A control device for a robot, comprising:

an instruction response module for responding to a received first control instruction for one or more target robots, the first control instruction comprising identification information of the target robots;

the robot type determining module is used for determining the type of each target robot according to the identification information;

a communication mode determining module, configured to determine, according to the identification information, a target communication mode corresponding to each of the target robots among a plurality of preset communication modes;

the instruction conversion module is used for converting the first control instruction into a second control instruction corresponding to the type of each target robot;

and the instruction sending module is used for sending the second control instruction to each target robot through each target communication mode corresponding to each target robot.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the method of any of claims 1 to 7 when executing the computer program.

10. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the method according to any one of claims 1 to 7.

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