WO2019018964A1

WO2019018964A1 - Method for robot executing remote instruction, and robot

Info

Publication number: WO2019018964A1
Application number: PCT/CN2017/093973
Authority: WO
Inventors: 徐斌; 苏红
Original assignee: 深圳市萨斯智能科技有限公司
Priority date: 2017-07-22
Filing date: 2017-07-22
Publication date: 2019-01-31

Abstract

A method for a robot executing a remote instruction, and a robot; the method comprises: a robot receiving a remote instruction that is sent by a remote communication device, the remote instruction carrying command content and a verification parameter; the robot matching the verification parameter with a reference parameter that is pre-stored by the robot; if the verification parameter matches the reference parameter that is pre-stored by the robot, then the robot acquiring the command content, and according to the command content, executing a corresponding command. The method may improve the safety performance of a robot.

Description

Method and robot for executing remote command by robot

Technical field

The present invention relates to the field of robot technology, and in particular, to a method and a robot for executing a remote command by a robot.

Background technique

As the mainstream technology products of the current society, robots have won people's love and application. Robots are currently used in many scenes or fields, such as detonation robots for detonating scenes, item transport robots in warehouse scenes, and so on.

The current robot is mainly controlled remotely by the user to command the robot to perform a specific action with a remote command. However, there are many illegal users such as network viruses or network hackers in the current society, so that the robot may face the non-operation of illegal users. It can be seen that the security performance of the robot is relatively low.

Summary of the invention

Embodiments of the present invention provide a method and a robot for executing a remote command by a robot to solve the problem that the safety performance of the robot is relatively low.

Embodiments of the present invention provide a method for a robot to execute a remote command, including:

The robot receives a remote command sent by the remote communication device, where the remote command carries command content and verification parameters;

The robot matches the verification parameter with a reference parameter pre-stored by the robot;

If the verification parameter matches a reference parameter pre-stored by the robot, the robot acquires the command content and executes a corresponding command according to the command content.

Preferably, if the verification parameter matches the reference parameter pre-stored by the robot, the robot acquires the command content, and executes a corresponding command according to the command content, including:

And if the verification parameter matches a reference parameter pre-stored by the robot, the robot identifies the target item that is required to be captured by the command content;

The robot identifies a security level of the target item;

If the security level of the target item is within a preset security level range, the robot advances to The bound target device sends a command message, where the command message carries the identification information of the target item;

If the robot receives the confirmation message returned by the target device, the robot executes a corresponding command according to the command content.

The robot identifies a security level of the target item;

And if the security level of the target item is within a preset security level range, the robot identifies a device identifier of the remote communication device;

Determining, by the robot, whether the device identifier is in a pre-stored white list corresponding to the preset security level range;

If the device identifier is in a pre-stored white list corresponding to the preset security level range, the robot executes a corresponding command according to the command content.

Preferably, after the step of determining, by the robot, that the device identifier is in a pre-stored whitelist corresponding to the preset security level range, the method further includes:

If the device identifier is not in a pre-stored white list corresponding to the preset security level range, the robot sends a command message to the pre-bound target device, where the command message carries the identifier of the target item. Information and the device identification;

Preferably, after the step of the step of sending the command message to the pre-bound target device by the robot, if the device identifier is not in the pre-stored white list corresponding to the preset security level range, the method further includes:

If the robot does not receive the confirmation message returned by the target device within a preset time, the robot discards the remote command and sets the remote communication device as a blacklist.

An embodiment of the present invention further provides a robot, including:

a receiving module, configured to receive a remote command sent by the remote communication device, where the remote command carries a command content and a verification parameter;

a matching module, configured to match the verification parameter with a reference parameter pre-stored by the robot;

a first execution module, configured to: if the verification parameter matches a reference parameter pre-stored by the robot, the robot acquires the command content, and executes a corresponding command according to the command content.

Preferably, the first execution module is configured to: if the verification parameter matches a reference parameter pre-stored by the robot, identify a target item that is required to be captured by the command content;

The first execution module is further configured to identify a security level of the target item;

The first execution module is further configured to: if the security level of the target item is within a preset security level, send a command message to the pre-bound target device, where the command message carries the identification information of the target item ;

The first execution module is further configured to: if the robot receives the confirmation message returned by the target device, execute a corresponding command according to the command content.

The first execution module is further configured to identify a device identifier of the remote communication device if a security level of the target item is within a preset security level range;

The first execution module is further configured to determine whether the device identifier is in a pre-stored white list corresponding to the preset security level range;

The first execution module is further configured to: when the device identifier is in a pre-stored white list corresponding to the preset security level range, execute a corresponding command according to the command content.

Preferably, the robot further comprises:

a sending module, configured to send, by the robot, a command message to the pre-bound target device, if the device identifier is not in a pre-stored white list corresponding to the preset security level range, where the command message carries The identification information of the target item and the device identifier;

And a second execution module, configured to execute a corresponding command according to the content of the command if the robot receives the confirmation message returned by the target device.

Preferably, the robot further comprises:

a setting module, if the robot does not receive the return of the target device within a preset time A confirmation message, the robot discards the remote command and sets the remote communication device as a blacklist.

In the embodiment of the present invention, the robot receives a remote command sent by the remote communication device, where the remote command carries a command content and a verification parameter; the robot matches the verification parameter with a reference parameter pre-stored by the robot; The verification parameter matches a reference parameter pre-stored by the robot, and the robot acquires the command content and executes a corresponding command according to the command content. This can improve the safety of the robot.

DRAWINGS

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings to be used in the embodiments will be briefly described below. It is obvious that the drawings in the following description are only some embodiments of the present invention. Those skilled in the art can also obtain other drawings based on these drawings without paying any creative work.

1 is a schematic flowchart of a method for a robot to execute a remote command according to an embodiment of the present invention;

2 is a schematic structural diagram of a robot according to an embodiment of the present invention;

3 is a schematic structural diagram of another robot according to an embodiment of the present invention;

4 is a schematic structural diagram of another robot according to an embodiment of the present invention;

FIG. 5 is a schematic structural diagram of another robot according to an embodiment of the present invention.

Detailed ways

The technical solutions in the embodiments of the present invention are clearly and completely described in the following with reference to the accompanying drawings in the embodiments of the present invention. It is obvious that the described embodiments are a part of the embodiments of the present invention, but not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative efforts are within the scope of the present invention.

The robot provided by the embodiment of the present invention may include: a chassis, a wheel, a crawler, a rechargeable battery, and a mechanical arm mounted on the chassis. The robotic arm can include a boom, a telescopic arm, an arm, a mechanical jaw, and a lumbar rotation system. And a video system may also be included. The video system may include a camera mounted in different locations, and may also include a walking system. The walking system may be a 6×6 all-wheel drive, and the boom is raised. The drop can be driven by a double electric strut and installed with a balance bar. In addition, the control system can be controlled by a central system and a control box, etc. In addition, the robot and the control system can be wired or wirelessly operated and can provide video information of the robot end. Transfer to the control hall or command car via wireless radiation, and remotely control the robot. In addition, in the embodiment of the present invention, the robot may be a robot that can be used for the robot to be grasped and transported, such as a robot or a warehouse handling robot, which is not limited in this embodiment of the present invention.

Referring to FIG. 1 , FIG. 1 is a schematic flowchart of a method for a remote command executed by a robot according to an embodiment of the present invention. As shown in FIG. 1 , the method includes the following steps:

Step 101: The robot receives a remote command sent by the remote communication device, where the remote command carries a command content and a verification parameter.

Step 102: The robot matches the verification parameter with a reference parameter pre-stored by the robot.

Step 103: If the verification parameter matches a reference parameter pre-stored by the robot, the robot acquires the command content, and executes a corresponding command according to the command content.

As an optional implementation manner, if the verification parameter matches a reference parameter pre-stored by the robot, the robot acquires the command content, and executes a corresponding command according to the command content, including:

The robot identifies a security level of the target item;

If the security level of the target item is within a preset security level range, the robot sends a command message to the pre-bound target device, where the command message carries the identification information of the target item;

In this embodiment, the safety performance of the robot can be further improved.

The robot identifies a security level of the target item;

As an optional implementation manner, after the step of determining, by the robot, that the device identifier is in a pre-stored whitelist corresponding to the preset security level range, the method further includes:

As an optional implementation manner, if the device identifier is not in a pre-stored white list corresponding to the preset security level range, after the step of sending the command message by the robot to the pre-bound target device, The method further includes:

Referring to FIG. 2, FIG. 2 is a schematic structural diagram of a robot according to an embodiment of the present invention. As shown in FIG. 2, the method includes:

The receiving module 201 is configured to receive a remote command sent by the remote communication device, where the remote command is Carrying command content and verification parameters;

The matching module 202 is configured to match the verification parameter with a reference parameter pre-stored by the robot;

The first execution module 203 is configured to: if the verification parameter matches a reference parameter pre-stored by the robot, the robot acquires the command content, and executes a corresponding command according to the command content.

As an optional implementation manner, the first execution module 203 is configured to: if the verification parameter matches a reference parameter pre-stored by the robot, identify a target item that is required to be captured by the command content;

The first execution module 203 is further configured to identify a security level of the target item;

The first execution module 203 is further configured to: if the security level of the target item is within a preset security level, send a command message to the pre-bound target device, where the command message carries the identifier of the target item information;

The first execution module 203 is further configured to: if the robot receives the confirmation message returned by the target device, execute a corresponding command according to the command content.

The first execution module 203 is further configured to: if the security level of the target item is within a preset security level, identify the device identifier of the remote communication device;

The first execution module 203 is further configured to determine whether the device identifier is in a pre-stored white list corresponding to the preset security level range;

The first execution module 203 is further configured to: if the device identifier is in a pre-stored white list corresponding to the preset security level range, execute a corresponding command according to the command content.

As an optional implementation manner, as shown in FIG. 3, the robot further includes:

The sending module 204 is configured to: if the device identifier is not in a pre-stored white list corresponding to the preset security level range, the robot sends a command message to the pre-bound target device, where the command message carries Identification information of the target item and the device identifier;

a second execution module 205, configured to: if the robot receives the confirmation returned by the target device The information is executed according to the content of the command.

As an optional implementation manner, as shown in FIG. 4, the robot further includes:

The setting module 206 is configured to: if the robot does not receive the confirmation message returned by the target device within a preset time, the robot discards the remote command and sets the remote communication device as a blacklist.

Referring to FIG. 5, FIG. 5 is a structural diagram of another robot according to an embodiment of the present invention. As shown in FIG. 5, the robot includes a processor 501, a memory 502, a network interface 504, and a user interface 503. The various components in the robot are coupled together by a bus system 505. The bus system 505 includes a power bus, a control bus, and a status signal bus in addition to the data bus. However, for clarity of description, various buses are labeled as bus system 505 in FIG.

The user interface 503 may include a display, a keyboard, or a pointing device (eg, a mouse, a track ball, a touch pad, or a touch screen, etc.).

It is to be understood that the memory 502 in the embodiments of the present invention may be a volatile memory or a non-volatile memory, or may include both volatile and non-volatile memory. The non-volatile memory may be a read-only memory (ROM), a programmable read only memory (PROM), an erasable programmable read only memory (Erasable PROM, EPROM), or an electric Erase programmable read only memory (EEPROM) or flash memory. The volatile memory can be a Random Access Memory (RAM) that acts as an external cache. By way of example and not limitation, many forms of RAM are available, such as static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (Synchronous DRAM). SDRAM), Double Data Rate Synchronous Dynamic Random Access Memory (DDRSDRAM), Enhanced Synchronous Dynamic Random Access Memory (ESDRAM), Synchronous Connection Dynamic Random Access Memory (SDRAM) And direct memory bus random access memory (Direct Rambus RAM, DRRAM). Memory 502 of the systems and methods described herein is intended to comprise, without being limited to, these and any other suitable types of memory.

In some implementations, memory 502 stores elements, executable modules or data structures, or a subset thereof, or their extended set: operating system 5021 and application 5022.

The operating system 5021 includes various system programs, such as a framework layer, a core library layer, a driver layer, and the like, for implementing various basic services and processing hardware-based tasks. The application 5022 includes various applications, such as a media player (Media Player), a browser (Browser), etc., for implementing various application services. A program implementing the method of the embodiment of the present invention may be included in the application 5022.

In the embodiment of the present invention, by calling the program or instruction stored in the memory 502, specifically, the program or instruction stored in the application 5022, the processor 501 is configured to:

Receiving a remote command sent by the remote communication device, where the remote command carries a command content and a verification parameter;

Matching the verification parameter with a reference parameter pre-stored by the robot;

If the verification parameter matches the reference parameter pre-stored by the robot, the command content is acquired, and a corresponding command is executed according to the command content.

The method disclosed in the foregoing embodiments of the present invention may be applied to the processor 501 or implemented by the processor 501. Processor 501 may be an integrated circuit chip with signal processing capabilities. In the implementation process, each step of the foregoing method may be completed by an integrated logic circuit of hardware in the processor 501 or an instruction in a form of software. The processor 501 may be a general-purpose processor, a digital signal processor (DSP), an application specific integrated circuit (ASIC), a Field Programmable Gate Array (FPGA), or the like. Programmable logic devices, discrete gates or transistor logic devices, discrete hardware components. The methods, steps, and logical block diagrams disclosed in the embodiments of the present invention may be implemented or carried out. The general purpose processor may be a microprocessor or the processor or any conventional processor or the like. The steps of the method disclosed in the embodiments of the present invention may be directly implemented by the hardware decoding processor, or may be performed by a combination of hardware and software modules in the decoding processor. The software module can be located in a conventional storage medium such as random access memory, flash memory, read only memory, programmable read only memory or electrically erasable programmable memory, registers, and the like. The storage medium is located in the memory 502, and the processor 501 reads the storage. The information in the 502, in conjunction with its hardware, performs the steps of the above method.

It will be appreciated that the embodiments described herein can be implemented in hardware, software, firmware, middleware, microcode, or a combination thereof. For hardware implementation, the processing unit can be implemented in one or more Application Specific Integrated Circuits (ASICs), Digital Signal Processing (DSP), Digital Signal Processing Equipment (DSP Device, DSPD), programmable Programmable Logic Device (PLD), Field-Programmable Gate Array (FPGA), general purpose processor, controller, microcontroller, microprocessor, other for performing the functions described herein In an electronic unit or a combination thereof.

For a software implementation, the techniques described herein can be implemented by modules (eg, procedures, functions, and so on) that perform the functions described herein. The software code can be stored in memory and executed by the processor. The memory can be implemented in the processor or external to the processor.

As an optional implementation manner, if the verification parameter is matched with the reference parameter pre-stored by the robot, the processor 501 acquires the command content, and executes a corresponding command according to the command content, including:

And if the verification parameter matches a reference parameter pre-stored by the robot, identifying a target item that is required to be captured by the command content;

Identifying a security level of the target item;

And if the security level of the target item is within a preset security level, sending a command message to the pre-bound target device, where the command message carries the identification information of the target item;

If the robot receives the confirmation message returned by the target device, executing a corresponding command according to the command content.

Identifying a security level of the target item;

Identifying a device identifier of the remote communication device if a security level of the target item is within a preset security level range;

Determining whether the device identifier is in a pre-stored white list corresponding to the preset security level range;

If the device identifier is in a pre-stored white list corresponding to the preset security level range, executing a corresponding command according to the command content.

As an optional implementation manner, after the step of determining whether the device identifier is in a pre-stored whitelist corresponding to the preset security level range, the processor 501 is further configured to:

And if the device identifier is not in the pre-stored white list corresponding to the preset security level range, sending a command message to the pre-bound target device, where the command message carries the identifier information and the location of the target item. Device identifier

As an optional implementation manner, if the device identifier is not in a pre-stored white list corresponding to the preset security level range, after the step of sending the command message by the robot to the pre-bound target device, The processor 501 is further configured to:

It should be noted that, in the embodiment, the robot may be a robot in any of the embodiments of the method in the embodiment of the present invention, and any implementation manner of the robot in the method embodiment in the embodiment of the present invention may be used in the embodiment. The above-mentioned robots are implemented, and the same beneficial effects are achieved, and will not be described again here.

Those of ordinary skill in the art will appreciate that the elements and algorithm steps of the various examples described in connection 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 solution. A person skilled in the art can use different methods for implementing the described functions for each particular application, but such implementation should not be considered to be beyond the scope of the present invention.

A person skilled in the art can clearly understand that for the convenience and brevity of the description, the specific working process of the system, the device and the unit described above can refer to the corresponding process in the foregoing method embodiment, and details are not described herein again.

In the embodiments provided by the present application, it should be understood that the disclosed apparatus and method can be Implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the division of the unit is only a logical function division. In actual implementation, there may be another division manner, for example, multiple units or components may be combined or Can be integrated into another system, or some features can be ignored or not executed. In addition, the mutual coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection through some interface, device or unit, and may be in an electrical, mechanical or other form.

The units described as separate components may or may not be physically separated, and the 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 objectives of the embodiments of the present invention.

In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

The functions may be stored in a computer readable storage medium if implemented in the form of a software functional unit and sold or used as a standalone product. Based on such understanding, the technical solution of the present invention, which is essential or contributes to the prior art, or a part of the technical solution, may be embodied in the form of a software product, which is stored in a storage medium, including The instructions are used to cause a computer device (which may be a personal computer, server, or network device, etc.) to perform all or part of the steps of the methods described in various embodiments of the present invention. The foregoing storage medium includes various media that can store program codes, such as a USB flash drive, a mobile hard disk, a ROM, a RAM, a magnetic disk, or an optical disk.

The above is only a specific embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily think of changes or substitutions within the technical scope of the present invention. It should be covered by the scope of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

A method for a robot to execute a remote command, comprising:

The robot receives a remote command sent by the remote communication device, where the remote command carries command content and verification parameters;

The robot matches the verification parameter with a reference parameter pre-stored by the robot;

If the verification parameter matches a reference parameter pre-stored by the robot, the robot acquires the command content and executes a corresponding command according to the command content.
The method according to claim 1, wherein if the verification parameter matches a reference parameter pre-stored by the robot, the robot acquires the command content and executes a corresponding command according to the command content, including :

And if the verification parameter matches a reference parameter pre-stored by the robot, the robot identifies the target item that is required to be captured by the command content;

The robot identifies a security level of the target item;

If the security level of the target item is within a preset security level range, the robot sends a command message to the pre-bound target device, where the command message carries the identification information of the target item;

If the robot receives the confirmation message returned by the target device, the robot executes a corresponding command according to the command content.
The method according to claim 1, wherein if the verification parameter matches a reference parameter pre-stored by the robot, the robot acquires the command content and executes a corresponding command according to the command content, including :

And if the verification parameter matches a reference parameter pre-stored by the robot, the robot identifies the target item that is required to be captured by the command content;

The robot identifies a security level of the target item;

And if the security level of the target item is within a preset security level range, the robot identifies a device identifier of the remote communication device;

Determining, by the robot, whether the device identifier is in a pre-stored white list corresponding to the preset security level range;

If the device identifier is in a pre-stored white list corresponding to the preset security level range, the robot executes a corresponding command according to the command content.
The method of claim 3, wherein the method further comprises: after the step of determining, by the robot, that the device identifier is in a pre-stored whitelist corresponding to the preset security level range, the method further comprising:

If the device identifier is not in a pre-stored white list corresponding to the preset security level range, the robot sends a command message to the pre-bound target device, where the command message carries the identifier of the target item. Information and the device identification;

If the robot receives the confirmation message returned by the target device, the robot executes a corresponding command according to the command content.
The method according to claim 4, wherein if the device identifier is not in a pre-stored white list corresponding to the preset security level range, the robot sends a command message to the pre-bound target device. After the step, the method further includes:

If the robot does not receive the confirmation message returned by the target device within a preset time, the robot discards the remote command and sets the remote communication device as a blacklist.
A robot characterized by comprising:

a receiving module, configured to receive a remote command sent by the remote communication device, where the remote command carries a command content and a verification parameter;

a matching module, configured to match the verification parameter with a reference parameter pre-stored by the robot;

a first execution module, configured to: if the verification parameter matches a reference parameter pre-stored by the robot, the robot acquires the command content, and executes a corresponding command according to the command content.
The robot according to claim 6, wherein the first execution module is configured to: if the verification parameter matches a reference parameter pre-stored by the robot, identify a target that is required to be captured by the command content article;

The first execution module is further configured to identify a security level of the target item;

The first execution module is further configured to: if the security level of the target item is within a preset security level, send a command message to the pre-bound target device, where the command message carries the identification information of the target item ;

The first execution module is further configured to: if the robot receives the confirmation message returned by the target device, execute a corresponding command according to the command content.
The robot according to claim 6, wherein the first execution module is configured to: if the verification parameter matches a reference parameter pre-stored by the robot, identify a target that is required to be captured by the command content article;

The first execution module is further configured to identify a security level of the target item;

The first execution module is further configured to identify a device identifier of the remote communication device if a security level of the target item is within a preset security level range;

The first execution module is further configured to determine whether the device identifier is in a pre-stored white list corresponding to the preset security level range;

The first execution module is further configured to: when the device identifier is in a pre-stored white list corresponding to the preset security level range, execute a corresponding command according to the command content.
The robot of claim 8 wherein said robot further comprises:

a sending module, configured to send, by the robot, a command message to the pre-bound target device, if the device identifier is not in a pre-stored white list corresponding to the preset security level range, where the command message carries The identification information of the target item and the device identifier;

And a second execution module, configured to execute a corresponding command according to the content of the command if the robot receives the confirmation message returned by the target device.
The robot of claim 9, wherein the robot further comprises:

And a setting module, configured to: if the robot does not receive the confirmation message returned by the target device within a preset time, the robot discards the remote command and sets the remote communication device as a blacklist.