WO2020108293A1

WO2020108293A1 - Control method, related apparatus, and storage medium

Info

Publication number: WO2020108293A1
Application number: PCT/CN2019/117623
Authority: WO
Inventors: 黄晓庆; 骆磊
Original assignee: 深圳前海达闼云端智能科技有限公司
Priority date: 2018-11-29
Filing date: 2019-11-12
Publication date: 2020-06-04
Also published as: CN109352657A; CN109352657B

Abstract

A control method, a control apparatus, and a storage medium. The control method is applied to a server, and comprises: acquiring position information of multiple robots; acquiring control information sent by a control device of a user; determining, according to the position information of the multiple robots and the control information, a robot posing a safety threat; and controlling the robot posing a safety threat to stop operating. The control apparatus comprises: a first acquisition module (301), a second acquisition module (302), a determination module (303), and a control module (304), wherein the first acquisition module (301) is used to acquire position information of multiple robots, the second acquisition module (302) is used to acquire control information sent by a control device of a user, the determination module (303) is used to determine, according to the position information of the multiple robots and the control information, a robot posing a safety threat, and the control module (304) is used to control the robot posing a safety threat to stop operating. The server comprises at least one processor (501) and a memory (502) communicatively connected to the server. The memory (502) stores instructions executable by the processor (501). The instructions are executed by the processor (501), such that the processor executes the corresponding control method. A computer-readable storage medium stores a computer program. When the computer program is executed by the processor (501), the corresponding control method is implemented. The control method, the control apparatus, and the storage medium effectively avoid a safety threat posed by a robot to the user.

Description

Control method, related device and storage medium

[0001] This application refers to China Patent Application No. 201811442609.9, which was filed on November 29, 2018 and titled "A Control Method, Related Devices, and Storage Media," which is fully incorporated by reference into this application. Technical field

[0002] Embodiments of the present application relate to the field of communication technologies, and in particular, to a control method, related devices, and storage media.

Background technique

[0003] With the development of robot technology, the application of robots is becoming more and more extensive, and robots have been used to replace human work in many fields such as industry, home and security. At the same time, the robot's intelligence and independent thinking ability are also increasing, with independent analysis and judgment and emotion, instead of only doing simple mechanical processing.

[0004] The inventor found that the prior art has at least the following problems: When the intelligence of the robot is improved to a certain degree, or there are certain problems or loopholes in the original execution logic, the robot may cause surrounding people on certain occasions Security threats, and there is no effective way in the prior art to effectively evade such threats.

Summary of the invention

technical problem

Solution to the problem

Technical solution

[0005] The objective of some embodiments of the present application is to provide a control method, a related device, and a storage medium, so that a security threat caused by a robot to a user can be effectively avoided.

[0006] An embodiment of the present application provides a control method, which is applied to a server and includes the following steps: acquiring position information of multiple robots; acquiring control information sent by a user's control device; according to position information and control information of multiple robots , Identify robots with security threats; control robots with security threats to stop.

[0007] An embodiment of the present application further provides a control device, including: a first acquisition module, a second acquisition module, a determination module, and a control module, the first acquisition module is used to acquire position information of multiple robots; The acquisition module is used to acquire the control information sent by the user's control device; the determination module is used to determine the robot with security threat based on the position information and control information of multiple robots; the control module is used to control the robot with security threat stop.

[0008] An embodiment of the present application also provides a server, including: at least one processor; and, a memory communicatively connected to the at least one processor; wherein, the memory stores instructions executable by the at least one processor, and the instructions are At least one processor executes to enable the at least one processor to execute the above control method.

[0009] Embodiments of the present application also provide a computer-readable storage medium that stores a computer program, and when the computer program is executed by a processor, the control method described above is implemented.

[0010] Compared with the prior art, the embodiments of the present application can accurately determine the robots with security threats among the multiple robots by acquiring the position information of multiple robots and the control information sent by the control device, and by controlling the security Stopping the threatened robot can effectively avoid the harm caused by the robot with security threats to the user, thereby improving the safety and reliability of the robot application.

[0011] For example, the control information includes location information of the user.

[0012] For example, according to the position information and control information of a plurality of robots, a robot with potential safety hazards is determined, which specifically includes: filtering out presets from the plurality of robots according to the position information of the user and the position information of the plurality of robots The robot within the range and closest to the user, and the selected robot is regarded as a robot with security threats.

[0013] For example, the control information further includes user identity information.

[0014] For example, according to the position information and control information of a plurality of robots, a robot with potential safety hazards is determined, which specifically includes: searching from a historical interaction database according to the user's identity information to determine a robot that has historical interaction information with the user ; According to the user's location information, screen out the robots with the closest historical interaction information from the robots with historical interaction information; Determine whether the robot with the closest distance and historical interaction information is within the preset range from the user, If so, the robot with the closest distance and historical interaction information is regarded as a robot with security threats, otherwise, the distance within the preset range and distance is directly selected from multiple robots based on the user's position information and the position information of multiple robots The user's nearest robot, and the selected robot is regarded as a robot with security threats. In this embodiment, first of all, according to the user's identity information, screen from the robot that has interacted with If the robots that have interacted cannot be screened for security threats, the robot closest to the user is directly selected from multiple robots, and the robot is regarded as a robot with security threats, thereby ensuring Diversity and accuracy of the manner in which robots determine security threats.

[0015] For example, the control information includes: location information of the user and an absolute direction pointed by the control device.

[0016] For example, according to the position information and control information of a plurality of robots, a robot with potential safety hazards is determined, which specifically includes: determining a threatened area according to the user’s position information and the absolute direction pointed by the control device; according to the user’s position The information identifies the robot that is closest to the user in the area where there is a threat; the robot that is closest to it is regarded as a robot with security threats. In this embodiment, the threatened area is first determined, and then the robot closest to the user is found in the threatened area, and the robot is regarded as a robot with a security threat, thereby further narrowing the search range and ensuring the threat The robot determines the accuracy.

[0017] For example, determining a threatened area according to the user’s position information and the absolute direction pointed by the control device, specifically including: the user’s position is taken as the apex, the absolute direction pointed by the control device is taken as the axis, and the preset angle is the apex angle. Conical space; Use conical space as a threatened area.

[0018] For example, after the robot with the closest distance is regarded as a robot with a security threat, it further includes: if it is determined that the robot with a security threat is not within the user's visual range based on the pre-stored three-dimensional map information, the control method is re-executed. In this embodiment, if it is determined that the robot with a security threat is not within the user's visual range according to the three-dimensional map, by re-executing the control method, the situation of misjudgment is avoided, and the security of the robot application is further improved.

[0019] For example, the user's location information further includes: the user's latitude and longitude information and altitude information.

[0020] For example, after acquiring position information of a plurality of robots, the method further includes: performing a marking operation on the designated robot; excluding the marked robot, where the marked robot is a robot whose safety meets preset requirements. In this embodiment, by marking and excluding robots deemed safe by the user, the speed of finding robots with security threats is increased.

[0021] For example, controlling a robot with a security threat to stop includes specifically: sending a suspension instruction to the robot with a security threat; controlling the robot with a security threat to stop within a preset time according to the suspension instruction

Beneficial effects of invention Brief description of the drawings

BRIEF DESCRIPTION

[0022] One or more embodiments are exemplified by the pictures in the corresponding drawings, and these exemplary descriptions do not constitute limitations on the embodiments, and elements with the same reference numerals in the drawings are expressed as similar Unless otherwise stated, the figures in the drawings do not constitute a scale limitation.

[0023] FIG. 1 is a flowchart of a control method according to the first embodiment of the present application;

[0024] FIG. 2 is a schematic diagram of an application scenario of the control method according to the first embodiment of the present application;

[0025] FIG. 3 is a schematic diagram of a manner of determining a threatened area according to the first embodiment of the present application;

[0026] FIG. 4 is a flowchart of a control method according to a second embodiment of the present application;

[0027] FIG. 5 is a block schematic diagram of a control device according to a third embodiment of the present application;

[0028] FIG. 6 is a block schematic diagram of a control device according to a fourth embodiment of the present application;

[0029] FIG. 7 is a schematic structural diagram of a server according to a fifth embodiment of the present application.

Invention Example

Embodiments of the invention

[0030] In order to make the purpose, technical solutions and advantages of the present application more clear, the following describes some embodiments of the present application in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application, and are not used to limit this application.

[0031] The first embodiment of the present application relates to a control method, which is applied to a server. The specific process is shown in Figure 1, and includes the following steps:

[0032] Step 101: Acquire position information of multiple robots.

[0033] Specifically, a schematic diagram of an application scenario of this embodiment is shown in FIG. 2, multiple robots within the control range of the server communicate with the server in real time, so the server can obtain position information of multiple robots in real time, The position information of all robots can be updated in real time in the server, and the server can also send instructions to multiple robots, so that the robots can perform corresponding operations according to the instructions. The specific number of robots is not limited in this embodiment, as long as the robots are registered in the server, they are all within the protection scope of this application.

[0034] Step 102: Obtain control information sent by a user's control device.

[0035] Specifically, in this embodiment, two buttons, a first button and a second button, may be provided on the control device Button, when the user finds a robot that may have a security threat, and the robot is relatively close to the user, the user has no time to point the control device to the robot that may have a security threat, the user can trigger the first button to enable the server to obtain the control information sent by the control device At this time, the control information includes the user's location information and the user's identity information. When the robot with a security threat is far from the user, the user can point the control device to the robot with a security threat, and the server can also obtain the control information sent by the control device by triggering the second button. The control information at this time is Including the user's location information and the absolute direction the control device is pointing. Regardless of the key triggering method, the user's location information acquired by the server from the control device includes the user's latitude and longitude information and altitude information, and the user's identity information is stored in the control device in advance.

[0036] In this embodiment, the server may use wireless transmission to obtain control information sent by the control device, for example, signal transmission through WIFI communication or signal transmission through Bluetooth communication, which is not limited in this embodiment. The specific technology of wireless transmission is within the protection scope of this application as long as the server can obtain the control information sent by the user's control device.

[0037] Step 103: According to the position information and control information of multiple robots, determine a robot with a security threat.

[0038] Specifically, in this embodiment, since the specific content of the control information acquired by the server is different, according to the position information and control information of multiple robots, a specific implementation manner of determining a robot with a security threat will also have The difference. And the user's location information includes the user's latitude and longitude information and altitude information, because the processor pre-stores the robot and the user's three-dimensional map information within the user's range of motion, so the user's position in the three-dimensional map can be accurately determined according to the user's location information Coordinate position.

[0039] In one embodiment, when the control information acquired by the server includes the user's location information, the server will then according to the user's location information, that is, the user's coordinate position in the three-dimensional map, and the location information of multiple robots, The robots closest to the user within a preset range are selected from multiple robots, and the selected robots are regarded as robots with security threats.

[0040] For example, when the control information acquired by the server includes the user's location information and the user's identity information, the server will first search the historical interaction database according to the user's identity information to determine the existence of historical interaction information with the user Robot. For example, it can be determined that the robot has historical interaction information within a preset time. For example, if the preset time is set to 5 seconds, then it can be determined that the robot is stored with the user within 5 seconds. Robot with interactive information in history. Then, according to the user's position information, that is, the user's coordinate position in the three-dimensional map, the robots with the closest historical interaction information are selected from the robots with historical interaction information. Whether the distance between them is within a preset range, and if it is within a preset range, the robot with the closest distance and historical interaction information is regarded as a robot with security threats. For example, the preset range is set to 5 meters, and assuming that the distance between the selected robot and the user is within ₅ meters, the selected robot is regarded as a robot with security threats. However, when the distance between the robot with the closest distance and historical interaction information and the user is not within the preset range, for example, the distance between the robot with the closest distance and historical interaction information and the user is more than 5 meters, according to the user The position information of the user is the coordinate position of the user in the three-dimensional map, and the position information of multiple robots. The robot closest to the user within the preset range is directly selected from the multiple robots, and the selected robot is regarded as a security threat. Robot.

[0041] It should be noted that, in this embodiment, the server will also monitor the user's operation behavior based on the user's identity information, and if the user is found to maliciously manipulate the robot, the user's identity information will be added to the blacklist, For example, if it is found that a user stops the robot more than the preset number of times within a preset time, and the server checks the information of the robot specified by the user to determine that the robot is operating normally, it will add the user's identity information to the blacklist When the user's control device sends information to the server again, the server blocks the information sent by the user's terminal device.

[0042] In another embodiment, the control information acquired by the server includes the location information of the user and the absolute direction pointed by the control device. At this time, the server will determine the threat zone in the three-dimensional map according to the user's position information and the absolute direction pointed by the control device, and determine the robot closest to the user in the threat zone according to the user's position information. The most recent robot is a robot with security threats. As shown in FIG. 3, it is a schematic diagram of a method for determining a threatened area. In the coordinate system where the three-dimensional map has been constructed, the user's position in the three-dimensional map coordinate system is determined. Point A in the figure is the user's position. The solid line To control the absolute direction pointed by the device, the user's position A is taken as the apex, the absolute direction pointed by the control device is the axis, and the preset angle a is the apex angle to construct a tapered space. The specific value of a can be determined by the user according to the accuracy requirements Make your own determination, for example, it can be 5 degrees or 10 degrees, and use the conical space finally determined as a threatened area.

[0043] It should be noted that in this embodiment, the robot with the shortest distance is regarded as a machine with security threats After the robot, if it is determined that the robot with a security threat is not within the user's visual range based on the pre-stored three-dimensional map information, the control method is re-executed.

[0044] For example, the finally determined robot with a security threat is B, but it is determined according to the three-dimensional map information that there is a wall between the user and the robot _B. At this time, the robot B is not within the user's visual range, so this The judgment result at the time does not meet the actual needs. In this case, the control method will be re-executed to obtain a robot with safety threats that meets the requirements.

[0045] Step 104: Control the robot with a security threat to stop.

[0046] Specifically, in this embodiment, after a robot with a security threat is determined, the server sends a suspension instruction to the robot with a security threat, and controls the robot with a security threat to stop within a preset time according to the suspension instruction . By controlling the stopping of robots with security threats, it is possible to effectively avoid the security threats that robots may pose to users.

[0047] Wherein, the preset time in this embodiment can be set according to user needs, for example, can be set to 1 second or 2 seconds, in this embodiment does not limit the specific value of the preset time.

[0048] Compared with the prior art, the control method provided in this embodiment can accurately determine the robots with security threats among the multiple robots by acquiring the position information of multiple robots and the control information sent by the control device, by Controlling the stop of robots with security threats can effectively avoid the harm caused by robots with security threats to users, thereby improving the safety and reliability of robot applications.

[0049] The second embodiment of the present application relates to a control method. This embodiment is further improved on the basis of the first embodiment, and the specific improvement is that: after acquiring position information of a plurality of robots, a marking operation is added to the designated robot, and the marked robot is excluded. The flow of the control method in this embodiment is shown in FIG. 4. Specifically, in this embodiment, steps 201 to 206 are included, where step 201 is substantially the same as step 101 in the first embodiment, and steps 204 to 206 are substantially the same as steps 102 to 104 in the first embodiment. The details will not be repeated here, and the differences are mainly introduced below. For technical details not described in detail in this embodiment, reference may be made to the control method provided in the first embodiment, and details are not described here.

[0050] After step 201, step 202 is executed.

[0051] Step 202: Perform a marking operation on the designated robot.

[0052] Specifically, in this embodiment, the server may perform a marking operation on the robot specified by the user. In an international application, the user sends the identity code of a robot that is considered safer to the server through an instruction, and the server numbers the robot indicated by the instruction after receiving the instruction.

[0053] For example, if the server receives the robot specified by the user with the identity code 001a and the robot 006c, it encodes the robot with the identity code 001a as 1, and the robot with the identity code 006c as 2. In this embodiment, the coding is performed in the order of the numbers from small to large as an example. Of course, the labeling method may also be encoded in the order of the letters from small to large. This embodiment does not limit the specific marking method.

[0054] Step 203: Exclude the marked robot.

[0055] Specifically, in this embodiment, the server excludes the marked robot, that is, among the multiple robots, the robot that the user considers to be safe is not subject to a security threat determination, and the specific implementation manner may be multiple robots. Robots coded in are excluded from the coding order from small to large. This reduces the number of robots that the server uses to determine security threats, and increases the speed of finding robots with security threats.

[0056] Compared with the prior art, the control method provided in this embodiment can accurately determine the robots with security threats among the multiple robots by acquiring the position information of multiple robots and the control information sent by the control device, by Controlling the stop of robots with security threats can effectively avoid the harm caused by robots with security threats to users, thereby improving the safety and reliability of robot applications. By marking and excluding robots that users believe are safer, the speed of finding robots with security threats is further improved.

[0057] The step division of the above various methods is just for clarity of description, and can be combined into one step or split into some steps during implementation, and decomposed into multiple steps, as long as they include the same logical relationship, all of them are in this patent. Within the scope of protection; adding insignificant modifications to the algorithm or process or introducing insignificant designs, but not changing the core design of its algorithm and process are within the scope of protection of the patent.

[0058] The third embodiment of the present application relates to a control device, and the specific structure is shown in FIG. 5.

As shown in FIG. 5, the control device includes: a first acquisition module 301, a second acquisition module 302, a determination module 303, and a control module 304.

[0060] Wherein, the first obtaining module 301 is used to obtain position information of multiple robots.

[0061] The second obtaining module 302 is configured to obtain control information sent by the user's control device. [0062] The determining module 303 is configured to determine a robot with a security threat based on the position information and control information of multiple robots.

[0063] The control module 304 is used to control the robot with a security threat to stop.

[0064] It is not difficult to find that this embodiment is a device embodiment corresponding to the first embodiment, and this embodiment can be implemented in cooperation with the first embodiment. The relevant technical details mentioned in the first embodiment are still valid in this embodiment, and in order to reduce repetition, they will not be repeated here. Correspondingly, the relevant technical details mentioned in this embodiment can also be applied in the first embodiment.

[0065] The fourth embodiment of the present application relates to a control device. This embodiment is substantially the same as the third embodiment, and the specific structure is shown in FIG. 6. Among them, the main improvement is that: the fourth embodiment adds a marking module 305 and an exclusion module 306 on the basis of the structure of the third embodiment.

[0066] Wherein, the first acquisition module 301 is used to acquire position information of multiple robots.

[0067] The second acquiring module 302 is configured to acquire control information sent by the user's control device.

[0068] The determination module 303 is used to determine a robot with a security threat based on the position information and control information of multiple robots.

[0069] The control module 304 is used to control the robot with a security threat to stop.

[0070] The marking module 305 is used to mark the designated robot.

[0071] The exclusion module 306 is used to exclude the marked robot.

[0072] It is not difficult to find that this embodiment is a device embodiment corresponding to the second embodiment, and this embodiment can be implemented in cooperation with the second embodiment. The relevant technical details mentioned in the second embodiment are still valid in this embodiment, and in order to reduce repetition, they will not be repeated here. Correspondingly, the relevant technical details mentioned in this embodiment can also be applied in the second embodiment.

[0073] It is worth mentioning that the modules involved in this embodiment are all logical modules. In practical applications, a logical unit may be a physical unit or a part of a physical unit, or Combination of multiple physical units. In addition, in order to highlight the innovative part of this application, this embodiment does not introduce units that are not closely related to solving the technical problems proposed in this application, but this does not mean that there are no other units in this embodiment.

[0074] A fifth embodiment of the present application relates to a server, as shown in FIG. 7, including at least one processor 501; and, a memory 502 in communication connection with at least one processor 501; wherein, the memory 502 stores Instructions executed by at least one processor 501, the instructions are executed by the at least one processor 501, so that the at least one processor 501 can execute the control method in the foregoing embodiment.

[0075] In this embodiment, the processor 501 takes a central processing unit (Central Processing Unit, CPU) as an example, and the memory 502 takes a readable and writable memory (Random Access Memory, RAM) as an example. The processor 501 and the memory 502 may be connected through a bus or in other ways. In FIG. 7, the connection through a bus is used as an example. The memory 502 is a non-volatile computer-readable storage medium, and can be used to store non-volatile software programs, non-volatile computer executable programs, and modules. For example, the program for implementing the control method in the embodiment of the present application is stored Memory 502. The processor 501 executes various functional applications and data processing of the device by running non-volatile software programs, instructions, and modules stored in the memory 502, that is, implementing the above control method.

[0076] The memory 502 may include a storage program area and a storage data area, where the storage program area may store an operating system and application programs required by at least one function; the storage data area may store a list of options, and the like. In addition, the memory may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid-state storage device. In some embodiments, the memory 502 may optionally include a memory remotely set relative to the processor 501, and these remote memories may be connected to an external device through a network. Examples of the above network include but are not limited to the Internet, intranet, local area network, mobile communication network, and combinations thereof.

[0077] One or more program modules are stored in the memory 502, and when executed by one or more processors 501, execute the control method in any of the above method embodiments.

[0078] The above products can perform the method provided in the embodiments of the present application, and have the corresponding functional modules and beneficial effects of the execution method. For technical details not described in detail in this embodiment, please refer to the methods provided in the embodiments of the present application.

[0079] The sixth embodiment of the present application relates to a computer readable storage medium, the computer readable storage medium stores a computer program, the computer program when executed by the processor can implement any method embodiment of the present application involved Control Method.

[0080] Those skilled in the art can understand that all or part of the steps in the method of the above embodiments can be completed by instructing relevant hardware through a program, which is stored in a storage medium and includes several instructions to make a device (Can be a microcontroller, chip, etc.) or a processor (processor) to execute this application All or part of the steps of the method described in each embodiment. The aforementioned storage media include: U disk, removable hard disk, read-only memory (ROM, Read-Only

Memory), Random Access Memory (RAM, Random Access Memory), magnetic disk or CD-ROM and other media that can store program code.

[0081] Persons of ordinary skill in the art may understand that the above embodiments are specific embodiments for implementing the present application, and in practical applications, various changes may be made in form and details without departing from the present application Spirit and scope.

Claims

[Claim 1] A control method, wherein the application to the server includes:

Obtain the position information of multiple robots;

Obtain the control information sent by the user's control device;

According to the position information of the plurality of robots and the control information, determine a robot with a security threat;

Control the robot with a security threat to stop.

[Claim 2] The control method according to claim 1, wherein the control information includes location information of the user.

[Claim 3] The control method according to claim 2, wherein the determining a robot with a safety hazard based on the position information of the plurality of robots and the control information specifically includes: according to the user’s The position information and the position information of the plurality of robots are selected from the plurality of robots within a preset range and closest to the user, and the selected robot is regarded as the robot with security threats.

[Claim 4] The control method according to claim 2, wherein the control information further includes identity information of the user.

[Claim 5] The control method according to claim 4, wherein the determining a robot with a safety hazard based on the position information of the plurality of robots and the control information specifically includes: according to the user’s The identity information is searched from the historical interaction database to determine the robot that has historical interaction information with the user;

According to the user's location information, select the robot with the closest historical interaction information from the robots with historical interaction information;

Judging whether the robot with the shortest distance and having historical interaction information is within the preset range, and if so, then the robot with the shortest distance and having historical interaction information is regarded as the safe Threatened robots, otherwise, according to the location information of the user and the location information of the multiple robots, directly select the robots within the preset range and closest to the user from the multiple robots, and Use the selected robot as the robot with security threats.

[Claim 6] The control method according to claim 1, wherein the control information includes: position information of the user and an absolute direction pointed by the control device.

[Claim 7] The control method according to claim 6, wherein the determining a robot with a potential safety hazard based on the position information of the plurality of robots and the control information specifically includes: according to the user’s The location information and the absolute direction pointed by the control device determine the threatened area;

Determine the robot that is closest to the user in the threatened area according to the user's location information;

The robot with the closest distance is regarded as the robot with security threats.

[Claim 8] The control method according to claim 7, wherein the determining a threatened area according to the user’s position information and the absolute direction pointed by the control device specifically includes: using the user’s The position is a vertex, the absolute direction pointed by the control device is an axis, and the preset angle is a vertex angle to construct a tapered space;

Use the tapered space as the threatened area.

[Claim 9] The control method according to claim 7 or 8, wherein after the robot with the closest distance is regarded as a robot with a security threat, the method further includes:

If it is determined that the robot with a security threat is not within the user's visual range based on the pre-stored three-dimensional map information, the control method is re-executed.

[Claim 10] The control method according to claim 2 or 6, wherein the location information of the user further includes

: Longitude and latitude information and altitude information of the user.

[Claim 11] The control method according to any one of claims 1 to 10, wherein, after acquiring position information of a plurality of robots, the method further includes:

Mark the designated robot;

The marked robot is excluded, wherein the marked robot is a robot whose safety meets the preset requirements.

[Claim 12] The control method according to any one of claims 1 to 11, wherein the controlling the stop of the robot with a security threat specifically includes:

Send a suspension instruction to the robot with a security threat; Controlling the robot with a security threat to stop within a preset time according to the suspension instruction.

[Claim 13] A control device, comprising: a first acquisition module, a second acquisition module, a determination module and a control module,

The first obtaining module is used to obtain position information of multiple robots;

The second obtaining module is used to obtain control information sent by a user's control device; the determining module is used to determine a robot with a security threat based on the position information of the multiple robots and the control information;

The control module is configured to control the robot with a security threat to stop.

[Claim 14] A server, which includes

At least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor, In order to enable the at least one processor to execute the control method according to any one of claims 1 to 12.

[Claim 15] A computer-readable storage medium storing a computer program, wherein when the computer program is executed by a processor, the control method according to any one of claims 1 to 12 is realized.