CN110462574A

CN110462574A - Control method, control equipment, control system and computer readable storage medium

Info

Publication number: CN110462574A
Application number: CN201880011996.2A
Authority: CN
Inventors: 杨川; 郭亚男
Original assignee: SZ DJI Technology Co Ltd
Current assignee: SZ DJI Technology Co Ltd
Priority date: 2018-03-23
Filing date: 2018-03-23
Publication date: 2019-11-15
Also published as: WO2019178863A1

Abstract

The application proposes a kind of control method, applied to control equipment, the described method includes: generating selection region according to the first operation in map, the map is used to show the mark of at least one controlled plant, and the mark is for corresponding to the location information of at least one controlled plant transmission；In the mark, selection meets the target identification of preset relation with the selection region, and the target identification is used to indicate the target controlled plant at least one described controlled plant.According to an embodiment of the present application, it may be implemented to select the corresponding multiple controlled plants of multiple marks by generating selection region, and then it can according to need and the controlled plant of selection is controlled, user controls multiple controlled plants by a control equipment, improves control efficiency.

Description

Control method, control device, control system, and computer-readable storage medium

Technical Field

The present application relates to the field of control technologies, and in particular, to a control method, a control apparatus, a control system, and a computer-readable storage medium.

Background

The existing remote controller controlled robot generally can only realize one-to-one control, for example, a communication connection is established between one remote controller and one robot, a user operates on the remote controller to generate a control signal, the remote controller sends the control signal to the robot, and the robot receives the control signal of the remote controller and executes an action according to the control signal.

According to the current control mode, a user can only control one robot through one remote controller, and the control efficiency is low.

Disclosure of Invention

The application provides a control method, a control apparatus, a control system, and a computer-readable storage medium.

According to a first aspect of an embodiment of the present application, a control method is provided, which is applied to a control device, and includes:

generating a selection area according to a first operation in a map, wherein the map is used for displaying an identifier of at least one controlled device, and the identifier is used for corresponding to position information transmitted by the at least one controlled device;

and selecting a target identifier which meets a preset relation with the selection area from the identifiers, wherein the target identifier is used for indicating a target controlled device in at least one controlled device.

According to a second aspect of embodiments of the present application, there is provided a control device comprising a processor configured to perform the steps of:

According to a third aspect of embodiments of the present application, a control system is provided, which includes a control device and at least one controlled device, at least one controlled device being configured to transmit position information to the control device;

the control device is used for generating a selection area according to a first operation in a map, the map is used for displaying an identifier of at least one controlled device, and the identifier is used for corresponding to position information transmitted by the at least one controlled device;

the control device is configured to select, from the identifiers, a target identifier that satisfies a preset relationship with the selection area, where the target identifier is used to indicate a target controlled device in the at least one controlled device.

According to a fourth aspect of embodiments of the present application, a computer-readable storage medium is provided, in which program instructions are stored, and the program instructions are executed by a processor to perform the method of the first aspect.

According to the technical scheme provided by the embodiment of the application, the first operation is executed in the map displayed on the screen to generate the selection area, whether the controlled equipment corresponding to the identification is selected or not can be determined according to the relation between the identification in the map and the selection area, and because a plurality of identifications and the selection area can simultaneously meet the preset relation, the selection of a plurality of controlled equipment corresponding to a plurality of identifications through the generation of the selection area can be realized, and further, the selected controlled equipment can be controlled as required, so that a user can control the plurality of controlled equipment through one control device, and the control efficiency is improved.

In addition, the identifier corresponding to the position information of the controlled equipment is displayed in the map, so that the position of the controlled equipment and the position relation between different controlled equipment can be intuitively determined by a user, and the user can conveniently control the controlled equipment subsequently.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive labor.

FIG. 1 is a schematic flow chart diagram illustrating a control method according to one embodiment of the present application;

FIG. 2 is a schematic flow chart diagram illustrating a generation of a selection area based on a first operation in a map according to one embodiment of the present application;

FIG. 3A is a schematic flow chart diagram illustrating the generation of a selection region from a start position and an end position according to one embodiment of the present application;

FIGS. 3B and 3C are schematic diagrams illustrating a generation selection area according to one embodiment of the present application;

FIG. 4A is another schematic flow chart diagram illustrating the generation of a selection region from a start position and an end position according to one embodiment of the present application;

FIGS. 4B and 4C are schematic diagrams illustrating another generation selection region according to one embodiment of the present application;

FIG. 5A is another schematic flow chart diagram illustrating generating a selection area based on a first operation in a map according to one embodiment of the present application;

FIGS. 5B and 5C are schematic diagrams illustrating yet another generation selection region according to an embodiment of the present application;

FIG. 6 is a schematic flow chart diagram illustrating another control method according to one embodiment of the present application;

FIG. 7 is a schematic flow chart diagram illustrating a transmission of control instructions to a target controlled device according to a second operation according to one embodiment of the present application;

FIG. 8 is a schematic flow chart diagram illustrating a transmission of control instructions to a target controlled device according to a second operation in a map according to one embodiment of the present application;

FIG. 9 is a schematic flow chart diagram illustrating a determination of a target location of the target controlled device movement based on a second operation in the map according to one embodiment of the present application;

fig. 10 is a hardware configuration diagram of a control device according to an embodiment of the present application.

Detailed Description

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application. In addition, the features in the embodiments and the examples described below may be combined with each other without conflict.

Fig. 1 is a schematic flow chart diagram illustrating a control method according to one embodiment of the present application. As shown in fig. 1, the control method may be applied to a control apparatus, which may be used to control a controlled apparatus. The controlled device may be a robot, an unmanned aerial vehicle, or the like, and the control device may be a remote controller, a mobile terminal, or the like.

As shown in fig. 1, the control method may include the steps of:

step S1, generating a selection area according to a first operation in a map, where the map is used to display an identifier of at least one controlled device, and the identifier is used to correspond to the location information transmitted by the at least one controlled device.

In one embodiment, a display screen may be provided on the control device, in which a map may be displayed.

The map may be generated by the controlled device, and the controlled device transmits the map to the control device after generating the map, for example, a laser sensor is disposed on the controlled device, and the environment where the controlled device is located is scanned by the laser sensor, so that the map of the environment may be generated.

The map may also be acquired by the control device from a server, for example, the server stores maps of a plurality of areas in advance, the control device may acquire the position of the controlled device and transmit the position of the controlled device to the server, and the server determines the area where the controlled device is located according to the position of the controlled device and further transmits the map of the area to the control device.

In one embodiment, the first operation may be an operation of clicking a virtual key in the map, or may be a touch operation in the map, such as a clicking operation or a sliding operation. The first operation may be performed by the user directly performing touch control with a finger, may be performed by the mouse, and may also be performed by another touch object (such as a stylus pen).

For example, the first operation is an operation of clicking a virtual key in a map, the map may be composed of a plurality of blocks, each block corresponds to a different number, a virtual key corresponding to the number of the block may be displayed in the map, and the block corresponding to the number may be used as a selection area by clicking one or more numbers.

For example, if the first operation is a sliding operation in a map, the sliding operation of the user may be sensed by a touch sensor in the display screen, a start point and an end point of the sliding operation may be determined, and a quadrangle with the start point and the end point as diagonal points may be generated as the selection area.

The following embodiment is mainly exemplified in the case where the first operation is a slide operation or a click operation.

In one embodiment, the controlled device may transmit its own location information to the control device, and the control device may generate an identifier corresponding to the location information in the map according to the location information of the controlled device.

The generated identifier may be a point without an area, or may be a graph with an area, for example, a graph corresponding to an edge shape of the controlled device when the controlled device is viewed from the side or top.

By displaying the identifier corresponding to the position information of the controlled equipment in the map, the user can intuitively determine the position of the controlled equipment and the position relation between different controlled equipment, so that the user can conveniently control the controlled equipment subsequently.

Further, when the identifiers corresponding to the multiple controlled devices are displayed on the map, the shapes, colors, photoelectric information and the like of the identifiers may be different to have various expressions to sufficiently indicate the identity information (such as functions, roles and the like) of the controlled devices, for example, when the multiple controlled devices are robots competing with each other, the identifiers corresponding to the competing robots may be marked with different colors, such as red for the team a robot and blue for the team B robot, and for example, when the team a or the team B robots include robots with different functions, the robots with the same function may perform the same marking change on the basis of the color, such as a certain functional robot of the team a may be displayed in red and flash.

And step S2, selecting a target identifier satisfying a preset relationship with the selection area from the identifiers, wherein the target identifier is used for indicating a target controlled device in at least one controlled device.

In one embodiment, the control device may determine the relationship between the identifier and the selection area according to the position of the identifier in the display screen, for example, may determine the position of a first pixel of the displayed identifier in the screen, and determine the position of a second pixel corresponding to the boundary of the selection area in the screen, and further determine the relationship between the identifier and the selection area according to the relationship between the first pixel and the second pixel.

In one embodiment, the control device may determine the relationship between the identifier and the selected area based on map coordinates identified in the map, for example, may determine first map coordinates of the displayed identifier and determine second map coordinates corresponding to a boundary of the selected area, and further determine the relationship between the identifier and the selected area based on the relationship between the first map coordinates and the second map coordinates.

In an embodiment, the control device may determine the relationship between the identifier and the selection area according to an environment coordinate where the identifier corresponds to an actual environment where the controlled device is located, for example, may determine a first environment coordinate where the displayed identifier corresponds to the actual environment where the controlled device is located, determine a second environment coordinate where a boundary of the selection area corresponds to the actual environment where the controlled device is located, and further determine the relationship between the identifier and the selection area according to the relationship between the first environment coordinate and the second environment coordinate.

In one embodiment, the control device may determine the relationship between the identifier and the selection area according to an overlapping relationship between a graphic corresponding to the position of the identifier and the selection area, for example, may determine a first boundary coordinate of a graphic corresponding to the displayed identifier and a second boundary coordinate corresponding to a boundary of the selection area, and further determine the relationship between the identifier and the selection area according to the overlapping relationship between the first boundary coordinate and the second boundary coordinate.

Wherein identifying a relationship to the selection region may include at least one of: the identification is completely positioned in the selection area, the identification is completely positioned outside the selection area, the identification part is positioned in the selection area, the preset part of the identification is positioned in the selection area, and the preset part of the identification is positioned outside the selection area. The preset relationship can be selected from the above relationships as required.

For example, the preset relationship is that all the identifiers are located in the selection area, and when it is determined that all the identifiers are located in the selection area, it may be determined that the identifiers and the selection area satisfy the preset relationship, that is, the identifiers are target identifiers, and the target identifiers are used to indicate target controlled devices in at least one of the controlled devices, so that the target controlled devices may be selected by selecting the target identifiers. The target identifiers may include one or more than one, and each of the target identifiers may correspond to one target controlled device.

Therefore, according to the embodiment of the application, the selection area can be generated by executing the first operation in the map displayed on the screen, and whether the controlled equipment corresponding to the identification is selected or not is determined according to the relation between the identification in the map and the selection area.

Of course, it is understood that, in practical applications, after one or more controlled devices are determined by the selection area, the one or more controlled devices may not be controlled, for example, the one or more controlled devices may be notified to other controlled devices, so that the other controlled devices initiate corresponding actions to the one or more controlled devices.

Optionally, the preset relationship comprises at least one of:

the identification is completely positioned in the selection area, the identification is completely positioned outside the selection area, the identification part is positioned in the selection area, the preset part of the identification is positioned in the selection area, and the preset part of the identification is positioned outside the selection area.

In one embodiment, in the case of a point identified as having no area, the relationship between the identifier and the selection region includes two cases, that is, the identifier is located entirely within the selection region and the identifier is located entirely outside the selection region, and the preset relationship may be selected from the two cases as needed.

For the case that the identifier coincides with the boundary of the selection area, the case can be attributed as that the identifier is all located in the selection area or the identifier is all located outside the selection area as required.

In an embodiment, in the case that the identifier is a graphic with an area, the relationship between the identifier and the selection area may include five cases that the identifier is all located inside the selection area, the identifier is all located outside the selection area, the identifier is partially located inside the selection area, the preset part of the identifier is located inside the selection area, and the preset part of the identifier is located outside the selection area, and the preset relationship may be selected from the five cases as needed.

It should be noted that, the fact that the identification portion is located in the selection area and the fact that the preset portion of the identification is located in the selection area are different concepts, the fact that the identification portion is located in the selection area means that any portion of the identification is located in the selection area, and the fact that the preset portion of the identification is located in the selection area means that a designated portion (which may be preset) of the identification is located in the selection area.

For two situations that the preset part of the identifier is located in the selection area and the preset part of the identifier is located outside the selection area, which part of the identifier is located in the selection area or outside the selection area is specifically determined, and the preset part can be preset according to needs, for example, the preset part is the center of the identifier, so that whether the center of the identifier is located in the selection area or not can be determined.

Based on the description of the above relationship, in practical applications, when the area of the map is too large, the identifiers corresponding to the multiple controlled devices may have uneven distribution in the map, and in order to facilitate the first operation of the user on the map, the preset relationship may preferably be at least one of the identifiers being located entirely in the selection area, the identifier being located partially in the selection area, and the preset identifier being located in the selection area. Of course, when the identifiers of the non-target controlled devices are distributed more intensively and the target controlled devices are more, one or more controlled devices corresponding to the identifiers outside the selection area may also be taken as the target controlled devices as required, and at this time, preferably, the preset relationship may be that all the identifiers are located outside the selection area or the preset part of the identifiers is located outside the selection area.

FIG. 2 is a schematic flow chart diagram illustrating a method for generating a selection area based on a first operation in a map according to one embodiment of the present application. As shown in fig. 2, on the basis of the embodiment shown in fig. 1, the generating of the selection area according to the first operation in the map includes:

step S11, determining a start position and an end position of a first operation in a map;

step S12, generating a selection area according to the start position and the end position.

In one embodiment, the first operation may be sensed by a touch sensor in a display screen of the control device, and a start position and an end position of the first operation may be recorded. For example, if the first operation is a sliding operation, the position where the user's finger touches the display screen is a starting position, and the position where the user's finger leaves the display screen is an ending position; for example, if the first operation is a click operation, the location where the user clicks the display screen for the first time is the start location, and the location where the user clicks the display screen for the last time (e.g., if the user clicks the screen twice, then the last time is the second time) is the end location.

In one embodiment, there may be a plurality of ways to generate the selection region with the start position and the end position, for example, a selection region that may generate a rectangle with the start position and the end position as diagonal points, for example, a selection region that may generate a circle with the diameter from the start position to the end position. The specific selection of the method for generating the selection area can be preset according to the requirement.

FIG. 3A is a schematic flow chart diagram illustrating a generation of a selection region from a start position and an end position according to one embodiment of the present application. As shown in fig. 3A, on the basis of the embodiment shown in fig. 2, the generating a selection area according to the starting position and the ending position includes:

step S121, generating a selection region with the start position and the end position as diagonal points.

Fig. 3B and 3C are schematic diagrams illustrating a generation selection area according to an embodiment of the present application. As shown in fig. 3B, for example, the first operation is a touch operation, and the screen displaying the map may identify a start position and an end position of the touch operation.

Further, as shown in fig. 3C, a selection region having the start position and the end position as diagonal points may be generated. It should be noted that the selection area is not limited to the rectangle shown in fig. 3C, and may be other diamond shapes, even hexagonal shapes or octagonal shapes, and the selection area of which shape is specifically generated may be set according to needs.

FIG. 4A is another schematic flow chart diagram illustrating generating a selection region based on a start position and an end position according to one embodiment of the present application. As shown in fig. 4A, on the basis of the embodiment shown in fig. 2, the generating a selection area according to the starting position and the ending position includes:

step S122, a selection area having a diameter from the start position to the end position is generated.

Fig. 4B and 4C are schematic diagrams illustrating another generation selection region according to an embodiment of the present application. As shown in fig. 4B, for example, the first operation is a touch operation, and the screen displaying the map may identify a start position and an end position of the touch operation.

Further, as shown in fig. 4C, a selection area having a diameter from the start position to the end position may be generated. It should be noted that the selection area is not limited to the circular shape shown in fig. 4C, and may be other semicircular shapes, even a sector shape, and the selection area of which shape is specifically generated may be set as needed.

It should be noted that the manner of generating the selection area is not limited to the manner described in the above embodiments, and the specific manner may be flexibly set as needed.

FIG. 5A is another schematic flow chart diagram illustrating generating a selection region based on a first operation in a map according to one embodiment of the present application. As shown in fig. 5A, on the basis of the embodiment shown in fig. 1, the generating a selection area according to the first operation in the map includes:

step S13, determining an operation track of a first operation in the map;

and step S14, taking the area formed by the operation track as a selection area.

In one embodiment, if the starting position and the ending position of the first operation coincide, that is, the operation track of the first operation in the map is a closed graph, the area formed by the operation track may be determined as the selection area.

It should be noted that the embodiment shown in fig. 5A and the embodiment shown in fig. 2 may be combined with each other, and the touch sensor in the display screen may record both the start position and the end position of the first operation and the operation track of the first operation, for example, when the start position and the end position are not overlapped, the selection area is generated according to the start position and the end position, for example, when the start position and the end position are overlapped, the selection area is generated according to the operation track.

In one embodiment, the selection area includes an enclosed area formed by being surrounded by the operation trajectory itself, or an enclosed area formed by being surrounded by a boundary of the operation trajectory and the map. When the user executes the first operation on the boundary of the map, the first operation can be matched with the boundary of the map, and a closed area formed by the operation track and the boundary of the map is used as the selection area, so that the operation mode for generating the selection area is simplified.

It is understood that the operation track may be formed by a continuous sliding operation, or may be formed by a breakpoint operation within a preset time period, for example, a plurality of breakpoints are connected to form the operation track, and is not limited in particular herein.

Fig. 5B and 5C are schematic diagrams illustrating yet another generation selection region according to an embodiment of the present application. As shown in fig. 5B, for example, the first operation is a touch operation, and the screen displaying the map may recognize an operation trajectory of the touch operation, and may determine whether the operation trajectory intersects with a boundary of the map. Further, as shown in fig. 5C, for example, the operation trajectory intersects with the boundary of the map, the closed region formed by the operation trajectory and the boundary of the map may be used as the selection region.

FIG. 6 is a schematic flow chart diagram illustrating another control method according to one embodiment of the present application. As shown in fig. 6, on the basis of the embodiment shown in fig. 1, the control method further includes:

and step S3, transmitting a control instruction to the target controlled device according to the second operation.

In one embodiment, the user may implement the second operation in a variety of ways, for example, the user may click on a location in the map to implement the second operation; the second operation may be implemented, for example, by clicking a physical button on the control device; the second operation may be implemented, for example, by inputting corresponding content, which may include, but is not limited to, gestures, voice, characters.

In one embodiment, the relationship between the control instruction and the second operation may be preset, for example, different control instructions may be generated according to different second operations, for example, the same control instruction may be generated according to different second operations. The generated control instruction may be various, for example, the control instruction may be used to instruct the controlled device to move to a certain position, for example, the control instruction may be used to instruct the controlled device to start or shut down.

Fig. 7 is a schematic flow chart diagram illustrating a transmission of a control instruction to a target controlled device according to a second operation according to an embodiment of the present application. As shown in fig. 7, based on the embodiment shown in fig. 6, the transmitting a control instruction to the target controlled device according to the second operation includes:

step S31, transmitting a control instruction to the target controlled device according to the second operation in the map.

In one embodiment, the second operation in the map may include a click operation, a slide operation, or the like. Taking the sliding operation as an example, the starting position of the sliding operation may be the selected target identifier, then the path corresponding to the track of the sliding operation in the actual environment is taken as the motion path, the ending position of the sliding operation in the actual environment is taken as the target position, and the control instruction is used to instruct the target controlled device to move from the current position to the target position according to the motion path.

It is to be understood that, in this embodiment, when the second operation is a sliding operation, the motion path of the target controlled device may not be a path corresponding to the trajectory of the sliding operation in the actual environment, for example, the motion path may be generated according to the start position and the end position of the sliding operation, and is not specifically limited herein.

It should be noted that the control instruction is not limited to controlling the movement of the controlled device, and may also control the start, shutdown, and the like of the controlled device. In addition, the manner of transmitting the control command may be wired transmission or wireless transmission, where the wireless transmission may include infrared, bluetooth, WiFi, Near Field Communication (NFC), and the like.

Fig. 8 is a schematic flow chart diagram illustrating a transmission of a control instruction to a target controlled device according to a second operation in a map according to an embodiment of the present application. As shown in fig. 8, based on the embodiment shown in fig. 7, the transmitting of the control instruction to the target controlled device according to the second operation in the map includes:

step S311, determining a target position of the target controlled device movement according to a second operation in the map;

step S312, transmitting a control instruction to move to the target position to the target controlled device.

In one embodiment, the second operation in the map may include a click operation, a slide operation, or the like. Taking the click operation as an example, a position corresponding to the position of the click operation in the actual environment may be used as a target position, a motion path using the current position of the target controlled device as a starting point and the target position as a terminal point is generated, and the control instruction is used to instruct the target controlled device to move from the current position to the target position according to the motion path. The motion path with the current position of the target controlled device as a starting point and the target position as a middle position can be directly indicated to the target controlled device, and can also be generated by the target controlled device according to the current position and the target position.

It can be understood that, if the target position corresponding to the second operation in the map is the operation position in the map, the operation position in the map may also be transmitted to the target controlled device, and the target controlled device is instructed to move to the operation position in the map, that is, after the target controlled device receives the operation position in the map, the operation position may be converted into a corresponding position in the actual environment, and the target controlled device may move to the corresponding position in the actual environment according to its current position.

FIG. 9 is a schematic flow chart diagram illustrating a determination of a target location of the target controlled device movement based on a second operation in the map according to one embodiment of the present application. As shown in fig. 9, on the basis of the embodiment shown in fig. 8, the determining the target position of the target controlled device motion according to the second operation in the map includes:

step S3111, detecting an operation position of a second operation in the map;

step S3112, converting the operation position into a target position in the actual environment according to a corresponding relationship between the map and the actual environment in which the controlled device is located.

In one embodiment, since the second operation is performed on the map and the controlled device moves in the actual environment, the operation position of the second operation in the map may be converted into the target position in the actual environment according to the corresponding relationship between the map and the actual environment where the controlled device is located when the map is generated, so as to control the target controlled device to move to the target position in the actual environment.

Optionally, the second operation comprises one of:

single click operation, double click operation, long press operation, and slide operation.

In one embodiment, the single click operation and the sliding operation are described in the foregoing embodiments, and are not described herein again. The conditions of double-click operation and long-press operation can be similar to the conditions of single-click operation, namely, the target position is determined according to the operation position of the double-click operation or long-press operation in the map, and the target position is determined based on the double-click operation and the long-press operation, so that the situation that a user mistakenly clicks the map to mistakenly control the controlled equipment can be avoided.

In one embodiment, the map is further configured to display identity information of at least one of the controlled devices. For example, the identity information, such as ID, role, and function, for identifying the corresponding controlled device may be displayed in the vicinity of the identifier in the form of text, so that the user can quickly and accurately determine the controlled device corresponding to the identifier according to the identity information.

According to another embodiment of the present application, a control device is further provided, and related embodiments of the control device may be implemented by software, or by hardware, or by a combination of hardware and software. For example, the software implementation may be implemented by reading, by a processor, corresponding computer program instructions in the nonvolatile memory into an internal memory for execution. From a hardware aspect, as shown in fig. 10, a hardware structure diagram of the control device of the present application is shown, except for the processor, the memory, the network interface, and the nonvolatile memory shown in fig. 10, the control device in the embodiment may also include other hardware according to an actual function, which is not described again.

In one embodiment, the control device may comprise a processor for performing the steps of:

In one embodiment, the preset relationship comprises at least one of:

In one embodiment, the processor is further configured to perform:

determining a start position and an end position of a first operation in a map;

and generating a selection area according to the starting position and the ending position.

In one embodiment, the processor is further configured to perform:

and generating a selection area with the starting position and the ending position as diagonal points.

In one embodiment, the processor is further configured to perform:

generating a selection region having a diameter from the starting location to the ending location.

In one embodiment, the processor is further configured to perform:

determining an operation track of a first operation in a map;

and taking the area formed by the operation track as a selection area.

In one embodiment, the selection area includes an enclosed area formed by being surrounded by the operation trajectory itself, or an enclosed area formed by being surrounded by a boundary of the operation trajectory and the map.

In one embodiment, the processor is further configured to perform:

and transmitting a control instruction to the target controlled equipment according to the second operation.

In one embodiment, the processor is further configured to perform:

and transmitting a control instruction to the target controlled device according to the second operation in the map.

In one embodiment, the processor is further configured to perform:

determining a target position of the target controlled device movement according to a second operation in the map;

and transmitting a control instruction for moving to the target position to the target controlled equipment.

In one embodiment, the processor is further configured to perform:

detecting an operation position of a second operation in the map;

and converting the operation position into a target position in the actual environment according to the corresponding relation between the map and the actual environment of the controlled equipment.

In one embodiment, the second operation comprises one of:

In one embodiment, the map is further configured to display identity information of at least one of the controlled devices.

According to yet another embodiment of the present application, there is also provided a control system including a control device and at least one controlled device for transmitting position information to the control device;

In one embodiment, at least one controlled device may first determine its own location information and then transmit the location information to the controlling device.

For example, an Ultra Wide Band (UWB) tag may be provided on at least one controlled device, and the target controlled device may determine location information of the controlled device according to an indoor positioning algorithm. The ultra-wide band tag can be communicated with an ultra-wide band base station, and the position information of the ultra-wide band tag is determined by an indoor positioning algorithm; and determining the position information of the target controlled equipment according to the position information of the ultra-wide band tag and the position of the ultra-wide band tag on the target controlled equipment.

In one embodiment, the control device is configured to send a control instruction to the target controlled device;

and the target controlled equipment is used for executing actions according to the control instructions.

In one embodiment, the control instruction is used for instructing the target controlled device to move to a target position, and the target controlled device is used for generating a movement path according to the position information and the target position;

the target controlled device is used for moving to the target position according to the movement path.

In one embodiment, the target controlled device may generate a movement path according to the position information, that is, the current position and the target position, wherein in the process of generating the movement path, factors such as avoiding obstacles, shortest path, shortest time consumption, and the like may be considered by the target controlled device to generate a suitable movement path as needed.

In one embodiment, the target controlled device is configured to divide the motion path into a plurality of sub-paths according to a preset dividing manner;

the target controlled device is used for determining a motion parameter from a starting point to an end point of each sub-path;

the target controlled device is used for moving to the target position according to the motion parameters.

In one embodiment, the dividing manner for the motion path may be set as required, for example, for a motion path formed by a plurality of linear segments, each linear segment may be divided into a sub-path; for example, for a path including an arc segment and a straight segment, the straight segment may be divided into a sub-path, and the arc segment may be divided into a sub-path.

By dividing the motion path into a plurality of sub-paths and determining the motion parameters from the starting point to the end point for each sub-path, the algorithm for calculating the motion parameters is facilitated to be simplified, so that the target controlled device can quickly determine the motion parameters to perform the motion operation. The motion parameters may include parameters such as a motion speed and a motion direction.

In one embodiment, the target controlled device is configured to convert the motion parameters into a body coordinate system corresponding to the controlled device according to a relationship between an environment coordinate system corresponding to the motion parameters and the body coordinate system corresponding to the target controlled device;

and the target controlled equipment is used for moving to the target position according to the converted motion parameters.

In one embodiment, since the body coordinate system of the target device itself is generally different from the environment coordinate system corresponding to the motion parameter, for example, the origin position and the coordinate axis direction are different, the obtained motion parameter may be converted according to a relationship between the two coordinate systems, for example, a translation relationship and a rotation relationship, so that the target controlled device may accurately perform a motion operation according to the converted motion parameter.

The robot is characterized in that controlled equipment is taken as an example, a UWB (ultra wide band) tag can be arranged on the robot, UWB base stations can be arranged around a place where the robot is located, the UWB tag can be communicated with the UWB base stations, and then the coordinates of the robot in the place, namely the current position of the robot, can be calculated according to an indoor positioning algorithm.

The plurality of robots may transmit the respective resulting coordinates to a control device, such as a remote controller controlling the robots, such as by wireless communication. The map of the site can be displayed in advance on the remote controller, and then after the coordinates of the robot are received, the identification of the robot can be displayed on the map of the site according to the coordinates.

An operator may perform an operation in a map displayed by a remote controller, for example, perform an operation through a mouse or perform a touch operation, for example, by using a mouse operation, a mouse may be clicked at a first position, the first position is used as a starting position of the operation, the mouse is dragged to a second position, the mouse is released, the second position is used as an ending position of the operation, a selection area may be generated according to the starting position and the ending position of the operation, and the selection area intersects with an identifier in the map.

The intersection may be performed according to a position relationship between pixels in the display selection area and pixels in the display identifier in the map, and the identifier located in the selection area is determined. Or the selection area may be converted into the actual environment in which the robot is located to obtain the selection area in the actual environment, and then the selection area in the actual environment and the coordinates of the robot are intersected to determine the coordinates in the selection area in the actual environment. In any way, the target robot after intersection can be determined, and the target robot can be one robot or a plurality of robots.

After determining the target robot, the operator may further perform an operation in the map displayed by the remote controller, for example, click a certain point in the map, and then may generate a control instruction, where the control instruction is used to instruct the target robot to start from the current position of the target robot, move to an end position (i.e., a target position) corresponding to the point clicked by the operator in the actual environment, and send the control instruction to the target robot through, for example, wireless communication. When the target robot is a plurality of robots, the control instruction can be generated for each target robot.

After receiving the control instruction, the target robot may generate a movement path according to the start position and the end position, it should be noted that the movement path may also be generated by a remote controller, and then the control instruction is used to instruct the target robot to move according to the movement path generated by the remote controller. The motion path generation method can consider factors such as obstacle avoidance and shortest path.

The target robot can divide the motion path into a plurality of sub-paths, and determine the motion speed and the motion direction from the starting point to the end point of each sub-path. The robot can then move along each sub-path in turn, thereby completing the action indicated by the control instruction.

And because can once only select a plurality of target robots through generating the selection area, thereby can send control command to a plurality of target robots simultaneously, realize the control to a plurality of target robots simultaneously, especially when many parties 'robot is confrontation match in the match place, appoint the target location through controlgear, cooperate with the path planning algorithm again, can realize the purpose that one-to-many control robot moved to the target location, the feasibility of automatic intelligent robot match has been improved, let the intelligent match more nimble, more be favorable to promoting operator's operation experience.

According to another embodiment of the present application, a computer-readable storage medium is further provided, in which program instructions are stored, and the program instructions are executed by a processor to execute the control method shown in any one of the above embodiments.

The systems, devices, modules or units illustrated in the above embodiments may be implemented by a computer chip or an entity, or by a product with certain functions. For convenience of description, the above devices are described as being divided into various units by function, and are described separately. Of course, the functionality of the units may be implemented in one or more software and/or hardware when implementing the present application. As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.

The embodiments in the present specification are described in a progressive manner, and the same and similar parts among the embodiments are referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, for the system embodiment, since it is substantially similar to the method embodiment, the description is simple, and for the relevant points, reference may be made to the partial description of the method embodiment.

It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. The terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.

The above description is only an example of the present application and is not intended to limit the present application. Various modifications and changes may occur to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.

Claims

A control method is applied to a control device, and is characterized by comprising the following steps:

generating a selection area according to a first operation in a map, wherein the map is used for displaying an identifier of at least one controlled device, and the identifier is used for corresponding to position information transmitted by the at least one controlled device;

and selecting a target identifier which meets a preset relation with the selection area from the identifiers, wherein the target identifier is used for indicating a target controlled device in at least one controlled device.
The method of claim 1, wherein the preset relationship comprises at least one of:

the identification is completely positioned in the selection area, the identification is completely positioned outside the selection area, the identification part is positioned in the selection area, the preset part of the identification is positioned in the selection area, and the preset part of the identification is positioned outside the selection area.
The method according to claim 1 or 2, wherein the generating a selection area according to the first operation in the map comprises:

determining a start position and an end position of a first operation in a map;

and generating a selection area according to the starting position and the ending position.
The method of claim 3, wherein generating a selection region according to the starting location and the ending location comprises:

and generating a selection area with the starting position and the ending position as diagonal points.
The method of claim 3, wherein generating a selection region according to the starting location and the ending location comprises:

generating a selection region having a diameter from the starting location to the ending location.
The method according to claim 1 or 2, wherein the generating a selection area according to the first operation in the map comprises:

determining an operation track of a first operation in a map;

and taking the area formed by the operation track as a selection area.
The method according to claim 6, wherein the selection area comprises an enclosed area formed around the operation trajectory itself or a border of the operation trajectory and the map.
The method according to any one of claims 1 to 7, further comprising:

and transmitting a control instruction to the target controlled equipment according to the second operation.
The method of claim 8, wherein the transmitting the control instruction to the target controlled device according to the second operation comprises:

and transmitting a control instruction to the target controlled device according to the second operation in the map.
The method of claim 9, wherein the transmitting a control instruction to the target controlled device according to the second operation in the map comprises:

determining a target position of the target controlled device movement according to a second operation in the map;

and transmitting a control instruction for moving to the target position to the target controlled equipment.
The method of claim 10, wherein determining the target location of the target controlled device motion according to the second operation in the map comprises:

detecting an operation position of a second operation in the map;

and converting the operation position into a target position in the actual environment according to the corresponding relation between the map and the actual environment of the controlled equipment.
The method according to any of claims 8 to 11, wherein the second operation comprises one of:

single click operation, double click operation, long press operation, and slide operation.
The method according to any one of claims 1 to 12, wherein the map is further used to display identity information of at least one of the controlled devices.
A control device comprising a processor, wherein the processor is configured to perform the steps of:

generating a selection area according to a first operation in a map, wherein the map is used for displaying an identifier of at least one controlled device, and the identifier is used for corresponding to position information transmitted by the at least one controlled device;

and selecting a target identifier which meets a preset relation with the selection area from the identifiers, wherein the target identifier is used for indicating a target controlled device in at least one controlled device.
The control apparatus of claim 14, wherein the preset relationship comprises at least one of:

the identification is completely positioned in the selection area, the identification is completely positioned outside the selection area, the identification part is positioned in the selection area, the preset part of the identification is positioned in the selection area, and the preset part of the identification is positioned outside the selection area.
The control device according to claim 14 or 15, wherein the processor is further configured to perform:

determining a start position and an end position of a first operation in a map;

and generating a selection area according to the starting position and the ending position.
The control device of claim 16, wherein the processor is further configured to perform:

and generating a selection area with the starting position and the ending position as diagonal points.
The control device of claim 16, wherein the processor is further configured to perform:

generating a selection region having a diameter from the starting location to the ending location.
The control device according to claim 14 or 15, wherein the processor is further configured to perform:

determining an operation track of a first operation in a map;

and taking the area formed by the operation track as a selection area.
The control apparatus according to claim 19, wherein the selection area includes an enclosed area formed to be enclosed by the operation trajectory itself or an enclosed area formed to be enclosed by a boundary of the operation trajectory and the map.
The control device according to any one of claims 14 to 20, wherein the processor is further configured to perform:

and transmitting a control instruction to the target controlled equipment according to the second operation.
The control device of claim 21, wherein the processor is further configured to perform:

and transmitting a control instruction to the target controlled device according to the second operation in the map.
The control device of claim 22, wherein the processor is further configured to perform:

determining a target position of the target controlled device movement according to a second operation in the map;

and transmitting a control instruction for moving to the target position to the target controlled equipment.
The control device of claim 23, wherein the processor is further configured to perform:

detecting an operation position of a second operation in the map;

and converting the operation position into a target position in the actual environment according to the corresponding relation between the map and the actual environment of the controlled equipment.
The control apparatus according to any one of claims 21 to 24, characterized in that the second operation includes one of:

single click operation, double click operation, long press operation, and slide operation.
The control device according to any one of claims 14 to 25, wherein the map is further configured to display identity information of at least one of the controlled devices.
A control system comprising a control device and at least one controlled device, characterized in that at least one of said controlled devices is adapted to transmit position information to said control device;

the control device is used for generating a selection area according to a first operation in a map, the map is used for displaying an identifier of at least one controlled device, and the identifier is used for corresponding to position information transmitted by the at least one controlled device;

the control device is configured to select, from the identifiers, a target identifier that satisfies a preset relationship with the selection area, where the target identifier is used to indicate a target controlled device in the at least one controlled device.
The control system according to claim 27, wherein the control device is configured to send a control instruction to the target controlled device;

and the target controlled equipment is used for executing actions according to the control instructions.
The control system of claim 28, wherein the control instructions are configured to instruct the target controlled device to move to a target position, the target controlled device being configured to generate a movement path based on the position information and the target position;

the target controlled device is used for moving to the target position according to the movement path.
The control system of claim 29, wherein the target controlled device is configured to divide the motion path into a plurality of sub-paths according to a preset division;

the target controlled device is used for determining a motion parameter from a starting point to an end point of each sub-path;

the target controlled device is used for moving to the target position according to the motion parameters.
The control system according to claim 30, wherein the target controlled device is configured to convert the motion parameters into the body coordinate system corresponding to the controlled device according to a relationship between the environment coordinate system corresponding to the motion parameters and the body coordinate system corresponding to the target controlled device;

and the target controlled equipment is used for moving to the target position according to the converted motion parameters.
A computer-readable storage medium, in which program instructions are stored, which program instructions, when executed by a processor, are adapted to carry out the method of any one of claims 1 to 13.