CN112180769A - Cooperative movement method, electronic device, and computer storage medium - Google Patents
Cooperative movement method, electronic device, and computer storage medium Download PDFInfo
- Publication number
- CN112180769A CN112180769A CN202011056199.1A CN202011056199A CN112180769A CN 112180769 A CN112180769 A CN 112180769A CN 202011056199 A CN202011056199 A CN 202011056199A CN 112180769 A CN112180769 A CN 112180769A
- Authority
- CN
- China
- Prior art keywords
- cooperative
- optical signal
- action
- main control
- master
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Optical Communication System (AREA)
Abstract
The application provides a coordinated movement method, electronic equipment and a computer storage medium, and relates to the technical field of control. The method comprises the following steps: the method comprises the steps that a main control device sends an action instruction to a cooperative device, wherein the action instruction is used for indicating the cooperative action to be executed by the main control device and the cooperative device; the main control equipment transmits a first optical signal to the cooperative equipment; the main control device detects and receives a second optical signal transmitted by the cooperative device, wherein the second optical signal is transmitted aiming at the action instruction and the first optical signal, or the cooperative device executes the cooperative action after receiving the action instruction and the first optical signal; and the main control equipment executes the cooperative action after receiving the second optical signal, so that the cooperative electronic equipment can perform synchronous motion more reliably.
Description
Technical Field
The present application relates to the field of control technologies, and in particular, to a coordinated movement method, an electronic device, and a computer storage medium.
Background
In some application scenarios, it is desirable that the two robots work in concert without manual control, such as lifting simultaneously, lowering simultaneously, moving simultaneously, and so forth. In order to realize the above-mentioned cooperative work, a communication means capable of mutually communicating the current state or the control signal is required between the two devices. Currently, wireless technologies such as Wi-Fi are generally adopted for communication, as shown in fig. 1, an exemplary application scenario is shown, a device 101 and a device 102 need to lift a material 103, and in order to synchronize movement and prevent the material 103 from falling off due to tilting, the device 101 and the device 102 mutually transmit current state data such as height, speed and the like through Wi-Fi signals, so as to cooperatively lift the material 103. However, when wireless technologies such as Wi-Fi are adopted, the time delay is large, and wireless signals are easily interfered, so that high synchronous motion cannot be realized between two devices, and even a synchronous motion state may be lost when the interference is large, and a scene with high synchronization requirements on the two devices cannot be met.
Disclosure of Invention
The application provides a cooperative motion method, electronic equipment and a computer storage medium, which are used for enabling the cooperative electronic equipment to perform synchronous motion more reliably.
In order to achieve the purpose, the technical scheme is as follows:
in a first aspect, the present application provides a collaborative motion method, including: the method comprises the steps that a main control device sends an action instruction to a cooperative device, wherein the action instruction is used for indicating the cooperative action to be executed by the main control device and the cooperative device; the main control equipment transmits a first optical signal to the cooperative equipment; the main control device detects and receives a second optical signal transmitted by the cooperative device, wherein the second optical signal is transmitted aiming at the action instruction and the first optical signal, or the cooperative device executes the cooperative action after receiving the action instruction and the first optical signal; and the main control equipment executes the cooperative action after receiving the second optical signal.
In one possible implementation manner, the cooperative action is that the moving mechanisms of the main control device and the cooperative device move step-by-step by a specified distance along a specified direction at the same time until the target position is reached.
In a possible implementation manner, when the master control device performs the cooperative action, the master control device keeps transmitting the first optical signal, and when the cooperative device performs the cooperative action, the cooperative device keeps transmitting the second optical signal, wherein if the second optical signal is not received in the process that the master control device performs the cooperative action, the master control device stops performing the cooperative action, and stops transmitting the first optical signal.
In one possible implementation, after the master device performs the cooperative action, the method further includes: and the master control equipment stops transmitting the first optical signal, or transmits a third optical signal, wherein the third optical signal is used for indicating that the master control equipment completes the cooperative action.
In one possible implementation, after the master device performs the cooperative action, the method further includes: and if the second optical signal is still detected by the main control device after the preset time length is reached, or the main control device does not receive a fourth optical signal transmitted by the cooperative device within the preset time length, executing a rollback action of the cooperative action, and sending a cancellation instruction to the cooperative device, wherein the fourth optical signal is used for indicating that the cooperative device has completed the cooperative action, and the cancellation instruction is used for cancelling the action instruction.
In one possible implementation, the first light signal and/or the second light signal is a light signal presented by one or more indicator lights.
In a possible implementation manner, the determining, by the master device, that the second optical signal transmitted by the cooperative device is received includes: the method comprises the steps that a main control device collects images shot towards one or more indicator lamps; the master device recognizes the second optical signal in the image.
In one possible implementation, the first optical signal or the second optical signal includes one or more of laser light, infrared light, and visible light.
In the cooperative motion method provided by the embodiment of the application, an optical signal is used as a handshake signal of a synchronous motion between a main control device and a cooperative device, and an action instruction is sent to the cooperative device through the main control device, wherein the action instruction is used for indicating the cooperative motion to be executed; the main control equipment transmits a first optical signal to the cooperative equipment; the master control equipment determines to receive a second optical signal emitted by the cooperative equipment aiming at the action instruction and the first optical signal; the master control device performs the cooperative action to more reliably synchronize the movement between the cooperative electronic devices.
In a second aspect, the present application provides another cooperative motion method, comprising: the cooperative equipment detects and receives an action instruction sent by the main control equipment, wherein the action instruction is used for indicating the cooperative action to be executed by the main control equipment and the cooperative equipment; the cooperative equipment detects and receives a first optical signal transmitted by the main control equipment; the cooperative device transmits a second optical signal to the main control device, wherein the second optical signal is transmitted according to the action instruction, or the main control device executes the cooperative action after detecting and receiving the second optical signal according to the action instruction and the first optical signal; in the case where the second optical signal is transmitted for the action instruction, the cooperative device executes the cooperative action after receiving the action instruction; in the case where the second optical signal is transmitted for the action instruction and the first optical signal, the cooperative device performs the cooperative action after receiving the action instruction and the first optical signal.
In a third aspect, the present application provides an electronic device, comprising: a communication module; an indicator light for emitting an optical signal; the optical signal receiving module is used for receiving an optical signal; a moving mechanism for performing a cooperative action; one or more processors; one or more memories; and one or more computer programs, wherein the one or more computer programs are stored in the one or more memories, the one or more computer programs comprising instructions which, when executed by the electronic device, cause the electronic device to perform the coordinated movement method as described in the first aspect or the second aspect and possible implementations thereof.
In a possible implementation manner, the optical signal sending module includes a plurality of indicator lights, the indicator lights are arranged on the surface of the electronic device according to a preset shape, and when the instruction is executed by the electronic device, the electronic device controls the light emitting state of each indicator light respectively to present the optical signal.
In one possible implementation, the indicator light includes a light source emitting module for emitting visible light, and the light signal receiving module includes a camera for photographing the visible light.
In one possible implementation, the indicator light includes a laser transmitter, and the optical signal receiving module includes a laser receiver.
In one possible implementation, the indicator light comprises an infrared light emitter, and the optical signal receiving module comprises an infrared light receiver.
In one possible implementation, the communication module is a wireless fidelity communication module.
In a fourth aspect, the present application provides a computer storage medium comprising computer instructions which, when run on a terminal, cause the terminal to perform a method according to the first or second aspect.
It is understood that the terminal, the computer storage medium and the computer program product provided above are all used for executing the corresponding method provided above, and therefore, the beneficial effects achieved by the terminal, the computer storage medium and the computer program product may refer to the beneficial effects in the corresponding method provided above, and are not described herein again.
Drawings
FIG. 1 is a schematic diagram of an application scenario of a collaborative motion system;
fig. 2 is a schematic diagram of an electronic device in an application scenario according to an embodiment of the present application;
fig. 3 is a schematic view of an electronic device provided in an embodiment of the present application in another application scenario;
fig. 4 is a schematic flowchart of a cooperative motion method according to an embodiment of the present application;
fig. 5 is a schematic flowchart of another cooperative motion method provided in the embodiment of the present application;
fig. 6 is a schematic flowchart of another cooperative motion method provided in the embodiment of the present application;
fig. 7 is a schematic flowchart of another cooperative motion method according to an embodiment of the present application.
Detailed Description
Embodiments of the present application will be described in detail below with reference to the accompanying drawings.
The embodiment of the application provides a cooperative motion method which can be applied to a cooperative motion system. As shown in fig. 2, the cooperative motion system includes a main control device 11 and a cooperative device 21, where the main control device 11 is used as a main control device, the cooperative device 21 is used as a cooperative device, and the main control device and the cooperative device cooperate to complete a motion.
As shown in fig. 2, the main control device 11 includes a communication module 201, an indicator lamp 2021, and an optical signal receiving module 2031, and the cooperative device 21 includes a communication module 301, an indicator lamp 3021, and an optical signal receiving module 3031.
The communication module 201 and the communication module 301 are both used for communicating and transmitting the operation instruction, and in this embodiment, the communication module 201 and the communication module 301 transmit the operation instruction in a wireless manner. In particular, it may be a wireless fidelity WiFi module. As shown in fig. 2, the communication module 201 and the communication module 301 are configured to transmit and receive a wireless fidelity Wi-Fi signal (hereinafter referred to as a wireless signal) 111, and carry information to be transmitted, such as instructions, data, and the like, through the wireless signal 111.
In some alternative embodiments, the communication modules 201 and 301 may also use other wireless transmission modules such as bluetooth and infrared, or in other alternative embodiments, the communication modules 201 and 301 may also be wired transmission modules, such as serial communication interfaces, to transmit information through wired communication.
The indicator lamp 2021 and the indicator lamp 3021 are both used to send light signals, and optionally, the light signals sent by the indicator lamp 2021 and the indicator lamp 3021 may be the same or different.
Optionally, the indicator light 2021 of the main control device 11 may be an indicator light or an indicator light group including a plurality of indicator lights, when the indicator light 2021 includes a plurality of indicator lights, each indicator light may emit light of one or more colors, and the main control device 11 may control a light emitting state of each indicator light, for example, control whether each indicator light emits light, control a light emitting color of an indicator light, and the like. Alternatively, the light emitting source of the indicator lamp 2021 may include a laser emitter for emitting laser light. Alternatively, the light source of the indicator lamp 2021 may include a light source emitting module such as an LED that emits visible light. Optionally, the light emitting source of the indicator lamp 2021 may include an infrared light emitter to emit infrared light.
Similarly, the indicator light 3021 of the cooperative apparatus 21 may be provided as one indicator light or an indicator light group including a plurality of indicator lights, and the indicator light 2021 and the indicator light 3021 are not limited to the same arrangement. When the indicator light 3021 includes a plurality of indicator lights, each indicator light may emit light of one or more colors, and the cooperative device 21 may control the lighting state of each indicator light, for example, control whether each indicator light emits light, control the lighting color of the indicator light, and the like. Alternatively, the light emitting source of the indicator light 3021 may include a laser emitter for emitting laser light, and/or a light source emitting module of visible light such as an LED, and/or an infrared emitter.
In an embodiment where the indicator light 2021 of the main control device 11 includes a plurality of indicator lights, the plurality of indicator lights may be configured to be distributed on the main control device 11 in a designated arrangement manner, and the main control device 11 may emit light signals with different distribution shapes by controlling whether each indicator light emits light. The indicator light 3021 is arranged in a similar manner and will not be described in detail. This is not particularly limited by the examples of the present application.
The optical signal receiving module 2031 and the optical signal receiving module 3031 are used for receiving optical signals. In the example shown in fig. 2, the indicator light 2021 and the indicator light 3021 are each a laser transmitter, and accordingly, the optical signal receiving module 2031 and the optical signal receiving module 3031 are configured as laser receivers, the indicator light 2021 of the main control device 11 is disposed opposite to the optical signal receiving module 3031 of the cooperative device 21, and the optical signal receiving module 2031 of the main control device 11 is disposed opposite to the indicator light 3021 of the cooperative device 21, so that the laser light 112 emitted from the indicator light 2021 of the main control device 11 can be received by the optical signal receiving module 3031 of the cooperative device 21, and the laser light 113 emitted from the indicator light 3021 of the cooperative device 21 can be received by the optical signal receiving module 3021 of the main control device 11.
Optionally, in other examples, as shown in fig. 3, the cooperative motion system includes a main control device 12 and a cooperative device 22, the main control device 12 includes an optical signal emitting module 2022 having a plurality of indicator lights, where the optical signal emitting module 2022 may include a light source emitting module and/or a laser emitting module for emitting visible light; the cooperative device 22 includes an optical signal transmitting module 3022 having a plurality of indicator lamps, wherein the optical signal transmitting module 3022 may include a light source transmitting module and/or a laser transmitting module for transmitting visible light. Correspondingly, the main control device 12 further includes a camera 2032, the cooperative device 22 further includes a camera 3032, and the camera 2032 and the camera 3032 are used as optical signal receiving modules for capturing optical signals presented by the indicator light of another device (it should be noted that the camera can also capture laser light, and therefore, the indicator light of another device may include a light source such as laser light).
In the application scenario as shown and described in fig. 2 or fig. 3, the master device may execute a cooperative motion method provided in the embodiment of the present application to perform a cooperative motion with the cooperative device. Specifically, the master device may send an action instruction to the cooperative device to indicate a cooperative action to be performed by the master device and the cooperative device, and in addition, the master device may further transmit a first optical signal to the cooperative device and detect a second optical signal transmitted by the cooperative device.
It should be noted that "first" and "second" in the first optical signal and the second optical signal are not used to constitute a limitation on the transmission sequence.
The cooperative device may transmit the second optical signal after receiving the action instruction and the first optical signal, or in another alternative embodiment, the cooperative device may transmit the second optical signal after receiving the action instruction.
Correspondingly, under the condition that the cooperative device transmits a second optical signal for the action instruction and the first optical signal, the main control device can detect the second optical signal after transmitting the action instruction and the first optical signal; and under the condition that the cooperative device transmits the second optical signal according to the action instruction, the main control device can receive the second optical signal after transmitting the action instruction, and further can transmit the first optical signal.
After receiving the second optical signal, the main control device may execute a cooperative action; and the cooperative device needs to receive the action command and the first optical signal before the cooperative device can execute the cooperative action.
In addition, the step of the master device transmitting the first optical signal to the cooperative device and the step of the master device detecting the second optical signal transmitted by the cooperative device may be non-sequential (including simultaneous execution). However, in different embodiments, there is a precedence order between the steps of the main control device transmitting the first optical signal and receiving the second optical signal. Specifically, in a case where the cooperative device needs to transmit the second optical signal for the first optical signal and the action instruction, the main control device may receive the second optical signal after transmitting the first optical signal, and in a case where the cooperative device transmits the second optical signal for the action instruction, the main control device transmits the first optical signal after receiving the second optical signal. It should be noted that, when the cooperative device needs to transmit the second optical signal for the first optical signal and the action instruction, the cooperative device may perform two steps of transmitting the second optical signal and performing the cooperative action simultaneously or sequentially after determining that the first optical signal and the action instruction are received; under the condition that the cooperative device transmits the second optical signal according to the action instruction, the main control device may execute two steps of transmitting the first optical signal and executing the cooperative action simultaneously or in a non-sequential order after receiving the second optical signal.
The following further describes the cooperative movement method provided in the embodiment of the present application.
In the application scenario as shown and described in fig. 2 or fig. 3, the master device may execute a cooperative motion method as shown in fig. 4 to perform a cooperative motion with the cooperative device, where the method includes the following steps:
401. and the main control equipment sends an action instruction to the cooperative equipment.
The master device may be the master device 11 shown in fig. 2, and correspondingly, the cooperative device may be the cooperative device 21 shown in fig. 2. Alternatively, the master device may be the master device 12 shown in fig. 3, and correspondingly, the cooperative device may be the cooperative device 22 shown in fig. 2.
The master control device sends the action instruction to the cooperative device, and the action instruction can be sent by using the communication module of the master control device, and the communication module of the cooperative device can receive the action instruction. The content of the action instruction is used to indicate the cooperative action to be performed by the master device and the cooperative device, and may include at least one of the following parameters: target position, moving direction, moving speed, stepping distance, and stepping interval time, wherein the parameters that are not indicated in the action command may be parameters for which the master device and the cooperative device are preset. For example, the cooperative action may be that two devices that together lift the cargo lift 50 cm at the same time, or move 2 meters forward at the same time and step by 10 cm during the movement, and so on.
402. The master device transmits a first optical signal to the coordinating device.
After sending the action instruction, the master device and the cooperative device do not execute immediately, but the master device transmits an optical signal to the cooperative device, wherein the first optical signal or the second optical signal comprises one or more of laser, infrared light and visible light. (ii) a For example, the optical signal may be emitted by an optical signal emitting module of the main control device, and the optical signal emitting module may include one or more indicator lights, and may be in the form of a light source such as a laser or an LED. If the optical signal transmitting module includes a plurality of indicator lights, the transmitted first optical signal may be an optical signal that appears according to the arrangement of the optical signal transmitting module, for example, if there are three red lights, yellow lights, and blue lights that are vertically arranged, the first optical signal may be only a red light that is lit, or all three lights, and so on.
After the main control device transmits the first optical signal to the cooperative device, if the cooperative device detects the first optical signal by using its own optical signal receiving module and receives the action instruction through its own communication module, if the two conditions are satisfied, the cooperative device may transmit a second optical signal as a feedback to the main control device indicating that the cooperative device has received the action instruction and the first optical signal. And after the cooperative equipment determines that the two conditions are met or the second optical signal is emitted, the cooperative action indicated by the action instruction is started to be executed.
403. The main control equipment detects and receives a second optical signal emitted by the cooperative equipment aiming at the action instruction and the first optical signal;
after transmitting the first optical signal, the master device may detect whether an optical signal transmitted by the cooperative device is received. After the cooperative device transmits the second optical signal, the master device may detect the second optical signal transmitted by the cooperative device using its own optical signal receiving module, thereby determining that the cooperative device has received the action instruction and the first optical signal. Optionally, the optical signal transmitting module of the cooperative device may be a laser transmitting module, and correspondingly, the master control device receives laser light by using a laser receiver. Or, the optical signal transmitting module of the cooperative device may include a plurality of indicator lights, the color and the shape of the plurality of indicator lights may be the same or different, the plurality of indicator lights may also be arranged in a designated arrangement manner, the second optical signal may be a portion of the indicator lights that are turned on, correspondingly, the optical signal receiving module of the main control device may be a camera, the camera collects an image, and identifies the color and/or the shape and/or the on/off of the optical signal in the image to determine whether the optical signal in the image is the second optical signal, and if so, determines that the second optical signal is received.
404. And after determining that the second optical signal is received, the master control device executes the cooperative action indicated by the action instruction.
For example, if the action instruction is used to instruct forward stepping by 10 centimeters until reaching a distance of 2 meters, the master device moves forward by 10 centimeters each time after receiving the second optical signal, and the speed and interval time of the movement may be preset, or the cooperative device also performs the same cooperative action after transmitting the second optical signal, so as to achieve the purpose of cooperative movement of the master device and the cooperative device.
The process of the main control device and the cooperative device transmitting the first optical signal and the second optical signal may be regarded as the main control device and the cooperative device performing handshake using the optical signals, so that the two devices synchronously execute the timing of the cooperative action. The main control device confirms whether the cooperative device receives the action command or not by using the optical signal, so that the two devices can execute the cooperative motion synchronously under the condition of poor communication condition.
As an optional implementation manner, when the master control device performs the cooperative action, the master control device keeps transmitting the first optical signal, and when the cooperative device performs the cooperative action, the cooperative device keeps transmitting the second optical signal, so that if the second optical signal is not received in the process of the master control device performing the cooperative action, the master control device stops performing the cooperative action and stops transmitting the first optical signal, and similarly, if the first optical signal is not received in the process of the cooperative device performing the cooperative action, the cooperative action stops performing the cooperative action and stops transmitting the second optical signal. Through the optional implementation manner, whether the main control device and the cooperative device can receive the signal of the other party in real time in the cooperative motion process can be detected, if the signal cannot be received, the other party may possibly generate an error in the cooperative motion process, or the optical signal of the other party cannot be received due to some shielding, at this time, the other party stops transmitting the optical signal and the motion, so that the cooperative motion of the two parties is suspended, and the difference between the cooperative motion of the two parties is prevented from increasing.
As an optional implementation manner, after the master device and the cooperative device perform the cooperative action, the cooperative motion method may further include, after the master device performs step 404, the step of:
405. and the master control equipment stops transmitting the first optical signal, or transmits a third optical signal, wherein the third optical signal is used for indicating that the master control equipment completes the cooperative action.
Step 405 is used to inform the coordinating device that the master device has performed a completed coordinating action. An alternative notification manner is that the master device stops transmitting the first optical signal, in which case, after the step 402 transmits the first optical signal, the transmission of the first optical signal is kept until the execution of the cooperative action is completed. Another alternative notification manner is to emit a third light signal, where the third light signal may be different from, for example, if the light signal emitting module of the main control device is an indicator light capable of emitting different colors, the first light signal may be red, and the third light signal may be blue, or the light signal emitting module of the main control device may include a plurality of indicator lights, and different signals are represented by combinations of on/off of the indicator lights, colors, and the like. Optionally, the third optical signal may also be the same as the first optical signal, and at this time, the master device stops transmitting the first optical signal after performing step 402, and transmits the first optical signal again after performing step 404.
In order to avoid the master device performing an action and the cooperative device not performing an action due to a failure of various reasons, a mechanism may be established to cause the master device to rollback the performed cooperative action. In an optional implementation manner, after the master device performs step 404, the following steps may also be performed:
406. and if the main control device still detects the second optical signal after the preset time length is reached, executing a backspacing action of the cooperative action, and sending a cancellation instruction to the cooperative device.
In the case that the step 406 corresponds to the above, the cooperative device keeps transmitting after transmitting the second optical signal until the cooperative motion is executed, and the cooperative device stops transmitting the second optical signal. The main control device and the cooperative device agree in advance that the extinction of the second optical signal is used for indicating that the cooperative action is executed, and if the second optical signal can still be received by the main control device after a certain time (preset time) is reached, it indicates that the cooperative device may not execute the cooperative action, and the main control device executes the rollback action.
Alternatively, another optional implementation manner of the fallback mechanism is that after the master device performs step 404, the following steps are further performed:
407. if the master control device does not receive a fourth optical signal transmitted by the cooperative device within the preset time length, executing a rollback action of the cooperative action, and sending a cancellation instruction to the cooperative device, where the fourth optical signal is used to indicate that the cooperative device has completed the cooperative action, and the cancellation instruction is used to cancel the action instruction. The fourth optical signal may be a different signal from the second optical signal, and a specific form of the optical signal may be preset, which is not limited in this embodiment of the application.
In the cooperative motion method provided by the embodiment of the application, an optical signal is used as a handshake signal of a synchronous motion between a main control device and a cooperative device, and an action instruction is sent to the cooperative device through the main control device, wherein the action instruction is used for indicating the cooperative motion to be executed; the main control equipment transmits a first optical signal to the cooperative equipment; the master control equipment determines to receive a second optical signal emitted by the cooperative equipment aiming at the action instruction and the first optical signal; the master control device performs the cooperative action to more reliably synchronize the movement between the cooperative electronic devices.
In correspondence with the above-mentioned embodiments of step 401 to step 404, a cooperative motion method performed by a cooperative device may include the following steps as shown in fig. 5:
501. the cooperative device detects and receives an action instruction sent by the main control device and a first optical signal sent by the main control device, wherein the action instruction is used for indicating the cooperative action to be executed by the main control device and the cooperative device.
502. After receiving the action instruction and the first optical signal, the cooperative device transmits a second optical signal to the main control device, and the cooperative device executes a cooperative action. Wherein the master device performs the cooperative action after detecting and receiving the second optical signal.
Corresponding to the above-mentioned alternative embodiment including step 405, a cooperative motion method performed by a cooperative device may further include the steps of:
503. and if the cooperative device still receives the first optical signal transmitted by the main control device after the preset time length, or the cooperative device does not receive the third optical signal transmitted by the main control device within the preset time length, executing a rollback action of the cooperative action, and sending a cancellation instruction to the main control device.
Corresponding to the above-mentioned alternative embodiment including step 406, a cooperative motion method performed by a cooperative device may further include the steps of:
504. after the cooperative apparatus performs the cooperative action, the cooperative apparatus stops transmitting the second optical signal, that is, the second optical signal remains to be transmitted after step 502 until the cooperative action is performed.
Corresponding to the above-mentioned alternative embodiment including step 407, a cooperative motion method performed by a cooperative device may further include the steps of:
505. and the cooperative equipment transmits the fourth optical signal after executing the cooperative action.
Optionally, in the application scenario shown and described in fig. 2 or fig. 3, the master device may further execute an optional cooperative motion method shown in fig. 6 to perform a cooperative motion with the cooperative device, and reference may be made to the explanation of the embodiment shown in fig. 4 for a part not described in detail in the embodiment shown in fig. 6. As shown in fig. 6, the method includes the steps of:
601. and the main control equipment sends an action instruction to the cooperative equipment. The action instruction is used for indicating the cooperative action to be executed by the main control device and the cooperative device.
And the cooperative equipment transmits a second optical signal after receiving the action instruction.
602. And the main control device detects and receives a second optical signal emitted by the cooperative device aiming at the action instruction.
603. After the master control device determines that the second optical signal is received, the master control device transmits the first optical signal to the cooperative device, and the master control device executes the cooperative action. The cooperative device also performs a cooperative action after detecting and receiving the first optical signal.
Optionally, after the cooperative action is executed, the main control device may also determine whether the cooperative device has executed the cooperative action by detecting the optical signal sent by the cooperative device and using the content indicated by the pre-agreed optical signal, so as to determine whether to execute the rollback action and cancel the action instruction.
The embodiment shown in fig. 6 is similar to the embodiment shown in fig. 4, except that the sending end of the first optical signal after the master device sends the action command is different, the embodiment shown in fig. 4 is that the master device first sends the first optical signal (first optical signal), and the embodiment shown in fig. 6 is that the cooperative device first sends the first optical signal (second optical signal). The specific embodiment can be set according to specific situations, and the embodiment of the present application is not limited to this, and is only used for exemplarily explaining different implementations when an optical signal is used as a handshake signal for synchronous motion of the master control device and the cooperative device.
Accordingly, in correspondence with the above-mentioned embodiments of step 601 to step 603, a cooperative motion method performed by the cooperative device may include the following steps as shown in fig. 7:
701. the cooperative equipment detects and receives an action instruction sent by the main control equipment, wherein the action instruction is used for indicating the cooperative action to be executed by the main control equipment and the cooperative equipment;
702. after receiving the action instruction, the cooperative equipment transmits a second optical signal to the main control equipment; the main control equipment executes the cooperative action after detecting and receiving the second optical signal;
703. the cooperative equipment detects and receives a first optical signal emitted by the main control equipment aiming at the second optical signal;
704. after the cooperative device receives the first optical signal, the cooperative device performs a cooperative action.
Through the description of the above embodiments, it is clear to those skilled in the art that, for convenience and simplicity of description, the foregoing division of the functional modules is merely used as an example, and in practical applications, the above functions may be distributed by different functional modules according to needs, that is, the internal structure of the device may be divided into different functional modules to complete all or part of the above described functions. For the specific working processes of the system, the device and the module described above, reference may be made to corresponding processes in the foregoing method embodiments, which are not described herein again.
Each functional module in the embodiments of the present application may be integrated into one processing module, or each module may exist alone physically, or two or more modules are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode.
The integrated module, if implemented in the form of a software functional module and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solutions of the embodiments of the present application may be essentially implemented or make a contribution to the prior art, or all or part of the technical solutions may be implemented in the form of a software product stored in a storage medium and including several instructions for causing a computer device (which may be a personal computer, a server, or a network device) or a processor to execute all or part of the steps of the methods described in the embodiments of the present application. And the aforementioned storage medium includes: flash memory, removable hard drive, read only memory, random access memory, magnetic or optical disk, and the like.
The above description is only a specific implementation of the embodiments of the present application, but the scope of the embodiments of the present application is not limited thereto, and any changes or substitutions within the technical scope disclosed in the embodiments of the present application should be covered by the scope of the embodiments of the present application. Therefore, the protection scope of the embodiments of the present application shall be subject to the protection scope of the claims.
Claims (12)
1. A coordinated exercise method, characterized in that the method comprises:
the method comprises the steps that a main control device sends an action instruction to a cooperative device, wherein the action instruction is used for indicating the cooperative action to be executed by the main control device and the cooperative device;
the main control equipment transmits a first optical signal to the cooperative equipment;
the main control device detects and receives a second optical signal transmitted by the cooperative device, wherein the second optical signal is transmitted for the action instruction and the first optical signal, or for the action instruction, and the cooperative device executes the cooperative action after receiving the action instruction and the first optical signal;
and the main control equipment executes the cooperative action after receiving the second optical signal.
2. The method according to claim 1, wherein the cooperative motion is a movement mechanism of the master device and the cooperative device simultaneously moving a step-by-step specified distance in a specified direction until moving to a target position.
3. The method according to claim 1 or 2, wherein the master device keeps transmitting the first optical signal while the master device performs the cooperative action, and the cooperative device keeps transmitting the second optical signal while the cooperative device performs the cooperative action, wherein if the second optical signal is not received during the master device performs the cooperative action, the master device stops performing the cooperative action, and stops transmitting the first optical signal.
4. The method of claim 1, wherein after the master device performs the cooperative action, the method further comprises:
the master control device stops transmitting the first optical signal, or transmits a third optical signal, where the third optical signal is used to indicate that the master control device has completed the cooperative action.
5. The method of claim 1, wherein after the master device performs the cooperative action, the method further comprises:
if the second optical signal is still detected by the master control device after the preset duration is reached, or the master control device does not receive a fourth optical signal transmitted by the cooperative device within the preset duration, executing a rollback action of the cooperative action, and sending a cancellation instruction to the cooperative device, where the fourth optical signal is used to indicate that the cooperative device has completed the cooperative action, and the cancellation instruction is used to cancel the action instruction.
6. The method of claim 1, wherein the first light signal and/or the second light signal is a light signal presented by one or more indicator lights.
7. The method of claim 6, wherein the determining, by the master device, that the second optical signal transmitted by the cooperative device is received comprises:
the master control device collects images shot towards the one or more indicator lights;
the master device identifies the second optical signal in the image.
8. A coordinated exercise method, characterized in that the method comprises:
the cooperative equipment detects and receives an action instruction sent by a main control equipment, wherein the action instruction is used for indicating the cooperative action to be executed by the main control equipment and the cooperative equipment;
the cooperative equipment detects and receives a first optical signal transmitted by the main control equipment;
the cooperative device transmits a second optical signal to the master control device, where the second optical signal is transmitted for the action instruction, or the master control device executes the cooperative action after detecting and receiving the second optical signal for the action instruction and the first optical signal transmission;
in a case where the second optical signal is transmitted for the action instruction, the cooperative device executes the cooperative action after receiving the action instruction;
in a case where the second optical signal is transmitted for the action instruction and the first optical signal, the cooperative device performs the cooperative action after receiving the action instruction and the first optical signal.
9. An electronic device, characterized in that the electronic device comprises:
a communication module;
an indicator light for emitting an optical signal;
the optical signal receiving module is used for receiving an optical signal;
a moving mechanism for performing a cooperative action;
one or more processors;
one or more memories;
and one or more computer programs, wherein the one or more computer programs are stored in the one or more memories, the one or more computer programs comprising instructions that, when executed by the electronic device, cause the electronic device to perform the coordinated movement method of any of claims 1-8.
10. The electronic device of claim 9, wherein the optical signal transmission module comprises a plurality of indicator lights arranged in a predetermined shape on a surface of the electronic device, and when the instruction is executed by the electronic device, the electronic device controls a lighting state of each indicator light to present the optical signal.
11. The electronic device of claim 9, wherein the electronic device comprises at least one of:
the indicator lamp comprises a light source emitting module for emitting visible light, and the optical signal receiving module comprises a camera for shooting the visible light;
the indicating lamp comprises a laser transmitter, and the optical signal receiving module comprises a laser receiver;
the indicator light comprises an infrared light emitter, and the optical signal receiving module comprises an infrared light receiver.
12. A computer storage medium comprising computer instructions that, when executed on an electronic device, cause the electronic device to perform the method of any of claims 1-8.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011056199.1A CN112180769B (en) | 2020-09-29 | 2020-09-29 | Cooperative movement method, electronic device, and computer storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011056199.1A CN112180769B (en) | 2020-09-29 | 2020-09-29 | Cooperative movement method, electronic device, and computer storage medium |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112180769A true CN112180769A (en) | 2021-01-05 |
| CN112180769B CN112180769B (en) | 2021-08-03 |
Family
ID=73946097
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011056199.1A Active CN112180769B (en) | 2020-09-29 | 2020-09-29 | Cooperative movement method, electronic device, and computer storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112180769B (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102724011A (en) * | 2012-06-06 | 2012-10-10 | 深圳光启创新技术有限公司 | Handshake synchronous method and handshake synchronous system of visible light signal |
| CN104306116A (en) * | 2014-11-13 | 2015-01-28 | 宋扬 | Synchronizing system and synchronizing method for synchronously lifting nursing bed backing plate and intelligent wheelchair backing plate of robot nursing bed |
| CN204418033U (en) * | 2015-02-03 | 2015-06-24 | 中国建筑土木建设有限公司路桥分公司 | Hanging basket and synchronous control system thereof |
| CN205449520U (en) * | 2015-12-30 | 2016-08-10 | 中国神华能源股份有限公司 | Pnematic car lifting jack's automatic synchro control device |
| CN109648569A (en) * | 2019-02-15 | 2019-04-19 | 创泽智能机器人股份有限公司 | A kind of robot interactive Synergistic method and device |
| CN110377023A (en) * | 2018-12-04 | 2019-10-25 | 天津京东深拓机器人科技有限公司 | A kind of method and system that realization device moves synchronously |
| CN111535126A (en) * | 2020-04-24 | 2020-08-14 | 山东交通学院 | Cooperative operation control system and method for asphalt pavement paver |
-
2020
- 2020-09-29 CN CN202011056199.1A patent/CN112180769B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102724011A (en) * | 2012-06-06 | 2012-10-10 | 深圳光启创新技术有限公司 | Handshake synchronous method and handshake synchronous system of visible light signal |
| CN104306116A (en) * | 2014-11-13 | 2015-01-28 | 宋扬 | Synchronizing system and synchronizing method for synchronously lifting nursing bed backing plate and intelligent wheelchair backing plate of robot nursing bed |
| CN204418033U (en) * | 2015-02-03 | 2015-06-24 | 中国建筑土木建设有限公司路桥分公司 | Hanging basket and synchronous control system thereof |
| CN205449520U (en) * | 2015-12-30 | 2016-08-10 | 中国神华能源股份有限公司 | Pnematic car lifting jack's automatic synchro control device |
| CN110377023A (en) * | 2018-12-04 | 2019-10-25 | 天津京东深拓机器人科技有限公司 | A kind of method and system that realization device moves synchronously |
| CN109648569A (en) * | 2019-02-15 | 2019-04-19 | 创泽智能机器人股份有限公司 | A kind of robot interactive Synergistic method and device |
| CN111535126A (en) * | 2020-04-24 | 2020-08-14 | 山东交通学院 | Cooperative operation control system and method for asphalt pavement paver |
Also Published As
| Publication number | Publication date |
|---|---|
| CN112180769B (en) | 2021-08-03 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| EP3048747B1 (en) | Positioning method based on visible light source, mobile terminal and controller | |
| CN110023779B (en) | Control device, wireless communication terminal, and position estimation system | |
| KR101608191B1 (en) | Method and Apparatus for Controlling Lighting Using Visible Light Communication | |
| JP2013178481A (en) | Light emission system, light emission control apparatus, control method for light emission control apparatus, communication system, control method for communication system, program, and storage medium | |
| JP2009289243A (en) | Position detection device, position detection system, video display device and video display system | |
| CN109089356B (en) | Street lamp control system and method | |
| CN106200981B (en) | A kind of virtual reality system and its wireless implementation method | |
| CN112180769B (en) | Cooperative movement method, electronic device, and computer storage medium | |
| JP2008301345A (en) | Connection control apparatus, and network connection control program | |
| WO2021244049A1 (en) | Automatic control system for follow spotlight, and automatic control method for follow spotlight | |
| US10955972B2 (en) | Detection device and method for controlling detection device | |
| US10055065B2 (en) | Display system, projector, and control method for display system | |
| JP2013160788A5 (en) | ||
| US20230198628A1 (en) | Multi-transceiver system with selective transmit branch combination for optical wireless communication | |
| US20210306540A1 (en) | Information processing device, information processing method, and recording medium | |
| US11956067B2 (en) | Wireless base station, control system, electronic device, and wireless communication terminal | |
| CN106797436B (en) | Remote control execution device, method and system | |
| CN112911776B (en) | Flash lamp control method and system | |
| CN114189594A (en) | Three-dimensional scanning device, method, computer device and storage medium | |
| WO2020116232A1 (en) | Control device, control method, and program | |
| EP4169356A1 (en) | Controlling a pixelated lighting device based on a relative location of a further light source | |
| JP5630853B2 (en) | Projection type display device, adjustment processing device, receiver, display system, and display method | |
| JP2015222852A (en) | Portable terminal, imaging device and set information copying method | |
| CN117279179B (en) | Stage lighting distributed management method, system, equipment and medium based on ZigBee | |
| CN204305199U (en) | A kind of projector telechirics based on camera |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |