CN112415993B - Control method and device for unmanned aerial vehicle operation and unmanned aerial vehicle - Google Patents
Control method and device for unmanned aerial vehicle operation and unmanned aerial vehicle Download PDFInfo
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- CN112415993B CN112415993B CN201910779240.9A CN201910779240A CN112415993B CN 112415993 B CN112415993 B CN 112415993B CN 201910779240 A CN201910779240 A CN 201910779240A CN 112415993 B CN112415993 B CN 112415993B
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Abstract
The disclosure provides a control method and device for unmanned vehicle operation, an unmanned vehicle and a computer readable storage medium, and relates to the technical field of unmanned vehicles. The control method for the unmanned vehicle operation comprises the following steps: the unmanned aerial vehicle receives the task type identifier sent by the control console; the unmanned aerial vehicle queries a task and an action association matrix by using the task type identifier, and obtains an action sequence corresponding to the task type identifier; the drone continuously executes each action in the sequence of actions. The method and the device can shorten the waiting time between different actions executed by the unmanned aerial vehicle, so that the operation process of the unmanned aerial vehicle is smoother. Meanwhile, the communication load between the control console and the unmanned vehicle can be reduced, the condition that the control console is blocked in communication is avoided, and the fluency of the unmanned vehicle operation process is further guaranteed.
Description
Technical Field
The disclosure relates to the technical field of unmanned vehicles, and in particular relates to a control method and device for unmanned vehicle operation, an unmanned vehicle and a computer readable storage medium.
Background
Autonomous operation of an unmanned vehicle is typically accomplished by a console issuing an instruction to the unmanned vehicle. The action instructions may include, for example, ground action instructions and upload action instructions. Wherein the action indicated by the ground action command may include straight, reverse, turn, etc.; the action indicated by the upload action instructions may include side extension, side extension retraction, climb, descent, multiple Cheng Zuo extension, multiple right extension, multiple Cheng Suhui, and so on.
In the operation process of the unmanned vehicle, the control console issues a plurality of action instructions to the unmanned vehicle one by one, and the unmanned vehicle sequentially executes actions indicated by the action instructions according to the sequence of the received action instructions.
Disclosure of Invention
One technical problem solved by the present disclosure is how to make the operation process of an unmanned vehicle smoother.
According to an aspect of the embodiments of the present disclosure, there is provided a control method for unmanned vehicle operation, including: the unmanned aerial vehicle receives the task type identifier sent by the control console; the unmanned vehicle queries the task and the action association matrix by using the task type identifier, and obtains an action sequence corresponding to the task type identifier; the drone continuously executes each action in the sequence of actions.
In some embodiments, the unmanned vehicle queries the task and the action association matrix using the task type identifier, and obtaining the action sequence corresponding to the task type identifier includes: the unmanned vehicle queries a task type identifier in a first column element of a task and action incidence matrix to determine a row sequence number of the task type identifier in the task and action incidence matrix; the unmanned aerial vehicle sequentially acquires the rest elements in the row sequence numbers according to the sequence of increasing the column sequence numbers to serve as an action sequence.
In some embodiments, further comprising: generating a row of a task and action association matrix by using any task type identifier and each action identifier in an action sequence corresponding to the any task type identifier; and cascading the rows of each task and action correlation matrix to form the task and action correlation matrix.
In some embodiments, the task type identification sent by the drone reception console includes: the unmanned aerial vehicle receives the UDP message sent by the control console; and the unmanned aerial vehicle analyzes the data part of the UDP message to obtain the task type identifier.
In some embodiments, further comprising: the unmanned vehicle analyzes the data part of the UDP message to obtain control information corresponding to the task type identifier; the unmanned vehicle sequentially executes each action in the action sequence comprising: and the unmanned vehicle sequentially executes each action in the action sequence according to the control information.
In some embodiments, the control information includes at least one of the following: starting position information, ending position information, running speed information and layer number information of climbing shelves of the unmanned vehicle for executing various actions.
In some embodiments, the UDP message includes a header portion of the UDP message and a data portion of the UDP message, the data portion of the UDP message including public information and private information; the public information comprises information type information, tunnel number information, message sequence number information, task number information and private information data length information; the private information comprises starting position information, ending position information, running speed information, layer number information of the climbing shelf and task type identification information of the unmanned vehicle for executing each action.
According to another aspect of an embodiment of the present disclosure, there is provided an unmanned vehicle including: the information receiving module is configured to receive the task type identification sent by the control console; the information inquiry module is configured to inquire a task and an action association matrix by using the task type identifier and obtain an action sequence corresponding to the task type identifier; and the action execution module is configured to continuously execute each action in the action sequence.
In some embodiments, the information query module is configured to: inquiring a task type identifier in a first column element of the task and action incidence matrix to determine a row sequence number of the task type identifier in the task and action incidence matrix; and sequentially acquiring the rest elements in the row sequence numbers as an action sequence according to the increasing sequence of the column sequence numbers.
In some embodiments, the apparatus further comprises a matrix generation module configured to: generating a row of a task and action association matrix by using any task type identifier and each action identifier in an action sequence corresponding to the any task type identifier; and cascading the rows of each task and action correlation matrix to form the task and action correlation matrix.
In some embodiments, the information receiving module is configured to: receiving a UDP message sent by a console; and analyzing the data part of the UDP message to obtain the task type identifier.
In some embodiments, the system further comprises a control information acquisition module configured to: analyzing the data part of the UDP message to obtain control information corresponding to the task type identifier; the action execution module is configured to: and according to the control information, each action in the action sequence is sequentially executed.
In some embodiments, the control information includes at least one of the following: starting position information, ending position information, running speed information and layer number information of climbing shelves of the unmanned vehicle for executing various actions.
In some embodiments, the UDP message includes a header portion of the UDP message and a data portion of the UDP message, the data portion of the UDP message including public information and private information; the public information comprises information type information, tunnel number information, message sequence number information, task number information and private information data length information; the private information comprises starting position information, ending position information, running speed information, layer number information of the climbing shelf and task type identification information of the unmanned vehicle for executing each action.
According to still another aspect of the embodiments of the present disclosure, there is provided a control apparatus for unmanned vehicle operation, including: a memory; and a processor coupled to the memory, the processor configured to execute the aforementioned control method based on instructions stored in the memory.
According to still another aspect of the embodiments of the present disclosure, there is provided a computer-readable storage medium storing computer instructions that, when executed by a processor, implement the foregoing control method.
The method and the device can shorten the waiting time between different actions executed by the unmanned aerial vehicle, so that the operation process of the unmanned aerial vehicle is smoother. Meanwhile, the communication load between the control console and the unmanned vehicle can be reduced, the condition that the control console is blocked in communication is avoided, and the fluency of the unmanned vehicle operation process is further guaranteed.
Other features of the present disclosure and its advantages will become apparent from the following detailed description of exemplary embodiments of the disclosure, which proceeds with reference to the accompanying drawings.
Drawings
In order to more clearly illustrate the embodiments of the present disclosure or the solutions in the prior art, the drawings that are required for the embodiments or the description of the prior art will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present disclosure, and that other drawings may be obtained according to these drawings without inventive faculty for a person skilled in the art.
Fig. 1 illustrates a flow diagram of a control method for an unmanned vehicle operation in accordance with some embodiments of the present disclosure.
FIG. 2 illustrates a schematic diagram of task type identifications corresponding to respective task types.
FIG. 3 shows a schematic diagram of a task and action correlation matrix.
Fig. 4 is a schematic diagram showing action identifiers corresponding to respective actions in unmanned vehicle operation.
FIG. 5 illustrates a flow diagram of some embodiments of a task type identification sent by a drone receiving console.
Fig. 6 shows a schematic diagram of a UDP message received by an unmanned vehicle from a console.
Fig. 7 illustrates a schematic structural diagram of an unmanned vehicle of some embodiments of the present disclosure.
Fig. 8 illustrates a schematic structural view of a control device for unmanned vehicle operation according to some embodiments of the present disclosure.
Detailed Description
The following description of the technical solutions in the embodiments of the present disclosure will be made clearly and completely with reference to the accompanying drawings in the embodiments of the present disclosure, and it is apparent that the described embodiments are only some embodiments of the present disclosure, not all embodiments. The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the disclosure, its application, or uses. All other embodiments, which can be made by one of ordinary skill in the art based on the embodiments in this disclosure without inventive faculty, are intended to fall within the scope of this disclosure.
The inventor researches and discovers that the traditional control method for unmanned vehicle operation can cause the operation process of the unmanned vehicle to lack fluency. On the one hand, when the unmanned vehicle finishes executing one action in the operation process, an action execution completion message is reported to the control console, and after the control console receives the action execution completion message sent by the unmanned vehicle, the control console can send a next action instruction to the unmanned vehicle. Therefore, in the actual operation process, the connection effect between adjacent actions can be affected by communication delay, and the phenomenon that the unmanned vehicle waits for executing different actions exists, so that the continuity of executing each action is poor. On the other hand, the control console controls the unmanned vehicles to finish a goods taking task or a goods placing task, a series of action instructions such as walking, turning, lateral stretching, climbing, doubling and the like are required to be issued to the unmanned vehicles, and when the control console needs to issue the action instructions to a plurality of unmanned vehicles, the communication data volume between the control console and the unmanned vehicles is large, so that communication blockage of the control console is easy to be caused.
In order to solve the problems, the present disclosure provides a control method for unmanned vehicle operation, so as to make the unmanned vehicle operation process smoother.
Some embodiments of the control method for unmanned vehicle operation of the present disclosure are first described in connection with fig. 1.
Fig. 1 illustrates a flow diagram of a control method for an unmanned vehicle operation in accordance with some embodiments of the present disclosure. As shown in fig. 1, the present embodiment includes steps S102 to S106.
In step S102, the drone receives a task type identification sent by the console.
FIG. 2 illustrates a schematic diagram of task type identifications corresponding to respective task types. As shown in fig. 2, the task of the unmanned vehicle may be divided into a ground task, an uploading task, and a compound task. Taking a ground TASK as an example, a TASK type corresponding to a roadway movement TASK in the ground TASK is identified as task_a.
In step S104, the unmanned vehicle queries the task and the action association matrix by using the task type identifier, and obtains an action sequence corresponding to the task type identifier.
FIG. 3 shows a schematic diagram of a task and action correlation matrix. As shown in fig. 3, the first column element of the task and action association matrix is a task type identifier, and the remaining elements are action identifiers. When inquiring the task and action incidence matrix, firstly, the unmanned vehicle inquires the task type identification in the first column element of the task and action incidence matrix to determine the row serial number of the task type identification in the task and action incidence matrix. Then, the unmanned aerial vehicle sequentially acquires the rest elements in the row sequence numbers according to the sequence of increasing the column sequence numbers as an action sequence. For example, the TASK type identifier task_a is queried in the first column element of the TASK and action association matrix, and a row number 2 is obtained. Then, the remaining elements C, A in the row number 2 are sequentially taken as an action sequence in the order in which the column numbers are increased.
In step S106, the unmanned vehicle continuously executes each action in the sequence of actions.
Fig. 4 is a schematic diagram showing action identifiers corresponding to respective actions in unmanned vehicle operation. As shown in fig. 4, the actions during the unmanned vehicle operation may include ground actions and loading actions. Taking ground movement as an example, the movement mark a indicates straight movement, and the movement mark C indicates turning. After the unmanned vehicle obtains the action sequence corresponding to the task type identifier, each action which needs to be continuously executed can be determined by utilizing each action identifier contained in the action sequence. After each action required to be continuously executed is determined, the unmanned vehicle scans a preset two-dimensional code on a working path in the working process. And executing one action in the action sequence every time one two-dimensional code is scanned until the next two-dimensional code is scanned. That is, the unmanned vehicle scans the next two-dimensional code and then executes the next action in the action sequence.
In the embodiment, the unmanned aerial vehicle analyzes the task type identifier issued by the console to obtain each action attached to the task corresponding to the task type identifier, so that the waiting time between the unmanned aerial vehicle and executing different actions can be shortened, and the operation process of the unmanned aerial vehicle is smoother. Meanwhile, the communication load between the control console and the unmanned vehicle can be reduced, the condition that the control console is blocked in communication is avoided, and the fluency of the unmanned vehicle operation process is further guaranteed.
In some embodiments, step S100 is also included. In step S100, a task and action correlation matrix is generated.
When generating the task and action correlation matrix, firstly, each action identifier in the action sequence corresponding to any task type identifier is utilized to generate the row of the task and action correlation matrix. And cascading the rows of each task and action incidence matrix to form the task and action incidence matrix. Still taking fig. 3 as an example, in the second row of the TASK and action association matrix, the first column of elements task_a is the TASK type identifier, the elements C, A are all the action identifiers, and the remaining elements are empty.
According to the method and the device, the task type identifiers and the corresponding action identifiers are mapped to elements in the task and action correlation matrix, so that the unmanned aerial vehicle can determine and execute all levels of actions through searching the task and action correlation matrix, and the task can be completed more smoothly.
How the drone receives the task type identification sent by the console is described below in connection with fig. 5.
FIG. 5 illustrates a flow diagram of some embodiments of a task type identification sent by a drone receiving console. As shown in fig. 5, the present embodiment includes steps S5022 to S5024.
In step S5022, the drone receives the UDP message sent by the console.
Standard UDP (User Datagram Protocol ) may be used for communication between the drone and the console to enable interworking in a request and response manner. The private protocol can be further adopted on the basis of the UDP protocol, and the communication content defined in the private protocol comprises public information and private information. The public information part is contained in the request and response type messages, and the private information part may not be contained in the response type messages. The length of the public information part is fixed, the length of the private information part is not fixed, and the length of the similar information part is specified in the public information.
Fig. 6 shows a schematic diagram of a UDP message received by an unmanned vehicle from a console. As shown in fig. 6, the UDP packet includes a header portion of the UDP packet and a data portion of the UDP packet. The header portion of the UDP packet includes MAC address header information, IP address header information, and UDP header information.
The data part of the UDP message comprises public information and private information; the public information comprises information type information, tunnel number information, message sequence number information, task number information and private information data length information; the private information comprises starting position information, ending position information, running speed information, layer number information of the climbing shelf and task type identification information of the unmanned vehicle for executing each action. The specific field composition of the public information part is shown in table 1, and the specific field composition of the private information part is shown in table 2.
TABLE 1
| Field identification | Field name | Type(s) | Length of | Description of the invention |
| MsgType | Message type | I16 | 2 bytes | Message type |
| TokenNum | Tunnel number | I32 | 4 bytes | Each time registration, negotiating to generate unique and different tunnel numbers |
| Sequence | Message sequence number | I32 | 4 bytes | Each message having a different instruction sequence number |
| TaskID | Task numbering | I32 | 4 bytes | The console issues the number of each task |
| DataLength | Data length | I16 | 2 bytes | Private information data length |
TABLE 2
In step S5024, the unmanned vehicle analyzes the data portion of the UDP message to obtain the task type identifier.
When a new job task is required to be issued to the unmanned vehicle, the console fills the public information and the private information with the information content required to be issued according to the strategy. The unmanned aerial vehicle analyzes after receiving the UDP message, and a third field 'Action' in the private information is a task type identifier required by the unmanned aerial vehicle to execute the operation task. The unmanned vehicle further automatically analyzes the received task type identification according to the task and the action association matrix, and then a corresponding action instruction can be obtained to complete the operation task issued by the control console.
In step S5026, the unmanned vehicle analyzes the data portion of the UDP message to obtain the control information corresponding to the task type identifier.
For example, the control information includes at least one of the following information: starting position information, ending position information, running speed information and layer number information of climbing shelves of the unmanned vehicle for executing various actions.
In some embodiments, in step S106 of the embodiment corresponding to fig. 1, the unmanned vehicle may sequentially execute each action in the action sequence according to the control information. For example, the drone performs ground movement tasks with values carried in the running speed information.
In the embodiments, the unmanned aerial vehicle receives and analyzes the received UDP message, can accurately and stably obtain the task type identifier sent by the console, and ensures that the unmanned aerial vehicle smoothly completes the operation task.
Some embodiments of the drone of the present disclosure are described below in connection with fig. 7.
Fig. 7 illustrates a schematic structural diagram of an unmanned vehicle of some embodiments of the present disclosure. As shown in fig. 7, the unmanned vehicle 70 in the present embodiment includes:
an information receiving module 702 configured to receive a task type identifier sent by a console; the information query module 704 is configured to query the task and the action association matrix by using the task type identifier, and obtain an action sequence corresponding to the task type identifier; the action execution module 706 is configured to continuously execute each action in the sequence of actions.
In some embodiments, the information query module 704 is configured to: inquiring a task type identifier in a first column element of the task and action incidence matrix to determine a row sequence number of the task type identifier in the task and action incidence matrix; and sequentially acquiring the rest elements in the row sequence numbers as an action sequence according to the increasing sequence of the column sequence numbers.
In some embodiments, further comprising a matrix generation module 700 configured to: generating a row of a task and action association matrix by using any task type identifier and each action identifier in an action sequence corresponding to the any task type identifier; and cascading the rows of each task and action correlation matrix to form the task and action correlation matrix.
In some embodiments, the information receiving module 702 is configured to: receiving a UDP message sent by a console; and analyzing the data part of the UDP message to obtain the task type identifier.
In some embodiments, further comprising a control information acquisition module 705 configured to: analyzing the data part of the UDP message to obtain control information corresponding to the task type identifier; the action execution module 706 is configured to: and according to the control information, each action in the action sequence is sequentially executed.
In some embodiments, the control information includes at least one of the following: starting position information, ending position information, running speed information and layer number information of climbing shelves of the unmanned vehicle for executing various actions.
In some embodiments, the UDP message includes a header portion of the UDP message and a data portion of the UDP message, the data portion of the UDP message including public information and private information; the public information comprises information type information, tunnel number information, message sequence number information, task number information and private information data length information; the private information comprises starting position information, ending position information, running speed information, layer number information of the climbing shelf and task type identification information of the unmanned vehicle for executing each action.
Some embodiments of the control device for unmanned vehicle operation of the present disclosure are described below in conjunction with fig. 8.
Fig. 8 illustrates a schematic structural view of a control device for unmanned vehicle operation according to some embodiments of the present disclosure. As shown in fig. 8, the control device 80 for unmanned vehicle work of this embodiment includes: a memory 810 and a processor 820 coupled to the memory 810, the processor 820 being configured to execute the control method for the unmanned vehicle operation in any of the foregoing embodiments based on instructions stored in the memory 810.
The memory 810 may include, for example, system memory, fixed nonvolatile storage media, and so forth. The system memory stores, for example, an operating system, application programs, boot Loader (Boot Loader), and other programs.
The control device 80 for unmanned vehicle operation may further include an input-output interface 830, a network interface 840, a storage interface 850, and the like. These interfaces 830, 840, 850 and the memory 810 and the processor 820 may be connected by, for example, a bus 860. The input/output interface 830 provides a connection interface for input/output devices such as a display, a mouse, a keyboard, a touch screen, and the like. The network interface 840 provides a connection interface for various networking devices. Storage interface 850 provides a connection interface for external storage devices such as SD cards, U-discs, and the like.
The present disclosure also includes a computer-readable storage medium having stored thereon computer instructions that, when executed by a processor, implement the control method for unmanned vehicle operation of any of the foregoing embodiments.
The present disclosure is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the disclosure. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
The foregoing description of the preferred embodiments of the present disclosure is not intended to limit the disclosure, but rather to enable any modification, equivalent replacement, improvement or the like, which fall within the spirit and principles of the present disclosure.
Claims (8)
1. A control method for unmanned vehicle operation, comprising:
the unmanned aerial vehicle receives the task type identifier sent by the control console;
the unmanned aerial vehicle queries the task and the action association matrix by using the task type identifier, and obtains an action sequence corresponding to the task type identifier, which comprises the following steps:
the unmanned vehicle queries the task type identifier in a first column element of a task and action association matrix to determine a row number of the task type identifier in the task and action association matrix; the unmanned vehicle sequentially acquires the rest elements in the row sequence numbers according to the sequence of increasing the row sequence numbers to serve as the action sequence;
the unmanned vehicle continuously executes each action in the action sequence;
generating a row of a task and action association matrix by using any task type identifier and each action identifier in an action sequence corresponding to the any task type identifier; and cascading the rows of each task and action correlation matrix to form the task and action correlation matrix.
2. The control method of claim 1, wherein the unmanned vehicle receiving the task type identification transmitted by the console comprises:
the unmanned aerial vehicle receives the UDP message sent by the control console;
and the unmanned aerial vehicle analyzes the data part of the UDP message to obtain the task type identifier.
3. The control method according to claim 2, further comprising: the unmanned vehicle analyzes the data part of the UDP message to obtain control information corresponding to the task type identifier;
the unmanned vehicle sequentially executing each action in the action sequence comprises the following steps: and the unmanned vehicle sequentially executes each action in the action sequence according to the control information.
4. The control method of claim 3, wherein the control information includes at least one of the following information: and the unmanned vehicle executes the initial position information, the end position information, the running speed information and the layer number information of the climbing shelf of each action.
5. The control method of claim 2, wherein the UDP message includes a header portion of the UDP message and a data portion of the UDP message, the data portion of the UDP message including public information and private information; the public information comprises information type information, tunnel number information, message sequence number information, task number information and private information data length information; the private information comprises starting position information, ending position information, running speed information, layer number information of the climbing shelf and task type identification information of the unmanned vehicle for executing each action.
6. An unmanned vehicle, comprising:
the information receiving module is configured to receive the task type identification sent by the control console;
the information query module is configured to query a task and an action association matrix by using the task type identifier, and obtain an action sequence corresponding to the task type identifier;
wherein the information query module is specifically configured to: inquiring a task type identifier in a first column element of the task and action incidence matrix to determine a row sequence number of the task type identifier in the task and action incidence matrix; sequentially acquiring the rest elements in the row sequence numbers as an action sequence according to the sequence of increasing column sequence numbers;
an action execution module configured to continuously execute each action in the sequence of actions;
a matrix generation module configured to: generating a row of a task and action association matrix by using any task type identifier and each action identifier in an action sequence corresponding to the any task type identifier; and cascading the rows of each task and action correlation matrix to form the task and action correlation matrix.
7. A control device for unmanned vehicle operation, comprising:
a memory; and
a processor coupled to the memory, the processor configured to execute the control method of any one of claims 1 to 5 based on instructions stored in the memory.
8. A computer readable storage medium storing computer instructions which, when executed by a processor, implement the control method of any one of claims 1 to 5.
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| CN109213079A (en) * | 2017-06-29 | 2019-01-15 | 深圳模德宝科技有限公司 | A kind of control method and its device of automated production |
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