CN113183149B

CN113183149B - Control method, control device and terminal equipment

Info

Publication number: CN113183149B
Application number: CN202110355053.5A
Authority: CN
Inventors: 曾祥安
Original assignee: Ubtech Robotics Corp
Current assignee: Ubtech Robotics Corp
Priority date: 2021-04-01
Filing date: 2021-04-01
Publication date: 2022-09-16
Anticipated expiration: 2041-04-01
Also published as: CN113183149A

Abstract

The application provides a control method, which comprises the following steps: after a preset instruction is obtained, trying to establish communication connection between a communication bus and a target steering engine according to preset steering engine information of a mounting position associated with the preset instruction, wherein the target steering engine is determined based on the preset steering engine information; and determining a control mode aiming at the installation position according to the establishment result of the communication connection. By the method, the problem that errors are easy to make and control is difficult to make due to the fact that the steering engines in the equipment such as the robot are unified and fixed in installation can be solved.

Description

Control method, control device and terminal equipment

Technical Field

The application belongs to the technical field of steering engine control, and particularly relates to a control method, a control device, terminal equipment and a computer readable storage medium.

Background

In mechanical control structures such as robots, a plurality of steering engines are generally provided to realize movements at different joint positions. In practical application scenarios, the mounting positions of the steering engines on the robot and other devices are often strictly fixed, for example, each steering engine can only be mounted in one unique position, and then the communication connection between the steering engine and the corresponding communication bus can be successfully established, so as to perform control. If the steering engine is installed wrongly, the user often needs to try to install repeatedly, and therefore the robot cannot be used conveniently. It is thus clear that at present, each steering wheel in equipment such as robot leads to easily making mistakes and is difficult to control because of the unified and fixed harsh requirement when the steering wheel is installed for user experience is relatively poor.

Disclosure of Invention

The embodiment of the application provides a control method, a control device, terminal equipment and a computer readable storage medium, and can solve the problem that errors are easy to occur and control is difficult to achieve due to the fact that all steering engines in equipment such as a robot are required to be uniform and fixed during installation of the steering engines.

In a first aspect, an embodiment of the present application provides a control method, including:

after a preset instruction is obtained, trying to establish communication connection between a communication bus and a target steering engine according to preset steering engine information of a mounting position associated with the preset instruction, wherein the target steering engine is determined based on the preset steering engine information;

and determining a control mode aiming at the installation position according to the establishment result of the communication connection.

In a second aspect, an embodiment of the present application provides a control apparatus, including:

the processing module is used for trying to establish communication connection between a communication bus and a target steering engine according to preset steering engine information of a mounting position associated with a preset instruction after the preset instruction is obtained, and the target steering engine is determined based on the preset steering engine information;

and the first determining module is used for determining a control mode aiming at the installation position according to the establishment result of the communication connection.

In a third aspect, an embodiment of the present application provides a terminal device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor implements the control method according to the first aspect when executing the computer program.

In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, where a computer program is stored, and the computer program, when executed by a processor, implements the control method according to the first aspect.

In a fifth aspect, the present application provides a computer program product, which when run on a terminal device, causes the terminal device to execute the control method described in the first aspect.

Compared with the prior art, the embodiment of the application has the advantages that: in the embodiment of the application, after a preset instruction is obtained, communication connection between a communication bus and a target steering engine is tried to be established according to preset steering engine information of a mounting position associated with the preset instruction, and the target steering engine is determined based on the preset steering engine information. At the moment, the target steering engine can be determined according to the preset steering engine information in a personalized and adaptive mode aiming at the installation position, so that the communication connection between the communication bus and the target steering engine is more personalized and more flexible. And then, according to the communication connection establishment result, a control mode aiming at the installation position is determined, so that the conditions that errors are easy to occur and the like caused by unified and fixed strict requirements during the installation of the steering engine in the existing equipment such as the robot and the like are avoided, the processing efficiency is improved, and the user experience is improved.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.

Fig. 1 is a schematic flow chart of a control method according to an embodiment of the present application;

FIG. 2 is a schematic diagram of an object identification code provided in an embodiment of the present application;

fig. 3 is a schematic flowchart of step S102 according to an embodiment of the present application;

fig. 4 is a schematic structural diagram of a control device according to an embodiment of the present application;

fig. 5 is a schematic structural diagram of a terminal device according to an embodiment of the present application.

Detailed Description

In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system structures, techniques, etc. in order to provide a thorough understanding of the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.

It will be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.

It should also be understood that the term "and/or" as used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.

As used in this specification and the appended claims, the term "if" may be interpreted contextually as "when", "upon" or "in response to" determining "or" in response to detecting ". Similarly, the phrase "if it is determined" or "if a [ described condition or event ] is detected" may be interpreted contextually to mean "upon determining" or "in response to determining" or "upon detecting [ described condition or event ]" or "in response to detecting [ described condition or event ]".

Reference throughout this specification to "one embodiment" or "some embodiments," or the like, means that a particular feature, structure, or characteristic described in connection with the embodiment is included in one or more embodiments of the present application. Thus, appearances of the phrases "in one embodiment," "in some embodiments," "in other embodiments," or the like, in various places throughout this specification are not necessarily all referring to the same embodiment, but rather "one or more but not all embodiments" unless specifically stated otherwise. The terms "comprising," "including," "having," and variations thereof mean "including, but not limited to," unless expressly specified otherwise.

In mechanical control structures such as robots, a plurality of steering engines are generally provided to realize movements at different joint positions. At present, the installation position of each steering engine on equipment such as robots is often strictly fixed, for example, each steering engine is often only installed in one position uniquely, and then the communication connection between the steering engine and the corresponding communication bus can be successfully established.

For example, for a robot, each steering engine in the robot has a pre-fixed ID number. For the assembly of a complete set of robot, the position of the steering engine with each ID number installed on the robot is strictly required, but because the steering engine is long like a figure, the situation of position misinstallation is easily caused when the steering engine monomer is installed on the whole robot, and if the steering engine monomer is installed in a wrong way, the steering engine cannot be controlled, and even the robot cannot be used.

However, in devices such as robots, there is a high possibility that the devices have symmetrical structures, or there may be steering engines corresponding to different parts having the same structure, but based on strict installation requirements, although some steering engines having bilateral symmetry or the same quality in the installation structure have the same ID number, other parts are still not replaced with each other, which results in poor flexibility of the steering engine installation, and each steering engine is prone to error due to the strict requirement of uniform and fixed steering engine installation, which results in low efficiency and poor user experience.

In the embodiment of the application, the target steering engine corresponding to the installation position can be determined in an individualized and adaptive manner according to the preset steering engine information, so that the communication connection between the communication bus and the target steering engine is also more individualized and more flexible. And then, according to the communication connection establishment result, a control mode aiming at the installation position is determined, so that the conditions that errors are easy to occur and the like caused by unified and fixed strict requirements during the installation of the steering engine in the existing equipment such as the robot and the like are avoided, the processing efficiency is improved, and the user experience is improved.

Specifically, fig. 1 shows a flowchart of a control method provided in an embodiment of the present application, where the control method may be applied to a terminal device.

Illustratively, the terminal device can be a robot, a mechanical arm and the like capable of mounting a steering engine. The embodiment of the present application does not set any limit to the specific type of the terminal device.

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

step S101, after a preset instruction is obtained, according to preset steering engine information of an installation position associated with the preset instruction, trying to establish communication connection between a communication bus and a target steering engine, wherein the target steering engine is determined based on the preset steering engine information.

In this application embodiment, the preset instruction may be used to instruct establishment of communication connection between the communication bus and the target steering engine. The specific obtaining mode of the preset instruction can be various.

For example, the preset instruction may be generated by the terminal device executing the embodiment of the present application after receiving an operation of a specified key by a user, or may be generated by a specified application in the terminal device after detecting a specified operating condition (for example, detecting that a component is inserted into the installation position, and the like). Alternatively, the preset instruction may be sent to the terminal device by a specific terminal other than the terminal device. The specific manner of obtaining the preset instruction is not limited herein.

The mounting position can be used for mounting a steering engine. In this application embodiment, the steering wheel can be used for the drive joint to the motion along preset direction or angle is realized, in some embodiments, the steering wheel can be servo motor. Generally, one mounting location may be used to mount one steering engine. Of course, in some embodiments, one mounting position may also be used to mount at least two steering engines according to a specific application scenario and a hardware structure, and a specific mounting manner of the steering engines in the mounting position is not limited herein.

The communication bus can be used for carrying out data transmission with a target steering engine, so that the target steering engine can be controlled.

It should be noted that, in the embodiment of the present application, the number of the communication buses included in the terminal device is not limited herein. For example, in some examples, the terminal device may be a robot, the robot may have limbs such as a head, hands, a body, feet, etc., each limb may have a separate communication bus, and each communication bus may be connected to a data processing unit in the robot.

In this application embodiment, predetermine steering wheel information can include with the information of mounted position assorted steering wheel. The preset steering engine information can be individually and adaptively predetermined according to the corresponding installation position. At this time, the steering engines respectively matched with different installation positions in the terminal equipment can be different or the same.

For example, the robot may have a symmetrical structure, or the steering gears corresponding to different parts may have the same structure. Therefore, more than one steering engine can be arranged at a certain installation position. In this case, the preset steering engine information corresponding to the installation position may include ID numbers corresponding to a plurality of steering engines that can be installed in the installation position. The target steering engine may be one of a plurality of steering engines that can be mounted at the mounting position.

There may be various ways to attempt to establish a communication connection between the communication bus and the target steering engine. In one example, the mounting position can mount a steering engine 1 and a steering engine 2, wherein the priority of the steering engine 1 is higher than that of the steering engine 2, communication with the steering engine 1 through the communication bus is firstly tried, and if the communication is successful, communication connection with the steering engine 2 is not tried; if the failure occurs, the communication with the steering engine 2 through the communication bus is tried again, if the failure occurs again, the communication with the steering engine 1 through the communication bus can be tried again, and the like, and the failure still occurs after N times of attempts. In another example, matching request information including the identification codes of the steering engine 1 and the steering engine 2 may be sent to a component inserted at the installation position, and then whether the component is one of the steering engine 1 and the steering engine 2 may be determined according to the feedback condition of the component.

It should be noted that, in this embodiment of the application, when trying to establish a communication connection between a communication bus and a target steering engine, the installation position may be connected with a component or may be in a state of not accessing the component, at this time, the communication bus may determine, according to information of the target steering engine recorded in the preset steering engine information, whether the installation position is accessed to the target steering engine, and if the installation position is accessed to the target steering engine, the communication connection between the communication bus and the target steering engine may be further established.

In some embodiments, the preset steering engine information includes an identification code of at least one target steering engine corresponding to the installation position;

after obtaining preset instruction, according to the preset steering engine information of the installation position that preset instruction is correlated with, try to establish communication connection between communication bus and the target steering engine, including:

and according to the identification code of any target steering engine, trying to establish communication connection between the communication bus and any target steering engine until the communication connection between the communication bus and one target steering engine is successfully established, or traversing each target steering engine for M times, wherein M is an integer greater than 0.

In the embodiment of the application, the target steering engine can be identified by the identification code, so that the terminal equipment can match the parts at the installation position, and the installation position is efficiently judged whether to be connected to the target steering engine.

The value of M may be determined according to an actual application scenario. For example, M may be 2, and at this time, after 2 times of traversal of each target steering engine, the attempt to establish the communication connection may be stopped, so as to reduce power consumption and avoid a large amount of invalid operations of the terminal device.

In some embodiments, the number of the target steering engines corresponding to the installation positions is at least two, each target steering engine corresponding to the installation positions corresponds to a different preset communication bus, and the structures of the target steering engines are the same.

In this application embodiment, the communication bus may be one of the preset communication buses, and of the at least two target steering engines, one target steering engine may be a steering engine that is controlled in the terminal device in a factory environment and corresponds to the communication bus, and the other target steering engines may be controlled by other preset communication buses except the communication bus. At this time, the structures of the target steering engines are the same.

For example, if there are symmetrical structures in the terminal device, two symmetrical steering engines in the symmetrical structure may be considered to have the same structure, and each structure corresponds to one communication bus in the symmetrical structure, so that the symmetrical steering engines may be considered to correspond to different preset communication buses, and for a certain installation position of a steering engine in the symmetrical steering engines, there may be two target steering engines corresponding to the installation position, that is, symmetrical steering engines. And if the terminal device comprises a plurality of preset communication buses, determining target steering engines respectively corresponding to each installation position in the terminal device according to symmetry, similarity and the like between structures respectively corresponding to the preset communication buses.

Therefore, in the embodiment of the application, the symmetric structure, the similar structure and the like in the terminal equipment can be conveniently deduced according to the communication setting condition of the preset communication bus in the terminal equipment, so that the target steering engines corresponding to all installation positions in the terminal equipment are efficiently and conveniently determined.

In some embodiments, the number of the target steering engines corresponding to the installation positions is at least two;

the attempt of establishing communication connection between the communication bus and any one of the target steering engines according to the identification code of any one of the target steering engines until the communication connection between the communication bus and one of the target steering engines is successfully established, or until each of the target steering engines is traversed for M times includes:

and sequentially trying to establish communication connection between the communication bus and each target steering engine according to a preset sequence corresponding to each target steering engine until the communication connection between the communication bus and one target steering engine is successfully established, or until each target steering engine is traversed for M times.

In the embodiment of the present application, the preset sequence may be predetermined according to a priority, a historical installation condition, and the like. In some examples, the preset order may be determined according to a priority between the respective target steering engines. For example, if the target steering engine 1 is a steering engine pre-installed at the installation position when leaving the factory, it may be determined that the priority of the target steering engine 1 is higher, and the preset sequence of the target steering engine 1 is set to 1; if the installation position of the target steering engine 2 is symmetrical to the installation position when leaving the factory, it can be considered that the priority of the target steering engine 2 is lower than that of the target steering engine 1 for the installation position, and the preset sequence of the target steering engine 2 is 2.

In the embodiment of the application, according to the preset sequence corresponding to each target steering engine, the communication connection between the communication bus and each target steering engine is tried to be established in sequence, the process of trying to establish the communication connection can be reasonably planned according to the priority, the historical installation condition and the like, and the processing efficiency is improved.

In some embodiments, sequentially attempting to establish a communication connection between the communication bus and each of the target steering engines according to a preset sequence between the target steering engines until the communication connection between the communication bus and one of the target steering engines is successfully established, or after M times of traversal of each of the target steering engines, the method further includes:

if the communication connection between the communication bus and one target steering engine is successfully established, determining a preset sequence corresponding to the target steering engine which successfully establishes the communication connection;

and if the preset sequence corresponding to the target steering engine for successfully establishing the communication connection is a target sequence, modifying the identification code of the target steering engine for successfully establishing the communication connection into a target identification code.

In the embodiment of the present application, the target sequence may be determined according to an actual application scenario. For example, the target sequence may be other than the head sequence, and the target identification code may be an identification code of a target steering engine corresponding to the head sequence. At this time, if the preset sequence corresponding to the target steering engine for successfully establishing the communication connection is a target sequence, the identification code of the target steering engine is modified into a target identification code, and if the preset sequence corresponding to the target steering engine for successfully establishing the communication connection is not the target sequence, the identification code of the target steering engine for successfully establishing the communication connection is the target identification code.

It can be seen that through this application embodiment, can make the successful establishment the final identification code of target steering wheel of communication connection be the target identification code, that is to say, no matter whether the target steering wheel of installation position installation is the same at every turn, after successfully establishing communication connection, can under some circumstances, guarantee through this application embodiment the communication bus is in the time of in succession controlling the identification code of the target steering wheel of installation position department all is unified, promptly all is the target identification code to promoted the convenience of follow-up control greatly, need not when carrying out communication connection at every turn, all modify control command in the follow-up control according to successfully establishing the difference of identification code of target steering wheel of communication connection.

An exemplary implementation of the embodiments of the present application is described below in a specific embodiment.

As shown in fig. 2, for example, the terminal device may be a robot, the ID of the steering engine of the left hand grip of the robot is fixed to 10, the ID of the steering engine of the right hand grip of the robot is fixed to 6, and the robot and the steering engine are respectively located on left and right independent communication buses (assuming that the left Bus is Bus2, and the right Bus is Bus 1), and are connected in series with other steering engines on respective limbs. As it allows for detachable interchangeability, there are 4 possible combination states of the two grippers:

1. steering engines are arranged on the left hand grab and the right hand grab;

2. the steering engine exists in the left grab, and the steering engine does not exist in the right grab;

3. the steering engine is arranged on the right hand grip, and the steering engine is not arranged on the left hand grip;

4. steering engines do not exist in the left hand grab and the right hand grab.

The ID written by the steering engines of the left hand grip and the right hand grip during production can be 10 or 6, ideally, the ID of the steering engine of the left hand grip =10, and the ID of the steering engine of the right hand grip =6, so that the steering engines can be matched just at the installation position, but the steering engines still have the risk of being installed wrongly because the steering engines are long like the figures.

And through this application embodiment, the steering wheel of left tongs and the steering wheel of right tongs can exchange, therefore, to this mounted position of left tongs, there are two corresponding target steering wheels, and the ID that corresponds respectively is 10 and 6.

If the target steering engine with the ID of 6 is installed on the left gripper, the ID of the target steering engine is modified to be 10, at the moment, after the target steering engine is installed every time, the control command of the communication bus of the left gripper to the target steering engine installed on the left gripper is directed to the target steering engine with the ID of 10, and the target steering engine does not need to be repeatedly modified due to the fact that the IDs are different, and therefore control efficiency is improved.

And step S102, determining a control mode aiming at the installation position according to the establishment result of the communication connection.

In this embodiment of the application, the establishment result may include information such as whether the communication connection is successfully established, and if the communication connection is successfully established, an identification code of a target steering engine for the communication connection is successfully established.

In the embodiment of the application, the corresponding control modes can be different according to different installation positions. For example, for the installation position of the robot head, if the communication connection between the communication bus and the target steering engine corresponding to the installation position is not successfully established, the whole terminal device can be controlled not to perform motion response; for the installation position of the tail end of the robot hand, if the communication connection between the communication bus and the target steering engine corresponding to the installation position is not successfully established, the control of the steering engines at other installation positions of the terminal equipment can not be limited, and the control of the installation position can only not be carried out.

In some embodiments, the determining a control manner for the installation location according to the establishment result of the communication connection includes:

and sending the establishment result of the communication connection to a target program through the communication bus so as to indicate the target program to determine a control mode aiming at the installation position according to the establishment result.

In this embodiment of the application, the target program may determine a specific control policy according to the establishment result of the communication connection, for example, may determine the motion authority of the terminal device according to the establishment result, so as to implement flexible control on the terminal device.

In some embodiments, the determining, according to the result of establishing the communication connection, a control manner for the installation location includes:

step S301, determining a communication connection identifier corresponding to the installation position according to the establishment result of the communication connection;

step S302, according to the communication connection identification, determining a control mode aiming at the installation position.

In the embodiment of the application, the communication connection identifier can be used for conveniently identifying the installation condition of the steering engine at the installation position, so that the communication connection identifier can be efficiently applied to subsequent data processing and information transmission. For example, in some embodiments, the communication connection identifier may be sent to the target program to enable the target program to control the manner of the installation location based on the received communication connection identifier.

For example, if the establishment result indicates that the communication connection is successfully established, it is determined that the communication connection identifier corresponding to the installation location is the first identifier;

and if the establishment result indicates that the communication connection is not established successfully, determining that the communication connection identifier corresponding to the installation position is a second identifier.

In some embodiments, after determining the control manner for the installation location according to the establishment result of the communication connection, the method further includes:

and if the establishment result of the communication connection meets the preset condition, generating prompt information, wherein the prompt information is used for prompting the establishment result of the communication connection.

In the embodiment of the application, the terminal device can prompt a user in modes of voice, text and the like according to the prompt message, and can also send the prompt message to a cloud server or a designated user account.

In the embodiment of the application, after a preset instruction is obtained, communication connection between a communication bus and a target steering engine is tried to be established according to preset steering engine information of a mounting position associated with the preset instruction, and the target steering engine is determined based on the preset steering engine information. At the moment, the target steering engine can be determined according to the preset steering engine information in a personalized and adaptive mode aiming at the installation position, so that the communication connection between the communication bus and the target steering engine is more personalized and more flexible. And then, according to the communication connection establishment result, a control mode aiming at the installation position is determined, so that the conditions that errors are easy to occur and the like caused by unified and fixed strict requirements during the installation of the steering engine in the existing equipment such as the robot and the like are avoided, the processing efficiency is improved, and the user experience is improved.

It should be understood that, the sequence numbers of the steps in the foregoing embodiments do not imply an execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present application.

Fig. 4 shows a block diagram of a control device provided in the embodiment of the present application, which corresponds to the above-described control method of the above embodiment, and only the relevant parts of the embodiment of the present application are shown for convenience of description.

Referring to fig. 4, the control device 4 includes:

the processing module 401 is configured to, after a preset instruction is obtained, try to establish communication connection between a communication bus and a target steering engine according to preset steering engine information of an installation position associated with the preset instruction, where the target steering engine is determined based on the preset steering engine information;

a first determining module 402, configured to determine a control manner for the installation location according to a result of establishing the communication connection.

Optionally, the preset steering engine information includes an identification code of at least one target steering engine corresponding to the installation position;

the processing module 401 is specifically configured to:

Optionally, the number of the target steering engines corresponding to the installation positions is at least two, each target steering engine corresponding to the installation positions corresponds to a different preset communication bus, and the structures of the target steering engines are the same.

Optionally, the number of the target steering engines corresponding to the mounting positions is at least two;

the processing module 401 is specifically configured to:

Optionally, the control device further includes:

the second determining module is used for determining a preset sequence corresponding to the target steering engine which successfully establishes the communication connection if the communication connection between the communication bus and the target steering engine is successfully established;

and the modification module is used for modifying the identification code of the target steering engine which successfully establishes the communication connection into the target identification code if the preset sequence corresponding to the target steering engine which successfully establishes the communication connection is the target sequence.

Optionally, the first determining module 402 includes:

a first determining unit, configured to determine, according to a result of establishing the communication connection, a communication connection identifier corresponding to the installation location;

and the second determining unit is used for determining a control mode aiming at the installation position according to the communication connection identifier.

Optionally, the first determining module 402 is specifically configured to:

and sending the establishment result of the communication connection to a target program through the communication bus so as to instruct the target program to determine a control mode aiming at the installation position according to the establishment result.

It should be noted that, for the information interaction, execution process, and other contents between the above devices/units, the specific functions and technical effects thereof based on the same concept as those of the method embodiment of the present application can be specifically referred to the method embodiment portion, and are not described herein again.

It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-mentioned division of the functional units and modules is illustrated, and in practical applications, the above-mentioned functions may be distributed as different functional units and modules according to needs, that is, the internal structure of the apparatus may be divided into different functional units or modules to implement all or part of the above-mentioned functions. Each functional unit and module in the embodiments may be integrated in one processing unit, or each unit may exist alone physically, or two or more units are integrated in one unit, and the integrated unit may be implemented in a form of hardware, or in a form of software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working processes of the units and modules in the system may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.

Fig. 5 is a schematic structural diagram of a terminal device according to an embodiment of the present application. As shown in fig. 5, the terminal device 5 of this embodiment includes: at least one processor 50 (only one is shown in fig. 5), a memory 51, and a computer program 52 stored in the memory 51 and executable on the at least one processor 50, wherein the steps in any of the above-described control method embodiments are implemented when the processor 50 executes the computer program 52.

The terminal device 5 may be a robot, a mechanical arm, a server, a mobile phone, a wearable device, an Augmented Reality (AR)/Virtual Reality (VR) device, a desktop computer, a notebook, a desktop computer, a palmtop computer, or other computing devices. The terminal device may include, but is not limited to, a processor 50, a memory 51. Those skilled in the art will appreciate that fig. 5 is merely an example of the terminal device 5, and does not constitute a limitation of the terminal device 5, and may include more or less components than those shown, or combine some of the components, or different components, such as may also include input devices, output devices, network access devices, etc. The input device may include a keyboard, a touch pad, a fingerprint sensor (for collecting fingerprint information of a user and direction information of a fingerprint), a microphone, a camera, and the like, and the output device may include a display, a speaker, and the like.

The Processor 50 may be a Central Processing Unit (CPU), and the Processor 50 may also be other general-purpose processors, Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), Field-Programmable Gate arrays (FPGAs) or other Programmable logic devices, discrete Gate or transistor logic devices, discrete hardware components, and the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.

The storage 51 may be an internal storage unit of the terminal device 5 in some embodiments, for example, a hard disk or a memory of the terminal device 5. The memory 51 may be an external storage device of the terminal device 5 in other embodiments, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and the like, provided on the terminal device 5. Further, the memory 51 may include both an internal storage unit and an external storage device of the terminal device 5. The memory 51 is used for storing an operating system, an application program, a Boot Loader (Boot Loader), data, and other programs, such as program codes of the computer programs. The above-mentioned memory 51 may also be used to temporarily store data that has been output or is to be output.

In addition, although not shown, the terminal device 5 may further include a network connection module, such as a bluetooth module Wi-Fi module, a cellular network module, and the like, which is not described herein again.

In this embodiment, when the processor 50 executes the computer program 52 to implement the steps in any of the control method embodiments, after a preset instruction is obtained, a communication connection between a communication bus and a target steering engine is attempted to be established according to preset steering engine information of an installation position associated with the preset instruction, where the target steering engine is determined based on the preset steering engine information. At the moment, the target steering engine can be determined in a personalized and adaptive manner aiming at the installation position according to the preset steering engine information, so that the communication connection between the communication bus and the target steering engine is more personalized and more flexible. And then, according to the communication connection establishment result, a control mode aiming at the installation position is determined, so that the conditions that errors are easy to occur and the like caused by unified and fixed strict requirements of the steering engine during installation of the steering engine in the existing robot and other equipment are avoided, the processing efficiency is improved, and the user experience is improved.

The embodiments of the present application further provide a computer-readable storage medium, where a computer program is stored, and when the computer program is executed by a processor, the computer program implements the steps in the foregoing method embodiments.

The embodiments of the present application provide a computer program product, which when running on a terminal device, enables the terminal device to implement the steps in the above method embodiments when executed.

The integrated unit may be stored in a computer-readable storage medium if it is implemented in the form of a software functional unit and sold or used as a separate product. Based on such understanding, all or part of the processes in the methods of the embodiments described above can be implemented by a computer program, which can be stored in a computer-readable storage medium and can implement the steps of the embodiments of the methods described above when the computer program is executed by a processor. The computer program includes computer program code, and the computer program code may be in a source code form, an object code form, an executable file or some intermediate form. The computer-readable medium may include at least: any entity or device capable of carrying computer program code to a photographing apparatus/terminal device, recording medium, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), electrical carrier wave signals, telecommunication signals, and software distribution medium. Such as a usb-disk, a removable hard disk, a magnetic or optical disk, etc. In certain jurisdictions, computer-readable media may not be an electrical carrier signal or a telecommunications signal in accordance with legislative and patent practice.

In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.

Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.

In the embodiments provided in the present application, it should be understood that the disclosed apparatus/network device and method may be implemented in other ways. For example, the above-described apparatus/network device embodiments are merely illustrative, and for example, the division of the above modules or units is only one logical function division, and there may be other divisions when actually implemented, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.

The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.

The above embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present application and are intended to be included within the scope of the present application.

Claims

1. A control method, comprising:

determining a control mode aiming at the installation position according to the establishment result of the communication connection;

the preset steering engine information comprises an identification code of at least one target steering engine corresponding to the installation position;

after obtaining and predetermineeing the instruction, according to predetermineeing the steering wheel information of the installation position that predetermines the instruction relevance, try to establish the communication connection between communication bus and the target steering wheel, include:

2. The control method according to claim 1, wherein the number of the target steering engines corresponding to the installation positions is at least two, each target steering engine corresponding to the installation positions corresponds to a different preset communication bus, and the structures of the target steering engines are the same.

3. The control method according to claim 1, wherein the number of the target steering engines corresponding to the mounting positions is at least two;

4. The control method according to claim 3, wherein, after attempting to establish a communication connection between the communication bus and each of the target steering engines in sequence according to a preset sequence between the target steering engines until the communication connection between the communication bus and one of the target steering engines is successfully established, or until M times of traversal of each of the target steering engines, the method further comprises:

5. The control method according to claim 1, wherein the determining a control manner for the installation position based on the establishment result of the communication connection includes:

determining a communication connection identifier corresponding to the installation position according to the establishment result of the communication connection;

and determining a control mode aiming at the installation position according to the communication connection identifier.

6. The method according to any one of claims 1 to 5, wherein the determining a control manner for the installation position based on the establishment result of the communication connection includes:

7. A control device, comprising:

a first determination module, configured to determine a control manner for the installation location according to a result of establishing the communication connection;

the processing module is specifically configured to:

8. A terminal device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor implements the control method according to any one of claims 1 to 6 when executing the computer program.

9. A computer-readable storage medium, in which a computer program is stored, which, when being executed by a processor, implements the control method according to any one of claims 1 to 6.