WO2019178863A1

WO2019178863A1 - Control method, control device, control system, and computer readable storage medium

Info

Publication number: WO2019178863A1
Application number: PCT/CN2018/080305
Authority: WO
Inventors: 杨川; 郭亚男
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2018-03-23
Filing date: 2018-03-23
Publication date: 2019-09-26
Also published as: CN110462574A

Abstract

The present application provides a control method, applied in a control device. The method comprises: generating a selected area according to a first operation in a map, the map being used for displaying the identifier of at least one controlled device, and the identifier corresponding to location information transmitted by the at least one controlled device; selecting, from the identifier, a target identifier that satisfies a preset relationship with the selected area, the target identifier being used for indicating a target controlled device in the at least one controlled device.According to the embodiments of the present application, a plurality of controlled devices corresponding to a plurality of identifiers can be selected by generating a selected area, and then the selected controlled devices can be controlled according to needs; thus, a user can control a plurality of controlled devices by means of one control device, thereby improving the control efficiency.

Description

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

Technical field

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

Background technique

The current remote control robot can only achieve one-to-one control, for example, a remote control establishes a communication connection with a robot, the user operates on the remote controller to generate a control signal, and the remote controller sends a control signal to the robot. Receiving a control signal of the remote controller and performing an action according to the control signal.

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

Summary of the invention

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

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

Generating a selection area according to a first operation in the map, the map being configured to display an identifier of the at least one controlled device, where the identifier is used to correspond to location information transmitted by the at least one of the controlled devices;

In the identifier, selecting a target identifier that satisfies a preset relationship with the selected area, where the target identifier is used to indicate a target controlled device in at least one of the controlled devices.

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

Generating a selection area according to a first operation in the map, the map being configured to display an identifier of the at least one controlled device, the identifier being used to correspond to location information transmitted by the at least one of the controlled devices;

According to a third aspect of the embodiments of the present application, a control system is provided, the control system comprising a control device and at least one controlled device, at least one of the controlled devices for transmitting location information to the control device;

The control device is configured to generate a selection area according to a first operation in a map, where the map is used to display an identifier of at least one controlled device, where the identifier is used to correspond to location information transmitted by at least one of the controlled devices;

The control device is configured to select, in the identifier, a target identifier that meets a preset relationship with the selected area, where the target identifier is used to indicate a target controlled device in at least one of the controlled devices.

According to a fourth aspect of the embodiments of the present application, there is provided a computer readable storage medium having stored therein program instructions, when executed by a processor, for performing the above described first aspect method.

It can be seen from the technical solution provided by the embodiment of the present application that the selected area is generated by performing the first operation in the map displayed on the screen, and whether the controlled device corresponding to the identifier is selected according to the relationship between the identifier and the selected area in the map may be determined. The multiple selected identifiers and the selected area can satisfy the preset relationship at the same time, so that multiple controlled devices corresponding to the plurality of identifiers can be selected by generating the selected area, and then the selected controlled device can be controlled according to requirements, so that the user Multiple controlled devices can be controlled by one control device, improving control efficiency.

In addition, by displaying the identifier corresponding to the location information of the controlled device in the map, the user can be intuitively determined to determine the location of the controlled device and the positional relationship between the different controlled devices, so that the user can subsequently access the controlled device. Take control.

DRAWINGS

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings used in the description of the embodiments will be briefly described below. It is obvious that the drawings in the following description are only some embodiments of the present application. Other drawings may also be obtained from those of ordinary skill in the art in view of the drawings.

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

2 is a schematic flow chart showing generation of a selection area according to a first operation in a map, according to an embodiment of the present application;

FIG. 3A is a schematic flow chart showing generation of a selection area according to a start position and an end position, according to an embodiment of the present application; FIG.

3B and 3C are schematic diagrams showing a generation selection region according to an embodiment of the present application;

4A is a schematic flow chart showing another generation of a selection area according to a start position and an end position, according to an embodiment of the present application;

4B and 4C are schematic diagrams showing another generation selection region according to an embodiment of the present application;

5A is a schematic flow chart showing another generation of a selection area according to a first operation in a map, according to an embodiment of the present application;

5B and 5C are schematic diagrams showing still another generation selection region according to an embodiment of the present application;

6 is a schematic flow chart of another control method according to an embodiment of the present application;

FIG. 7 is a schematic flow chart showing transmission of a control command to a target controlled device according to a second operation, according to an embodiment of the present application; FIG.

8 is a schematic flow chart showing transmission of a control command to a target controlled device according to a second operation in a map, according to an embodiment of the present application;

9 is a schematic flow chart showing determining a target position of movement of the target controlled device according to a second operation in the map, according to an embodiment of the present application;

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

detailed description

The technical solutions in the embodiments of the present application are clearly and completely described in the following with reference to the drawings in the embodiments of the present application. It is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments of the present application without departing from the inventive scope are the scope of the present application. Further, the features of the following embodiments and examples may be combined with each other without conflict.

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

As shown in FIG. 1, the control method may include the following steps:

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

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

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

The map may also be acquired by the control device from the server. For example, the server pre-stores a map of multiple areas, and the control device may acquire the location of the controlled device, transmit the location of the controlled device to the server, and the server according to the location of the controlled device. The area in which the controlled device is located is determined, and the map of the area is transmitted to the control device.

In one embodiment, the first operation may be an operation of clicking a virtual button in the map, or a touch operation in the map, such as a click operation or a sliding operation. The first operation may be performed by the user directly through the finger, or may be performed by a mouse, or may be performed by other touch objects (such as a stylus). The following embodiments are mainly used by the user through the finger in the first operation. An exemplary description is made in the case of performing touch execution.

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

For example, the first operation is a sliding operation in the map, then the sliding operation of the user can be sensed by the touch sensor in the display screen to determine the starting point and the ending point of the sliding operation, and a quadrilateral with the starting point and the ending point as the diagonal point is generated as the selection area. .

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

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

Wherein, the generated identifier may be a point having no area, or may be an aread figure, for example, a figure corresponding to the edge shape of the controlled device when viewed from the side or from the controlled device.

By displaying the identifier corresponding to the location information of the controlled device in the map, the user can intuitively determine the location where the controlled device is located, and the positional relationship between the different controlled devices, so that the user can subsequently control the controlled device.

Further, when the identifiers corresponding to the plurality of controlled devices are displayed in the map, the shapes, colors, photoelectric information, and the like between the respective identifiers may be different, and the identification information of the controlled devices is sufficiently indicated by having various representation forms. (such as function, role, etc.), for example, when multiple controlled devices are robots competing with each other, the corresponding logos of each competing robot can be marked with different colors, such as A team robot is red, B pair robot is blue For example, when the A team or the B team robots include robots with different functions, the robots with the same function can perform the same mark change on the basis of the color. For example, a certain function of the A team robot can be displayed in red. And flashes.

Step S2: In the identifier, select a target identifier that satisfies a preset relationship with the selected area, where the target identifier is used to indicate a target controlled device in at least one of the controlled devices.

In an embodiment, the control device may determine the relationship between the identifier and the selected area according to the location of the identifier in the display screen, for example, may determine the position of the displayed first pixel in the screen, and determine the boundary of the selected area. The position of the second pixel in the screen, and further determining the relationship between the identification and the selection area according to the relationship between the first pixel and the second pixel.

In an embodiment, the control device may determine the relationship between the identifier and the selected area according to the map coordinates identified in the map, for example, may determine the first map coordinate of the displayed identifier, and determine the second map coordinate corresponding to the boundary of the selected area. And determining a relationship between the identifier and the selection area according to the relationship between the first map coordinate and the second map coordinate.

In an embodiment, the control device may determine the relationship between the identifier and the selected area according to the environment coordinate corresponding to the actual environment in which the controlled device is located, for example, may determine that the displayed identifier corresponds to the first physical environment where the controlled device is located. The environment coordinates, and determining the boundary of the selected area corresponds to the second environment coordinate of the actual environment in which the controlled device is located, and determining the relationship between the identifier and the selected area according to the relationship between the first environment coordinate and the second environment coordinate.

In an embodiment, the control device may determine the relationship between the identifier and the selected area according to the overlapping relationship between the graphic corresponding to the location and the selected area, for example, may determine the first boundary coordinate of the graphic corresponding to the displayed identifier, and determine the selected area. The boundary corresponding to the second boundary coordinate, and further determining the relationship between the identifier and the selection region according to the overlapping relationship between the first boundary coordinate and the second boundary coordinate.

The relationship between the identifier and the selected area may include at least one of the following: the identifiers are all located in the selection area, the identifiers are all located outside the selection area, and the identification part is located in the selection area, A preset portion of the logo is located within the selection area, and a preset portion of the logo is located outside the selection area. The default relationship can be selected from the above relationships as needed.

For example, if the preset relationship is that the identifiers are all located in the selection area, when it is determined that the identifiers are all located in the selection area, it may be determined that the identifier and the selected area satisfy a preset relationship, that is, the identifier is a target identifier, and the target identifier is used for A target controlled device among at least one of the controlled devices is indicated, so selection of the target controlled device can be achieved by selecting the target identifier. The target identifier may include one or more, and each of the target identifiers may correspond to one target controlled device.

It can be seen that, according to an embodiment of the present application, a selection area may be generated by performing a first operation in a map displayed on the screen, and determining, according to the relationship between the identifier in the map and the selection area, whether the controlled device corresponding to the identifier is selected, because At the same time, the multiple identifiers and the selected area meet the preset relationship, so that multiple controlled devices corresponding to multiple identifiers can be selected by generating the selected area, and then the selected controlled device can be controlled according to requirements, so that the user can Controlling multiple controlled devices through one control device improves control efficiency.

Of course, it can be understood that, in actual applications, after one or more controlled devices are determined by selecting a region, the one or more controlled devices may not be controlled, for example, the one or more controlled devices may be notified. Give other controlled devices to initiate corresponding actions to the one or more controlled devices by other controlled devices.

Optionally, the preset relationship includes at least one of the following:

The identifiers are all located in the selection area, the identifiers are all located outside the selection area, the identification part is located in the selection area, and the preset part of the identifier is located in the selection area, the identifier The preset portion is located outside the selection area.

In an embodiment, in the case of a point identified as having no area, the relationship between the identifier and the selected area is that the identifier is all located in the selected area and the identifier is all located outside the selected area, and the preset relationship may be Choose between these two situations.

Wherein, in the case where the identifier coincides with the boundary of the selected area, the situation may be attributed to the fact that the identifier is all located in the selected area or the identifier is all located outside the selected area.

In an embodiment, in the case of the graphic identified as having an area, the identifying the relationship with the selected area may include identifying the presets all located in the selected area, the identifiers are all located outside the selected area, the identification portion is located in the selected area, and the identifier is preset. The five parts are located in the selected area, and the preset part of the logo is located outside the selected area, and the preset relationship can be selected from the five situations as needed.

It should be noted that the identifier portion is located in the selection area and the preset portion of the identifier is located in the selection area. The identifier portion is located in the selection area, meaning that any part of the identifier is located in the selection area, and the preset part of the identifier is located. The selected area means that the specified part of the logo (which can be preset) is located in the selected area.

For the case where the preset portion of the identifier is located in the selection area and the preset portion of the identifier is outside the selection area, specifically determining which part of the identifier is located in the selection area or outside the selection area may be preset according to requirements, for example, a preset part. As the center of the identification, it can be determined whether the center of the identification is within the selection area.

Based on the description of the foregoing relationship, in an actual application, the area of the local map is too large, and the identifier corresponding to the multiple controlled devices may be unevenly distributed in the map. To facilitate the first operation of the user on the map, preferably The preset relationship may be at least one of identifying that all of the identifiers are located in the selection area, the identification portion is located in the selection area, and the preset portion of the identifier is located in the selection area. Certainly, when the identifier distribution of the non-target controlled device is concentrated, and the target controlled device is more, the one or more controlled devices corresponding to the identifier outside the selected area may be the target controlled device. Preferably, the preset relationship may be that the identifier is located outside the selected area or the preset portion of the identifier is located outside the selected area.

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

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

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

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

In an embodiment, there may be a plurality of manners of generating a selection area with a start position and an end position. For example, a selection area of a rectangle may be generated as a diagonal point with a start position and an end position, for example, a start position to an end may be used. The position is a selection area in which the diameter produces a circle. The specific choice of which method to generate the selection area can be set in advance as needed.

FIG. 3A is a schematic flow chart showing generation of a selection area based on a start position and an end position, according to an embodiment of the present application. As shown in FIG. 3A, on the basis of the embodiment shown in FIG. 2, the generating a selection area according to the start position and the end position includes:

Step S121, generating a selection area in which the start position and the end position are diagonal points.

3B and 3C are schematic diagrams of generating a selection region, according to an embodiment of the present application. As shown in FIG. 3B, for example, the first operation is a touch operation, and the screen displaying the map can identify the start position and the end position of the touch operation.

Further, as shown in FIG. 3C, a selection area in which the start position and the end position are diagonal points can be generated. It should be noted that the selection area is not limited to the rectangular shape as shown in FIG. 3C, and may be other diamond shapes, or even hexagonal shapes and octagon shapes, and a specific selection region of which shape is generated, and may be set as needed.

4A is a schematic flow chart showing another generation of a selection area based on a start position and an end position, according to an embodiment of the present application. As shown in FIG. 4A, on the basis of the embodiment shown in FIG. 2, the generating a selection area according to the start position and the end position includes:

Step S122, generating a selection area having a diameter from the start position to the end position.

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

Further, as shown in Fig. 4C, a selection area that is a diameter from the start position to the end position may be generated. It should be noted that the selection area is not limited to the circular shape as shown in FIG. 4C, and may be other semicircular or even fan-shaped, and the selected area of the specific shape may be set as needed.

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

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

Step S13, determining an operation trajectory of the first operation in the map;

In step S14, the area formed by the operation track is a selection area.

In one embodiment, if the start position and the end position of the first operation coincide, that is, the operation track of the first operation in the map is a closed figure, the area formed by the operation track may be determined as the selected area.

It should be noted that the embodiment shown in FIG. 5A can be combined with the embodiment shown in FIG. 2, and the touch sensor in the display screen can record the start position and the end position of the first operation, and can also record the first An operation trajectory of an operation, for example, when the start position and the end position are not coincident, a selection area is generated according to the start position and the end position, for example, the start position and the end position coincide, and the selection area is generated according to the operation trajectory.

In one embodiment, the selection area comprises a closed area formed around the operational trajectory itself, or a closed area formed around the boundary of the map with the operational trajectory. Wherein, when the user performs the first operation on the boundary of the map, the closed area formed by the boundary between the operation track and the map may be used as the selection area by the first operation and the boundary of the map, thereby simplifying the operation mode of generating the selected area.

It can be understood that the operation trajectory may be formed by a continuous sliding operation, or may be formed by a breakpoint operation within a preset duration, for example, connecting a plurality of breakpoints to form an operation trajectory, which is not specifically limited herein.

5B and 5C are schematic diagrams showing still another generation selection region, according to an embodiment of the present application. As shown in FIG. 5B, for example, the first operation is a touch operation, and the screen displaying the map can identify the operation trajectory of the touch operation, thereby determining whether the operation trajectory intersects the boundary of the map. As shown in FIG. 5C, further, for example, the operation trajectory intersects the boundary of the map, the closed area formed by the boundary of the operation trajectory and the map may be used as the selection area.

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

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

In one embodiment, the user can implement the second operation in various manners, for example, by clicking a certain location in the map; for example, the second operation can be implemented by clicking a physical button on the control device; for example, The second operation is implemented by inputting corresponding content, which may include, but is not limited to, gestures, voices, characters.

In one embodiment, the relationship between the control command and the second operation may be preset, for example, different control commands may be generated according to different second operations, for example, the same control command may be generated according to different second operations. The generated control commands can be various. For example, the control commands can be used to instruct the controlled device to move to a certain position. For example, the control command can be used to indicate that the controlled device is started or shut down.

FIG. 7 is a schematic flow chart showing transmission of a control command to a target controlled device according to a second operation, according to an embodiment of the present application. As shown in FIG. 7, on the basis of the embodiment shown in FIG. 6, the transmitting, by the second operation, the control instruction to the target controlled device includes:

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

In one embodiment, the second operation in the map may include a click operation, a slide operation, and the like. Taking the sliding operation as an example, the starting position of the sliding operation may be the selected target identifier, then the corresponding path in the actual environment is the moving path in the trajectory of the sliding operation, and the ending position of the sliding operation is the target position in the actual environment. And a control instruction is used to indicate that the target controlled device moves from the current location to the target location according to the motion path.

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

It should be noted that the control instruction is not limited to controlling the movement of the controlled device, for example, the controlled device can be controlled to start, shut down, and the like. In addition, the manner of transmitting the control command may be wired transmission or wireless transmission, wherein the wireless transmission may include infrared, Bluetooth, WiFi, Near Field Communication (NFC), and the like.

FIG. 8 is a schematic flow chart showing transmission of control instructions to a target controlled device according to a second operation in a map, according to an embodiment of the present application. As shown in FIG. 8, on the basis of the embodiment shown in FIG. 7, the transmitting the control instruction to the target controlled device according to the second operation in the map includes:

Step S311, determining a target location of the target controlled device motion according to a second operation in the map;

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

In one embodiment, the second operation in the map may include a click operation, a slide operation, and the like. Taking the click operation as an example, the position corresponding to the position of the click operation in the actual environment may be the target position, and a motion path starting from the current position of the target controlled device and ending with the target position may be generated, and the control instruction is used to indicate The target controlled device moves from its current location to the target location in accordance with the motion path. The motion path with the target location of the target controlled device as the starting point and the target location as the starting point may be directly indicated to the target controlled device, or may be generated by the target controlled device according to the current location and the target location.

It can be understood that if the target location corresponding to the second operation in the map is an operation location in the map, the operation location in the map may also be transmitted to the target controlled device, and the target controlled device is indicated to the map. The operation position movement in the middle, that is, after receiving the operation position in the map, the target controlled device can convert the operation position into a corresponding position in the actual environment, and corresponding to the actual environment according to its current location. Position movement.

9 is a schematic flow diagram showing determining a target location of movement of a target controlled device based on a second operation in the map, in accordance with an embodiment of the present application. As shown in FIG. 9, on the basis of the embodiment shown in FIG. 8, the determining a target location of the target controlled device motion according to a second operation in the map includes:

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

Step S3112: Convert the operation location to a target location in the actual environment according to a correspondence between the map and an actual environment in which the controlled device is located.

In one embodiment, since the second operation is performed on the map, and the controlled device is moving in the actual environment, the correspondence between the map and the actual environment in which the controlled device is located may be generated according to the map when the map is generated. The operation position of the second operation in the map is converted to the target position in the actual environment, thereby controlling the target controlled device to move to the target position in the actual environment.

Optionally, the second operation comprises one of the following:

Click the action, double-click the operation, long press the operation, and slide the operation.

In one embodiment, the case of the click operation and the slide operation has been described in the foregoing embodiment, and details are not described herein again. The double-click operation and the long-press operation can be similar to the case of a click operation, that is, the target position is determined according to the operation position of the double-click operation or the long-press operation in the map, and the target is determined based on the double-click operation and the long-press operation. The location can prevent the user from accidentally controlling the controlled device by clicking on the map by mistake.

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

According to still another embodiment of the present application, a control device is also provided, and related embodiments of the control device may be implemented by software, or may be implemented by hardware or a combination of hardware and software. Taking the software implementation as an example, the processor can read the corresponding computer program instructions in the non-volatile memory into the memory. From a hardware level, as shown in FIG. 10, a hardware structure diagram of the control device of the present application, except for the processor, the memory, the network interface, and the non-volatile memory shown in FIG. 10, in the embodiment. The control device is usually based on actual functions, and may also include other hardware, which will not be described again.

In one embodiment, the control device can include a processor for performing the following steps:

In one embodiment, the preset relationship includes at least one of the following:

In one embodiment, the processor is further configured to:

Determining a starting position and an ending position of the first operation in the map;

A selection area is generated based on the start position and the end position.

In one embodiment, the processor is further configured to:

A selection area is created in which the starting position and the ending position are diagonal points.

In one embodiment, the processor is further configured to:

A selection area that is a diameter from the start position to the end position is generated.

In one embodiment, the processor is further configured to:

Determining the operation trajectory of the first operation in the map;

The area formed by the operation trajectory is a selection area.

In one embodiment, the selection area comprises a closed area formed around the operational trajectory itself, or a closed area formed around the boundary of the map with the operational trajectory.

In one embodiment, the processor is further configured to:

Transmitting a control instruction to the target controlled device according to the second operation.

In one embodiment, the processor is further configured to:

A control instruction is transmitted to the target controlled device according to a second operation in the map.

In one embodiment, the processor is further configured to:

Determining a target location of the target controlled device motion according to a second operation in the map;

A control command to move to the target position is transmitted to the target controlled device.

In one embodiment, the processor is further configured to:

Detecting an operation location of the second operation in the map;

And converting the operation position into a target position in the actual environment according to a correspondence between the map and an actual environment in which the controlled device is located.

In one embodiment, the second operation comprises one of the following:

In one embodiment, the map is further for displaying identity information of at least one of the controlled devices.

According to still another embodiment of the present application, a control system is further provided, the control system comprising a control device and at least one controlled device, at least one of the controlled devices for transmitting location information to the control device;

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

For example, an Ultra Wideband (UWB) tag may be disposed on the at least one controlled device, and the target controlled device may determine location information of the controlled device according to the indoor positioning algorithm. In turn, the ultra-wideband tag can be used to communicate with the ultra-wideband base station, and the location information of the ultra-wideband tag is determined by the indoor positioning algorithm; the location of the target controlled device is determined according to the location information of the ultra-wideband tag and the position of the ultra-wideband tag on the target controlled device. information.

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

The target controlled device is configured to perform an action according to the control instruction.

In one embodiment, the control instruction is used to indicate that the target controlled device moves to a target location, and the target controlled device is configured to generate a motion path according to the location information and the target location;

The target controlled device is configured to move toward the target position in accordance with the motion path.

In an embodiment, the target controlled device may generate a motion path according to the location information, that is, the current location and the target location, where the target controlled device may consider avoiding the obstacle and having the shortest path in the process of generating the motion path. Factors such as the shortest time to generate the appropriate motion path as needed.

In an embodiment, the target controlled device is configured to divide the motion path into multiple sub-paths according to a preset division manner;

The target controlled device is configured to determine a motion parameter from a start point to an end point of the sub path for each of the sub paths;

The target controlled device is configured to move to the target position based on the motion parameter.

In one embodiment, the manner of dividing the motion path may be set as needed, for example, a motion path formed for a plurality of straight line segments, and each straight line segment may be divided into one sub-path; for example, for including arc segments and straight lines The path of the road segment can divide the straight line segment into one sub-path and divide the arc line segment into one sub-path.

By dividing the motion path into multiple sub-paths and determining the motion parameters from the start point to the end point for each sub-path, it is advantageous to simplify the algorithm for calculating the motion parameters so that the target controlled device can quickly determine the motion parameters, thereby performing the motion operation. Among them, the motion parameters may include parameters such as the speed of motion and the direction of motion.

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

The target controlled device is configured to move to the target position according to the converted motion parameter.

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

Taking the controlled device as the robot, for example, the UWB tag can be set on the robot. The UWB base station can be set around the robot where the robot is located. The UWB tag can communicate with the UWB base station, and according to the indoor positioning algorithm, the robot can be calculated. The coordinates within the site, which is the current location of the robot.

The plurality of robots can transmit the respective obtained coordinates to the control device, such as a remote controller that controls the robot, by, for example, wireless communication. The map of the above-mentioned site may be displayed in advance on the remote controller, and after receiving the coordinates of the robot, the logo of the robot may be displayed on the map of the site according to the coordinates.

The operator can operate in the map displayed by the remote controller, for example, by a mouse operation or a touch operation, for example, by mouse operation, the mouse can be clicked in the first position, and the operation is performed from the first position. Start position, drag the mouse to the second position and release the mouse, then use the second position as the end position of the operation, and then generate the selection area according to the start position and end position of the operation, and select the area and the map The logo in the intersection is done.

The intersection may be performed according to the positional relationship between the pixels of the display selection area and the pixels of the display identifier in the map, and the identifier located in the selection area is determined. It is also possible to convert the selected area into the actual environment in which the robot is located, obtain the selected area in the actual environment, and then intersect the selected area in the actual environment with the coordinates of the robot to determine the coordinates in the selected area in the actual environment. . Either way, you can determine the target robot after the intersection. The target robot can be either a robot or multiple robots.

After determining the target robot, the operator can further operate in the map displayed by the remote controller, for example, by clicking a certain point in the map, a control command can be generated, and the control command is used to indicate that the target robot starts from its current location. The start position, the point at which the point clicked by the operator moves in the actual environment is the end position (ie, the target position), and the control command can be transmitted to the target robot by, for example, wireless communication. Wherein, when the target robot is a plurality of robots, a control command can be generated for each target robot.

After receiving the control command, the target robot can generate a motion path according to the start position and the end position. It should be noted that the motion path can also be generated by the remote controller, and then the control command is used to indicate that the target robot is generated according to the remote controller. Movement path movement. Among them, the way to generate the motion path can consider factors such as avoiding obstacles and shortest paths.

The target robot can divide the motion path into multiple sub-paths, and determine the motion speed and the motion direction from the start point to the end point of the sub-path for each sub-path. Since the coordinate system of the robot's own coordinate system and the environment in which the robot is located may be different, The direction of motion is converted into the coordinate system of the robot itself by matrix transformation to ensure that the robot moves accurately. In turn, the robot can move sequentially along each sub-path to complete the actions indicated by the control commands.

Since a plurality of target robots can be selected at one time by generating a selection region, control commands can be sent to a plurality of target robots at the same time, and control of a plurality of target robots can be realized at the same time, especially when the multi-party robots compete against the competition venue, The control device specifies the target position, and then cooperates with the path planning algorithm to realize the purpose of one-to-many control of the robot moving to the target position, improving the feasibility of the automated intelligent robot competition, making the intelligent game more flexible and more effective for improving the operator's operation. Experience.

According to still another embodiment of the present application, there is also provided a computer readable storage medium having stored therein program instructions, when executed by a processor, for performing any of the above embodiments Control method.

The system, device, module or unit illustrated in the above embodiments may be implemented by a computer chip or an entity, or by a product having a certain function. For the convenience of description, the above devices are described separately by function into various units. Of course, the functions of each unit may be implemented in the same software or software and/or hardware when implementing the present application. Those skilled in the art will appreciate that embodiments of the present application can be provided as a method, system, or computer program product. Thus, the present application can take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment in combination of software and hardware. Moreover, the application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) including computer usable program code.

The various embodiments in the specification are described in a progressive manner, and the same or similar parts between the various embodiments may be referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, for the system embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the description of the method embodiment.

It should be noted that, in this context, relational terms such as first and second are used merely to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply such entities or operations. There is any such actual relationship or order between them. The terms "including", "comprising" or "comprising" or "comprising" are intended to include a non-exclusive inclusion, such that a process, method, article, or device that comprises a plurality of elements includes not only those elements but also other items not specifically listed Elements, or elements that are inherent to such a process, method, item, or device. An element that is defined by the phrase "comprising a ..." does not exclude the presence of additional equivalent elements in the process, method, item, or device that comprises the element.

The above description is only an embodiment of the present application and is not intended to limit the application. Various changes and modifications can be made to the present application by those skilled in the art. Any modifications, equivalents, improvements, etc. made within the spirit and scope of the present application are intended to be included within the scope of the appended claims.

Claims

A control method is applied to a control device, characterized in that the method comprises:

Generating a selection area according to a first operation in the map, the map being configured to display an identifier of the at least one controlled device, where the identifier is used to correspond to location information transmitted by the at least one of the controlled devices;

In the identifier, selecting a target identifier that satisfies a preset relationship with the selected area, where the target identifier is used to indicate a target controlled device in at least one of the controlled devices.
The method according to claim 1, wherein the preset relationship comprises at least one of the following:

The identifiers are all located in the selection area, the identifiers are all located outside the selection area, the identification part is located in the selection area, and the preset part of the identifier is located in the selection area, the identifier The preset portion is located outside the selection area.
The method according to claim 1 or 2, wherein the generating the selection area according to the first operation in the map comprises:

Determining a starting position and an ending position of the first operation in the map;

A selection area is generated based on the start position and the end position.
The method according to claim 3, wherein the generating the selection area according to the start position and the end position comprises:

A selection area is created in which the starting position and the ending position are diagonal points.
The method according to claim 3, wherein the generating the selection area according to the start position and the end position comprises:

A selection area that is a diameter from the start position to the end position is generated.
The method according to claim 1 or 2, wherein the generating the selection area according to the first operation in the map comprises:

Determining the operation trajectory of the first operation in the map;

The area formed by the operation trajectory is a selection area.
The method according to claim 6, wherein said selection area comprises a closed area formed by itself around said operation trajectory, or an enclosed area formed by said operation trajectory and a boundary of said map.
The method according to any one of claims 1 to 7, wherein the method further comprises:

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

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

Determining a target location of the target controlled device motion according to a second operation in the map;

A control command to move to the target position is transmitted to the target controlled device.
The method according to claim 10, wherein the determining a target location of the target controlled device motion according to a second operation in the map comprises:

Detecting an operation location of the second operation in the map;

And converting the operation position into a target position in the actual environment according to a correspondence between the map and an actual environment in which the controlled device is located.
The method according to any one of claims 8 to 11, wherein the second operation comprises one of the following:

Click the action, double-click the operation, long press the operation, and slide the operation.
The method according to any one of claims 1 to 12, wherein the map is further for displaying identity information of at least one of the controlled devices.
A control device includes a processor, wherein the processor is configured to perform the following steps:

Generating a selection area according to a first operation in the map, the map being configured to display an identifier of the at least one controlled device, where the identifier is used to correspond to location information transmitted by the at least one of the controlled devices;

In the identifier, selecting a target identifier that satisfies a preset relationship with the selected area, where the target identifier is used to indicate a target controlled device in at least one of the controlled devices.
The control device according to claim 14, wherein the preset relationship comprises at least one of the following:

The identifiers are all located in the selection area, the identifiers are all located outside the selection area, the identification part is located in the selection area, and the preset part of the identifier is located in the selection area, the identifier The preset portion is located outside the selection area.
The control device according to claim 14 or 15, wherein the processor is further configured to:

Determining a starting position and an ending position of the first operation in the map;

A selection area is generated based on the start position and the end position.
The control device according to claim 16, wherein the processor is further configured to:

A selection area is created in which the starting position and the ending position are diagonal points.
The control device according to claim 16, wherein the processor is further configured to:

A selection area that is a diameter from the start position to the end position is generated.
The control device according to claim 14 or 15, wherein the processor is further configured to:

Determining the operation trajectory of the first operation in the map;

The area formed by the operation trajectory is a selection area.
The control apparatus according to claim 19, wherein said selection area comprises a closed area formed by itself around said operation trajectory, or a closed area formed by said operation trajectory and a boundary of said map.
The control device according to any one of claims 14 to 20, wherein the processor is further configured to:

Transmitting a control instruction to the target controlled device according to the second operation.
The control device according to claim 21, wherein the processor is further configured to:

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

Determining a target location of the target controlled device motion according to a second operation in the map;

A control command to move to the target position is transmitted to the target controlled device.
The control device according to claim 23, wherein the processor is further configured to:

Detecting an operation location of the second operation in the map;

And converting the operation position into a target position in the actual environment according to a correspondence between the map and an actual environment in which the controlled device is located.
The control device according to any one of claims 21 to 24, wherein the second operation comprises one of the following:

Click the action, double-click the operation, long press the operation, and slide the operation.
The control device according to any one of claims 14 to 25, wherein the map is further configured to display identity information of at least one of the controlled devices.
A control system comprising a control device and at least one controlled device, wherein at least one of the controlled devices is configured to transmit location information to the control device;

The control device is configured to generate a selection area according to a first operation in a map, where the map is used to display an identifier of at least one controlled device, where the identifier is used to correspond to location information transmitted by at least one of the controlled devices;

The control device is configured to select, in the identifier, a target identifier that meets a preset relationship with the selected area, where the target identifier is used to indicate a target controlled device in at least one of the controlled devices.
The control system according to claim 27, wherein said control device is configured to send a control instruction to said target controlled device;

The target controlled device is configured to perform an action according to the control instruction.
The control system according to claim 28, wherein said control command is for indicating said target controlled device to move to a target position, said target controlled device for using said position information and said target position Generating a motion path;

The target controlled device is configured to move toward the target position in accordance with the motion path.
The control system according to claim 29, wherein the target controlled device is configured to divide the motion path into a plurality of sub-paths according to a preset division manner;

The target controlled device is configured to determine a motion parameter from a start point to an end point of the sub path for each of the sub paths;

The target controlled device is configured to move to the target position based on the motion parameter.
The control system according to claim 30, wherein the target controlled device is configured to: according to a relationship between an environment coordinate system corresponding to the motion parameter and a body coordinate system corresponding to the target controlled device, Converting the motion parameter to a body coordinate system corresponding to the controlled device;

The target controlled device is configured to move to the target position according to the converted motion parameter.
A computer readable storage medium, wherein the computer readable storage medium stores program instructions for executing the method of any one of claims 1 to 13 when executed by a processor.