WO2021003875A1

WO2021003875A1 - Control method, controller, terminal and storage medium

Info

Publication number: WO2021003875A1
Application number: PCT/CN2019/111734
Authority: WO
Inventors: 陈远; 徐晓明; 林周雄
Original assignee: 江苏美的清洁电器股份有限公司; 美的集团股份有限公司
Priority date: 2019-07-08
Filing date: 2019-10-17
Publication date: 2021-01-14
Also published as: CN112198804A

Abstract

A control method, comprising: acquiring location information and working state information, in a target environment, of at least two terminals (S101); on the basis of the location information, in the target environment, of at least some terminals of the at least two terminals, determining a relative location relationship between the at least some terminals (S102); and on the basis of the relative position relationship between the at least some terminals and the working state information of at least one terminal of the at least some terminals, generating a control instruction for the at least one terminal of the at least some terminals, and sending the control instruction (S103). Further disclosed are a controller, a terminal and a storage medium.

Description

Control method, controller, terminal and storage medium

Cross references to related applications

This application is filed based on a Chinese patent application with an application number of 201910611805.2 and an application date of July 08, 2019, and claims the priority of the Chinese patent application. The entire content of the Chinese patent application is hereby incorporated into this application by reference.

Technical field

This application relates to the field of information technology, and in particular to a control method, controller, terminal and storage medium.

Background technique

With the development of the Internet of Things technology, smart terminals are no longer unfamiliar, and more and more smart terminals appear in people's daily lives. For example, smart TVs, smart trash cans, smart wearable devices, smart playback devices, and smart cleaning robots. Smart terminals can be connected to the network, and different smart terminals can also be interconnected through the network. However, in the prior art, the location information of each smart terminal in the target environment cannot be monitored. Then, it may happen that the position information of the smart terminal is changed, and the working status is changed, thereby affecting the user experience.

Summary of the invention

In view of this, the embodiments of the present application expect to provide a control method, a controller, a terminal, and a storage medium to solve the above-mentioned problems in the prior art.

In order to achieve the foregoing objectives, the technical solutions of the embodiments of the present application are implemented as follows:

The embodiment of the present application provides a control method applied to a controller, and the method includes:

Obtaining location information and working status information of at least two terminals in the target environment;

Determine the relative position relationship between the at least some of the at least two terminals based on the location information of at least some of the at least two terminals in the target environment;

Based on the relative position relationship between the at least some of the terminals and the working status information of at least one of the at least some of the terminals, generate a control instruction for at least one of the at least some of the terminals, and send the control instruction.

The embodiment of the present application provides a control method applied to a first mobile terminal, and the method includes:

Collect location information of at least two terminals in the target environment;

Acquiring working status information of at least two terminals in the target environment;

Sending location information and working status information of the at least two terminals in the target environment to the controller;

Receiving a control instruction sent by the controller.

The embodiment of the present application provides another controller, the controller includes: a first acquisition module, a determination module, and a processing module; wherein,

The first acquiring module is configured to acquire location information and working status information of at least two terminals in the target environment;

The determining module is configured to determine the relative positional relationship between the at least some of the terminals based on the location information of at least some of the at least two terminals in the target environment;

The processing module is configured to generate control for at least one of the at least some of the terminals based on the relative position relationship between the at least some of the terminals and the working status information of the at least one of the at least some of the terminals Command and send the control command.

An embodiment of the present application provides a terminal, the terminal includes: the terminal includes: an acquisition module, a second acquisition module, a sending module, and a receiving module; wherein,

The collection module is used to collect location information of at least two terminals in the target environment;

The second acquiring module is configured to acquire working status information of at least two terminals in the target environment;

The sending module is configured to send location information of the at least two terminals in the target environment and working status information to the controller;

The receiving module is used to receive a control instruction sent by the controller.

An embodiment of the present application also provides a storage medium on which an executable program is stored, characterized in that, when the executable program is executed by a processor, the steps of the above technical solution are implemented.

A control method, a controller, a terminal, and a storage medium provided by the embodiments of the present application obtain the location information and working status information of at least two terminals in a target environment, and according to the fact that at least some of the at least two terminals are in the target environment Location information in the environment, determine the relative location relationship of the at least some terminals in the target environment, and then determine the relative location relationship of at least some terminals in the target environment and at least one of the at least some terminals The working status information of the terminal is used to determine whether to send a control instruction to at least one of the at least part of the terminals. It can be seen that by monitoring the terminal location information and working status information in the target environment, and then according to the relative position relationship between the terminals and the conditions satisfied by the terminal working status information, it is possible to determine whether to send a control command to the target terminal. It can be seen that the whole process can realize the control of the terminal without human intervention, which effectively improves the user experience.

Description of the drawings

FIG. 1 is a schematic diagram 1 of the implementation process of the control method of the embodiment of the application;

FIG. 2 is a schematic diagram of a scene of a control method according to an embodiment of the application;

3(a)-FIG. 3(b) are schematic diagrams 1 of a scene for determining location information according to an embodiment of this application;

4(a)-FIG. 4(b) are schematic diagrams 2 of a scene for determining location information according to an embodiment of the application;

FIG. 5 is a second schematic diagram of the implementation process of the control method according to the embodiment of the application;

6(a)-FIG. 6(b) are schematic diagrams of receiving control instructions according to an embodiment of the application;

FIG. 7 is a schematic diagram of the composition structure of a controller according to an embodiment of the application;

FIG. 8 is a schematic diagram of the composition structure of a terminal according to an embodiment of the application;

FIG. 9 is a schematic diagram of the hardware structure of a communication device according to an embodiment of the application.

Detailed ways

In order to make the objectives, technical solutions, and advantages of the embodiments of the present application clearer, the embodiments of the present application will be described in detail below with reference to the accompanying drawings.

Example one

In the embodiment of the present application, a control method is applied to a controller. The implementation flow diagram of the control method is shown in Fig. 1, and includes the following steps:

S101: Acquire location information and working status information of at least two terminals in a target environment;

S102: Based on the location information of at least some of the at least two terminals in the target environment, determine the relative position relationship between the at least some of the terminals;

S103: Based on the relative positional relationship between the at least some of the terminals and the working status information of the at least one of the at least some of the terminals, generate a control instruction for at least one of the at least some of the terminals, and send the The control instructions.

In step S101 in the embodiment of the present application, the terminals in the target environment may include TVs, computers, sweeping robots, smart wearable devices, smart trash cans, electric curtains, air conditioners, and the like. Then, some terminals can recognize the target environment, and some terminals themselves cannot recognize the target environment.

Further, the acquiring location information of at least two terminals in the target environment includes at least one of the following: receiving location information of itself in the target environment sent by the first mobile terminal; wherein, the first mobile terminal The terminal is one of at least two terminals; receiving the location information of at least some of the terminals in the target environment from the first mobile terminal except the first mobile terminal.

Among them, the first mobile terminal is a terminal that can identify the target environment and determine its own location information in the target environment. Further, the first mobile terminal may determine a linear distance from at least two reference objects in the target environment. Wherein, the first mobile terminal may use methods such as emitting sound waves, light, etc., to respectively measure the linear distance to the reference object. Next, based on the linear distance from the at least two reference objects, the position information of the self in the target environment is determined. Specifically, in the case of measuring the linear distance from the reference object, the angle between the linear distance and the reference object is used to determine the position information of the self in the target environment. Furthermore, the controller can directly receive the location information of the first mobile terminal in the target environment sent from the first mobile terminal.

Further, the location information of at least some of the other terminals in the target environment needs to be obtained by the first mobile terminal. Specifically, the first mobile terminal acquires characteristic identification information of at least some of the terminals other than the first mobile terminal. Wherein, the feature identification information includes at least identification feature information of at least some of the other terminals. Next, the first mobile terminal collects image information of at least some of the other terminals in the target environment. Specifically, the first terminal uses a depth camera, a collision sensor, etc., to collect image information in a target environment where at least some of the other terminals are located. Further, the first mobile terminal determines the location information of at least some of the other terminals in the target environment based on the feature identification information and image information of at least some of the other terminals. Then, the controller receives the location information of at least some of the other terminals in the target environment sent from the first mobile terminal. For example, the refrigerator in the target environment cannot recognize the target environment, and therefore cannot determine its own location information. In this case, the sweeping robot can use its own depth camera and collision sensor to collect images of the target environment where the refrigerator is located. The feature information completes the feature recognition of the refrigerator. Then, according to the collected image information and the identified feature tags of the refrigerator, the location information of the refrigerator in the target environment is determined, and then the controller can receive the location information of the refrigerator sent by the cleaning robot.

Further, if the first mobile terminal can identify the target environment and determine its own working state, the controller can directly obtain the working state of the first mobile terminal in the target environment. Here, the working status information of at least some of the other terminals in the target environment needs to be obtained by the first mobile terminal, and the controller receives the information from the other terminals sent from the first terminal. Information about the working status of at least part of the terminal in the target environment. For example, the cleaning robot obtains the working status of the refrigerator through the camera and the collision sensor, and then the controller receives and saves the working status of the refrigerator sent from the cleaning robot. Further, when the working state of at least one of the at least some of the other terminals changes, the controller sends a control instruction to at least one of the at least some of the other terminals.

Further, the controller presets a time interval, such as 10 milliseconds, 30 milliseconds, and so on. Here, the time interval can be adjusted according to the actual environment. After the time interval is set, the location information and working status information of the at least two terminals in the target environment are acquired once in each time interval, so that the controller can continuously update the at least two terminals. Terminal location information and working status information in the target environment. Here, the controller can be located in a cloud server, or in a local physical device. For example, the controller is located in a sweeping robot.

In step S102, the controller determines the relative positional relationship between at least some of the at least two terminals based on the location information of at least some of the at least two terminals in the target environment. Specifically, the controller obtains the relative distance between the at least some of the terminals through calculation according to the location information of the at least some of the at least two terminals in the target environment.

In step S103, based on the relative positional relationship between the at least some of the terminals and the working status information of the at least one of the at least some of the terminals, a control instruction for at least one of the at least some of the terminals is generated, And send the control instruction. Specifically, when the relative positional relationship between the at least some of the terminals reaches a preset condition, and the working state of at least one of the at least some of the terminals is changed, the controller generates information for the at least some of the terminals. And send the control instruction to at least one of the at least some terminals. Further, the relative position relationship between the terminals in the target environment has a preset value in the controller, and when the relative position relationship of the at least part of the terminals in the target environment is obtained through monitoring, the at least part of the terminals is By comparing the relative position relationship of the target environment with the preset value in the controller, it can be determined whether the relative position relationship between at least some of the terminals meets the preset condition.

The following describes in detail the control process in the home environment with an example.

As shown in Figure 2, home appliances such as TVs, computers, refrigerators, air conditioners, and sweeping robots are distributed indoors. In addition, indoor users wear Bluetooth headset players. Here, the controller is located in the sweeping robot to control all the terminals in the room.

Further, the computer and the Bluetooth headset are connected via a network, and the songs in the computer are played through the Bluetooth headset. The controller in the sweeping robot obtains the location information of the indoor terminal including the computer and the Bluetooth headset and the working status information of the Bluetooth headset every 15 seconds. Further, the sweeping robot can obtain its own working status information, as well as the working status information of the computer and the Bluetooth headset.

Among them, the location information of the computer and the Bluetooth headset can be obtained through the cleaning robot, and then the controller receives the location information of the computer and the Bluetooth headset sent from the cleaning robot. Specifically, the cleaning robot obtains the characteristic information of the computer Bluetooth headset, and then uploads the characteristic information to a server for information comparison, and finally completes the characteristic recognition of the computer and the Bluetooth headset. Wherein, the characteristic identification information includes at least the identity characteristic information of the computer and the Bluetooth headset. Then, as shown in FIG. 3, the sweeping robot uses a depth camera to take pictures of the computer and the Bluetooth headset, and collects indoor image information of the computer and the Bluetooth headset. Wherein, the image information includes distance information between objects. As shown in Figure 3(a), the image information includes the distance between the cleaning robot and the wall and the distance between the cleaning robot and the computer, so as to determine the distance between the computer and two adjacent walls. Similarly, from Figure 3(b), the distance from the Bluetooth headset to two adjacent walls can also be determined. In this way, the specific indoor location information of the computer and the Bluetooth headset can be determined according to the image information. At this time, the location information in the computer and the Bluetooth headset is associated with the feature identification information of the computer and the Bluetooth headset.

Further, as shown in Fig. 4(a) and Fig. 4(b), the cleaning robot can obtain its own indoor position information. Specifically, the sweeping robot can emit laser light, and then measure the linear distance between itself and two adjacent walls by recording the time from emitting light to receiving reflected light. Due to the clamping between two adjacent walls The angle is 90 degrees, then according to the direct linear distance from the two adjacent walls, the indoor position information of the self is determined. Furthermore, since the angle at which the robot emits the laser light is random, it may hit the indoor reference object, and there will be different angles between the objects receiving the laser light. In this case, it is also possible to determine the linear distance between the sweeping robot and the reference object by the time between the sweeping robot launching and receiving the laser. Then according to the angle between the reference objects, their respective indoor location information, and the linear distance between the cleaning robot to the reference object, through calculation, the indoor location information of the cleaning robot is determined. Further, the controller presets the maximum relative distance between the computer and the Bluetooth headset as 3 meters. That is, the Bluetooth headset is located in a range centered on the computer and the radius is the relative distance between the two. Then, in the case of indoor users carrying Bluetooth headsets to listen to songs, when the controller detects that the relative distance between the computer and the Bluetooth headset is greater than 3 meters, the working state of the Bluetooth headset changes and the song cannot be played normally. Moreover, it is detected that the relative distance between the sweeping robot and the Bluetooth headset is also greater than 3 meters. In this case, the controller will send a control command to the sweeping robot to make the sweeping robot follow the user to ensure that the relative distance between the sweeping robot and the user wearing the Bluetooth headset is less than 3 meters. In this way, the sweeping robot sends the buffered playback data to the Bluetooth headset to ensure the normal playback of the song by the Bluetooth headset.

In this embodiment, the controller realizes the control of the terminal by monitoring the location information and working status information of the terminal. After the location information of the terminal in the target environment is determined, the relative location relationship of the terminal in the target environment is determined, where the relative location relationship of the terminal in the target environment reaches a preset condition and at least one of the terminals When the working state of the terminal changes, the controller generates a control instruction for at least one of the terminals, and sends the control instruction to at least one of the terminals. The above operations do not require human intervention, which can effectively improve the user experience.

Embodiment two

In the embodiment of the present application, a control method is applied to a first mobile terminal. The implementation flow diagram of the control method is shown in FIG. 5, and includes the following steps:

S501: Collect location information of at least two terminals in the target environment;

S502: Acquire working status information of at least two terminals in the target environment;

S503: Send location information and working status information of the at least two terminals in the target environment to the controller;

S504: Receive a control instruction sent by the controller.

In step S501 in the embodiment of the present application, the terminals in the target environment may include TVs, computers, sweeping robots, smart wearable devices, smart trash cans, electric curtains, air conditioners, and the like.

Here, the first mobile terminal in the target environment can recognize the target environment and determine location information in the target environment; further, the first mobile terminal collects location information in the target environment. Wherein, the first mobile terminal can determine the linear distance from at least two reference objects in the target environment. Wherein, the first mobile terminal may use methods such as emitting sound waves, light, etc., to respectively measure the linear distance to the reference object. Next, based on the linear distance from the at least two reference objects, the position information of the self in the target environment is determined. Wherein, in the case of measuring the straight-line distance to the reference object, the angle between the straight-line distance and the reference object is used to determine its own position information in the target environment.

Here, the location information of at least some of the other terminals in the target environment needs to be obtained by the first mobile terminal. Specifically, the first mobile terminal acquires characteristic identification information of at least some of the terminals other than the first mobile terminal. Wherein, the feature identification information includes at least identification feature information of at least some of the other terminals. Next, the first mobile terminal collects image information of at least some of the other terminals in the target environment. Specifically, the first mobile terminal uses a depth camera, a collision sensor, etc., to collect image information in a target environment where at least some of the other terminals are located. Further, the first mobile terminal determines the location information of at least some of the other terminals in the target environment based on the feature identification information and image information of at least some of the other terminals.

Further, the first mobile terminal may preset a time interval, such as 10 milliseconds, 30 milliseconds, and so on. Here, the time interval can be adjusted according to the actual environment. After the time interval is set, the position information in the target environment is collected once in each time interval, so that the controller can continuously update the position information of the terminal in the target environment.

In step S502, the first mobile terminal acquires working status information of at least two terminals in the target environment. Specifically, the first mobile terminal directly obtains its own working status information in the target environment. The first mobile terminal can monitor the working status information of at least some of the other terminals in the target environment in addition to the first mobile terminal, and then obtain that at least some of the other terminals are in the target environment. Work status information in the target environment. For example, the sweeping robot can directly obtain its own working status information, and can also monitor the working status information of the computer and the Bluetooth headset, and then obtain the working status information of the computer and the Bluetooth headset.

In step S503, the first mobile terminal sends location information and working status information of the at least two terminals in the target environment to the controller. Specifically, the first mobile terminal uploads the collected location information, characteristic identification information of the terminal, and working status information to the controller in the form of a data stream. In this way, when the controller receives the location information, it can clearly know which terminal the location information corresponds to, and can know the current working status of the terminal, so that the location information, the working status information and The terminal can be stored in the controller correspondingly. For example, a sweeping robot uploads its own position information, working status information, and feature identification information to the controller. The controller can store the sweeping robot and its position information when storing the information, and grasp the current working status of the sweeping robot information.

In step S504, a control instruction sent by the controller is received.

Here, after receiving a control instruction for at least one terminal in the target environment sent by the controller, corresponding processing is performed based on the control instruction. For example, when the sweeping robot receives the instruction to follow the Bluetooth headset, it will move to the Bluetooth headset and keep the distance between itself and the Bluetooth headset within a preset range to ensure that the Bluetooth headset can play normally.

Here, for different terminals in the target environment, different control instructions sent by the controller will be received according to different location information of the terminals and different working states.

For example, in Figure 6(a), the sweeping robot collects and sends location information of the air conditioner and smart bracelet to the controller. When the controller determines that the distance between the air conditioner and the smart bracelet worn by the user is less than or equal to 5 meters, the air conditioner Receive the turn-on instruction from the controller to turn on the air conditioner; when the controller determines that the distance between the air conditioner and the smart bracelet worn by the user is greater than 5 meters, the air conditioner receives the turn off instruction from the controller to turn off the air conditioner.

In Figure 6(b), the sweeping robot collects and sends the position information of the computer and the Bluetooth headset. When the controller determines that the Bluetooth headset moves 3 meters away from the computer, the Bluetooth headset cannot play normally. In addition, if the relative distance between the sweeping robot and the Bluetooth headset is also greater than 3 meters, the sweeping robot receives the control command from the controller, so that the sweeping robot follows the Bluetooth headset and keeps a distance of less than 3 meters from the Bluetooth headset. ; When the controller judges that the Bluetooth headset moves within 3 meters from the computer, the Bluetooth headset can play normally, and the sweeping robot receives the control command from the controller, so that the sweeping robot pauses and follows the movement of the Bluetooth.

In this embodiment, the first mobile terminal collects location information in the target environment, and after acquiring the working status information of at least two terminals in the target environment, sends the location information and working status information to the controller, and Receiving a control instruction sent by the controller. It can be seen that the first mobile terminal can automatically determine the location, receive control instructions, and perform corresponding operations, which improves user experience.

Embodiment three

In order to implement the above control method, an embodiment of the present application also provides a controller. The schematic diagram of the structure of the controller is shown in FIG. 7 and includes: a first acquisition module 71, a determination module 72, and a processing module 73; wherein,

The first obtaining module 71 is configured to obtain location information and working status information of at least two terminals in the target environment;

Wherein, the first acquiring module 71 is specifically configured to receive its own location information in the target environment sent by a first mobile terminal; the first mobile terminal is one of at least two terminals; The location information of at least some of the terminals in the target environment sent from the mobile terminal except for the first mobile terminal. Further, the first obtaining module 71 obtains the location information and working status information of the at least two terminals in the target environment at regular intervals.

The determining module 72 is configured to determine the relative position relationship between at least some of the at least two terminals based on the location information of at least some of the at least two terminals in the target environment; specifically, according to the at least The location information of at least some of the two terminals in the target environment is obtained by calculating the relative distance between the at least some of the terminals.

The processing module 73 is configured to generate information for at least one of the at least some of the terminals based on the relative positional relationship between the at least some of the terminals and the working status information of the at least one of the at least some of the terminals. Control instructions, and send the control instructions. Specifically, when the relative positional relationship between the at least some of the terminals reaches a preset condition, and the working state of at least one of the at least some of the terminals changes, the processing module 73 generates information for the at least some of the terminals. A control instruction of at least one of the terminals.

Here, the first acquiring module 71 is specifically used to receive its own location information in the target environment sent by a first mobile terminal; wherein, the first mobile terminal is one of at least two terminals. The first obtaining module 71 is specifically further configured to receive the location information of at least some of the terminals in the target environment sent by the first mobile terminal except for the first mobile terminal.

In addition, the specific implementation process of this embodiment has been clarified in detail in the previous technical solutions, and will not be repeated here.

In practical applications, the first acquisition module 71, the determination module 72, and the processing module 73 can all be composed of a central processing unit (CPU, Central Processing Unit), a microprocessor (MPU, Micro Processor Unit), and a digital processor located in the controller. Signal processor (DSP, Digital Signal Processor), or Field Programmable Gate Array (FPGA, Field Programmable Gate Array), etc. are implemented.

Embodiment four

In order to implement the above control method, an embodiment of the present application also provides a terminal. The structure diagram of the terminal is shown in FIG. 8 and includes: a collection module 81, a second acquisition module 82, a sending module 83, and a receiving module 84; among them,

The collection module 81 is configured to collect location information of at least two terminals in the target environment;

The second acquiring module 82 is configured to acquire working status information of at least two terminals in the target environment;

The sending module 83 is configured to send location information of the at least two terminals in the target environment and working status information to the controller;

Specifically, the sending module 83 uploads the collected location information, the working status information, and the characteristic identification information of the terminal to the controller in the form of a data stream.

The receiving module 84 is configured to receive a control instruction sent by the controller. Here, for the first mobile terminal, it is possible to identify the target environment and determine the location information in the target environment. Therefore, the collection module 81 of the first mobile terminal can collect location information in the target environment.

Specifically, the collection module 81 is specifically configured to determine the linear distance from at least two objects in the target environment; and determine its own position information in the target environment based on the linear distance from the at least two objects. The collection module 81 is also specifically configured to obtain characteristic identification information of at least some of the other terminals except the first mobile terminal; and collect image information of at least some of the other terminals in the target environment; The location information of at least some of the other terminals in the target environment is determined based on the feature identification information and image information of at least some of the other terminals.

Further, the collection module 81 collects position information of the terminal in the target environment multiple times according to a preset time interval.

In practical applications, the acquisition module 81, the second acquisition module 82, the sending module 83, and the receiving module 84 can all be implemented by a central processing unit (CPU, Central Processing Unit), a microprocessor (MPU, Micro Processor) located in the terminal device. Unit), Digital Signal Processor (DSP, Digital Signal Processor), or Field Programmable Gate Array (FPGA, Field Programmable Gate Array), etc.

It should be noted that when the controller provided in the above embodiment performs control, only the division of the above-mentioned program modules is used as an example for illustration. In actual applications, the above-mentioned processing can be distributed by different program modules as needed, that is, the device The internal structure is divided into different program modules to complete all or part of the processing described above. In addition, the controller provided in the foregoing embodiment and the control method embodiment belong to the same concept, and the specific implementation process is detailed in the method embodiment, which will not be repeated here.

FIG. 9 shows a schematic diagram of the hardware structure of a communication device according to an embodiment of the present application, where the communication device is a controller or a terminal. Here, the communication device 900 shown in FIG. 9 includes: at least one processor 901, a memory 902, a user interface 903, and at least one network interface 904. The components in the communication device 900 are coupled together through the bus system 905. It can be understood that the bus system 905 is used to implement connection and communication between these components. In addition to the data bus, the bus system 905 also includes a power bus, a control bus, and a status signal bus. However, for the sake of clear description, various buses are marked as the bus system 905 in FIG. 9.

The user interface 903 may include a display, a keyboard, a mouse, a trackball, a click wheel, keys, buttons, a touch panel, or a touch screen, etc.

It can be understood that the memory 902 may be a volatile memory or a non-volatile memory, and may also include both volatile and non-volatile memory.

The memory 902 in the embodiment of the present application is used to store various types of data to support the operation of the communication device 900. Examples of these data include: any computer program used to operate on the communication device 900, such as an executable program 9021, and a program that implements the method of the embodiment of the present application may be included in the executable program 9021.

The method disclosed in the foregoing embodiments of the present application may be applied to the processor 901 or implemented by the processor 901. The processor 901 may be an integrated circuit chip with signal processing capability. In the implementation process, the steps of the foregoing method may be completed by an integrated logic circuit of hardware in the processor 901 or instructions in the form of software. The aforementioned processor 901 may be a general-purpose processor, a DSP, or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, and the like. The processor 901 may implement or execute the methods, steps, and logical block diagrams disclosed in the embodiments of the present application. The general-purpose processor may be a microprocessor or any conventional processor. Combining the steps of the method disclosed in the embodiments of the present application, it may be directly embodied as execution and completion by a hardware decoding processor, or execution and completion by a combination of hardware and software modules in the decoding processor. The software module may be located in a storage medium, and the storage medium is located in the memory 902. The processor 901 reads the information in the memory 902, and completes the steps of the foregoing method in combination with its hardware.

In an exemplary embodiment, the embodiment of the present application further provides a storage medium on which an executable program is stored, and the executable program executes the foregoing method when the processor is running.

Those skilled in the art should understand that the embodiments of the present application may be provided as methods, systems, or executable program products. Therefore, this application may adopt the form of hardware embodiments, software embodiments, or embodiments combining software and hardware. Moreover, this application may adopt the form of executable program products implemented on one or more computer-usable storage media (including but not limited to disk storage, optical storage, etc.) containing computer-usable program codes.

This application is described with reference to flowcharts and/or block diagrams of methods, devices (systems), and executable program products according to embodiments of this application. It should be understood that each process and/or block in the flowchart and/or block diagram, and the combination of processes and/or blocks in the flowchart and/or block diagram can be realized by executable program instructions. These executable program instructions can be provided to a general-purpose computer, a special-purpose computer, an embedded processor, or the processor of a reference programmable data processing device to generate a machine, so that the instructions executed by the computer or the processor of the reference programmable data processing device are generated A device used to implement the functions specified in one process or multiple processes in the flowchart and/or one block or multiple blocks in the block diagram.

These executable program instructions can also be stored in a computer-readable memory that can guide a computer or refer to a programmable data processing device to work in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture including the instruction device. The instruction device implements the functions specified in one process or multiple processes in the flowchart and/or one block or multiple blocks in the block diagram.

These executable program instructions can also be loaded on a computer or a reference programmable data processing device, so that a series of operation steps are executed on the computer or a reference programmable device to generate computer-implemented processing, which can be executed on the computer or a reference programmable device. The instructions provide steps for implementing functions specified in one process or multiple processes in the flowchart and/or one block or multiple blocks in the block diagram.

The above are only the preferred embodiments of the present application, and are not used to limit the protection scope of the present application.

Claims

A control method applied to a controller, characterized in that the method includes:

Obtaining location information and working status information of at least two terminals in the target environment;

Determine the relative position relationship between the at least some of the at least two terminals based on the location information of at least some of the at least two terminals in the target environment;

Based on the relative position relationship between the at least some of the terminals and the working status information of at least one of the at least some of the terminals, generate a control instruction for at least one of the at least some of the terminals, and send the control instruction.
The method according to claim 1, wherein said acquiring location information of at least two terminals in a target environment comprises:

Receiving the position information of itself in the target environment sent by the first mobile terminal; wherein the first mobile terminal is one of at least two terminals.
The method according to claim 1 or 2, wherein the obtaining location information of at least two terminals in the target environment comprises:

Receiving the location information of at least some of the terminals in the target environment from the first mobile terminal except the first mobile terminal.
The method according to any one of claims 1 to 3, wherein the determination is based on the relative positional relationship between the at least part of the terminals and the working status information of the at least part of the The control instruction of at least one of the terminals includes:

In response to the relative positional relationship between the at least some of the terminals reaching a preset condition and the working state of at least one of the at least some of the terminals is changed, execute generating control for at least one of the at least some of the terminals instruction.
A control method applied to a first mobile terminal, characterized in that the method includes:

Collect location information of at least two terminals in the target environment;

Acquiring working status information of at least two terminals in the target environment;

Sending location information and working status information of the at least two terminals in the target environment to the controller;

Receiving a control instruction sent by the controller.
The method according to claim 5, wherein the collecting location information of at least two terminals in the target environment comprises:

Collecting the position information of the first mobile terminal itself in the target environment and the position information of at least some of the terminals in the target environment except the first mobile terminal.
The method according to claim 6, wherein the collecting position information of the first mobile terminal itself in the target environment comprises:

Determine the linear distance to at least two reference objects in the target environment;

Based on the linear distance from the at least two reference objects, the position information of the self in the target environment is determined.
The method according to claim 6 or 7, wherein the collecting location information of at least some of the terminals in the target environment except the first mobile terminal includes:

Acquiring feature identification information of at least some of the terminals other than the first mobile terminal;

Collecting image information of at least some of the other terminals in the target environment;

Determine location information of at least some of the other terminals in the target environment based on the feature identification information and image information of at least some of the other terminals.
A controller, characterized in that the controller includes: a first acquisition module, a determination module, and a processing module; wherein,

The first acquiring module is configured to acquire location information and working status information of at least two terminals in the target environment;

The determining module is configured to determine the relative positional relationship between the at least some of the terminals based on the location information of at least some of the at least two terminals in the target environment;

The processing module is configured to generate control for at least one of the at least some of the terminals based on the relative position relationship between the at least some of the terminals and the working status information of the at least one of the at least some of the terminals Command and send the control command.
The controller according to claim 9, wherein the first acquiring module is specifically configured to receive its own location information in the target environment sent by the first mobile terminal; wherein, the first mobile terminal The terminal is one of at least two terminals.
The controller according to claim 9 or 10, wherein the first acquiring module is specifically further configured to receive at least part of the terminals other than the first mobile terminal sent by the first mobile terminal Location information of the terminal in the target environment.
The controller according to any one of claims 9 to 11, wherein the processing module is specifically configured to respond to that the relative position relationship between the at least part of the terminals reaches a preset condition and the at least part of the The working state of at least one of the terminals is changed, and a control instruction for at least one of the at least part of the terminals is generated.
A terminal, characterized in that the terminal includes: an acquisition module, a second acquisition module, a sending module, and a receiving module; wherein,

The collection module is used to collect location information of at least two terminals in the target environment;

The second acquiring module is configured to acquire working status information of at least two terminals in the target environment;

The sending module is configured to send location information of the at least two terminals in the target environment and working status information to the controller;

The receiving module is used to receive a control instruction sent by the controller.
The terminal according to claim 13, wherein the collection module is specifically configured to collect the position information of the first mobile terminal itself in the target environment and other information in the target environment except the first mobile terminal Location information of at least some of the terminals.
The terminal according to claim 13 or 14, wherein the collection module is specifically further configured to determine a linear distance from at least two reference objects in the target environment; based on the distance from the at least two reference objects The straight-line distance to determine its own location information in the target environment.
The terminal according to any one of claims 13 to 15, wherein the collection module is specifically further configured to obtain characteristic identification information of at least some of the terminals other than the first mobile terminal; and collect the Image information of at least some of the other terminals in the target environment; based on the feature identification information and image information of at least some of the other terminals, it is determined that at least some of the other terminals are in the target environment Location information in.
A storage medium having an executable program stored thereon, wherein the executable program implements the steps of any one of claims 1 to 8 when the executable program is executed by a processor.