WO2021027969A1

WO2021027969A1 - Control method and apparatus for movable device, electronic device, and storage medium

Info

Publication number: WO2021027969A1
Application number: PCT/CN2020/109628
Authority: WO
Inventors: 王游; 陈子冲
Original assignee: 纳恩博（常州）科技有限公司
Priority date: 2019-08-15
Filing date: 2020-08-17
Publication date: 2021-02-18
Also published as: CN110609545A

Abstract

A control method and apparatus for a movable device, an electronic device, and a storage medium. The control method for the movable device is applied in a first control device, and comprises: receiving a control request sent by at least two movable devices when the remote control is required (S110); and separately sending a control instruction to the at least two movable devices according to the control request, the control instruction being used for controlling the activity of the movable device (S130).

Description

Mobile equipment control method and device, electronic equipment and storage medium

Cross references to related applications

This disclosure is filed based on a Chinese patent application with an application number of 201910755016.6 and an application date of August 15, 2019, and claims the priority of the Chinese patent application. The entire content of the Chinese patent application is hereby incorporated by reference into this disclosure.

Technical field

The present disclosure relates to the technical field of mobile equipment but is not limited to the technical field of mobile equipment, and in particular to a method and device for controlling a mobile equipment, an electronic device and a storage medium.

Background technique

Movable equipment can move by itself, and some movable equipment can be used to carry goods or passengers. However, in the prior art, if no passengers are carried on the movable device to control the movement of the movable device, a control device is required to control the control of the movable device. The control device needs to obtain the movement status of the movable device in the whole process, and then according to Real-time control of movement status.

Summary of the invention

In view of this, the embodiments of the present disclosure expect to provide a method and device for controlling a movable device, an electronic device, and a storage medium.

The technical solution of the present disclosure is realized as follows:

The first aspect of the embodiments of the present application provides a mobile device control method, which is applied to a first control device, and includes:

Receive control requests sent by at least two mobile devices when remote control is required;

According to the control request, respectively send control instructions to at least two of the movable devices, where the control instructions are used to control the activities of the movable devices.

A second aspect of the embodiments of the present application provides a method for controlling a movable device, including:

When the mobile device is in automatic navigation mode, determine whether the current situation requires remote control;

When remote control is required, send a control request to the first control device;

Receiving a control instruction returned based on the control request;

Execute the control instruction.

The control reference information is used for the control device to generate the control instruction. A third aspect of the embodiments of the present application provides a mobile device control device, which is applied to a first control device, and includes:

The first receiving module is configured to receive control requests sent by at least two movable devices when remote control is required;

The first sending module is configured to respectively send control instructions to at least two of the movable devices according to the control request, wherein the control instructions are used to control the activities of the movable devices.

A fourth aspect of the embodiments of the present application provides a movable device control device, including:

The first determining module is configured to determine whether the current situation requires remote control when the movable device is in the automatic navigation mode;

The second sending module is configured to send a control request to the first control device when remote control is required;

The second receiving module is configured to receive a control instruction returned based on the control request;

The execution module is used to configure the control instruction.

The control reference information is used for the control device to generate the control instruction. A fifth aspect of the embodiments of the present application provides an electronic device, including:

Transceiver, configured to send and receive information;

Memory, configured to store information;

The processor is respectively connected with the transceiver and the memory, and is configured to execute the computer executable instructions stored on the memory to implement the method provided by any technical solution of the first aspect or the second aspect.

A sixth aspect of the embodiments of the present application provides a computer storage medium that stores computer-executable instructions; after being executed by a processor, the computer-executable instructions can implement any of the foregoing first or second aspects The method provided by the technical solution.

In the technical solution provided by the embodiments of the present disclosure, the first control device can receive control requests of at least two movable devices, and the control requests of the movable devices are sent when remote control is required. In this way, the first control device no longer controls a certain movable device in real time, but performs remote control only when the movable device needs remote control. In this way, one first control device can be used to control two or Two or more mobile devices, on the one hand, make better use of the automatic navigation capabilities of the mobile device, and on the other hand, enable one control device to be shared by multiple mobile devices for remote control.

Description of the drawings

FIG. 1A is a schematic flowchart of a method for controlling a movable device according to an embodiment of this application;

FIG. 1B is a schematic flowchart of a method for controlling a movable device according to an embodiment of the application;

FIG. 2 is a schematic flowchart of a method for controlling a movable device according to an embodiment of the application;

FIG. 3 is a schematic flowchart of a method for controlling a movable device according to an embodiment of the application;

FIG. 4 is a schematic flowchart of a method for controlling a movable device according to an embodiment of the application;

FIG. 5 is a schematic diagram of image acquisition by an image acquisition module of a mobile device according to an embodiment of the application;

FIG. 6 is a schematic diagram of the display effect of the device status of a mobile device provided by an embodiment of the application;

FIG. 7 is a schematic diagram of a display effect when a specific event of navigation disconnection occurs according to an embodiment of this application;

FIG. 8 is a schematic diagram of a map display interface showing the moving path of the movable device and the current location of the movable device according to an embodiment of the application;

FIG. 9 is a schematic diagram of the control interface of the movable equipment provided in the embodiment of the application using equipment such as elevators or gates;

FIG. 10 is a schematic structural diagram of a mobile device control apparatus provided by an embodiment of the application;

FIG. 11 is a schematic structural diagram of another movable device control apparatus provided by an embodiment of the application.

detailed description

The technical solutions of the present disclosure will be further described in detail below in conjunction with the drawings and specific embodiments of the specification.

As shown in FIG. 1A, this embodiment provides a method for controlling a movable device, which is applied to a first control device, and includes:

According to the control request, control instructions are respectively sent to at least two of the movable devices, wherein the control instructions are used to control the activities of the movable devices.

The control request is sent when the movable device needs to be controlled remotely. Therefore, the first control device may send the control instruction according to the control request after receiving the control request.

As shown in FIG. 1B, this embodiment provides a method for controlling a movable device, which is applied to a first control device, and includes:

Step S110: Receive a control request sent by at least two movable devices when remote control is required;

Step S120: Obtain control reference information of the movable device;

Step S130: According to the control request and the control reference information, respectively send control instructions to at least two of the movable devices, where the control instructions are used to control the activities of the movable devices.

The movable device in this embodiment includes at least one of the following:

Movable equipment on the bottom including a mobile chassis;

A low-altitude mobile device including a flying structure, the flying structure including but not limited to: a spiral wing or a straight wing.

Specifically, the bottom movable device includes but is not limited to a movable robot.

In this embodiment, the first control device may be an operating handle of the movable device, or a control terminal.

In this embodiment, when the mobile device needs remote control, it will actively send a control request to the first control device, but when remote control is not required, the mobile device enters the automatic navigation mode. In this way, the first control device The control resources can be distributed to multiple mobile devices for control use.

For example, in this way, at least two movable devices can multiplex one first control device in the time domain. Because two movable devices need the first control device to send control instructions at the same time point, one of the first control devices can be used for remote control of at least two movable devices by being separated in time.

In step S120, the first control device obtains the control reference information, and uses the control reference information to make a control decision in step S130, thereby generating the control instruction.

The control reference information may come from a controlled movable device, or may be obtained from another network device, or it may be the control reference information stored locally by the first control device. Fig. 5 is a schematic diagram of the display effect of the image collected by the mobile device. For example, during the movement of the mobile device, the video or image will be collected in real time and reported to the remotely controlled controller, for example, the first controller.

Fig. 6 shows a schematic diagram of the device status information of the mobile device. Fig. 6 shows the network status of the mobile device and the load rate of the central processing unit (CPU). All of these information can be reported to the first controller by the movable device for the first controller to remotely control the movable device.

For example, the control reference information includes but is not limited to: location information of the current location of the movable device. The control reference information also includes: a map containing location information of the current location of the movable device.

Figure 8 shows a schematic diagram of the display effect of the map interface of a navigation map; Figure 8 shows the navigation path of the movable device and the current location of the movable device.

Fig. 9 is a schematic diagram of a control interface for controlling navigation equipment to move floors. The control interface can run in the first control device, and based on user input, it can call an elevator for a movable device, cancel an elevator call, and select an elevator that the movable device can enter.

Figure 9 can also be regarded as a schematic diagram of the floor climbing interface of the mobile device. Based on the user input in the control interface, the remote control can be released, or the mobile device can be controlled by the remote control to climb the floor and display the movable Information about the floor where the device is currently located.

In some other embodiments, the control reference information further includes:

Information on the reason why the mobile terminal needs remote control, and/or information on the movement status when remote control is needed, etc.

In short, in this embodiment, after receiving the control request, the first control device will obtain the control reference information, obtain the control instruction based on the control reference information decision, and send the control instruction to the corresponding A movable device, thereby controlling the activities of the movable device.

The control instruction includes at least one of the following

Overall movement instructions related to movement;

Light instructions, for example, instructions to control various light switches and flashing of mobile devices;

Component movement instructions for internal devices inside movable equipment, for example, opening or closing of designated components; lifting or falling of designated components, etc.;

Sound effect instructions.

The overall movement instructions include, but are not limited to: motion instructions, used to control the movement of the movable device; stop instructions, used to instruct the stop of the movable device; avoidance instructions, used to instruct the movable device to avoid Other equipment or avoid a specific time or event;

Emergency handling instructions are used to instruct portable equipment to perform emergency handling and reduce automatic damage to portable equipment;

Energy consumption replenishment instruction, used to instruct the energy replenishment of portable equipment

A road re-planning instruction for instructing the mobile device to re-plan a path;

The target address modification instruction is used to instruct the movable device to modify the destination address of the movement;

Return instruction, an instruction used to instruct the mobile device to return to the original place on the way.

The motion instruction includes at least one of the following:

Linear motion commands, including but not limited to: straight forward commands and straight backward commands;

Turning instructions, including but not limited to: turning left and turning right;

Steering driving instructions, including but not limited to: forward left driving instructions instructing to turn left at a predetermined angle and driving; forward right driving instructions instructing to turn right at a predetermined angle and driving; left rear driving instructions instructing to turn left at a predetermined angle and driving; instructions A rear-right travel command that turns right a predetermined angle and travels.

The light instruction includes at least one of the following:

Turn signal commands, for example, the left turn signal turns on, off, or flashes, and the right turn signal turns on, off, or flashes instructions;

Side lights turn on, turn off or flash instructions;

The tail light turns on, turns off or flashes instructions.

The sound effect instruction includes at least one of the following:

Reminder instruction to remind passers-by;

Prompt voice commands for passengers carrying passengers.

The predetermined angle may be an angle indicated by the first control device, or may be an angle temporarily determined according to the current direction of the road and the movable device.

The flexible use of the above-mentioned various movement instructions can precisely control the activities of the movable device.

For example, the mobile device taking a robot as an example may always require a remote operator to send a control command from the remote operation interface when it is unable to make autonomous decisions. It is relatively inefficient for a remote operator to control only one robot; however, the mobile device provided by the embodiment of this application can autonomously determine whether remote control is required, and if remote control is required, it will send a control request to the first control device. The control request received by the first control device is a control request that cannot be sent by the movable device itself, and the first control device is equivalent to not controlling the movable device in real time.

In this embodiment, the first control device only receives control requests sent by the movable device when remote control is required. In this way, the first control device can be used for remote control of at least two movable devices. On the one hand, it adds The number of movable devices that can be controlled by the first control device. On the other hand, the autonomous navigation capability of the movable device is fully used, thereby improving the effective utilization of the resources of the movable device.

In one embodiment, one control device (the control device includes the first control device) can control 2 movable devices, 3 movable devices, 4 movable devices, or more movable devices.

In some embodiments, the step S110 may include:

Receiving control requests sent by at least two of the mobile devices after the execution of the automatic navigation instruction is completed;

Receiving control requests sent by at least two of the mobile devices abnormally in the automatic navigation mode decision;

Receiving control requests sent by at least two of the mobile devices when the device fails in the automatic navigation mode;

Receive control requests sent by at least two of the mobile devices when a remote control event is detected.

For example, when the mobile device enters the auto-navigation mode, it will generate the corresponding auto-navigation instruction. If an auto-navigation instruction has been executed, the mobile device needs to obtain another instruction to perform further tasks. At this time, it can be considered to meet Control demand.

For example, the remote control requirements at this time include, but are not limited to: indicating the destination address of the next movement for the movable device, or the next movement task that needs to be executed. For example, mobile tasks include carrying specific substances. For the vending machine, the next mobile task can be: the delivery task corresponding to the next purchase request.

In some cases, the mobile device is in the automatic navigation mode, but a decision-making abnormality occurs in the automatic navigation mode. Such decision-making abnormalities include but are not limited to at least one of the following:

In the auto-navigation mode, the movable device enters an endless loop of movement; for example, it keeps turning around a certain position;

In the automatic navigation mode, the mobile device gets multiple alternative decisions, but it is not known which decision to choose as the final goal decision to guide the mobile device forward.

In some cases, the mobile device is in the auto-navigation mode, and an anomaly at the auto-navigation code level may occur. It may also include: a problem with the navigation hardware, for example, an abnormal navigation chip.

In some cases, the navigation hardware of the portable device may be faulty, and other parts may also be faulty. For example, the mobile device may be faulty. The mobile device includes but is not limited to a mobile chassis. For another example, the equipment failure may also include: an abnormality of the collection sensor of the mobile device that collects current roadblock information, for example, an abnormality of a camera. If at this time, the movable device continues to move, it will cause further damage to the movable device, but how to deal with this time may require the remote control of the first control device, for example, under remote control, the movable device may be able to continue to move For a distance, or, perform emergency troubleshooting.

In some cases, the mobile device is in the auto-navigation mode, but some unexpected events may occur, which are scheduled remote control events that require remote control. For example, in the process of moving the movable device, there are passers-by temporarily operating the movable device. At this time, whether the movable device allows passers-by to operate requires the authorization and permission of the first control device that is remotely controlled. Therefore, in some embodiments, when the input module of the movable device receives a user input, it is determined that the remote control event is detected. For another example, if an access control is provided on the moving path of the movable device, and the access control requires the first control device to be remotely controlled to provide access control authentication information, it can be considered that the remote control event is detected.

As shown in FIG. 7, the remote control event may also include: a navigation signal drop event, for example, the navigation signal of the automatic navigation is dropped, so the automatic navigation function in the automatic navigation mode cannot be used. When remote control is required.

In short, in this embodiment, the first control device does not send control instructions to the movable device throughout the entire process to control the movable device as soon as the movable device starts moving, but only when the movable device determines that it needs remote control. During control, a control request is sent to the first control device, and the first control device is a control instruction sent based on the control request; in this way, the first control device can connect to multiple movable devices.

The control request and control instruction are transmitted between the first control device and the movable device through a wireless connection.

In the process of sending the control request and the control instruction, the identification information of the movable device is carried. For example, the identification information may be: the device identification of the mobile device, or the connection identification of the wireless connection. When the movable device establishes a session connection with the first control device, and the session connection established between different movable devices and the first control device transfers a different session identifier, at this time, the session identifier is carried in the control request and control instruction, In this way, the first control device can accurately exchange information with the corresponding movable device.

In some embodiments, the step S130 may include at least one of the following:

When a control request of one of the mobile devices is requested at a time, the control instruction is sent according to the control request;

When a control request sent by two mobile devices is received at one time, the control requests are sorted, and the control instructions are sent to at least two mobile devices at different times based on the sorting.

In this embodiment, the first control device may only be able to control one movable device at a time due to a control mode or limited resources. For example, the first control device may be a mobile control terminal such as a mobile phone. These mobile control terminals control the movement of the mobile device through their own posture. For example, the user can control the forward, backward, and forward movement of the mobile device by adjusting the posture of the mobile phone. Movement conditions such as stop, for example, in this case, a first control device may only be suitable for the control of one movable device, but in this scenario, time division multiplexing is used to complete the remote control of different movable devices at the same time control.

If only one control request sent by a movable device is received at a time, at this moment, the first control device may only be used to control one movable device.

When multiple control requests are received at a time, the control requests are sorted. This sorting includes but is not limited to:

Sort according to the device priority of the mobile device; among them, the higher the device priority, the higher the ranking;

Sort according to the degree of urgency carried in the control request, where the higher the degree of urgency, the higher the ranking;

Sort according to the order of sending time carried in the control request, where the earlier the sending time, the higher the order.

The control request with the highest order is given priority response, and the control command of the control request with the highest order will be sent first.

For example, the first control device establishes a first-in-first-out control queue, pushes the received control request into the control queue, and the first control device responds to the control requests one by one according to the control queue.

The device priority is negatively related to the navigation capability of the device in the automatic navigation mode. If a mobile device has a stronger automatic navigation capability, the stronger the automatic navigation capability of the mobile device is, the more situations it can automatically cope with , When receiving control requests from two mobile devices with different navigation capabilities at the same time, according to the device priority, it will first respond to the control request of the device with the weaker automatic navigation capability.

For another example, the device priority may be positively correlated with the accident rate in the active area of the mobile device; if the mobile device is currently located in the active area, the higher the accident rate, the higher the device priority.

For another example, the device priority may be positively related to the importance of the items carried by the removable device. For example, if the portable device is equipped with fragile items, the device priority is higher than that of the non-fragile portable device. high.

The degree of urgency may be related to the reason why remote control is currently required. For example, the abnormal urgency of the software decision in the automatic navigation mode is low relative to the abnormal urgency of equipment failure.

In some embodiments, the distance between the movable device and the first control device is different, and the network connection status between the movable device and the first control device may be different. In this way, some control requests are sent first but reach later. In order to ensure the response efficiency of the overall control request, it can be sorted according to the sending time of the control request. The earlier the sending time, the earlier the control request.

When the first control device receives two control requests at the same time, when responding to the control request based on the order of the control request, in order to reduce the situation that the mobile device mistakenly thinks that its control request has failed to send and repeatedly sends the control request, this implementation In an example, as shown in Figure 2, the method further includes:

Step S121: Send a waiting instruction to the mobile device corresponding to the control request that has not yet responded in the sequencing; wherein the waiting instruction is used to instruct the corresponding mobile device to wait for the first control device Control instructions for remote control.

Through the sending of the waiting instruction, the mobile device is notified to pause and the response of the control request is in the queued response; in this way, the mobile device will not perform the operation of resending the control request without receiving the control instruction within a predetermined time.

In some embodiments, the waiting instruction includes at least: a waiting instruction, and the waiting instruction only informs the mobile device to wait. In some embodiments, the waiting instruction further includes waiting parameters, and the waiting parameters include, but are not limited to, waiting time and waiting mode. The waiting manner may include: pausing to move and waiting in place and/or moving to a predetermined position for waiting, etc.

In some embodiments, as shown in FIG. 3, the method further includes:

Step S140: When the control request transfer condition is met, transfer part of the control request to the second control device, wherein the second control device issues a control instruction for the transferred control request.

Multiple control devices can be connected to each other to form a control platform. In the control platform, multiple control devices are peer-to-peer, or a scheduling device is provided in the control platform. The dispatch device can dispatch multiple control devices to control the movable device.

If in a control platform where multiple control devices are connected peer-to-peer, each control device can broadcast its own load status information at regular intervals. In this way, after a control device receives the load status information of other control devices, it can be at a higher load rate. In this case, transfer part of the control request to other control devices with a relatively low load rate.

If the control platform includes a scheduling device, the scheduling device may obtain the load ratios of multiple control devices, and then perform the transfer scheduling of the control request between the first control device and the second control device. If the control platform includes a scheduling device, the first control device can receive the control request sent by the movable device through the scheduling device. For example, the movable device uniformly sends the control request to the scheduling device, and the scheduling device further forwards the control request to the first control device according to the current load status information of each control device. However, the rate at which different users and/or control devices respond to control requests is different, so in some cases, it will also cause the accumulation of control requests from a certain control device. At this time, the scheduling device can schedule control among the control devices. The requested transfer. At this time, the first control device will receive the transfer instruction from the scheduling device, and may transfer one or more control requests to the second control device based on the transfer instruction.

The transferring part of the control request to the second control device when the control request transfer condition is satisfied includes: transferring part or all of the control request to the second control device when the control request transfer condition is satisfied.

In one embodiment, when the first control device cannot continue to respond to the control request, all control requests are transferred to one or more second control devices; for example, when the first control device is abnormal, all control requests are transferred Transfer to the second control device; for another example, when the first control device is preparing to shut down, transfer all control requests to the second control device; for another example, when the controller of the first control device is about to leave and receives a transfer instruction, the All control requests are transferred to the second control device.

In some embodiments, when the first control device can continue to respond to the control request, part of the control request is transferred to one or more second control devices.

In some embodiments, when the control request transfer condition is met, transferring at least part of the control request to the second control device includes:

When receiving a user input indicating the transfer of the control request, transfer at least part of the control request to the second control device;

When it is determined that the load factor of the first control device is higher than the preset value and the load factor of the second control device is lower than the preset value, at least part of the control request is transferred to the second control device.

In some embodiments, the method further includes:

When the mobile device satisfies the preset condition for entering the automatic navigation mode, send a mode switching instruction to enter the automatic navigation mode to the mobile device, wherein the mobile device is in the automatic navigation mode Carry out automatic navigation movement.

In this embodiment, if the portable device no longer needs remote control, that is, when the preset conditions of the automatic navigation mode are met, the mode switching instruction is sent to the portable device. In this way, after the portable device receives the mode switching instruction, It will switch from the remote control mode to the automatic navigation mode, and perform mobile control based on the automatic navigation capabilities enabled in the automatic navigation mode.

For example, based on user instructions or an abnormal automatic elimination algorithm, when it is determined that the cause of remote control no longer exists, it may be considered that the preset condition for entering the automatic navigation mode is satisfied.

In an embodiment, the step S120 may include:

Obtaining location information and environmental information of the mobile device according to the control request;

The step S130 may include: displaying a device icon of the movable device on a map according to the location information, and displaying an environment graphic of the movable device on the map according to the environment information;

Receiving a user instruction acting on the map, and generating the control instruction according to the user instruction.

The environmental information may be environmental information of the current location of the movable device. The device icon of the mobile device is displayed on the map, which realizes the visualization of information and facilitates the user's control. At the same time, the environmental graphic of the environmental information is displayed on the map. In this way, it is convenient for the user to visually observe and perform based on the map, device icon and environmental graphic. Simple control.

For example, the environmental information includes roadblock information, and the roadblock information may include: the location information of the obstacle, the size of the obstacle, and so on. In this way, the roadblock graphic is generated based on the roadblock information and displayed on the map. When the display on the map controls the movable device, you can see the roadblock graphics to control the movement of the movable device.

In some embodiments, the environmental information includes at least one of the following:

Roadblock information;

Information on the usage status of the stay at the stay point;

Information on the occupancy of the supply point of the energy supply station;

Natural environment information;

Internet of Things device information on the driving route.

For example, the mobile device needs to stay when it reaches the destination or when it is evading halfway; it needs to know the usage status of the stay before staying, and if there is a stay, it can enter the stop to stop.

The energy consumption replenishment station can be: the charging station where the charging pile is located, or it can be the fuel replenishment station. In this embodiment, if the movable device is a power-consuming device, for example, an electric robot, the energy consumption replenishment station may be a charging station. If the movable device is a chemical fuel energy-consuming device, the energy-consuming replenishment station may be a chemical fuel replenishment station, for example, a gas station.

The natural environment information may include road condition information, weather condition information, sunshine condition information, and the like. The natural environment information in this application may be: natural environment information that affects the mobile performance of the mobile device; and/or natural environment information that affects the mobile security status of the mobile device.

The IOT device information includes but is not limited to at least one of the following:

Equipment information of access control equipment;

Elevator equipment information;

Equipment information of the escalator.

The access control device may be set on the planned path of the movable device. At this time, the movable device may have the function of automatically swiping the access control, thereby opening the access control and entering the inside of the access control.

However, in some cases with high security level requirements, the mobile device may not automatically swipe the access control authentication information, and the first control device is required to provide the access control authentication information, for example, the fingerprint feature or iris feature of the user needs to be authenticated for access control authentication. At the time, the first control device needs to be remotely controlled, and the access control authentication information needs to be remotely transmitted to the access control device for access control authentication.

In some embodiments, the movable device can enter the elevator, but the floor control of the elevator can be directly completed by the information interaction between the movable device and the elevator, or the first control device can send the elevator to the elevator remotely. Floor instructions.

As shown in FIG. 4, this embodiment provides a method for controlling a movable device, including:

Step S210: when the movable device is in the automatic navigation mode, determine whether the current situation requires remote control;

Step S220: When remote control is required, send a control request to the first control device;

Step S230: Receive a control instruction returned based on the control request;

Step S240: Execute the control instruction.

The movable device control method provided in this embodiment is applied to the movable device itself.

In this embodiment, the mobile device includes an automatic navigation mode and a remote control mode. In the auto-navigation mode, if it is found that the current movement situation requires remote control, it will send a control request to the control device, and then the control device will return a control instruction based on the control request and execute the control instruction.

For the detailed content of the control command here, refer to the corresponding position in the foregoing embodiment.

In this embodiment, the mobile device is not completely remotely controlled by the control device, but sends a control request when remote control is required, and is controlled in an automatic navigation mode when remote control is not required.

The current status may include at least one of the following:

Current movement status;

Current equipment status;

Navigation status in automatic navigation mode, etc.

The current movement status includes at least one of the following:

The current location of the movable device;

The current moving direction of the movable device;

The current moving speed of the movable device.

The current equipment status includes at least one of the following:

The power storage condition of the movable equipment;

The current energy consumption status of the movable device;

The mobility of the movable device;

The hardware status of each component of the movable device;

The software status of each component of the mobile device.

The navigation status in the automatic navigation mode may include at least one of the following:

Whether there is an abnormal navigation decision in the automatic navigation mode;

The navigation capability in the automatic navigation mode, etc.

If the mobile device determines that it needs remote control according to its own conditions, it will send a control request to the first control device connected remotely, and in this way, the first control device will return a control instruction based on the control request.

After receiving the control instruction, the mobile device executes the control instruction; in this way, when the mobile device determines that its own device needs remote control, it sends a control request to control itself (for example, at least mobile control) It is transferred to the first control device, and the first control device performs self-designed control. In this way, the mobile device can perform self-control in the automatic navigation mode when it is self-navigating, and when remote control is required, the first control device performs self-control Remote control, on the one hand, reduces the problem of monopolizing the first control device or the long control delay caused by remote control caused by the full control of the first control device, and on the other hand, it reduces the abnormality that cannot be dealt with in time when completely autonomous control. All kinds of problems that can be dropped or cause abnormally aggravated problems, thereby improving the control security of the movable device as a whole.

In some embodiments, the step S210 may include at least one of the following:

After the execution of the automatic navigation instruction in the automatic navigation mode of the movable device is completed, it is determined that the current movement situation requires remote control;

When the mobile device has a decision-making abnormality in the automatic navigation mode, determining that the current situation requires remote control;

When the mobile device fails in the automatic navigation mode, it is determined that the current situation requires remote control.

There are many situations in which the current status of the mobile device requires remote control. The above are several optional situations, and the specific implementation is not limited to the above examples.

In some embodiments, the method further includes:

When it is determined that remote control is required, exit the automatic navigation mode and enter the remote control mode;

The step S220 may include:

In the remote control mode, sending the control request to the first control device.

In this embodiment, if it is determined that remote control is required, the movable device will exit the automatic navigation mode and enter the remote control mode, and send a control request to the control device in the remote control mode. Once it enters the remote control mode, the movable device will wait until the remote control command is issued before moving or performing other activities.

It is worth noting that in the remote control mode of the mobile device mentioned in this application, it will automatically determine whether the current situation meets the preset conditions for entering the automatic navigation mode. If the preset conditions for entering the automatic navigation mode are met, then The mobile device will end the process of waiting until the execution of the control instruction and switch to the auto-navigation mode to start the auto-navigation movement.

In some embodiments, the method further includes:

Obtain remote control reference information;

The control reference information is sent to the control device, where the control reference information is used for the control device to generate the control instruction.

In this embodiment, the movable device also obtains control reference information, and the control reference information may include: current status information that characterizes the current status of the movable device. For a detailed description of the current situation here, reference may be made to the foregoing embodiment, and no further examples are given here.

In some embodiments, the method further includes:

In the remote control mode, determining whether a preset condition for entering the automatic navigation mode is met;

When the preset condition for entering the automatic navigation mode is satisfied, exit the remote control mode and enter the automatic navigation mode.

When the mobile device is in the remote control mode, it will periodically determine whether the preset conditions for entering the automatic navigation mode are met. Once the preset conditions for entering the automatic navigation mode are met, it will exit the remote control mode and enter the automatic navigation mode In this way, the mobile device can immediately exit the auto-navigation mode, and run more in the auto-navigation mode, releasing the occupied control resources of the first control device.

In some embodiments, the exiting the remote control mode and entering the automatic navigation mode when the preset condition for entering the automatic navigation mode is satisfied includes at least one of the following:

When receiving a mode switching instruction instructing to enter an automatic navigation instruction from a control device, exit the remote control mode and enter the automatic navigation mode;

When it is detected that the decision-making abnormality in the current automatic navigation mode is eliminated, exit the remote control mode and record the automatic navigation mode;

When it is detected that the device in the automatic navigation mode is often eliminated, exit the remote control mode and record the automatic navigation mode;

When the mobile device detects that a remote control event occurs, it is determined that the current situation requires remote control.

In some cases, the mobile device is in the automatic navigation mode, but a decision-making abnormality occurs in the automatic navigation mode. This decision-making abnormality includes but is not limited to at least one of the following: In the automatic navigation mode, the mobile device enters the mobile death Cycle; for example, keep going around a certain position; in the automatic navigation mode, the mobile device has got multiple alternative decisions, but you don’t know which decision to choose as the final target decision to guide the mobile device forward. The current situation requires remote control.

In some cases, the mobile device is in the automatic navigation mode, but some unexpected events may occur, which are scheduled remote control events that require remote control. For example, in the process of moving the movable device, there are passers-by temporarily operating the movable device. At this time, whether the movable device allows passers-by to operate requires the authorization and permission of the first control device that is remotely controlled. Therefore, in some embodiments, when the input module of the movable device receives a user input, it is determined that the remote control event is detected. For another example, if an access control is provided on the moving path of the movable device, and the access control requires the first control device to be remotely controlled to provide access control authentication information, it can be considered that the remote control event is detected.

In some embodiments, the method further includes:

Receiving a waiting instruction sent by the first control device;

Stop moving according to the waiting instruction, and wait for the control instruction of the first control device.

If the first control device receives control requests from multiple movable devices at the same time, if the control request is not transferred, the control request may be sorted in a queued manner, and the control request response may be performed based on the sort. As such, the movable device may not be able to receive the control instruction of the control request within a predetermined time.

In this embodiment, the control request of the mobile terminal may receive a waiting instruction from the first control device while queuing for a response. After receiving the waiting instruction, the mobile device will stop moving, and Waiting for the control instruction sent by the first control device after the waiting instruction.

In addition to instructing the mobile device to stop moving, the waiting instruction can also carry one or more waiting parameters. In this way, the mobile device can perform waiting according to the waiting parameters carried by the waiting instruction. For example, the duration of waiting for the control instruction is determined according to the waiting duration, and if the control instruction generated by the control request response has not been received after the waiting duration, the control request is resent. For another example, according to the waiting mode carried by the waiting instruction, whether to stop at the current position or wait to move to the predetermined position to wait.

This embodiment provides a mobile device control device, which is applied to a first control device, and includes:

As shown in FIG. 10, this embodiment provides a movable device control device, which is applied to a first control device, and includes:

The first receiving module 110 is configured to receive control requests sent by at least two movable devices when remote control is required;

The second obtaining module 120 is configured to obtain control reference information of the movable device;

The first sending module 130 is configured to send control instructions to at least two of the mobile devices according to the control request and the control reference information, wherein the control instructions are used to control the mobile device activity.

In some embodiments, the first receiving module 110, the second acquiring module 120, and the first sending module 130 may all be program modules. After the program modules are executed by the processor, they can realize information transmission and reception and Obtain.

In other embodiments, the first receiving module 110, the second acquiring module 120, and the first sending module 130 may all be software-hardware combined modules; the software-hardware combined modules may include various programmable Array; the programmable array includes but is not limited to a complex programmable array or a field programmable array.

In some other embodiments, the first receiving module 110, the second acquiring module 120, and the first sending module 130 may all be pure hardware modules. For example, the pure hardware modules include, but are not limited to, dedicated integrated circuit.

In some embodiments, the first receiving module 110 is configured to perform at least one of the following:

In some embodiments, the first sending module 130 is configured to perform at least one of the following:

In some embodiments, the first sending module 130 is further configured to send a waiting instruction to the movable device corresponding to the control request that has not yet responded in the sequencing; wherein, the waiting instruction is used to indicate The corresponding mobile device waits for a control instruction remotely controlled by the first control device.

In some embodiments, the device further includes:

The transfer module is configured to transfer part of the control request to the second control device when the control request transfer condition is met, wherein the second control device issues a control instruction for the control request after the transfer.

In some embodiments, the transfer module is configured to perform at least one of the following:

In some embodiments, the device further includes:

The mode switching module is configured to send a mode switching instruction to enter the automatic navigation mode to the movable device when the movable device satisfies the preset conditions for entering the automatic navigation mode, wherein the movable device is The automatic navigation movement is performed in the automatic navigation mode.

In some embodiments, the second obtaining module 120 is configured to obtain location information and environmental information of the movable device according to the control request;

The first sending module 130 is configured to display the device icon of the movable device on a map according to the location information, and display the environment graphic of the movable device on the map according to the environment information ; Receive user instructions acting on the map, and generate the control instructions according to the user instructions.

Roadblock information;

Information on the usage status of the stay at the stay point;

Information on the occupancy of the supply point of the energy supply station;

Natural environment information;

Internet of Things device information on the driving route.

As shown in FIG. 11, this embodiment also provides a movable device control apparatus, including:

The first determining module 210 is configured to determine whether the current situation requires remote control when the movable device is in the automatic navigation mode;

The second sending module 220 is configured to send a control request to the first control device when remote control is required;

The second receiving module 230 is configured to receive a control instruction returned based on the control request;

The execution module 240 is configured to execute the control instruction.

In some embodiments, the first determining module 210, the second sending module 220, the second receiving module 230, and the execution module 240 may all be program modules. After the program modules are executed by the processor, they can Realize information sending and receiving and confirmation.

In other embodiments, the first determining module 210, the second sending module 220, the second receiving module 230, and the execution module 240 may all be software-hardware combined modules; the software-hardware combined module may include Various programmable arrays; the programmable arrays include but are not limited to complex programmable arrays or field programmable arrays.

In some other embodiments, the first determining module 210, the second sending module 220, the second receiving module 230, and the execution module 240 may all be pure hardware modules, for example, the pure hardware modules include But not limited to application-specific integrated circuits.

In some embodiments, the determining whether the current situation requires remote control when the movable device is in the automatic navigation mode includes at least one of the following:

When the mobile device has a device failure in the automatic navigation mode, determining that the current situation requires remote control;

In some embodiments, the device further includes:

The first exit module is configured to exit the automatic navigation mode and enter the remote control mode when it is determined that remote control is required;

The second sending module 220 is configured to send the control request to the first control device in the remote control mode.

In some embodiments, the device further includes:

The second obtaining module is configured to obtain control reference information of the remote control;

The second sending module 220 is further configured to send the control reference information to the control device, where the control reference information is used for the control device to generate the control instruction.

In some embodiments, the device further includes:

The second determining module is configured to determine whether a preset condition for entering the automatic navigation mode is satisfied in the remote control mode;

The second exit module is configured to exit the remote control mode and enter the automatic navigation mode when the preset conditions for entering the automatic navigation mode are met.

In some embodiments, the second exit module is configured to perform at least one of the following:

When it is detected that the equipment in the automatic navigation mode is often eliminated, exit the remote control mode and record the automatic navigation mode.

In some embodiments, the second receiving module 230 is further configured to receive a waiting instruction sent by the first control device; the device further includes: a waiting module, configured to stop moving according to the waiting instruction, and wait The control instruction of the first control device.

Several examples are provided below in conjunction with any of the above embodiments:

Example 1:

The control terminal can simultaneously acquire the environment information of multiple robots and it is possible to select one robot to operate it; the control terminal here is one of the aforementioned control devices. The robot here is one of the aforementioned movable devices.

Obtain the environment information of the robot. The environment information includes but is not limited to: real-time video obtained by the camera, sound, obstacle information obtained by the sensor, and other information of the robot, including real-time speed, orientation, network delay, and Global Positioning System (Global Positioning System). Position System, GPS) signal strength, computing resource usage, temperature, etc.;

The control modes that the control terminal can perform include navigation mode, manual mode, and other functions including controlling other equipment around the robot through the equipment on the robot, including elevators, access control, etc.;

The operation interface of the control terminal displays the map and the real-time position of the robot on the map;

The robot's control commands include: forward, reverse, turn left, turn right, drive forward left, drive forward right, drive left back, drive right back, accurately forward, reverse, turn left, turn right, and drive forward left, drive right, Drive left and right, the front of the car straight, parking, navigation, autonomously forward 50 meters, open and close the door, summon the vertical elevator to the target floor, open and close the elevator door and other Internet Of Things (IOT) equipment .

The robot will send a control request to the control terminal after executing the automatic navigation instruction or when a specific event occurs, to remind the operator that it needs to send a new remote control control instruction;

When multiple mobile devices require remote control commands from the server at the same time, the server can set the robot to manual mode, wait for the remote control control commands, and send the remote control commands to the robot in turn; or more than 1 A robot that wants to send instructions transfers to other currently idle operators to send instructions. The transfer method may include at least one of the following: transfer based on instructions manually input by the operator; the control system automatically transfers according to the transfer strategy.

This embodiment also provides an electronic device, including:

Transceiver; used to send and receive information;

Memory, used for information storage;

The processor is respectively connected to the transceiver and the memory, and is configured to control the information transmission and reception of the transceiver by executing computer executable instructions stored on the memory and implement the movable device control method provided by any of the foregoing embodiments , For example, the method shown in Figure 1 to Figure 4.

The transceiver may include various types of antennas, which can transmit and receive information through wireless signal transmission and reception. For example, the antenna may include: a WiFi antenna and a mobile communication antenna. The mobile communication antenna includes, but is not limited to: 5G antenna, 4G antenna, or 3G antenna.

The processor may be various types of processing devices, for example, a central processing unit, a microprocessor, a digital signal processor, or a programmable array.

The processor may be connected to the memory through a bus. For example, the bus may be an integrated circuit bus or the like.

In some embodiments, the electronic device further includes: an image acquisition module and/or a positioning module, etc.; the image acquisition module may be used for image acquisition; the positioning module may be used for the mobile device Positioning.

The electronic device may be the aforementioned movable device or the first control device.

This embodiment also provides a computer storage medium on which computer-executable instructions are stored; after the computer-executable instructions are executed, the movable device control method provided in any of the foregoing embodiments can be implemented, for example, The method shown in Figure 1 to Figure 4. The computer storage medium provided in this embodiment may be a non-transitory storage medium.

In the several embodiments provided in this application, it should be understood that the disclosed device and method may be implemented in other ways. The device embodiments described above are merely illustrative. For example, the division of the units is only a logical function division, and there may be other divisions in actual implementation, such as: multiple units or components can be combined, or It can be integrated into another system, or some features can be ignored or not implemented. In addition, the coupling, or direct coupling, or communication connection between the components shown or discussed may be indirect coupling or communication connection through some interfaces, devices or units, and may be electrical, mechanical or other forms of.

The units described above as separate components may or may not be physically separate, and the components displayed as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units; Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.

In addition, the functional units in the embodiments of the present disclosure can be all integrated into one processing module, or each unit can be individually used as a unit, or two or more units can be integrated into one unit; The unit can be implemented in the form of hardware, or in the form of hardware plus software functional units.

The technical features disclosed in any embodiment of the present application can be combined arbitrarily to form a new method embodiment or device embodiment without conflict.

The method embodiments disclosed in any embodiment of the present application can be combined arbitrarily to form a new method embodiment if there is no conflict.

The device embodiments disclosed in any embodiment of the present application can be combined arbitrarily to form a new device embodiment if there is no conflict.

A person of ordinary skill in the art can understand that all or part of the steps in the above method embodiments can be implemented by a program instructing relevant hardware. The foregoing program can be stored in a computer readable storage medium. When the program is executed, it is executed. Including the steps of the foregoing method embodiment; and the foregoing storage medium includes: removable storage devices, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), magnetic disks or optical disks, etc. A medium that can store program codes.

The above are only specific implementations of the present disclosure, but the protection scope of the present disclosure is not limited thereto. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed in the present disclosure. It should be covered within the protection scope of the present disclosure. Therefore, the protection scope of the present disclosure should be subject to the protection scope of the claims.

Claims

A method for controlling a movable device, applied to a first control device, includes:

Receive control requests sent by at least two mobile devices when remote control is required;

According to the control request, control instructions are respectively sent to at least two of the movable devices, wherein the control instructions are used to control the activities of the movable devices.
The method according to claim 1, wherein said receiving a control request sent by at least two mobile devices when remote control is required comprises:

Receiving control requests sent by at least two of the mobile devices after the execution of the automatic navigation instruction is completed;

Receiving control requests sent by at least two of the mobile devices abnormally in the automatic navigation mode decision;

Receiving control requests sent by at least two of the mobile devices when the device fails in the automatic navigation mode;

Receive control requests sent by at least two of the mobile devices when a remote control event is detected.
The method according to claim 1 or 2, wherein the respectively sending control instructions to at least two of the movable devices according to the control request includes at least one of the following:

When a control request of one of the movable devices is requested at a time, the control instruction is sent according to the control request;

When a control request sent by two mobile devices is received at one time, the control requests are sorted, and the control instructions are sent to at least two mobile devices at different times based on the sorting.
The method according to claim 3, wherein the method further comprises:

Send a waiting instruction to the mobile device corresponding to the control request that has not yet responded in the sequencing; wherein the waiting instruction is used to instruct the corresponding mobile device to wait for the remote control of the first control device Control instruction.
The method according to claim 1 or 2, wherein the method further comprises:

When the control request transfer condition is satisfied, part of the control request is transferred to the second control device, wherein the second control device issues a control instruction after the transfer of the control request.
The method of claim 5, wherein:

The transferring at least part of the control request to the second control device when the control request transfer condition is met includes:

When receiving a user input indicating the transfer of the control request, transfer at least part of the control request to the second control device;

When it is determined that the load factor of the first control device is higher than the preset value and the load factor of the second control device is lower than the preset value, at least part of the control request is transferred to the second control device.
The method according to claim 1 or 2, wherein the method further comprises:

When the mobile device satisfies the preset condition for entering the automatic navigation mode, send a mode switching instruction to enter the automatic navigation mode to the mobile device, wherein the mobile device is in the automatic navigation mode Carry out automatic navigation movement.
The method according to claim 1 or 2, wherein the method further comprises: acquiring control reference information of the movable device, wherein the control reference information and the control request are used to send The device sends a control instruction; wherein, the control parameter information includes at least: location information and/or environment information of the movable device.
The method according to claim 8, wherein:

The sending a control instruction to at least two of the movable devices according to the control request and the control reference information respectively includes:

Display the device icon of the mobile device on a map according to the location information, and display the environmental graphic of the mobile device on the map according to the environmental information;

Receiving a user instruction acting on the map, and generating the control instruction according to the user instruction.
A method for controlling a movable device, including:

When the mobile device is in automatic navigation mode, determine whether the current situation requires remote control;

When remote control is required, send a control request to the first control device;

Receiving a control instruction returned based on the control request;

Execute the control instruction.
The method according to claim 10, wherein the determining whether the current situation requires remote control when the movable device is in the automatic navigation mode comprises at least one of the following:

After the execution of the automatic navigation instruction in the automatic navigation mode of the movable device is completed, it is determined that the current movement situation requires remote control;

When the mobile device has a decision-making abnormality in the automatic navigation mode, determining that the current situation requires remote control;

When the mobile device has a device failure in the automatic navigation mode, determining that the current situation requires remote control;

When the mobile device detects that a remote control event occurs, it is determined that the current situation requires remote control.
The method according to claim 10 or 11, wherein the method further comprises:

When it is determined that remote control is required, exit the automatic navigation mode and enter the remote control mode;

The sending a control request to the first control device when remote control is required includes:

In the remote control mode, sending the control request to the first control device.
The method according to claim 12, wherein the method further comprises:

Obtain remote control control reference information; wherein, the control parameter information includes at least: location information and/or environment information of the movable device;

The control reference information is sent to the control device, where the control reference information is used for the control device to generate the control instruction.
The method according to claim 10 or 11, wherein the method further comprises:

In the remote control mode, determining whether a preset condition for entering the automatic navigation mode is met;

When the preset condition for entering the automatic navigation mode is satisfied, exit the remote control mode and enter the automatic navigation mode.
The method according to claim 14, wherein the exiting the remote control mode and entering the automatic navigation mode when a preset condition for entering the automatic navigation mode is met includes at least one of the following:

When receiving a mode switching instruction instructing to enter an automatic navigation instruction from a control device, exit the remote control mode and enter the automatic navigation mode;

When it is detected that the decision-making abnormality in the current automatic navigation mode is eliminated, exit the remote control mode and record the automatic navigation mode;

When it is detected that the equipment in the automatic navigation mode is often eliminated, exit the remote control mode and record the automatic navigation mode.
The method according to claim 10 or 11, wherein the method further comprises:

Receiving a waiting instruction sent by the first control device;

Stop moving according to the waiting instruction, and wait for the control instruction of the first control device.
A control device for a movable device, which is applied to a first control device and includes:

The first receiving module is configured to receive control requests sent by at least two movable devices when remote control is required;

The first sending module is configured to send control instructions to at least two of the mobile devices respectively according to the control request, wherein the control instructions are used to control the activities of the mobile devices.
The apparatus according to claim 17, wherein the first receiving module is specifically configured to perform at least one of the following:

Receiving control requests sent by at least two of the mobile devices after the execution of the automatic navigation instruction is completed;

Receiving control requests sent by at least two of the mobile devices abnormally in the automatic navigation mode decision;

Receiving control requests sent by at least two of the mobile devices when the device fails in the automatic navigation mode;

Receive control requests sent by at least two of the mobile devices when a remote control event is detected.
The device according to claim 17 or 18, wherein the first sending module is configured to perform at least one of the following:

When a control request of one of the movable devices is requested at a time, the control instruction is sent according to the control request;

When a control request sent by two mobile devices is received at one time, the control requests are sorted, and the control instructions are sent to at least two mobile devices at different times based on the sorting.
The apparatus according to claim 19, wherein the first sending module is further configured to send a waiting instruction to the mobile device corresponding to the control request that has not yet responded in the sequencing; wherein the waiting instruction , For instructing the corresponding mobile device to wait for a control instruction for remote control by the first control device.
The device according to claim 17 or 18, wherein the device further comprises:

The transfer module is configured to transfer part of the control request to the second control device when the control request transfer condition is met, wherein the second control device issues a control instruction after the transfer of the control request.
The apparatus according to claim 21, wherein the transfer module is configured to perform at least one of the following:

When receiving a user input indicating the transfer of the control request, transfer at least part of the control request to the second control device;

When it is determined that the load factor of the first control device is higher than the preset value and the load factor of the second control device is lower than the preset value, at least part of the control request is transferred to the second control device.
The device according to claim 17 or 18, wherein the device further comprises:

The mode switching module is configured to send a mode switching instruction to enter the automatic navigation mode to the movable device when the movable device satisfies the preset conditions for entering the automatic navigation mode, wherein the movable device is The automatic navigation movement is performed in the automatic navigation mode.
The device according to claim 17 or 18, wherein the device further comprises:

The first acquiring module is configured to acquire control reference information of the movable device, wherein the control reference information and the control request are used to send a control instruction to the movable device; wherein, the control parameter information At least including: location information and/or environmental information of the movable device.
The device of claim 24, wherein

The first sending module is configured to display the device icon of the movable device on a map according to the location information, and display the environment graphic of the movable device on the map according to the environment information; Receiving a user instruction acting on the map, and generating the control instruction according to the user instruction.
A control device for movable equipment, including:

The first determining module is configured to determine whether the current situation requires remote control when the movable device is in the automatic navigation mode;

The second sending module is configured to send a control request to the first control device when remote control is required;

The second receiving module is configured to receive a control instruction returned based on the control request;

The execution module is configured to execute the control instruction.
The apparatus according to claim 26, wherein the determining whether the current situation requires remote control when the movable device is in an automatic navigation mode comprises at least one of the following:

After the execution of the automatic navigation instruction in the automatic navigation mode of the movable device is completed, it is determined that the current movement situation requires remote control;

When the mobile device has a decision-making abnormality in the automatic navigation mode, determining that the current situation requires remote control;

When the mobile device has a device failure in the automatic navigation mode, determining that the current situation requires remote control;

When the mobile device detects that a remote control event occurs, it is determined that the current situation requires remote control.
The device according to claim 26 or 27, wherein the device further comprises:

The first exit module is configured to exit the automatic navigation mode and enter the remote control mode when it is determined that remote control is required;

The second sending module is configured to send the control request to the first control device in the remote control mode.
The apparatus of claim 28, wherein the apparatus further comprises:

The second obtaining module is configured to obtain control reference information of the remote control;

The second sending module is further configured to send the control reference information to the control device, wherein the control reference information is used for the control device to generate the control instruction.
The device according to claim 26 or 27, wherein the device further comprises:

The second determining module is configured to determine whether a preset condition for entering the automatic navigation mode is satisfied in the remote control mode;

The second exit module is configured to exit the remote control mode and enter the automatic navigation mode when the preset conditions for entering the automatic navigation mode are met.
The device according to claim 30, wherein the second exit module is specifically configured to execute at least one of the following:

When receiving a mode switching instruction instructing to enter an automatic navigation instruction from a control device, exit the remote control mode and enter the automatic navigation mode;

When it is detected that the decision-making abnormality in the current automatic navigation mode is eliminated, exit the remote control mode and record the automatic navigation mode;

When it is detected that the equipment in the automatic navigation mode is often eliminated, exit the remote control mode and record the automatic navigation mode.
The device according to claim 26 or 27, wherein:

The second receiving module is further configured to receive a waiting instruction sent by the first control device;

The device also includes:

The waiting module is configured to stop moving according to the waiting instruction and wait for the control instruction of the first control device.
An electronic device, which includes:

Transceiver, used to send and receive information;

Memory, used to store information;

The processor is respectively connected to the transceiver and the memory, and is configured to implement the method provided by any one of claims 1 to 9 or 10 to 16 by executing computer executable instructions stored on the memory.
A computer storage medium that stores computer executable instructions; after the computer executable instructions are executed by a processor, the method provided in any one of claims 1 to 9 or 10 to 16 can be implemented.