WO2023142555A1

WO2023142555A1 - Data processing method and apparatus, computer device, storage medium, and computer program product

Info

Publication number: WO2023142555A1
Application number: PCT/CN2022/127674
Authority: WO
Inventors: 周茗岩; 杨阳; 刘锦金; 唐明勇; 李若岱
Original assignee: 上海商汤智能科技有限公司
Priority date: 2022-01-26
Filing date: 2022-10-26
Publication date: 2023-08-03
Also published as: CN114425155A

Abstract

Embodiments of the present disclosure provide a data processing method and apparatus, a computer device, a storage medium, and a computer program product. The method comprises: obtaining first position information of at least one object in a first coordinate system; on the basis of a first conversion parameter, converting the first position information of each object in the first coordinate system into second position information in a second coordinate system; determining target operation information on the basis of the second position information of each object and a preset operation rule, the target operation information comprising a target operation object, a target operation instruction, and target position information in the second coordinate system; and executing the target operation instruction on the basis of the target operation object and the target position information.

Description

Data processing method and device, computer equipment, storage medium and computer program product

Cross References to Related Applications

The embodiment of the present disclosure is based on the Chinese patent application with the application number 202210094470.3, the application date is January 26, 2022, and the application name is "data processing method and device, computer equipment and computer storage medium", and requires the Chinese patent application Priority, the entire content of the Chinese patent application is hereby incorporated by reference into this disclosure.

technical field

The present disclosure relates to but not limited to the field of human-computer interaction, and in particular relates to a data processing method and device, computer equipment, storage media and computer program products.

Background technique

With the development of computer and robot technology, there is a great market demand for robots that can interact with people. In related technologies, the robot is affected by various factors during the braking process, which may easily cause deviations in operating positions (such as grasping positions or drawing positions, etc.).

Contents of the invention

Embodiments of the present disclosure provide a data processing method and device, computer equipment, storage media, and computer program products.

The technical scheme of the embodiment of the present disclosure is realized in this way:

An embodiment of the present disclosure provides a data processing method, the method including:

Acquiring first position information of at least one object in the first coordinate system;

converting the first position information of each of the objects in the first coordinate system to second position information in a second coordinate system based on a first conversion parameter;

determining target operation information based on the second position information and preset operation rules of each of the objects, the target operation information including target operation objects, target operation instructions and target position information in the second coordinate system;

The target operation instruction is executed based on the target operation object and the target position information.

An embodiment of the present disclosure provides a data processing device, and the device includes:

a first acquisition part configured to acquire first position information of at least one object in the first coordinate system;

a first conversion part configured to convert the first position information of each of the objects in the first coordinate system into second position information in a second coordinate system based on a first conversion parameter;

The first determination part is configured to determine target operation information based on the second position information of each of the objects and preset operation rules, the target operation information including target operation objects, target operation instructions and Target location information in the system;

The first execution part is configured to execute the target operation instruction based on the target operation object and the target position information.

An embodiment of the present disclosure provides a computer device, including a memory and a processor, the memory stores a computer program that can run on the processor, and the processor implements the above data processing method when executing the computer program.

An embodiment of the present disclosure provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the foregoing data processing method is implemented.

An embodiment of the present disclosure provides a computer program product. The computer program product includes a non-transitory computer-readable storage medium storing a computer program. When the computer program is read and executed by a computer device, the above data processing method is realized.

In an embodiment of the present disclosure, by acquiring the first position information of at least one object in the first coordinate system; based on the first conversion parameter, the first position of each object in the first coordinate system is The information is converted into second position information in the second coordinate system; based on the second position information of each of the objects and the preset operation rules, target operation information is determined, the target operation information includes target operation objects, target operation instructions and target position information in the second coordinate system; based on the target operation object and the target position information, execute the target operation instruction. In this way, the position in the first coordinate system can be converted to the position in the second coordinate system through the first conversion parameter, so as to realize the unification of the positions of objects in different coordinate systems, so as to obtain more accurate target operation objects, target operation instructions and Target location information, thereby improving the accuracy of the execution of target operation instructions, thereby improving the user's human-computer interaction experience.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory in nature and are not restrictive of the disclosure.

Description of drawings

The accompanying drawings here are incorporated into the description and constitute a part of the present description. These drawings show embodiments consistent with the present disclosure, and are used together with the description to explain the technical solution of the present disclosure.

FIG. 1 is a schematic diagram of the implementation flow of a data processing method provided by an embodiment of the present disclosure;

FIG. 2 is a schematic diagram of the implementation flow of a data processing method provided by an embodiment of the present disclosure;

FIG. 3 is a schematic diagram of an implementation flow of a data processing method provided by an embodiment of the present disclosure;

FIG. 4A is a schematic diagram of a data processing system provided by an embodiment of the present disclosure;

FIG. 4B is a schematic diagram of electrical connections between components of a playing robot provided by an embodiment of the present disclosure;

FIG. 4C is a top view of a playing robot provided by an embodiment of the present disclosure;

FIG. 4D is a schematic diagram of an observation screen of a camera when there is a user in front of a playing robot provided by an embodiment of the present disclosure;

FIG. 4E is a schematic flow diagram of a chess playing robot provided by an embodiment of the present disclosure;

FIG. 5 is a schematic diagram of the composition and structure of a data processing device provided by an embodiment of the present disclosure;

FIG. 6 is a schematic diagram of a hardware entity of a computer device in an embodiment of the present disclosure.

Detailed ways

In order to make the purpose, technical solutions and advantages of the present disclosure clearer, the present disclosure will be further described in detail below in conjunction with the accompanying drawings. All other embodiments obtained under the premise of creative labor belong to the protection scope of the present disclosure.

In the following description, references to "some embodiments" describe a subset of all possible embodiments, but it is understood that "some embodiments" may be the same subset or a different subset of all possible embodiments, and Can be combined with each other without conflict.

In the following description, the terms "first\second\third" are used to distinguish similar objects, and do not represent a specific ordering of objects. Understandably, "first\second\third" is allowed The specific order or sequence may be interchanged under certain circumstances such that the embodiments of the disclosure described herein can be practiced in sequences other than those illustrated or described herein.

Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure belongs. The terms used herein are only for the purpose of describing the embodiments of the present disclosure, and are not intended to limit the present disclosure.

With the development of computer and robot technology, there is a great market demand for robots that can interact with people. The current interactive robots generally use industrial robots as the mechanical body combined with vision. After research and development by R&D personnel, they can realize functions such as playing chess and drawing. However, the cost of this kind of industrial robot as an interactive robot of the mechanical body is extremely high, and it cannot achieve the vision for consumers. At the same time, in the process of human-computer interaction, the robot is affected by various factors such as external interference and abnormality during the braking process, which may easily cause deviations in the grasping position or drawing position of the robotic arm. Such continuous superposition makes the user experience effect not good. good.

The embodiment of the present disclosure provides a data processing method, which converts the position in the first coordinate system into the position in the second coordinate system through the first conversion parameter, so as to realize the unification of the positions of objects in different coordinate systems, so as to obtain more accurate Target operation objects, target operation instructions, and target location information, thereby improving the accuracy of the execution of target operation instructions, thereby improving the user's human-computer interaction experience. The data processing method provided by the embodiments of the present disclosure may be executed by a computer device. Exemplary applications of the computer equipment proposed by the embodiments of the present disclosure are described below. The computer equipment proposed in the embodiments of the present disclosure can be implemented as a mobile phone terminal, a notebook computer, a tablet computer, an interactive robot (for example, a game robot, a drawing robot, etc.), other online game platforms, a server, a desktop computer, a smart TV, a vehicle-mounted device, and industrial equipment, etc. The server can be an independent physical server, or a server cluster or distributed system composed of multiple physical servers, or it can provide cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communication, intermediate Cloud servers for basic cloud computing services such as mail service, domain name service, security service, content delivery network (Content Delivery Network, CDN), and big data and artificial intelligence platforms.

In the following, the technical solutions in the embodiments of the present disclosure will be clearly and completely described with reference to the drawings in the embodiments of the present disclosure.

Fig. 1 is a schematic diagram of the implementation flow of a data processing method provided by an embodiment of the present disclosure. As shown in Fig. 1, the method includes steps S11 to S14, wherein:

Step S11. Obtain first position information of at least one object in the first coordinate system.

Here, the object may be an object of any suitable scene. For example, in a game playing scene, the object may be a Gomoku piece, a Xiangqi piece, a Go piece, etc. For another example, in a drawing scene, the object may be a paintbrush, a graphic, an eraser, and the like.

In some implementations, the first coordinate system may include, but not limited to, a pixel coordinate system, an image coordinate system, a camera coordinate system, a world coordinate system, and the like. Among them, the pixel coordinate system can take the upper left corner of the image as the origin, and the u-axis and v-axis are parallel to the coordinate system on both sides of the image, and (u, v) represent its coordinate value, u represents the row where the image is located, and v represents the position of the image column. The image coordinate system can take the center of the image as the coordinate origin, and the X axis and the Y axis are parallel to both sides of the image, and (x, y) can be used to represent the coordinate value of the object. The camera coordinate system is centered on the optical center of the camera, and the optical axis of the camera is perpendicular to the image plane. The world coordinate system is introduced to describe the position of the camera, and the rotation in any dimension can be expressed as the product of the coordinate vector and the appropriate square matrix. During implementation, those skilled in the art may select an appropriate first coordinate system according to actual conditions, which is not limited by the embodiments of the present disclosure. For example, in a game scene, the first coordinate system may be a camera coordinate system.

In some implementations, the first position information of each object can be acquired through a camera module, a sensor, an infrared sensor, and the like.

In some implementations, the robot acquires the first location information after receiving the operation instruction. Wherein, the operation instruction is used to indicate that the robot is currently operating. For example, the operation instruction may be that the user presses a first button, and the first button may be a physical button or a virtual button. The first key may be any suitable key, for example, a start key, a start key, a finish key, a chess key, and the like. For another example, the operation instruction may also be a gesture operation, a voice operation, a somatosensory operation, etc. performed by the user.

Step S12. Based on the first transformation parameters, transform the first position information of each object in the first coordinate system into the second position information in the second coordinate system.

Here, the first conversion parameter may be preset, or may be calculated by means of calibration, comparison, and the like.

In some implementations, the second coordinate system may include, but not limited to, an image coordinate system, a pixel coordinate system, and the like. During implementation, those skilled in the art can select an appropriate second coordinate system according to the actual situation, which is not limited by the embodiments of the present disclosure. For example, in a game scene, the second coordinate system may be a chessboard image coordinate system.

In some embodiments, the first conversion parameter may be pre-stored in the computer device, or stored in the cloud or other terminals. In the case that the first conversion parameter is stored in the computer device, the computer device converts the first position information into the second position information according to the first conversion parameter. In the case that the first conversion parameter is stored in other terminals, the computer device sends the first location information to other terminals, so that other terminals convert the first location information into second location information according to the first conversion parameter, and convert the first location information to the second location information. The second location information is returned to the computer device.

Step S13 : Determine target operation information based on the second position information of each object and preset operation rules, where the target operation information includes target operation objects, target operation instructions, and target position information in the second coordinate system.

Here, the preset operating rules may include but not limited to game rules, drawing rules, and the like. During implementation, the preset operation rule may be determined according to an actual interaction scenario, which is not limited in this embodiment of the present disclosure.

In some implementation manners, the scene information may be determined based on the first location information. For example, in a case where the first position information includes the position information of backgammon, it may be determined that the scene is a backgammon scene. For another example, in a case where the first position information includes a graphic position, it may be determined that the scene is a drawing scene.

In some implementation manners, a mapping table of the corresponding relationship between the scene information and the preset operation rules may be established in advance, and the mapping table may be stored in a computer device or other terminals. In the case that the mapping table is stored in the computer device, the computer device determines in the mapping table a preset operation rule matching the scene information according to the scene information. In the case that the mapping table is stored in other terminals, the computer device sends the scene information to other terminals, so that other terminals determine the preset operation rules matching the scene information in the mapping table according to the scene information, and send the preset operation rules Return to the computer device.

For example, when the scene information is a backgammon scene, the computer device searches the mapping table for the preset operation rules matching the backgammon scene to be the backgammon game rules according to the backgammon scene. For another example, when the scene information is a drawing scene, the computer device searches the mapping table for a preset operation rule matching the drawing scene as a drawing rule according to the drawing scene.

The target operand can be any suitable scene object. For example, in a chess game scenario, the target operation object may be a chess piece or the like. For another example, in a drawing scene, the target operation object may be a paintbrush, a graphic, an eraser, and the like.

Target operation instructions may include, but are not limited to, instructions to play chess, to capture chess, to draw, to move, to erase, and so on. During implementation, the target operation instruction may be determined according to an actual interaction scenario, which is not limited in this embodiment of the present disclosure.

In some implementations, when the preset operating rules include game rules, the object includes chess pieces, and the target operation object includes target chess pieces, the above-mentioned step 13 includes step S131, wherein:

Step S131, based on the second position information of each chess piece and the rules of the game, determine the target chess piece, the target operation instruction and the target position information in the second coordinate system.

Here, the computer device may be a playing robot. The target operation instruction may include, but not limited to, an instruction to play chess, an instruction to capture chess, and the like.

In some implementations, when the preset operation rules include drawing rules, the object includes graphics, and the target operation object includes target graphics, the above step 13 includes step S132, wherein:

Step S132, based on the second position information and drawing rules of each figure, determine the target figure, the target operation instruction and the target position information in the second coordinate system.

Here, the computer device includes a drawing robot. Target operation instructions may include, but are not limited to, drawing operations, moving operations, erasing operations, and the like.

Step S14, based on the target operation object and the target position information, execute the target operation instruction.

Here, according to the application scenario, the computer device controls a corresponding hardware device such as a robotic arm or a manipulator to execute the target operation instruction. For example, in the game scene, the target operation object includes the target chess piece, and the computer device controls the mechanical arm to place the target chess piece at the target position. For another example, in the game scene, the target operation object includes the first chess piece and the second chess piece, and the computer device controls the mechanical arm to move the first chess piece to the position of the second chess piece. Also for example, in a painting scene, the target operation object includes a target figure, and the computer device controls the mechanical arm to draw the target figure starting from the target position.

In the embodiment of the present disclosure, by obtaining the first position information of at least one object in the first coordinate system; based on the first conversion parameter, the first position information of each object in the first coordinate system is converted into the second coordinate system The second position information in the system; based on the second position information of each object and the preset operation rules, determine the target operation information, the target operation information includes the target operation object, the target operation instruction and the target position information in the second coordinate system ; Execute the target operation instruction based on the target operation object and the target position information. In this way, the position in the first coordinate system can be converted to the position in the second coordinate system through the first conversion parameter, so as to realize the unification of the positions of objects in different coordinate systems, so as to obtain more accurate target operation objects, target operation instructions and Target location information, thereby improving the accuracy of the execution of target operation instructions, thereby improving the user's human-computer interaction experience.

Fig. 2 is a schematic diagram of the implementation flow of a data processing method provided by an embodiment of the present disclosure. As shown in Fig. 2, the data processing method includes steps S21 to S25, wherein:

Step S21, acquiring image information collected by the camera module.

Here, the computer device may have a built-in camera module or an external camera module. The camera module is used to collect image information of the target area. The target area may include, but is not limited to, a playing area on a virtual chessboard, a playing area on a physical chessboard, a virtual drawing area, a physical drawing area, and the like. The camera module can be any suitable device capable of capturing images. In some embodiments, the camera module may be a common camera or video camera, or a wide-angle module with extreme wide-angle shooting.

The image information may be an unprocessed image directly collected by the camera module, or an image collected by the camera module and processed by a computer device.

Step S22. Based on the image information, first position information of each object in the first coordinate system is acquired.

Here, a suitable recognition algorithm may be used to recognize the image information, so as to obtain the first position information of each object. For example, optical character recognition (Optical Character Recognition, OCR) algorithm, object detection algorithm based on deep learning, etc. During implementation, those skilled in the art can select an appropriate recognition algorithm according to actual conditions, which is not limited by the embodiments of the present disclosure.

Step S23. Based on the first transformation parameters, transform the first position information of each object in the first coordinate system into the second position information in the second coordinate system.

Step S24: Determine target operation information based on the second position information of each object and preset operation rules, where the target operation information includes target operation objects, target operation instructions, and target position information in the second coordinate system.

Step S25, based on the target operation object and the target position information, execute the target operation instruction.

Here, the above-mentioned steps S23 to S25 correspond to the above-mentioned steps S12 to S14, and for implementation, reference may be made to the specific implementation manners of the above-mentioned steps S12 to S14.

In some embodiments, the method also includes step S26, wherein:

Step S26, calibrate the camera module, and determine the first conversion parameter.

Here, the first conversion parameters may include but not limited to internal parameters, distortion parameters, external parameters, or other conversion matrices of the camera module. Wherein, the internal reference of the camera module is an inherent parameter of the camera module, and the inherent parameter can be obtained from the manufacturer, or can be obtained by calibrating the camera module. The distortion parameter is used to correct the image distortion caused by the characteristics of the camera module itself. For example, lens distortion, which is caused by the irregular refraction of the lens of the camera module due to the passage of light.

In some implementations, the camera module can be calibrated using a linear calibration method, a nonlinear optimization calibration method, a Zhang Zhengyou calibration method, a checkerboard calibration method, a corner point calibration method, a camera calibration method, or other calibration methods to obtain the first A transformation parameter. The embodiment of the present disclosure does not limit the calibration method, as long as the first conversion parameter can be acquired.

In the embodiment of the present disclosure, the image information collected by the camera module is obtained; based on the image information, the first position information of each object in the first coordinate system is obtained; The first position information in the coordinate system is converted into the second position information in the second coordinate system; based on the second position information of each object and preset operation rules, target operation information is determined, and the target operation information includes the target operation object, A target operation instruction and target position information in the second coordinate system; based on the target operation object and the target position information, execute the target operation instruction. In this way, after using the camera module to obtain accurate first position information, the position in the first coordinate system is converted to the position in the second coordinate system through the first conversion parameter, so as to realize the unification of the position of the object in different coordinate systems, In order to obtain more accurate target operation object, target operation instruction and target position information, thereby further improving the accuracy of target operation instruction execution.

Fig. 3 is a schematic flow diagram of a data processing method provided by an embodiment of the present disclosure. As shown in Fig. 3, the method includes steps S31 to S35, wherein:

Step S31 , acquiring first position information of at least one object in the first coordinate system.

Step S32. Based on the first transformation parameters, transform the first position information of each object in the first coordinate system into the second position information in the second coordinate system.

Step S33 : Determine target operation information based on the second position information of each object and preset operation rules, where the target operation information includes target operation objects, target operation instructions, and target position information in the second coordinate system.

Here, the above-mentioned steps S31 to S33 correspond to the above-mentioned steps S11 to S13, and for implementation, reference may be made to the specific implementation manners of the above-mentioned steps S11 to S13.

Step S34 , based on the second transformation parameters, transform the target position information into third position information in the third coordinate system.

Here, the second conversion parameter may be preset, or may be calculated by means of calibration, comparison, and the like. The second conversion parameter may include but not limited to a conversion matrix and the like. In some implementations, a hand-eye calibration method may be used for calibration to obtain the second conversion parameter. The embodiment of the present disclosure does not limit the calibration method, as long as the second conversion parameter can be acquired.

The third coordinate system may include but not limited to a space coordinate system, an image coordinate system, and the like. For example, in a game scene, the third coordinate system may be a mechanical arm coordinate system.

Step S35 , based on the target operation object and the third position information, execute the target operation instruction.

Here, the target operation instruction may include, but not limited to, a chess-playing instruction, a chess-capture instruction, a drawing instruction, an erasing instruction, a moving instruction, and the like.

In some implementations, when the target operation instruction includes a chess playing instruction, the third position information includes the third sub-position of the target chess piece, and the above step S35 includes step S351, wherein:

Step S351, controlling the mechanical arm of the playing robot to place the target chess piece at the third sub-position.

Here, the computer device may be a playing robot, and the playing robot includes at least a mechanical arm. During implementation, after the playing robot controls the mechanical arm to grab the target chess piece, it moves to the third position information and releases the target chess piece, so as to place the target chess piece at the third position.

For example, in a game of Go, the playing robot can control the movement of the mechanical arm, grab a black chess from the box containing the black chess, and move to the third sub-position for release.

In some implementations, when the target operation instruction includes a capture chess instruction, the target chess piece includes a first chess piece and a second chess piece, and the third position information includes the first piece position of the first chess piece and the second piece of the second chess piece. The above step S35 includes steps S361 to S362, wherein:

Step S361, based on the position of the first piece, control the mechanical arm to take away the first chess piece.

Here, the computer device may be a playing robot, and the playing robot includes at least a mechanical arm. The first pawn may be an opponent's pawn.

Step S362, based on the second sub-position, controlling the mechanical arm to grab the second chess piece and move the second chess piece to the first sub-position.

Here, the second chess piece may be one's own chess piece.

During implementation, in the process of capturing chess, the playing robot can take the opponent's pieces first and then put its own pieces, or put its own pieces first and then take the opponent's pieces, which is not limited in the embodiments of the present disclosure.

For example, in a chess game, the playing robot can control the movement of the mechanical arm, first take away the "cannon" (the first chess piece) from the opponent's first sub-position, and then grab the "horse" (the second pawn) from the second sub-position. Chess piece), and this "horse" (second chess piece) is moved to the first piece position.

In some embodiments, the above step S35 includes at least one of step S371 to step S373:

Step S371 , if the target operation instruction includes a drawing instruction, control the mechanical arm of the drawing robot to draw the target figure according to the target position information.

Here, the computer device may be a drawing robot, and the drawing robot includes at least a mechanical arm. The drawing instruction may include, but not limited to, drawing a circle, drawing a line segment, drawing a curve, drawing a point, and the like. The target location information may include but not limited to at least one of a start location, a center location, an end location, and the like.

For example, when the drawing instruction is to draw a circle and the target position information is the initial position, the drawing robot controls the mechanical arm to draw a circle at the initial position. For another example, when the drawing instruction is to draw a line segment, and the target position information is a start position and an end position, the drawing robot controls the mechanical arm to draw a line segment from the start position to the end position.

Step S372 , if the target operation instruction includes an erase instruction, control the mechanical arm of the drawing robot to erase the target figure at the target position.

Here, the erasing instruction may include, but not limited to, erasing a circle, erasing a line segment, erasing a curve, erasing a point, and the like. The target location information may include but not limited to at least one of a start location, a center location, an end location, and the like.

For example, when the erasing instruction is to erase a curve, and the target position information is a start position and an end position, the drawing robot controls the mechanical arm to erase the curve from the start position to the end position.

Step S373, if the target operation instruction includes a movement instruction, obtain the fourth sub-position and the fifth sub-position in the target position information, and control the mechanical arm of the drawing robot to move the target figure at the fourth sub-position to the fifth sub-position. sublocation.

Here, the erasing instruction may include, but not limited to, a moving circle, a moving line segment, a moving curve, a moving point, and the like. The target location information includes at least a fourth sub-location and a fifth sub-location. Wherein, the fourth sub-position can be the original position, and the fifth sub-position can be the placed position. The fourth sub-position and the fifth sub-position may be at least one of a start position, a center position, an end position, and the like.

For example, when the movement instruction is a moving point, the fourth sub-position is the first initial position, and the fifth sub-position is the second initial position, the drawing robot controls the mechanical arm to be located at the first initial position (the fourth sub-position ) point moves to the second starting position (fifth sub-position).

In some embodiments, the method also includes step S36, wherein:

Step S36 , calibrate the mechanical arm of the robot, and determine the second conversion parameters.

Here, the computer device may be a robot including at least a robot arm. The second conversion parameter may include but not limited to a conversion matrix and the like.

In some implementations, the robotic arm may be calibrated using a linear calibration method, a nonlinear optimization calibration method, a hand-eye calibration method or other calibration methods to obtain the second transformation parameter. The embodiment of the present disclosure does not limit the calibration method, as long as the second conversion parameter can be acquired.

In an embodiment of the present disclosure, the first position information of at least one object in the first coordinate system is acquired; based on the first conversion parameter, the first position information of each object in the first coordinate system is converted into the second coordinate system The second position information in the system; based on the second position information of each object and the preset operation rules, determine the target operation information, the target operation information includes the target operation object, the target operation instruction and the target position information in the second coordinate system ; Based on the second conversion parameter, converting the target position information into third position information in the third coordinate system; based on the target operation object and the third position information, executing the target operation instruction. In this way, after obtaining the second position information, the position in the second coordinate system is converted to the position in the third coordinate system through the second conversion parameter, so as to realize the unification of the position of the object in different coordinate systems, so as to obtain a more accurate target Operation objects, target operation instructions and target location information, thereby further improving the accuracy of target operation instructions execution.

FIG. 4A is a schematic diagram of a data processing system provided by an embodiment of the present disclosure. As shown in FIG. 4A , the data processing system 40 includes a calibration part 41 , an acquisition part 42 , a determination part 43 and an execution part 44 .

The calibration part 41 is configured to determine the first conversion parameter and the second conversion parameter based on the calibration method.

The acquisition part 42 is configured to acquire first position information of at least one object in the first coordinate system.

The determining part 43 is configured to convert the first position information of each object in the first coordinate system into the second position information in the second coordinate system based on the first transformation parameter, and based on the The second location information and the preset operation rule determine the target operation information, and the target operation information includes the target operation object, the target operation instruction and the target location information.

The executing part 44 is configured to convert the target position information into third position information in the third coordinate system based on the second conversion parameter, and execute the target operation instruction based on the target operation object and the third position information.

In some implementations, the calibration part 41 includes: an initialization part and a conversion part. Wherein, the initialization part is used for initializing the first coordinate system, the second coordinate system and the third coordinate system. The conversion part is used to determine a first conversion parameter between the first coordinate system and the second coordinate system, and a second conversion parameter between the second coordinate system and the third coordinate system based on the calibration method.

For example, in the game scene, initialize the vision module coordinate system (first coordinate system), the chessboard coordinate system (second coordinate system) and the robot arm coordinate system (third coordinate system), and determine the visual coordinate system based on the hand-eye calibration method. The module coordinate system is transformed into the first transformation parameter of the chessboard coordinate system, and the second transformation parameter of the chessboard coordinate system into the manipulator coordinate system is determined. Based on the first conversion parameter and the second conversion parameter, the unification of the visual module coordinate system and the mechanical arm coordinate system is realized.

For example, take the width of the checkerboard grid as a unit, define the dimensions of the checkerboard coordinate system, and define the checkerboard as a two-dimensional Cartesian coordinate system. For another example, the robotic arm adopts a three-axis robotic arm, and a position sensor is added for each degree of freedom of each robotic arm, and the forward and reverse solutions of the three-axis robotic arm are used to calibrate the robotic arm.

In some implementations, the acquisition part 42 is further configured to: acquire the image information collected by the camera module; and based on the image information, acquire the first position information of each object in the first coordinate system.

FIG. 4B is a schematic diagram of the electrical connection between components of a playing robot 400 provided by an embodiment of the present disclosure. As shown in FIG. It is limited to the central processing unit, controller, etc., which are electrically connected to the camera 402, and can receive the chessboard information and target object information captured by the camera 402, and calculate and issue the control robot arm 403 according to the received chessboard information and target object information. Action instructions or signals; the processing unit 402 is electrically connected to the robotic arm 403, and can send instructions or signals to control the action of the robotic arm 403 to the corresponding drive unit of the robotic arm 403 to drive the robotic arm 403 to move. Wherein, the opposing target of the game robot refers to an object that needs to interact with the game robot and is located opposite the game robot. The object may be a user, a doll, another game robot, etc., which is not limited in this embodiment of the present disclosure.

FIG. 4C is a top view of a game playing robot provided by an embodiment of the present disclosure. As shown in FIG. The chess piece 405 is released, and the camera 402 can capture information on the chessboard 404 and user information. In the case where the playing robot is equipped with two mechanical arms 403, any one of the mechanical arms 403 can be used to grab and release the chess pieces 405, while the other mechanical arm 403 can perform some actions in spare time to interact with the user .

Fig. 4D is a schematic diagram of the observation screen of the camera when there is a user in front of a game robot provided by an embodiment of the present disclosure. As shown in Fig. 4D, the photographable area 406 of the camera 402 includes a first side 4061 and a second side perpendicular to each other In the side 4062, the length of the first side 4061 is greater than the length of the second side 4062, and the second side 4062 is parallel to the horizontal direction. Furthermore, the photographable area 406 of the camera 402 is vertical along the direction of the first side 4061, and the direction along the second side 4062 is horizontal, and the photographable area 406 of the camera 402 is along the direction of the first side 4061. The length is relatively long, which can well adapt to the long-distance shooting requirements of the chessboard 404 and the user 407; correspondingly, the length of the camera 402's shooting area 406 along the direction of the second side 4062 is relatively short, ensuring horizontal shooting Under the premise of demand, shooting resources will not be wasted.

In some implementations, the executing part 44 is further configured to: convert the target position information into third position information in the third coordinate system based on the second transformation parameter; based on the target operation object and the third position information , execute the target operation instruction.

In some embodiments, when the preset operation rules include game rules, the object includes chess pieces, and the target operation object includes target chess pieces, the determining part 43 is further configured to: based on the second position information of each chess piece and The game rules determine the target chess pieces, target operation instructions and target position information in the second coordinate system.

In some implementations, when the target operation instruction includes a chess playing instruction, the third position information includes the third sub-position of the target chess piece, and the execution part 44 is also configured to: control the mechanical arm of the playing robot to place the target chess piece The pawn is placed on the third piece position.

In some implementations, when the target operation instruction includes a capture chess instruction, the target chess piece includes a first chess piece and a second chess piece, and the third position information includes the first piece position of the first chess piece and the second piece of the second chess piece. position, the execution part 44 is also configured to: based on the first sub-position, control the mechanical arm to take the first chess piece; based on the second sub-position, control the mechanical arm to grab the second chess piece, and move the second chess piece to first child position.

In some implementations, when the preset operation rules include drawing rules, the object includes graphics, and the target operation object includes target graphics; the determining part 43 is further configured to: based on the second position information of each graphic and The drawing rules determine the target graphics, target operation instructions and target position information in the second coordinate system.

In some embodiments, the executing part 44 is further configured as at least one of the following: when the target operation instruction includes a drawing instruction, control the mechanical arm of the drawing robot to draw the target figure according to the target position information; In the case of including the erasing instruction, control the mechanical arm of the drawing robot to erase the target graphic at the target position; in the case of the target operation instruction including the movement instruction, obtain the fourth sub-position and the fifth sub-position in the target position information, and The mechanical arm of the drawing robot is controlled to move the target figure located at the fourth sub-position to the fifth sub-position.

In some embodiments, the data processing system includes a cloud and a game robot, the cloud includes a calibration part 41 and a determination part 43 , and the game robot includes an acquisition part 42 and an execution part 44 .

For example, first, the playing robot collects image information through the camera module, and sends the image information to the cloud. Then, based on the image information, the cloud obtains the first position information of each chess piece in the camera module coordinate system; based on the first conversion parameter, converts each first position information into a second position in the chessboard coordinate system information; based on each second position information and the rules of the game, determine the target chess piece, the target operation instruction and the target position information; based on the second conversion parameter, convert the target position information into the third position information in the mechanical arm coordinate system; The target chess piece, the target operation instruction and the third position information are returned to the playing robot. Finally, the playing robot executes the target operation instruction based on the target chess piece and the third position information.

For another example, first, the playing robot collects image information through the camera module, and sends the image information to the cloud. Then, based on the image information, the cloud obtains the first position information of each chess piece in the camera module coordinate system; based on the first conversion parameter, converts each first position information into a second position in the chessboard coordinate system Information; based on each second position information and game rules, determine the target chess pieces, target operation instructions and target position information, and return the target chess pieces, target operation instructions and target position information to the game robot. Finally, the playing robot converts the target position information into third position information in the coordinate system of the mechanical arm based on the second conversion parameter; based on the target chess piece and the third position information, executes the target operation instruction.

Fig. 4E is a schematic flow diagram of a chess playing robot provided by an embodiment of the present disclosure. As shown in Fig. 4E, the flow includes the following steps:

Step S41: the user plays chess;

Step S42: The user presses the chess key to send the chess playing robot instruction;

Step S43: The playing robot starts the camera module to collect image information, and sends the image information to the cloud;

Step S44: After the image recognition, coordinate transformation and analysis are performed on the cloud, the operation information is returned to the playing robot;

Step S45: The playing robot analyzes the operation information, and obtains the first chess piece and its first sub-position, the second chess piece and its second sub-position, and the capture command;

Step S46: the playing robot controls the mechanical arm to take away the first chess piece at the first sub-position;

Step S47: The playing robot controls the mechanical arm to move to the second sub-position, takes away the second chess piece, and places it in the first sub-position;

Step S48: The chess-playing robot resets, prompts the user to play chess by means of voice, indicator lights, or buttons, and continues to execute step S41.

In the embodiment of the present disclosure, in the process of man-machine game, the person puts the chess pieces crookedly, and through the camera module, based on the definition of the chessboard coordinate system, accurate capture can be realized, and when placing the chess pieces, they can be accurately placed at the intersection of the chessboard grids. At this point, the "crooked grasp and correct release" is realized, which can improve the user's game experience.

Based on the above-mentioned embodiments, an embodiment of the present disclosure provides a data processing device. FIG. 5 is a schematic structural diagram of a data processing device provided by an embodiment of the present disclosure. As shown in FIG. 5 , the data processing device 50 includes a first An acquisition section 51 , a first conversion section 52 , a first determination section 53 , and a first execution section 53 .

The first acquiring part 51 is configured to acquire first position information of at least one object in the first coordinate system;

The first conversion part 52 is configured to convert the first position information of each of the objects in the first coordinate system into a second position in the second coordinate system based on a first conversion parameter information;

The first determination part 53 is configured to determine target operation information based on the second position information and preset operation rules of each of the objects, the target operation information including the target operation object, the target operation instruction and the Target position information in the second coordinate system;

The first execution part 54 is configured to execute the target operation instruction based on the target operation object and the target position information.

In some implementations, the first acquisition part 51 is further configured to: acquire the image information collected by the camera module; based on the image information, acquire the first position of each of the objects in the first coordinate system information.

In some embodiments, the device further includes: a second determining part configured to calibrate the camera module and determine the first conversion parameter.

In some implementations, the first execution part 54 is further configured to: convert the target position information into third position information in a third coordinate system based on the second conversion parameters; The object and the third location information are used to execute the target operation instruction.

In some implementations, the device further includes: a third determining part configured to calibrate the mechanical arm of the robot to determine the second conversion parameter.

In some implementations, when the preset operation rules include game rules, the object includes chess pieces, the target operation object includes target chess pieces, and the first determining part 53 is further configured to: based on each The second position information of the chess pieces and the game rules determine the target chess pieces, target operation instructions and target position information in the second coordinate system.

In some implementations, when the target operation instruction includes a chess playing instruction, the third position information includes a third sub-position of the target chess piece, and the first executing part 54 is further configured to: Controlling the mechanical arm of the playing robot to place the target chess piece at the third sub-position.

In some implementations, when the target operation instruction includes a chess capture instruction, the target chess piece includes a first chess piece and a second chess piece, and the third position information includes a first sub-position of the first chess piece and the second sub-position of the second chess piece, the first execution part 54 is also configured to: control the mechanical arm to take away the first chess piece based on the first sub-position; The second sub-position, controlling the mechanical arm to grab the second chess piece and move the second chess piece to the first sub-position.

In some implementations, when the preset operation rule includes a drawing rule, the object includes a graph, and the target operation object includes a target graph; the first determining part 53 is further configured to: based on each A second position information and drawing rule of the graphic, to determine the target graphic, the target operation instruction and the target position information in the second coordinate system.

In some implementations, the first execution part 54 is further configured as at least one of the following: when the target operation instruction includes a drawing instruction, control the mechanical arm of the drawing robot to follow the target position information drawing the target graphic; in the case where the target operation instruction includes an erasing instruction, controlling the mechanical arm of the drawing robot to erase the target graphic of the target position information; when the target operation instruction includes a movement instruction In the case of , the fourth sub-position and the fifth sub-position in the target position information are obtained, and the mechanical arm of the drawing robot is controlled to move the target figure located at the fourth sub-position to the fifth sub-position. sublocation.

In the embodiments of the present disclosure and other embodiments, a "part" may be a part of a circuit, a part of a processor, a part of a program or software, etc., of course it may also be a unit, a module or a non-modular one.

The description of the above device embodiment is similar to the description of the above method embodiment, and has similar beneficial effects as the method embodiment. For technical details not disclosed in the device embodiments of the present disclosure, please refer to the description of the method embodiments of the present disclosure for understanding.

It should be noted that, in the embodiments of the present disclosure, if the above data processing method is implemented in the form of software function modules and sold or used as an independent product, it can also be stored in a computer-readable storage medium. Based on this understanding, the essence of the technical solution of the embodiments of the present disclosure or the part that contributes to the related technology can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions to make a An electronic device (which may be a personal computer, a server, or a network device, etc.) executes all or part of the methods described in various embodiments of the present disclosure. The aforementioned storage medium includes: various media that can store program codes such as U disk, mobile hard disk, read-only memory (Read Only Memory, ROM), magnetic disk or optical disk. As such, embodiments of the present disclosure are not limited to any specific combination of hardware and software.

An embodiment of the present disclosure provides a computer device, including a memory and a processor, the memory stores a computer program that can run on the processor, and the processor implements the above method when executing the computer program.

An embodiment of the present disclosure provides a computer-readable storage medium on which a computer program is stored, and when the computer program is executed by a processor, the foregoing method is implemented. The computer readable storage medium may be transitory or non-transitory.

An embodiment of the present disclosure provides a computer program product. The computer program product includes a non-transitory computer-readable storage medium storing a computer program. When the computer program is read and executed by a computer, a part or part of the above-mentioned method is implemented. All steps. The computer program product can be specifically realized by means of hardware, software or a combination thereof. In some embodiments, the computer program product is embodied as a computer storage medium, and in some embodiments, the computer program product is embodied as a software product, such as a software development kit (Software Development Kit, SDK) and the like.

It should be pointed out here that: the descriptions of the above storage medium and device embodiments are similar to the descriptions of the above method embodiments, and have similar beneficial effects to those of the method embodiments. For technical details not disclosed in the storage medium and device embodiments of the present disclosure, please refer to the description of the method embodiments of the present disclosure for understanding.

It should be noted that FIG. 6 is a schematic diagram of a hardware entity of a computer device in an embodiment of the present disclosure. As shown in FIG. 6, the hardware entity of the computer device 600 includes: a processor 601, a communication interface 602, and a memory 603, wherein:

Processor 601 generally controls the overall operation of computer device 600 .

The communication interface 602 enables the computer device to communicate with other terminals or servers through the network.

The memory 603 is configured to store instructions and applications executable by the processor 601, and can also cache data to be processed or already processed by the processor 601 and various parts of the computer device 600 (for example, image data, audio data, voice communication data and Video communication data) can be realized by flash memory (FLASH) or random access memory (Random Access Memory, RAM). Data transmission may be performed between the processor 601 , the communication interface 602 and the memory 603 through the bus 604 .

It should be understood that reference throughout the specification to "one embodiment" or "an embodiment" means that a particular feature, structure or characteristic related to the embodiment is included in at least one embodiment of the present disclosure. Thus, appearances of "in one embodiment" or "in an embodiment" in various places throughout the specification are not necessarily referring to the same embodiment. Furthermore, the particular features, structures or characteristics may be combined in any suitable manner in one or more embodiments. It should be understood that in various embodiments of the present disclosure, the sequence numbers of the above-mentioned processes do not mean the order of execution, and the execution order of the processes should be determined by their functions and internal logic, rather than by the embodiments of the present disclosure. The implementation process constitutes any limitation. The serial numbers of the above-mentioned embodiments of the present disclosure are for description, and do not represent the advantages and disadvantages of the embodiments.

It should be noted that, in this document, the term "comprising", "comprising" or any other variation thereof is intended to cover a non-exclusive inclusion such that a process, method, article or apparatus comprising a set of elements includes not only those elements, It also includes other elements not expressly listed, or elements inherent in the process, method, article, or device. Without further limitations, an element defined by the phrase "comprising a ..." does not preclude the presence of additional identical elements in the process, method, article, or apparatus comprising that element.

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

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

In addition, all the functional units in the embodiments of the present disclosure may be integrated into one processing unit, each unit may be used as a single unit, or two or more units may be integrated into one unit; the above-mentioned integrated The unit can be realized in the form of hardware or in the form of hardware plus software functional unit.

Those of ordinary skill in the art can understand that all or part of the steps to realize the above method embodiments can be completed by hardware related to program instructions, and the aforementioned programs can be stored in computer-readable storage media. When the program is executed, the execution includes: The steps of the foregoing method embodiments; and the aforementioned storage media include: removable storage devices, read-only memory (ReadOnly Memory, ROM), magnetic disks or optical disks and other media that can store program codes.

Alternatively, if the above-mentioned integrated units of the present disclosure are realized in the form of software function modules and sold or used as independent products, they may also be stored in a computer-readable storage medium. Based on this understanding, the essence of the technical solution of the present disclosure or the part that contributes to the related technology can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions to make a An electronic device (which may be a personal computer, a server, or a network device, etc.) executes all or part of the methods described in various embodiments of the present disclosure. The aforementioned storage medium includes various media capable of storing program codes such as removable storage devices, ROMs, magnetic disks or optical disks.

The above is an embodiment of the present disclosure, but the scope of protection of the present disclosure is not limited thereto. Anyone skilled in the art can easily think of changes or substitutions within the technical scope of the present disclosure, and should cover all within the protection scope of the present disclosure.

Industrial Applicability

Embodiments of the present disclosure provide a data processing method and device, a computer device, a storage medium, and a computer program product, wherein the method includes: acquiring first position information of at least one object in a first coordinate system; parameters, transforming the first position information of each object in the first coordinate system into the second position information in the second coordinate system; based on the second position information of each object and preset operation rules, determine the target operation information , the target operation information includes the target operation object, the target operation instruction and the target position information in the second coordinate system; based on the target operation object and the target position information, execute the target operation instruction. In the above solution, the position in the first coordinate system is converted to the position in the second coordinate system through the first conversion parameter, so as to realize the unification of the positions of objects in different coordinate systems, so as to obtain more accurate target operation objects, target operation instructions and Target location information, thereby improving the accuracy of the execution of target operation instructions, thereby improving the user's human-computer interaction experience.

Claims

A data processing method, the method comprising:

Acquiring first position information of at least one object in the first coordinate system;

converting the first position information of each of the objects in the first coordinate system to second position information in a second coordinate system based on a first transformation parameter;

determining target operation information based on the second position information and preset operation rules of each of the objects, the target operation information including target operation objects, target operation instructions and target position information in the second coordinate system;

The target operation instruction is executed based on the target operation object and the target position information.
The method according to claim 1, wherein said obtaining the first position information of at least one object in the first coordinate system comprises:

Obtain image information collected by the camera module;

Based on the image information, first position information of each of the objects in the first coordinate system is acquired.
The method according to claim 2, wherein the method further comprises:

Calibrate the camera module to determine the first conversion parameter.
The method according to any one of claims 1 to 3, wherein the executing the target operation instruction based on the target operation object and the target position information includes:

converting the target position information into third position information in a third coordinate system based on a second conversion parameter;

The target operation instruction is executed based on the target operation object and the third position information.
The method of claim 4, wherein, applied to a robot, the method further comprises:

Calibrate the mechanical arm of the robot to determine the second transformation parameter.
The method according to claim 4 or 5, wherein, when applied to a game robot, in the case where the preset operating rules include game rules, the object includes chess pieces, and the target operation object includes target chess pieces;

The determining target operation information based on the second location information and preset operation rules of each of the objects includes:

Based on the second position information of each chess piece and the game rules, determine the target chess piece, the target operation instruction and the target position information in the second coordinate system.
The method according to claim 6, wherein, in the case where the target operation instruction includes a chess capture instruction, the target chess piece includes a first chess piece and a second chess piece, and the third position information includes the first chess piece the first sub-position of said second pawn and the second sub-position of said second pawn;

The executing the target operation instruction based on the target operation object and the third position information includes:

Based on the first sub-position, controlling the mechanical arm to take away the first chess piece;

Based on the second sub-position, the mechanical arm is controlled to grab the second chess piece and move the second chess piece to the first sub-position.
The method according to claim 6 or 7, wherein, in the case where the target operation instruction comprises a chess playing instruction, the third position information comprises the third sub-position of the target chess piece;

The executing the target operation instruction based on the target operation object and the third position information includes:

Controlling the mechanical arm of the playing robot to place the target chess piece at the third sub-position.
The method according to claim 4 or 5, wherein, when applied to a drawing robot, when the preset operation rules include drawing rules, the object includes graphics, and the target operation object includes target graphics;

The determining target operation information based on the second location information and preset operation rules of each of the objects includes:

Based on the second position information and the drawing rule of each of the figures, determine the target figure, the target operation instruction and the target position information in the second coordinate system.
The method according to claim 9, wherein the executing the target operation instruction based on the target operation object and the third position information comprises at least one of the following:

When the target operation instruction includes a drawing instruction, controlling the mechanical arm of the drawing robot to draw the target figure according to the target position information;

In the case where the target operation instruction includes an erase instruction, controlling the mechanical arm of the drawing robot to erase the target graphic of the target position information;

In the case where the target operation instruction includes a movement instruction, obtain the fourth sub-position and the fifth sub-position in the target position information, and control the mechanical arm of the drawing robot to be located at all positions of the fourth sub-position. The target graphic moves to the fifth sub-position.
A data processing device, said device comprising:

a first acquisition part configured to acquire first position information of at least one object in the first coordinate system;

a first conversion part configured to convert the first position information of each of the objects in the first coordinate system into second position information in a second coordinate system based on a first conversion parameter;

The first determination part is configured to determine target operation information based on the second position information and preset operation rules of each of the objects, the target operation information including target operation objects, target operation instructions and Target location information in the system;

The first execution part is configured to execute the target operation instruction based on the target operation object and the target position information.
The device according to claim 11, wherein the first acquisition part is further configured to:

Obtain image information collected by the camera module;

Based on the image information, first position information of each of the objects in the first coordinate system is acquired.
The apparatus according to claim 12, wherein the apparatus further comprises a second determining part;

The second determining part is configured to calibrate the camera module and determine the first conversion parameter.
The device according to any one of claims 11 to 13, wherein the first execution part is further configured to:

converting the target position information into third position information in a third coordinate system based on a second conversion parameter;

The target operation instruction is executed based on the target operation object and the third position information.
The apparatus according to claim 14, wherein, applied to a robot, the apparatus further comprises a third determining part;

The third determining part is configured to calibrate the mechanical arm of the robot to determine the second transformation parameter.
The device according to claim 14 or 15, wherein, when applied to a game robot, when the preset operating rules include game rules, the object includes a chess piece, and the target operation object includes a target chess piece; the second A certain section is also configured as:

Based on the second position information of each chess piece and the game rules, determine the target chess piece, the target operation instruction and the target position information in the second coordinate system.
The device according to claim 16, wherein, in the case where the target operation instruction includes a capture chess instruction, the target chess piece includes a first chess piece and a second chess piece, and the third position information includes the first chess piece The first sub-position of the second pawn and the second sub-position of the second chess piece; the first execution part is also configured to:

Based on the first sub-position, controlling the mechanical arm to take away the first chess piece;

Based on the second sub-position, the mechanical arm is controlled to grab the second chess piece and move the second chess piece to the first sub-position.
The device according to claim 16 or 17, wherein, in the case where the target operation instruction includes a chess playing instruction, the third position information includes the third sub-position of the target chess piece; the first executing part , also configured as:

Controlling the mechanical arm of the playing robot to place the target chess piece at the third sub-position.
The device according to claim 14 or 15, wherein, when applied to a drawing robot, when the preset operation rules include drawing rules, the object includes graphics, and the target operation object includes target graphics; the second A certain section is also configured as:

Based on the second position information and the drawing rule of each of the figures, determine the target figure, the target operation instruction and the target position information in the second coordinate system.
The device according to claim 19, wherein the first executing part is further configured as at least one of the following:

When the target operation instruction includes a drawing instruction, control the mechanical arm of the drawing robot to draw the target figure according to the target position information;

In the case where the target operation instruction includes an erase instruction, controlling the mechanical arm of the drawing robot to erase the target graphic of the target position information;

In the case where the target operation instruction includes a movement instruction, obtain the fourth sub-position and the fifth sub-position in the target position information, and control the mechanical arm of the drawing robot to be located at all positions of the fourth sub-position. The target graphic moves to the fifth sub-position.
A computer device, comprising a processor and a memory, the memory stores a computer program that can run on the processor, and the processor implements the method according to any one of claims 1 to 10 when executing the computer program.
A computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the method according to any one of claims 1 to 10 is realized.
A computer program product, the computer program product includes a non-transitory computer-readable storage medium storing a computer program, and when the computer program is read and executed by a computer device, the computer program product described in any one of claims 1 to 10 can be realized. described method.