WO2021027954A1 - Procédé de commande, terminal portatif et support de stockage - Google Patents

Procédé de commande, terminal portatif et support de stockage Download PDF

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Publication number
WO2021027954A1
WO2021027954A1 PCT/CN2020/109507 CN2020109507W WO2021027954A1 WO 2021027954 A1 WO2021027954 A1 WO 2021027954A1 CN 2020109507 W CN2020109507 W CN 2020109507W WO 2021027954 A1 WO2021027954 A1 WO 2021027954A1
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WIPO (PCT)
Prior art keywords
controlled device
target
operation interface
predetermined operation
target controlled
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Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2020/109507
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English (en)
Chinese (zh)
Inventor
王游
陈子冲
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Ninebot Changzhou Technology Co Ltd
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Ninebot Changzhou Technology Co Ltd
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Publication date
Application filed by Ninebot Changzhou Technology Co Ltd filed Critical Ninebot Changzhou Technology Co Ltd
Publication of WO2021027954A1 publication Critical patent/WO2021027954A1/fr
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1602—Program controls characterised by the control system, structure, architecture
    • B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0287—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling
    • G05D1/0291—Fleet control

Definitions

  • This application relates to control technology, in particular to a control method, portable terminal and storage medium.
  • the controlled device can execute a series of actions of the controlled device through the control commands sent by the control device.
  • actions such as forward, backward, and turning can be performed based on the control commands sent by the control device such as the control center.
  • the control center needs to control multiple robots, it is usually a device with a certain volume with a large display screen that can display the operation interface of each robot.
  • the operator usually needs to select the robot to be controlled from the multiple robot interfaces displayed in the control center through an external input device such as a mouse to realize the control of the selected robot's forward, backward, and turn .
  • the operation through the mouse is at least not portable enough to reflect the convenience of controlling the robot.
  • embodiments of the present application provide a control method, a portable terminal, and a storage medium, which can at least use the portable terminal to realize convenient control of multiple robots.
  • the embodiment of the present application provides a control method, which is applied to a portable terminal, and the method includes:
  • Obtaining a target set the target set being at least characterized as a set of identification information of at least two controlled devices, wherein the at least two controlled devices are remotely controlled by the portable terminal to realize autonomous travel of the controlled device;
  • the operation interface of the at least one first target controlled device is displayed, and a control command is sent to the at least one first target controlled device through the at least one operation interface.
  • the method further includes:
  • the operation interface of the sends a control command to the at least one second target controlled device.
  • the method further includes:
  • the display screen displays the operation interface and the target set, detecting a second predetermined operation; the second predetermined operation is used to select at least one second target controlled device;
  • the operation interface of the sends a control command to the at least one second target controlled device.
  • the method further includes:
  • the target set and the operation interface are displayed on different layers, and the target set in the first layer occludes at least part of the operation interface in the second layer.
  • An embodiment of the present application provides a portable terminal, including:
  • the first obtaining unit is configured to obtain a target set, the target set being at least characterized as a set of identification information of at least two controlled devices, wherein the at least two controlled devices are remotely controlled by the portable terminal to realize the The autonomous movement of the controlled equipment;
  • a display screen configured to display the target set
  • a first detection unit configured to detect a first predetermined operation for the target set, the first predetermined operation being used to select at least one first target controlled device
  • the first response unit is configured to respond to the first predetermined operation, display the operation interface of the at least one first target controlled device, and send to the at least one first target controlled device through the at least one operation interface control commands.
  • the terminal further includes:
  • the second detection unit is configured to detect a second predetermined operation on the operation interface when the display screen displays the operation interface of the at least one first target controlled device, and the second predetermined operation is used to A second target controlled device is selected;
  • the second response unit is configured to respond to the second predetermined operation, switch from the operation interface of the at least one first target controlled device to the operation interface of the at least one second target controlled device, and pass the at least The operation interface of a second target controlled device sends a control command to the at least one second target controlled device.
  • the terminal further includes:
  • An exit unit configured to exit the operation interface of the first target controlled device
  • a display screen configured to display the target set on the display screen
  • a second detection unit configured to detect a second predetermined operation for a second target controlled device in the target set, and the second predetermined operation is used to select at least one second target controlled device;
  • the second response unit is configured to respond to the second predetermined operation, display the operation interface of the at least one second target controlled device, and send to the at least one second target controlled device through the at least one operation interface control commands.
  • the terminal further includes:
  • the second detection unit is configured to detect a third predetermined operation on the operation interface when the display screen displays the operation interface of the at least one first target controlled device, and the third predetermined operation is at least used for The target set is displayed;
  • the display screen displays the operation interface and the target set, detecting a second predetermined operation; the second predetermined operation is used to select at least one second target controlled device;
  • the second response unit is configured to respond to the second predetermined operation, switch from the operation interface of the at least one first target controlled device to the operation interface of the at least one second target controlled device, and pass the at least The operation interface of a second target controlled device sends a control command to the at least one second target controlled device.
  • a sorting unit configured to sort the at least two controlled devices according to the priority of the at least two controlled devices.
  • the target set and the operation interface are displayed on different layers, and the target set in the first layer occludes at least part of the operation interface in the second layer.
  • the embodiment of the present application provides a computer-readable storage medium on which a computer program is stored, and when the program is executed by a processor, the steps of the foregoing method are implemented.
  • An embodiment of the present application provides a portable terminal including a memory, a processor, and a computer program stored in the memory and capable of running on the processor, and the processor implements the steps of the foregoing method when the program is executed.
  • the embodiments of the present application disclose a control method, a portable terminal, and a storage medium, wherein the method includes: obtaining a target set, the target set is at least characterized as a set of identification information of at least two controlled devices, wherein the at least Two controlled devices are remotely controlled by the portable terminal to realize the autonomous travel of the controlled device; display the target set on the display screen of the portable terminal; detect the first predetermined operation for the target set, The first predetermined operation is used to select at least one first target controlled device; in response to the first predetermined operation, the operation interface of the at least one first target controlled device is displayed, and through the at least one operation The interface sends a control command to the at least one first target controlled device. Through the target set for the controlled device displayed on the display screen, select the operation interface of the controlled device, and realize the sending of control commands to the target controlled device through the operation interface, thereby achieving convenient control of multiple controlled devices .
  • FIG. 1 is a schematic diagram of the implementation process of the first embodiment of the control method provided by this application;
  • FIG. 2 is a schematic diagram 1 of the implementation process of the second embodiment of the control method provided by this application;
  • FIG. 3 is a second schematic diagram of the implementation process of the second embodiment of the control method provided by this application.
  • FIG. 5 (a) and (b) are schematic diagrams of an embodiment of the display interface of the target set provided by this application;
  • FIG. 6 (a) ⁇ (d) are schematic diagrams of the operation interface embodiments provided by this application.
  • FIG. 7 is a schematic diagram of the composition structure of an embodiment of a portable terminal provided by this application.
  • FIG. 8 is a schematic diagram of the hardware structure of an embodiment of a portable terminal provided by this application.
  • the portable terminal in the embodiment of the present application may be any reasonable portable device, such as a smart phone, a tablet computer, a smart watch, and smart glasses.
  • the preferred portable terminal is a smart phone or a tablet computer.
  • the controlled device in the embodiment of the present application can be any device that can travel or stop based on a control command sent by a portable terminal, such as a robot, a balance car, a balance wheel, and the like.
  • the preferred controlled device is a robot.
  • a device with a larger volume is used as a control center. Although it can control multiple robots, it is considered to be larger in size and poor in portability. Considering the portability of the portable terminal, the operator can conveniently carry the portable terminal.
  • the embodiment of the present application at least realizes convenient control of multiple robots.
  • the first embodiment of the control method provided in this application is applied to a portable terminal. As shown in FIG. 1, the method includes:
  • Step (S) 101 Obtain a target set, the target set at least represented as a set of identification information of at least two controlled devices, wherein the at least two controlled devices are remotely controlled by the portable terminal to realize the controlled Control the autonomous movement of equipment;
  • Step 102 Display the target set on the display screen of the portable terminal
  • Step 103 Detect a first predetermined operation for the target set, where the first predetermined operation is used to select at least one first target controlled device;
  • the first predetermined operation is characterized as at least touching and/or rotating the display screen
  • Step 104 In response to the first predetermined operation, display an operation interface of the at least one first target controlled device, and send a control command to the at least one first target controlled device through the at least one operation interface.
  • the device that performs steps 101 to 104 is a portable terminal.
  • a corresponding operation interface is designed for each controlled device.
  • the portable terminal needs to send control commands from the corresponding operation interface of the controlled device .
  • the control center in the related art occupies a certain volume and is not convenient to carry. Compared with portable terminals such as smart phones or tablet computers, its portability is poor.
  • the target set for the controlled device displayed on the display screen of the portable portable terminal is used to select the operation interface of the controlled device, and send the control command to the target controlled device through the operation interface, and then Achieve convenient control of multiple controlled devices.
  • the portable terminal provided in the embodiment of the present application may support touch operation, voice input and/or motion sensing operation.
  • the first predetermined operation is any reasonable touch operation, voice operation and/or motion sensing operation characterized as selecting the target controlled device.
  • the embodiment of this application is equivalent to using the portable terminal to support touch operation, voice input and/or to have the function of sensing actions such as rotating the terminal, shaking the terminal, etc., to select the operation interface of the controlled device, which is similar to related technologies. Compared with the solution of selecting the desired controlled device through mouse operation, the operation convenience can be greatly improved.
  • the rotation in the embodiments of this application refers to the sensors in the terminal, such as gyroscopes, weight sensors, etc., which can detect that the terminal has a certain deflection relative to the ground (horizontal) or perpendicular to the ground, and it is determined based on the change in the deflection angle Number and direction of rotation.
  • the embodiments of the present application multiple rotations or multiple consecutive rotations are regarded as an action of shaking or shaking the terminal.
  • the solution of the foregoing embodiment of the present application takes into account the above characteristics of the portable terminal, and obtains the identification information of the controlled device to which the control command needs to be sent, and displays it on the display screen of the portable terminal.
  • the portable terminal Taking advantage of the portable terminal’s characteristics of supporting touch operation, voice input, and/or sensing rotation or shaking, based on the detection of touch operation and/or sensing action, at least two of which are characterized as requiring the portable terminal to send control commands
  • the target controlled device is selected from the collection of the identification information of the controlled device, and the control command is sent based on the operation interface of the selected target controlled device; thus, the portable control of multiple controlled devices is realized by the portable terminal Plan.
  • the portable terminal can support touch operation, voice input and/or induction action, compared with the related art operation of selecting a desired controlled device through mouse operation, touch operation, voice input and/or induction action are more effective. Simple, convenient and easy to implement, making the operating experience more user-friendly.
  • the portable control of the controlled device by the portable terminal can realize the autonomous travel of the controlled device.
  • the autonomous travel includes autonomous movement of the controlled device, autonomous planning of movement routes, automatic avoidance of obstacles, and automatic stop.
  • the autonomous travel of the controlled device can be simple operations such as forward, backward, turning, etc., or compound, such as forward a certain distance (such as 50m), back a certain distance, turn left/right and forward/backward a certain distance And so on.
  • control commands sent to each controlled device need to be sent through the operation interface of each controlled device.
  • the operation interface of each controlled device can adopt the following embodiment 2 or embodiment 3 to be differently controlled. Switch between the operation interfaces of the control equipment.
  • This application provides a second embodiment of a control method, as shown in FIG. 2, which is applied to a portable terminal, and the method includes:
  • Step 201 When the display screen displays the operation interface of the at least one first target controlled device, detect a second predetermined operation on the operation interface, and the second predetermined operation is used to control the second target.
  • Equipment selection When the display screen displays the operation interface of the at least one first target controlled device, detect a second predetermined operation on the operation interface, and the second predetermined operation is used to control the second target.
  • Equipment selection When the display screen displays the operation interface of the at least one first target controlled device, detect a second predetermined operation on the operation interface, and the second predetermined operation is used to control the second target.
  • the second predetermined operation is characterized by at least touching, voice input and/or rotation of the display screen
  • Step 202 In response to the second predetermined operation, switch from the operation interface of the at least one first target controlled device to the operation interface of the at least one second target controlled device, and pass the at least one second target The operation interface of the controlled device sends a control command to the at least one second target controlled device.
  • the display screen of the control device displays the operation interface of at least one controlled device, and based on the characteristics of the portable terminal supporting touch operation, voice input and/or motion sensing, the detection of at least one other controlled device Perform selected touch operation, voice input and/or motion sensing, and switch the display screen of the display screen from the operation interface of the at least one controlled device to the operation interface of at least one other controlled device to communicate to at least one other controlled device.
  • the device sends control commands, and then realizes the portable control of multiple controlled devices through touch operation, voice input and/or motion sensing.
  • the embodiments of this application can be based on the operation interface of any controlled device and select operations on other controlled devices (generated by touch, voice input and/or motion induction), and can be based on the operation of one of the controlled devices.
  • the operation interface realizes the switching (jumping) of the operation interface of other controlled devices, which is flexible and easy to implement.
  • the portable terminal is used to support touch operation, voice input and/or induction action to realize the portable control of multiple controlled devices.
  • the operation interface displays the identification of the second target controlled device;
  • the operation interface displays the identification of the second target controlled device;
  • This solution is equivalent to displaying the identification information of at least one other controlled device on the operation interface when the display screen of the control device displays the operation interface of at least one controlled device. The second predetermined operation).
  • the first predetermined operation and the second predetermined operation are any reasonable selection operations; such as single click, double click, three or more clicks, (up and down/left and right) sliding, rotation in a predetermined direction, predetermined number of times Shaking, voice input, etc.
  • the first predetermined operation is a single click, a double click, or three or more click operations.
  • the second predetermined operation is one-click, double-click, or three or more click operations, sliding operations, etc.
  • control device may also have the following technical solutions:
  • Step 301 When the display screen displays the operation interface of the first target controlled device, detect a third predetermined operation on the operation interface, and the third predetermined operation is at least used to display the target set ;
  • Step 302 When the display screen displays the operation interface and the target set, detect a second predetermined operation, where the second predetermined operation is used to select at least one second target controlled device; the second The predetermined operation is characterized by at least touching, voice input and/or rotation of the display screen;
  • Step 303 In response to the second predetermined operation, switch from the operation interface of the at least one first target controlled device to the operation interface of the at least one second target controlled device, and pass the at least one second target The operation interface of the controlled device sends a control command to the at least one second target controlled device.
  • steps 301 to 303 when the display screen displays the operation interface of at least one controlled device, the touch operation, voice input and/or sensing action (third predetermined operation) capable of displaying the target set is detected , And display the target set on the operation interface of the display screen, and then display the operation interface and the target set on the display screen, and detect the touch operation, voice input, and/or operation interface for selecting at least one other controlled device Or sense the action (the second predetermined operation), and switch the display screen of the display screen from the operation interface of at least one controlled device to the operation interface of at least one other controlled device.
  • the portable terminal is used to support touch operation, voice input and/or induction action to realize the selection of the operation interface of the controlled device and the transmission of control commands through the operation interface, thereby realizing the portable control of multiple controlled devices.
  • the target set and the operation interface are displayed on the display screen together, and the target set and the operation interface can be displayed according to their respective set display ratios, such as each occupying 50% of the display area of the display screen for display.
  • the target set and the operation interface may be displayed on different layers, and the target set in the first layer occludes at least part of the operation interface in the second layer.
  • the target set is displayed on a layer different from the operation interface, and further displayed on the layer above the layer where the operation interface is located. Based on the displayed target set, other controlled devices are selected, and the display screen of the display screen is switched from the operation interface of at least one controlled device to the operation interface of at least one other controlled device.
  • This solution of using different layers to display the target set and the operation interface at least does not affect the normal display of the operation interface.
  • the switching scheme between the operation interfaces of different controlled devices is based on the target set to select the controlled device, which can at least avoid the missed selection of the controlled device and the missed transmission of control commands.
  • the third predetermined operation is any reasonable touch operation, voice input and/or sensing action for calling and displaying the target set. Such as single click, double click, three or more clicks, (up and down/left and right) sliding, rotation in a predetermined direction, and a predetermined number of shaking.
  • the third predetermined operation is operations such as sliding and shaking.
  • Another example is the voice "please display the target set" input by the user.
  • This application provides a third embodiment of a control method, as shown in FIG. 4, which is applied to a portable terminal, and the method includes:
  • Step 401 After sending a control command to the at least one first target controlled device through the at least one operation interface, exit the operation interface of the first target controlled device;
  • Step 402 Display the target set on the display screen
  • Step 403 Detect a second predetermined operation for a second target controlled device in the target set, where the second predetermined operation is used to select at least one second target controlled device; the second predetermined operation is characterized as at least Performing touch control, voice input and/or rotation on the display screen;
  • Step 404 In response to the second predetermined operation, display the operation interface of the at least one second target controlled device, and send a control command to the at least one second target controlled device through the at least one operation interface.
  • the portable terminal after displaying the operation interface of at least one controlled device to send a control command to the controlled device, the portable terminal exits the operation interface of the controlled device of the device, displays the target set on the display screen, and operates based on touch , Voice input and/or induction action to select at least one other controlled device, display the operation interface of the selected controlled device to send control commands to the selected controlled device, and then use the portable terminal to support touch Operation, voice input and/or induction actions realize the portable control of multiple controlled devices.
  • this kind of interface switching scheme is equivalent to selecting different controlled devices from the target set, which can avoid the missed selection of controlled devices and the missed sending of control commands.
  • the method further includes: comparing the at least two controlled devices according to the priorities of the at least two controlled devices.
  • Each controlled device is sorted, that is, the target set sorts the identification information of at least two controlled devices according to the priority of the controlled device. It is also possible to record the identification information of each controlled device correspondingly according to the priority order between the control commands that need to be sent to each controlled device; wherein, the order of the second target controlled device is located in the first order according to the priority. After sorting the target controlled device.
  • the identification information of the controlled devices in the target set can be sorted according to the urgency of their respective control commands, such as sorting according to the urgency from high to low.
  • the records of the foregoing method embodiments 2 and/or 3 it is possible to switch from the operation interface of the controlled device with the first order to the operation interface of the controlled device with the order of the second, so as to realize different operation interfaces according to the priority order. Switch between the operation interfaces of the control device, and then realize the control of multiple controlled devices.
  • each robot is equipped with an image acquisition device such as a camera.
  • the camera can collect real-time video information about the environment in which the robot is located and send it to the operator’s support touch.
  • the smart phone maintains the network connection with each robot, and can display the video images sent by the corresponding robots through different operation interfaces, so that the operator can generate corresponding touch operations and operations based on the video images displayed in the operation interfaces of each robot.
  • sensing actions so as to realize the control of each robot through the smart phone, such as forward, turn, back, autonomously advance a distance such as 50m, autonomous navigation, obstacle avoidance, etc.
  • the robot After each robot has executed the last control command sent to it by the smart phone, the robot will give a prompt that the smart phone needs to send it a new control command.
  • the prompt can be generated in the form of audio or image.
  • the robot A if the robot A is close to the wall and cannot move forward after the previous forward command, it generates an alarm signal and sends it to the smartphone.
  • the smartphone receives the alarm signal, which is used to alert the operator of the smartphone.
  • Robot B generates an alarm signal that there is an obstacle 50m ahead and sends it to the smartphone.
  • the robot C generates a signal for prompting the operator of the smartphone that it is traveling normally, and sends it to the smartphone.
  • the smart phone sorts the three robots according to the urgency of the two alarm signals and one normal signal received, as shown in Figure 5(a).
  • the operator can know the robot's environment display in the image transmitted by the corresponding robot in real time, and know the control operations that need to be generated for each robot in the next step, such as in the operation interface of robot A
  • the displayed back button performs a touch operation, so that the robot A backs away from the wall to avoid collision.
  • a third device such as a server can be connected to the network connected by the robot and the smartphone, and the server can communicate with the robot and the smartphone.
  • the server can synthesize the relevant information of each robot to predict the behavior of the robot in the next step, and send the control commands predicted to require the smart phone to each robot to the smart phone.
  • the relevant information of the robot includes the real-time video collected by the camera, the noise, speed, orientation, network delay, and global positioning system (GPS) signal strength of the environment where the robot is located; the specific prediction process is not described in this article.
  • the smart phone at least sorts the identification information of each robot according to the urgency of the control commands that the server predicts to send to each robot.
  • robots A, B, and robot C the identification information of the robot
  • the current front of robot A is the wall. If the next step is not performed, it may collide with the wall and cause damage. If the urgency is the highest, it is predicted that the next control command that the smartphone needs to send to the robot A is a back command.
  • the next control command that the smartphone needs to send to the robot C is a left turn command after moving forward 50m.
  • the current front of the robot C is an open area that can continue to execute the forward command, and it is predicted that the next control command that the smartphone needs to send to the robot C is the forward command.
  • the priority of the control command sent to robot A is higher than the priority of the control command sent to robot B is higher than the priority of the control command sent to robot C .
  • the smart phone sorts the robots A, B, and C according to this priority from high to low, as shown in Figure 5(a).
  • the server can also send each control command to the smart phone in turn according to the urgency of the control command, and the smart phone only needs to store it in the order of receipt.
  • the smart phone detects touch operations, voice input and/or sensing actions for the interface as shown in FIG. 5(a). It is understandable that when the target set is sorted according to the priority of the control commands, usually the operator will click in sequence according to the sort order.
  • the click can be a single click, a double click, or three or more clicks.
  • a click is represented as a robot
  • the operable buttons of A when detected, enter the operation interface of robot A as shown in Figure 6(a). At least several virtual keys such as forward, backward, turn left and turn right are displayed in the operation interface.
  • the operation interface of robot A is used to display the image of its traveling environment transmitted by robot A.
  • the operator can decide whether to change the control command sent by robot A that the server thinks needs to be changed.
  • the main consideration is that the server may make a mistake in the prediction of robot A.
  • artificial judgment and decision-making are added.
  • the operator uses the real-time image transmitted by robot A to perform the final control commands that need to be sent to robot A. confirm.
  • the result of manual decision matches the result predicted by the server, that is, when both manual decision and server prediction need to send a back command to the robot, the operator presses the back button, and the smartphone generates a back command and sends it to robot A.
  • Robot A Receive the back command and move forward.
  • the first predetermined operation is a click such as a click operation.
  • a single-click operation on the identification information of the robot is detected to enter the operation interface of the robot.
  • the identification information of the robot is the entrance to the operation interface of the robot.
  • a key-entry key (usually a virtual key) for entering the operation interface of each robot can be additionally provided, as shown in Figure 5(b), which corresponds to the "entry" key of robot A, which can be used to enter the robot The entrance of A's operation interface.
  • the target set is recorded according to the priority order among the control commands that need to be sent to each controlled device, such as from high to low.
  • it can also be sorted according to the pre-set priority order among the three robots A, B and C. Assuming that the priority of robot A is higher than robot C and higher than robot B, the identification information of robot A is first, the identification information of robot B is second, and the identification information of robot C is located between the two.
  • the aforementioned scheme with server participation can at least have a certain guiding significance for the operation of the operator, and can greatly reduce the probability of the operator's operation error.
  • the first is to detect the second predetermined operation for the operation interface when the display screen displays the operation interface of robot A, such as detecting a sliding operation from left to right, sliding operation from right to left, and turning the smartphone once The operation of turning the smartphone twice or more continuously (shaking operation), voice operation such as "Please switch to the operation interface of the next robot".
  • the second predetermined operation as a sliding operation from left to right as an example, when the sliding operation is detected, in response to the sliding operation, the display interface is switched from the operation interface of robot A to other robots, such as being ranked in robot A in the target set The operation interface of robot B afterwards.
  • the sensor of the smartphone detects the shaking operation under the operation interface of robot A, and then the display interface is switched from the operation interface of robot A to that of robot A in the target set.
  • the operation interface of Robot B The operation interface of Robot B.
  • the identification information of the robot B that is behind the robot A in the target set can also be displayed on the operation interface of the robot A, such as the identification information of the robot B displayed in the upper left corner as shown in FIG. 6(b).
  • the second predetermined operation of the operator on the robot B is detected, such as a click operation on the identification information of the robot B, and the operation interface of the robot B is entered.
  • there is an invisible menu on the operation interface of the robot A The invisible menu is hidden on the left side of the display screen, and the fourth predetermined operation for calling up the menu is detected, such as moving to the right along the left edge of the display screen.
  • the sliding operation is made to call up the menu, and the identification information of the robot B is displayed on the menu, as shown in Figure 6(c).
  • the fourth predetermined operation may be any reasonable touch operation, voice input and/or operation such as turning and shaking.
  • the second predetermined operation of the operator on the robot B is detected, such as a click operation on the identification information of the robot B, and the operation interface of the robot B is entered.
  • the logo button of the robot B in addition to including the logo button of the robot B, it can also be a button that represents a clock, a button that represents power, a button that can magnify an image, and a button that represents power.
  • the above buttons are preferably It is a virtual button.
  • the smart phone detects this operation and collects the target on the operation interface of the robot A to call it out. It can be understood that, as shown in Figure 6(d), the layer where the operation interface of robot A is located is different from the layer where the target set is located. The layer where the target set is located is above the layer where the operation interface is located, which is equivalent to The call on the operation interface of robot A obscures part of the operation interface of robot A.
  • the smart phone detects the operator's second predetermined operation, such as clicking, on the entry button of robot B in the target set, and then enters the operation interface of robot B.
  • the display interface of the smartphone can be switched from the operating interface of robot A to Figure 5(a) Or, as shown in Figure 5(b), the interface displaying the target set to exit the display of the operation interface of the robot A.
  • the operator can perform the operation on the next robot according to the target set displayed on the display screen at this time.
  • the smart phone detects the second predetermined operation of the robot B, which is ranked after the robot A in the target set, and enters as shown in Figure 6. (a) The operation interface of robot B shown.
  • first predetermined operation and second predetermined operation are equivalent to a selection (middle) operation; the third predetermined operation is equivalent to a display operation.
  • These three operations can be any reasonable touch operation, voice input and/or induction actions such as rotation and shaking, such as single click, double click, three or more consecutive clicks, (up and down/left and right) sliding, etc.; Such as the operation of turning the phone, shaking the phone, shaking and other induction actions. It can also be a combination of two or more of the above. The details are not limited.
  • the detection of the sensing action can be performed by the sensor in the smart phone, such as a gravity sensor, a gyroscope, etc., for specific principles, please refer to the relevant description, and will not be repeated.
  • the above solutions of the embodiments of the present application can at least illustrate the use of smart phones to support touch operation, voice input and/or sensing actions, which can realize flexible switching between the operation interfaces of different robots, and achieve the portability of multiple robots. control.
  • the robot identifiers in the target set are sorted in the order of priority between the control commands or the priority order of the robot device itself.
  • the sorting may not be sorted in the order of priority and sent by each robot.
  • the prompt information is sorted in the order of sequence, or it can be sorted in random order, and there is no specific limitation.
  • the aforementioned solution is equivalent to that after the operator sends a control command to one of the robots, he then enters the operation interface of the other robot to send a control command to it, that is, there is no need to wait for the command to be sent to the one robot.
  • the response process of the control command makes full use of the response time of one of the robots to operate the other robot, thereby saving time. It is equivalent to that the operator sends a control command to each robot that needs to send a control command in time, so that the control of each robot can be operated in time without affecting the normal use of each robot.
  • the aforementioned first, second, and third switching schemes can all realize the smart phone’s control of multiple robots one by one according to the sequence in the target set.
  • the operator can directly touch the robot through the smart phone. Control operation makes the control more portable.
  • the first and second switching schemes are equivalent to switching from the operating interface of one robot to the operating interface of another robot, and this switching method is flexible and easy to implement.
  • the third switching scheme is equivalent to selecting different robots from a display interface that only displays the target set, which can avoid missing selection of robots and missing transmission of control commands.
  • the aforementioned solutions make full use of the smart phone's ability to support touch input and/or support sensing actions.
  • the smart phone is used to control the robot in the embodiment of the present application, which can be controlled by mobility without being restricted by the constant location. In this way, the operator can move and control the robot. The control of the robot can liberate the operator to a certain extent so that the operator can control anytime and anywhere, making the control more free.
  • the portable terminal is a smart phone as an example.
  • the portable terminal can also be a tablet computer.
  • the display screen of the tablet computer is usually larger than the display screen of the smart phone, as shown in Figure 5(a) .
  • the target set shown in (b) the operator can select at least two robot identification information, such as robots A and B, based on the first predetermined operation such as clicking on the corresponding identification information with different fingers, and the tablet computer enters the same time
  • the operation interface of robot A and the operation interface of robot B are displayed.
  • the display areas of the operation interfaces of robots A and B each occupy half of the display screen of the tablet computer.
  • the operation interface When switching the operation interface, based on the aforementioned three switching schemes, you can switch from the display interface that displays the operation interface of robot A and the operation interface of robot B to the interface that displays the operation interface of other robots, such as switching To the operation interface of the robot C, or switch to an interface displayed at the same time as the operation interface of the robot C and the operation interface of the robot D.
  • the number of robot operation interfaces displayed on the display screen at the same time can be flexibly set according to the actual size of the display screen of the portable terminal.
  • the number of robot operation interfaces displayed before and after the switching of the display screen can be the same. It can be different and can be set flexibly according to the specific situation.
  • the first predetermined operation and the second predetermined operation for selecting the target controlled device, and the third predetermined operation for calling and displaying the target set can also be flexibly set according to actual usage.
  • control commands that the smart phone can send to the robot can enable the robot to move autonomously, in addition to automatic forward, backward, left, and right; it also includes any other reasonable control commands, such as forward left, forward right, left Drive behind, drive right behind, straighten the front of the car, stop, advance a certain distance autonomously (as mentioned above), open and close the door, open and close the elevator door, etc.
  • the robot realizes the opening and closing control of third devices such as doors and elevators.
  • the robot, smart phone and each third device are connected through the Internet of Things.
  • the terminal includes: a first obtaining unit 701, a display screen 702, a first detection unit 703, and a first response unit 704; wherein,
  • the first obtaining unit 701 is configured to obtain a target set, the target set being at least characterized as a set of identification information of at least two controlled devices, wherein the at least two controlled devices are remotely controlled by the portable terminal to achieve all State the autonomous movement of the controlled equipment;
  • the display screen 702 is used to display the target set
  • the first detection unit 703 is configured to detect a first predetermined operation for the target set, and the first predetermined operation is used to select at least one first target controlled device;
  • the first response unit 704 is configured to respond to the first predetermined operation, display the operation interface of the at least one first target controlled device, and report to the at least one first target controlled device through the at least one operation interface Send control commands.
  • the terminal further includes:
  • the second detection unit is configured to detect a second predetermined operation on the operation interface when the display screen 702 displays the operation interface of the at least one first target controlled device, and the second predetermined operation is used to check At least one second target controlled device is selected;
  • the second response unit is configured to respond to the second predetermined operation, switch from the operation interface of the at least one first target controlled device to the operation interface of the at least one second target controlled device, and pass the at least The operation interface of a second target controlled device sends a control command to the at least one second target controlled device.
  • the terminal further includes:
  • the display screen 702 is used to display the target set
  • the second detection unit is configured to detect a second predetermined operation for a second target controlled device in the target set, and the second predetermined operation is used to select at least one second target controlled device; the second The predetermined operation is characterized by at least touching, voice input and/or rotation of the display screen;
  • the second response unit is configured to respond to the second predetermined operation, display the operation interface of the at least one second target controlled device, and send to the at least one second target controlled device through the at least one operation interface control commands.
  • the terminal further includes:
  • the second detection unit is configured to detect a third predetermined operation on the operation interface when the display screen 702 displays the operation interface of the first target controlled device, and the third predetermined operation is at least used for The target set is displayed; the third predetermined operation is characterized by at least touching, voice input and/or rotation of the display screen;
  • a second predetermined operation is detected, and the second predetermined operation is used to select at least one second target controlled device;
  • the second predetermined operation It is characterized as at least performing touch control, voice input and/or rotation on the display screen;
  • the second response unit is configured to respond to the second predetermined operation, switch from the operation interface of the at least one first target controlled device to the operation interface of the at least one second target controlled device, and pass the at least The operation interface of a second target controlled device sends a control command to the at least one second target controlled device.
  • the target set and the operation interface are displayed on different layers, and the target set in the first layer occludes at least part of the operation interface in the second layer.
  • the terminal further includes: a sorting unit, configured to sort the at least two controlled devices according to the priority of the at least two controlled devices.
  • the portable terminal provided in the foregoing embodiment belongs to the same concept as the foregoing control method embodiment, and its specific implementation process is detailed in the method embodiment, and will not be repeated here.
  • the aforementioned first obtaining unit 701, first detection unit 703, and first response unit 704 can all be implemented by digital signal processing (DSP), central processing unit (CPU), logic programming array (FPGA), controller (MCU), etc. .
  • DSP digital signal processing
  • CPU central processing unit
  • FPGA logic programming array
  • MCU controller
  • the embodiment of the present application also provides a computer-readable storage medium on which a computer program is stored, and when the program is executed by the processor, it is used to at least execute the steps of any one of the methods shown in FIGS. 1 to 4.
  • the computer-readable storage medium may specifically be a memory.
  • the memory may be the memory 82 shown in FIG. 8.
  • FIG. 8 is a schematic diagram of the hardware structure of a portable terminal according to an embodiment of the application. As shown in FIG. 8, it includes: a communication component 83 for data transmission, a display screen 85, at least one processor 81, 81 to run on the computer program memory 82. The various components in the terminal are coupled together through the bus system 84. It can be understood that the bus system 84 is used to realize the connection and communication between these components. In addition to the data bus, the bus system 84 also includes a power bus, a control bus, and a status signal bus. However, for clarity of description, various buses are marked as the bus system 84 in FIG. 8.
  • the processor 81 executes at least the steps of any one of the methods shown in Figs. 1 to 4 when executing the computer program.
  • the memory 82 may be a volatile memory or a non-volatile memory, and may also include both volatile and non-volatile memory.
  • the non-volatile memory can be a read only memory (ROM, Read Only Memory), a programmable read only memory (PROM, Programmable Read-Only Memory), an erasable programmable read only memory (EPROM, Erasable Programmable Read- Only Memory, Electrically Erasable Programmable Read-Only Memory (EEPROM, Electrically Erasable Programmable Read-Only Memory), magnetic random access memory (FRAM, ferromagnetic random access memory), flash memory (Flash Memory), magnetic surface memory , CD-ROM, or CD-ROM (Compact Disc Read-Only Memory); magnetic surface memory can be magnetic disk storage or tape storage.
  • the volatile memory may be random access memory (RAM, Random Access Memory), which is used as an external cache.
  • RAM random access memory
  • SRAM static random access memory
  • SSRAM synchronous static random access memory
  • DRAM Dynamic Random Access Memory
  • SDRAM Synchronous Dynamic Random Access Memory
  • DDRSDRAM Double Data Rate Synchronous Dynamic Random Access Memory
  • ESDRAM enhanced -Type synchronous dynamic random access memory
  • SLDRAM SyncLink Dynamic Random Access Memory
  • direct memory bus random access memory DRRAM, Direct Rambus Random Access Memory
  • DRRAM Direct Rambus Random Access Memory
  • the memory 82 described in the embodiment of the present application is intended to include, but is not limited to, these and any other suitable types of memory.
  • the method disclosed in the foregoing embodiment of the present application may be applied to the processor 81 or implemented by the processor 81.
  • the processor 81 may be an integrated circuit chip with signal processing capability. In the implementation process, the steps of the foregoing method can be completed by an integrated logic circuit of hardware in the processor 81 or instructions in the form of software.
  • the aforementioned processor 81 may be a general-purpose processor, a DSP, or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components, and the like.
  • the processor 81 may implement or execute various methods, steps, and logical block diagrams disclosed in the embodiments of the present application.
  • the general-purpose processor may be a microprocessor or any conventional processor.
  • the steps of the method disclosed in the embodiments of the present application may be directly embodied as being executed and completed by a hardware decoding processor, or executed by a combination of hardware and software modules in the decoding processor.
  • the software module may be located in a storage medium, and the storage medium is located in the memory 82.
  • the processor 81 reads the information in the memory 82 and completes the steps of the foregoing method in combination with its hardware.
  • the portable terminal may be used by one or more Application Specific Integrated Circuits (ASIC, Application Specific Integrated Circuit), DSP, Programmable Logic Device (PLD, Programmable Logic Device), and Complex Programmable Logic Device (CPLD, Complex Programmable Logic Device, FPGA, general-purpose processor, controller, MCU, microprocessor (Microprocessor), or other electronic components are used to implement the aforementioned control method.
  • ASIC Application Specific Integrated Circuit
  • DSP Programmable Logic Device
  • PLD Programmable Logic Device
  • CPLD Complex Programmable Logic Device
  • FPGA field-programmable Logic Device
  • controller MCU
  • microprocessor Microprocessor
  • the disclosed device and method may be implemented in other ways.
  • the device embodiments described above are merely illustrative.
  • 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.
  • 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.
  • the functional units in the embodiments of the present application can all be integrated into one processing unit, 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.
  • 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.
  • ROM read-only memory
  • RAM Random Access Memory
  • magnetic disks or optical disks etc.
  • the above-mentioned integrated unit of this application is implemented in the form of a software function module and sold or used as an independent product, it can also be stored in a computer readable storage medium.
  • the computer software product is stored in a storage medium and includes several instructions for A computer device (which may be a personal computer, a server, or a network device, etc.) executes all or part of the methods described in the various embodiments of the present application.
  • the aforementioned storage media include: removable storage devices, ROM, RAM, magnetic disks, or optical disks and other media that can store program codes.
  • the target set for the controlled device is displayed on the display screen, the operation interface of the controlled device is selected, and the control command to the target controlled device is sent through the operation interface, thereby realizing multiple controlled devices. Convenient control of control equipment.

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  • Aviation & Aerospace Engineering (AREA)
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Abstract

L'invention concerne un procédé de commande, un terminal portatif et un support de stockage. Le terminal portatif comprend un support de stockage (82), un processeur (81) et un programme d'ordinateur stocké sur le support de stockage (82) et apte à être exécuté sur le processeur (81), le processeur (81), lors de l'exécution du programme, mettant en œuvre les étapes du procédé de commande. Le procédé de commande comprend les étapes consistant à : obtenir un ensemble cible, l'ensemble cible étant au moins caractérisé comme étant un ensemble d'informations d'identifiant d'au moins deux dispositifs commandés, les au moins deux dispositifs commandés étant commandés à distance par un terminal portatif de façon à réaliser un déplacement autonome des dispositifs commandés ; afficher l'ensemble cible sur un écran d'affichage (85) du terminal portatif ; détecter une première opération prédéterminée pour l'ensemble cible, la première opération prédéterminée étant utilisée pour sélectionner au moins un premier dispositif commandé cible ; en réponse à la première opération prédéterminée, afficher une interface de fonctionnement du ou des premiers dispositifs commandés cibles et envoyer une instruction de commande au ou aux premiers dispositifs commandés cibles au moyen de la ou des interfaces de fonctionnement.
PCT/CN2020/109507 2019-08-15 2020-08-17 Procédé de commande, terminal portatif et support de stockage Ceased WO2021027954A1 (fr)

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