Cooperative control method, related equipment and equipment cluster

Abstract

The invention discloses a cooperative control method, related equipment and an equipment cluster, and the method comprises the steps that in response to a cooperative task, a first device sends a first control instruction to at least one second device, and the first control instruction is used for controlling a second target rotating part of the at least one second device to rotate; the first equipment sends a second control instruction to a first target rotating part of the first equipment after the target time interval so as to realize synchronous rotation of the first target rotating part and a second target rotating part; the second control instruction is used for controlling the first target rotating component to rotate; wherein the target time interval is determined at least based on the instruction response time of the first equipment and the instruction response time of the second equipment.

Description

Technical Field

[0001] The present application relates to the field of communication technology, and more specifically to a collaborative control method, related equipment and equipment cluster. Background Art

[0002] In the application scenario of multi-device linkage, it is necessary to control multiple devices for collaborative processing, such as controlling related components of multiple devices to execute the same instruction, etc. However, in the actual process of controlling multiple devices, problems such as linkage asynchrony may occur between the devices, affecting the linkage effect of multiple devices. Summary of the invention

[0003] In view of this, this application provides the following technical solutions:

[0004] A collaborative control method, comprising:

[0005] In response to the collaborative task, the first device sends a first control instruction to at least one second device, where the first control instruction is used to control a second target rotating component of at least one second device to rotate;

[0006] The first device sends a second control instruction to its own first target rotating component after a target time interval, and the second control instruction is used to control the rotation of the first target rotating component; wherein the target time interval is determined based on at least the instruction response time of the first device and the instruction response time of the second device.

[0007] Optionally, it also includes:

[0008] In response to the collaborative task, the first device sends a communication instruction to at least one of the second devices to obtain a communication time between the first device and the second device;

[0009] The first device collects and obtains the current time of the second device, and based on the current time of the second device and the communication time, sets a reference time of the second device to meet the same condition as the reference time of the first device.

[0010] Optionally, the instruction response time of the second device represents a first time for the second device to receive a first control instruction of the first device and execute the first control instruction; the instruction response time of the first device represents a second time for the first target rotating component of the first device to receive a second control instruction and execute the second control instruction;

[0011] The target time interval represents a time difference between the first time and the second time.

[0012] Optionally, the first time includes a first time average value under a target sampling number, wherein the processing process of each sampling includes:

[0013] When the first device sends a first rotation control instruction to the second device, recording a first time of sending the first rotation control instruction;

[0014] When the first image acquisition component of the first device captures the rotation of the second target rotating component of the second device, recording a second moment when the second target rotating component rotates;

[0015] The time difference between the second moment and the first moment is determined as the first time.

[0016] Optionally, the second time is determined based on the third time at the target sampling number and the communication time between the first device and the second device; wherein the processing process of each sampling includes:

[0017] When the first device receives the rotation control instruction sent by the second device, and when the second image acquisition component of the second device captures the rotation of the first target rotating component of the first device, the third time is recorded; the second time is the difference between the third time and the communication time.

[0018] A first device comprises: a first communication component, a first control component and a first target rotating component,

[0019] The first target rotating component is used to connect the first body and the second body of the first device, and the first body and the second body can rotate relative to each other based on the first target rotating component;

[0020] The first communication component is used to send a first control instruction to at least one second device, wherein the first control instruction is used to control the rotation of at least one second target rotating component of the second device; and send a second control instruction to the first target rotating component of the second device after a target time interval;

[0021] The first control component is used to control the first target rotating component to rotate in response to the second control instruction.

[0022] Optionally, the first communication component is further used to: send a communication instruction to at least one of the second devices in response to the collaborative task to obtain the communication time between the first device and the second device;

[0023] The first device further includes: a setting unit;

[0024] The setting unit is used to collect and obtain the current time of the second device, and based on the current time of the second device and the communication time, set the reference time of the second device to meet the same condition as the reference time of the first device.

[0025] Optionally, the instruction response time of the second device represents a first time for the second device to receive a first control instruction of the first device and execute the first control instruction; the instruction response time of the first device represents a second time for the first target rotating component of the first device to receive a second control instruction and execute the second control instruction;

[0026] The target time interval represents a time difference between the first time and the second time.

[0027] A second device, comprising: a second target rotating component, a second communication component and a second control component;

[0028] The second target rotating component is connected to the third body and the fourth body of the second device, and the third body and the fourth body can rotate relative to each other based on the first target rotating component;

[0029] The second communication component is used to receive the first control instruction and send the first control instruction to the second control component;

[0030] The second control component is used to control the second target rotating part of the second device to rotate, so that the third body of the second device rotates along with the second target rotating part to synchronize the rotation of the first body of the first device.

[0031] A device cluster includes:

[0032] a first device and at least one second device;

[0033] The first device is used to send a first control instruction to at least one second device; and send a second control instruction to its own first target rotating component after a target time interval; wherein the first control instruction is used to control the rotation of at least one second target rotating component of the second device; the second control instruction is used to control the rotation of the first target rotating component; and the target time interval is determined based on at least a command response time of the first device and a command response time of the second device;

[0034] The second device is used to respond to the first control instruction and control the second target rotating component to rotate, so as to achieve synchronous rotation of the first target rotating component and the second target rotating component. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are merely embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying any creative work.

[0036] Figure 1 A schematic diagram of a device for collaborative control provided in an embodiment of the present application;

[0037] Figure 2 A flowchart of a collaborative control method provided in an embodiment of the present application;

[0038] Figure 3 A schematic diagram of a first device and a second device provided in an embodiment of the present application;

[0039] Figure 4 A schematic diagram of an application scenario corresponding to a device cluster provided in an embodiment of the present application;

[0040] Figure 5 A schematic diagram of the structure of a first device provided in an embodiment of the present application;

[0041] Figure 6 A schematic diagram of the structure of a second device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0042] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0043] The terms "first" and "second" in this application are used to distinguish different objects, rather than to describe a specific order. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but may include steps or units that are not listed.

[0044] The embodiment of the present application provides a collaborative control method, which can be applied to the scenario of collaboratively controlling the actions of at least two devices, so that the actions of the controlled components corresponding to each device are synchronized. Among them, the controlled components of the device can be components that can rotate in the device, or components that can move in the device. In order to achieve a better collaborative display effect, the controlled components of each device can be components of the same type, such as screens in electronic devices. The embodiment of the present application does not limit the form of the electronic device to which the method is applied, nor does it limit the type of controlled components therein.

[0045] For the convenience of description, in the embodiment of the present application, an electronic device with a rotating screen is taken as an example to illustrate the collaborative control method. Figure 1 , which shows a schematic diagram of a device applied to collaborative control provided in an embodiment of the present application. Figure 1 The electronic device shown is in the form of a laptop computer, which has a first body and a second body, the first body and the second body are connected by a target rotating component, the first body can be a screen of the laptop computer, the second body can be another screen of the laptop computer with a touch function, or can be a Figure 1 The keyboard body shown in the figure. That is, the screen of the laptop can be at a certain angle with the keyboard of the laptop through the target rotating component. Furthermore, the screen has a dual-degree-of-freedom automatic rotation function, so that the screen can automatically rotate to meet the needs of the user. Figure 1 As shown, in the first state, the angle between the screen body and the keyboard body of the laptop is 90 degrees, which is the general usage form of a laptop. Figure 1 In the second state of the laptop computer, the screen body can be rotated to Figure 1 The state shown is that the two-degree-of-freedom rotation of the laptop screen mainly involves rotation adjustment in the vertical and horizontal directions.

[0046] See also Figure 2 , is a flow chart of a collaborative control method provided in an embodiment of the present application, which can be executed by a first device and specifically includes the following steps:

[0047] S101. In response to a collaborative task, a first device sends a first control instruction to at least one second device.

[0048] S102: The first device sends a second control instruction to its first target rotating component after a target time interval, so as to achieve synchronous rotation of the first target rotating component and the second target rotating component.

[0049] The first control instruction is used to control the rotation of a second target rotating component of at least one second device. The second control instruction is used to control the rotation of the first target rotating component. The target time interval is determined based on at least the command response time of the first device and the command response time of the second device.

[0050] like Figure 3 As shown, the first device 301 includes a first target rotating component 3011, and the second device 302 includes a second target rotating component 3021. The first body of the first device (such as Figure 3 The screen body shown in FIG. 1 ) will rotate based on the first target rotation component; the third body of the second device (such as Figure 3 In order to achieve synchronous rotation of the first target rotating component and the second target rotating component, in the embodiment of the present application, the first device sends a first control instruction to the second device and sends a second control instruction to its own first target rotating component not synchronously, but at a target time interval.

[0051] In order to accurately realize the synchronous rotation of the two target rotating parts, the target time interval needs to be determined according to the command response time of the first device and the command response time of the second device. The command response time of the first device is mainly determined according to the time when the first target rotating part of the first device responds to the command; the command response time of the second device needs to be determined according to the command transmission time between the first device and the second device and the time when the second target rotating part of the second device responds to the rotation command. In this way, when performing a collaborative task, the first device first sends the first control instruction to at least one second device, and then sends the control instruction to its own target rotating part after the target time interval, which can solve the problem that the second device cannot synchronize with the first device due to response delay and other problems.

[0052] In one implementation of the embodiment of the present application, in order to better control the action synchronization of each device, it is necessary to first synchronize the reference time of the first device and the second device. Specifically, the implementation may include the following steps:

[0053] In response to a collaborative task, the first device sends a communication instruction to at least one second device to obtain the communication time between the first device and the second device; the first device collects and obtains the current time of the second device, and based on the current time and communication time of the second device, sets the reference time of the second device to meet the same conditions as the reference time of the first device.

[0054] In the process of determining the communication time between the first device and the second device, the first device can send a communication instruction for determining the communication time. After receiving the receipt instruction from the second device, the time from sending the communication instruction to receiving the received instruction is recorded, which is recorded as T1. In order to improve accuracy, this process can be performed multiple times, and the time information T1 of each time is recorded, and the average value of the above transmission time is calculated for multiple times, and the average value is determined as the communication time between the first device and the second device.

[0055] The first device can collect the screen information of the second device through its own image acquisition component to obtain the current time of the second device, and based on the current time and communication time of the second device, set the reference time of the second device to meet the same conditions as the reference time of the first device, such as the same reference time of the two, or the reference time of the two is within a preset time deviation range. For example, the first device shoots the screen of the second device through a camera, identifies the current time of the second device, sets the reference time of the second device to the sum of the reference time of the first device and the network time, and collects again through the camera to determine that the reference time of the first device and the second device are the same. It should be noted that if the reference time adjustment instruction is sent to the second device through the first device, if the first device includes its own reference time when sending the reference time adjustment instruction, the second device needs to exclude the time delay (i.e., communication time) of sending the instruction when setting the reference time so that the reference time of the first device and the second device are consistent, which is convenient for the transmission of subsequent control instructions.

[0056] In one implementation of an embodiment of the present application, the command response time of the second device represents the first time for the second device to receive the first control command of the first device and execute the first control command; the command response time of the first device ensures the second time for the first target rotating part of the first device to receive the second control command and execute the second control command.

[0057] In this embodiment, the first device acts as a master device, that is, the first device controls its own first target rotating part to rotate, and can also control the second target rotating part of the second device to rotate. Specifically, in the process of determining the first time, it is necessary to consider the communication time of the first device sending the first control instruction to the second device. It should be noted that the determination process of the communication time has been described in the above embodiment and will not be described in detail here. In addition, the first time also includes the time when the second device executes the first control instruction, that is, the time when the second device controls the rotation of the second target rotating part through the control application of the second device after receiving the first control instruction. Specifically, the first device sends the second control instruction to instruct the second target rotating part of the second device to rotate, and after sending the second control instruction, the first device can detect whether the second target rotating part of the second device rotates through its own image acquisition component (such as a camera). Specifically, it can be directly detecting whether the second target rotating part rotates, or it can be detecting whether the movable part connected to the second target rotating part rotates, such as detecting whether the screen connected to the second target rotating part rotates.

[0058] Further, in one implementation of the embodiment of the present application, the first time includes a first time average value under a target sampling number, wherein the processing process of each sampling includes:

[0059] When the first device sends a first rotation control instruction to the second device, the first moment of sending the first rotation control instruction is recorded; when the second target rotating component of the second device is rotated as captured by the first image acquisition component of the first device, the second moment when the second target rotating component rotates is recorded; the time difference between the second moment and the first moment is determined as the first time.

[0060] In order to further improve the accuracy, the time from the first device sending the first control instruction to the second device multiple times until the second target rotating part of the second device starts to rotate can be counted, and the average value can be taken as the instruction response time of the second device, denoted by T2.

[0061] In the process of determining the second time, it is necessary to calculate the time when the first target rotating component of the first device receives the second control instruction and executes the second control instruction. Specifically, the time when the first target rotating component of the first device receives the control instruction and executes the control instruction can be calculated in advance. For example, in the process of predetermining the time, the second control instruction can be generated by a third device, so that the whole process of the first device receiving the control instruction and responding to the execution of the control instruction can be monitored by the third device.

[0062] Further, in one implementation of the embodiments of the present application, the second time is determined based on the third time under the target sampling number and the communication time between the first device and the second device; wherein, the processing process of each sampling includes: when the first device receives the rotation control instruction sent by the second device, and when the second image acquisition component of the second device captures the rotation of the first target rotating component of the first device, the third time is recorded; the second time is the difference between the third time and the communication time.

[0063] Specifically, the third device sends a second control instruction to control the rotation of the first target rotating part of the first device. The third device detects whether the first target rotating part of the first device starts to rotate through a camera, and counts the time from sending the second control instruction to the rotation of the first target rotating part for multiple times, takes the average value, and subtracts the network communication time to obtain the rotation time of the first device controlling the first target rotating part, that is, the second time is recorded as T3. Correspondingly, the target time interval represents the time difference between the first time and the second time, that is, the target time interval = T2-T3.

[0064] Therefore, through the calculation of the response time of each stage mentioned above, when executing a collaborative task, the first device first sends an instruction to each second device to control the rotation of its second target rotating component, and then sends a control instruction to the first target rotating component of the first device itself after waiting for the target time interval. The entire process is an automated operation that eliminates human interference, and can eliminate time delays caused by network communication transmission and data transmission links as well as component control responses, further improving the accuracy of motion synchronization control.

[0065] See also Figure 4 , the collaborative control method of the embodiment of the present application is described below by taking the application scenario of controlling the synchronization of the screen movements of multiple laptop computers with rotatable screens as an example. For example, the application scenario requires the screens of each laptop computer to rotate with the rhythm of the audio (such as to achieve a display effect of synchronized "dance" of the screens), and requires the screens of each laptop computer to rotate synchronously. Figure 4 As shown, the screen of each laptop can be controlled from Figure 4 The above state is synchronously rotated to Figure 4 The status below.

[0066] The first laptop is used as the master device, and the other laptops are used as slave devices. For example, each laptop can transmit communication data or instructions through its own Bluetooth module. First, the Bluetooth modules of each laptop are started so that each laptop is in a connectable state. When the first laptop, the second laptop and the third laptop enter a certain distance range, a communication connection can be initiated from the first laptop, so that the second laptop and the third laptop respectively maintain an effective connection and communication data transmission with the first laptop. When a collaborative task needs to be performed, such as the need to coordinate the control of the screens of each laptop to rotate, and the need to control the rotation of the screen synchronously. The instruction to start synchronization can be triggered on the first laptop, which is the system control method that the first laptop will execute the embodiment of the present application, that is, the first laptop will first send the first control instruction to the second laptop and the third laptop, and then the second laptop and the third laptop will control their respective rotating parts (such as rotating motors) to rotate after receiving the control instruction, so that the screen connected to the rotating part can be driven to rotate.

[0067] Then, the first laptop computer will send a second control instruction to its own rotating component (such as a rotating motor) after the target time interval, so as to control the screen connected to the rotating component to rotate, thereby realizing the synchronous rotation of the screens of the first laptop computer, the second laptop computer and the third laptop computer. It should be noted that in the embodiment of the present application, the rotating components of each laptop computer are controlled to move synchronously. Correspondingly, the rotation angles of each rotating component can be set to be the same or different. As long as the synchronous movement is presented, the requirements of collaborative control can be met, avoiding the influence of communication and command response delays.

[0068] In this application scenario, the low-latency feature of Bluetooth transmission is also utilized. The above operations ensure that the actions of the two devices are synchronized. The command synchronization between devices can be completed in the absence of a network or in a complex network environment to ensure device collaboration.

[0069] Correspondingly, a first device is also provided in the embodiment of the present application, see Figure 5The first device includes a first communication component 501, a first control component 502 and a first target rotating component 503. The first target rotating component is used to connect the first body and the second body of the first device, and the first body and the second body can rotate relative to each other based on the first target rotating component; the first communication component is used to send a first control instruction to at least one second device, and the first control instruction is used to control the second target rotating component of at least one second device to rotate; and send a second control instruction to its own first target rotating component after a target time interval; the first control component is used to control the first target rotating component to rotate in response to the second control instruction.

[0070] Optionally, the first communication component is further used to: send a communication instruction to at least one of the second devices in response to the collaborative task to obtain the communication time between the first device and the second device;

[0071] The first device further includes: a setting unit;

[0072] The setting unit is used to collect and obtain the current time of the second device, and based on the current time of the second device and the communication time, set the reference time of the second device to meet the same condition as the reference time of the first device.

[0073] Optionally, the instruction response time of the second device represents a first time for the second device to receive a first control instruction of the first device and execute the first control instruction; the instruction response time of the first device represents a second time for the first target rotating component of the first device to receive a second control instruction and execute the second control instruction;

[0074] The target time interval represents a time difference between the first time and the second time.

[0075] Optionally, the first time includes a first time average value under a target sampling number, wherein the processing process of each sampling includes:

[0076] When the first device sends a first rotation control instruction to the second device, recording a first time of sending the first rotation control instruction;

[0077] When the first image acquisition component of the first device captures the rotation of the second target rotating component of the second device, recording a second moment when the second target rotating component rotates;

[0078] The time difference between the second moment and the first moment is determined as the first time.

[0079] Optionally, the second time is determined based on the third time at the target sampling number and the communication time between the first device and the second device; wherein the processing process of each sampling includes:

[0080] When the first device receives the rotation control instruction sent by the second device, and when the second image acquisition component of the second device captures the rotation of the first target rotating component of the first device, the third time is recorded; the second time is the difference between the third time and the communication time.

[0081] In the embodiment of the present application, a second device is also provided. Figure 6 , the second device comprises:

[0082] A second target rotating component 601 , a second communication component 602 and a second control component 603 .

[0083] The second target rotating component connects the third body and the fourth body of the second device, and the third body and the fourth body can rotate relative to each other based on the first target rotating component; the second communication component is used to receive the first control instruction and send the first control instruction to the second control component; the second control component is used to control the rotation of the second target rotating component of the second device, so that the third body of the second device rotates with the second target rotating component to synchronize the rotation of the first body of the first device.

[0084] Correspondingly, in an embodiment of the present application, a device cluster is also provided, the device cluster comprising: a first device and at least one second device;

[0085] The first device is used to send a first control instruction to at least one second device; and send a second control instruction to its own first target rotating component after a target time interval; wherein the first control instruction is used to control the rotation of at least one second target rotating component of the second device; the second control instruction is used to control the rotation of the first target rotating component; and the target time interval is determined based on at least a command response time of the first device and a command response time of the second device;

[0086] The second device is used to respond to the first control instruction and control the second target rotating component to rotate, so as to achieve synchronous rotation of the first target rotating component and the second target rotating component.

[0087] In the above embodiment, when the first body of the first device rotates with the first target rotating component, the bottom side of the first body and the top side of the second body can be rotated from being parallel to each other to being no longer parallel, and correspondingly, when the third body of the second device rotates with the second target rotating component, the bottom side of the second body and the top side of the fourth body can be rotated from being parallel to each other to being no longer parallel. Thus, the first body of the first device and the third body of the second device can achieve synchronous rotation.

[0088] It should be noted that the specific implementation of each component in this embodiment can refer to the corresponding content in the previous text and will not be described in detail here.

[0089] In this specification, each embodiment is described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the embodiments can be referred to each other. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant parts can be referred to the method part.

[0090] Professionals may further appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the composition and steps of each example have been generally described in the above description according to function. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professionals and technicians may use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0091] The steps of the method or algorithm described in conjunction with the embodiments disclosed herein may be implemented directly using hardware, a software module executed by a processor, or a combination of the two. The software module may be placed in a random access memory (RAM), a memory, a read-only memory (ROM), an electrically programmable ROM, an electrically erasable programmable ROM, a register, a hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.

[0092] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present application. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to the embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A collaborative control method, comprising: In response to the collaborative task, the first device sends a first control instruction to at least one second device, where the first control instruction is used to control a second target rotating component of at least one second device to rotate; The first device sends a second control instruction to its own first target rotating component after a target time interval to achieve synchronous rotation of the first target rotating component and the second target rotating component; the second control instruction is used to control the rotation of the first target rotating component; wherein the target time interval is determined at least based on the instruction response time of the first device and the instruction response time of the second device.

2. The method according to claim 1, further comprising: In response to the collaborative task, the first device sends a communication instruction to at least one of the second devices to obtain a communication time between the first device and the second device; The first device collects and obtains the current time of the second device, and based on the current time of the second device and the communication time, sets a reference time of the second device to meet the same condition as the reference time of the first device.

3. The method according to claim 1, wherein the command response time of the second device represents the first time for the second device to receive the first control command of the first device and execute the first control command; the command response time of the first device represents the second time for the first target rotating component of the first device to receive the second control command and execute the second control command; The target time interval represents a time difference between the first time and the second time.

4. The method according to claim 3, wherein the first time comprises a first time average value under a target sampling number, wherein: The processing of each sampling includes: When the first device sends a first rotation control instruction to the second device, recording a first time of sending the first rotation control instruction; When the first image acquisition component of the first device captures the rotation of the second target rotating component of the second device, recording a second moment when the second target rotating component rotates; The time difference between the second moment and the first moment is determined as the first time.

5. The method according to claim 3, wherein the second time is determined based on the third time at the target sampling number and the communication time between the first device and the second device; wherein, The processing of each sampling includes: When the first device receives the rotation control instruction sent by the second device, and when the second image acquisition component of the second device captures the rotation of the first target rotating component of the first device, the third time is recorded; the second time is the difference between the third time and the communication time.

6. A first device, comprising: a first communication component, a first control component and a first target rotating component, The first target rotating component is used to connect the first body and the second body of the first device, and the first body and the second body can rotate relative to each other based on the first target rotating component; The first communication component is used to send a first control instruction to at least one second device, wherein the first control instruction is used to control the rotation of a second target rotating component of at least one second device; and sending a second control instruction to its own first target rotating component after a target time interval; The first control component is used to control the first target rotating component to rotate in response to the second control instruction.

7. The first device according to claim 6, wherein the first communication component is further configured to: send, in response to the collaborative task, a communication instruction to at least one of the second devices to obtain a communication time between the first device and the second device; The first device also includes: Set up the unit; The setting unit is used to collect and obtain the current time of the second device, and based on the current time of the second device and the communication time, set the reference time of the second device to meet the same condition as the reference time of the first device.

8. The first device according to claim 6, wherein the instruction response time of the second device represents a first time for the second device to receive a first control instruction of the first device and execute the first control instruction; the instruction response time of the first device represents a second time for the first target rotating component of the first device to receive a second control instruction and execute the second control instruction; The target time interval represents a time difference between the first time and the second time.

9. A second device, comprising: a second target rotating component, a second communication component, and a second control component; The second target rotating component is connected to the third body and the fourth body of the second device, and the third body and the fourth body can rotate relative to each other based on the first target rotating component; The second communication component is used to receive the first control instruction and send the first control instruction to the second control component; The second control component is used to control the second target rotating part of the second device to rotate, so that the third body of the second device rotates along with the second target rotating part to synchronize the rotation of the first body of the first device.

10. A device cluster, comprising: a first device and at least one second device; The first device is used to send a first control instruction to at least one second device; Sending a second control instruction to its own first target rotating component after a target time interval; wherein the first control instruction is used to control the rotation of at least one second target rotating component of the second device; the second control instruction is used to control the rotation of the first target rotating component; the target time interval is determined based on at least the instruction response time of the first device and the instruction response time of the second device; The second device is used to respond to the first control instruction and control the second target rotating component to rotate, so as to achieve synchronous rotation of the first target rotating component and the second target rotating component.

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