Control method and device, electronic equipment and storage medium

Abstract

The invention provides a control method and device, electronic equipment and a storage medium, and the method comprises the steps that a first control unit can receive a to-be-processed task sent by a data processing unit, and when it is detected that the to-be-processed task is a target task corresponding to target equipment, target task data corresponding to the target task is forwarded to a second control unit, and the second control unit can specially control the operation of the target equipment for the target based on the target task data, so that the control logic is simplified, and the real-time performance and the stability and reliability of the system are improved.

Description

Technical Field

[0001] The present disclosure relates to the field of mechanical control technology, and in particular to a control method, device, electronic device and storage medium. Background Art

[0002] At present, the control of different types of robotic arms is usually carried out by pure software. This control method has poor real-time performance and is difficult to meet the needs of some industrial projects with high real-time requirements. Therefore, how to achieve real-time control of robotic arms and expand the application scenarios of robotic arms has become a technical problem that needs to be solved urgently. Summary of the invention

[0003] The present disclosure provides a control method, device, electronic device and storage medium.

[0004] According to a first aspect of the present disclosure, a control method is provided, which is applied to a first control unit, and the method includes:

[0005] Receiving tasks to be processed sent by a data processing unit;

[0006] When it is detected that the task to be processed is the target task corresponding to the target device, the target task data corresponding to the target task is forwarded to the second control unit, so that the second control unit controls the target device based on the target task data, and the first control unit and the second control unit are in a master-slave relationship.

[0007] In one possible implementation manner, the first control unit establishes a connection with the second control unit via a first communication protocol.

[0008] In one possible implementation, the target task data includes device information and operation action information of the target device;

[0009] In one possible implementation manner, the second control unit performs control processing on the target device based on the target task data, including:

[0010] The second control unit resets the operating state of the target device according to the device information;

[0011] Monitor whether the target device startup command is received;

[0012] If yes, based on the running action information, control the target device to execute the motion action information.

[0013] In one possible implementation, when it is detected that the task to be processed is a target task corresponding to the target device, before forwarding the target task data corresponding to the target task to the second control unit, the method further includes:

[0014] Determine the task type of the task to be processed;

[0015] Determine whether the task to be processed is a target task corresponding to the target device based on the task type.

[0016] In one embodiment, the method further comprises:

[0017] When it is detected that the task type of the task to be processed is a precision control task or an input-output control task, the precision control task or the input-output control task is executed based on the task data of the task to be processed.

[0018] In one embodiment, the method further comprises:

[0019] Detecting that the current processing resource of the data processing unit is less than a preset processing resource threshold;

[0020] If yes, obtain the processing status of each task currently executed in parallel;

[0021] The respective tasks are scheduled based on the current processing resources and the processing status, so that the processing resources of the data processing unit are not less than a preset processing resource threshold.

[0022] According to a second aspect of the present disclosure, a control device is provided, the device comprising:

[0023] A first control unit is used to receive a task to be processed sent by a data processing unit, and when detecting that the task to be processed is a target task corresponding to a target device, forward the target task data corresponding to the target task to a second control unit;

[0024] The second control unit is used to control the target device based on the target task data, and the first control unit and the second control unit are in a master-slave relationship.

[0025] According to a third aspect of the present disclosure, there is provided an electronic device, including:

[0026] at least one processor; and

[0027] a memory communicatively coupled to the at least one processor;

[0028] The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to execute the method described in the present disclosure.

[0029] According to a fourth aspect of the present disclosure, a non-transitory computer-readable storage medium storing computer instructions is provided, wherein the computer instructions are used to cause the computer to execute the method described in the present disclosure.

[0030] By adopting the control method provided in the embodiment of the present application, the first control unit can receive the pending tasks sent by the data processing unit, and when it is detected that the pending tasks are the target tasks corresponding to the target device, the target task data corresponding to the target task is forwarded to the second control unit, and the second control unit can control and process the target device based on the target task data, and the first control unit and the second control unit are in a master-slave relationship. The pending tasks are classified by the first control unit, and the target tasks corresponding to the target device are processed by the second control unit, that is, the operation of the target device is specifically controlled by the second control unit, which simplifies the control logic and reduces the interference of the business logic on the control timing of the target device, thereby improving the real-time performance and the stability and reliability of the system.

[0031] It should be understood that the content described in this section is not intended to identify the key or important features of the embodiments of the present disclosure, nor is it intended to limit the scope of the present disclosure. Other features of the present disclosure will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] The above and other objects, features and advantages of the exemplary embodiments of the present disclosure will become readily understood by reading the detailed description below with reference to the accompanying drawings. In the accompanying drawings, several embodiments of the present disclosure are shown in an exemplary and non-limiting manner, in which:

[0033] In the drawings, the same or corresponding reference numerals represent the same or corresponding parts.

[0034] Figure 1 A schematic diagram of an implementation flow of the control method provided in an embodiment of the present application is shown;

[0035] Figure 2 A schematic diagram of a mechanical arm parameter adaptive processing provided by an embodiment of the present application is shown;

[0036] Figure 3 A schematic diagram of adaptive error processing provided by an embodiment of the present application is shown;

[0037] Figure 4 A schematic diagram of the structure of a control device provided in an embodiment of the present application is shown;

[0038] Figure 5 A schematic diagram of the structure of an electronic device according to an embodiment of the present disclosure is shown. DETAILED DESCRIPTION

[0039] In order to make the purpose, features, and advantages of the present disclosure more obvious and easy to understand, the technical solutions in the embodiments of the present disclosure will be clearly and completely described below in conjunction with the drawings in the embodiments of the present disclosure. Obviously, the described embodiments are only part of the embodiments of the present disclosure, not all of the embodiments. Based on the embodiments in the present disclosure, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present disclosure.

[0040] Since the current control methods for different types of robotic arms have poor real-time performance, in order to achieve real-time control of the robotic arm and expand the application scenarios of the robotic arm, the present application provides a control method, device, electronic device and storage medium. The electronic device provided in the present application can be a mobile phone, computer, tablet computer, server and other devices.

[0041] The technical solution of the embodiment of the present application will be described below in conjunction with the drawings in the embodiment of the present application.

[0042] Figure 1 A schematic diagram of an implementation flow of the control method provided in the embodiment of the present application is shown. Figure 1 As shown, the method is applied to a first control unit, comprising:

[0043] S101, receiving a task to be processed sent by a data processing unit.

[0044] In the present disclosure, the data processing unit may be a host computer. The data processing unit is connected to the first control unit via a serial port. The data processing unit may model the motion steps of a device such as a manipulator or a robot, and send the modeling data to the first control unit as a task to be processed. The first control unit may be an MCU (microcontroller unit) or a PLC (programmable logic controller), etc. The task to be processed includes the motion data of the manipulator or the robot, including data such as the action type, the direction of movement, and the distance of movement. After the first control unit receives the task to be processed sent by the data processing unit, the data included in the task to be processed may be saved to FLASH in the form of an action table.

[0045] S102, when it is detected that the task to be processed is a target task corresponding to a target device, the target task data corresponding to the target task is forwarded to a second control unit, so that the second control unit controls and processes the target device based on the target task data, and the first control unit and the second control unit are in a master-slave relationship.

[0046] In the present disclosure, the target device can be a device for mechanical operation such as a manipulator and a robot. The second control unit is an MCU or a PLC, etc. The second control unit is a different control unit from the first control unit. In a possible implementation, the first control unit and the second control unit can establish a connection through a first communication protocol, and the first communication protocol can be an I2C (a serial communication protocol) protocol, that is, the second control unit and the first control unit can transmit data through an I2C (a serial communication protocol) bus. The interface control functions of various types of manipulators and robot devices are encapsulated in the second control unit. The second control unit and the target device can be connected to each other through the W5500 (Ethernet controller) embedded Ethernet control.

[0047] In the present disclosure, in a possible implementation, the target task data may include device information and operation action information of the target device, wherein the operation action information may include data such as action type, movement direction, and movement distance.

[0048] In one possible implementation, when it is detected that the task to be processed is a target task corresponding to the target device, before forwarding the target task data corresponding to the target task to the second control unit, the method may further include steps A1-A2:

[0049] Step A1: determine the task type of the task to be processed.

[0050] In the present disclosure, the task types of tasks to be processed may include upper layer communication tasks, scheduling tasks, key tasks, lower layer communication tasks, IO control tasks, and motor control tasks, etc. Among them, upper layer communication tasks include communication tasks between the first control unit and the host computer, scheduling tasks include tasks that the first control unit schedules for currently executed operations, key tasks include key management tasks of the first control unit, lower layer communication tasks include communication tasks between the first control unit and the second control unit, IO control tasks include input and output control tasks of the first control unit, and motor control tasks include control tasks of the first control unit on devices such as mechanical arms and robots.

[0051] In the present disclosure, the first control unit can deploy FreeRTOS (a real-time operating system) as the underlying operating system, and run multiple operation tasks in parallel on the deployed FreeRTOS operating system, and each operation task is independent of each other. The first control unit can cooperate with each operation task to realize that while controlling other devices, it can also control the second control unit, so as to control the target device to move through the second control unit, and realize parallel actions.

[0052] In the present disclosure, the first control unit can schedule the IO control tasks, motor control tasks and robotic arm control tasks through a state machine. For example, when multiple IO control tasks, motor control tasks and robotic arm control tasks need to be scheduled in parallel, a state machine can be used to monitor the processing status of each task. If the FreeRTOS tasks of a single IO control task, motor control task and robotic arm control task are completed, they can be executed in parallel, that is, by sharing a FreeRTOS task, parallel execution is achieved while improving memory utilization.

[0053] In a possible implementation, when the first control unit detects that the task type of the task to be processed is a precise control task or an input-output control task, the precise control task or the input-output control task is executed based on the task data of the task to be processed. In the present disclosure, the refined control task corresponding to the non-target device can be a precise control task, and the input-output control task is an input-output task involved in the first control unit.

[0054] In a possible implementation manner, in order to control the resource utilization of the data processing unit, the first control unit may further perform steps B1-B3:

[0055] Step B1, detecting that the current processing resource of the data processing unit is less than a preset processing resource threshold.

[0056] In the present disclosure, the preset resource processing threshold may be set according to the processing capability of the data processing unit, and is not specifically limited here.

[0057] Step B2: if yes, obtain the processing status corresponding to each task currently executed in parallel.

[0058] In the present disclosure, various tasks executed in parallel may include multi-IO control tasks, motor control tasks, and robotic arm control tasks, etc.

[0059] Step B3: Schedule each task based on the current processing resources and the processing status so that the processing resources of the data processing unit are not less than a preset processing resource threshold.

[0060] In the present disclosure, if the current processing resources of the data processing unit are less than the preset processing resource threshold, it is ensured that there are too many tasks currently executed in parallel, which affects the processing efficiency of the data processing unit. In order to ensure the processing efficiency of the data processing unit, it is necessary to schedule some parallel tasks to the second control unit or suspend some parallel tasks. In the present disclosure, the processing status of each parallel task can be monitored according to the state machine, and the processing resources required for the completion of each parallel task can be calculated according to the processing status. By comparing the processing resources required for each parallel task with the remaining processing resources of the data processing unit, one or more parallel tasks with the largest required processing resources can be scheduled to the second control unit for execution, or the processing can be suspended, and the processing can be started again after the remaining parallel tasks are completed.

[0061] Step A2: determining whether the task to be processed is a target task corresponding to the target device based on the task type.

[0062] In the present disclosure, a target task refers to a task related to the operation of a target device. If the task type is a target task, the first control unit may forward the target task data corresponding to the target task to the second control unit. Specifically, the first control unit may communicate with the lower layer task and forward the target task data corresponding to the target task to the second control unit.

[0063] Tasks related to the operation of the target device may specifically include the robot arm initialization process when the robot arm is powered on, moving the robot arm, obtaining robot arm parameters, setting the tool coordinate system, and reserving sensor interfaces. Robot arm parameters include robot arm coordinates and force control. The reserved sensor interface refers to other feedback interfaces for sensor data that may need to be pre-installed on the robot arm. Taking the force control in the robot arm parameters as an example, the second control unit can obtain the force control data from the first control unit through the data interface to schedule the robot arm to make instructions. The second control unit can achieve communication and data transmission with the first control unit through the upper-level control tasks.

[0064] By adopting the control method provided in the embodiment of the present application, the first control unit can receive the pending tasks sent by the data processing unit, and when it is detected that the pending tasks are the target tasks corresponding to the target device, the target task data corresponding to the target task is forwarded to the second control unit, and the second control unit can control and process the target device based on the target task data, and the first control unit and the second control unit are in a master-slave relationship. The pending tasks are classified by the first control unit, and the target tasks corresponding to the target device are processed by the second control unit, that is, the operation of the target device is specifically controlled by the second control unit, which simplifies the control logic and reduces the interference of the business logic on the control timing of the target device, thereby improving the real-time performance and the stability and reliability of the system.

[0065] In the present disclosure, in order to reduce the difficulty of user control of the target device, the action and device of the target device can be modeled and mapped to obtain a device table and an action table, which are used to describe the device parameters and motion logic of the target device. Among them, the device table is used for the target device registration relationship, for example, recording the motor parameters, the mapping relationship between the input and output parameters, the IP address of the target device and the brand of the target device. The action table is used to record the control logic relationship and describe the device action parameters. The control logic may include delayed actions, IO triggered actions and action triggered movements. The device action parameters may include the movement mode of the target device, the movement coordinates, the frequency of the motor movement, the number of pulses, the pins and levels of the IO triggers, and other parameters.

[0066] First, in the present disclosure, different communication methods, different control parameters, and different protocol formats of different manufacturers can be adaptively matched to form a unified control interface to provide to users. For example, taking the target device as a robotic arm as an example, in terms of communication methods, in order to be compatible with robotic arms from different manufacturers, a corresponding TCP / UDP connection can be established through an adaptive mechanism, and configured as a client or server mode as needed. In terms of control parameters, since different robotic arms have different ways of expressing robotic arm parameters such as speed, arm parameters, and allowable errors, the present disclosure can perform unified conversion processing on these robotic arm parameters and provide them to users. In terms of speed, assuming that the speed parameter range of robotic arm A is [Amin, Amax], Amin is the minimum speed parameter within the speed parameter range, Amax is the maximum speed parameter within the speed parameter range, the speed parameter input by the user is V, and the actual speed value is Va, the speed can be unified into the same range of 0~Vmax in the present disclosure, that is: For the robot arm parameters, Figure 2 A schematic diagram of a mechanical arm parameter adaptive processing provided by an embodiment of the present application is shown. Figure 2 As shown, the present disclosure can be adaptively processed according to different robot arm manufacturers. The user inputs the robot arm motion parameters, and the second control unit can internally process the robot arm motion parameters input by the user. Specifically, the current position of the robot arm can be obtained, and the target position of the robot arm can be obtained according to the robot arm motion parameters and the target position can be sent to the robot arm. The difference between the current position and the target position is calculated, and the major arm parameters are calculated according to the difference. The major arm parameters are sent to the robot arm as processed data. The robot arm can also return the required arm parameters, thereby realizing adaptive processing. Regarding the allowable error, Figure 3 FIG. 4 shows a schematic diagram of an adaptive error processing method provided by an embodiment of the present application. Figure 3As shown, the user inputs the motion parameters of the robot arm, and the second control unit can use different functions according to different robot arm manufacturers to determine whether the user fills in the error value. If the error value is filled in, the motion instruction that allows the error can be used. If the error value is not filled in, the ordinary motion instruction can be used, and then the processed data is sent to the robot arm. In the present disclosure, through error adaptive processing, the general user does not need to reach the position accurately, and a certain error can be set to make the robot arm quickly pass through such an intermediate point. In the present disclosure, different command combinations can be made according to different robot arm adaptation to achieve error processing.

[0067] In the present disclosure, since the network port interface communication protocol formats of different robotic arms are different, for example, some robotic arms use the JSON format, some robotic arms use fixed-length strings, and some robotic arms require a certain initialization sequence. The present disclosure can target the network port interface communication protocol formats of different robotic arms, and can make different processing strategies for the robotic arms according to the different device information recorded in the device table. For example, different robotic arms A, B and C, for robotic arm A, the second control unit can establish a UDP (User Datagram Protocol) connection with robotic arm A; for robotic arm B, the second control unit can establish a TCP (Transmission Control Protocol) connection with robotic arm B as a client, the TCP connection can specify a port, and the second control unit can also obtain a new port number and disconnect the connection. The second control unit obtains the new port number through the TCP connection, and uses the new port number to initialize and reset the robotic arm to control the robotic arm; for robotic arm C, the second control unit can establish a TCP connection with robotic arm C as a client, obtain management authority through the TCP connection, reset and enable based on the management authority, and set the default coordinate system, etc.; compared with other types of robotic arms, the second control unit can perform operations such as connection initialization according to a specific timing, thereby controlling the movement of the robotic arm.

[0068] In a possible implementation manner, the second control unit controls the target device based on the target task data, which may include steps C1-C3:

[0069] Step C1, the second control unit resets the operating state of the target device according to the device information.

[0070] Step C2, monitoring whether a target device startup instruction is received.

[0071] Step C3: if yes, based on the running action information, control the target device to execute the motion action information.

[0072] In the present disclosure, the user can complete the device information description of the target device through the host computer, including the registration of the input and output interface, the registration of the motor device and the registration of the mechanical arm, and the registration information includes the IP address, port number and brand of each device. After the registration is completed, the user can model the action steps of the mechanical arm by dragging, pulling and dragging. Optionally, the operation actions such as IO operation, motor operation and mechanical arm operation can be encapsulated in the present disclosure and encapsulated into modules. The user can complete the modeling of the operation action of the mechanical arm by selecting each module. For example, the user can select the corresponding module and modify the mechanical arm coordinate information, movement mode and movement speed involved in the module. After completing the modeling of the action steps of the mechanical arm, the user can send the control task for the mechanical arm to the first control unit through a control button of the host computer. After the first control unit recognizes that the control task is a target task that describes the action information and device information of the mechanical arm, it can parse the target task, parse it into the form of action table and device table for storage, and send the mechanical arm information in the parsed target task to the second control unit. The second control unit performs the initialization operation of the robot arm and the control operation of the robot arm according to the brand information, IP address and port number information of the robot arm, and starts a separate thread to detect the safety signal of the robot arm according to the device information. Specifically, the second control unit can wait for the user's start instruction. If the user starts the operation of the automation device through the host computer page or the start button of the automation device, the second control unit can receive the start instruction. After receiving the start instruction, the second control unit can allocate the number of parallel threads according to the information of the action table, and execute non-conflicting tasks in parallel. The scheduling module of the first control unit can perform different operations for different task types. For example, for motor control tasks and input and output tasks, the first control unit can execute them by itself. For robot arm control tasks, the first control unit can send the robot arm control task information to the second control unit, and the second control unit will execute the corresponding robot arm action according to the robot arm description information, and return information such as the execution status.

[0073] In the present disclosure, the embedded MCU is used as the first control unit, which can significantly improve the real-time performance of the system and enable the robot arm to respond to control commands and changing working environments more quickly. The embedded MCU can also respond faster to the safety signals of the automation project, improve the safety of the system, and ensure that measures can be taken in time when abnormal situations occur to avoid accidents. In addition, the use of a separate second control unit to control the robot arm simplifies the control logic and reduces the interference of the business logic on the control timing of the robot arm, thereby improving the stability and reliability of the system. In addition, the interface standards of different robot arms are unified, and parameter settings are reduced, so that developers can focus more on function realization, greatly improve development efficiency, and reduce development costs. The unified robot arm interface standard allows operators to control multiple robot arms by learning only one control method, which improves the use efficiency and production efficiency. The use of a code-free development method reduces the difficulty of later maintenance, makes maintenance work easier and faster, and thus reduces the overall maintenance cost. In addition, by reserving a rich interface, it is convenient for users to carry out secondary development, and other devices can be easily added to achieve the expansion of system functions and meet diverse application needs.

[0074] Based on the same inventive concept, according to the control method provided in the above embodiment of the present disclosure, correspondingly, another embodiment of the present disclosure further provides a control device, whose structural schematic diagram is shown in FIG. Figure 4 As shown, specifically including:

[0075] The first control unit 401 is used to receive the task to be processed sent by the data processing unit, and when it is detected that the task to be processed is a target task corresponding to the target device, forward the target task data corresponding to the target task to the second control unit;

[0076] The second control unit 402 is used to control the target device based on the target task data, and the first control unit and the second control unit are in a master-slave relationship.

[0077] In one possible implementation manner, the first control unit establishes a connection with the second control unit via a first communication protocol.

[0078] In one possible implementation, the target task data includes device information and operation action information of the target device;

[0079] In one possible implementation manner, the second control unit 402 is specifically used for the second control unit to reset the operating state of the target device according to the device information; monitor whether a target device startup instruction is received; if so, based on the operating action information, control the target device to execute the motion action information.

[0080] In one possible implementation manner, the first control unit 401 is further configured to determine a task type of the task to be processed; and determine whether the task to be processed is a target task corresponding to a target device based on the task type.

[0081] In one possible implementation, the first control unit 401 is further configured to execute the precise control task or the input-output control task based on the task data of the task to be processed when it is detected that the task type of the task to be processed is a precise control task or an input-output control task.

[0082] In one possible implementation mode, the first control unit 401 is further used to detect whether the current processing resources of the data processing unit are less than a preset processing resource threshold; if so, obtain the processing status corresponding to each task currently executed in parallel; and schedule and process each task based on the current processing resources and the processing status so that the processing resources of the data processing unit are not less than the preset processing resource threshold.

[0083] According to an embodiment of the present disclosure, the present disclosure also provides an electronic device and a readable storage medium.

[0084] Figure 5 A schematic block diagram of an example electronic device 500 that can be used to implement an embodiment of the present disclosure is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present disclosure described and / or required herein.

[0085] like Figure 5 As shown, the device 500 includes a computing unit 501, which can perform various appropriate actions and processes according to a computer program stored in a read-only memory (ROM) 502 or a computer program loaded from a storage unit 508 into a random access memory (RAM) 503. In the RAM 503, various programs and data required for the operation of the device 500 can also be stored. The computing unit 501, the ROM 502, and the RAM 503 are connected to each other via a bus 504. An input / output (I / O) interface 505 is also connected to the bus 504.

[0086] A number of components in the device 500 are connected to the I / O interface 505, including: an input unit 506, such as a keyboard, a mouse, etc.; an output unit 507, such as various types of displays, speakers, etc.; a storage unit 508, such as a disk, an optical disk, etc.; and a communication unit 509, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 509 allows the device 500 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0087] The computing unit 501 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the computing unit 501 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various computing units running machine learning model algorithms, digital signal processors (DSPs), and any appropriate processors, controllers, microcontrollers, etc. The computing unit 501 performs the various methods and processes described above, such as control methods. For example, in some embodiments, the control method may be implemented as a computer software program, which is tangibly contained in a machine-readable medium, such as a storage unit 508. In some embodiments, part or all of the computer program may be loaded and / or installed on the device 500 via ROM 502 and / or communication unit 509. When the computer program is loaded into RAM 503 and executed by the computing unit 501, one or more steps of the control method described above may be performed. Alternatively, in other embodiments, the computing unit 501 may be configured to perform the control method in any other appropriate manner (e.g., by means of firmware).

[0088] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), integrated systems on a chip (SOCs), complex programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0089] The program code for implementing the method of the present disclosure may be written in any combination of one or more programming languages. These program codes may be provided to a processor or controller of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that the program code, when executed by the processor or controller, enables the functions / operations specified in the flow chart and / or block diagram to be implemented. The program code may be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0090] In the context of the present disclosure, a machine-readable medium may be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, device, or equipment. A machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or equipment, or any suitable combination of the foregoing. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0091] To provide interaction with a user, the systems and techniques described herein can be implemented on a computer having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user can provide input to the computer. Other types of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic input, voice input, or tactile input).

[0092] The systems and techniques described herein may be implemented in a computing system that includes back-end components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes front-end components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such back-end components, middleware components, or front-end components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), and the Internet.

[0093] A computer system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The relationship of client and server is generated by computer programs running on respective computers and having a client-server relationship with each other. The server may be a cloud server, a server of a distributed system, or a server combined with a blockchain.

[0094] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps recorded in this disclosure can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solutions disclosed in this disclosure can be achieved, and this document does not limit this.

[0095] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of the present disclosure, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0096] The above is only a specific embodiment of the present disclosure, but the protection scope of the present disclosure is not limited thereto. Any person skilled in the art who is familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present disclosure, which should be included in the protection scope of the present disclosure. Therefore, the protection scope of the present disclosure should be based on the protection scope of the claims.

Claims

1. A control method, characterized in that: Applied to the first control unit, the method comprises: Receiving tasks to be processed sent by a data processing unit; When it is detected that the task to be processed is the target task corresponding to the target device, the target task data corresponding to the target task is forwarded to the second control unit, so that the second control unit controls the target device based on the target task data, and the first control unit and the second control unit are in a master-slave relationship.

2. The method according to claim 1, characterized in that The first control unit establishes a connection with the second control unit via a first communication protocol.

3. The method according to claim 1, characterized in that The target task data includes device information and operation action information of the target device.

4. The method according to claim 1, characterized in that: The second control unit performs control processing on the target device based on the target task data, including: The second control unit resets the operating state of the target device according to the device information; Monitor whether the target device startup command is received; If yes, based on the running action information, control the target device to execute the motion action information.

5. The method according to claim 1, characterized in that When it is detected that the task to be processed is a target task corresponding to the target device, before forwarding the target task data corresponding to the target task to the second control unit, the method further includes: Determine the task type of the task to be processed; Determine whether the task to be processed is a target task corresponding to the target device based on the task type.

6. The method according to claim 1, characterized in that The method further comprises: When it is detected that the task type of the task to be processed is a precision control task or an input-output control task, the precision control task or the input-output control task is executed based on the task data of the task to be processed.

7. The method according to claim 1, further comprising: Detecting that the current processing resource of the data processing unit is less than a preset processing resource threshold; If yes, obtain the processing status of each task currently executed in parallel; The respective tasks are scheduled based on the current processing resources and the processing status, so that the processing resources of the data processing unit are not less than a preset processing resource threshold.

8. A control device, characterized in that: The device comprises: A first control unit is used to receive a task to be processed sent by a data processing unit, and when detecting that the task to be processed is a target task corresponding to a target device, forward the target task data corresponding to the target task to a second control unit; The second control unit is used to control the target device based on the target task data, and the first control unit and the second control unit are in a master-slave relationship.

9. A computer device comprising: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the method according to any one of claims 1 to 7 is implemented.

10. A storage medium comprising computer executable instructions, which when executed by a computer processor are used to perform the method of any one of claims 1 to 7.

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