Equipment control method and device, electronic equipment, storage medium and computer program product

Abstract

The invention provides an equipment control method and device, electronic equipment, a computer readable storage medium and a computer program product. The method is applied to first equipment, the first equipment comprises a chassis and a mechanical arm arranged on the chassis, and a signal transmitter is arranged on the mechanical arm; the method comprises the steps that in response to received control information for second equipment, the chassis is controlled to move and / or the posture of the mechanical arm is adjusted; and sending a control signal carrying the control information to the second equipment through the signal transmitter, so that the second equipment executes an action based on the control information. According to the invention, equipment in a larger range can be conveniently and accurately controlled.

Description

Technical Field

[0001] The present application relates to device control technology, and in particular to a device control method, apparatus, electronic device, storage medium, and computer program product. Background Art

[0002] With the development of smart devices, the types and functions of devices are increasing, and a more accurate and convenient way to control the devices is needed.

[0003] Currently, devices installed within a certain area often require users to move their own positions to control them. In actual scenarios, due to the different locations and types of devices and corresponding control methods, when users control devices in the area, they need to adjust their own positions and control methods one-to-one according to different devices, which is very inconvenient for users. Summary of the Invention

[0004] The embodiments of the present application provide a device control method, apparatus, electronic device, computer-readable storage medium, and computer program product, which can conveniently and accurately control a wider range of devices.

[0005] The technical solution of the embodiment of the present application is implemented as follows:

[0006] An embodiment of the present application provides a device control method, which is applied to a first device, wherein the first device includes a chassis and a robotic arm disposed on the chassis, wherein the robotic arm is provided with a signal transmitter, the method comprising:

[0007] In response to receiving control information for the second device, controlling the chassis to move and / or adjusting the posture of the robotic arm;

[0008] A control signal carrying the control information is sent to the second device through the signal transmitter, so that the second device performs an action based on the control information.

[0009] In the above solution, controlling the movement of the chassis and / or adjusting the posture of the robotic arm includes:

[0010] Determining a first spatial position of the second device based on a pre-constructed three-dimensional map;

[0011] Based on the first spatial position, the chassis is controlled to move and / or the posture of the robotic arm is adjusted so that the signal transmitter is located within the signal receiving range of the second device.

[0012] In the above solution, controlling the movement of the chassis and / or adjusting the posture of the robotic arm based on the first spatial position so that the signal transmitter is located within the signal receiving range of the second device includes:

[0013] Determining a transmission position and a transmission direction of the signal transmitter based on the first spatial position;

[0014] Based on the emission position and the emission direction, the chassis is controlled to move and / or the posture of the robotic arm is adjusted so that the signal transmitter is located at the emission position and in the emission direction.

[0015] In the above solution, determining the transmission position and transmission direction of the signal transmitter based on the first spatial position includes:

[0016] determining a second spatial position of the first device;

[0017] Performing path planning for the first device based on the second spatial position and the first spatial position to obtain a planned path;

[0018] Determine the transmission position and transmission direction of the signal transmitter on the planned path.

[0019] In the above solution, the method further includes:

[0020] determining whether the second device successfully performs the action;

[0021] After determining that the second device has not successfully performed the action, re-determining the transmission position and / or transmission direction of the signal transmitter;

[0022] Based on the re-determined emission position and / or emission direction, controlling the chassis to move and / or adjusting the posture of the robotic arm so that the signal transmitter is located in the re-determined emission position and / or emission direction;

[0023] The control signal carrying the control information is resent to the second device through the signal transmitter.

[0024] In the above solution, determining whether the second device successfully performs the action includes:

[0025] receiving a feedback signal from the second device;

[0026] Determine whether the second device successfully performs an action according to the feedback signal.

[0027] In the above solution, determining whether the second device successfully performs the action includes:

[0028] If the control information for the second device is received again within the target time after the signal transmitter sends the control signal, it is determined that the second device has not successfully performed the action.

[0029] In the above solution, determining whether the second device successfully performs the action includes:

[0030] Before the signal transmitter sends the control signal, collecting first status information of the second device;

[0031] After the signal transmitter sends the control signal, collecting second status information of the second device;

[0032] Based on the first state information and the second state information, it is determined whether the action is successfully executed according to whether the actual change state of the second device is consistent with the control change state corresponding to the control information.

[0033] In the above solution, the robotic arm is provided with a detection sensor, and the method further comprises:

[0034] During the movement of the chassis in the target area, adjusting the posture of the robotic arm;

[0035] During the process of adjusting the posture of the robotic arm, spatial information of the target area is collected by the detection sensor, and at least one device in the target area is identified;

[0036] After identifying the device, determining location information of a spatial location of the identified device, wherein the second device is one of the at least one device;

[0037] The three-dimensional map of the target area is constructed based on the spatial information and the position information.

[0038] In the above solution, after determining the location information of the spatial location of the identified device, the method further includes:

[0039] According to the spatial position of the identified device, controlling the movement of the chassis and / or adjusting the posture of the robotic arm so that the signal transmitter is located within the signal receiving range of the identified device;

[0040] A matching signal is sent to the identified device via the signal transmitter, so that the identified device is paired with the signal transmitter.

[0041] In the above solution, the first device is a cleaning robot and the second device is a household appliance.

[0042] An embodiment of the present application provides a device control apparatus, which is applied to a first device. The first device includes a chassis and a mechanical arm disposed on the chassis. The mechanical arm is provided with a signal transmitter. The apparatus includes:

[0043] a response module, configured to control the movement of the chassis and / or adjust the posture of the robotic arm in response to receiving control information for the second device;

[0044] A signal sending module is used to send a control signal carrying the control information to the second device through the signal transmitter, so that the second device performs an action based on the control information.

[0045] An embodiment of the present application provides an electronic device, comprising: a chassis and a mechanical arm disposed on the chassis, the mechanical arm being provided with a signal transmitter, and a control unit being provided within the chassis;

[0046] The control unit is configured to control the movement of the chassis and / or adjust the posture of the robotic arm in response to receiving control information for the second device;

[0047] A control signal carrying the control information is sent to the second device through the signal transmitter, so that the second device performs an action based on the control information.

[0048] An embodiment of the present application provides a computer program product that stores a computer program for implementing the device control method provided in the embodiment of the present application when executed by a processor.

[0049] The embodiment of the present application controls the movement of the chassis and / or adjusts the posture of the robotic arm in response to receiving control information for the second device, and then sends a control signal carrying the control information to the second device through the signal transmitter, so that the second device performs an action based on the control information; wherein, a robotic arm is provided on the chassis of the first device, and the posture of the signal transmitter is adjusted by moving the chassis and adjusting the posture of the robotic arm, which can make the signal transmission range of the signal transmitter wider, thereby controlling a wider range of devices through a first device, thereby realizing convenient and accurate control of a wider range of devices. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] Figure 1 This is an optional structural diagram of the first device 100 provided in an embodiment of the present application;

[0051] Figure 2 This is an optional structural diagram of a device control system provided in an embodiment of the present application;

[0052] Figure 3This is an optional structural diagram of the electronic device 300 provided in an embodiment of the present application;

[0053] Figure 4 This is an optional flowchart of the device control method provided in the embodiment of the present application;

[0054] Figure 5 This is an optional schematic diagram of a first device sending a control signal to a second device provided in an embodiment of the present application;

[0055] Figure 6 This is an optional detailed flowchart of step 401 provided in an embodiment of the present application;

[0056] Figure 7 This is an optional detailed flowchart of step 602 provided in an embodiment of the present application. DETAILED DESCRIPTION

[0057] In order to make the purpose, technical solutions and advantages of this application clearer, the application will be further described in detail below with reference to the accompanying drawings. The described embodiments should not be regarded as limiting this application. All other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0058] In the following description, reference is made to “some embodiments”, which describes a subset of all possible embodiments, but it will be understood that “some embodiments” may be the same subset or different subsets of all possible embodiments and may be combined with each other without conflict.

[0059] In the following description, the terms "first\second\third" involved are merely used to distinguish similar objects and do not represent a specific ordering of the objects. It can be understood that "first\second\third" can be interchanged with a specific order or sequence where permitted, so that the embodiments of the present application described herein can be implemented in an order other than that illustrated or described herein.

[0060] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which this application pertains. The terms used herein are for the purpose of describing the embodiments of this application only and are not intended to limit this application.

[0061] The embodiments of the present application provide a device control method, apparatus, electronic device, and computer-readable storage medium, which can conveniently and accurately control a wider range of devices.

[0062] First, the first device provided in the embodiment of the present application is described. Figure 1 , Figure 1This is an optional structural diagram of the first device 100 provided in an embodiment of the present application. The first device 100 includes a chassis 101 and a robotic arm 102. A signal transmitter 103 is provided on the robotic arm 102. Here, the robotic arm 102 is arranged on the chassis 101. The chassis 101 can move, causing the first device 100 to be displaced. The signal transmitter 103 is arranged at the end of the robotic arm 102. Specifically, in one embodiment, the chassis 101 is provided with a wheeled or tracked walking assembly (not shown in the figure) to achieve the movement of the first device 101. The robotic arm 102 is arranged on the chassis 101. The robotic arm 102 is a multi-degree-of-freedom robotic arm, for example, a three-degree-of-freedom robotic arm, a four-degree-of-freedom robotic arm, etc., which is not specifically limited in this application. A gripper 104 is provided at the end of the robotic arm 102, and the gripper 104 can rotate around the robotic arm 102. The gripper 104 includes at least two gripper fingers for mounting the signal transmitter 103. By controlling the movement of the chassis 101 and or adjusting the posture (i.e., position and posture) of the robotic arm 102 to adjust the posture of the signal transmitter 103, flexible adjustment of the spatial position and emission angle of the signal transmitter 103 is achieved. Here, the signal transmitted by the signal transmitter 103 may be an infrared signal, a Bluetooth signal, or a WiFi signal. A control chip is also provided in the first device 100 for executing the method provided in the embodiment of the present application. In some embodiments, other functions may also be provided on the first device 100, such as an intelligent sweeping function, that is, the chassis 101 is provided with functional components for sweeping the floor, so that multiple functions can be achieved through one first device 100. Specifically, the first device 100 may be a cleaning robot having functions such as vacuuming, sweeping, and mopping the floor, that is, the chassis 101 is provided with functional components such as a roller brush, a dust suction fan, and a side brush for sweeping the floor, and may also include a mopping module to achieve the mopping function.

[0063] The following describes the device control system provided in the embodiment of the present application. Figure 2 , Figure 2 This is a schematic diagram of an optional structure of a device control system provided in an embodiment of the present application, in which a first device 100 is communicatively connected to a second device 200. Here, the communication connection method may be an infrared connection, a Bluetooth connection, or a wireless network connection. The second device 200 may be a household appliance, such as a television, an air conditioner, a washing machine, a lighting device, a monitoring device, or an audio device.

[0064] Next, the electronic device provided in the embodiment of the present application for implementing the above-mentioned device control method is described. Figure 3 , Figure 3 This is an optional structural diagram of the electronic device 300 provided in the embodiment of the present application. In practical applications, the electronic device 300 can be implemented as Figure 2 Referring to the first device 100, the electronic device that implements the device control method of the embodiment of the present application is described below.

[0065] Figure 3 The electronic device 300 shown includes: at least one processor 301 and a memory 302. The various components in the electronic device 300 are coupled together via a bus system 303. It is understood that the bus system 303 is used to achieve connection and communication between these components. In addition to the data bus, the bus system 303 also includes a power bus, a control bus, and a status signal bus. However, for the sake of clarity, the bus system 303 is not described in detail. Figure 3 Various buses are labeled as bus system 303.

[0066] The processor 301 can be an integrated circuit chip with signal processing capabilities, such as a general-purpose processor, a digital signal processor (DSP), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc., where the general-purpose processor can be a microprocessor or any conventional processor, etc.

[0067] The memory 302 may be removable, non-removable, or a combination thereof. Exemplary hardware devices include solid-state memory, hard drives, optical drives, etc. The memory 302 may optionally include one or more storage devices that are physically remote from the processor 301.

[0068] The memory 302 includes volatile memory or non-volatile memory, or may include both volatile and non-volatile memory. The non-volatile memory may be a read-only memory (ROM), and the volatile memory may be a random access memory (RAM). The memory 302 described in the embodiments of the present application is intended to include any suitable type of memory.

[0069] In some embodiments, the memory 302 can store data to support various operations. Examples of such data include programs, modules, and data structures, or subsets or supersets thereof. In the embodiment of the present application, the memory 302 stores an operating system 3021 and a device control device 3022. Specifically,

[0070] Operating system 3021, including system programs for processing various basic system services and performing hardware-related tasks, such as the framework layer, core library layer, and driver layer, which are used to implement various basic services and process hardware-based tasks;

[0071] In some embodiments, the device control apparatus provided in the embodiments of the present application may be implemented in software. Figure 3The device control device 3022 stored in the memory 302 is shown. This device control device 3022 can be software in the form of a program or plug-in, and includes the following software modules: a response module 30221 and a signal transmission module 30222. These modules are logical and can be arbitrarily combined or further separated according to the functions they implement. The functions of each module will be described below.

[0072] In other embodiments, the device control device provided in the embodiments of the present application can be implemented in hardware. As an example, the device control device provided in the embodiments of the present application can be a processor in the form of a hardware decoding processor, which is programmed to execute the device control method provided in the embodiments of the present application. For example, the processor in the form of a hardware decoding processor can adopt one or more application-specific integrated circuits (ASICs), DSPs, programmable logic devices (PLDs), complex programmable logic devices (CPLDs), field-programmable gate arrays (FPGAs), or other electronic components.

[0073] The device control method provided in the embodiment of the present application will be explained in combination with the exemplary application and implementation of the first device provided in the embodiment of the present application.

[0074] See also Figure 4 , Figure 4 This is an optional flow chart of the device control method provided in the embodiment of the present application, which will be combined with Figure 4 The steps shown are explained.

[0075] Step 401: In response to receiving control information for a second device, controlling the chassis to move and / or adjusting the posture of the robotic arm;

[0076] Step 402: Send a control signal carrying the control information to the second device through the signal transmitter, so that the second device performs an action based on the control information.

[0077] In actual implementation, the second device may be a household appliance set in the target area, and the target area may be an area within the moving range of the first device. The first device may be a cleaning robot that can clean the target area while moving. The first device can receive control information for the second device. Here, the control information can be issued by the user. Specifically, the user can issue control information by emitting voice. After the first device collects the user's voice, it performs voice recognition on the user's voice to obtain the control information carried in the user's voice. The control information can also be issued by the user through the user terminal. The user terminal can establish a communication connection with the first device and send control information to the first device through the communication connection. Here, the communication connection method between the user terminal and the first device can be a local area network or Bluetooth. Specifically, the user terminal can be installed with a target application, and a communication connection can be established with the first device based on the target application. The user can send control information to the first device by operating the target application.

[0078] In step 401, the first device adjusts the position of the signal transmitter in response to receiving control information for the second device. Specifically, the position of the signal transmitter is adjusted by controlling the movement of the chassis and / or the robotic arm of the first device, so that the signal transmitter is adjusted to a suitable position so that the second device can receive the signal sent by the signal transmitter. In actual implementation, if the first device can adjust the signal transmitter to a suitable position simply by adjusting the position of the robotic arm when receiving the control information, the chassis can be left unmoved and only the position of the robotic arm can be adjusted. If the first device cannot adjust the signal transmitter to a suitable position simply by adjusting the position of the robotic arm when receiving the control information, it is necessary to control the movement of the chassis of the first device. Here, if the current position of the robotic arm after moving the chassis can put the signal transmitter in a suitable position, the robotic arm can be adjusted; otherwise, the position of the robotic arm needs to be further adjusted.

[0079] In an embodiment of the present application, the robotic arm can adjust the spatial position of the signal transmitter in three-dimensional space. In addition, the robotic arm can also rotate, and the rotatable angle can be a target angle with any coordinate axis in the three-dimensional space as the rotation axis. The target angle can be 360 degrees. Specifically, in the three-dimensional space of the three-dimensional map, there are x-axis, y-axis and z-axis, and the robotic arm can rotate the target angle based on the x-axis, y-axis and z-axis respectively. Through the movement and rotation of the robotic arm, the position and posture of the signal transmitter can be controlled more accurately and over a larger range.

[0080] In step 402, after adjusting the position of the signal transmitter, the control signal transmitter is controlled to transmit a control signal carrying control information. Here, the control signal may be an infrared signal, and the signal transmitter is an infrared transmitter. A corresponding infrared receiver is provided within the second device. Upon receiving the control signal, the second device performs a corresponding action based on the control information. Here, the control information is used to control the second device to perform a corresponding action. For example, if the control information is to turn on the device, the second device will perform the corresponding power-on action. If the control information is to increase the volume, and is used to control the second device, a television, the television will increase the volume upon receiving the control signal to increase the volume.

[0081] For example, see Figure 5 , Figure 5 This is an optional schematic diagram of a first device sending a control signal to a second device according to an embodiment of the present application. Here, the transmission position and transmission direction of the signal transmitter 103 of the first device 100 are located within the signal reception range of the second device 200, and the control signal transmitted by the signal transmitter 103 at this transmission position and transmission direction can be received by the second device 200.

[0082] In an embodiment of the present application, the chassis is controlled to move and / or the posture of the robotic arm is adjusted in response to receiving control information for the second device, and a control signal carrying the control information is sent to the second device through the signal transmitter, so that the second device performs an action based on the control information; wherein, a robotic arm is provided on the chassis of the first device, and the posture of the signal transmitter is adjusted by moving the chassis and adjusting the posture of the robotic arm, which can make the signal transmission range of the signal transmitter wider, thereby controlling a wider range of devices through a first device, thereby realizing convenient and accurate control of a wider range of devices.

[0083] In some embodiments, see Figure 6 , Figure 6 This is an optional detailed flow diagram of step 401 provided in an embodiment of the present application. In step 401, controlling the movement of the chassis and / or adjusting the posture of the robotic arm includes:

[0084] Step 601: determining a first spatial position of the second device based on a pre-built three-dimensional map;

[0085] Step 602: Based on the first spatial position, control the movement of the chassis and / or adjust the posture of the robotic arm so that the signal transmitter is located within the signal receiving range of the second device.

[0086] In step 601, in response to receiving control information for the second device, the first device determines the first spatial position of the second device based on a pre-constructed three-dimensional map. Here, the first spatial position of the second device is pre-marked in the three-dimensional map. The first spatial position includes the plane position and height of the second device in the target area. After obtaining the control information for the second device, the first device can determine the first spatial position of the second device from the three-dimensional map. In one embodiment, the first spatial position can be the location of the signal receiving center of the second device. The signal receiving center can be a signal receiver of the second device, such as an infrared receiver.

[0087] In step 602, based on the first spatial position, the signal transmitter is adjusted to be within the signal reception range of the second device. Here, the signal reception range can be pre-set based on the signal reception center of the second device, defined as a certain positional range and angular range of the second device's signal reception center. The signal reception range can also be determined based on the device type and the first spatial position of the second device. Different types of second devices may have different corresponding signal reception ranges. In actual implementation, the position of the signal transmitter can be adjusted by controlling the movement of the chassis and / or the robotic arm of the first device. In actual implementation, if, upon receiving the control information, the first device is within the target spatial range of the second device and can simply adjust the position of the robotic arm to place the signal transmitter within the signal reception range of the second device, then the chassis can be adjusted, and only the robotic arm position can be adjusted. If, upon receiving the control information, the first device is not within the target spatial range of the second device and cannot simply adjust the position of the robotic arm to place the signal transmitter within the signal reception range of the second device, then the chassis of the first device needs to be controlled to move. Here, if after moving the chassis, the current posture of the robotic arm enables the signal transmitter to be located within the signal receiving range of the second device, the robotic arm does not need to be adjusted; otherwise, the posture of the robotic arm needs to be further adjusted.

[0088] In some embodiments, see Figure 7 , Figure 7 This is an optional detailed flow chart of step 602 provided in an embodiment of the present application, wherein step 602 includes:

[0089] Step 701: determining a transmission position and a transmission direction of the signal transmitter based on the first spatial position;

[0090] Step 702: Based on the transmitting position and the transmitting direction, control the movement of the chassis and / or adjust the posture of the robotic arm so that the signal transmitter is at the transmitting position and the transmitting direction.

[0091] In actual implementation, after determining the first spatial position of the second device, a transmission position and transmission direction can be determined so that the signal transmitted by the signal transmitter is within the signal reception range of the second device. Then, a motion control algorithm is used to control the movement of the chassis and / or adjust the position of the robotic arm to ensure that the signal transmitter is in the determined transmission position and transmission direction.

[0092] In some embodiments, determining the transmission position and transmission direction of the signal transmitter based on the first spatial position includes: determining the second spatial position of the first device; performing path planning for the first device based on the second spatial position and the first spatial position to obtain a planned path; and determining the transmission position and transmission direction of the signal transmitter on the planned path.

[0093] During actual implementation, the second spatial position of the first device is also determined. Based on the three-dimensional map and the first spatial position and the second spatial position, path planning is performed on the first device to obtain a planned path. Here, path planning can be based on the shortest path principle. Here, the planned path includes the moving destination of the first device. In one embodiment, the planned path also includes the transmission posture of the signal transmitter, and the transmission posture includes the transmission position and the transmission direction. After obtaining the planned path, the chassis movement can be controlled and / or the posture of the robotic arm can be adjusted so that the signal transmitter reaches the corresponding transmission position and is adjusted to the corresponding transmission direction.

[0094] In some embodiments, the method further includes: determining whether the second device successfully performs an action; after determining that the second device has not successfully performed an action, redetermining the transmission position and / or transmission direction of the signal transmitter; based on the re-determined transmission position and / or transmission direction, controlling the movement of the chassis and / or adjusting the posture of the robotic arm so that the signal transmitter is in the re-determined transmission position and / or transmission direction; and re-sending the control signal carrying the control information to the second device through the signal transmitter.

[0095] In actual implementation, the first device determines whether the second device successfully performs the action. If it is determined that the second device successfully performs the action, the first device can wait for the next control information at the original location or return to the target location. If the first device has other functions and receives control information while performing other functions, it will pause the execution of the other functions and respond to the received control information. After determining that the second device successfully performs the action, it will continue to perform the other functions. Here, the other function is, for example, the sweeping function.

[0096] If it is determined that the second device has not successfully performed the action, the transmission position and / or transmission direction of the signal transmitter are re-determined to determine the new transmission posture of the signal transmitter. The re-determined transmission position is different from the transmission position determined in step 701, and / or the re-determined transmission direction is different from the transmission direction determined in step 701. It should be understood that the signal transmitter can be within the signal receiving range of the second device based on the re-determined transmission position and transmission direction. In actual implementation, the first device controls the chassis movement and / or adjusts the posture of the robotic arm again based on the re-determined transmission position and / or transmission direction, so that the signal transmitter is in the re-determined transmission position and / or transmission direction. Then, the control signal carrying the control information is re-sent to the second device through the signal transmitter.

[0097] Here, by determining whether the second device has successfully performed an action, when it is determined that the action has not been successfully performed, the transmission posture of the signal transmitter is readjusted so that a control signal is transmitted based on the new transmission posture, thereby improving the control accuracy of the second device.

[0098] In some embodiments, the determining whether the second device successfully performs the action includes: receiving a feedback signal from the second device; and determining whether the second device successfully performs the action based on the feedback signal.

[0099] In actual implementation, the feedback signal can be sent via WiFi, Bluetooth or infrared. Here, if the feedback signal is an infrared signal, the second device is also provided with an infrared transmitter, and accordingly, the first device is also provided with an infrared receiver. After successfully executing the action, the second device sends a feedback signal of successful execution of the action to the first device. If the first device does not receive the feedback signal from the second device within the time threshold after sending the control signal, it is determined that the second device has not successfully executed the action. Here, the time threshold can be pre-set. For example, it can be set to 30s. In some embodiments, the first device can also determine that the second device has not successfully executed the action after receiving the feedback signal sent by the second device indicating that the action has not been successfully executed. After the second device receives the control signal, if the control signal is weak or other reasons make the second device unable to recognize the control information, or the second device fails to execute the action in time due to signal failure, etc. and the control signal fails, a feedback signal of unsuccessful execution is sent to the first device. Through the feedback signal of the second device, it is possible to accurately and efficiently determine whether the second device has successfully executed the action.

[0100] In some embodiments, determining whether the second device successfully performs the action includes: if the control information for the second device is received again within the target time after the signal transmitter sends the control signal, determining that the second device has not successfully performed the action.

[0101] Here, the target time can be pre-set. For example, it can be set to 30 seconds. In actual implementation, if control information for the second device is received again within the target time after the signal transmitter sends the control signal, it is determined that the second device has not successfully executed the action. In actual scenarios, if the user determines that the second device has not successfully executed the action, the control information for the second device will be sent again within a short period of time. After the first device receives the control information again within the target time, it will determine that the second device has not successfully executed the action, adjust the transmission posture of the signal transmitter, and send the control signal again.

[0102] In some embodiments, determining whether the second device has successfully performed an action includes: collecting first status information of the second device before the signal transmitter sends the control signal; collecting second status information of the second device after the signal transmitter sends the control signal; based on the first status information and the second status information, determining whether the action is successfully performed according to whether the actual change state of the second device is consistent with the control change state corresponding to the control information.

[0103] In actual implementation, the first device is further provided with a collection device. Before the signal transmitter sends the control signal, the collection device collects the first state information of the second device. After the signal transmitter sends the control signal, the collection device collects the second state information of the second device. Based on the change information of the second state information compared with the first state information, the actual change state of the second device is determined. Whether the action is successfully executed is determined based on whether the actual change state is consistent with the control change state corresponding to the control information. If they are consistent, it is determined that the second device successfully executed the action; otherwise, it is determined that the second device did not successfully execute the action.

[0104] For example, for a second device such as a television, the first device may capture the television's display image and use the display image as the corresponding status information. If the actual change state of the display image is consistent with the control change state corresponding to the control information, the television is determined to have successfully executed the action; otherwise, the action is not successfully executed. Here, the capture device may be a camera or an RGB sensor.

[0105] In some embodiments, a detection sensor is provided on the robotic arm, and the method further includes: adjusting the posture of the robotic arm during the movement of the chassis in the target area; during the posture adjustment of the robotic arm, collecting spatial information of the target area through the detection sensor, and identifying at least one device in the target area; after identifying the device, determining the position information of the spatial position of the identified device, the second device is one of the at least one device; based on the spatial information and the position information, constructing the three-dimensional map of the target area.

[0106] In actual implementation, the detection sensor includes an RGB sensor. In one embodiment, the detection sensor also includes a Time of Flight (ToF) sensor. As the chassis of the first device moves within the target area, the robotic arm adjusts its posture to maintain continuous posture changes. During these posture changes, the detection sensor collects spatial information about the target area. Here, the spatial information about the target area includes spatial information about objects within the target area. Objects within the target area include at least one device. The second device is one of the at least one device. During the spatial information collection process, target recognition is performed within the target area. The recognized target is the at least one device. After the device is recognized, the spatial location information of the recognized device is determined. The detection sensor can also determine the device's size information. A three-dimensional map of the target area is then constructed based on the spatial information of the target area and the location and size information of the at least one device. After the device is recognized, the device type is also identified and the device type is annotated in the three-dimensional map. Three-dimensional modeling can be performed based on the device's location and size information, and the device model can be added to the three-dimensional map and annotated with the device type.

[0107] In some embodiments, after determining the position information of the spatial position of the identified device, the method further includes: controlling the movement of the chassis and / or adjusting the posture of the robotic arm according to the spatial position of the identified device so that the signal transmitter is located within the signal receiving range of the identified device; sending a matching signal to the identified device through the signal transmitter so that the identified device and the signal transmitter are paired.

[0108] In actual implementation, after identifying a device, the signal transmitter can be controlled to be within the signal reception range of the identified device based on the spatial location of the identified device, and then a matching signal is sent to the identified device via the signal transmitter to perform signal pairing between the identified device and the signal transmitter. Here, the corresponding signal pairing can be performed based on the device type of the identified device. In an embodiment of the present application, a first device can perform signal pairing with multiple second devices in order to control the multiple second devices.

[0109] The following continues to describe the exemplary structure of the device control device 3022 provided in the embodiment of the present application as a software module. In some embodiments, such as Figure 3 As shown, the software modules stored in the device control device 3022 of the memory 302 may include:

[0110] a response module 30221, configured to control the movement of the chassis and / or adjust the posture of the robotic arm in response to receiving control information for the second device;

[0111] The signal sending module 30222 is configured to send a control signal carrying the control information to the second device through the signal transmitter, so that the second device performs an action based on the control information.

[0112] In some embodiments, the response module 30221 is also used to determine the first spatial position of the second device based on a pre-constructed three-dimensional map; based on the first spatial position, control the movement of the chassis and / or adjust the posture of the robotic arm so that the signal transmitter is located within the signal receiving range of the second device.

[0113] In some embodiments, the response module 30221 is also used to determine the emission position and emission direction of the signal transmitter based on the first spatial position; based on the emission position and the emission direction, control the movement of the chassis and / or adjust the posture of the robotic arm so that the signal transmitter is in the emission position and emission direction.

[0114] In some embodiments, determining the transmission position and transmission direction of the signal transmitter based on the first spatial position includes: determining the second spatial position of the first device; performing path planning for the first device based on the second spatial position and the first spatial position to obtain a planned path; and determining the transmission position and transmission direction of the signal transmitter on the planned path.

[0115] In some embodiments, the device also includes: a resending module for determining whether the second device successfully performs an action; after determining that the second device has not successfully performed an action, redetermining the transmission position and / or transmission direction of the signal transmitter; based on the re-determined transmission position and / or transmission direction, controlling the movement of the chassis and / or adjusting the posture of the robotic arm so that the signal transmitter is in the re-determined transmission position and / or transmission direction; and re-sending the control signal carrying the control information to the second device through the signal transmitter.

[0116] In some embodiments, the resending module is further configured to receive a feedback signal from the second device; and determine whether the second device successfully performs an action based on the feedback signal.

[0117] In some embodiments, the resending module is further configured to determine that the second device has failed to perform an action successfully if the control information for the second device is received again within a target time after the signal transmitter sends the control signal.

[0118] In some embodiments, the resending module is further used to collect the first state information of the second device before the signal transmitter sends the control signal; collect the second state information of the second device after the signal transmitter sends the control signal; based on the first state information and the second state information, determine whether the action is successfully executed according to whether the actual change state of the second device is consistent with the reference change state after executing the action.

[0119] In some embodiments, the robotic arm is provided with a detection sensor, and the device further includes: a mapping module, which is used to adjust the posture of the robotic arm while the chassis moves in the target area; during the posture adjustment of the robotic arm, the spatial information of the target area is collected by the detection sensor, and at least one device in the target area is identified; after identifying the device, the position information of the spatial position of the identified device is determined, and the second device is one of the at least one device; based on the spatial information and the position information, the three-dimensional map of the target area is constructed.

[0120] In some embodiments, after determining the position information of the spatial position of the identified device, the device also includes: a signal matching module, which is used to control the movement of the chassis and / or adjust the posture of the robotic arm according to the spatial position of the identified device, so that the signal transmitter is located within the signal receiving range of the identified device; and send a matching signal to the identified device through the signal transmitter to perform signal pairing between the identified device and the signal transmitter.

[0121] In some embodiments, the first device is a cleaning robot and the second device is a household appliance.

[0122] It should be noted that the description of the device embodiment of the present application is similar to the description of the above-mentioned method embodiment, and has similar beneficial effects as the method embodiment, so it will not be repeated.

[0123] An embodiment of the present application provides an electronic device, comprising: a chassis and a mechanical arm disposed on the chassis, the mechanical arm being provided with a signal transmitter, and a control unit being provided within the chassis;

[0124] The control unit is configured to, in response to receiving control information for the second device, determine a first spatial position of the second device based on a pre-constructed three-dimensional map;

[0125] Based on the first spatial position, controlling the movement of the chassis and / or adjusting the posture of the robotic arm so that the signal transmitter is located within a signal receiving range of the second device;

[0126] A control signal carrying the control information is sent to the second device through the signal transmitter, so that the second device performs an action based on the control information.

[0127] The present invention provides a computer program product comprising computer instructions stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium and executes the computer instructions, causing the computer device to perform the device control method described above in the present invention.

[0128] An embodiment of the present application provides a computer-readable storage medium storing executable instructions, wherein the executable instructions are stored. When the executable instructions are executed by a processor, the processor will execute the device control method provided by the embodiment of the present application.

[0129] In some embodiments, the computer-readable storage medium may be a memory such as FRAM, ROM, PROM, EPROM, EEPROM, flash memory, magnetic surface storage, optical disk, or CD-ROM; or various devices including one or any combination of the above memories.

[0130] In some embodiments, executable instructions may be in the form of a program, software, software module, script, or code, written in any form of programming language (including compiled or interpreted languages, or declarative or procedural languages), and may be deployed in any form, including as a stand-alone program or as a module, component, subroutine, or other unit suitable for use in a computing environment.

[0131] As an example, executable instructions may, but need not, correspond to a file in a file system, may be stored as part of a file that stores other programs or data, such as in one or more scripts in a HyperText Markup Language (HTML) document, in a single file dedicated to the program in question, or in multiple coordinating files (e.g., files storing one or more modules, subroutines, or code portions).

[0132] By way of example, executable instructions may be deployed to be executed on one computing device, or on multiple computing devices at one site, or on multiple computing devices distributed across multiple sites and interconnected by a communication network.

[0133] In summary, the embodiments of the present application can conveniently and accurately control a wider range of devices.

[0134] The above description is merely an embodiment of the present application and is not intended to limit the scope of protection of the present application. Any modifications, equivalent replacements, and improvements made within the spirit and scope of the present application are included in the scope of protection of the present application.

Claims

1. A device control method, characterized in that: Applied to a first device, the first device includes a chassis and a robotic arm disposed on the chassis, the robotic arm being provided with a signal transmitter, the method comprising: In response to receiving control information for the second device, controlling the chassis to move and / or adjusting the posture of the robotic arm; A control signal carrying the control information is sent to the second device through the signal transmitter, so that the second device performs an action based on the control information.

2. The method according to claim 1, characterized in that The controlling the movement of the chassis and / or adjusting the posture of the robotic arm includes: Determining a first spatial position of the second device based on a pre-constructed three-dimensional map; Based on the first spatial position, the chassis is controlled to move and / or the posture of the robotic arm is adjusted so that the signal transmitter is located within the signal receiving range of the second device.

3. The method according to claim 2, characterized in that The controlling the movement of the chassis and / or adjusting the posture of the robotic arm based on the first spatial position so that the signal transmitter is located within the signal receiving range of the second device includes: Determining a transmission position and a transmission direction of the signal transmitter based on the first spatial position; Based on the emission position and the emission direction, the chassis is controlled to move and / or the posture of the robotic arm is adjusted so that the signal transmitter is located at the emission position and in the emission direction.

4. The method according to claim 3, characterized in that The determining, based on the first spatial position, the transmission position and transmission direction of the signal transmitter includes: determining a second spatial position of the first device; Performing path planning for the first device based on the second spatial position and the first spatial position to obtain a planned path; Determine the transmission position and transmission direction of the signal transmitter on the planned path.

5. The method according to claim 3, characterized in that The method further comprises: determining whether the second device successfully performs the action; After determining that the second device has not successfully performed the action, re-determining the transmission position and / or transmission direction of the signal transmitter; Based on the re-determined emission position and / or emission direction, controlling the chassis to move and / or adjusting the posture of the robotic arm so that the signal transmitter is located in the re-determined emission position and / or emission direction; The control signal carrying the control information is resent to the second device through the signal transmitter.

6. The method according to claim 5, characterized in that Determining whether the second device successfully performs the action includes: receiving a feedback signal from the second device; Determine whether the second device successfully performs an action according to the feedback signal.

7. A device control device, characterized in that: Applied to a first device, the first device includes a chassis and a robotic arm provided on the chassis, the robotic arm is provided with a signal transmitter, and the device includes: a response module, configured to control the movement of the chassis and / or adjust the posture of the robotic arm in response to receiving control information for the second device; A signal sending module is used to send a control signal carrying the control information to the second device through the signal transmitter, so that the second device performs an action based on the control information.

8. An electronic device, characterized in that: include: A chassis and a mechanical arm provided on the chassis, wherein the mechanical arm is provided with a signal transmitter, and a control unit is provided in the chassis; The control unit is used to control the movement of the chassis and / or adjust the position of the robotic arm in response to receiving control information for the second device; and send a control signal carrying the control information to the second device through the signal transmitter, so that the second device performs an action based on the control information.

9. A computer-readable storage medium, characterized in that Executable instructions are stored, which are used to cause a processor to execute and implement the device control method according to any one of claims 1 to 6.

10. A computer program product, characterized in that A computer program is stored, which is used to implement the device control method according to any one of claims 1 to 6 when executed by a processor.

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