A control method, device and readable storage medium

Abstract

Embodiments of the present application provide a control method and device and readable storage medium, relating to the field of embodied intelligence, in which a display device displays a kit option or a data acquisition terminal option, one kit option can be used to represent one kit, one kit includes a plurality of data acquisition terminals, one data acquisition terminal option can be used to represent one data acquisition terminal, the display device is in communication connection with a processor of a mobile terminal. In response to a selection operation on at least two data acquisition terminals, a connection request is sent to the at least two data acquisition terminals to establish a communication connection with the at least two data acquisition terminals. The selection operation on the at least two data acquisition terminals includes selection of a kit option or selection of at least two data acquisition terminal options. Environmental perception data collected by the at least two data acquisition terminals is received, and the display device is controlled to display the environmental perception data. In this way, the data quality of the collected data is improved.

Description

Technical Field

[0001] This application relates to the field of embodied intelligence technology, and in particular to a control method, apparatus and readable storage medium. Background Technology

[0002] Embodied intelligence integrates artificial intelligence into physical entities such as robots, enabling them to perceive, learn, and dynamically interact with their environment. To enhance the operational capabilities of embodied intelligence, data acquisition personnel need to use data acquisition terminals (e.g., grippers, robotic arms, head-neck components, etc.) to perform specific actions. The acquisition components inside the data acquisition terminal collect data during the execution of these specific actions.

[0003] In related technologies, data acquisition personnel can only rely on their personal experience to operate the data acquisition terminal to complete specific actions. They cannot know whether the operation is standardized or whether the data acquisition terminal has completely collected the data, which leads to poor data quality. Summary of the Invention

[0004] This application provides a control method, apparatus, and readable storage medium to solve the problem of poor data quality of the collected data.

[0005] In a first aspect, embodiments of this application disclose a control method applied to a mobile terminal, the method comprising: The control display device displays a suite option or a data acquisition terminal option, wherein a suite option can be used to characterize a suite, a suite includes multiple data acquisition terminals, and a data acquisition terminal option can be used to characterize a data acquisition terminal, and the display device is communicatively connected to the processor of the mobile terminal; In response to a selection operation of at least two data acquisition terminals, a connection request is sent to the at least two data acquisition terminals to establish a communication connection with the at least two data acquisition terminals, wherein the selection operation of the at least two data acquisition terminals includes selecting the suite option or selecting the at least two data acquisition terminal options; Receive environmental perception data collected by the at least two data acquisition terminals, and the environmental perception data can be used to train a large model of embodied intelligence. The control display device displays the environmental perception data.

[0006] This application also discloses a control device, which includes a memory and a processor; The memory is used to store program code; The processor calls the program code, which, when executed, performs the following operations: The control display device displays a suite option or a data acquisition terminal option, wherein a suite option can be used to characterize a suite, a suite includes multiple data acquisition terminals, and a data acquisition terminal option can be used to characterize a data acquisition terminal, and the display device is communicatively connected to the processor of the mobile terminal; In response to a selection operation of at least two data acquisition terminals, a connection request is sent to the at least two data acquisition terminals to establish a communication connection with the at least two data acquisition terminals, wherein the selection operation of the at least two data acquisition terminals includes selecting the suite option or selecting the at least two data acquisition terminal options; Receive environmental perception data collected by the at least two data acquisition terminals, and the environmental perception data can be used to train a large model of embodied intelligence. Control the display device to display the environmental perception data.

[0007] This application also discloses a readable storage medium storing instructions that, when executed by one or more processors, cause the processors to perform the methods described above.

[0008] This application also discloses a computer program product, including a computer program that, when executed by a processor, implements the steps of the above-described method.

[0009] The embodiments of this application include the following advantages: The control display device displays either a kit option or a data acquisition terminal option. A kit option can be used to characterize a kit, a kit includes multiple data acquisition terminals, and a data acquisition terminal option can be used to characterize a single data acquisition terminal. The display device is communicatively connected to the processor of the mobile terminal. In response to a selection operation on at least two data acquisition terminals, a connection request is sent to at least two data acquisition terminals to establish a communication connection. The selection operation on at least two data acquisition terminals includes selecting either a kit option or selecting either a data acquisition terminal option. Environmental perception data collected by at least two data acquisition terminals is received. This environmental perception data can be used to train a large model of embodied intelligence. The control display device displays the environmental perception data. Thus, by connecting at least two data acquisition terminals at once and controlling the display device to display the environmental perception data collected by these at least two data acquisition terminals, the user can view the environmental perception data collected by the at least two manipulated data acquisition terminals through the display device. This provides a reference for the user to manipulate the data acquisition terminals, thereby improving the standardization of operation, allowing the user to manipulate the data acquisition terminals more accurately, collect data more completely, and thus improve the quality of the collected data. Furthermore, a mobile terminal can connect to at least two data acquisition terminals simultaneously, allowing users to view environmental perception data collected by at least two data acquisition terminals using a single mobile terminal, thus enhancing operational convenience. Attached Figure Description

[0010] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the description of the embodiments of this application will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0011] Figure 1 This is a flowchart of the steps of a control method provided in an embodiment of this application; Figure 2 This is a schematic diagram of an interface provided in an embodiment of this application; Figure 3 This is another schematic diagram of the interface provided in the embodiment of this application; Figure 4 This is yet another interface schematic diagram provided in the embodiments of this application; Figure 5 This is yet another interface schematic diagram provided in the embodiments of this application; Figure 6 This is yet another interface schematic diagram provided in the embodiments of this application; Figure 7 This is yet another interface schematic diagram provided in the embodiments of this application; Figure 8 This is a schematic diagram of a display area provided in an embodiment of this application; Figure 9 This is a block diagram of a control device provided in an embodiment of this application. Detailed Implementation

[0012] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0013] First, an exemplary application scenario related to the embodiments of this application will be described. The control method provided in the embodiments of this application can be applied to the training data acquisition scenario of embodied intelligence. Embodied intelligence can be a physical entity equipped with an artificial intelligence model. For example, embodied intelligence can be a robot equipped with an artificial intelligence model, such as a wheeled robot, a legged robot, or a standalone robotic arm, etc. In this application scenario, data acquisition personnel use data acquisition terminals such as grippers, robotic arms, and headband components to perform specific actions, such as tidying clothes, sorting dishes, etc. The acquisition components inside the data acquisition terminal collect data when real humans perform specific actions, which is used to subsequently train the artificial intelligence model adopted by the embodied intelligence, thereby making the behavior of the embodied intelligence closer to real human behavior and improving the operational capabilities of the embodied intelligence.

[0014] In related technologies, when data acquisition personnel manipulate data acquisition terminals to perform specific actions, it is impossible to know whether the operation is standardized or whether the data acquisition terminal has completely acquired the data, resulting in poor data quality. Therefore, this application provides a control method. The control method is described in detail below.

[0015] Figure 1 This is a flowchart of the steps of a control method provided in an embodiment of this application, as shown below. Figure 1 As shown, this method can be applied to mobile terminals, and the method may include: Step 101: Control the display device to display a suite option or a data acquisition terminal option. One of the suite options can be used to characterize a suite, a suite includes multiple data acquisition terminals, and one of the data acquisition terminal options can be used to characterize a data acquisition terminal. The display device is communicatively connected to the processor of the mobile terminal.

[0016] Step 102: In response to the selection operation of at least two data acquisition terminals, send a connection request to the at least two data acquisition terminals to establish a communication connection with the at least two data acquisition terminals. The selection operation of at least two data acquisition terminals includes selecting the suite option or selecting the at least two data acquisition terminal options.

[0017] Step 103: Receive environmental perception data collected by the at least two data acquisition terminals. The environmental perception data can be used to train a large model of embodied intelligence.

[0018] Step 104: Control the display device to display the environmental perception data.

[0019] The execution subject of the control method provided in this application embodiment can be a mobile terminal, such as a mobile phone, tablet computer, etc. Specifically, the execution subject of the control method can be an application (APP) installed on the mobile terminal. When a user (e.g., a data acquisition personnel) needs to operate at least two data acquisition terminals for data acquisition, they can first trigger the mobile terminal to connect with these at least two data acquisition terminals. For example, the user can select at least two data acquisition terminals to be operated on the display interface of the mobile terminal. In response to the selection operation of these at least two data acquisition terminals, the mobile terminal sends a connection request to the selected at least two data acquisition terminals, thereby establishing a communication connection with the selected at least two data acquisition terminals. For example, the mobile terminal and the selected at least two data acquisition terminals can communicate via Bluetooth, near-field communication, etc.

[0020] Each data acquisition terminal connected to the mobile terminal can send environmental perception data from the acquired data to the mobile terminal via a previously established communication connection during the data acquisition process. This environmental perception data can be visual data acquired by the data acquisition terminal through an image sensor, point cloud data acquired through a LiDAR component, or thermal imaging data, etc. In this embodiment, the data acquisition terminal is used to collect training data for embodied intelligence. The data collected by the data acquisition terminal (including environmental perception data) can be used to train a large model of the embodied intelligence. Specifically, the data acquisition terminal can transmit the collected data to a server for training the end effector. The end effector is the action execution unit of the embodied intelligence, responsible for directly interacting with external elements. For example, the end effector can be a robotic arm, dexterous hand, gripper, etc., of the embodied intelligence. Using the collected data to train the model controlling the behavior of the end effector makes the end effector's actions closer to real human behavior.

[0021] Assuming the user selects at least two data acquisition terminals, including grippers and a headband assembly, during the data acquisition process, the data acquisition personnel wear grippers on their hands and the headband assembly on their heads. When the data acquisition personnel manually manipulate the grippers to perform specific actions, the grippers record the actual operational data of the personnel's hands. For example, they acquire the gripping angle and clamping pressure value through angle and pressure sensors, and acquire visual data (e.g., images or videos) of the object being manipulated (e.g., clothes being sorted, dishes being sorted) through image sensors. Simultaneously, while the data acquisition personnel perform specific actions, the headband assembly acquires visual data from the real-world perspective through image sensors and detects head acceleration, angular velocity, and other data through internal sensors. Accordingly, both the grippers and the headband assembly send the visual data acquired by the image sensors to the mobile terminal. Simultaneously, the grippers upload the acquired gripping angle, clamping pressure value, and visual data to the server, and the headband assembly uploads the acquired head acceleration, angular velocity, and visual data to the server for training purposes.

[0022] Accordingly, the mobile terminal can receive environmental perception data collected by at least two data acquisition terminals. For example, in one implementation, each connected data acquisition terminal can directly send the collected environmental perception data to the mobile terminal. In another implementation, an indirect transmission method can be used, where each connected data acquisition terminal can send the collected environmental perception data to a data relay station and report the mobile terminal identifier of its connected mobile terminal to the data relay station. The data relay station then sends the environmental perception data from these at least two data acquisition terminals to the mobile terminal together according to the mobile terminal identifier.

[0023] Furthermore, the mobile terminal can display environmental awareness data from at least two connected data acquisition terminals via a display device. This display device can be a built-in screen on the mobile terminal, meaning the display device and mobile terminal are integrated. Correspondingly, the display device and the mobile terminal's processor are connected via an internal bus. In another implementation, the display device and mobile terminal are two separate devices. The display device can be wirelessly connected to the mobile terminal's processor, and the mobile terminal's processor can project environmental awareness data onto the display device for display via a wireless network protocol. Alternatively, the display device can be wired to the mobile terminal's processor; for example, the display device can be an external display screen connected to the mobile terminal, and the mobile terminal's processor can transmit environmental awareness data to the display device for display via a connection cable.

[0024] In summary, the control method provided in this application embodiment controls the display device to display either a suite option or a data acquisition terminal option. A suite option can represent a suite, and a suite includes multiple data acquisition terminals. A data acquisition terminal option can represent a single data acquisition terminal. The display device is communicatively connected to the processor of the mobile terminal. In response to a selection operation on at least two data acquisition terminals, a connection request is sent to at least two data acquisition terminals to establish a communication connection. The selection operation on at least two data acquisition terminals includes selecting either a suite option or selecting either a data acquisition terminal option. Environmental perception data collected by at least two data acquisition terminals is received. This environmental perception data can be used to train a large model of embodied intelligence. The display device is then controlled to display the environmental perception data. In this way, by connecting at least two data acquisition terminals at once and controlling the display device to display the environmental perception data collected by these at least two data acquisition terminals, users can view the environmental perception data collected by the at least two data acquisition terminals they are operating through the display device. This provides a reference for users to operate the data acquisition terminals, thereby improving the standardization of operation, enabling users to operate the data acquisition terminals more accurately, collect data more completely, and thus improve the quality of the collected data.

[0025] Furthermore, a mobile terminal can connect to at least two data acquisition terminals simultaneously, allowing users to view environmental perception data collected by at least two data acquisition terminals using a single mobile terminal, thus enhancing operational convenience.

[0026] Optionally, in one implementation, the step of sending a connection request to the at least two data acquisition terminals in response to a selection operation on at least two data acquisition terminals may specifically include: sending a connection request to the at least two data acquisition terminals corresponding to a first suite option in response to a first selection operation on the suite option; the first suite option is the suite option selected by the first selection operation.

[0027] In this embodiment, a "kit" option represents a kit, and a kit can represent a group of devices. Each kit includes an integer number of data acquisition terminals greater than or equal to two. In this embodiment, the user can pre-associate two or more data acquisition terminals into a kit. For example, in response to an association command, the mobile terminal can control the display device to show the association interface. The association command can be triggered by the user's voice; for example, the user can input: "I want to create a new kit," or the association command can be triggered by the user clicking the "Create Kit" control on the application interface. This embodiment does not limit this. The association interface displays associatable terminal options, where each associatable terminal option represents a data acquisition terminal not associated with any other kit. For any kit created by the user, the mobile terminal can establish a mapping entry between the kit identifier and the terminal identifiers of the data acquisition terminals belonging to that kit. One mapping entry corresponds to one kit, and all mapping entries form a mapping relationship. The kit identifier can be the kit name set by the user for the created kit, and the terminal identifier can be information that uniquely indicates the data acquisition terminal, such as a number, name, etc. When displaying the "Associable Terminals" option, the mobile terminal can compare the terminal identifier of the currently searched data acquisition terminal with the terminal identifiers in the mapping relationship. The terminal identifier of the currently searched data acquisition terminal can be extracted from the data packets broadcast by the data acquisition terminal. If no matching terminal identifier exists in the mapping relationship, it is determined that the searched data acquisition terminal has not yet been associated with any other suite. Accordingly, an "Associable Terminals" option can be displayed for the searched data acquisition terminal. This avoids the same data acquisition terminal being associated with multiple suites, thus preventing usage conflicts. The "Associable Terminals" option can include the terminal identifier of the data acquisition terminal for user convenience.

[0028] In response to the user's selection of an associable terminal option, the data acquisition terminal represented by the selected associable terminal option is associated as a suite. The mobile terminal can add a mapping entry that records the suite name entered by the user and the terminal identifier of the data acquisition terminal represented by the selected associable terminal option. For example, suppose the mapping relationship stored by the mobile terminal includes two mapping entries: [Suite 1; Gripper A1, Gripper A2, Headband B1] and [Suite 2; Gripper A3, Gripper A4, Headband B2], and the terminal identifiers of the currently searched data acquisition terminals are: Gripper A1, Gripper A2, Gripper A3, Gripper A5, Gripper A6, Headband B3. Since the terminal identifiers: Gripper A5, Gripper A6, Headband B3 do not exist in the mapping relationship, an associable terminal option can be displayed for each of Gripper A5, Gripper A6, and Headband B3. Figure 2 This is a schematic diagram of an interface provided in an embodiment of this application, such as... Figure 2As shown, the association interface displays the corresponding terminal options for gripper A5, gripper A6, and headband B3. Assuming the user selects gripper A5 and gripper A6, and enters the kit name: Kit 3, after the user confirms, the mobile terminal can add a mapping entry: [Kit 3; Gripper A5, Gripper A6], thus creating a new kit.

[0029] In response to a user triggering a connection control, the mobile terminal controls a display device to show a connection interface, which includes at least one kit option. Specifically, in response to the connection control being triggered, a data acquisition terminal can be searched for, for example, by identifying a data acquisition terminal that has Bluetooth mode enabled via Bluetooth technology. For example, pressing a specific button (e.g., the power button) on the data acquisition terminal in a specified manner activates Bluetooth mode when the indicator light on the data acquisition terminal flashes. Next, a kit identifier corresponding to the terminal identifier of the currently searched data acquisition terminal is searched from the mapping relationship. A kit option is displayed for each found kit identifier. For any found kit identifier, the terminal identifier corresponding to that kit identifier is compared with the terminal identifier of the currently searched data acquisition terminal to identify terminal identifiers that have not been searched. Furthermore, a missing message can be displayed for the kit option corresponding to the missing terminal identifier, so that the user is aware that the kit represented by that kit option has a missing data acquisition terminal. In this embodiment, for any found kit identifier, the system can also check whether the kit identifier exists in the historical connection records. If so, then display the connected flag for the corresponding package option to make it easy for users to know which package options have been connected before.

[0030] For example, suppose the terminal identifiers of the currently searched data acquisition terminals are: gripper A1, gripper A2, gripper A3, gripper A4, gripper A5, gripper A6, and headband B1. By looking up the mapping relationship, it can be determined that gripper A1, gripper A2, and headband B1 correspond to kit 1, gripper A3 and gripper A4 correspond to kit 2, and gripper A5 and gripper A6 correspond to kit 3. Accordingly, the found kit identifiers include: kit 1, kit 2, and kit 3. The terminal identifiers of the currently searched data acquisition terminals include all terminal identifiers corresponding to kit 1 and kit 3 respectively. The terminal identifiers of the currently searched data acquisition terminals only include gripper A3 and gripper A4 corresponding to kit 2, and headband B2 corresponding to kit 2 is missing. Therefore, a missing message can be displayed for the kit option representing kit 2. Figure 3 This is another interface diagram provided in the embodiments of this application, such as... Figure 3 As shown, there are three kit options: kit 1, kit 2, and kit 3. The kit option for kit 2 shows a missing message: (Missing headband B2).

[0031] For example, the first selection operation for a kit option can be a selection control for the kit option (i.e. Figure 3 The mobile terminal can trigger operations (such as click operations, long press operations, etc.) of the selection buttons in the interface. For example, if the option representing Suite 1 is selected, then the first option represents the option representing Suite 1. The mobile terminal can send connection requests to each data acquisition terminal belonging to Suite 1. For instance, it can send Bluetooth connection requests to the terminals represented by gripper A1, gripper A2, and headband B1 respectively to establish Bluetooth connections with the three data acquisition terminals. After establishing a Bluetooth connection with the data acquisition terminals, the mobile terminal assigns a connection handle to each connected data acquisition terminal. Different data acquisition terminals have different connection handles, and the environmental perception data collected by different data acquisition terminals is distinguished based on the connection handle.

[0032] In this embodiment, data acquisition terminals are associated as suites, with each suite including two or more data acquisition terminals. At least one suite option is displayed via a control display device. In response to a first selection operation of a suite option, a connection request is sent to at least two data acquisition terminals corresponding to the first suite option. This allows the user to select at least two data acquisition terminals simply by choosing one suite option, thereby establishing a connection with at least two data acquisition terminals at once, improving operational convenience and connection efficiency.

[0033] In one related technology, a mobile terminal can only connect to one data acquisition terminal. When a user operates multiple data acquisition terminals, multiple mobile terminals are required, increasing costs. Furthermore, connecting multiple mobile terminals necessitates operating each terminal to view the collected environmental perception data, resulting in lower convenience. In this embodiment, multiple data acquisition terminals can be connected simultaneously via a single mobile terminal, reducing costs and allowing for the viewing of environmental perception data collected by multiple terminals through a single device, thus improving convenience.

[0034] Optionally, the embodiments of this application may further include the following steps: Step S21: Control the display device to display the device switching interface corresponding to the kit option; the device switching interface includes the switching option of the data acquisition terminal corresponding to the kit option.

[0035] Step S22: In response to the selection operation of the switching option, the data acquisition terminal represented by the selected switching option is taken as the terminal to be replaced, and the display device is controlled to display the alternative terminal options.

[0036] Step S23: In response to the selection operation of the alternative terminal option, the terminal to be replaced is replaced with the data acquisition terminal represented by the selected alternative terminal option.

[0037] In this embodiment, in response to a device switching command for any kit option, the mobile terminal can control the display device to display the corresponding device switching interface for that kit option. The device switching command can be triggered by the user's voice; for example, the user can input: "I want to switch the device in kit 1," or the user can select a device switching control on the application interface. In response to the device switching control being triggered, the mobile terminal displays created kit options, where each created kit option represents a created kit. In response to the selection of a created kit option, a device switching interface is displayed for the kit represented by the selected created kit option. This device switching interface includes at least two switching options, one of which represents a data acquisition terminal within the kit represented by the selected created kit option. Figure 4 This is another interface diagram provided in the embodiments of this application, such as... Figure 4 As shown, assuming the selected created kit option represents kit 1, the device switching interface includes switching options for grippers A1 and A2, and headband B1 within kit 1. Selecting a switching option can be done by clicking, long-pressing, etc. If the switching option for headband B1 is clicked, then headband B1 will be selected as the device to be replaced.

[0038] A candidate terminal option represents a currently searched data acquisition terminal. Specifically, in response to the selection of a switching option, a data acquisition terminal can be searched. For each searched data acquisition terminal, a corresponding terminal option is displayed as a candidate terminal option. The selection operation for a candidate terminal option can be a tap, a long press, etc. The mobile terminal can replace the terminal identifier of the terminal to be replaced recorded in the mapping relationship with the terminal identifier of the data acquisition terminal represented by the selected candidate terminal option, thereby replacing the terminal to be replaced with the data acquisition terminal represented by the selected candidate terminal option. It should be noted that if the data acquisition terminal represented by the selected candidate terminal option is already associated with other suites, the terminal identifier of the data acquisition terminal represented by the selected candidate terminal option can also be deleted from the mapping entry including the suite identifier of that other suite to avoid duplication.

[0039] Assume the terminal identifiers of the currently searched data acquisition terminals include: headband B3, headband B4, Figure 5 This is another interface diagram provided in the embodiments of this application, such as... Figure 5As shown, there are alternative terminal options representing headband B3 and alternative terminal options representing headband B4. Assuming the user clicks the selection button for the alternative terminal option representing headband B4, the mapping entry [Kit 1; Gripper A1, Gripper A2, Headband B1] can be modified to [Kit 1; Gripper A1, Gripper A2, Headband B4] to achieve replacement.

[0040] In this embodiment, the control display device displays a device switching interface corresponding to the kit option. The device switching interface includes switching options for the data acquisition terminal corresponding to the kit option. In response to a selection operation of a switching option, the data acquisition terminal represented by the selected switching option is designated as the terminal to be replaced, and the control display device displays alternative terminal options. In response to a selection operation of an alternative terminal option, the terminal to be replaced is replaced with the data acquisition terminal represented by the selected alternative terminal option. This allows users to easily and freely switch between the data acquisition terminals included in the kit, providing greater flexibility. It also ensures that the data acquisition terminals in the kit can meet the user's needs, thereby ensuring the smooth operation of the data acquisition process.

[0041] In this embodiment, the display device can also be controlled to display the device deletion interface corresponding to the kit option; the device deletion interface includes deletion options for the data acquisition terminal corresponding to the kit option. In response to the selection operation of the deletion option, the data acquisition terminal represented by the selected deletion option is deleted from the kit represented by the kit option. This allows for flexible adjustment of the data acquisition terminals included in the kit. Specifically, the terminal identifier of the data acquisition terminal represented by the selected deletion option can be deleted from the mapping entry corresponding to the kit represented by the kit option. Assuming the terminal identifier of the data acquisition terminal represented by the selected deletion option is gripper A1, then gripper A1 recorded in [kit 1; gripper A1, gripper A2, headband B1] is deleted.

[0042] Optionally, after replacing the terminal to be replaced with the data acquisition terminal represented by the selected alternative terminal option, the embodiments of this application further include the following step: sending a connection request to the data acquisition terminal represented by the selected alternative terminal option.

[0043] Specifically, if the terminal to be replaced is already connected to the mobile terminal (i.e., the mobile terminal is currently connected to the suite to which the terminal to be replaced belongs), after replacing the terminal to be replaced with the data acquisition terminal represented by the selected alternative terminal option, a connection request can be sent to the data acquisition terminal represented by the selected alternative terminal option. For example, assuming that headband B1 in suite 1 to which the mobile terminal is connected is replaced with headband B4, the mobile terminal can send a connection request to headband B4 to establish a connection with headband B4.

[0044] In this embodiment of the application, after replacing the terminal to be replaced with the data acquisition terminal represented by the selected alternative terminal option, a connection request is sent to the data acquisition terminal represented by the selected alternative terminal option to ensure that the newly added data acquisition terminal can be connected in a timely manner, so that the environmental perception data collected by the data acquisition terminal can be successfully sent to the mobile terminal, avoiding the problem of incomplete data obtained by the mobile terminal.

[0045] Optionally, the embodiments of this application further include the following steps: Step S31: In response to the request to unbind a connected kit, control the display device to redisplay at least one kit option.

[0046] Step S32: In response to the second selection operation of the suite option, send a connection request to at least two data acquisition terminals corresponding to the second suite option; the second suite option is the suite option selected by the second selection operation from the at least one suite option.

[0047] The unbinding request can be a trigger operation on the unbinding control in the interface of the connected suite, such as a click operation, a long press operation, etc. Assuming the connected suite is Suite 1, Figure 6 This is another interface diagram provided in the embodiments of this application, such as... Figure 6 As shown, the connected suites interface displays the data acquisition terminals included in the connected suites, the current acquisition task, and an unbinding button. Understandably, the connected suites interface can also display other information, such as the remaining acquisition time of the connected suites, storage space usage, the number of records already acquired in the current acquisition task, the total number of records to be acquired in the current acquisition task, and so on.

[0048] In user selection Figure 6 When the unbinding button is pressed, the display device can be controlled to redisplay at least one suite option. The implementation of redisplaying at least one suite option can be referred to the aforementioned explanation, and will not be repeated here. The second selection operation for the suite option can be a trigger operation on the selection control of the redisplayed suite option, assuming that the suite option representing suite 3 is selected. Accordingly, the second suite option can be the suite option representing suite 3. The mobile terminal can send connection requests to each data acquisition terminal belonging to suite 3. For example, connection requests can be sent to the terminals represented by grippers A5 and A6 respectively to establish connections with these two data acquisition terminals.

[0049] In this embodiment, in response to an unbinding request for a connected kit, the display device is controlled to redisplay at least one kit option. In response to a second selection operation on a kit option, a connection request is sent to at least two data acquisition terminals corresponding to the second kit option. This enables flexible switching on a kit-by-kit basis, allowing simultaneous switching of at least two connected data acquisition terminals, resulting in higher switching efficiency.

[0050] Optionally, the step of sending a connection request to the at least two data acquisition terminals in response to the selection operation of at least two data acquisition terminals may specifically include: sending a connection request to the data acquisition terminal represented by the at least two data acquisition terminal options in response to the selection operation of at least two data acquisition terminal options.

[0051] In this implementation, the data acquisition terminal option can be displayed only for each online data acquisition terminal, or it can be displayed for both online and offline data acquisition terminals.

[0052] In response to a user triggering the connection control, the mobile terminal displays a data acquisition terminal option in the connection interface shown on the control display device. Specifically, in response to the connection control being triggered, a search for data acquisition terminals can be performed, and a terminal option will be displayed for each found data acquisition terminal. Assume the terminal identifiers of the currently searched data acquisition terminals are: gripper A1, gripper A2, gripper A3, gripper A4, gripper A5, gripper A6, and headband B1. Figure 7 This is another interface diagram provided in the embodiments of this application, such as... Figure 7 As shown, there are seven data acquisition terminal options displayed, representing gripper A1, gripper A2, gripper A3, gripper A4, gripper A5, gripper A6, and headband B1. Users can click the circular button next to each data acquisition terminal option to select it. Figure 7 Taking the selection of three data acquisition terminal options representing gripper A1, gripper A2, and headband B1 as an example, in response to the triggering operation of the confirmation control in the connection interface, such as a click operation, a long press operation, etc., a connection request is sent to the data acquisition terminal represented by the currently selected data acquisition terminal option.

[0053] In this embodiment, the control display device displays data acquisition terminal options, where each data acquisition terminal option represents a connectable data acquisition terminal. In response to the selection operation of at least two data acquisition terminal options, a connection request is sent to the data acquisition terminals represented by the at least two data acquisition terminal options. Since it is not necessary to pre-associate the data acquisition terminals as a suite, nor to maintain the mapping relationship established for the suite, the selection operation of at least two data acquisition terminals can be realized, thereby establishing a connection with at least two data acquisition terminals at once, thus reducing processing costs.

[0054] Optionally, the environmental perception data in this embodiment includes images, which include images of target objects. The target object can be the object manipulated by the data acquisition personnel when performing a specific action using the data acquisition terminal. For example, the target object could be clothes being sorted, dishes being sorted, etc. By displaying the image of the target object acquired by the data acquisition terminal, the user can intuitively perceive the standardization of the operation.

[0055] Optionally, in one implementation, the display screen of the display device in this embodiment is divided into multiple display areas, and one display area can display environmental perception data collected by one data acquisition terminal. The number of display areas can be the same as the number of connected data acquisition terminals. For example, assuming gripper A1, gripper A2, and headband B1 are currently connected, the display screen of the display device is divided into three display areas. Figure 8 This is a schematic diagram of a display area provided in an embodiment of this application, such as... Figure 8 As shown, the three display areas on the screen respectively display the environmental perception data collected by gripper A1, the environmental perception data collected by headband B1, and the environmental perception data collected by gripper A2.

[0056] In this embodiment of the application, by dividing the display screen of the display device into multiple display areas, each display area can display environmental perception data collected by a data acquisition terminal. This allows the user to view environmental perception data collected by multiple data acquisition terminals simultaneously on the same display screen, providing a reference for the user to operate multiple data acquisition terminals at the same time, and improving the convenience and efficiency of viewing.

[0057] Optionally, the embodiments of this application may also include the following steps: Step S41, in response to the selection operation of any display area in the display screen, control the display device to magnify and display the environmental perception data displayed in the selected display area.

[0058] The operation method for selecting any display area on the screen can be set as needed, and this application embodiment does not limit this. For example, it can be a click operation, a long press operation, a double-click operation, etc. In one implementation, the size of the selected display area can be enlarged to display environmental perception data over a larger area, thus facilitating user viewing. For example, the environmental perception data displayed in the selected display area can be displayed in full screen, that is, the size of the selected display area can be enlarged to the entire display screen. Assuming the user clicks display area 1, the display device can be controlled to display the environmental perception data collected by gripper A1 in full screen. In another implementation, the size of the selected display area can remain unchanged, and the displayed content can be enlarged. For example, the location where the selection operation on the display area is performed can be used as the center, and the environmental perception data displayed within a preset size range can be enlarged and displayed in the selected display area.

[0059] In this embodiment, in response to the selection operation of any display area in the display screen, the display device is controlled to magnify the environmental perception data displayed in the selected display area. This allows users to view details in a targeted manner and improves the user's viewing efficiency.

[0060] Optionally, in another implementation, the display device displays environmental perception data collected by one of the data acquisition terminals. Accordingly, this embodiment may further include the following steps: Step S51, in response to a display screen switching operation, controlling the display device to switch the currently displayed environmental perception data to environmental perception data collected by other data acquisition terminals. The operation form of the display screen switching operation can be set as needed, and this embodiment does not limit it. For example, the display screen switching operation can be a click operation, a long press operation, a double-click operation, etc., on the display screen. In this implementation, the display device can be controlled to display environmental perception data collected by one of the connected data acquisition terminals each time. In response to the display screen switching operation, a data acquisition terminal is selected from the other connected data acquisition terminals, and the display device is controlled to display the environmental perception data collected by the selected data acquisition terminal. For example, it can be randomly selected from the other connected data acquisition terminals, or it can be selected according to a preset order. The preset order can be the arrangement order of terminal identifiers in the mapping entries corresponding to the connected kits, or it can be the selection order of the data acquisition terminal options. This embodiment does not limit it. For example, suppose the terminal identifiers in the mapping entries corresponding to the connected kits are arranged in the following order: gripper A1, gripper A2, headband B1. Then, the mobile terminal can first control the display device to display the environmental awareness data collected by gripper A1. In response to a display screen switching operation, it controls the display device to display the environmental awareness data collected by gripper A2. If the display screen switching operation is triggered again, it controls the display device to display the environmental awareness data collected by headband B1.

[0061] In this embodiment, since only one data acquisition terminal collects environmental perception data at a time, the problem of a small display area leading to difficulty in viewing is avoided. Simultaneously, in response to the display screen switching operation, the display device switches the currently displayed environmental perception data to environmental perception data collected by other data acquisition terminals, allowing users to easily view environmental perception data collected by other data acquisition terminals and ensuring ease of viewing.

[0062] Optionally, in one implementation, the step of controlling the display device to display the environmental perception data may specifically include: in response to receiving the environmental perception data collected by the data acquisition terminal, controlling the display device to display the environmental perception data in real time. Specifically, each time the mobile terminal receives a frame of image, it can control the display device to display that frame of image to achieve real-time display.

[0063] In this implementation, the environmental perception data collected by the data acquisition terminal is displayed in real time, allowing users to obtain real-time references during the data acquisition process. By using the real-time environmental perception data, users can understand the standardization of the current operation, which can then help them adjust their acquisition posture in a timely manner, operate the data acquisition terminal more accurately, ensure that the acquisition field of view of the data acquisition terminal covers the target object during data acquisition, and thus achieve more standardized data acquisition and improve the data quality of the data acquired in this data acquisition process.

[0064] Optionally, this embodiment may further include the following steps: Step S61, in response to the image of the target object being located outside a preset pixel range of the image, outputting a prompt message. The prompt message may be displayed text or spoken information; for example, it may display text or broadcast a voice message: "Please adjust the operating angle to ensure the target object is within the shooting range." The preset pixel range may be pre-set. For example, assuming a single-frame image size of 500×500, the preset pixel range may be a 400×400 area in the image. If the image of the target object in the image exceeds this 400×400 area, a prompt message is output.

[0065] In this embodiment, in response to the image of the target object being outside the preset pixel range of the image, a prompt message is output, so that the user can know in time that the current acquisition posture needs to be adjusted, reducing the duration of the acquisition field of view failing to cover the target object during acquisition, and further improving the data quality of the data acquired in this data acquisition process.

[0066] Alternatively, in another implementation, the step of controlling the display device to display the environmental perception data may specifically include: in response to receiving a playback request, controlling the display device to display the environmental perception data indicated by the playback request.

[0067] In this implementation, after the mobile terminal receives the image frames collected by the data acquisition terminal, it can first store the image frames locally. Furthermore, it can display playback options for the environmental awareness data collected by each data acquisition terminal. Users can trigger playback requests by selecting playback options, such as by clicking, long-pressing, double-tapping, etc. Correspondingly, the mobile terminal can read the environmental awareness data corresponding to the selected playback option and control the display device to display it. After display, the environmental awareness data corresponding to the selected playback option can be displayed on the screen of the display device.

[0068] A playback option can also be provided for displaying environmental perception data collected by multiple data acquisition terminals. In response to selecting this playback option, environmental perception data collected by these multiple data acquisition terminals can be displayed. For example, it can be displayed in different areas on the same screen, or the screen can display environmental perception data collected by one data acquisition terminal, and then switch to displaying environmental perception data collected by other data acquisition terminals in response to a screen switching operation.

[0069] In this implementation, upon receiving a review request, the display device is controlled to show the environmental perception data indicated by the review request. This allows users to easily review the data acquisition process, determine whether the operations were performed correctly, and help them adjust their acquisition methods in subsequent data acquisition processes to operate in a more standardized manner, thereby improving the data quality of subsequent data acquisition processes to some extent.

[0070] Optionally, in this embodiment of the application, before sending a connection request to the at least two data acquisition terminals, the following steps may also be included: Step S71: Detect the device status of the at least two data acquisition terminals.

[0071] Step S72: In response to the fact that the device status of the at least two data acquisition terminals is normal, perform the step of sending a connection request to the at least two data acquisition terminals.

[0072] Step S73: In response to the presence of an abnormal device status in one of the at least two data acquisition terminals, output an abnormality alert message.

[0073] The at least two data acquisition terminals selected by the user (the at least two data acquisition terminals corresponding to the first kit option, or the data acquisition terminals represented by the selected at least two data acquisition terminal options) are referred to as target terminals. Before sending a connection request to the target terminals, the online status and data status of each target terminal can be detected. For example, a data acquisition terminal in the online state will broadcast. In this embodiment, if a data packet broadcast by a target terminal is received, the online status of the target terminal can be determined to be: online; otherwise, the online status of the target terminal can be determined to be: offline. The data status is used to characterize whether there is any unuploaded data in the data packet broadcast by the target terminal. If the data status flag in the data packet broadcast by the target terminal indicates that there is unuploaded data, the data status of the target terminal is determined to be: upload not completed; otherwise, the data status of the target terminal is determined to be: upload completed. Further, in response to the target terminal being online and the data status being upload completed, the device status of the target terminal is determined to be normal. Otherwise, the device status of the target terminal is determined to be abnormal, and the target terminal currently does not support pairing connection.

[0074] If the devices of at least two target terminals are in normal condition, the aforementioned operation of sending connection requests to the at least two data acquisition terminals is performed, i.e., sending connection requests to the at least two target terminals. If there is a target terminal with an abnormal device status, an abnormality alert message can be output. For example, the abnormality alert message may include the device status of the target terminal with the abnormal device status. Assuming that the at least two target terminals include: gripper A1, gripper A2, and headband B1, wherein the device status of gripper A2 is abnormal, then the abnormality alert message output by the mobile terminal may include the online status and data status of gripper A2.

[0075] In this embodiment, the device status of at least two data acquisition terminals is detected. In response to at least two data acquisition terminals being in normal device status, a step of sending connection requests to at least two data acquisition terminals is performed. This avoids unnecessary connection request sending operations when the device status is abnormal, thereby saving processing resources. In response to a data acquisition terminal among the at least two data acquisition terminals having an abnormal device status, an abnormality alert message is output. This allows the user to promptly know which data acquisition terminal is in an abnormal state, enabling the user to adjust the abnormal data acquisition terminal in a timely manner.

[0076] It should be noted that, upon initial connection to a target terminal, the system can display status detection progress, detection results, connection progress, and connection status alerts to provide users with a clear understanding of the connection status. Furthermore, in the event of a connection failure, a failure alert can be output. This alert can include the reason for the connection failure, providing a reference for subsequent troubleshooting. After a successful connection, the display device can be controlled to show the network configuration interface and receive network configuration information input by the user based on this interface. This network configuration information can include the network name and password of the wireless network. Then, the network configuration information is sent to at least two target terminals, enabling them to establish network connections based on this information. In cases of subsequent connections, locally stored historical network configuration information can be retrieved. For example, upon receiving network configuration information input through the interface, this information can be stored in relation to the selected kit. During subsequent connections, the stored network configuration information corresponding to the currently selected kit is retrieved from the historical storage. Then, the network configuration information is sent to at least two target terminals, enabling them to establish network connections based on this information. The data acquisition terminal can upload the collected data to a data analysis platform, such as a server, via a wireless network for training embodied intelligence.

[0077] Figure 9This is a block diagram of a control device provided in an embodiment of this application. The device can be applied to a mobile terminal, and the device includes: a memory 201 and a processor 202. The memory 201 is used to store program code; The processor 202 calls the program code, which, when executed, performs the following operations: The control display device displays a suite option or a data acquisition terminal option, wherein one of the suite options can be used to characterize a suite, a suite includes multiple data acquisition terminals, and one of the data acquisition terminal options can be used to characterize a data acquisition terminal, and the display device is communicatively connected to the processor of the mobile terminal.

[0078] In response to a selection operation of at least two data acquisition terminals, a connection request is sent to the at least two data acquisition terminals to establish a communication connection with the at least two data acquisition terminals, wherein the selection operation of the at least two data acquisition terminals includes selecting the suite option or selecting the at least two data acquisition terminal options.

[0079] The system receives environmental perception data collected by the at least two data acquisition terminals, and the environmental perception data can be used to train a large model of embodied intelligence.

[0080] The control display device displays the environmental perception data.

[0081] In summary, the control device provided in this application embodiment controls the display device to display either a suite option or a data acquisition terminal option. A suite option can be used to represent a suite, a suite includes multiple data acquisition terminals, and a data acquisition terminal option can be used to represent a single data acquisition terminal. The display device is communicatively connected to the processor of the mobile terminal. In response to a selection operation on at least two data acquisition terminals, a connection request is sent to at least two data acquisition terminals to establish a communication connection. The selection operation on at least two data acquisition terminals includes selecting either a suite option or selecting either of the at least two data acquisition terminal options. Environmental perception data collected by at least two data acquisition terminals is received, and this environmental perception data can be used to train a large model of embodied intelligence. The display device is controlled to display the environmental perception data, and the display device is communicatively connected to the processor of the mobile terminal. In this way, by connecting at least two data acquisition terminals at once and controlling the display device to display the environmental perception data collected by these at least two data acquisition terminals, users can view the environmental perception data collected by the at least two data acquisition terminals they are operating through the display device. This provides a reference for users to operate the data acquisition terminals, thereby improving the standardization of operation, enabling users to operate the data acquisition terminals more accurately, collect data more completely, and thus improve the quality of the collected data.

[0082] Furthermore, a mobile terminal can connect to at least two data acquisition terminals simultaneously, allowing users to view environmental perception data collected by at least two data acquisition terminals using a single mobile terminal, thus enhancing operational convenience.

[0083] Optionally, the processor 202 is further configured to perform: In response to a first selection operation of the suite option, a connection request is sent to at least two data acquisition terminals corresponding to the first suite option; the first suite option is the suite option selected by the first selection operation.

[0084] Optionally, the processor 202 is further configured to perform: The display device is controlled to display the device switching interface corresponding to the kit option; the device switching interface includes the switching options for the data acquisition terminal corresponding to the kit option; In response to the selection operation of the switching option, the data acquisition terminal represented by the selected switching option is taken as the terminal to be replaced, and the display device is controlled to display the alternative terminal options; In response to the selection operation of the alternative terminal option, the terminal to be replaced is replaced with the data acquisition terminal represented by the selected alternative terminal option.

[0085] Optionally, the processor 202 is further configured to perform: Send a connection request to the data acquisition terminal represented by the selected alternative terminal option.

[0086] Optionally, the processor 202 is further configured to perform: In response to a request to unbind a connected kit, the display device is controlled to redisplay at least one kit option; In response to a second selection operation on the suite option, a connection request is sent to at least two data acquisition terminals corresponding to the second suite option; the second suite option is a suite option selected by the second selection operation from the at least one suite option.

[0087] Optionally, the processor 202 is further configured to perform: In response to the selection operation of at least two data acquisition terminal options, a connection request is sent to the data acquisition terminal represented by the at least two data acquisition terminal options.

[0088] Optionally, the display screen of the display device is divided into multiple display areas, and one display area can display environmental perception data collected by the data acquisition terminal.

[0089] Optionally, the processor 202 is further configured to perform: In response to the selection operation of any display area in the display screen, the display device is controlled to magnify and display the environmental perception data displayed in the selected display area.

[0090] Optionally, the display device displays environmental perception data collected by the data acquisition terminal; the processor 202 is further configured to perform: In response to the display screen switching operation, the display device is controlled to switch the currently displayed environmental perception data to environmental perception data collected by other data acquisition terminals.

[0091] Optionally, the processor 202 is further configured to perform: In response to receiving environmental perception data collected by the data acquisition terminal, the display device is controlled to display the environmental perception data in real time.

[0092] Optionally, the environmental perception data includes images, the images including images of target objects, and the processor 202 is further configured to perform: In response to the image of the target object being located outside a preset pixel range of the image, a prompt message is output.

[0093] Optionally, the processor 202 is further configured to perform: In response to receiving a playback request, the display device is controlled to display the environmental perception data indicated by the playback request.

[0094] Optionally, the processor 202 is further configured to perform: Detect the device status of the at least two data acquisition terminals; In response to the fact that the device status of the at least two data acquisition terminals is normal, the step of sending a connection request to the at least two data acquisition terminals is performed. In response to the presence of an abnormal device status in one of the at least two data acquisition terminals, an abnormality alert message is output.

[0095] This application provides an electronic device comprising: a processor, a memory, a communication interface, and a communication bus. The processor, the memory, and the communication interface communicate with each other via the communication bus. The memory stores at least one executable instruction, which causes the processor to execute the control method described in the preceding embodiments. The executable instructions can form a program.

[0096] This application provides a readable storage medium storing instructions that, when executed by one or more processors, enable the processors to perform the control method described in the foregoing embodiments. The readable storage medium can be one or more.

[0097] This application also provides a computer program product, including a computer program that, when executed by a processor, implements the steps of the control method described in the foregoing embodiments.

[0098] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other.

[0099] Those skilled in the art will understand that embodiments of this application can be provided as methods, apparatus, or computer program products. Therefore, embodiments of this application can take the form of entirely hardware embodiments, entirely software embodiments, or embodiments combining software and hardware aspects. Furthermore, embodiments of this application can take the form of computer program products implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0100] It should be noted that all actions involving the acquisition of signals, information, or data in this application are carried out in compliance with the relevant data protection laws and policies of the country where the application is located, and with the authorization granted by the owner of the relevant device.

[0101] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0102] The various component embodiments of this application can be implemented in hardware, or as software modules running on one or more processors, or a combination thereof. Those skilled in the art will understand that microprocessors or digital signal processors can be used in practice to implement some or all of the functions of some or all of the components in the computing processing device according to the embodiments of this application. This application can also be implemented as a device or apparatus program (e.g., a computer program and computer program product) for performing part or all of the methods described herein. Such an implementation of this application can be stored on a computer-readable medium, or can be in the form of one or more signals. Such signals can be downloaded from an Internet website, provided on a carrier signal, or provided in any other form.

[0103] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. The terms "an embodiment," "embodiment," or "one or more embodiments" as used herein mean that a specific feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment of this application. Furthermore, please note that the phrase "in one embodiment" does not necessarily refer to the same embodiment in all instances.

[0104] Numerous specific details are set forth in the specification provided herein. However, it will be understood that embodiments of this application may be practiced without these specific details. In some instances, well-known methods, structures, and techniques have not been shown in detail so as not to obscure the understanding of this specification.

[0105] In the claims, any reference signs placed between parentheses should not be construed as limiting the claims. The word "comprising" does not exclude the presence of elements or steps not listed in the claims. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. This application can be implemented by means of hardware comprising several different elements and by means of a suitably programmed computer. In a unit claim enumerating several means, several of these means may be embodied by the same item of hardware. The use of the words first, second, and third, etc., does not indicate any order. These words can be interpreted as names.

[0106] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit it. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application.

Claims

1. A control method, characterized in that, Applied to a mobile terminal, the method includes: The control display device displays a suite option or a data acquisition terminal option, wherein a suite option can be used to characterize a suite, a suite includes multiple data acquisition terminals, and a data acquisition terminal option can be used to characterize a data acquisition terminal, and the display device is communicatively connected to the processor of the mobile terminal; In response to a selection operation of at least two data acquisition terminals, a connection request is sent to the at least two data acquisition terminals to establish a communication connection with the at least two data acquisition terminals, wherein the selection operation of the at least two data acquisition terminals includes selecting the suite option or selecting the at least two data acquisition terminal options; Receive environmental perception data collected by the at least two data acquisition terminals, and the environmental perception data can be used to train a large model of embodied intelligence; Control the display device to display the environmental perception data.

2. The method according to claim 1, characterized in that, The step of sending a connection request to the at least two data acquisition terminals in response to the selection operation of at least two data acquisition terminals includes: In response to a first selection operation of the suite option, a connection request is sent to at least two data acquisition terminals corresponding to the first suite option; the first suite option is the suite option selected by the first selection operation.

3. The method according to claim 2, characterized in that, The method further includes: The display device is controlled to display the device switching interface corresponding to the kit option; the device switching interface includes the switching options for the data acquisition terminal corresponding to the kit option; In response to the selection operation of the switching option, the data acquisition terminal represented by the selected switching option is taken as the terminal to be replaced, and the display device is controlled to display the alternative terminal options; In response to the selection operation of the alternative terminal option, the terminal to be replaced is replaced with the data acquisition terminal represented by the selected alternative terminal option.

4. The method according to claim 3, characterized in that, After replacing the terminal to be replaced with the data acquisition terminal represented by the selected alternative terminal option, the method further includes: Send a connection request to the data acquisition terminal represented by the selected alternative terminal option.

5. The method according to claim 2, characterized in that, The method further includes: In response to a request to unbind a connected kit, the display device is controlled to redisplay at least one kit option; In response to a second selection operation on the suite option, a connection request is sent to at least two data acquisition terminals corresponding to the second suite option; the second suite option is a suite option selected by the second selection operation from the at least one suite option.

6. The method according to claim 1, characterized in that, The step of sending a connection request to the at least two data acquisition terminals in response to the selection operation of at least two data acquisition terminals includes: In response to the selection operation of at least two data acquisition terminal options, a connection request is sent to the data acquisition terminal represented by the at least two data acquisition terminal options.

7. The method according to claim 1, characterized in that, The display screen of the display device is divided into multiple display areas, and each display area can display environmental perception data collected by the data acquisition terminal.

8. The method according to claim 7, characterized in that, The method further includes: In response to the selection operation of any display area in the display screen, the display device is controlled to magnify and display the environmental perception data displayed in the selected display area.

9. The method according to claim 1, characterized in that, The display device displays environmental perception data collected by the data acquisition terminal; the method further includes: In response to the display screen switching operation, the display device is controlled to switch the currently displayed environmental perception data to environmental perception data collected by other data acquisition terminals.

10. The method according to any one of claims 1-9, characterized in that, The control display device displays the environmental perception data, including: In response to receiving environmental perception data collected by the data acquisition terminal, the display device is controlled to display the environmental perception data in real time.

11. The method according to claim 10, characterized in that, The environmental perception data includes images, the images include images of target objects, and the method further includes: In response to the image of the target object being located outside a preset pixel range of the image, a prompt message is output.

12. The method according to any one of claims 1-9, characterized in that, The control display device displays the environmental perception data, including: In response to receiving a playback request, the display device is controlled to display the environmental perception data indicated by the playback request.

13. The method according to any one of claims 1-9, characterized in that, Before sending the connection request to the at least two data acquisition terminals, the method further includes: Detect the device status of the at least two data acquisition terminals; In response to the fact that the device status of the at least two data acquisition terminals is normal, the step of sending a connection request to the at least two data acquisition terminals is performed. In response to the presence of an abnormal device status in one of the at least two data acquisition terminals, an abnormality alert message is output.

14. A control device, characterized in that, The device includes a memory and a processor; The memory is used to store program code; The processor calls the program code, which, when executed, performs the following operations: The control display device displays a suite option or a data acquisition terminal option, wherein a suite option can be used to characterize a suite, a suite includes multiple data acquisition terminals, and a data acquisition terminal option can be used to characterize a data acquisition terminal, and the display device is communicatively connected to the processor of the mobile terminal; In response to a selection operation of at least two data acquisition terminals, a connection request is sent to the at least two data acquisition terminals to establish a communication connection with the at least two data acquisition terminals, wherein the selection operation of the at least two data acquisition terminals includes selecting the suite option or selecting the at least two data acquisition terminal options; Receive environmental perception data collected by the at least two data acquisition terminals, and the environmental perception data can be used to train a large model of embodied intelligence; Control the display device to display the environmental perception data.

15. A readable storage medium, characterized in that, It stores instructions that, when executed by one or more processors, cause the processors to perform the method as described in any one of claims 1 to 13.

Images