CN111586165A - Control method of mobile device, control terminal, storage medium and processor - Google Patents
Control method of mobile device, control terminal, storage medium and processor Download PDFInfo
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- H04L67/125—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks involving control of end-device applications over a network
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- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
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Abstract
The application provides a control method of a mobile device, a control terminal, a storage medium, a processor and a mobile system, wherein the control method comprises the following steps: the method comprises the steps of obtaining a task queue, wherein the task queue comprises a plurality of tasks, each task comprises an event list, and the event list comprises one or more events; the movable equipment is controlled to execute each task, and the task queue is acquired, so that the task queue comprises a plurality of tasks to be executed by the movable equipment and then the movable equipment is controlled to execute each task, the task queue is convenient to acquire, the efficiency of controlling the movable equipment to execute each task is improved, and the problem of low control efficiency of the movable equipment is solved.
Description
Technical Field
The present application relates to the field of intelligent control, and in particular, to a control method, a control terminal, a storage medium, a processor, and a mobile system for a mobile device.
Background
At present, the moving small-sized movable equipment in China, such as intelligent vehicles and the like, generally adopt 2.4G radio frequency signals as remote control data communication carriers, and have short control distance; the mobile equipment usually executes the program by adopting a fixed rule, and when the program needs to be changed, the program needs to be burnt again, so that the operation is complicated; and most of mobile equipment needs people to operate and control at present, and real automation and intellectualization cannot be realized.
The above information disclosed in this background section is only for enhancement of understanding of the background of the technology described herein and, therefore, certain information may be included in the background that does not form the prior art that is already known in this country to a person of ordinary skill in the art.
Disclosure of Invention
The present application mainly aims to provide a control method, a control terminal, a storage medium, a processor and a mobile system for a mobile device, so as to solve the problem of low control efficiency of the mobile device in the prior art.
In order to achieve the above object, according to an aspect of the present application, there is provided a control method of a movable apparatus, including: the method comprises the steps of obtaining a task queue, wherein the task queue comprises a plurality of tasks, each task comprises an event list, and the event list comprises one or more events; controlling the mobile device to perform each of the tasks.
Further, controlling the mobile device to perform each of the tasks includes: sequentially reading the tasks in the task queue; determining whether the read task is a loop task; controlling the movable equipment to circularly execute the task under the condition that the read task is a circular task; and in the case that the read task is not a circular task, deleting the executed task from the task queue, and continuing to execute the task next to the deleted task.
Further, controlling the mobile device to perform each of the tasks includes: controlling the movable device to perform the events in each of the tasks.
Further, controlling the mobile device to perform the events in each of the tasks includes: controlling the movable device to sequentially execute the events in the event list; deleting the executed event from the event list, and continuing to execute the event next to the deleted event.
According to still another aspect of the present application, there is provided a control terminal of a mobile device, including: the system comprises an acquisition unit, a processing unit and a processing unit, wherein the acquisition unit is used for acquiring a task queue, the task queue comprises a plurality of tasks, each task comprises an event list, and the event list comprises one or more events; a control unit for controlling the movable apparatus to perform each of the tasks.
Furthermore, the control terminal comprises a mobile network module, a first main controller, a GPS positioning module, a high-precision clock module, a data memory and a sensor interface, wherein the first main controller is respectively communicated with the GPS positioning module, the high-precision clock module, the data memory and the sensor interface, and comprises the acquisition unit and the control unit.
According to yet another aspect of the present application, there is provided a mobile system comprising: the user side is used for issuing the task queue; the server is communicated with the user side and receives the task queue; a mobile device; and the control terminal is communicated with the server and is also used for communicating with the mobile equipment, and the control terminal is used for executing any one of the control methods.
Further, the control terminal comprises a mobile network module, and the mobile network module is communicated with the user terminal.
According to another aspect of the present application, there is provided a storage medium including a stored program, wherein the program executes any one of the control methods of the removable device.
According to yet another aspect of the present application, there is provided a processor for executing a program, wherein the program executes when running to execute any one of the control methods of the removable device.
By the technical scheme, the task queue is obtained, the task queue comprises a plurality of tasks which need to be executed by the movable equipment, and then the movable equipment is controlled to execute the tasks, so that the tasks are conveniently obtained in the form of the task queue, the efficiency of controlling the movable equipment to execute the tasks is improved, and the problem of low control efficiency of the movable equipment is solved.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the application and, together with the description, serve to explain the application and are not intended to limit the application. In the drawings:
FIG. 1 shows a flow chart of a method of controlling a mobile device according to an embodiment of the application;
FIG. 2 shows a schematic diagram of a control terminal according to an embodiment of the application;
FIG. 3 illustrates a task queue composition diagram according to an embodiment of the present application;
FIG. 4 shows a schematic diagram of a mobile system according to an embodiment of the application;
FIG. 5 illustrates a schematic diagram of a portion of a mobile system according to an embodiment of the present application; and
fig. 6 is a flowchart illustrating a specific method for controlling a mobile device according to an embodiment of the present application.
Wherein the figures include the following reference numerals:
10. a user side; 11. a browser; 12. PC; 13. a mobile device; 20. a server; 30. a mobile device; 31. a second master controller; 32. a detection device; 40. a control terminal; 41. a mobile network module; 42. a first master controller; 43. a GPS positioning module; 44. a high-precision clock module; 45. a data storage; 46. a sensor interface.
Detailed Description
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present application will be described in detail below with reference to the embodiments with reference to the attached drawings.
In order to make the technical solutions better understood by those skilled in the art, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only partial embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It should be understood that the data so used may be interchanged under appropriate circumstances such that embodiments of the application described herein may be used. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
It will be understood that when an element such as a layer, film, region, or substrate is referred to as being "on" another element, it can be directly on the other element or intervening elements may also be present. Also, in the specification and claims, when an element is described as being "connected" to another element, the element may be "directly connected" to the other element or "connected" to the other element through a third element.
As described in the background art, in order to solve the problem of low control efficiency of a mobile device in the prior art, embodiments of the present application provide a control method of a mobile device, a control terminal, a storage medium, a processor, and a mobile system.
According to an embodiment of the present application, there is provided a control method of a movable apparatus.
Fig. 1 is a flowchart of a control method of a movable device according to an embodiment of the present application. As shown in fig. 1, the method comprises the steps of:
step S101, acquiring a task queue, wherein the task queue comprises that each task comprises an event list, and the event list comprises one or more events;
and step S102, controlling the movable equipment to execute each task.
According to the scheme, by acquiring the task queue, the task queue comprises a plurality of tasks which need to be executed by the movable equipment, and then the movable equipment is controlled to execute each task, the task queue is convenient to acquire, the efficiency of controlling the movable equipment to execute each task is improved, and the problem that the control efficiency of the movable equipment is low is solved.
It should be noted that the movable device includes, but is not limited to, a robot and a smart car.
It should be noted that the steps illustrated in the flowcharts of the figures may be performed in a computer system such as a set of computer-executable instructions and that, although a logical order is illustrated in the flowcharts, in some cases, the steps illustrated or described may be performed in an order different than presented herein.
In an embodiment of the present application, controlling the mobile device to perform the tasks includes: sequentially reading the tasks in the task queue; determining whether the read task is a circular task; controlling the movable equipment to circularly execute the task under the condition that the read task is a circular task; and if the read task is not a circular task, controlling the mobile equipment to circularly execute the task, deleting the executed task from the task queue, and continuing to execute the task next to the deleted task, namely if the read task is a circular task, deleting the executed task from the task queue, continuing to execute the task next to the deleted task until all tasks in the task queue are completely executed, deleting the executed task from the task queue, forming a new task queue by the unexecuted task, and continuing to execute the task in the new task queue until the new task queue is formed to be empty, so that the space of a CPU is greatly saved, and the execution efficiency of the task is improved.
In another embodiment of the present application, controlling the mobile device to perform the tasks includes: and controlling the movable equipment to execute the events in the tasks, wherein the tasks are composed of the events, and the task execution is essentially to execute the events in the tasks so as to realize efficient task execution.
In another embodiment of the present application, controlling the mobile device to perform the event of each of the tasks includes: controlling the movable device to sequentially execute the events in the event list; and deleting the executed events from the event list, continuing to execute the events next to the deleted events, and executing the events in the event list in sequence and deleting the executed events from the event list, so that the space of the event list is greatly saved, the space of a CPU is saved, and the execution efficiency of tasks is improved.
In still another embodiment of the present application, as shown in fig. 3, the task queue includes a plurality of tasks, for example, task 1, task 2, …, and task n, each task includes an event list, the event list includes one or more events, for example, event 1, event 2, …, and event n, the basic attributes of the events are time and place, work is an optional attribute, each control terminal may dynamically allocate a task queue, the tasks in the task list may be executed sequentially or cyclically, each task is composed of one event or a plurality of events, a user may add a task in a user-defined manner, and the user may add a task attribute to control the mobile device sensor to collect data. The software has a task template library and an event template library, and a user can add templates or collect defined tasks and events by himself, so that the workload of adjusting the tasks each time is reduced.
The embodiment of the present application further provides a control terminal of a mobile device, and it should be noted that the control terminal of the mobile device according to the embodiment of the present application may be used to execute the control method of the mobile device according to the embodiment of the present application. The following describes a control terminal of a mobile device according to an embodiment of the present application, and as shown in fig. 2, the control terminal includes:
an obtaining unit 100, configured to obtain a task queue, where the task queue includes multiple tasks, each task includes an event list, and the event list includes one or more events;
and a control unit 200 for controlling the mobile device to perform the tasks.
In the above scheme, the obtaining unit obtains the task queue, and the control unit controls the movable equipment to execute each task because the task queue comprises a plurality of tasks to be executed by the movable equipment, so that the task queue is convenient to obtain, the efficiency of controlling the movable equipment to execute each task is improved, and the problem of low control efficiency of the movable equipment is solved.
It should be noted that the movable device includes, but is not limited to, a robot and a smart car.
In an embodiment of the present application, the control unit includes a reading module, a determining module, a first control module, and a first deleting module, where the reading module is configured to sequentially read the tasks in the task queue; the determining module is used for determining whether the read task is a cyclic task; the first control module is used for controlling the movable equipment to circularly execute the task under the condition that the read task is a circular task; the first deleting module is used for deleting the executed task from the task queue and continuing to execute the task next to the deleted task under the condition that the read task is not a circular task, that is, if the read task is a circular task, the movable device is controlled to circularly execute the task, in the case that the read task is not a circular task, deleting the executed task from the task queue, continuing to execute the task next to the deleted task until all tasks in the task queue are completely executed, by deleting the executed tasks from the task queue, the unexecuted tasks form a new task queue, and then continue to execute the tasks in the new task queue until the new task queue is empty, the space of a CPU is greatly saved, and the execution efficiency of the tasks is improved.
In another embodiment of the present application, the control unit is further configured to control the mobile device to execute the event in each of the tasks, where a task is composed of events, and the task is essentially to execute each event in the task, so as to implement efficient task execution.
In another embodiment of the present application, the control unit further includes a second control module and a second deleting module, where the second control module is configured to control the mobile device to sequentially execute the events in the event list; the second deleting module is used for deleting the executed events from the event list, continuously executing the events next to the deleted events, sequentially executing the events in the event list, and deleting the executed events from the event list, so that the space of the event list is greatly saved, the space of a CPU is saved, and the execution efficiency of tasks is improved.
In another embodiment of the present application, as shown in fig. 4 and fig. 5, the control terminal 40 includes a mobile network module 41, a first main controller 42, a GPS positioning module 43, a high-precision clock module 44, a data memory 45 and a sensor interface 46, the first main controller 42 communicates with the GPS positioning module 43, the high-precision clock module 44, the data memory 45 and the sensor interface 46, respectively, the first main controller 42 includes the acquiring unit and the control unit, that is, the control terminal 40 adopts a modular design, so that the applicability of the system and the utilization rate of resources are improved, and the control efficiency of the mobile device 30 is improved.
The control device of the mobile equipment comprises a processor and a memory, the acquisition unit, the control unit and the like are stored in the memory as program units, and the processor executes the program units stored in the memory to realize corresponding functions.
The processor comprises a kernel, and the kernel calls the corresponding program unit from the memory. The kernel can be set to be one or more, and the control efficiency of the movable device is improved by adjusting the kernel parameters.
The memory may include volatile memory in a computer readable medium, Random Access Memory (RAM) and/or nonvolatile memory such as Read Only Memory (ROM) or flash memory (flash RAM), and the memory includes at least one memory chip.
An embodiment of the present invention provides a storage medium having a program stored thereon, the program implementing the control method of the removable device when executed by a processor.
The embodiment of the invention provides a processor, which is used for running a program, wherein the program executes a control method of a movable device when running.
Embodiments of the present invention also provide a mobile system, as shown in fig. 4, including:
a user terminal 10, configured to issue a task queue;
a server 20 communicating with the client terminal 10 and receiving the task queue;
a movable device 30;
a control terminal 40, in communication with the server 20, and further in communication with the removable device 30, the control terminal 40 being configured to perform any of the above methods.
According to the scheme, the control terminal receives the task queue issued by the user side through the server and then controls the movable equipment to execute the tasks in the task queue, the tasks are issued through the user side, the operation is simple, the configuration is flexible, the customizability is strong, the task queue is convenient to obtain, the efficiency of controlling the movable equipment to execute each task is improved, and the problem that the control efficiency of the movable equipment is low is solved.
In another embodiment of the present application, as shown in fig. 4 and 5, the control terminal 40 includes a mobile network module 41, and the mobile network module 41 communicates with the user terminal 10, and the system communicates through a mobile network, which breaks through the distance limitation of the conventional mobile device control system, and further improves the control efficiency of the mobile device.
In still another embodiment of the present application, as shown in fig. 4 and 5, the movable device 30 includes a second main controller 31, and the second main controller 31 communicates with the first main controller 42 to control the movable device 30 by the control terminal 40.
In yet another embodiment of the present application, as shown in fig. 4, the user terminal 10 includes a browser 11, a PC12, and a mobile device 13, and the mobile device 13 includes a mobile phone and a tablet computer.
In yet another embodiment of the present application, as shown in fig. 4 and 5, the movable device 30 further includes a detection device 32, which includes a gyroscope, an accelerometer, and a magnetometer.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
In a typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include forms of volatile memory in a computer readable medium, Random Access Memory (RAM) and/or non-volatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). The memory is an example of a computer-readable medium.
Computer-readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), Digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, a computer readable medium does not include a transitory computer readable medium such as a modulated data signal and a carrier wave.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in the process, method, article, or apparatus that comprises the element.
Example 1
The present embodiment relates to a specific control method for a mobile device, and as shown in fig. 6, the control method includes: reading a head task in the task queue; executing the head-of-line event in the event list of the head-of-line task; determining whether the executed head-of-line event is a tail-of-line event; and if the executed task is not the queue tail task, deleting the task from the task queue, and continuing to execute the rest of tasks in the task queue until the task queue is empty.
Example 2
The embodiment relates to a mobile system, as shown in fig. 4 and 5, the system includes a user terminal 10, a server 20, a plurality of mobile devices 30 and a plurality of control terminals 40, the system adopts an upper computer software + hardware terminal mode, tasks are issued and controlled by an upper computer (equivalent to a client), the terminals are responsible for executing the tasks, in order to enable a user to use the system anytime and anywhere, the user terminal 10 includes a mobile device 13, a PC12 and a browser 11, the server 20 adopts an aristo ECS server 20, and elastic and flexible computing services can be provided according to user requirements. The control terminal 40 adopts an independent modular design to communicate with a main controller of the mobile equipment 30, the customizable requirement is realized, an STM32 microcontroller and stable peripheral modules are arranged in the control terminal 40 to control the mobile equipment 30 to execute tasks, the tasks issued by a client are synchronized to the server 20, the server 20 controls corresponding task controllers to execute the tasks, and the issued tasks are synchronously cached in the control terminal 40, so that the mobile equipment 30 can also normally execute the tasks under the abnormal conditions of network disconnection and the like.
The control terminal 40 of the present design adopts an independent modular design, as shown in fig. 4 and 5, the control terminal 40 mainly comprises a mobile network module 41, a main controller, a GPS positioning module 43, a high-precision clock module 44, a data memory 45, and a sensor interface 46. The mobile network module 41 selects the 4G communication module ME3760, communicates with the main controller through a serial port, the server 20 and the first main controller 42 perform data transmission through AT instructions, and the 5G network module can be replaced after the subsequent 5G mature large-scale application, so that the stability of the system can be greatly improved. The gyroscope, the accelerometer and the magnetometer in the detection device 32 are used in a matched mode to control the position of the movable device 30, an SPI (serial peripheral interface) is adopted to carry out data communication with the second main controller 31, the first main controller 42 carries out fusion attitude calculation on received sensor data, and the accuracy of the relative position of the movable device 30 in task execution is guaranteed.
From the above description, it can be seen that the above-described embodiments of the present application achieve the following technical effects:
1) according to the control method of the movable equipment, the task queue is obtained, the task queue comprises a plurality of tasks which need to be executed by the movable equipment, and then the movable equipment is controlled to execute the tasks, the tasks are conveniently obtained through the form of the task queue, so that the efficiency of controlling the movable equipment to execute the tasks is improved, and the problem of low control efficiency of the movable equipment is solved.
2) The control terminal comprises an acquisition unit, a control unit and a task queue, wherein the acquisition unit acquires the task queue, and the control unit controls the movable equipment to execute each task because the task queue comprises a plurality of tasks which need to be executed by the movable equipment.
3) According to the mobile system, the control terminal receives the task queue issued by the user side through the server, then controls the mobile device to execute the tasks in the task queue, and issues the tasks through the user side, so that the operation is simple, the configuration is flexible, the customizability is strong, the task queue is convenient to obtain, the efficiency of controlling the mobile device to execute each task is improved, and the problem of low control efficiency of the mobile device is solved.
The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Claims (10)
1. A method for controlling a mobile device, comprising:
the method comprises the steps of obtaining a task queue, wherein the task queue comprises a plurality of tasks, each task comprises an event list, and the event list comprises one or more events;
controlling the mobile device to perform each of the tasks.
2. The control method of claim 1, wherein controlling the mobile device to perform each of the tasks comprises:
sequentially reading the tasks in the task queue;
determining whether the read task is a loop task;
controlling the movable equipment to circularly execute the task under the condition that the read task is a circular task;
and in the case that the read task is not a circular task, deleting the executed task from the task queue, and continuing to execute the task next to the deleted task.
3. The control method of claim 1, wherein controlling the mobile device to perform each of the tasks comprises:
controlling the movable device to perform the events in each of the tasks.
4. The control method of claim 3, wherein controlling the movable device to perform the event in each of the tasks comprises:
controlling the movable device to sequentially execute the events in the event list;
deleting the executed event from the event list, and continuing to execute the event next to the deleted event.
5. A control terminal of a mobile device, comprising:
the system comprises an acquisition unit, a processing unit and a processing unit, wherein the acquisition unit is used for acquiring a task queue, the task queue comprises a plurality of tasks, each task comprises an event list, and the event list comprises one or more events;
a control unit for controlling the movable apparatus to perform each of the tasks.
6. The control terminal according to claim 5, characterized in that the control terminal comprises a mobile network module, a first master controller, a GPS positioning module, a high precision clock module, a data memory and a sensor interface, the first master controller being in communication with the GPS positioning module, the high precision clock module, the data memory and the sensor interface, respectively, the first master controller comprising the acquisition unit and the control unit.
7. A mobile system, comprising:
the user side is used for issuing the task queue;
the server is communicated with the user side and receives the task queue;
a mobile device;
a control terminal in communication with the server and further in communication with the mobile device, the control terminal being configured to perform the control method of any of claims 1 to 4.
8. The mobile system according to claim 7, wherein the control terminal comprises a mobile network module, the mobile network module being in communication with the user terminal.
9. A storage medium characterized by comprising a stored program, wherein the program executes the control method of a removable device according to any one of claims 1 to 4.
10. A processor, characterized in that the processor is configured to execute a program, wherein the program executes the control method of the removable device according to any one of claims 1 to 4.
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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