US-12619239-B2 - Remote control method and device

US12619239B2US 12619239 B2US12619239 B2US 12619239B2US-12619239-B2

Abstract

A remote-control method being applied to a controlled terminal includes: obtaining first environment information; sending the first environment information to a control terminal; receiving a first control instruction sent by the control terminal, the first control instruction and the first environment information having a mapping relationship; obtaining second environment information; and determining an execution state of the first control instruction based on difference information between the first environment information and the second environment information.

Inventors

Heping Wang

Assignees

LENOVO (BEIJING) LIMITED

Dates

Publication Date: 20260505
Application Date: 20230317
Priority Date: 20220628

Claims (15)

1 . A remote-control method being applied to a controlled terminal, comprising: obtaining first environment information associated with a first moment; sending the first environment information to a control terminal; receiving a first control instruction sent by the control terminal, the first control instruction and the first environment information having a mapping relationship; obtaining second environment information associated with a second moment, the second moment corresponding to a moment when the first control instruction is received at the controlled terminal; and determining an execution state of the first control instruction based on difference information between the first environment information and the second environment information, the difference information being representative of a change in an environment of the controlled terminal between the first moment and the second moment, wherein the determining the execution state of the first control instruction based on the difference information between the first environment information and the second environment information includes: determining whether the difference information satisfies a first set condition, wherein the difference information satisfies the first set condition when the difference information indicates that the change is less than a first set difference threshold; and in response to the difference information satisfying the first set condition, executing the first control instruction to control the controlled terminal.
2 . The remote-control method according to claim 1 , wherein the mapping relationship between the first control instruction and the first environment information includes one of: determining the first control instruction by the control terminal when the first environment information is displayed on a display interface of the control terminal; sending by the control terminal the first control instruction and the first environment at the same time to the controlled terminal; and sending by the control terminal the first control instruction and identification information of the first environment information at the same time to the controlled terminal.
3 . The remote-control method according to claim 1 , wherein: the first environment information includes a first image of a working environment of the controlled terminal collected at the first moment; the second environment information includes a second image of the working environment of the controlled terminal collected at the second moment; and the difference information includes at one of: an image difference between the first image and the second image; a shooting angle difference between the first image and the second image; a difference between the controlled terminal in the first image and the controlled terminal in the second image; or a difference between object information of a set target object in the first image and object information of the set target object in the second image.
4 . The remote-control method according to claim 1 , wherein: the first environment information includes first degree of freedom data of the controlled terminal at the first moment; the second environment information includes second degree of freedom data of the controlled terminal at the second moment; and the difference information includes degree of freedom difference between the second degree of freedom data and the first degree of freedom data.
5 . The remote-control method according to claim 1 , wherein determining the execution state of the first control instruction based on the difference information between the first environment information and the second environment information includes: determining whether the difference information satisfies a second set condition, wherein the difference information satisfies the second set condition when the difference information indicates that the change is greater than the first set difference threshold but less than a second set difference threshold; and in response to the difference information satisfying the second set condition, adjusting the first control instruction based on the difference information, the adjusting comprising moving a position of the controlled terminal in the first control instruction by a distance in a direction.
6 . The remote-control method according to claim 5 , wherein determining the execution state of the first control instruction based on the difference information between the first environment information and the second environment information includes: determining whether the difference information satisfies a third set condition, wherein the difference information satisfies the third set condition when the difference information indicates that the change is greater than the second set difference threshold; and in response to the difference information satisfying the third set condition, determining a second control instruction to control the controlled terminal based on the second environment information, the second control instruction being different from the first instruction.
7 . A remote-control method being applied to a control terminal, comprising: receiving first environment information sent by a controlled terminal, the first environment information being associated with a first moment; determining a first control instruction for controlling the controlled terminal based on the first environment information, the first control instruction and the first environment information having a mapping relationship; and sending the first control instruction to the controlled terminal, such that the controlled terminal obtains second environment information associated with a second moment, the second moment corresponding to a moment when the first control instruction is received at the controlled terminal, and determines an execution state of the first control instruction based on difference information between the first environment information and the second environment information, the difference information being representative of a change in an environment of the controlled terminal between the first moment and the second moment, wherein the determining the execution state of the first control instruction based on the difference information between the first environment information and the second environment information includes: determining whether the difference information satisfies a first set condition, wherein the difference information satisfies the first set condition when the difference information indicates that the change is less than a first set difference threshold; and in response to the difference information satisfying the first set condition, executing the first control instruction to control the controlled terminal.
8 . The remote-control method according to claim 7 , wherein the mapping relationship between the first control instruction and the first environment information includes one of: determining the first control instruction when the first environment information is displayed on a display interface of the control terminal; sending the first control instruction and the first environment at the same time to the controlled terminal; and sending the first control instruction and identification information of the first environment information at the same time to the controlled terminal.
9 . The remote-control method according to claim 7 , wherein: the first environment information includes a first image of a working environment of the controlled terminal collected at the first moment; the second environment information includes a second image of the working environment of the controlled terminal collected at the second moment; and the difference information includes at one of: an image difference between the first image and the second image; a shooting angle difference between the first image and the second image; a difference between the controlled terminal in the first image and the controlled terminal in the second image; or a difference between object information of a set target object in the first image and object information of the set target object in the second image.
10 . A remote-control device being applied to a controlled terminal, comprising: a memory storing program instructions; and a processor coupled to the memory; wherein when being executed by the processor, the program instructions cause the processor to: obtain first environment information associated with a first moment; send the first environment information to a control terminal; receive a first control instruction sent by the control terminal, the first control instruction and the first environment information having a mapping relationship; obtain second environment information associated with a second moment, the second moment corresponding to a moment when the first control instruction is received at the controlled terminal; and determine an execution state of the first control instruction based on difference information between the first environment information and the second environment information, the difference information being representative of a change in an environment of the controlled terminal between the first moment and the second moment, wherein when determining the execution state of the first control instruction based on the difference information between the first environment information and the second environment information, the processor is further configured to: determine whether the difference information satisfies a first set condition, wherein the difference information satisfies the first set condition when the difference information indicates that the change is less than a first set difference threshold; and in response to the difference information satisfying the first set condition, execute the first control instruction to control the controlled terminal.
11 . The remote-control device according to claim 10 , wherein the mapping relationship between the first control instruction and the first environment information includes one of: determining the first control instruction by the control terminal when the first environment information is displayed on a display interface of the control terminal; sending by the control terminal the first control instruction and the first environment at the same time to the controlled terminal; and sending by the control terminal the first control instruction and identification information of the first environment information at the same time to the controlled terminal.
12 . The remote-control device according to claim 10 , wherein: the first environment information includes a first image of a working environment of the controlled terminal collected at the first moment; the second environment information includes a second image of the working environment of the controlled terminal collected at the second moment; and the difference information includes at one of: an image difference between the first image and the second image; a shooting angle difference between the first image and the second image; a difference between the controlled terminal in the first image and the controlled terminal in the second image; or a difference between object information of a set target object in the first image and object information of the set target object in the second image.
13 . The remote-control device according to claim 10 , wherein: the first environment information includes first degree of freedom data of the controlled terminal at the first moment; the second environment information includes second degree of freedom data of the controlled terminal at the second moment; and the difference information includes degree of freedom difference between the second degree of freedom data and the first degree of freedom data.
14 . The remote-control device according to claim 10 , wherein when determining the execution state of the first control instruction based on the difference information between the first environment information and the second environment information, the processor is further configured to: determine whether the difference information satisfies a second set condition, wherein the difference information satisfies the second set condition when the difference information indicates that the change is greater than the first set difference threshold but less than a second set difference threshold; and in response to the difference information satisfying the second set condition, adjust the first control instruction based on the difference information, the adjusting comprising moving a position of the controlled terminal in the first control instruction by a distance in a direction.
15 . The remote-control device according to claim 14 , wherein when determining the execution state of the first control instruction based on the difference information between the first environment information and the second environment information, the processor is further configured to: determine whether the difference information satisfies a third set condition, wherein the difference information satisfies the third set condition when the difference information indicates that the change is greater than the second set difference threshold; and in response to the difference information satisfying the third set condition, determine a second control instruction to control the controlled terminal based on the second environment information, the second control instruction being different from the first instruction.

Description

CROSS-REFERENCE TO RELATED APPLICATION This application claims priority to Chinese Patent Application No. 202210754270.6, filed on Jun. 28, 2022, the entire content of which is incorporated herein by reference. TECHNICAL FIELD The present disclosure relates to the technical field of smart control and, more particularly, to a remote-control method and a remote-control device. BACKGROUND Remote-control technology has been widely used in various fields, such as telemedicine, remote maintenance and remote expert systems. The principle of remote-control technology is to send back images and audios remotely, and then perform further processing based on the images and audios. In the process of performing remote control, some images change relatively little. For example, in the process of remote maintenance, there is a situation where a device needs to be observed for a long time. During the process of observing the device, the images only change slightly. There are also some scenarios where the images change relatively quickly. For example, when a robot is remotely controlled, and the robot is in constant movement. In order to reduce errors in the remote-control process, some industries or enterprises improve the accuracy of remote control through controlling parameters such as the throughput rate and the network delay of the communication network used for remote control. For example, 5G wireless technology is adopted to improve the throughput rate of the communication network and reduce the network delay. However, there are still many scenarios of image delays in the actual remote-control process, thereby causing errors or deviations in the remote-control process. SUMMARY One aspect of the present disclosure provides a remote-control method being applied to a controlled terminal. The remote-control method includes: obtaining first environment information; sending the first environment information to a control terminal; receiving a first control instruction sent by the control terminal, the first control instruction and the first environment information having a mapping relationship; obtaining second environment information; and determining an execution state of the first control instruction based on difference information between the first environment information and the second environment information. Another aspect of the present disclosure provides a remote-control method being applied to a control terminal. The remote-control method includes: receiving first environment information sent by a controlled terminal; determining a first control instruction for controlling the controlled terminal based on the first environment information, the first control instruction and the first environment information having a mapping relationship; and sending the first control instruction to the controlled terminal, such that the controlled terminal obtains second environment information, and determines an execution state of the first control instruction based on difference information between the first environment information and the second environment information. Another aspect of the present disclosure provides a remote-control device being applied to a controlled terminal. The remote-control device includes: a memory storing program instructions and a processor coupled to the memory. When being executed by the processor, the program instructions cause the processor to: obtain first environment information; send the first environment information to a control terminal; receive a first control instruction sent by the control terminal, the first control instruction and the first environment information having a mapping relationship; obtain second environment information; and determine an execution state of the first control instruction based on difference information between the first environment information and the second environment information. BRIEF DESCRIPTION OF THE DRAWINGS To more clearly illustrate the technical solution of the present disclosure, the accompanying drawings used in the description of the disclosed embodiments are briefly described below. The drawings described below are merely some embodiments of the present disclosure. Other drawings may be derived from such drawings by a person with ordinary skill in the art without creative efforts and may be encompassed in the present disclosure. In the drawings, the same or corresponding reference numerals denote the same or corresponding parts. FIG. 1 is a flowchart of an exemplary remote-control method according to some embodiments of the present disclosure; FIG. 2 is a flowchart of another exemplary remote-control method according to some embodiments of the present disclosure; FIG. 3 is a flowchart of another exemplary remote-control method according to some embodiments of the present disclosure; FIG. 4 is a flowchart of another exemplary remote-control method according to some embodiments of the present disclosure; FIG. 5 is a flowchart of another exemplary