CN109639967A - Monitoring method, system and computer readable storage medium - Google Patents
Monitoring method, system and computer readable storage medium Download PDFInfo
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- CN109639967A CN109639967A CN201811519313.2A CN201811519313A CN109639967A CN 109639967 A CN109639967 A CN 109639967A CN 201811519313 A CN201811519313 A CN 201811519313A CN 109639967 A CN109639967 A CN 109639967A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/66—Remote control of cameras or camera parts, e.g. by remote control devices
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V11/00—Prospecting or detecting by methods combining techniques covered by two or more of main groups G01V1/00 - G01V9/00
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
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Abstract
The invention proposes a kind of monitoring method, system and computer readable storage mediums, and wherein monitoring method includes: the monitoring instruction for receiving user terminal and sending；Start multiple sensors according to monitoring instruction to be monitored predeterminable area；Detection data of the receiving sensor to human body；The target position that human body occurs is determined according to detection data, and mobile to target position；After confirmation reaches target position, the image data of corresponding human body is acquired；Image data is sent to corresponding user terminal.The sensor of multiple dispersions is preset in monitoring space, and with robot terminal communication association, when robot terminal receives the monitoring instruction of user terminal transmission, start sensor detection monitored object (human body), then robot terminal is moved to target position according to detection data and carries out monitoring camera-shooting, simple and practical, monitor broad covered area, response quickly is monitored, high-efficient, environment is widely applicable.
Description
Technical field
The present invention relates to monitoring field, a kind of monitoring method, system and computer-readable storage medium are especially related to
Matter.
Background technique
With the progress of social life, all kinds of monitoring such as traffic monitoring, building monitoring, family's monitoring are also applied in life
It is more more and more universal, play vital effect in people's lives.At present in monitoring field, using fixed camera shooting
The mode that head is monitored accounts for the overwhelming majority, with the development of intelligent robot industry, is monitored using intelligent robot
Mode also starts to rise gradually.But it is monitored at present using robot, typically two ways, first is that user manually controls
Robot is mobile, and to carry out monitoring camera-shooting, this mode needs user's manual search monitored object, the position of monitored object not
It is more troublesome in the case where determination；Second is that being gone on patrol according to route, this mode is more taken after robot receives instruction
When it is laborious, efficiency is lower.
Summary of the invention
The main object of the present invention is to provide a kind of monitoring device, method, system and computer readable storage medium, is realized
The function of remotely monitoring.
The present invention proposes a kind of monitoring device, including robot terminal, multiple sensors and user terminal, multiple sensors
Scattering device communicates with each other connection between each predeterminated position, user terminal, robot terminal and sensor, and sensor is used for
Whether monitored object appearance is had in induction setting range, and robot terminal has locomotivity, and is provided with camera for adopting
Collect image.
Further, sensor be one of monitored object proximity sensor, infrared sensor, ultrasonic sensor or
A variety of combinations.
The invention also provides a kind of monitoring methods, are applied on robot terminal, and robot terminal is whole with user respectively
End and multiple sensor communication connections for being set to predeterminated position, sensor is for detecting whether predeterminable area has monitored object to go out
It is existing；Method includes:
Receive the monitoring instruction that user terminal is sent；
Start multiple sensors according to monitoring instruction to be monitored predeterminable area；
Detection data of the receiving sensor to monitored object；
The target position that monitored object occurs is determined according to detection data, and mobile to target position；
After confirmation reaches target position, the image data of corresponding monitored object is acquired；
Image data is sent to corresponding user terminal.
Further, before the step of receiving the monitoring instruction that user terminal is sent, further includes:
Judge whether in distribution mode；
If being in distribution mode, the network configuration instruction of user terminal transmission is received；
It is instructed according to network configuration and completes network configuration.
Further, after instructing the step of completing network configuration according to network configuration, further includes:
Receive the first verifying instruction that user terminal is sent；
Correspondence is associated with user terminal foundation according to the first verifying instruction.
Further, before the step of receiving the monitoring instruction that user terminal is sent, further includes:
The second verifying instruction is sent to sensor；
Correspondence is associated with sensor foundation according to the second verifying instruction.
Further, after the step of establishing incidence relation with sensor according to the second verifying instruction, further includes:
The facility information of sensor after association is sent to the user terminal.
Further, the target position of monitored object appearance, and the step mobile to target position are determined according to detection data
Suddenly, comprising:
If having multiple target positions according to detection data determination, it will test data and be sent to the user terminal；
Receive the feedback command of user terminal；Feedback command includes the selection instruction to multiple target positions；
Specified target position is determined in multiple target positions according to feedback command, and mobile to specified target position.
Further, the step of confirming after reaching target position, acquiring the image data of corresponding monitored object, comprising:
After confirmation reaches target position, the arrival information for reaching target position is sent to user terminal；
Receive the camera shooting instruction that user terminal is sent；
It is instructed according to camera shooting and opens camera and select image pickup mode；
Acquisition appears in the image data of the monitored object of target position under image pickup mode.
The invention also provides a kind of monitoring systems, comprising:
First receiving module, for receiving the monitoring instruction of user terminal transmission；
Starting module, for starting multiple sensors according to monitoring instruction；
Second receiving module, the detection data for receiving sensor；
Mobile module, for determining the target position of monitored object appearance according to detection data, and it is mobile to target position；
Photographing module acquires the image data of corresponding monitored object after confirming arrival target position；
First sending module, for image data to be sent to corresponding user terminal.
Further, further includes:
Judgment module, for judging whether in distribution mode；
Third receiving module, if receiving the network configuration instruction of user terminal transmission for being in distribution mode；
Configuration module completes network configuration for instructing according to network configuration.
Further, further includes:
4th receiving module, for receiving the first verifying instruction of user terminal transmission；
First relating module, for establishing incidence relation with user terminal according to the first verifying instruction.
Further, further includes:
Second sending module sends the second verifying instruction to sensor；
Second relating module, for establishing incidence relation with sensor according to the second verifying instruction.
Further, further includes:
Third sending module, for the facility information of the sensor after association to be sent to the user terminal.
Further, mobile module, comprising:
Feedback unit, if will test data for having multiple target positions according to detection data determination and be sent to user
Terminal；
First receiving unit, for receiving the feedback command of user terminal；
Mobile unit, for determining specified target position in multiple target positions according to feedback command, and to specific mesh
Cursor position is mobile.
Further, photographing module, comprising:
Transmission unit, for sending the arrival information for reaching target position to user terminal after confirming and reaching target position；
Second receiving unit, for receiving the camera shooting instruction of user terminal transmission；
Opening unit, for instructing unlatching camera according to camera shooting and selecting image pickup mode；
Camera unit, for acquiring the image data for appearing in the monitored object of target position under image pickup mode.
The invention also provides a kind of computer readable storage mediums, are stored thereon with computer program, computer program
The step of any one of above-mentioned monitoring method is realized when being executed by processor.
Compared with prior art, the present invention beneficial effect is: the invention proposes a kind of monitoring method, system and computers
Readable storage medium storing program for executing, wherein monitoring method includes: the monitoring instruction for receiving user terminal and sending；It is multiple according to monitoring instruction starting
Sensor is monitored predeterminable area；Detection data of the receiving sensor to human body；Determine that human body occurs according to detection data
Target position, and it is mobile to target position；After confirmation reaches target position, the image data of corresponding human body is acquired；By image
Data are sent to corresponding user terminal.The sensor of multiple dispersions is preset in monitoring space, and is communicated with robot terminal
Association, when robot terminal receives the monitoring instruction of user terminal transmission, starting sensor detection monitored object (human body), so
Robot terminal is moved to target position according to detection data and carries out monitoring camera-shooting afterwards, simple and practical, monitors broad covered area, monitoring
Response quickly, high-efficient, environment is widely applicable.
Detailed description of the invention
Fig. 1 is the implementation steps schematic diagram of monitoring method first embodiment of the present invention；
Fig. 2 is the module frame schematic diagram of monitoring system first embodiment of the present invention；
Fig. 3 is that the module frame for carrying out network configuration to robot terminal of monitoring system second embodiment of the present invention is illustrated
Figure；
Fig. 4 is that the robot terminal of monitoring system 3rd embodiment of the present invention establishes the module of incidence relation with user terminal
Block schematic illustration；
Fig. 5 is that the robot terminal of monitoring system fourth embodiment of the present invention establishes the module frame of incidence relation with sensor
Frame schematic diagram；
Fig. 6 is that the incidence relation robot terminal and sensor of the 5th embodiment of monitoring system of the present invention is sent to use
The module frame schematic diagram of family terminal；
Fig. 7 is the module frame schematic diagram of the mobile module of monitoring system sixth embodiment of the present invention；
Fig. 8 is the module frame schematic diagram of the photographing module of the 7th embodiment of monitoring system of the present invention.
The embodiments will be further described with reference to the accompanying drawings for the realization, the function and the advantages of the object of the present invention.
Specific embodiment
It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, it is not intended to limit the present invention.
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiment is only a part of the embodiments of the present invention, instead of all the embodiments.Base
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts it is all its
His embodiment, shall fall within the protection scope of the present invention.
It is to be appreciated that the directional instruction (such as up, down, left, right, before and after ...) of institute is only used in the embodiment of the present invention
In explaining in relative positional relationship, the motion conditions etc. under a certain particular pose (as shown in the picture) between each component, if should
When particular pose changes, then directionality instruction also correspondingly changes correspondingly, and the connection, which can be, to be directly connected to,
It can be and be indirectly connected with.
In addition, the description for being such as related to " first ", " second " in the present invention is used for description purposes only, and should not be understood as
Its relative importance of indication or suggestion or the quantity for implicitly indicating indicated technical characteristic.Define as a result, " first ",
The feature of " second " can explicitly or implicitly include at least one of the features.In addition, the technical side between each embodiment
Case can be combined with each other, but must be based on can be realized by those of ordinary skill in the art, when the combination of technical solution
Conflicting or cannot achieve when occur will be understood that the combination of this technical solution is not present, also not the present invention claims guarantor
Within the scope of shield.
A kind of monitoring device, including robot terminal, multiple sensors and user terminal are proposed in one embodiment of the invention,
Plurality of sensor distribution is set to each predeterminated position, and sensor can be set each position at home, such as bedroom,
Study, kitchen, parlor etc. also can be set with office space, and whether the effect of sensor is to detect has in predeterminable area
Monitored object occurs, which is old man, child in human body, such as family etc. or pet, to feed back detection data
To robot terminal, it is monitored convenient for user.Connection, machine are communicated with each other between user terminal, robot terminal and sensor
Device people's terminal has locomotivity, and is provided with camera.User sends monitoring instruction to robot by user terminal first
Terminal, in some embodiments, user terminal can be mobile phone, computer, plate or smartwatch, assign as long as can reach
Purpose of the monitoring instruction to robot terminal；Robot terminal receive user terminal transmission monitoring instruction after,
Start multiple default sensors associated there, whether has monitored object in induction setting range after sensor starting, and
Detection data is fed back to robot terminal；Robot terminal determines target position according to detection data, and moves to target position
Dynamic, in some embodiments, it may be possible to sense monitored object simultaneously with the presence of multiple sensors, i.e., robot terminal is according to inspection
Measured data determination has multiple target positions, and robot terminal can far and near journey according to multiple target positions apart from itself at this time
Degree, it is mobile to target position one by one according to sequence from the near to the remote, it can also the detection data comprising multiple target positions is anti-
It is fed to user terminal, determines that robot terminal should be mobile to which specific target position from user, i.e., at first to user
Most want that the target position checked is moved；Robot terminal determine reach target position after, open camera in should
The monitored object of target position carries out Image Acquisition, and the image data of acquisition is sent to user terminal, so as to user's progress
It checks, achieve the purpose that remotely to monitor, in some embodiments, robot terminal is in the biography for detecting itself and target location
The distance of sensor is less than after pre-determined distance threshold value, determines and reaches target position, and sends after confirmation reaches target position
One feedback signal is to user terminal, to inform that user itself arrived target position.In further embodiments, robot is whole
End reaches target position in confirmation, after opening camera, the camera shooting instruction selection image pickup mode sent according to user terminal, and example
Such as pan-shot is continuously shot, video capture isotype, then carries out Image Acquisition under the image pickup mode of selection, it is a variety of not
Same image pickup mode can satisfy the different monitoring demand of user.In still further embodiments, when user terminal and robot are whole
Communication channel between end breaks down, when user terminal can not slowly receive the feedback information of robot terminal, on sensor
It is also equipped with communication device, user terminal can also be communicated by sensor and robot terminal, that is, sensing
Device treats as a Repeater, completes user terminal to the monitoring instruction issuing of robot terminal, in user terminal and machine
When Direct Communication channel between people's terminal is broken down, user is still able to achieve the purpose that remotely to monitor.
In some embodiments, user terminal also has multiple, i.e., multiple and different users outside monitoring space are ok
It is communicated by respective user terminal with robot terminal, monitored object is monitored to can realize, works as machine
After people has acquired the image data of monitored object, which is only sent to the user for issuing monitoring instruction or camera shooting instruction
Terminal, the user terminal without being sent to other communication associations, in case the use to other users interferes.
In some embodiments, sensor is one of human body proximity sensor, infrared sensor, ultrasonic sensor
Or a variety of combination.These sensors are associated with robot terminal binding respectively, can be transmitted mutually between robot terminal
Signal is communicated, and sensor is separately positioned on each position for needing to monitor, such as be individually placed to after association binding
The different place such as kitchen, bedroom, the parlor of family forms the induction network an of sensor, to supervise to monitored object
Control is quickly positioned in space.
The invention proposes a kind of monitoring device, including robot terminal, multiple sensors and user terminal, multiple sensings
Device scattering device communicates with each other connection between each predeterminated position, user terminal, robot terminal and sensor, and sensor is used
In whether having monitored object appearance in detection predeterminable area, robot terminal has locomotivity, and is provided with camera.Pass through
The sensor of multiple dispersions is preset in monitoring space, and is associated with robot terminal, when robot terminal receives user terminal
When the monitoring instruction of transmission, start sensor sensing monitored object, then robot terminal is moved to target according to detection data
Position carries out monitoring camera-shooting, simple and practical, monitors broad covered area, monitors response quickly, high-efficient, environment is widely applicable.
As shown in Figure 1, a kind of monitoring method is proposed in one embodiment of the invention, applied to above-mentioned robot terminal
On, comprising:
S1: the monitoring instruction that user terminal is sent is received；
S2: multiple sensors are started according to monitoring instruction, predeterminable area is monitored；
S3: detection data of the receiving sensor to monitored object；
S4: the target position that monitored object occurs is determined according to detection data, and mobile to target position；
S5: after confirmation reaches target position, the image data of corresponding monitored object is acquired；
S6: image data is sent to corresponding user terminal.
In the step S1 for the monitoring instruction that above-mentioned reception user terminal is sent, in some embodiments, on user terminal
Specific APP is installed, in APP one particular account number of user's registration for sending various control instructions, robot terminal with
Particular account number on APP has carried out association binding, only receives the control instruction issued from particular account number, prevents its response from coming from
The control instruction of other users, in order to avoid to using user to cause to perplex；Above-mentioned monitoring instruction is one of above-mentioned control instruction.
In some embodiments, robot terminal can bind multiple particular account numbers, but a particular account number sending control refers to wherein
When enabling, robot terminal will not respond the control instruction of other particular account numbers sending simultaneously.
Started in the step S2 that multiple sensors are monitored predeterminable area above-mentioned according to monitoring instruction, robot is whole
It holds after receiving the monitoring instruction from particular account number, starting and robot terminal bind associated multiple sensors in advance
Predeterminable area is monitored, in some embodiments, sensor can be ultrasonic sensor, infrared temperature sensor, light
Propagated sensation sensor either thermal imaging sensor etc..These sensors are associated with robot terminal binding respectively, with robot terminal
Between can transmit mutually signal and communicated, sensor is separately positioned on each position for needing to monitor after association binding
It sets, such as the place that kitchen, bedroom, parlor for being individually placed to family etc. is different, forms the induction network an of sensor, with
Just monitored object is quickly positioned in monitoring space.
In the step S3 of the detection data of above-mentioned receiving sensor, after sensor starting, start to carry out induction detection,
And detection data is transmitted back to robot terminal, so that robot terminal determines accurate position of the monitored object in monitoring space
It sets.
In the above-mentioned target position for determining that according to detection data, monitored object occurs, and the step S4 mobile to target position
In, robot terminal judges the specific target of monitored object after having received the detection data of sensor, according to detection data
Position, it is then mobile towards target position, i.e., it heads direct for and goes towards monitored object, fast and easy shortens and finds path.Due to sensing
The difference of device type, in some embodiments, detection data are monitored object temperature detection data, simple and practical.At other
In embodiment, detection data is object graphic images, can specifically tell adult or child or is pet.?
In other embodiment, detection data can also be the distance between sensor and monitored object, and robot terminal is according to detection
Data directly can accurately find monitored object, further shorten the time for searching monitored object, user is facilitated to be monitored.
After above-mentioned confirmation reaches target position, in the step S5 of the image data of the corresponding monitored object of acquisition, robot
After terminal check reaches target position, just opens camera and image data acquiring is carried out to the monitored object of target position, to clap
Take the photograph monitored object.In some embodiments, user can choose image pickup mode, such as take pictures, pan-shot, small video, and or
Person is direct unlatching Video chat mode.
In the above-mentioned step S6 that image data is sent to corresponding user terminal, robot terminal carries out image data
It after acquisition, sends in acquired image data to user terminal, is checked for user, so that user understands monitored object
Real-time condition.There are more user terminals and when robot terminal communication association, robot terminal is by acquired image number
According to that the corresponding user terminal for being only sent to sending camera shooting instruction, the normal use of other users will not be interfered.?
In some embodiments, if user is dissatisfied to image pickup result, can also by user terminal manual manipulation robot terminal into
Row camera shooting, or Video chat mode is directly opened, monitored object is searched.
In some embodiments, before the step S1 for receiving the monitoring instruction that user terminal is sent, further includes:
S01: judge whether in distribution mode；
S02: if being in distribution mode, the network configuration instruction of user terminal transmission is received；
S03: it is instructed according to network configuration and completes network configuration.
In the above-mentioned step S01 for judging whether in distribution mode, when user sends long-range control to robot terminal
When instruction, robot, which needs to network, can just receive the control instruction issued from user.Therefore need to robot terminal into
Row distribution, user open distribution mode on robot terminal, and after opening distribution mode, robot terminal can receive user
The network configuration information that terminal issues, then robot terminal is attached network according to the network configuration information, realizes user
Terminal carries out the function of network configuration to robot terminal, so that robot terminal be enable to receive user by network server
The control command that terminal issues realizes the purpose of remote wireless control robot terminal.In some embodiments, robot terminal
Distribution module with connection signal is module integrated is integrated, opening signal link block, allowing robot terminal to be in can be scanned
When the state arrived, which also allows user terminal to carry out network configuration to it simultaneously.
If being in distribution mode above-mentioned, receive in the step S02 of network configuration instruction of user terminal transmission, user
After terminal check robot terminal is in distribution mode, just sends a network configuration and instruct to robot terminal, which matches
It sets instruction and is not only the instruction that notice robot terminal carries out network configuration, further comprise robot terminal in Configuration network when institute
The network configuration information needed, such as WiFi information, user terminal is instructed by network configuration passes through specific WiFi information
Smartlink issues robot terminal, WiFi information includes WiFi title and WiFi password, and robot terminal is receiving
WiFi information is sent to corresponding router and is verified, and after verifying successfully, robot terminal and the specific WiFi are bound
And information is saved, the control command of user terminal sending is received will pass through the specific WiFi.In some embodiments, it also wraps
Cloud server is included, when user needs the smart machine in remote control home, after the control interface for entering smart machine,
User terminal sends control command to cloud server, and cloud server forwards control command to the intelligence for being connected to specific WiFi
Equipment, smart machine responds the control command that user terminal issues, to realize the purpose of remote wireless control smart machine.?
In other embodiments, user terminal directly transmits control command to smart machine, without passing through by way of infrared signal
Network server transfer, the case where being suitable for when user is closer with the smart machine to be controlled.
It is instructed in the step S03 for completing network configuration above-mentioned according to network configuration, robot terminal is sent to corresponding road
After the WiFi information checking success of device, a verification notice can be returned to user terminal and be shown on user terminal interface,
So that whether the configuration of user's awareness network succeeds.After the network configuration success of robot terminal, user needs robot
Distribution mode in terminal is closed, prevent in addition to the user other people network configuration is carried out to robot terminal, to give
User brings using puzzlement.
In some embodiments, after instructing the step S03 for completing network configuration according to network configuration, further includes:
S04: the first verifying instruction that user terminal is sent is received；
S05: incidence relation is established with user terminal according to the first verifying instruction.
In the step S04 for the first verifying instruction that above-mentioned reception user terminal is sent, robot terminal completes network
After configuration, needs to carry out binding with the particular account number on user terminal to be associated with, only receive the control issued from particular account number
Instruction prevents it from responding the control instruction from other users, in order to avoid to using user to cause to perplex.In some embodiments,
Robot terminal can bind multiple particular account numbers, but when particular account number issues control instruction wherein, will not ring simultaneously
The control instruction for answering other particular account numbers to issue.User terminal by robot terminal send first verifying instruction come complete with
The binding of robot terminal is associated with.
In the above-mentioned step S05 for establishing incidence relation with user terminal according to the first verifying instruction, in some embodiments
In, the first verifying instruction can be the one such or several combination of number, letter, text, symbol, user terminal and machine
People's terminal by first verifying instruction association binding, exclude other users terminal control machine people's terminal possibility, safety compared with
It is high.The first verifying instruction is randomly generated by robot terminal itself in some embodiments, is shown in the display of robot terminal
On screen, then first verifying instruction of the user in user terminal to robot terminal sending sample, robot terminal are being received
After the first verifying instruction that user terminal is sent, the first verifying instruction generated with itself is compared, if user terminal is sent
The first verifying instruction comparison result for being generated with itself of the first verifying instruction show unanimously, then complete to be associated with and bind, use the
One verifying instruction is associated with binding between user terminal and robot terminal, and step is simple, and operational safety is high.
In some embodiments, before the step S1 for receiving the monitoring instruction that user terminal is sent, further includes:
S06: the second verifying instruction is sent to sensor；
S07: it is associated according to the second verifying instruction with sensor.
In the above-mentioned step S06 for sending the second verifying instruction to sensor, controlled when robot terminal sends sensor
When system instruction, sensor, which needs to be associated with binding in advance with the progress of specific robotic terminal, can just be received from specific robotic end
The control instruction issued is held, the control instruction issued from specific robotic terminal is only received, prevents its response from other machines
The control instruction of device people's terminal, in order to avoid to using user to cause to perplex.In some embodiments, a robot terminal can be tied up
Fixed multiple sensors.It carries out binding by pairing mode between robot terminal and sensor to be associated with, user is in robot terminal
With all open pairing mode on sensor, after opening pairing mode, robot terminal can issue unpaired message to sensor.
After robot terminal and sensor are all in pairing mode, robot terminal sends the second verifying instruction to sensor, some
In embodiment, the second verifying instruction can be the one such or several combination of number, letter, text, symbol, and robot is whole
End is associated with binding by the second verifying instruction with sensor, excludes the possibility of other robot terminal control sensor, safety
It is higher.The second verifying instruction is randomly generated by sensor itself in some embodiments, is shown on the display screen of sensor, so
User issues the second verifying instruction to sensor on robot terminal afterwards, and sensor is in receive that robot terminal sends the
After two verifying instructions, the second verifying instruction generated with itself is compared, if the second verifying instruction that robot terminal is sent
The the second verifying instruction comparison result generated with itself is shown unanimously, then association binding is completed, using the second verifying instruction in machine
Binding is associated between device people terminal and sensor, step is simple, and operational safety is high.In further embodiments, user terminal
Account is first matched with sensor, is then controlled robot terminal from user terminal and is sent the second verifying instruction to sensor,
In this way, the step of then inputting is completed by user terminal, sensor is only responsible for sending and receiving instruction, without carrying out it
He designs external function, simple and convenient.
In the above-mentioned step S07 for establishing incidence relation with sensor according to the second verifying instruction, robot terminal according to
Correct second verifying instruction is associated with binding with sensor completion, establishes incidence relation.
In some embodiments, after establishing the step S07 of incidence relation with sensor according to the second verifying instruction, also
Include:
S08: the facility information of the sensor after association is sent to the user terminal.
In the step S08 that the above-mentioned facility information the sensor after association is sent to the user terminal, robot terminal
After being associated with binding with sensor completion according to correct second verifying instruction, the facility information of associated sensor is read, then
The facility information of sensor is sent to the user terminal and is ranked up name and stores, user is made clearly to recognize robot end
End is associated with which sensor, and a certain sensor failure or a certain sensor and robot terminal it
Between signal communication can know at the first time when breaking down.
In some embodiments, the target position of monitored object appearance is determined according to detection data, and is moved to target position
Dynamic step S4, comprising:
S41: if there are multiple target positions according to detection data determination, data is will test and be sent to the user terminal；
S42: the feedback command of user terminal is received；
S43: specified target position is determined in multiple target positions according to feedback command, and is moved to specified target position
It is dynamic.
If there are multiple target positions according to detection data determination above-mentioned, the step that data are sent to the user terminal will test
In rapid S41, in some embodiments, monitored object may have multiple, different positions is dispersed in, respectively by different sensors
Induction detects, it is thus possible to will appear multiple target positions.When occurring multiple target positions in detection data, then detection
Data feedback is selected by users confirmation into user terminal.
In the step S42 of the feedback command of above-mentioned reception user terminal, user terminal receives what robot terminal was sent
After detection data, user is selected in multiple target positions of detection data by user terminal, for example, sensor is
Thermal imaging sensor can upload to graphic images on user terminal, user can pass through after carrying out thermal imaging induction
Graphic images substantially judge which specific monitored object belonged to, to make a choice in multiple target positions.Example again
Such as, target position is respectively indicated as " kitchen " and " bedroom ", and user can carry out particular place by selection target position
Monitoring.In some embodiments, when multiple Place objects occurs in detection data, user can be robot terminal according to by
Remote distance is closely arrived to be checked one by one.Finally, user issues feedback command by user terminal.
Specified target position is determined in multiple target positions according to feedback command above-mentioned, and is moved to specified target position
In dynamic step S43, the feedback command that robot terminal is sent according to user terminal determines specific mesh in multiple target positions
Cursor position, and moved to specified target position, so that user is monitored.
In some embodiments, after confirmation reaches target position, the step S5 of the image data of corresponding monitored object is acquired,
Include:
S51: after confirmation reaches target position, the arrival information for reaching target position is sent to user terminal；
S52: the camera shooting instruction that user terminal is sent is received；
S53: it is instructed according to camera shooting and opens camera and select image pickup mode；
S54: Image Acquisition is carried out under image pickup mode.
Above-mentioned confirmation reach target position after, send reach target position arrival information to user terminal the step of
In the step S52 that S51 and the camera shooting for receiving user terminal transmission instruct, after robot terminal reaches target position, send
One arrival message is to user terminal, to inform that user terminal itself arrived target position, can carry out in next step, then using
Family sends camera shooting instruction to robot terminal by user terminal.
In the above-mentioned step S53 for instructing unlatching camera according to camera shooting and selecting image pickup mode, robot terminal is being connect
It receives and comes after the camera shooting instruction of user terminal transmission, open camera and image pickup mode is selected to be imaged.
It is above-mentioned under image pickup mode acquire appear in target position monitored object image step S53 in, according to
Family demands of individuals, can choose image pickup mode be take pictures, small video or Video chat mode etc., in some embodiments, use
Default camera mode can be set in family, in order to avoid require to carry out manual manipulation every time.In further embodiments, user can be with
The shooting height of robot terminal is adjusted by user terminal.Such as the height of different monitoring object, in another example under different terrain
Environment, to reach best monitoring effect.
The invention proposes a kind of monitoring methods, comprising: S1: receiving the monitoring instruction that user terminal is sent；S2: according to prison
Control instruction starts multiple sensors and is monitored to predeterminable area；S3: detection data of the receiving sensor to monitored object；S4:
The target position that monitored object occurs is determined according to detection data, and mobile to target position；S5: confirmation reaches target position
Afterwards, the image data of corresponding monitored object is acquired；S6: image data is sent to corresponding user terminal.By empty in monitoring
Between in preset multiple sensors, and be associated with robot terminal, when robot terminal receives the monitoring instruction of user terminal transmission
When, start sensor sensing monitored object, then robot terminal is moved to target position according to detection data and carries out camera shooting prison
Control, simple and practical, monitoring covering surface is comprehensive, monitors response quickly, high-efficient, environment is widely applicable.
As shown in Fig. 2, the invention also provides a kind of monitoring systems, comprising:
First receiving module 10, for receiving the monitoring instruction of user terminal transmission；
Starting module 20, for starting multiple sensors according to monitoring instruction；
Second receiving module 30, for receiving sensor to the detection data of monitored object；
Mobile module 40 is moved for determining the target position of monitored object appearance according to detection data, and to target position
It is dynamic；
Photographing module 50 acquires the image data of corresponding monitored object after confirming arrival target position；
First sending module 60, for image data to be sent to the user terminal.
In above-mentioned first receiving module 10, robot terminal be associated with tying up with the particular account number on user terminal
Fixed, robot terminal is received by the first receiving module 10 come the control instruction of user terminal, and the first receiving module 10
The control instruction issued from particular account number is received, prevents it from responding the control instruction from other users, in order to avoid to use is used
It causes to perplex in family.In some embodiments, robot terminal can bind multiple particular account numbers, but a particular account number wherein
When issuing control instruction, the first receiving module 10 will not receive the control instruction of other particular account numbers sending simultaneously.
After the first receiving module 10 receives the instruction of the monitoring from particular account number, robot terminal passes through starting mould
The starting of block 20 and robot terminal bind associated multiple sensors in advance, and in some embodiments, sensor can be temperature
Sensor, photosensitive sensors either thermal imaging sensor etc..These sensors are associated with robot terminal binding respectively, with machine
Signal can be transmitted mutually between device people's terminal to communicate, sensor is separately positioned on after association binding and needs to monitor
Each position on, such as the different place such as kitchen, bedroom, parlor for being individually placed to family forms the sense of a sensor
Network is answered, quickly to be positioned in monitoring space to monitored object.
After starting module 20 starts sensor, sensor starts to carrying out induction monitoring in predeterminable area, and detection
Data are transmitted back to robot terminal, and robot terminal receives detection data by the second receiving module 30, so as to robot terminal
Determine exact position of the monitored object in monitoring space.
After the second receiving module 30 has received the detection data of sensor, robot terminal passes through 40 basis of mobile module
Detection data judges the target position of monitored object, then mobile towards target position, i.e., heads direct for and go towards monitored object, convenient
Quickly, it shortens and finds path.Due to the difference of sensor, in some embodiments, detection data is monitored object temperature
Detection data is spent, it is simple and practical.In further embodiments, detection data is object graphic images, can specifically be differentiated
Adult or child or be pet out.
Robot terminal is moved to target position by mobile module 40, and after confirming and reaching target position, will pass through and take the photograph
Camera is opened as module 50, image data acquiring is carried out to the monitored object of target position, to shoot monitored object.Some
In embodiment, user can choose image pickup mode, such as take pictures, small video, or be direct unlatching Video chat mode.
After robot terminal carries out Image Acquisition by photographing module 50, the image acquired by photographing module 50 is sent out
The first sending module 60 is given, then is sent in acquired image data to user terminal by the first sending module 60, for
Family is checked, so that user understands the real-time condition of monitored object.In some embodiments, if user to image pickup result not
It is satisfied, it can also be imaged by user terminal manual manipulation robot terminal, or directly open Video chat mode, it is right
Monitored object is searched.
As shown in figure 3, in some embodiments, further includes:
Judgment module 70, for judging whether in distribution mode；
Third receiving module 80, if receiving the network configuration instruction of user terminal transmission for being in distribution mode；
Configuration module 90 completes network configuration for instructing according to network configuration.
In above-mentioned first judgment module 70, when user sends remote control commands to robot terminal, robot is needed
The control instruction issued from user can just be received by networking.Therefore it needs to carry out distribution to robot terminal, user is in machine
Distribution mode is opened in device people's terminal, after opening distribution mode, robot terminal can receive the network of user terminal sending
Configuration information, then robot terminal is attached network according to the network configuration information, realizes user terminal to robot end
End carries out the function of network configuration, so that robot terminal be enable to receive the control that user terminal issues by network server
The purpose of remote wireless control robot terminal is realized in order.In some embodiments, the distribution module of robot terminal and company
It connects signaling module to integrate, opening signal link block, when robot terminal being allowed to be in the state that can be scanned, the machine
Device people terminal also allows user terminal to carry out network configuration to it simultaneously.
In above-mentioned third receiving module 80, after user terminal confirmation robot terminal is in distribution mode, one is just sent
A network configuration is instructed to robot terminal, and network configuration instruction is not only the finger that notice robot terminal carries out network configuration
It enables, further comprises robot terminal required network configuration information in Configuration network, such as WiFi information, user terminal is logical
It crosses network configuration instruction and specific WiFi information is issued robot terminal by smartlink, robot terminal passes through third
Receiving module 80 receives the network configuration instruction that user terminal is sent, and wherein WiFi information includes WiFi title and WiFi password,
The WiFi information received is sent to corresponding router and is verified by robot terminal, after verifying successfully, robot terminal
Information is bound and saved with the specific WiFi, receives the control life of user terminal sending will pass through the specific WiFi
It enables.In some embodiments, further include cloud server, when user needs the smart machine in remote control home, entering
After the control interface of smart machine, user terminal sends control command to cloud server, cloud server forwarding control life
It enables to the smart machine for being connected to specific WiFi, smart machine responds the control command that user terminal issues, to realize long-range
The purpose of wireless control smart machine.In further embodiments, user terminal directly transmits control by way of infrared signal
System order is to smart machine, without being suitable for user and being closer with the smart machine to be controlled by network server transfer
When the case where.
In above-mentioned configuration module 90, robot terminal is sent to the WiFi information of corresponding router by configuration module 90
After verifying successfully, a verification notice can be returned to user terminal and be shown on user terminal interface, so that user understands net
Whether network configuration succeeds.After the network configuration success of robot terminal, user needs the distribution mould on robot terminal
Formula is closed, prevent in addition to the user other people network configuration is carried out to robot terminal, to bring to user using tired
It disturbs.
As shown in figure 4, in some embodiments, further includes:
4th receiving module 100, for receiving the first verifying instruction of user terminal transmission；
First relating module 110, for establishing incidence relation with user terminal according to the first verifying instruction.
In above-mentioned 4th receiving module 100, robot terminal after the network configuration is completed, need on user terminal
Particular account number carry out binding association, only receive the control instruction issued from particular account number, prevent its response from other use
The control instruction at family, in order to avoid to using user to cause to perplex.In some embodiments, robot terminal can be bound multiple specific
Account, but when particular account number issues control instruction wherein, the control that will not respond the sending of other particular account numbers simultaneously refers to
It enables.The binding that user terminal completes with robot terminal by sending the first verifying instruction to robot terminal is associated with, and machine
Device people's terminal receives the first verifying instruction that user terminal is sent by the 4th receiving module 100.
In above-mentioned first relating module 110, in some embodiments, the first verifying instruction can be number, letter, text
The one such or several combination of word, symbol, user terminal are associated with binding by the first verifying instruction with robot terminal, arrange
Except the possibility of other users terminal control machine people's terminal, safety is higher.The first verifying instruction is by machine in some embodiments
Device people terminal itself is randomly generated, and is shown on the display screen of robot terminal, and then user is whole to robot in user terminal
The first verifying instruction of sending sample is held, robot terminal is receiving what user terminal was sent by the 4th receiving module 100
After first verifying instruction, the first verifying instruction generated with itself is compared, if the first verifying instruction that user terminal is sent
The the first verifying instruction comparison result generated with itself is shown unanimously, then comparison result is sent to the first relating module 110, most
Afterwards by the first relating module 110 complete association binding, establish incidence relation with user terminal, using first verifying instruction with
Binding is associated between family terminal and robot terminal, step is simple, and operational safety is high.
As shown in figure 5, in some embodiments, further includes:
Second sending module 120, for sending the second verifying instruction to sensor；
Second relating module 130, for establishing incidence relation with sensor according to the second verifying instruction.
In above-mentioned second sending module 120, when robot terminal sends control instruction to sensor, sensor needs
It carries out being associated with to bind in advance with specific robotic terminal just receiving the control instruction issued from specific robotic terminal, pass
Sensor only receives the control instruction issued from specific robotic terminal, prevents it from responding the control from other robot terminal
Instruction, in order to avoid to using user to cause to perplex.In some embodiments, a robot terminal can bind multiple sensors.
It carries out binding by pairing mode between robot terminal and sensor to be associated with, user beats on robot terminal and sensor
Pairing mode is opened, after opening pairing mode, robot terminal can receive out the unpaired message of sensor sending.Robot is whole
End and sensor all in pairing mode after, robot terminal by the second sending module 120 send second verifying instruction to biography
Sensor, in some embodiments, the second verifying instruction can be the one such or several group of number, letter, text, symbol
It closes, robot terminal is associated with binding by the second verifying instruction with sensor, excludes other robot terminal control sensor
May, safety is higher.The second verifying instruction is randomly generated by sensor itself in some embodiments, is shown in sensor
On display screen, then user issues the second verifying instruction to sensor by the second sending module 120 on robot terminal, passes
After receiving the second verifying instruction that robot terminal is sent, the second verifying instruction generated with itself is compared sensor,
If the second verifying instruction comparison result that the second verifying instruction that robot terminal is sent is generated with itself is shown unanimously, complete
Association binding is associated with binding using the second verifying instruction between robot terminal and sensor, and step is simple, operational safety
It is high.In further embodiments, user terminal account is first matched with sensor, then whole by user terminal control robot
It holds to sensor and sends the second verifying instruction, in this way, the step of then inputting is completed by user terminal, sensor is only responsible for hair
Instruction is sent and receives, it is simple and convenient without carrying out other external function designs.
In above-mentioned second relating module 130, robot terminal sent by the second sending module 120 to sensor the
After two verifying instructions pass through, the second relating module 130 will be fed back to by result, and pass through 130 basis of the second relating module
Correct second verifying instruction is associated with binding with sensor completion, establishes incidence relation.
As shown in fig. 6, in some embodiments, further includes:
Third sending module 140, for the facility information of the sensor after association to be sent to the user terminal.
In above-mentioned third sending module 140, robot terminal is tested by the second relating module 130 according to correct second
After card instruction is associated with binding with sensor completion, then the facility information of associated sensor is read, then sends mould by first
Block 140, which is sent to the user terminal the facility information of sensor, to be ranked up name and stores, and user is made clearly to recognize machine
Device people terminal is associated with which sensor, and in a certain sensor failure or a certain sensor and robot
Signal communication between terminal can be known at the first time when breaking down.
As shown in fig. 7, in some embodiments, above-mentioned mobile module 40, comprising:
Feedback unit 401, if feeding back detection data to user terminal for there is multiple target positions；
First receiving unit 402, for receiving the feedback command of user terminal；
Selecting unit 403, for being selected in multiple target positions according to the feedback command of user terminal.
In above-mentioned feedback unit 401, in some embodiments, monitored object may have multiple, be dispersed in different positions
It sets, is detected respectively by different sensor sensings, it is thus possible to will appear multiple target positions.When robot terminal learns inspection
When occurring multiple target positions in measured data, then detection data is fed back in user terminal by feedback unit 401, by user
Carry out selection confirmation.
In above-mentioned first receiving unit 402, after user terminal receives the detection data that robot terminal is sent, user
Selected in multiple target positions of detection data by user terminal, for example, sensor be thermal imaging sensor, into
After row thermal imaging induction, graphic images can be uploaded on user terminal, user can substantially be sentenced by graphic images
It is disconnected to go out which specific monitored object belonged to, to make a choice in multiple target positions.In another example target position is shown respectively
It is shown as " kitchen " and " bedroom ", user can carry out the monitoring of particular place by selection target position.In some embodiments
In, when multiple Place objects occurs in detection data, user can be that robot terminal is carried out according to distance from the near to the remote
It checks one by one.Finally, user issues feedback command by user terminal, robot terminal is received by the first receiving unit 402
Carry out the feedback command of user terminal, and feedback command is sent to selecting unit 403.
In above-mentioned selecting unit 403, selecting unit 403 is received to be referred to from the feedback that the first receiving unit 402 is sent
After order, specified target position is determined in multiple target positions, and moved to specified target position, so as to user's progress
Monitoring.
As shown in figure 8, in some embodiments, above-mentioned photographing module 50, comprising:
Transmission unit 501, after being used to confirm arrival target position, the arrival information for sending arrival target position is whole to user
End；
Second receiving unit 502, for receiving the camera shooting instruction of user terminal transmission；
Opening unit 503, for instructing unlatching camera according to camera shooting and selecting image pickup mode；
Camera unit 504, for carrying out Image Acquisition in image pickup mode.
In above-mentioned transmission unit 501 and the second receiving unit 502, after robot terminal reaches target position, send
One arrival feedback message is to user terminal, to inform that user terminal itself arrived target position, can carry out in next step, so
User sends camera shooting instruction to robot terminal by user terminal afterwards, and robot terminal is received by the second receiving unit 501
Camera shooting instruction.
In above-mentioned opening unit 502, robot terminal is received by the second receiving unit 501 come user terminal
After the camera shooting instruction of transmission, camera shooting instruction feedback to opening unit 502, camera is opened by opening unit 502 and is selected
Image pickup mode is selected to be imaged.
In above-mentioned camera unit 503, according to individual subscriber demand, can choose image pickup mode be take pictures, small video or
Person's Video chat mode etc., in some embodiments, default camera mode can be set in user, in order to avoid require to carry out hand every time
Dynamic manipulation.In further embodiments, user can also adjust the shooting height of robot terminal by user terminal.Such as not
With the height of monitored object, in another example the environment under different terrain, to reach best monitoring effect.
The invention proposes a kind of monitoring systems, including the first receiving module 10, for receiving the prison of user terminal transmission
Control instruction；Starting module 20 is monitored predeterminable area for starting multiple sensors according to monitoring instruction；Second receives mould
Block 30, for receiving sensor to the detection data of monitored object；Mobile module 40, for determining monitoring pair according to detection data
As the target position of appearance, and it is mobile to target position；Photographing module 50, after confirming arrival target position, acquisition is corresponded to
The image data of monitored object；First sending module 60, for image data to be sent to the user terminal.It is pre- in monitoring space
If multiple sensors, and be associated with robot terminal, when robot terminal receives the monitoring instruction of user terminal transmission, starting
Sensor detects monitored object, and then robot terminal is moved to target position according to detection data and carries out monitoring camera-shooting, simply
Practical, monitoring comprehensively, monitors response quickly, and environment is widely applicable.
The invention also provides a kind of computer readable storage mediums, are stored thereon with computer program, computer program
The step of any one of above-mentioned monitoring method is realized when being executed by processor, comprising: receive the monitoring that user terminal is sent and refer to
It enables；Start multiple sensors according to monitoring instruction to be monitored predeterminable area；Testing number of the receiving sensor to monitored object
According to；The target position that monitored object occurs is determined according to detection data, and mobile to target position；Confirmation reaches target position
Afterwards, the image data of corresponding monitored object is acquired；Image data is sent to corresponding user terminal.
Those of ordinary skill in the art will appreciate that realizing all or part of the process in above-described embodiment method, being can be with
Relevant hardware is instructed to complete by computer program, the computer program can be stored in a non-volatile computer
In read/write memory medium, the computer program is when being executed, it may include such as the process of the embodiment of above-mentioned each method.Wherein,
Any reference used in provided herein and embodiment to memory, storage, database or other media,
Including non-volatile and/or volatile memory.Nonvolatile memory may include read-only memory (ROM), programming ROM
(PROM), electrically programmable ROM (EPROM), electrically erasable ROM (EEPROM) or flash memory.Volatile memory may include
Random access memory (RAM) or external cache.By way of illustration and not limitation, RAM is available in many forms,
Such as static state RAM (SRAM), dynamic ram (DRAM), synchronous dram (SDRAM), double speed are according to rate SDRAM (SSRSDRAM), enhancing
Type SDRAM (ESDRAM), synchronization link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM
(RDRAM), direct memory bus dynamic ram (DRDRAM) and memory bus dynamic ram (RDRAM) etc..
The above description is only a preferred embodiment of the present invention, is not intended to limit the scope of the invention, all utilizations
Equivalent structure or equivalent flow shift made by description of the invention and accompanying drawing content is applied directly or indirectly in other correlations
Technical field, be included within the scope of the present invention.
Claims (10)
1. a kind of monitoring method, which is characterized in that be applied to robot terminal on, the robot terminal respectively with user terminal
With multiple sensor communication connections for being set to predeterminated position, the sensor is for detecting whether predeterminable area has monitored object
Occur；The described method includes:
Receive the monitoring instruction that the user terminal is sent；
Start multiple sensors according to monitoring instruction to be monitored the predeterminable area；
The sensor is received to the detection data of monitored object；
The target position that monitored object occurs is determined according to the detection data, and mobile to the target position；
After confirmation reaches the target position, the image data of corresponding monitored object is acquired；
Described image data are sent to the corresponding user terminal.
2. monitoring method according to claim 1, which is characterized in that in the monitoring for receiving the user terminal and sending
Before the step of instruction, further includes:
Judge whether in distribution mode；
If being in the distribution mode, the network configuration instruction that the user terminal is sent is received；
It is instructed according to the network configuration and completes network configuration.
3. monitoring method according to claim 2, which is characterized in that complete net in described instruct according to the network configuration
After the step of network configures, further includes:
Receive the first verifying instruction that the user terminal is sent；
Correspondence is associated with user terminal foundation according to the first verifying instruction.
4. monitoring method according to claim 1, which is characterized in that in the monitoring for receiving the user terminal and sending
Before the step of instruction, further includes:
The second verifying instruction is sent to the sensor；
Correspondence is associated with sensor foundation according to the second verifying instruction.
5. monitoring method according to claim 4, which is characterized in that it is described according to it is described second verifying instruction with it is described
Sensor was established after the step of incidence relation, further includes:
The facility information of the sensor after association is sent to the user terminal.
6. monitoring method according to claim 1, which is characterized in that described to determine monitored object according to the detection data
The target position of appearance, and the step mobile to the target position, comprising:
If there are multiple target positions according to detection data determination, it is whole that the detection data is sent to the user
End；
Receive the feedback command of the user terminal；The feedback command includes the selection instruction to multiple target positions；
Specified target position is determined in multiple target positions according to the feedback command, and is moved to specified target position
It is dynamic.
7. monitoring method according to claim 1, which is characterized in that after the confirmation reaches the target position, acquisition
The step of image data of corresponding monitored object, comprising:
After confirmation reaches the target position, sends and reach the arrival information of the target position to the user terminal；
Receive the camera shooting instruction that the user terminal is sent；
It is instructed according to the camera shooting and opens camera and select image pickup mode；
Acquisition appears in the image data of the monitored object of the target position under the image pickup mode.
8. a kind of monitoring system characterized by comprising
First receiving module, the monitoring instruction sent for receiving the user terminal；
Starting module, for starting multiple sensors according to monitoring instruction；
Second receiving module, for receiving the detection data of the sensor；
Mobile module, for determining target position that monitored object occurs according to the detection data, and to the target position
It is mobile；
Photographing module acquires the image data of corresponding monitored object after confirming the arrival target position；
First sending module, for described image data to be sent to the corresponding user terminal.
9. monitoring system according to claim 8, which is characterized in that further include:
Judgment module, for judging whether in distribution mode；
Third receiving module, if receiving the network configuration instruction that the user terminal is sent for being in the distribution mode；
Configuration module completes network configuration for instructing according to the network configuration.
10. a kind of computer readable storage medium, which is characterized in that be stored thereon with computer program, the computer program
The monitoring method as described in any one of claims 1 to 7 is realized when being executed by processor.
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