CN106292387A - Watchdog system and control method thereof - Google Patents
Watchdog system and control method thereof Download PDFInfo
- Publication number
- CN106292387A CN106292387A CN201510240340.6A CN201510240340A CN106292387A CN 106292387 A CN106292387 A CN 106292387A CN 201510240340 A CN201510240340 A CN 201510240340A CN 106292387 A CN106292387 A CN 106292387A
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- Prior art keywords
- robot
- server
- execution
- place
- image
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Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/25—Pc structure of the system
- G05B2219/25167—Receive commands through mobile telephone
Abstract
The present invention relates to technical field of security and protection, disclose a kind of watchdog system and control method thereof.In the present invention, watchdog system comprises robot, server and terminal；Terminal sends for the control command of robot to server, and wherein control command comprises execution object and subject performance, and performs corresponding one of object and perform place；Take control command described in the robot identification carried in described control command and be forwarded to robot；Robot is according to the control command from server received, and walking is to the execution place corresponding with performing object, performance objective action, and execution result is shot into image, is sent to terminal through server by the image of shooting meanwhile.So, not only operation can be carried out with remote control robot, it is also possible to the place needing monitoring is carried out comprehensive without dead angle monitoring.
Description
Technical field
The present invention relates to technical field of security and protection, particularly to a kind of watchdog system and control method thereof.
Background technology
At present, safety monitoring is mostly to install fixing photographic head in monitored place, although photographic head
Can rotate, but, being once arranged on somewhere cannot move in real time, still cannot be avoided existence
Monitoring dead angle, it is impossible to monitored site is monitored in all directions.
And, various equipment in family, such as Intelligent robot for sweeping floor, network monitoring camera head, infrared remote control
Device function singleness, each equipment can only realize single function, to realize this several functions, family
In be accomplished by possessing several equipment, and these equipment will occupy certain space, is easily caused indoor icepro
Disorderly, it is difficult to arrange.Meanwhile, Intelligent robot for sweeping floor cannot through walls control, manipulate the most direct；Infrared distant
Control device corresponding can only control a kind of household electrical appliances, and must user go to just can control near household electrical appliances, the most not side
Just.
Summary of the invention
A kind of watchdog system of offer and control method thereof are provided, not only can be remote
Process control robot carries out operation, it is also possible to carry out the place needing monitoring comprehensive without dead angle monitoring.
For solving above-mentioned technical problem, embodiments of the present invention provide a kind of watchdog system, comprise:
Robot, server and terminal；
Described robot, described terminal are communicatively coupled with described server respectively；
Described terminal is for sending the control command for robot to described server, wherein, described control
Order processed comprises execution object and subject performance, and corresponding one of described execution object performs place；
Described server is for according to the robot identification carried in described control command, by described control
Order processed is forwarded to robot；
Described robot is for according to the control command from described server received, and walking is arrived and institute
State and perform the execution place that object is corresponding, perform described subject performance, and execution result is shot into image；
Described robot, is additionally operable to send to terminal the image of shooting through server.
Embodiments of the present invention additionally provide the control method of a kind of watchdog system, and described house dog is
System comprises: robot, server and terminal；This control method comprises the steps of
Described terminal sends the extremely described server of the control command for robot, and wherein, described control is ordered
Order comprises execution object and subject performance, and corresponding one of described execution object performs place；
Described server, according to the robot identification carried in described control command, controls life by described
Order is forwarded to robot；
Described robot is held to described according to the control command from described server received, walking
The execution place that row object is corresponding, performs described subject performance, and execution result is shot into image, with
Time, the image of shooting is sent to terminal through server.
Embodiment of the present invention in terms of existing technologies, is that the photographic head of monitoring is arranged on machine
On people, and terminal is to send control instruction to robot through server；Robot is according to receiving
Control instruction controls walking mechanism and will be moved to the execution place of robot execution control instruction, and to execution
Object performs control instruction, meanwhile, execution result shoots into image, and sends to terminal through server
Show, check for user.So, user not only can by Server remote control robot enter
Row operation, it is also possible to the place needing monitoring is carried out comprehensive without dead angle monitoring.
It addition, described robot comprises: photographic head, walking mechanism, processor, communication unit, execution
Unit；Described communication unit, for receiving the control command from described server；Described processor is used
Resolve in the control command that described communication unit is received, obtain described execution object and subject performance；
Described walking mechanism, for the instruction according to described processor, is walked and described corresponding the holding of execution object
Row place；Described performance element, for the instruction according to described processor, performs institute in described execution place
State subject performance, and trigger described photographic head described execution result is shot into image.
Further, described performance element triggers described photographic head and is directed at institute when completing described subject performance
State execution object and shoot image；Wherein, described image comprises the information of execution result.So, may be used
So that the object needing monitoring is monitored so that monitor more targeted.
It addition, described photographic head is additionally operable to when described robot ambulation send shooting to described terminal in real time
Image；The direction that robot described in the image control that described terminal sends according to described robot moves.
The direction of the Image Adjusting robot ambulation that user can return in real time according to robot, practical.
Accompanying drawing explanation
Fig. 1 is the structural representation according to the watchdog system in first embodiment of the invention；
Fig. 2 is the theory diagram according to the sweeping robot in first embodiment of the invention；
Fig. 3 is the flow process signal of the control method of the watchdog system according to third embodiment of the invention
Figure.
Detailed description of the invention
For making the object, technical solutions and advantages of the present invention clearer, below in conjunction with accompanying drawing to this
Bright each embodiment is explained in detail.But, it will be understood by those skilled in the art that
In each embodiment of the present invention, propose many technology to make reader be more fully understood that the application thin
Joint.But, even if there is no these ins and outs and many variations based on following embodiment and amendment,
The application each claim technical scheme required for protection can also be realized.
First embodiment of the present invention relates to a kind of watchdog system, is applied to family's monitoring, the most such as
Shown in Fig. 1, comprise: sweeping robot, cloud server and smart mobile phone.Smart mobile phone and sweeper
Device people the most wirelessly communicates with cloud server.
Before using watchdog system, first set up this system, and bind smart mobile phone and corresponding sweeper
Device people.Wherein, system buildup method is as follows: when user uses after buying sweeping robot for the first time, logical
Cross smart mobile phone and be connected to this equipment, by smart mobile phone install house dog client application (with
It is referred to as down client application (APP)) sweeping robot is configured, allow its connection get home
In wireless router on, and be connected to cloud server after connecting online by the WAP in family.
Meanwhile, smart mobile phone can be connected cloud server by WIFI, 3G network or 4G network by user.
User utilize client end AP P can carry out user's login, Modify password, check sweeping robot state,
Remotely control sweeping robot.
Smart mobile phone is as follows with corresponding sweeping robot binding method: user uses client end AP P to register
One user name, then ties up sweeping robot No. SN (product ID) and the user name of oneself
Fixed.So, the sweeping robot that user can draw oneself up with smart mobile phone.Need explanation
It is that a sweeping robot can be bound with multiple user names.
Complete at system buildup and after sweeping robot and smart mobile phone are bound, it is possible to utilize intelligence
Sweeping robot can be controlled by mobile phone.Introduce in detail below and how to utilize smart mobile phone control sweeping robot:
Smart mobile phone sends the control command for sweeping robot to cloud server.In present embodiment
In, user sends relevant control instruction by client end AP P, and this control instruction is sent out by wireless network
Give cloud server.Wherein, control command comprises execution object and subject performance, and performs object pair
One is answered to perform place.Perform object to be saved in cloud server with the corresponding relation performing place.?
In present embodiment, perform object and be saved in high in the clouds clothes in table form with the corresponding relation performing place
In business device.
Cloud server is according to the robot identification carried in the control command received, by control command
It is forwarded to the sweeping robot of correspondence.Specifically, the user name binding with No. SN of sweeping robot
Relation is saved in cloud server in advance.Cloud server is when receiving control command, according to preservation
The binding relationship of No. SN of user name and sweeping robot, parse the machine that this control command is corresponding
No. SN of people, and control command is sent to this No. SN corresponding sweeping robot.It addition, high in the clouds
The control command received also is backed up by server, consults for user.
Sweeping robot is according to the control command from cloud server received, and walking is to right with execution
As corresponding execution place, performance objective action, and execution result is shot into image, will clap meanwhile
The image taken the photograph sends to terminal through server.
Specifically, in the present embodiment, sweeping robot comprises: watchdog module and walking mechanism.
Wherein, watchdog module comprise positioner, photographic head, video encoder, processor, communication unit,
Performance element, the most as shown in Figure 2.
Communication unit receives the control command from cloud server, and is forwarded to processor, touches meanwhile
Send out positioner and sweeping robot is carried out real-time positioning.In the present embodiment, communication unit can be
Radio receiving transmitting module.
The control command that communication unit is received by processor resolves, and obtains performing object and moves with target
Make, and according to resolving execution object and the execution place that the execution object obtained preserves from cloud server
Correspondence table in find out execution place.Meanwhile, processor also performs behind place obtaining, root
According to the position of sweeping robot, from cloud server, obtain the track route of sweeping robot；Wherein,
Track route is pre-stored in cloud server, and, track route is sequentially provided with several
Coordinate points, performs place to guide sweeping robot to run to；Wherein, on track route, last is sat
Punctuate is just carried out place.
Walking mechanism is according to the instruction of processor, and walking is to the execution place corresponding with performing object.Specifically
For, walking mechanism is by running to several coordinate points on track route successively, and walking is arrived and execution
The execution place that object is corresponding.When walking mechanism runs to last coordinate points on track route, place
The position of reason device contrast sweeping robot and the position performing place on plane graph, it is judged that sweeping robot
Whether arrival performs place.If the two coincide, then processor judges that sweeping robot arrives execution place
Position；Otherwise, it is determined that do not arrive the position performing place, instruction walking mechanism walks on, until arriving
Reach the position performing place.Wherein, server prestores plane graph indoor in family；Plane graph subscript
Note has each to perform the position in place.
Performance element, according to the instruction of processor, is performing place performance objective action, and is triggering photographic head
Execution result is shot into image.Performance element, when completing subject performance, triggers photographic head alignment and performs
Object also shoots image；Wherein, image comprises the information of execution result.Wherein, photographic head is by rising
Descending mechanism and rotating mechanism are arranged on sweeping robot.Specifically, rotating mechanism and elevating mechanism phase
Hinged；Photographic head is fixing with rotating mechanism to be connected, and rotating mechanism can carry out upper and lower 45 degree of angles at vertical direction
Rotation, so, photographic head can carry out the rotation at upper and lower 45 degree of angles with rotating mechanism at vertical direction.Place
Reason device lifts according to the Altitude control elevating mechanism performing object prestored, to adjust the height of photographic head
Degree；Carry out rotating or controlling machine of sweeping the floor always according to the control of azimuth rotating mechanism performing object prestored
People rotates, and to adjust the camera shooting azimuth of photographic head, finally makes photographic head alignment perform object and takes the photograph
Imaged.So, utilize robot to rotate, and combine elevating mechanism with rotating mechanism according to control instruction
Adjust the camera shooting azimuth of photographic head, not only the object needing monitoring can be monitored so that monitoring is more
Targetedly, but also the corner that cannot touch of human eye can be arrived to visual dead angle by controlling robot
It is monitored, thus carries out monitoring without dead angle.
The image of shooting is sent after carrying out compression coding to video encoder by photographic head, passes through communication unit
Send to cloud server.Cloud server goes out the mark of terminal according to the information analysis that communication unit sends
Information, and image is sent to corresponding terminal；Wherein, the information that communication unit sends comprises machine
No. SN of people.Specifically, cloud server, according to No. SN received, preserves from server
User name finds out No. SN corresponding user name in the binding relationship with sweeping robot No. SN, and
The image transmission of reception is shown to the terminal that this user name is corresponding.
It should be noted that in the present embodiment, using sweeping robot with robot, server is
Cloud server, terminal is to be described in detail as a example by smart mobile phone.But when reality is applied, do not limit
In illustrated example listed above.
Compared with prior art, it is that the photographic head of monitoring is arranged on sweeping robot, and mobile phone
It is by control instruction being sent to sweeping robot through cloud server；Sweeping robot is according to receiving
Control instruction control walking mechanism will be moved to sweeping robot perform control instruction execution place, and
Performing control instruction to performing object, meanwhile, execution result is shot into image by photographic head, and through service
Device sends and shows to terminal, checks for user.So, user not only can pass through cloud server
Remotely control sweeping robot and carry out operation, it is also possible to the place needing monitoring is carried out comprehensive without dead angle
Monitoring.
Second embodiment of the present invention relates to a kind of watchdog system.Second embodiment is implemented first
Make further improvement on the basis of mode, mainly theed improvement is that: in second embodiment of the invention
In, photographic head sends the image of shooting in real time when robot ambulation to smart mobile phone, and mobile phone is according to sweeping the floor
The direction that the image control sweeping robot that robot sends moves, so, user can be according to sweeper
The direction of the Image Adjusting sweeping robot walking that device people returns in real time, practical.
Such as, the sweeping robot in present embodiment is utilized can to realize visual manually cleaning.Sweeper
When device people receives from the control instruction of the visual manually cleaning of mobile phone, sweeping robot starts, simultaneously
Processor controls photographic head and opens and the video of shooting is sent in real time to smart mobile phone.User is according to shooting
The video of head shooting, determines clean direction and send the control instruction of moving direction to sweeping robot.Sweep
Floor-washing robot moves according to the instruction of the moving direction received and cleans.Visual manually cleaning is permissible
Realize cleaning targetedly, practical.
Third embodiment of the invention relates to the control method of a kind of watchdog system, and wherein, house dog is
System comprises: robot, server and terminal；This control method comprises the steps of
Step 301, terminal sends the control command for robot to server.Wherein, control command
Comprise execution object and subject performance, and perform the corresponding execution place of object.
Step 302, server is according to the robot identification carried in control command, by control command
It is forwarded to robot.
Step 303, robot arrives and execution according to the control command from server received, walking
The execution place that object is corresponding, performance objective action, and execution result is shot into image.
Step 304, the image of shooting is sent to terminal by robot through server.
It is seen that, present embodiment is the system embodiment corresponding with the first embodiment, this enforcement
Mode can be worked in coordination enforcement with the first embodiment.The relevant technical details mentioned in first embodiment
The most effective, in order to reduce repetition, repeat no more here.Correspondingly, this enforcement
The relevant technical details mentioned in mode is also applicable in the first embodiment.
It will be understood by those skilled in the art that the respective embodiments described above are realize the present invention concrete
Embodiment, and in actual applications, can to it, various changes can be made in the form and details, and the most inclined
From the spirit and scope of the present invention.
Claims (10)
1. a watchdog system, it is characterised in that comprise: robot, server and terminal；
Described robot, described terminal are communicatively coupled with described server respectively；
Described terminal is for sending the control command for robot to described server, wherein, described control
Order processed comprises execution object and subject performance, and corresponding one of described execution object performs place；
Described server is for according to the robot identification carried in described control command, by described control
Order processed is forwarded to robot；
Described robot is for according to the control command from described server received, and walking is arrived and institute
State and perform the execution place that object is corresponding, perform described subject performance, and execution result is shot into image；
Described robot, is additionally operable to send to terminal the image of shooting through server.
Watchdog system the most according to claim 1, it is characterised in that described robot comprises:
Photographic head, walking mechanism, processor, communication unit, performance element；
Described communication unit, for receiving the control command from described server；
Described processor resolves for the control command that receives described communication unit, obtain described in hold
Row object and subject performance；
Described walking mechanism is for the instruction according to described processor, and walking is to corresponding with described execution object
Execution place；
Described performance element, for the instruction according to described processor, performs described mesh in described execution place
Mark action, and trigger described photographic head described execution result is shot into image.
Watchdog system the most according to claim 2, it is characterised in that described performance element exists
Complete during described subject performance, to trigger described photographic head be directed at described execution object and shoot image；Wherein,
Described image comprises the information performing result.
Watchdog system the most according to claim 2, it is characterised in that described photographic head is also used
In the image of shooting is sent to described server by described communication unit；
Described server goes out the identification information of terminal according to the information analysis that described communication unit sends, and will
Described image sends to terminal.
Watchdog system the most according to claim 1, it is characterised in that pre-in described server
There is the execution place that described execution object is corresponding；
Described processor according to parse perform object obtain from described server correspondence perform ground
Point.
Watchdog system the most according to claim 5, it is characterised in that described robot also wraps
Containing positioner；
Described communication unit triggers described positioner and enters described robot when receiving control command
Row real-time positioning；
Described processor is after obtaining execution place, according to the position of described robot, from described server
The track route of the described robot of middle acquisition；
Wherein, during described track route is pre-stored in described server.
Watchdog system the most according to claim 6, it is characterised in that on described track route
It is sequentially provided with several coordinate points；
Described walking mechanism is by running to several coordinate points successively, and walking is arrived and described execution object pair
The execution place answered.
Watchdog system the most according to claim 6, it is characterised in that pre-in described server
There is the plane graph in place residing for described robot；
Each position performing place it is marked with on described plane graph；
Described processor contrasts the position of described robot and the position performing place on plane graph, it is judged that
Whether described robot arrives execution place.
Watchdog system the most according to claim 1, it is characterised in that described photographic head is also used
Send the image of shooting in real time to described terminal when at described robot ambulation；
The direction that robot described in the image control that described terminal sends according to described robot moves.
10. the control method of a watchdog system, it is characterised in that described watchdog system comprises:
Robot, server and terminal；This control method comprises the steps of
Described terminal sends the extremely described server of the control command for robot, and wherein, described control is ordered
Order comprises execution object and subject performance, and corresponding one of described execution object performs place；
Described server, according to the robot identification carried in described control command, controls life by described
Order is forwarded to robot；
Described robot is held to described according to the control command from described server received, walking
The execution place that row object is corresponding, performs described subject performance, and execution result is shot into image, with
Time, the image of shooting is sent to terminal through server.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510240340.6A CN106292387A (en) | 2015-05-12 | 2015-05-12 | Watchdog system and control method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510240340.6A CN106292387A (en) | 2015-05-12 | 2015-05-12 | Watchdog system and control method thereof |
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| CN106292387A true CN106292387A (en) | 2017-01-04 |
Family
ID=57631603
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| CN201510240340.6A Pending CN106292387A (en) | 2015-05-12 | 2015-05-12 | Watchdog system and control method thereof |
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| CN106936895A (en) * | 2017-02-14 | 2017-07-07 | 上海庆科信息技术有限公司 | A kind of Cloud Server, sweeper and sweeper control system |
| CN107087139A (en) * | 2017-03-31 | 2017-08-22 | 思依暄机器人科技（深圳）有限公司 | A kind of removable monitoring system |
| CN108765853A (en) * | 2018-06-20 | 2018-11-06 | 叶乃萍 | Sweeping robot with warning function |
| CN109685775A (en) * | 2018-12-10 | 2019-04-26 | 美的集团武汉制冷设备有限公司 | The dirty stifled recognition methods of strainer, device, smart machine and readable storage medium storing program for executing |
| CN110888442A (en) * | 2019-11-29 | 2020-03-17 | 中国科学院自动化研究所 | Fire-fighting robot and fire-fighting robot system based on cloud platform architecture |
| CN111047733A (en) * | 2018-10-15 | 2020-04-21 | 香港城市大学深圳研究院 | Unmanned vehicle state monitoring control system |
| CN112773262A (en) * | 2019-11-08 | 2021-05-11 | 珠海市一微半导体有限公司 | Security control method based on sweeping robot, sweeping robot and chip |
| CN114630052A (en) * | 2022-05-13 | 2022-06-14 | 常州市天磊传动机械有限公司 | High-definition acquisition device and acquisition method for public safety moving target |
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| CN110888442A (en) * | 2019-11-29 | 2020-03-17 | 中国科学院自动化研究所 | Fire-fighting robot and fire-fighting robot system based on cloud platform architecture |
| CN114630052A (en) * | 2022-05-13 | 2022-06-14 | 常州市天磊传动机械有限公司 | High-definition acquisition device and acquisition method for public safety moving target |
| CN114630052B (en) * | 2022-05-13 | 2022-07-15 | 常州市天磊传动机械有限公司 | High-definition acquisition device and acquisition method for public safety moving targets |
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