CN115291531A - Method and device for sending perception result, storage medium and electronic device - Google Patents
Method and device for sending perception result, storage medium and electronic device Download PDFInfo
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- G—PHYSICS
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
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- G—PHYSICS
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Abstract
The application discloses a method and a device for sending a perception result, a storage medium and an electronic device, and relates to the technical field of smart families, wherein the method for sending the perception result comprises the following steps: controlling sensing equipment to move according to a preset sensing path, wherein the preset sensing path comprises a plurality of sensing positions, and at least two types of sensors are arranged on the sensing equipment; controlling the sensing equipment to sense the environmental parameters at the plurality of sensing positions to obtain sensing results of the plurality of sensing positions; sending the sensing result to a cloud server so that the cloud server can make a scene decision according to the sensing result; by adopting the technical scheme, the problem that in the related art, if sensing results of a plurality of sensors on a plurality of environmental parameters need to be measured, a plurality of devices are needed to measure the sensing results, and further the cost is overhigh is solved.
Description
Technical Field
The application relates to the technical field of smart homes, in particular to a method and a device for sending a sensing result, a storage medium and an electronic device.
Background
In the related technology, in the smart family life, a corresponding sensor is required to sense a specified position or area to sense the related information of the family; however, most of the existing sensors are arranged on large household appliances or single sensor equipment and are not suitable for moving; therefore, if a user wants to perform different types of data sensing on different locations, a plurality of different home appliances with sensors need to be purchased, which is very costly and has poor user experience.
Aiming at the problems that in the related art, if sensing results of a plurality of sensors on a plurality of environmental parameters need to be measured, a plurality of devices are needed to measure the sensing results, so that the cost is too high, and the like, an effective solution is not provided.
Accordingly, there is a need for improvement in the related art to overcome the disadvantages of the related art.
Disclosure of Invention
The embodiment of the invention provides a method and a device for sending a sensing result, a storage medium and an electronic device, which are used for at least solving the problem that in the related art, if the sensing results of a plurality of sensors on a plurality of environmental parameters need to be measured, a plurality of devices are needed to measure the sensing results, and further the cost is too high.
According to an aspect of the embodiments of the present invention, a method for sending a sensing result is provided, including: controlling sensing equipment to move according to a preset sensing path, wherein the preset sensing path comprises a plurality of sensing positions, and at least two types of sensors are arranged on the sensing equipment; controlling the sensing equipment to sense the environmental parameters at the plurality of sensing positions to obtain sensing results of the plurality of sensing positions; and sending the sensing result to a cloud server so that the cloud server can make a scene decision according to the sensing result.
In an exemplary embodiment, before controlling the sensing device to move according to the preset sensing path, the method further includes: sensing a target area through an image sensor and a radar sensor arranged on the sensing equipment to obtain a spatial structure of the target area; generating a three-dimensional structure diagram of the target area according to the space structure of the target area; and generating the preset sensing path according to the three-dimensional structure chart.
In an exemplary embodiment, the generating the preset sensing path according to the three-dimensional structure diagram includes: acquiring a plurality of perception positions of a first object selected according to the three-dimensional structure diagram; and planning paths of the plurality of perception positions by using a plurality of shortest path algorithms to obtain the preset perception path.
In an exemplary embodiment, in the process of controlling the sensing device to sense the environmental parameters at the sensing locations to obtain sensing results of the sensing locations, the method further includes: and under the condition that the target sensing result sensed by the sensing equipment at the target sensing position does not fall into the preset range of the target sensing result, controlling the sensing equipment to sense the environmental parameters at the target sensing position again.
In an exemplary embodiment, the controlling of the sensing device to move according to the preset sensing path includes: in the process of moving according to a preset sensing path, acquiring a static obstacle and a dynamic obstacle existing on the preset sensing path in real time through an image sensor and a radar sensor arranged on the sensing equipment; using an obstacle avoidance algorithm for the static obstacles and the dynamic obstacles acquired in real time to generate an obstacle avoidance path for avoiding the static obstacles and the dynamic obstacles; and controlling the sensing equipment to move based on the obstacle avoidance path.
In an exemplary embodiment, controlling the sensing device to sense the environmental parameter at the plurality of sensing locations includes: determining a perception category for perceiving the environmental parameter at the perception location; under the condition that the perception category is invasive perception, acquiring the position of a preset invasive interface of the perception position through an image sensor of the perception equipment; and controlling an invasive sensor of the sensing equipment to move to the position of the preset invasive interface and connecting with the preset invasive interface so as to perform invasive sensing on the environmental parameters of the sensing position.
In an exemplary embodiment, after sending the sensing result to a cloud server for the cloud server to make a scene decision according to the sensing result, the method further includes: receiving a scene decision result sent by the cloud server; analyzing the result of the scene decision to obtain identification information of one or more first devices and control instructions of the one or more first devices; and respectively sending the control instruction to one or more first devices corresponding to the identification information of the one or more first devices to instruct the one or more first devices to execute the control instruction.
According to another aspect of the embodiments of the present invention, there is also provided an apparatus for sending a sensing result, including: the sensing device comprises a control module, a sensing module and a sensing module, wherein the control module is used for controlling the sensing device to move according to a preset sensing path, the preset sensing path comprises a plurality of sensing positions, and at least two types of sensors are arranged on the sensing device; the sensing module is used for controlling the sensing equipment to sense the environmental parameters at the plurality of sensing positions so as to obtain sensing results of the plurality of sensing positions; and the sending module is used for sending the sensing result to a cloud server so that the cloud server can make a scene decision according to the sensing result.
According to another aspect of the embodiments of the present invention, there is also provided a computer-readable storage medium, in which a computer program is stored, where the computer program is configured to execute the method for sending the sensing result when the computer program runs.
According to another aspect of the embodiments of the present invention, there is also provided an electronic apparatus, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the sending method of the sensing result through the computer program.
According to the invention, the sensing equipment is controlled to move according to a preset sensing path, wherein the preset sensing path comprises a plurality of sensing positions, and at least two types of sensors are arranged on the sensing equipment; controlling the sensing equipment to sense the environmental parameters at the plurality of sensing positions to obtain sensing results of the plurality of sensing positions; sending the sensing result to a cloud server so that the cloud server can make a scene decision according to the sensing result; by adopting the technical scheme, the problem that in the related art, if the sensing results of a plurality of sensors on a plurality of environmental parameters need to be measured, a plurality of devices are needed to measure the sensing results, and further the cost is overhigh is solved, and the sensing results of the plurality of sensors on the plurality of environmental parameters can be measured by only one movable sensing device.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the application and, together with the description, serve to explain the principles of the application.
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, and it is obvious for those skilled in the art to obtain other drawings without inventive exercise.
Fig. 1 is a schematic diagram of a hardware environment of an alternative method for sending a sensing result according to an embodiment of the present application;
fig. 2 is a flowchart of an alternative method for sending a sensing result according to an embodiment of the present application;
fig. 3 is a schematic structural diagram of an optional method for sending a sensing result according to an embodiment of the present application;
fig. 4 is a flowchart and timing diagram of an alternative method for sending a sensing result according to an embodiment of the present application;
FIG. 5 is a schematic diagram of a workflow of an alternative sensing device according to an embodiment of the application;
fig. 6 is a block diagram of an alternative apparatus for sending a sensing result according to an embodiment of the present invention.
Detailed Description
In order to make the technical solutions better understood by those skilled in the art, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only partial embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the accompanying drawings are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the application described herein are capable of operation in sequences other than those illustrated or described herein. Moreover, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
According to an aspect of an embodiment of the present application, a method for sending a sensing result is provided. The sensing result sending method is widely applied to full-house intelligent digital control application scenes such as Smart Home, intelligent Home equipment ecology, intelligent house (intelligence house) ecology and the like. Alternatively, in this embodiment, the above-mentioned sending method of the sensing result may be applied to a hardware environment formed by the terminal device 102 and the server 104 as shown in fig. 1. As shown in fig. 1, the server 104 is connected to the terminal device 102 through a network, and may be configured to provide a service (e.g., an application service) for the terminal or a client installed on the terminal, set a database on the server or independent of the server, and provide a data storage service for the server 104, and configure a cloud computing and/or edge computing service on the server or independent of the server, and provide a data operation service for the server 104.
The network may include, but is not limited to, at least one of: wired networks, wireless networks. The wired network may include, but is not limited to, at least one of: wide area networks, metropolitan area networks, local area networks, which may include, but are not limited to, at least one of the following: WIFI (Wireless Fidelity), bluetooth. Terminal equipment 102 can be and not be limited to PC, the cell-phone, the panel computer, intelligent air conditioner, intelligent cigarette machine, intelligent refrigerator, intelligent oven, intelligent kitchen range, intelligent washing machine, intelligent water heater, intelligent washing equipment, intelligent dish washer, intelligent projection equipment, the intelligent TV, intelligent clothes hanger, intelligent (window) curtain, intelligence audio-visual, smart jack, intelligent stereo set, intelligent audio amplifier, intelligent new trend equipment, intelligent kitchen guarding's equipment, intelligent bathroom equipment, the intelligence robot of sweeping the floor, the intelligence robot of wiping the window, intelligence robot of mopping the floor, intelligent air purification equipment, intelligent steam ager, intelligent microwave oven, intelligent kitchen guarding, intelligent clarifier, intelligent water dispenser, intelligent lock etc..
In order to solve the above problem, in this embodiment, a method for sending a sensing result is provided, including but not limited to being applied to a server, and fig. 2 is a flowchart of a method for sending a sensing result according to an embodiment of the present invention, where the flowchart includes the following steps:
step S202: controlling sensing equipment to move according to a preset sensing path, wherein the preset sensing path comprises a plurality of sensing positions, and at least two types of sensors are arranged on the sensing equipment;
it should be noted that the sensors disposed on the sensing device include, but are not limited to: air quality sensor, temperature and humidity sensor, insert formula temperature sensor soon, camera, radar, water leakage sensor, gas leakage sensor etc. this application does not do the restriction to this.
It should be noted that the moving device of the sensing apparatus includes, but is not limited to: pulleys, lifting rods and propellers; the moving method of the sensing device includes but is not limited to: moving, lifting, flying, this application is not limited to this.
Step S204: controlling the sensing equipment to sense the environmental parameters at the plurality of sensing positions to obtain sensing results of the plurality of sensing positions;
it should be noted that the sensing device senses the environmental parameters and includes various categories, for example, a gas leakage sensor detects natural gas to check whether gas leaks or not, so as to prevent potential safety hazards; detect air quality in the room through air quality sensor, for the user creates better living environment etc. this application does not do the restriction to this.
Step S206: and sending the sensing result to a cloud server so that the cloud server can make a scene decision according to the sensing result.
Through the steps, the sensing equipment is controlled to move according to a preset sensing path, wherein the preset sensing path comprises a plurality of sensing positions, and at least two types of sensors are arranged on the sensing equipment; controlling the sensing equipment to sense the environmental parameters at the plurality of sensing positions to obtain sensing results of the plurality of sensing positions; sending the sensing result to a cloud server, so that the cloud server can make scene decision according to the sensing result, and a scene can be executed according to the sensing result; by adopting the technical scheme, the problem that in the related art, if the sensing results of a plurality of sensors on a plurality of environmental parameters need to be measured, a plurality of devices are needed to measure the sensing results, so that the cost is high, and the sensing results of the plurality of sensors on the plurality of environmental parameters can be measured only by one movable sensing device.
In an exemplary embodiment, before controlling the sensing device to move according to the preset sensing path, the method further includes: sensing a target area through an image sensor and a radar sensor arranged on the sensing equipment to obtain a spatial structure of the target area; generating a three-dimensional structure diagram of the target area according to the space structure of the target area; and generating the preset perception path according to the three-dimensional structure chart.
Before the sensing device starts to operate, initialization is required, a whole house (corresponding to the target area) is scanned through a camera (corresponding to the image sensor) and a radar device (corresponding to the radar sensor) to obtain a spatial structure of the whole house (corresponding to the target area), then the whole house (corresponding to the target area) is subjected to spatial mapping according to the obtained spatial structure to obtain a three-dimensional structure diagram of the whole house (corresponding to the target area), and a preset sensing path is planned according to the three-dimensional structure diagram.
Wherein, generating the preset sensing path according to the three-dimensional structure diagram comprises: acquiring a plurality of perception positions of a first object selected according to the three-dimensional structure diagram; and planning paths of the plurality of perception positions by using a plurality of shortest path algorithms to obtain the preset perception path.
After the three-dimensional structure diagram is generated, the three-dimensional structure diagram is displayed to a user (corresponding to the first object), and the user (corresponding to the first object) selects a plurality of perception positions needing to be perceived through the three-dimensional structure diagram; if the user (equivalent to the first object) does not select, automatically acquiring a plurality of sensing positions preset by the system, performing path planning on the plurality of acquired sensing positions through a plurality of shortest path algorithms to acquire a plurality of shortest paths, and determining the shortest path with the shortest total path as a preset sensing path.
It should be noted that the above multiple shortest path algorithms include, but are not limited to: floyd algorithm, dijkstra algorithm, and Bellman-Ford algorithm, which are not limited in this application.
It should be noted that the principle and advantages of the above-mentioned multiple shortest path algorithms include:
floyd algorithm: the method is an algorithm for finding the shortest path between multiple sources in a given weighted graph by using the idea of dynamic programming, and is similar to the Dijkstra algorithm.
Dijkstra algorithm: the dixtera algorithm is used for solving the problem of single-source shortest path, namely, the shortest path from a certain node in the graph to any node. The defects are as follows: a given weighted graph cannot contain negative weight edges; the algorithm principle is as follows: after determining the shortest path to one node, calculating whether the path to the current node to other adjacent nodes is more optimal, and if so, updating the path of the adjacent node.
Bellman-Ford algorithm: the Bellman-Ford algorithm is an algorithm for solving the problem of the shortest path of a single source. The algorithm principle is to perform V-1 relaxation operations on the graph to obtain all possible shortest paths. The method is superior to the dixter algorithm in that the weight of the edge can be negative, the method is simple to implement, and the method has the defects of overhigh time complexity, up to O (VE), but the algorithm can be optimized in a plurality of ways, so that the efficiency is improved.
Based on the above steps, in the process of controlling the sensing device to sense the environmental parameters at the sensing locations to obtain the sensing results at the sensing locations, the method further includes: and under the condition that the target sensing result sensed by the sensing equipment at the target sensing position does not fall into the preset range of the target sensing result, controlling the sensing equipment to sense the environmental parameters at the target sensing position again.
Sensing environmental parameters of a plurality of sensing positions, wherein the sensing types required by the plurality of sensing positions are different, for example, the water temperature needs to be sensed in a toilet, and a quick-inserting water temperature sensor needs to be used for carrying out invasive sensing on a hot water pipe to obtain water temperature data; the temperature and humidity of a room need to be sensed, a temperature and humidity sensor needs to be used, and temperature and humidity data in the room are obtained through measurement; for different sensing positions, the normal range or the expected range of the obtained sensing result is different, so the preset range of the sensing result at each sensing position is also different. After the target sensing position is sensed, judging whether the sensing result of the target position falls into a preset range of the target sensing result; if the target sensing position does not fall into the target sensing position, in order to prevent detection errors, the sensing equipment is controlled to sense the environmental parameters again at the target sensing position.
In an exemplary embodiment, the controlling of the sensing device to move according to the preset sensing path includes: in the process of moving according to a preset sensing path, acquiring a static obstacle and a dynamic obstacle existing on the preset sensing path in real time through an image sensor and a radar sensor arranged on the sensing equipment; using an obstacle avoidance algorithm for the static obstacles and the dynamic obstacles acquired in real time to generate an obstacle avoidance path for avoiding the static obstacles and the dynamic obstacles; and controlling the sensing equipment to move based on the obstacle avoidance path.
In the process that the sensing device moves according to the preset path, a plurality of obstacles may be encountered, static obstacles such as tables and express cartons and dynamic obstacles such as pets and owners; the perceiving device cannot pass directly through these obstacles and therefore needs to be avoided; the sensing equipment detects static obstacles and dynamic obstacles on an advancing route in real time through the image sensor and the radar sensor, calculates the static obstacles and the dynamic obstacles by using an obstacle avoidance algorithm to obtain one or more new routes which can avoid the obstacles, namely the obstacle avoidance routes, controls the sensing equipment to move based on the obstacle avoidance routes, and continues to move according to the preset sensing routes after crossing the obstacles.
In an exemplary embodiment, controlling the sensing device to sense the environmental parameter at the plurality of sensing locations includes: determining a perception category for perceiving the environmental parameter at the perception location; under the condition that the perception category is invasive perception, acquiring the position of a preset invasive interface of the perception position through an image sensor of the perception equipment; and controlling an invasive sensor of the sensing equipment to move to the position of the preset invasive interface and connecting the invasive sensor with the preset invasive interface so as to perform invasive sensing on the environmental parameters of the sensing position.
For different types of sensing positions, methods used by the sensors for sensing the sensing positions are different, so when the sensing equipment approaches the sensing position, the type of sensing to be performed by the sensing position needs to be confirmed firstly, for example, after the sensing equipment moves to a toilet, the water temperature needs to be detected, and data detected by the temperature sensors used by the sensing equipment from the outside is inaccurate, so that the sensing equipment needs to perform temperature sensing, namely invasive sensing, on the water temperature inside the water pipe, the sensing equipment needs to determine the position of a sensor interface (corresponding to the preset invasive interface) arranged in advance in the water pipe through a camera (corresponding to the image sensor) and then move to the position of the sensor interface through a lifting rod or a propeller, and a quick-insertion type water temperature sensor (corresponding to the invasive sensor) arranged in the sensing equipment is controlled to be connected with the sensor interface (corresponding to the preset invasive interface) so as to perform temperature sensing on the water temperature.
Based on the above steps, the sensing result is sent to a cloud server, so that after the cloud server makes a scene decision according to the sensing result, the method further includes: receiving a scene decision result sent by the cloud server; analyzing the result of the scene decision to obtain identification information of one or more first devices and control instructions of the one or more first devices; and respectively sending the control instruction to one or more first devices corresponding to the identification information of the one or more first devices to instruct the one or more first devices to execute the control instruction.
In order to bring better use experience to a user (equivalent to the first object), after a sensing result is obtained, the sensing result is immediately sent to a cloud server so that the cloud server can make a scene decision according to the sensing result; after receiving a scene decision result of the cloud server, the sensing device analyzes the scene decision result to obtain identification information of one or more devices (equivalent to the first device) and a corresponding control instruction, and sends the control instruction to the device (equivalent to the first device) corresponding to the sensing device to instruct the device (equivalent to the first device) to execute the control instruction.
For example, when the sensing device detects that the air quality is poor through the air quality sensor, the cloud server performs a scene decision on the result, determines that the result of the scene decision is that the air purifier is opened to improve the air quality, and after receiving the result, the sensing device analyzes that the execution object is the air purifier (equivalent to the identification information of the first device), and sends the control instruction to the air purifier if the execution control instruction is that the air purifier is opened.
It is to be understood that the above-described embodiments are only a few, but not all, embodiments of the present invention. In order to better understand the method for sending the sensing result, the following describes the above process with reference to an embodiment, but the method is not limited to the technical solution of the embodiment of the present invention, and specifically:
in an optional embodiment, fig. 3 is a schematic structural diagram of a method for sending an optional sensing result according to an embodiment of the present application, and as shown in fig. 3, the structure includes:
sensor devices, including but not limited to: an air quality sensor 302, an air leakage sensor 304, a water leakage sensor 306, a temperature and humidity sensor 308, a quick insertion type water temperature sensor 310 and a camera (corresponding to the image sensor) 312;
mobile devices, including but not limited to: pulley 314, propeller 316, lifter 318;
the sensing equipment senses different environmental parameters at different sensing positions through a sensor arranged on the sensor device to obtain a sensing result; the moving device comprises a pulley 314, a propeller 316 and a lifting rod 318, and the moving device specifically comprises moving through the pulley, avoiding obstacles, flying through the propeller, and going to an aerial area, such as going to a balcony to sense weather; move up and down through the lifter, carry out the perception to the perception position that is located the eminence.
Through the cooperative cooperation of the devices of the sensing equipment, the sensing equipment is helped to move according to a preset sensing path, and environmental parameters are sensed at a plurality of sensing positions to obtain a sensing result; by adopting the device, the problem that in the related art, if sensing results of a plurality of sensors on a plurality of environmental parameters need to be measured, a plurality of devices are needed to measure the sensing results, and further the cost is overhigh is solved, and the sensing results of the plurality of sensors on the plurality of environmental parameters can be measured only by one movable sensing device.
The following describes the above process with reference to another embodiment, but the present invention is not limited to the technical solution of the embodiment, specifically referring to fig. 4, fig. 4 is a flowchart of a method for sending an optional sensing result according to the embodiment of the present application, and specifically includes the following steps:
step S402: the user opens the app and logs in;
step S404: a user locates the room position through the app and selects a perception index to be perceived;
step S406: the app synchronizes the position selected by the user and the perception index to the perception device;
step S408: the sensing equipment walks to the position selected by the user and feeds back the information of 'ready';
step S410: the user carries out click measurement through app;
step S412: the app synchronizes the instructions to the perception device;
step S414: the sensing equipment senses and returns a sensing result to the app;
step S416: the sensing equipment synchronizes sensing information comprising a sensing instruction and a sensing result to the cloud;
step S418: the cloud end carries out scene decision on the household appliance according to the sensing data;
step S420: and the household appliance feeds back the execution result to the user.
Through the steps, a user (equivalent to the first object) sends a control instruction to the sensing equipment through the app, and the sensing equipment is controlled to sense a designated position (equivalent to the sensing position) by a designated sensing index; after the sensing equipment senses, feeding back result information (equivalent to the sensing result) to a user (equivalent to the first object), synchronizing the result information (equivalent to the sensing result) to a cloud (equivalent to the cloud server), performing scene decision by the cloud (equivalent to the cloud server) according to sensing data (equivalent to the sensing result), issuing a scene decision result to the household appliance equipment (equivalent to the one or more first devices), and controlling the household appliance equipment (equivalent to the one or more first devices) to execute the scene decision result; the home appliance device (corresponding to the one or more first devices) feeds back the execution result to the user (corresponding to the first device).
Therefore, through the steps of the invention, the sensing equipment can be moved to any specified place to sense the specified sensing index, the problem that in the related technology, if the sensing results of a plurality of sensors on a plurality of environmental parameters need to be measured, a plurality of equipment are needed to measure the sensing results, and further the cost is overhigh is solved, and the sensing results of the plurality of sensors on the plurality of environmental parameters can be measured only through one movable sensing equipment.
In another optional embodiment, an operation schematic diagram of the sensing device is provided, as shown in fig. 5, fig. 5 is an operation schematic diagram of an optional sensing device according to the embodiment of the present application, and includes:
the sensing device acquires a plurality of sensing positions needing sensing, and comprises the following steps: living room, bedroom, kitchen, balcony; planning the shortest path of the place to be a living room, a kitchen, a balcony and a bedroom by using a shortest path algorithm; therefore, the sensing equipment senses air quality data through the air quality sensor in the living room, and if the air quality is poor, the air circulation system/the air purification system is controlled to be started to improve the air quality; then, the kitchen is approached, the water quality of a kitchen water pipe is detected, a quick-insertion type water quality sensor is used for detecting, and if the detected water quality does not reach the standard, the water purification system is controlled to be started; next, the sensing equipment goes to a balcony and detects the air humidity through a humidity sensor, whether the balcony rains or not is judged, and if the balcony rains, the weather monitoring system is controlled to send a prompt to a user (equivalent to the first object); and finally, the user goes to a bedroom, obtains the indoor temperature through the temperature sensor, judges whether the user (which is equivalent to the first object) needs to adjust the indoor temperature, and controls a temperature adjusting system (such as an air conditioner) to operate if the user needs to adjust the indoor temperature.
Through the steps, a shortest path is planned through a shortest path planning algorithm, so that the sensing equipment can quickly and efficiently complete a sensing task; by adopting the technical scheme, the sensing results of the plurality of sensors on the plurality of environmental parameters can be measured only by one movable sensing device.
Through the description of the foregoing embodiments, it is clear to those skilled in the art that the method according to the foregoing embodiments may be implemented by software plus a necessary general hardware platform, and certainly may also be implemented by hardware, but the former is a better implementation mode in many cases. Based on such understanding, the technical solutions of the present invention or portions thereof contributing to the prior art may be embodied in the form of a software product, which is stored in a storage medium (such as ROM/RAM, magnetic disk, optical disk) and includes several instructions for enabling a terminal device (which may be a mobile phone, a computer, a server, or a network device, etc.) to execute the method of the embodiments of the present invention.
In this embodiment, a device for sending a sensing result is further provided, where the device is used to implement the foregoing embodiments and preferred embodiments, and details are not repeated for what has been described. As used below, the term "module" may be a combination of software and/or hardware that implements a predetermined function. Although the devices described in the following embodiments are preferably implemented in software, implementations in hardware or a combination of software and hardware are also possible and contemplated.
Fig. 6 is a block diagram of an alternative apparatus for sending a sensing result according to an embodiment of the present invention, where the apparatus includes:
the control module 62 is configured to control the sensing device to move according to a preset sensing path, where the preset sensing path includes a plurality of sensing positions, and the sensing device is provided with at least two types of sensors;
a sensing module 64, configured to control the sensing device to sense the environmental parameters at the multiple sensing locations to obtain sensing results of the multiple sensing locations;
a sending module 66, configured to send the sensing result to a cloud server, so that the cloud server makes a scene decision according to the sensing result.
By the device, the sensing equipment is controlled to move according to a preset sensing path, wherein the preset sensing path comprises a plurality of sensing positions, and at least two types of sensors are arranged on the sensing equipment; controlling the sensing equipment to sense the environmental parameters at the plurality of sensing positions to obtain sensing results of the plurality of sensing positions; sending the sensing result to a cloud server so that the cloud server can make a scene decision according to the sensing result; by adopting the technical scheme, the problem that in the related art, if sensing results of a plurality of sensors on a plurality of environmental parameters need to be measured, a plurality of devices are needed to measure the sensing results, and further the cost is overhigh is solved, and the sensing results of the plurality of sensors on the plurality of environmental parameters can be measured only by one movable sensing device.
In an exemplary embodiment, the sensing module 64 is further configured to sense a target area through an image sensor and a radar sensor that are disposed on the sensing device, so as to obtain a spatial structure of the target area; generating a three-dimensional structure diagram of the target area according to the space structure of the target area; and generating the preset perception path according to the three-dimensional structure chart.
Before the sensing device starts to operate, an initialization operation is required, a whole house (corresponding to the target area) is scanned through a camera (corresponding to the image sensor) and a radar device (corresponding to the radar sensor) to obtain a spatial structure of the whole house (corresponding to the target area), then the whole house (corresponding to the target area) is subjected to spatial mapping according to the obtained spatial structure to obtain a three-dimensional structural drawing of the whole house (corresponding to the target area), and a preset sensing path is planned according to the three-dimensional structural drawing.
In an exemplary embodiment, the sensing module 64 is further configured to obtain a plurality of sensing positions selected by the first object according to the three-dimensional structure diagram; and performing path planning on the plurality of sensing positions by using a plurality of shortest path algorithms to obtain the preset sensing path.
After the three-dimensional structure diagram is generated, the three-dimensional structure diagram is displayed to a user (corresponding to the first object), and the user (corresponding to the first object) selects a plurality of perception positions needing to be perceived through the three-dimensional structure diagram; if the user (equivalent to the first object) does not select, automatically acquiring a plurality of sensing positions preset by the system, performing path planning on the plurality of acquired sensing positions through a plurality of shortest path algorithms to acquire a plurality of shortest paths, and determining the shortest path with the shortest total path as a preset sensing path.
Based on the above steps, the sensing module 64 is further configured to control the sensing device to sense the environmental parameter again at the target sensing position when it is determined that the target sensing result sensed by the sensing device at the target sensing position does not fall within the preset range of the target sensing result.
Sensing environmental parameters of a plurality of sensing positions, wherein the sensing types required by the plurality of sensing positions are different, for example, water temperature needs to be sensed in a toilet, and a quick-insertion water temperature sensor needs to be used for carrying out invasive sensing on a hot water pipe to obtain water temperature data; the temperature and humidity of a room need to be sensed, a temperature and humidity sensor needs to be used, and temperature and humidity data in the room are obtained through measurement; for different sensing positions, the normal range or the expected range of the obtained sensing result is different, so the preset range of the sensing result at each sensing position is also different. After the target sensing position is sensed, judging whether the sensing result of the target position falls into a preset range of the target sensing result; if the target sensing position does not fall into the target sensing position, the sensing equipment is controlled to sense the environmental parameters again to prevent detection errors.
In an exemplary embodiment, the control module 62 is further configured to, during the process of moving according to a preset sensing path, obtain a static obstacle and a dynamic obstacle existing on the preset sensing path in real time through an image sensor and a radar sensor that are arranged on the sensing device; using an obstacle avoidance algorithm for the static obstacles and the dynamic obstacles acquired in real time to generate an obstacle avoidance path for avoiding the static obstacles and the dynamic obstacles; and controlling the sensing equipment to move based on the obstacle avoidance path.
In the process that the sensing device moves according to the preset path, a plurality of obstacles may be encountered, static obstacles such as tables and express cartons and dynamic obstacles such as pets and owners; the perceiving device cannot pass directly through these obstacles and therefore needs to be avoided; the sensing equipment detects static obstacles and dynamic obstacles on an advancing route in real time through the image sensor and the radar sensor, calculates the static obstacles and the dynamic obstacles by using an obstacle avoidance algorithm to obtain one or more new routes which can avoid the obstacles, namely the obstacle avoidance routes, controls the sensing equipment to move based on the obstacle avoidance routes, and continues to move according to the preset sensing routes after crossing the obstacles.
In an exemplary embodiment, the sensing module 64 is further configured to determine a sensing category for sensing the environmental parameter at the sensing location; under the condition that the perception category is invasive perception, acquiring the position of a preset invasive interface of the perception position through an image sensor of the perception equipment; and controlling an invasive sensor of the sensing equipment to move to the position of the preset invasive interface and connecting the invasive sensor with the preset invasive interface so as to perform invasive sensing on the environmental parameters of the sensing position.
For different types of sensing positions, methods used by the sensors for sensing the sensing positions are different, so when the sensing equipment approaches the sensing position, the type of sensing to be performed by the sensing position needs to be confirmed firstly, for example, after the sensing equipment moves to a toilet, the water temperature needs to be detected, and data detected by the temperature sensors used by the sensing equipment from the outside is inaccurate, so that the sensing equipment needs to perform temperature sensing, namely invasive sensing, on the water temperature inside the water pipe, the sensing equipment needs to determine the position of a sensor interface (corresponding to the preset invasive interface) arranged in advance in the water pipe through a camera (corresponding to the image sensor) and then move to the position of the sensor interface through a lifting rod or a propeller, and a quick-insertion type water temperature sensor (corresponding to the invasive sensor) arranged in the sensing equipment is controlled to be connected with the sensor interface (corresponding to the preset invasive interface) so as to perform temperature sensing on the water temperature.
Based on the above steps, the sending module 66 is further configured to receive a result of the scene decision sent by the cloud server; analyzing the result of the scene decision to obtain identification information of one or more first devices and control instructions of the one or more first devices; and respectively sending the control instruction to one or more first devices corresponding to the identification information of the one or more first devices to instruct the one or more first devices to execute the control instruction.
In order to bring better use experience to a user (equivalent to the first object), after a sensing result is obtained, the sensing result is immediately sent to a cloud server so that the cloud server can make a scene decision according to the sensing result; after receiving a scene decision result of the cloud server, the sensing device analyzes the scene decision result to obtain identification information of one or more devices (equivalent to the first device) and a corresponding control instruction, and sends the control instruction to the device (equivalent to the first device) corresponding to the sensing device to instruct the device (equivalent to the first device) to execute the control instruction.
Embodiments of the present invention also provide a computer-readable storage medium having a computer program stored thereon, wherein the computer program is arranged to perform the steps of any of the above-mentioned method embodiments when executed.
Alternatively, in the present embodiment, the storage medium may be configured to store a computer program for executing the steps of:
the method comprises the following steps of S1, controlling sensing equipment to move according to a preset sensing path, wherein the preset sensing path comprises a plurality of sensing positions, and at least two types of sensors are arranged on the sensing equipment;
s2, controlling the sensing equipment to sense the environmental parameters at the sensing positions to obtain sensing results of the sensing positions;
and S3, sending the sensing result to a cloud server so that the cloud server can make a scene decision according to the sensing result.
In an exemplary embodiment, the computer-readable storage medium may include, but is not limited to: various media capable of storing computer programs, such as a usb disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic disk, or an optical disk.
For specific examples in this embodiment, reference may be made to the examples described in the above embodiments and exemplary embodiments, and details of this embodiment are not repeated herein.
Embodiments of the present invention also provide an electronic device comprising a memory having a computer program stored therein and a processor arranged to run the computer program to perform the steps of any of the above method embodiments.
Optionally, in this embodiment, the processor may be configured to execute the following steps by a computer program:
the method comprises the following steps of S1, controlling sensing equipment to move according to a preset sensing path, wherein the preset sensing path comprises a plurality of sensing positions, and at least two types of sensors are arranged on the sensing equipment;
s2, controlling the sensing equipment to sense the environmental parameters at the sensing positions to obtain sensing results of the sensing positions;
and S3, sending the sensing result to a cloud server so that the cloud server can make a scene decision according to the sensing result.
In an exemplary embodiment, the electronic apparatus may further include a transmission device and an input/output device, wherein the transmission device is connected to the processor, and the input/output device is connected to the processor.
For specific examples in this embodiment, reference may be made to the examples described in the foregoing embodiments and exemplary implementations, and details of this embodiment are not repeated herein.
It will be apparent to those skilled in the art that the various modules or steps of the invention described above may be implemented using a general purpose computing device, they may be centralized on a single computing device or distributed across a network of computing devices, and they may be implemented using program code executable by the computing devices, such that they may be stored in a memory device and executed by the computing device, and in some cases, the steps shown or described may be performed in an order different than that described herein, or they may be separately fabricated into various integrated circuit modules, or multiple ones of them may be fabricated into a single integrated circuit module. Thus, the present invention is not limited to any specific combination of hardware and software.
The foregoing is only a preferred embodiment of the present application and it should be noted that, as will be apparent to those skilled in the art, numerous modifications and adaptations can be made without departing from the principles of the present application and such modifications and adaptations are intended to be considered within the scope of the present application.
Claims (10)
1. A method for sending a sensing result is characterized by comprising the following steps:
controlling sensing equipment to move according to a preset sensing path, wherein the preset sensing path comprises a plurality of sensing positions, and at least two types of sensors are arranged on the sensing equipment;
controlling the sensing equipment to sense the environmental parameters at the plurality of sensing positions to obtain sensing results of the plurality of sensing positions;
and sending the sensing result to a cloud server so that the cloud server can make a scene decision according to the sensing result.
2. The method for sending the sensing result according to claim 1, wherein before controlling the sensing device to move according to the preset sensing path, the method further comprises:
sensing a target area through an image sensor and a radar sensor arranged on the sensing equipment to obtain a spatial structure of the target area;
generating a three-dimensional structure diagram of the target area according to the space structure of the target area;
and generating the preset sensing path according to the three-dimensional structure chart.
3. The method for sending the sensing result according to claim 2, wherein the generating the preset sensing path according to the three-dimensional structure diagram includes:
acquiring a plurality of perception positions of a first object selected according to the three-dimensional structure chart;
and performing path planning on the plurality of sensing positions by using a plurality of shortest path algorithms to obtain the preset sensing path.
4. The method for sending sensing results according to claim 3, wherein in the process of controlling the sensing device to sense the environmental parameters at the sensing locations to obtain the sensing results at the sensing locations, the method further comprises:
and under the condition that the target sensing result sensed by the sensing equipment at the target sensing position does not fall into the preset range of the target sensing result, controlling the sensing equipment to sense the environmental parameters at the target sensing position again.
5. The method for sending the sensing result according to claim 1, wherein the controlling of the sensing device to move according to a preset sensing path comprises:
in the process of moving according to a preset sensing path, acquiring a static obstacle and a dynamic obstacle existing on the preset sensing path in real time through an image sensor and a radar sensor arranged on the sensing equipment;
using an obstacle avoidance algorithm for the static obstacles and the dynamic obstacles acquired in real time to generate an obstacle avoidance path for avoiding the static obstacles and the dynamic obstacles;
and controlling the sensing equipment to move based on the obstacle avoidance path.
6. The method for sending the sensing result according to claim 1, wherein controlling the sensing device to sense the environmental parameters at the plurality of sensing locations comprises:
determining a perception category for perceiving the environmental parameter at the perception location;
under the condition that the perception category is invasive perception, acquiring the position of a preset invasive interface of the perception position through an image sensor of the perception equipment;
and controlling an invasive sensor of the sensing equipment to move to the position of the preset invasive interface and connecting with the preset invasive interface so as to perform invasive sensing on the environmental parameters of the sensing position.
7. The method as claimed in claim 1, wherein the sensing result is sent to a cloud server, so that after the cloud server makes a scenario decision according to the sensing result, the method further comprises:
receiving a scene decision result sent by the cloud server;
analyzing the result of the scene decision to obtain identification information of one or more first devices and control instructions of the one or more first devices;
and respectively sending the control instruction to one or more first devices corresponding to the identification information of the one or more first devices to instruct the one or more first devices to execute the control instruction.
8. An apparatus for transmitting a sensing result, comprising:
the sensing device comprises a control module, a sensing module and a processing module, wherein the control module is used for controlling the sensing device to move according to a preset sensing path, the preset sensing path comprises a plurality of sensing positions, and at least two types of sensors are arranged on the sensing device;
the sensing module is used for controlling the sensing equipment to sense the environmental parameters at the plurality of sensing positions so as to obtain sensing results of the plurality of sensing positions;
and the sending module is used for sending the sensing result to a cloud server so that the cloud server can make a scene decision according to the sensing result.
9. A computer-readable storage medium, comprising a stored program, wherein the program when executed performs the method of any of claims 1 to 7.
10. An electronic device comprising a memory and a processor, characterized in that the memory has stored therein a computer program, the processor being arranged to execute the method of any of claims 1 to 7 by means of the computer program.
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