CN115167455A - An autonomous mobile device control method and autonomous mobile device - Google Patents

Abstract

The application discloses autonomous mobile device control method and autonomous mobile device, be provided with infrared sensor and radar sensor on the autonomous mobile device, acquire the infrared heat radiation signal that infrared sensor gathered respectively, and, control radar sensor to the environment transmission electromagnetic wave signal, and acquire the echo signal that reflects back, carry out analysis to infrared heat radiation signal and obtain first human body detection parameter, carry out analysis to echo signal and obtain second human body detection parameter, confirm the human body detection information in the environment based on first, second human body detection parameter, and then control autonomous mobile device's operating condition according to the control strategy of pre-configuration. This application utilizes passive heat radiation mode and initiative electromagnetic wave form to detect the human body simultaneously, promotes detection accuracy. Meanwhile, the radar sensor can detect human body state information at the same time, a data base is provided for richer control strategies, and the intelligence and the usability of the autonomous mobile equipment are improved.

Description

An autonomous mobile device control method and autonomous mobile device

technical field

The present application relates to the technical field of smart devices, and more particularly, to a control method for an autonomous mobile device and an autonomous mobile device.

Background technique

With the improvement of the level of science and technology, the research on autonomous mobile devices such as robots has gradually deepened. Autonomous mobile devices can perceive external environment information, interact with the external environment, and perform set operations. Common autonomous mobile devices such as sweeping robots, handling robots, unmanned vehicles, etc.

Traditional autonomous mobile devices are generally divided into two types, one is human body recognition through RGB cameras, and the other is human body recognition through rotating or multi-array infrared pyroelectric methods. The former is limited by the influence of light, field of view and occlusion, and there are many limitations, resulting in low human body recognition accuracy. The latter only detects the human body through a single-point temperature change, which has the disadvantages of being affected by temperature interference, occlusion, and unable to locate the direction. It also has the problem of low human body recognition accuracy. Limited by the problem of human body recognition accuracy, the operation content that can be realized by the existing autonomous mobile devices is relatively simple, the control strategy is relatively simple, and the intelligence and ease of use are not high.

SUMMARY OF THE INVENTION

In view of the above problems, the present application is proposed to provide a method for controlling an autonomous mobile device and an autonomous mobile device, so as to solve the problem that the existing autonomous mobile device has a low accuracy of human body recognition, and thus has a single control strategy, low intelligence and ease of use. high question. The specific plans are as follows:

A method for controlling an autonomous mobile device, wherein an infrared sensor and a radar sensor are arranged on the autonomous mobile device, and the method includes:

Acquiring infrared thermal radiation signals in the environment collected by the infrared sensor, and controlling the radar sensor to emit electromagnetic wave signals to the environment, and acquiring reflected echo signals;

Analyzing the infrared thermal radiation signal to obtain a first human body detection parameter, and analyzing the echo signal to obtain a second human body detection parameter;

determining human detection information in the environment based on the first human detection parameter and the second human detection parameter;

Based on the human body detection information and the current scene of the autonomous mobile device, the working state of the autonomous mobile device is controlled according to a preconfigured control strategy.

Preferably, the process of analyzing the infrared thermal radiation signal to obtain the first human body detection parameter includes:

Determine the temperature value of each point in the environment based on the infrared thermal radiation signal, and obtain an environmental heat map;

Detecting whether there is a target area whose temperature value exceeds the set human body surface temperature in the environmental heat map;

If there is, the target area in the environmental heat map is compared with the pre-stored human body temperature distribution model, and the first human body detection parameter is obtained based on the comparison result.

Preferably, the process of analyzing the echo signal to obtain the second human body detection parameter includes:

Comparing the frequency of the echo signal with the pre-stored human breathing and/or heartbeat frequency range to obtain a first comparison result;

Obtaining an echo imaging image based on the echo signal, detecting whether there is a human body contour region in the echo imaging image, and obtaining a first detection result;

Based on the first comparison result and the first detection result, a second human body detection parameter is obtained.

Preferably, based on the first human body detection parameter and the second human body detection parameter, the process of determining the human body detection information in the environment includes:

Based on the first human body detection parameter and the second human body detection parameter, it is determined whether there is a human body in the environment, and state information of the human body corresponding to the human body when there is a human body.

Preferably, based on the human body detection information and the current scene of the autonomous mobile device, the process of controlling the working state of the autonomous mobile device according to a pre-configured control strategy includes:

When the autonomous mobile device is currently in the base station and the autonomous mobile device is set to housekeeping mode:

Based on the human body detection information, it is determined whether an abnormal person enters the home, and if an abnormal person enters, an alarm operation is triggered.

Preferably, the determining whether an abnormal person enters the home based on the human body detection information includes:

Based on the human body detection information, when it is determined that a human body appears in the environment and the human body is in a moving state, it is determined that an abnormal person enters.

Preferably, the self-active mobile device is a cleaning robot, and based on the human body detection information and the current scene of the self-active mobile device, the process of controlling the working state of the self-active mobile device according to a pre-configured control strategy includes: :

When the robot vacuum cleaner is in cleaning mode:

If it is determined that a moving human body is detected based on the human body detection information, the sweeping is controlled based on the distance between the human body and the sweeping robot, the moving speed and direction of the human body relative to the sweeping robot, and the preset safe keeping distance. The robot avoids the human body during the cleaning process, and after the human body leaves the original position, it controls the sweeping robot to supplement the cleaning in the original position.

Preferably, the self-active mobile device is a cleaning robot, and based on the human body detection information and the current scene of the self-active mobile device, the process of controlling the working state of the self-active mobile device according to a pre-configured control strategy includes: :

In the scenario where the sweeping robot is in cleaning mode and is currently located in the designated room area:

If it is determined based on the human body detection information that a stationary human body is detected, control the cleaning robot to exit the designated room area and enter the next room area in the cleaning route;

and / or,

If it is determined based on the human body detection information that a human body in a fretting state is detected, the sweeping robot is controlled to reduce the cleaning suction force to a preset value, wherein the fretting state is a state in which the movement range of the human limb is smaller than the set range threshold.

An autonomous mobile device comprising:

equipment body;

an infrared sensor and a radar sensor arranged on the device body, the infrared sensor is used to collect infrared thermal radiation signals in the environment, and the radar sensor is used to transmit electromagnetic wave signals to the environment and receive reflected echo signals;

an infrared signal processing module connected to the infrared sensor for analyzing the infrared thermal radiation signal to obtain a first human body detection parameter;

a radar signal processing module connected with the radar sensor, used for analyzing the echo signal to obtain a second human body detection parameter;

A central processing unit connected to the infrared signal processing module and the radar signal processing module is configured to determine the human detection information in the environment based on the first human detection parameter and the second human detection parameter, and based on the The human body detection information and the current scene of the autonomous mobile device are controlled, and the working state of the autonomous mobile device is controlled according to a preconfigured control strategy.

Preferably, the infrared sensor is arranged on the upper cover of the device body, or on the front impact panel;

The radar sensor is arranged on the upper cover of the device body, under the upper cover or on the front crash panel.

Preferably, the infrared sensor is an infrared thermal imaging sensor, the radar sensor is a millimeter-wave radar sensor, and the frequency of the millimeter-wave radar sensor is 5.8Ghz, 24Ghz, 60Ghz or UWB frequency range.

Preferably, the autonomous mobile device is a sweeping robot, a handling robot, an air purifier, an unmanned vehicle or a drone.

With the above technical solutions, the autonomous mobile device control method of the present application can control the autonomous mobile device. The autonomous mobile device in the present application is provided with an infrared sensor and a radar sensor at the same time, and the present application obtains the infrared sensor in the environment collected by the infrared sensor. Thermal radiation signal, and control the radar sensor to emit electromagnetic wave signal to the environment, and obtain the reflected echo signal, analyze the infrared thermal radiation signal, obtain the first human body detection parameter, analyze the echo signal, and obtain the second human body Detection parameters, based on the first human body detection parameters and the second human body detection parameters, determine the human body detection information in the environment, and control the working state of the autonomous mobile device according to the pre-configured control strategy based on the human body detection information and the current scene of the autonomous mobile device . It can be seen that the present application can detect the human body by using the passive thermal radiation method of the infrared sensor and the active electromagnetic wave form of the radar sensor at the same time, which can cover more scenes. Human body detection and direction detection, and are not easily affected by temperature and light.

On this basis, since the human body can be detected more accurately, and the radar sensor can simultaneously detect human body state information, such as moving speed, direction, breathing/heartbeat frequency, etc., it provides a data basis for more abundant control strategies and improves the The intelligence and ease of use of autonomous mobile devices.

Description of drawings

Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are for purposes of illustrating preferred embodiments only and are not to be considered limiting of the application. Also, the same components are denoted by the same reference numerals throughout the drawings. In the attached image:

FIG. 1a is a side view of an autonomous mobile device according to an example of an embodiment of the present application;

1b is a cross-sectional view of an autonomous mobile device according to an example of an embodiment of the present application;

FIG. 2 is a schematic diagram of the composition and structure of an autonomous mobile device according to an example of an embodiment of the present application;

FIG. 3 is a schematic diagram of the composition and structure of a cleaning robot according to an example of an embodiment of the present application;

4 is a schematic flowchart of a method for controlling an autonomous mobile device according to an example of an embodiment of the present application;

FIG. 5 illustrates a schematic diagram of a sweeping robot control strategy in different scenarios.

Detailed ways

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. Obviously, the described embodiments are only a part of the embodiments of the present application, but not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.

The autonomous mobile device introduced in this application is a device that can collect environmental information and interact with the surrounding environment to complete specified task operations. It can be a robot, such as a sweeping robot, a handling robot, etc., or a movable air purifier, an unmanned vehicle, a drone, and the like. First, the structure of the autonomous mobile device of the present application is introduced with reference to Figs. 1a-1b.

As shown in FIGS. 1a-1b , the autonomous mobile device may include a body 1 , an infrared sensor 2 and a radar sensor 3 disposed on the body 1 .

Wherein, the infrared sensor 2 can be an infrared thermal imaging sensor, which can be arranged on the upper cover of the device body 1 or on the front collision plate. 1a-1b illustrate that the infrared sensor 2 is disposed on the front crash panel, and is inclined upward at a certain angle, so that the field of view angle satisfies the coverage of the human body.

The radar sensor 3 can be a millimeter wave radar sensor. It should be noted that, since the radar sensor can penetrate non-metallic materials such as plastics, it can be hidden and installed, that is, it can be installed under the upper cover of the main body 1 . Taking a millimeter-wave radar sensor as an example, its frequency can be 5.8Ghz, 24Ghz, 60Ghz or UWB frequency range, where UWB frequency range refers to 3.1GHz-10.6GHz. Of course, the millimeter-wave radar sensor can also be set to use radar sensors of other frequencies according to actual needs.

Wherein, the above-mentioned infrared sensor 2 and radar sensor 3 can be installed in various ways, such as being installed on the outer surface or inside of the main body 1 by flipping, popping up, and the like. During installation, the ratio of the overlapping portion of the field of view of the two sensors can be adjusted, for example, the overlap of the field of view of the two sensors can be maintained to more than 80%, so as to facilitate subsequent fusion processing of the data collected by the two sensors.

Further as shown in FIG. 2 , the autonomous mobile device may further include an infrared signal processing module 4 connected to the infrared sensor 2 for analyzing the infrared thermal radiation signal to obtain the first human body detection parameter.

The radar signal processing module 5 connected with the radar sensor 3 is used for analyzing the echo signal to obtain the second human body detection parameter. Specifically, the echo signals can be demodulated, integrated, amplified, filtered, etc., to obtain the second human body detection parameters.

The central processing unit 6 connected with the infrared signal processing module 4 and the radar signal processing module 5 is used to determine the human body detection information in the environment based on the first human body detection parameter and the second human body detection parameter, And based on the human body detection information and the current scene of the autonomous mobile device, the working state of the autonomous mobile device is controlled according to a preconfigured control strategy.

Wherein, the infrared signal processing module 4 may use an ISP processor.

The central processing unit 6 may include a first central processing unit 61 and a second central processing unit 62, wherein the second central processing unit is connected to the radar signal processing module 5 for determining human detection information in the environment based on the second human detection parameter.

The second central processing unit 62 is connected to the first central processing unit 61 and reports the human detection information in the determined environment to the first central processing unit 61 .

The first central processing unit 61 may also be connected to the infrared signal processing module 4 for determining human detection information in the environment based on the first human detection parameter. The human body detection information is fused with the human body detection information reported by the second central processing unit 62 to obtain final human body detection information.

Further as can be seen from FIG. 2 , the autonomous mobile device may also include a memory 7 for storing a configured control logic program;

The WIFI module 8 is used to connect the autonomous mobile device to the network and communicate with the user terminal, so as to realize the parameter and function configuration of the autonomous mobile device.

Further referring to FIG. 3 , FIG. 3 illustrates the composition of the autonomous mobile device when it is specifically a cleaning robot. Based on the structure of the autonomous mobile device exemplified in FIG. 2 , it may additionally include a cleaning execution module 9 for performing cleaning work.

Next, the control method of the autonomous mobile device is introduced. As shown in Figure 4, the control method may include:

Step S100: Acquire an infrared thermal radiation signal in the environment collected by the infrared sensor, and control the radar sensor to emit an electromagnetic wave signal to the environment, and acquire a reflected echo signal.

Specifically, the infrared sensor can collect infrared thermal radiation signals emitted by objects in the environment, such as infrared thermal radiation signals of 8-14um wavelength emitted by the human body, and generate the thermal value of each pixel on the sensor.

The electromagnetic wave signal sent by the radar sensor will reflect the echo signal when it encounters the object, and the echo signal is received by the radar sensor. The echo signals reflected by different objects may have different frequencies. Further, the echo signals reflected by the same object in different states will also be different. For example, when a person is in motion, stationary, etc., the reflected echo signals are also different. Based on this, the state information of the human body can be obtained, such as motion or Stillness, movement speed, direction, breathing rate, heart rate, etc.

Step S110: Analyze the infrared thermal radiation signal to obtain a first human body detection parameter, and analyze the echo signal to obtain a second human body detection parameter.

Specifically, by analyzing and processing the infrared thermal radiation signal, the first human body detection parameter can be obtained, and by analyzing and processing the echo signal, the second human body detection parameter can be obtained. The human body detection parameters represent parameters related to human body recognition, such as whether there is a human body in the environment, and human body state information corresponding to the presence of a human body when it is determined that there is a human body.

It is understandable that infrared sensors and radar sensors can complement each other in the process of determining human detection parameters, which can make up for the limited application scenarios of a single type of sensor. For example, radar sensors can make up for the problem that infrared sensors are easily affected by occlusion, while infrared sensors Sensors can compensate for the problem of radar sensors being affected by dynamic objects. In this embodiment, the first and second human body detection parameters are obtained based on the data collected by the two types of sensors, respectively.

Step S120: Determine the human body detection information in the environment based on the first human body detection parameter and the second human body detection parameter.

Specifically, in order to perform human body recognition detection more accurately, in this step, the first human body detection parameter and the second human body detection parameter are simultaneously fused, and the human body detection information in the environment is determined based on this. Since the human detection parameters determined based on the data collected by the two sensors are simultaneously fused, the final human detection information is more accurate.

At the same time, the second human body detection parameter determined by the echo signal collected by the radar sensor can also include the state information of the human body, such as moving speed, moving direction, respiration, heartbeat frequency, etc., for a richer autonomous mobile device control strategy Data base is provided.

Step S130: Based on the human body detection information and the current scene of the autonomous mobile device, control the working state of the autonomous mobile device according to a preconfigured control strategy.

Specifically, in the embodiment of the present application, a variety of different control strategies can be preconfigured. When the autonomous mobile device is in different scenarios, different control strategies can be executed according to different human body detection information to control the autonomous mobile device to work in different ways. state.

Since the human detection information determined by the present application based on the data collected by the dual-type sensors is more accurate and contains more data content, it can support more abundant and diverse control strategies, and improve the intelligence and ease of use of the autonomous mobile device.

The autonomous mobile device control method of the present application can control the autonomous mobile device, the autonomous mobile device in the present application is provided with an infrared sensor and a radar sensor at the same time, the present application obtains the infrared thermal radiation signal in the environment collected by the infrared sensor, and, Control the radar sensor to emit electromagnetic wave signals to the environment, and obtain the reflected echo signals, analyze the infrared thermal radiation signals, obtain the first human body detection parameters, analyze the echo signals, and obtain the second human body detection parameters, based on the first human body detection parameters. The human body detection parameter and the second human body detection parameter determine the human body detection information in the environment, and control the working state of the autonomous mobile device according to the preconfigured control strategy based on the human body detection information and the current scene of the autonomous mobile device. It can be seen that the present application can detect the human body by using the passive thermal radiation method of the infrared sensor and the active electromagnetic wave form of the radar sensor at the same time, which can cover more scenes. Human body detection and direction detection, and are not easily affected by temperature and light.

On this basis, since the human body can be detected more accurately and the direction of the human body can be detected at the same time, it provides a data basis for more abundant control strategies, and improves the intelligence and ease of use of autonomous mobile devices.

In some embodiments of the present application, in the above step S110, the process of analyzing the infrared thermal radiation signal to obtain the first human body detection parameter, and analyzing the echo signal to obtain the second human body detection parameter will be described. .

Specifically, the process of determining the first human body detection parameter may include the following steps:

S1. Determine the temperature value of each point in the environment based on the infrared thermal radiation signal, and obtain an environmental heat map.

S2. Detect whether there is a target area with a temperature value exceeding the set human body surface temperature in the environmental thermal map.

Specifically, the temperature distribution of each point is identified in the environmental heat map. In this application, the body surface temperature of the human body can be preset, and on this basis, it is possible to find out whether there is a target area that exceeds the set body surface temperature in the environmental thermal map.

S3. If there is, compare the target area in the environmental thermal map with a pre-stored human body temperature distribution model, and obtain a first human body detection parameter based on the comparison result.

Specifically, the present application may store a human body temperature distribution model in advance, in which the temperature distribution characteristics of various parts of the human body are marked, such as the temperature distribution characteristics of the head, chest cavity, and limbs. On this basis, the thermal distribution of the target area in the environmental heat map can be compared with the human body temperature distribution model. If it is determined to be consistent with the human body temperature distribution model, it can be determined that there is a human body in the target area, otherwise, it can be determined that the target area does not exist. Human body, based on this, the first human body detection parameter is obtained.

Further optionally, when it is determined that there is a target area in the above-mentioned step S2, it can also be determined whether the temperature difference between the target area and the surrounding area exceeds the set difference threshold, that is, whether there is a certain contrast difference between the target area and the surrounding environment. When it is determined that the set difference threshold is exceeded, the process of comparing the above step S3 with the human body temperature distribution model is performed.

Further, the process of determining the second human body detection parameter may include the following steps:

S1. Compare the frequency of the echo signal with a pre-stored range of human respiration and/or heartbeat frequency to obtain a first comparison result.

Specifically, the vibration frequencies of the body surface of different objects are different. The surface of the human body vibrates according to the breathing and heartbeat frequency of the human body, and this vibration affects the change of the echo signal. Therefore, in this step, the frequency of the echo signal can be compared with the pre-stored frequency range of human respiration and/or heartbeat to obtain a first comparison result. It can be understood that, if the frequency of the echo signal is within the set frequency range, it means that a human body is detected; otherwise, it means that no human body is detected.

It should be further noted that through the frequency of the echo signal, the static part and dynamic part of the human body can also be identified.

S2. Obtain an echo imaging image based on the echo signal, and detect whether there is a human body contour region in the echo imaging image to obtain a first detection result.

Specifically, since the distances of the human body and the surrounding environment from the radar sensor may be different, the ultrasonic echo imaging map can be generated based on the echo signals. Further, it can be detected whether there is a human body contour area in the echo imaging image, such as whether there is a contour area corresponding to the human head, limbs, and torso, and a first detection result is obtained based on this. It can be understood that if a human body contour area can be detected, it means that a human body is detected, otherwise, it means that no human body is detected.

S3. Obtain second human body detection parameters based on the first comparison result and the first detection result.

Specifically, in the above two steps, the human body detection is carried out through frequency and ultrasonic imaging respectively. In this step, the results of the two methods can be combined simultaneously to determine the human body detection result. That is, the second human body detection parameter is determined based on the first comparison result and the first detection result at the same time.

In some embodiments of the present application, in the above step S120, based on the first human body detection parameter and the second human body detection parameter, the process of determining human body detection information in the environment may specifically be determining whether there is a human body in the environment, And the corresponding state information of the human body when there is a human body, such as the moving speed of the human body, the moving direction, whether the human body is moving as a whole or only part of the limbs, the amplitude of the limbs, respiration, heartbeat frequency, etc. Based on these state information, it can be determined which set state the human body is currently in, such as sleep state, focused work state, exercise state, etc.

Next, the process of controlling the working state of the autonomous mobile device according to the preconfigured control strategy based on the human body detection information and the current scene of the autonomous mobile device in the above step S130 will be described.

In this embodiment, the description will be given according to two cases where the autonomous mobile device is located in the base station and the autonomous mobile device is located outside the base station.

The first is that the autonomous mobile device is currently located in the base station, for example, the cleaning robot is located in the base station. The user can set the autonomous mobile device to be in housekeeping mode. Generally, the user can set the autonomous mobile device to a housekeeping mode when no one is at home. When the autonomous mobile device is in housekeeping mode:

It can be determined whether there is an abnormal person entering the home based on the aforementioned determined human detection information, and an alarm operation is triggered if there is an abnormal person entering.

If it is determined based on the human body detection information that a human body appears in the environment and the human body is in a moving state, it can be determined that an abnormal person enters.

Specifically, it can be determined whether there is a target area in the environment that exceeds the set human body surface temperature according to the infrared sensor in the human body detection information, and the target area is in a moving state, and whether there is a moving human body detected by the radar sensor is determined based on this. Whether any abnormal personnel entered.

In addition, when the autonomous mobile device is in the housekeeping mode, it can also receive the remote control command issued by the user through the APP to control the autonomous mobile device to move to the designated room area according to the instruction requirements, and check whether there is a human body in the designated room area. Such as checking whether there is a sleeping human body in the bedroom, etc.

Second, in this embodiment, the autonomous mobile device is a sweeping robot as an example for description.

When the cleaning robot is currently leaving the base station, it enters the cleaning mode. In this case, with reference to Figure 5, the control strategy of the present application will be described:

Users can pre-configure the attributes of different areas of the home in the sweeping robot, such as bedroom, living room, kitchen, bathroom, etc. In the cleaning mode, the sweeping robot can determine the attributes of the current area in real time. Different control strategies can be provided when the cleaning robot is in areas with different attributes. As shown in FIG. 5 , in this embodiment, the area can be divided into a designated room area and a non-designated room area. The designated room area may be a bedroom, and the non-designated room area may be a living room, a kitchen, etc., depending on user settings. Here, the setting of the designated room area is mainly to consider that in the designated room area, the user may have a need to avoid being disturbed by the cleaning robot.

It can be seen from Figure 5 that:

1) If the sweeping robot is currently located in a non-designated room area, and it is determined based on the human body detection information that it detects a human body in a micro-moving or stationary state, it can clean in a normal state without adjustment. The micro-motion state refers to a state in which the movement range of the human body is smaller than the set range threshold.

2) If it is determined that a moving human body is detected based on the human body detection information, it is not necessary to care whether the sweeping machine is in a designated room area or a non-designated room area at this time. In this embodiment, based on the distance between the human body and the sweeping robot, the moving speed and direction of the human body relative to the sweeping robot, and the preset safe keeping distance, the sweeping robot can be controlled to avoid the sweeping process based on the human body detection information. the human body, and after the human body leaves the original position, the cleaning robot is controlled to supplement the cleaning of the original position.

Specifically, when the cleaning robot detects a moving human body, in order to avoid a collision, it can avoid it in advance, and after the human body leaves the original position, it can perform supplementary cleaning on the original position. The specific avoidance logic can be, based on the distance X between the human body and the sweeping robot, the moving speed and moving direction of the human body relative to the sweeping robot, and predicting that a collision will occur after t1, the sweeping robot can be controlled to change the moving direction after t1-t2 to avoid collision. Among them, t2 may be calculated based on the moving speed and moving direction of the human body relative to the sweeping robot, combined with the preset safe keeping distance.

It can be seen from the introduction of this embodiment that since this embodiment can collect more abundant human body state data, such as moving speed, moving direction, etc., it can provide data support for the cleaning robot to avoid collision, and realize active avoidance and collision avoidance in the cleaning process. At the same time, after the human body leaves the original position, the original position can be supplemented and cleaned.

3) If the sweeping robot is currently located in the designated room area. Then, according to the different states of the human body detected by the human body detection information, it can be divided into two situations:

31) If it is determined based on the human body detection information that a stationary human body is detected, control the cleaning robot to exit the designated room area and enter the next room area in the cleaning route.

Specifically, in a designated room area such as a bedroom, if a stationary human body is detected, it means that the human body may be in a sleeping or resting state. In order to avoid disturbing the user, the cleaning robot can be controlled to exit the designated room area and enter the set cleaning The next room area in the route.

After completing the cleaning of other room areas in the cleaning route, you can return to the designated room area to re-determine whether there is a human body in a stationary state. If not, you can supplement the cleaning. If it still exists, you can return to the base station and end clean up.

32) If it is determined based on the human body detection information that a human body in a micro-motion state is detected, control the cleaning robot to reduce the cleaning suction to a preset value.

Specifically, if a human body in a micro-motion state is detected in a designated room area, for example, only a small movement of the user's head or limb is detected, it can be determined that the user is focusing on a certain matter, doing homework, etc. At this time, the sweeping robot can be controlled to reduce the cleaning suction to a preset value, and at the same time, the collision action can be reduced, so as to minimize the disturbance to the user while cleaning.

Through the above introduction, the autonomous mobile device introduced in the embodiments of this application can obtain more accurate human body detection results through infrared sensors and radar sensors, and at the same time, the radar sensor can also detect human body state information, such as moving speed, direction, breathing, Heartbeat frequency, etc., provide a data basis for more abundant control strategies. On this basis, the present application provides the aforementioned several optional control strategies, and in addition, other rich and diverse control strategies can also be set, thereby improving the intelligence and ease of use of the autonomous mobile device.

Finally, it should also be noted that in this document, relational terms such as first and second are used only to distinguish one entity or operation from another, and do not necessarily require or imply these entities or that there is any such actual relationship or sequence between operations. Moreover, the terms "comprising", "comprising" or any other variation thereof are intended to encompass a non-exclusive inclusion such that a process, method, article or device that includes a list of elements includes not only those elements, but also includes not explicitly listed or other elements inherent to such a process, method, article or apparatus. Without further limitation, an element qualified by the phrase "comprising a..." does not preclude the presence of additional identical elements in a process, method, article or apparatus that includes the element.

The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The various embodiments can be combined as required, and the same and similar parts can be referred to each other. .

The above description of the disclosed embodiments enables any person skilled in the art to make or use the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, this application is not intended to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims (10)

1. An autonomous mobile device control method, wherein an infrared sensor and a radar sensor are provided on the autonomous mobile device, the method comprising:

acquiring infrared thermal radiation signals in the environment acquired by the infrared sensor, controlling the radar sensor to emit electromagnetic wave signals to the environment, and acquiring reflected echo signals;

analyzing the infrared thermal radiation signal to obtain a first human body detection parameter, and analyzing the echo signal to obtain a second human body detection parameter;

determining human detection information within an environment based on the first human detection parameter and the second human detection parameter;

and controlling the working state of the autonomous mobile equipment according to a pre-configured control strategy based on the human body detection information and the current scene of the autonomous mobile equipment.

2. The method of claim 1, wherein analyzing the infrared thermal radiation signal to obtain a first human body detection parameter comprises:

determining temperature values of all points in the environment based on the infrared thermal radiation signals to obtain an environment thermodynamic diagram;

detecting whether a target area with a temperature value exceeding a set human body surface temperature exists in the environment thermodynamic diagram;

if the human body temperature distribution model exists, comparing the target area in the environmental thermodynamic diagram with a pre-stored human body temperature distribution model, and obtaining a first human body detection parameter based on a comparison result.

3. The method of claim 1, wherein the step of analyzing the echo signal to obtain a second human detection parameter comprises:

comparing the frequency of the echo signal with a pre-stored human respiration and/or heartbeat frequency range to obtain a first comparison result;

obtaining an echo imaging graph based on the echo signal, and detecting whether a human body contour region exists in the echo imaging graph to obtain a first detection result;

and obtaining a second human body detection parameter based on the first comparison result and the first detection result.

4. The method of claim 1, wherein determining human detection information within an environment based on the first human detection parameter and the second human detection parameter comprises:

and determining whether a human body exists in the environment and corresponding human body state information when the human body exists on the basis of the first human body detection parameter and the second human body detection parameter.

5. The method according to any one of claims 1-4, wherein the process of controlling the working state of the autonomous mobile device according to a preconfigured control strategy based on the human detection information and the current scene of the autonomous mobile device comprises:

when the autonomous mobile device is currently within a base station and the autonomous mobile device is set to a housekeeping mode:

and determining whether a human body appears in the environment and is in a moving state or not based on the human body detection information, if so, determining that abnormal personnel enter, and triggering alarm operation.

6. The method according to any one of claims 1 to 4, wherein if the autonomous mobile device is a sweeping robot, a process of controlling an operating state of the autonomous mobile device according to a preconfigured control strategy based on the human detection information and a current scene of the autonomous mobile device includes:

when the sweeping robot is in a sweeping mode and is currently located in a specified room area:

if the human body in the static state is determined to be detected based on the human body detection information, controlling the sweeping robot to exit the specified room area and enter the next room area in the sweeping route;

and/or the presence of a gas in the gas,

and if the human body in the micro-motion state is determined to be detected based on the human body detection information, controlling the sweeping robot to reduce the sweeping suction force to a preset value, wherein the micro-motion state is a state that the limb movement amplitude of the human body is smaller than a set amplitude threshold value.

7. An autonomous mobile device, comprising:

an apparatus body;

the infrared sensor and the radar sensor are arranged on the equipment body, the infrared sensor is used for collecting infrared heat radiation signals in the environment, and the radar sensor is used for transmitting electromagnetic wave signals to the environment and receiving reflected echo signals;

the infrared signal processing module is connected with the infrared sensor and used for analyzing the infrared thermal radiation signal to obtain a first human body detection parameter;

the radar signal processing module is connected with the radar sensor and used for analyzing the echo signal to obtain a second human body detection parameter;

and the central processing unit is connected with the infrared signal processing module and the radar signal processing module and is used for determining human body detection information in the environment based on the first human body detection parameter and the second human body detection parameter and controlling the working state of the autonomous mobile equipment according to a pre-configured control strategy based on the human body detection information and the current scene of the autonomous mobile equipment.

8. The autonomous mobile apparatus of claim 7, wherein the infrared sensor is provided on an upper cover of the apparatus body, or on a front impact plate;

the radar sensor is arranged on the upper cover, below the upper cover or on the front collision plate of the equipment body.

9. The autonomous mobile device of claim 7, wherein the infrared sensor is an infrared thermal imaging sensor, the radar sensor is a millimeter wave radar sensor having a frequency of 5.8Ghz, 24Ghz, 60Ghz, or UWB frequency range.

10. The autonomous mobile device of any of claims 7-9, wherein the autonomous mobile device is a sweeping robot, a handling robot, an air purifier, an unmanned vehicle, or an unmanned aerial vehicle.

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