Autonomous mobile device control method and autonomous mobile device

Abstract

The present application discloses a control method for an autonomous mobile device and an autonomous mobile device. The autonomous mobile device is provided with an infrared sensor and a radar sensor, which respectively obtain infrared thermal radiation signals collected by the infrared sensor, and control the radar sensor to emit electromagnetic wave signals to the environment, and obtain the reflected echo signal, analyze the infrared thermal radiation signal to obtain a first human body detection parameter, analyze the echo signal to obtain a second human body detection parameter, determine the human body detection information in the environment based on the first and second human body detection parameters, and then control the working state of the autonomous mobile device according to the preconfigured control strategy. The present application uses both passive thermal radiation and active electromagnetic wave forms to detect the human body, thereby improving the detection accuracy. At the same time, the radar sensor can detect human body status information at the same time, providing a data basis for richer control strategies, and improving the intelligence and ease of use of the autonomous mobile device.

Description

Technical Field

[0001] The present application relates to the technical field of intelligent devices, and more specifically, to an autonomous mobile device control method and an autonomous mobile device. Background Art

[0002] With the improvement of science and technology, the research on autonomous mobile devices such as robots has gradually deepened. Autonomous mobile devices can perceive external environmental information, interact with the external environment, and perform set operations. Common autonomous mobile devices include sweeping robots, transport robots, and unmanned vehicles.

[0003] 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 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 single-point temperature changes, which has the disadvantages of being affected by temperature interference, occlusion, and unable to locate the direction. There is also the problem of low human body recognition accuracy. Limited by the problem of human body recognition accuracy, the existing autonomous mobile devices can currently implement relatively simple operations, their control strategies are relatively simple, and their intelligence and ease of use are not high. Summary of the invention

[0004] In view of the above problems, this application is proposed to provide an autonomous mobile device control method and an autonomous mobile device to solve the problems that the existing autonomous mobile devices have low accuracy in human body recognition, and thus have a single control strategy, low intelligence and low usability. The specific solution is as follows:

[0005] A control method for an autonomous mobile device, wherein the autonomous mobile device is provided with an infrared sensor and a radar sensor, the method comprising:

[0006] Acquire the infrared thermal radiation signal in the environment collected by the infrared sensor, and control the radar sensor to transmit electromagnetic wave signals to the environment and acquire the reflected echo signal;

[0007] 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;

[0008] Determining human body detection information in an environment based on the first human body detection parameter and the second human body detection parameter;

[0009] 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.

[0010] Preferably, the process of analyzing the infrared thermal radiation signal to obtain the first human body detection parameter includes:

[0011] Determine the temperature value of each point in the environment based on the infrared thermal radiation signal to obtain an environmental thermal map;

[0012] Detecting whether there is a target area in the environmental thermal map whose temperature exceeds the set human body surface temperature;

[0013] If so, the target area in the environmental thermal map is compared with a pre-stored human body temperature distribution model, and a first human body detection parameter is obtained based on the comparison result.

[0014] Preferably, the process of analyzing the echo signal to obtain the second human body detection parameter includes:

[0015] Comparing the frequency of the echo signal with a pre-stored human breathing and / or heartbeat frequency range to obtain a first comparison result;

[0016] Obtaining an echo imaging image based on the echo signal, detecting whether there is a human body contour area in the echo imaging image, and obtaining a first detection result;

[0017] A second human body detection parameter is obtained based on the first comparison result and the first detection result.

[0018] Preferably, the process of determining human body detection information in an environment based on the first human body detection parameter and the second human body detection parameter includes:

[0019] Based on the first human body detection parameter and the second human body detection parameter, determine whether there is a human body in the environment, and the corresponding human body state information when the human body exists.

[0020] Preferably, the process of controlling the working state of the autonomous mobile device according to a preconfigured control strategy based on the human body detection information and the current scene of the autonomous mobile device includes:

[0021] When the autonomous mobile device is currently in the base station and the autonomous mobile device is set to a home-keeping mode:

[0022] Based on the human body detection information, it is determined whether there is any abnormal person entering the home. If there is any abnormal person entering, an alarm operation is triggered.

[0023] Preferably, judging whether an abnormal person has entered the home based on the human body detection information includes:

[0024] When 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 is determined that an abnormal person has entered.

[0025] Preferably, the autonomous mobile device is a sweeping robot, and the process of controlling the working state of the autonomous mobile device according to a preconfigured control strategy based on the human body detection information and the scene in which the autonomous mobile device is currently located includes:

[0026] When the cleaning robot is in cleaning mode:

[0027] If a moving human body is detected based on the human body detection information, the sweeping robot is controlled to avoid the human body during the cleaning process 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 safety distance contained in the human body detection information, and the sweeping robot is controlled to supplement the cleaning of the original position after the human body leaves the original position.

[0028] Preferably, the autonomous mobile device is a sweeping robot, and the process of controlling the working state of the autonomous mobile device according to a preconfigured control strategy based on the human body detection information and the scene in which the autonomous mobile device is currently located includes:

[0029] When the cleaning robot is in cleaning mode and is currently located in a specified room area:

[0030] If a stationary human body is detected based on the human body detection information, the cleaning robot is controlled to exit the designated room area and enter the next room area in the cleaning route;

[0031] and / or,

[0032] If it is determined based on the human body detection information that a human body in a micro-motion state is detected, the sweeping robot is controlled to reduce the cleaning suction force to a preset value, wherein the micro-motion state is a state in which the amplitude of human limb movement is less than a set amplitude threshold.

[0033] An autonomous mobile device, comprising:

[0034] Equipment body;

[0035] An infrared sensor and a radar sensor are arranged on the device body, wherein 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;

[0036] an infrared signal processing module connected to the infrared sensor, used for analyzing the infrared thermal radiation signal to obtain a first human body detection parameter;

[0037] A radar signal processing module connected to the radar sensor, used for analyzing the echo signal to obtain a second human body detection parameter;

[0038] A central processing unit connected to the infrared signal processing module and the radar signal processing module is used to determine human body detection information in an environment based on the first human body detection parameter and the second human body detection parameter, and control the working state of the autonomous mobile device according to a preconfigured control strategy based on the human body detection information and the current scene of the autonomous mobile device.

[0039] Preferably, the infrared sensor is arranged on the upper cover of the device body, or on the front collision plate;

[0040] The radar sensor is arranged on the upper cover, below the upper cover or on the front collision plate of the equipment body.

[0041] 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 5.8 GHz, 24 GHz, 60 GHz or UWB frequency range.

[0042] Preferably, the autonomous mobile device is a sweeping robot, a transport robot, an air purifier, an unmanned vehicle or a drone.

[0043] By means of the above technical scheme, 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 controls the radar sensor to transmit an electromagnetic wave signal to the environment, and obtains the reflected echo signal, analyzes the infrared thermal radiation signal, obtains the first human body detection parameter, analyzes the echo signal, obtains the second human body detection parameter, determines the human body detection information in the environment based on the first human body detection parameter and the second human body detection parameter, and controls 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 simultaneously use the passive thermal radiation mode of the infrared sensor and the active electromagnetic wave form of the radar sensor to detect the human body, can cover more scenes, and the combined detection results of the two make the human body detection results more accurate, can realize human body detection and direction detection in an obstructed environment, and is not easily affected by temperature and light.

[0044] On this basis, since the human body can be detected more accurately and the radar sensor can simultaneously detect human body status information such as movement speed, direction, breathing / heart rate, etc., it provides a data basis for richer control strategies and improves the intelligence and ease of use of autonomous mobile devices. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Various other advantages and benefits will become apparent to those of ordinary skill in the art by reading the detailed description of the preferred embodiments below. The accompanying drawings are only for the purpose of illustrating the preferred embodiments and are not to be considered as limiting the present application. Also, the same reference symbols are used throughout the accompanying drawings to represent the same components. In the accompanying drawings:

[0046] Figure 1a A side view of an autonomous mobile device exemplified by an embodiment of the present application;

[0047] Figure 1b A cross-sectional view of an autonomous mobile device exemplified in an embodiment of the present application;

[0048] Figure 2 A schematic diagram of the structure of an autonomous mobile device as an example of an embodiment of the present application;

[0049] Figure 3 A schematic diagram of the structure of a sweeping robot according to an embodiment of the present application;

[0050] Figure 4 A flowchart of a method for controlling an autonomous mobile device is provided as an example of an embodiment of the present application;

[0051] Figure 5 The following is a schematic diagram of the control strategy of a sweeping robot in different scenarios. DETAILED DESCRIPTION

[0052] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0053] The autonomous mobile device introduced in this application is a device that can collect environmental information and interact with the surrounding environment to complete a specified task operation. It can be a robot, such as a sweeping robot, a transport robot, etc., or a movable air purifier, an unmanned vehicle, a drone, etc. First, combined with Figure 1a-1b The structure of the autonomous mobile device of the present application is introduced.

[0054] like Figure 1a-1b As shown, the autonomous mobile device may include a body 1 , an infrared sensor 2 and a radar sensor 3 arranged on the body 1 .

[0055] The infrared sensor 2 may be an infrared thermal imaging sensor, which may be disposed on the upper cover of the device body 1 or on the front collision plate. Figure 1a-1bThe example in the figure shows that the infrared sensor 2 is arranged on the front collision plate and is tilted upward at a certain angle so that the field of view meets the coverage of the human body.

[0056] The radar sensor 3 may be a millimeter wave radar sensor. It should be noted that, since the radar sensor can penetrate non-metallic materials such as plastic, it can be installed in a hidden manner, that is, it can be installed under the upper cover of the body 1. Taking the millimeter wave radar sensor as an example, its frequency may be 5.8 GHz, 24 GHz, 60 GHz or UWB frequency range, where the UWB frequency range refers to 3.1 GHz-10.6 GHz. Of course, the millimeter wave radar sensor may also be set to use a radar sensor of other frequencies according to actual needs.

[0057] The infrared sensor 2 and the radar sensor 3 can be installed in a variety of ways, such as by flipping, popping up, etc., on the outer surface or inside of the body 1. During installation, the proportion of the overlapping portion of the field of view of the two sensors can be adjusted, such as maintaining the overlap of the field of view of the two sensors to more than 80%, so as to facilitate the subsequent fusion processing of the data collected by the two sensors.

[0058] Further integration Figure 2 As shown, 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 a first human body detection parameter.

[0059] The radar signal processing module 5 connected to the radar sensor 3 is used to analyze the echo signal to obtain the second human body detection parameter. Specifically, the echo signal can be demodulated, integrated, amplified, filtered, etc. to obtain the second human body detection parameter.

[0060] The central processing unit 6 connected to 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 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.

[0061] The infrared signal processing module 4 may adopt an ISP processor.

[0062] The central processor 6 may include a first central processor 61 and a second central processor 62 , wherein the second central processor is connected to the radar signal processing module 5 and is used to determine human body detection information in the environment based on the second human body detection parameter.

[0063] The second central processor 62 is connected to the first central processor 61 and reports the human body detection information in the determined environment to the first central processor 61 .

[0064] The first central processor 61 can also be connected to the infrared signal processing module 4 to determine the human body detection information in the environment based on the first human body detection parameter, and fuse the human body detection information with the human body detection information reported by the second central processor 62 to obtain the final human body detection information.

[0065] Further Figure 2 It can be seen that the autonomous mobile device may also include a memory 7 for storing a configured control logic program;

[0066] The WIFI module 8 is used to connect the autonomous mobile device to the network and communicate with the user terminal to implement parameter and function configuration of the autonomous mobile device.

[0067] Further references Figure 3 , Figure 3 The example is a composition structure of an autonomous mobile device, which is a sweeping robot. Figure 2 Based on the structure of the exemplary autonomous mobile device, it may additionally include a cleaning execution module 9 for performing cleaning work.

[0068] Next, the control method of autonomous mobile equipment is introduced, such as Figure 4 As shown, the control method may include:

[0069] Step S100: acquiring an infrared thermal radiation signal in the environment collected by the infrared sensor, and controlling the radar sensor to transmit an electromagnetic wave signal to the environment and acquiring a reflected echo signal.

[0070] Specifically, the infrared sensor can collect infrared thermal radiation signals emitted by objects in the environment, such as infrared thermal radiation signals with a wavelength of 8-14um emitted by the human body, and generate thermal values ​​for each pixel on the sensor.

[0071] The electromagnetic wave signal emitted by the radar sensor will reflect an echo signal when it encounters an object, and the echo signal is received by the radar sensor. The echo signals reflected by different objects may have different frequencies. Furthermore, the echo signals reflected by the same object in different states will also be different. For example, when a person is in motion or still, the reflected echo signals are also different. Based on this, the state information of the human body can be obtained, such as whether it is moving or still, movement speed, direction, breathing frequency, heart rate, etc.

[0072] 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.

[0073] Specifically, by analyzing and processing the infrared thermal radiation signal, a first human body detection parameter can be obtained, and by analyzing and processing the echo signal, a second human body detection parameter can be obtained. The human body detection parameter represents 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.

[0074] It is understandable that the infrared sensor and the radar sensor can complement each other in determining the human body detection parameters, and can make up for the problem that the application scenarios of a single type of sensor are limited. For example, the radar sensor can make up for the problem that the infrared sensor is easily affected by occlusion, and the infrared sensor can make up for the problem that the radar sensor is 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.

[0075] Step S120: Determine human body detection information in the environment based on the first human body detection parameter and the second human body detection parameter.

[0076] Specifically, in order to perform human recognition detection more accurately, the first human detection parameter and the second human detection parameter are simultaneously integrated in this step, and human detection information in the environment is determined based on the first human detection parameter and the second human detection parameter. Since the human detection parameters determined based on the data collected by the two sensors are simultaneously integrated, the human detection information finally obtained is more accurate.

[0077] At the same time, the second human detection parameter determined by the echo signal collected by the radar sensor can also include human body status information, such as movement speed, movement direction, breathing, heart rate, etc., providing a data basis for richer autonomous mobile device control strategies.

[0078] Step S130: 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.

[0079] Specifically, in the embodiments of the present application, a variety of different control strategies can be pre-configured. 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 be in different working states.

[0080] Since the human body detection information determined by the present application based on data collected by dual-type sensors is more accurate and contains richer data content, it can support richer and more diverse control strategies, thereby improving the intelligence and ease of use of autonomous mobile devices.

[0081] 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 controls the radar sensor to transmit an electromagnetic wave signal to the environment, and obtains the reflected echo signal, analyzes the infrared thermal radiation signal, obtains the first human body detection parameter, analyzes the echo signal, obtains the second human body detection parameter, determines the human body detection information in the environment based on the first human body detection parameter and the second human body detection parameter, and controls 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 simultaneously use the passive thermal radiation mode of the infrared sensor and the active electromagnetic wave form of the radar sensor to detect the human body, can cover more scenes, and the combined detection results of the two make the human body detection results more accurate, can realize human body detection and direction detection in an obstructed environment, and is not easily affected by temperature and light.

[0082] 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 richer control strategies and improves the intelligence and ease of use of autonomous mobile devices.

[0083] In some embodiments of the present application, 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 in the above step S110 is introduced.

[0084] Specifically, the process of determining the first human body detection parameter may include the following steps:

[0085] S1. Determine the temperature value of each point in the environment based on the infrared thermal radiation signal to obtain an environmental thermal map.

[0086] S2. Detect whether there is a target area in the environmental thermal map whose temperature exceeds the set human body surface temperature.

[0087] Specifically, the temperature distribution of each point is marked in the environmental thermal map. In the present application, the human body surface temperature can be preset, and on this basis, it can be found in the environmental thermal map whether there is a target area that exceeds the set human body surface temperature.

[0088] S3. If so, 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.

[0089] Specifically, the present application can pre-store a human body temperature distribution model, 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, limbs, etc. On this basis, the thermal distribution of the target area in the environmental thermal 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 there is no human body in the target area. Based on this, the first human body detection parameter is obtained.

[0090] Further optionally, when it is determined in the above step S2 that there is a target area, it can also be determined whether the temperature difference between the target area and the surrounding area exceeds a 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 temperature exceeds the set difference threshold, the above step S3 is executed to compare with the human body temperature distribution model.

[0091] Furthermore, the process of determining the second human body detection parameter may include the following steps:

[0092] S1. Compare the frequency of the echo signal with a pre-stored human breathing and / or heartbeat frequency range to obtain a first comparison result.

[0093] Specifically, the surface vibration frequency of different objects is different. The human body surface will vibrate according to the human breathing and heart rate, 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 human breathing and / or heart rate frequency range 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 the human body is detected, otherwise, it means that the human body is not detected.

[0094] It should be further explained that the frequency of the echo signal can also be used to identify the static and dynamic parts of the human body. For example, the frequency of the echo signal can be used to determine whether the human body is in full motion or only has slight movements of the head, limbs, etc.

[0095] S2. Obtain an echo imaging image based on the echo signal, and detect whether there is a human body contour area in the echo imaging image to obtain a first detection result.

[0096] Specifically, since the distances between the human body and the surrounding environment and the radar sensor may be different, an ultrasonic echo imaging image can be generated based on the echo signal. Then, it can be detected in the echo imaging image whether there is a human body contour area, such as whether there is a contour area corresponding to the human head, limbs, and torso, based on which a first detection result is obtained. It can be understood that if the human body contour area can be detected, it means that the human body is detected, otherwise it means that the human body is not detected.

[0097] S3. Obtain a second human body detection parameter based on the first comparison result and the first detection result.

[0098] Specifically, the above two steps respectively perform human body detection by frequency and ultrasonic imaging, and in this step, the results of the two methods can be combined 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.

[0099] In some embodiments of the present application, the above step S120, based on the first human body detection parameter and the second human body detection parameter, determines the process of human body detection information in the environment, which can specifically be to determine whether there is a human body in the environment, and the corresponding human body state information when there is a human body, such as the human body's moving speed, moving direction, whether the human body is moving as a whole or only part of the limbs move slightly, the amplitude of the limbs, breathing, heart rate, etc. Based on this state information, it can be determined what set state the human body is currently in, such as sleeping state, focused work state, exercise state, etc.

[0100] 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 step S130 is introduced.

[0101] In this embodiment, two situations are described according to which the autonomous mobile device is located inside the base station and outside the base station.

[0102] The first type is that the autonomous mobile device is currently in the base station, for example, a sweeping robot is in the base station. The user can set the autonomous mobile device to be in the housekeeping mode. Generally, the user can set the autonomous mobile device to be in the housekeeping mode when no one is at home. When the autonomous mobile device is in the housekeeping mode:

[0103] Based on the human body detection information determined above, it can be determined whether there are any abnormal persons entering the home. If there are any abnormal persons entering, an alarm operation is triggered.

[0104] If, based on the human body detection information, it is determined 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 has entered.

[0105] Specifically, the infrared sensor can determine whether there is a target area in the environment that exceeds the set human body surface temperature based on the human body detection information, and the target area is in a moving state. In addition, the radar sensor can detect whether there is a moving human body, and based on this, it can be judged whether there is an abnormal person entering.

[0106] In addition, when the autonomous mobile device is in the housekeeping mode, it can also receive remote control commands issued by the user through the APP to control the autonomous mobile device to move to the designated room area according to the commands and check whether there is a human body in the designated room area, such as checking whether there is a sleeping person in the bedroom.

[0107] The second type is described by taking the autonomous mobile device as a sweeping robot as an example in this embodiment.

[0108] When the robot vacuum cleaner is currently leaving the base station, it enters the cleaning mode. Figure 5 , the control strategy of this application is described:

[0109] Users can configure the properties of different areas of the home in the sweeping robot in advance, such as bedroom, living room, kitchen, bathroom, etc. Then the sweeping robot can determine the properties of the current area in real time when in cleaning mode. When the sweeping robot is in areas with different properties, different control strategies can be provided. Figure 5 As shown, in this embodiment, the area can be divided into a designated room area and a non-designated room area. The designated room area can be a bedroom, and the non-designated room area can be a living room, kitchen, etc., depending on the user's settings. Here, the designated room area is set mainly to consider that the user may have the need to avoid being disturbed by the sweeping robot in the designated room area.

[0110] Depend on Figure 5 It can be seen that:

[0111] 1) If the robot vacuum cleaner is currently located in a non-designated room area and detects a human body in a micro-movement or stationary state based on human body detection information, it can clean in a normal state without making any adjustments. The micro-movement state refers to a state where the human body movement amplitude is less than the set amplitude threshold.

[0112] 2) If a moving human body is detected based on the human body detection information, then it is not necessary to care whether the sweeping robot is in a designated room area or a non-designated room area. In this embodiment, based on the distance between the human body and the sweeping robot, the moving speed and moving direction of the human body relative to the sweeping robot, and the preset safe distance contained in the human body detection information, the sweeping robot can be controlled to avoid the human body during the cleaning process, and after the human body leaves the original position, the sweeping robot can be controlled to clean the original position again.

[0113] Specifically, when the sweeping robot detects a moving human body, in order to avoid collision, it can evade in advance, and after the human body leaves the original position, it can perform additional 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. Then, the sweeping robot can be controlled to change its moving direction after t1-t2 to avoid collision. Among them, t2 can be calculated based on the moving speed and moving direction of the human body relative to the sweeping robot, combined with a preset safe distance.

[0114] Through the introduction of this embodiment, it can be seen that since this embodiment can collect more abundant human body status data, such as moving speed, moving direction, etc., it can provide data support for the sweeping robot to avoid collision, and realize active avoidance of collision with the human body during the cleaning process. At the same time, it can perform additional cleaning on the original position after the human body leaves the original position.

[0115] 3) If the sweeping robot is currently in the designated room area, it can be divided into two situations according to the different human states detected by the human detection information:

[0116] 31) If a stationary human body is detected based on the human body detection information, the sweeping robot is controlled to exit the designated room area and enter the next room area in the cleaning route.

[0117] 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 sleeping or resting. In order to avoid disturbing the user, the sweeping robot can be controlled to exit the designated room area and enter the next room area in the set cleaning route.

[0118] 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 stationary human body. If not, you can perform additional cleaning. If still, you can return to the base station to end the cleaning.

[0119] 32) If a human body in a micro-motion state is detected based on the human body detection information, the sweeping robot is controlled to reduce the cleaning suction force to a preset value.

[0120] Specifically, if a human body in a micro-movement state is detected in a designated room area, for example, if only the user's head or limbs are detected moving slightly, it can be determined that the user is concentrating on something, such as doing homework, etc. At this time, the sweeping robot can be controlled to reduce the cleaning suction force to a preset value, and at the same time, collision actions can be reduced to minimize interference to the user while cleaning.

[0121] Through the above introduction, the autonomous mobile device introduced in the embodiment of the present application can obtain more accurate human body detection results through infrared sensors and radar sensors. At the same time, the radar sensor can also detect human body status information, such as movement speed, direction, breathing, heart rate, etc., providing a data basis for more abundant control strategies. On this basis, the present application provides the aforementioned several optional control strategies. 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.

[0122] Finally, it should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the presence of other identical elements in the process, method, article or device including the elements.

[0123] 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 needed, and the same or similar parts can refer to each other.

[0124] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present application. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to the embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A method for controlling an autonomous mobile device, characterized in that: The autonomous mobile device is provided with an infrared sensor and a radar sensor, the autonomous mobile device is a sweeping robot, and the method comprises: Acquire the infrared thermal radiation signal in the environment collected by the infrared sensor, and control the radar sensor to transmit electromagnetic wave signals to the environment and acquire the reflected echo signal; Analyzing the infrared thermal radiation signal to obtain a first human body detection parameter; Compare the frequency of the echo signal with a pre-stored human breathing and / or heartbeat frequency range, identify the static part and the dynamic part of the human body, determine whether the human body is in full motion or part of the limbs is slightly moving, and obtain a first comparison result; obtain an echo imaging image based on the echo signal, detect whether there is a human body contour area in the echo imaging image, and obtain a first detection result; obtain a second human body detection parameter based on the first comparison result and the first detection result; Based on the first human body detection parameter and the second human body detection parameter, determining human body detection information in the environment; including: based on the first human body detection parameter and the second human body detection parameter, determining whether there is a human body in the environment, and corresponding human body state information when there is a human body, the human body state information at least including: whether the human body moves as a whole or only part of the limbs move slightly; When the cleaning robot is in cleaning mode and is currently located in a specified room area: If a stationary human body is detected based on the human body detection information, the sweeping robot is controlled to exit the designated room area and enter the next room area in the cleaning route; after completing the cleaning of other room areas in the cleaning route, the sweeping robot returns to the designated room area to re-determine whether there is a stationary human body; if not, additional cleaning is performed; if still present, the sweeping robot returns to the base station to end cleaning; and / or, If it is determined based on the human body detection information that a human body in a micro-motion state is detected, the sweeping robot is controlled to reduce the cleaning suction force to a preset value, wherein the micro-motion state is a state in which the amplitude of human limb movement is less than a set amplitude threshold.

2. The method according to claim 1, characterized in that The process of analyzing the infrared thermal radiation signal to obtain a first human body detection parameter includes: Determine the temperature value of each point in the environment based on the infrared thermal radiation signal to obtain an environmental thermal map; Detecting whether there is a target area in the environmental thermal map whose temperature exceeds the set human body surface temperature; If so, the target area in the environmental thermal map is compared with a pre-stored human body temperature distribution model, and a first human body detection parameter is obtained based on the comparison result.

3. The method according to any one of claims 1 to 2, characterized in that: The method further comprises: When the autonomous mobile device is currently in the base station and the autonomous mobile device is set to a home-keeping mode: Based on the human body detection information, it is determined whether a human body appears in the environment and is in a moving state. If so, it is determined that an abnormal person has entered and an alarm operation is triggered.

4. An autonomous mobile device, characterized in that: The autonomous mobile device is a sweeping robot, and the autonomous mobile device includes: Equipment body; An infrared sensor and a radar sensor are arranged on the device body, wherein 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, used for analyzing the infrared thermal radiation signal to obtain a first human body detection parameter; A radar signal processing module connected to the radar sensor is used to compare the frequency of the echo signal with a pre-stored human breathing and / or heartbeat frequency range, identify the static part and the dynamic part of the human body, determine whether the human body is in full motion or part of the limbs is slightly moving, and obtain a first comparison result; obtain an echo imaging image based on the echo signal, detect whether there is a human body contour area in the echo imaging image, and obtain a first detection result; obtain a second human body detection parameter based on the first comparison result and the first detection result; A central processor connected to the infrared signal processing module and the radar signal processing module, used to determine human body detection information in the environment based on the first human body detection parameter and the second human body detection parameter, including: determining whether there is a human body in the environment based on the first human body detection parameter and the second human body detection parameter, and corresponding human body state information when there is a human body, the human body state information at least including: whether the human body moves as a whole or only part of the limbs move slightly; In a scenario where the sweeping robot is in a cleaning mode and is currently located in a designated room area: if a stationary human body is detected based on human body detection information, the central processor controls the sweeping robot to exit the designated room area and enter the next room area in the cleaning route; after completing the cleaning of other room areas in the cleaning route, the sweeping robot returns to the designated room area to re-determine whether there is a stationary human body; if not, the sweeping robot performs additional sweeping; if still, the sweeping robot returns to the base station to end the sweeping; and / or, If a human body in a micro-motion state is detected based on the human body detection information, the central processor controls the sweeping robot to reduce the cleaning suction force to a preset value, wherein the micro-motion state is a state in which the amplitude of human limb movement is less than a set amplitude threshold.

5. The autonomous mobile device according to claim 4, characterized in that: The infrared sensor is arranged on the upper cover of the device body or on the front collision plate; The radar sensor is arranged on the upper cover, below the upper cover or on the front collision plate of the equipment body.

6. The autonomous mobile device according to claim 4, characterized in that: 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.

7. The autonomous mobile device according to any one of claims 4 to 6, characterized in that: The autonomous mobile device may also be: a transport robot, an air purifier, an unmanned vehicle or a drone.

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