Indoor risk perception and early warning method, device and system

Abstract

The embodiments of the present invention provide an indoor risk perception and warning method, device, and system, which relate to the field of risk assessment technology. The indoor risk perception and warning method includes: obtaining the first position information of a movable device during the movement of the movable device, as well as environmental data collected by multiple sensors installed on the movable device; using the environmental data to determine whether there is a fall risk in the collection area corresponding to the environmental data; if so, using the second position information and the relative position information to determine the target position information of the risk area including the collection area; when it is detected that the distance between the alarm device and the risk area is less than the preset distance based on the target position information and the third position information of the alarm device, an alarm instruction is sent to the alarm device so that the alarm device outputs an alarm signal. Compared with the prior art, the solution provided by the embodiment of the present invention can reduce the risk of people falling.

Description

Technical Field

[0001] The present invention relates to the technical field of risk assessment, and in particular to an indoor risk perception and early warning method, device and system. Background Art

[0002] Falls are common accidents for everyone in daily life, often causing no serious injury. However, for some people, the consequences can be severe. For example, falls can lead to fractures or even sudden death in the elderly, and falls in pregnant women can cause premature birth or even miscarriage. Therefore, how to monitor these individuals and minimize the harm caused by falls has attracted widespread attention.

[0003] At present, in addition to improving one's own protection awareness for self-protection and taking care of family members, the methods of preventing people from falling in related technologies mainly include: using special non-slip shoes to improve the anti-slip performance of shoes; installing non-slip handrails in places where people are prone to fall, such as bathrooms; wearing wearable monitoring equipment to predict falls caused by physiological diseases and take measures to prevent falls.

[0004] However, although the above-mentioned related technologies reduce the risk of people falling in daily life through methods such as mobility assistance and body monitoring, for certain areas in the environment with a higher risk of falling, it is difficult to prevent people from falling by only using the above-mentioned related technologies.

[0005] For example, even if the elderly wear non-slip shoes, when there are children's toys or other items on the ground, the elderly are likely to trip over the items and fall; for another example, even if the bathroom is equipped with non-slip handrails and pregnant women wear non-slip shoes, when there are water marks on the bathroom floor, the pregnant women are likely to fall because the floor is slippery.

[0006] Based on this, how to issue an early warning for risk areas in the environment with a higher risk of falling, so as to remind people to stay away from the risk areas when they appear in the environment and reduce the risk of falling, has become a technical problem that needs to be solved urgently. Summary of the Invention

[0007] The purpose of the embodiments of the present invention is to provide an indoor risk perception and warning method, device, and system to provide early warning of risk areas in an environment with a high risk of falling, so as to remind people to stay away from the risk areas when they appear in the environment, thereby reducing the risk of falling. The specific technical solution is as follows:

[0008] In a first aspect, an embodiment of the present invention provides an indoor risk perception and early warning method, which is applied to a data processing device. The method includes:

[0009] Acquiring first position information of the movable device during movement of the movable device, and environmental data collected by a plurality of sensors installed on the movable device; wherein the sensors include at least two of an obstacle sensor, a friction sensor, a vibration sensor, and a light sensor;

[0010] Using the environmental data, determining whether there is a fall risk in a collection area corresponding to the environmental data;

[0011] If so, the target location information of the risk area including the collection area is determined using the second location information and the relative location information; wherein the second location information is: the location information of the first location information of the movable device, the collection time of which is closest to the collection time of the environmental data; and the relative location information is: the relative location information of the movable device and the collection area when the movable device is located at the position indicated by the second location information;

[0012] When it is detected that the distance between the alarm device and the risk area is less than a preset distance based on the target position information and the third position information of the alarm device, an alarm instruction is sent to the alarm device so that the alarm device outputs an alarm signal; wherein, the alarm signal is used to prompt the caregiver corresponding to the alarm device that there is a risk area.

[0013] Optionally, in a specific implementation, the sensor includes: an obstacle sensor, a friction sensor, a vibration sensor, and a light sensor, and the step of using the environmental data to determine whether there is a fall risk in the collection area corresponding to the environmental data includes:

[0014] If the size of the obstacle detected by the obstacle sensor is larger than a specified size, it is determined that there is a fall risk in the collection area corresponding to the environmental data;

[0015] If the friction force collected by the friction sensor in the first time period is lower than a specified intensity, it is determined that there is a fall risk in the collection area corresponding to the environmental data;

[0016] If the amplitude of the change in the electrical signal waveform collected by the vibration sensor during the second time period is greater than a specified amplitude, it is determined that there is a fall risk in the collection area corresponding to the environmental data; wherein the electrical signal waveform is used to represent the vibration condition of the vibration sensor during the second time period;

[0017] If the light intensity collected by the light sensor during the third time period is lower than a specified intensity, it is determined that there is a fall risk in the collection area corresponding to the environmental data.

[0018] Optionally, in a specific implementation, the step of determining the target position information of the fall risk area including the collection area by using the second position information and the target relative position information includes:

[0019] Determining the acquisition area as a risk area, and determining target position information of the risk area using the second position information and target relative position information;

[0020] or,

[0021] An area including the acquisition area and having an edge with a specified distance from the center of the acquisition area is determined as a risk area; and target position information of the risk area is determined using the specified distance, the second position information, and the target relative position information.

[0022] Optionally, the method in a specific implementation further includes:

[0023] The target location information of the risk area is recorded in a preset risk area database.

[0024] Optionally, in a specific implementation, the method of detecting whether the distance between the alarm device and the risk area is less than a preset distance based on the target location information and the third location information of the alarm device includes:

[0025] Calculating the distance between the target location information and the third location information of the alarm device, and determining whether the calculated distance is less than a preset distance;

[0026] or,

[0027] According to the target location information, determine whether the risk area and the target area intersect; if so, the distance between the alarm device and the risk area is less than the preset distance; wherein, the target area is: a circular area with the third location information of the alarm device as the center and the preset distance as the radius.

[0028] In a second aspect, an embodiment of the present invention provides an indoor risk perception and warning system, comprising a data processing device, a sensor, an alarm device, a positioning device, and a movable device, wherein the sensor is mounted on the movable device;

[0029] The sensor is used to collect environmental data during the movement of the movable device and send the environmental data to the data processing device;

[0030] The positioning device is configured to obtain first location information of the movable device during movement of the movable device, and send the first location information to the data processing device;

[0031] The data processing device is configured to receive the environmental data and the first position information; use the environmental data to determine whether a fall risk exists in a collection area corresponding to the environmental data; and if so, use the second position information and the relative position information to determine target position information of a risk area including the collection area, wherein the second position information is position information of the first position information of the movable device, the collection time of which is closest to the collection time of the environmental data; and the relative position information is relative position information between the movable device and the collection area when the movable device is located at the position indicated by the second position information;

[0032] The positioning device is further configured to obtain third location information of the alarm device and send the third location information to the data processing device;

[0033] The data processing device is further configured to receive the third location information, and when it is detected based on the target location information and the third location information that the distance between the alarm device and the risk area is less than a preset distance, send an alarm instruction to the alarm device;

[0034] The alarm device is used to output an alarm signal after receiving the alarm instruction; wherein, the alarm signal is used to prompt the cared person corresponding to the alarm device that there is a risk area.

[0035] In a third aspect, an embodiment of the present invention provides an indoor risk perception and warning device, the device comprising:

[0036] a data acquisition module, configured to acquire first position information of the movable device during movement of the movable device, and environmental data collected by a plurality of sensors installed on the movable device; wherein the sensors include at least two of an obstacle sensor, a friction sensor, a vibration sensor, and a light sensor;

[0037] a risk determination module, configured to use the environmental data to determine whether there is a fall risk in the collection area corresponding to the environmental data; if so, triggering a location determination module;

[0038] The position determination module is configured to determine target position information of a risk area including the collection area using the second position information and the relative position information; wherein the second position information is position information of the first position information of the movable device, the collection time of which is closest to the collection time of the environmental data; and the relative position information is relative position information of the movable device and the collection area when the movable device is located at the position indicated by the second position information;

[0039] The risk alarm module is used to send an alarm instruction to the alarm device when it is detected that the distance between the alarm device and the risk area is less than a preset distance based on the target position information and the third position information of the alarm device, so that the alarm device outputs an alarm signal; wherein, the alarm signal is used to prompt the caregiver corresponding to the alarm device that there is a risk area.

[0040] Optionally, in a specific implementation, the sensors include: an obstacle sensor, a friction sensor, a vibration sensor, and a light sensor, and the risk judgment module is specifically configured to:

[0041] If the size of the obstacle detected by the obstacle sensor is larger than a specified size, it is determined that there is a fall risk in the collection area corresponding to the environmental data;

[0042] If the friction force collected by the friction sensor in the first time period is lower than a specified intensity, it is determined that there is a fall risk in the collection area corresponding to the environmental data;

[0043] If the amplitude of the change in the electrical signal waveform collected by the vibration sensor during the second time period is greater than a specified amplitude, it is determined that there is a fall risk in the collection area corresponding to the environmental data; wherein the electrical signal waveform is used to represent the vibration condition of the vibration sensor during the second time period;

[0044] If the light intensity collected by the light sensor during the third time period is lower than a specified intensity, it is determined that there is a fall risk in the collection area corresponding to the environmental data.

[0045] Optionally, in a specific implementation, the location determination module is specifically configured to:

[0046] Determining the acquisition area as a risk area, and determining target position information of the risk area using the second position information and target relative position information;

[0047] or,

[0048] determining an area including the acquisition area and having an edge with a specified distance from the center of the acquisition area as a risk area; and determining target position information of the risk area using the specified distance, the second position information, and the target relative position information;

[0049] or,

[0050] Using the second position information and the target relative position information, the initial position information of the acquisition area is determined; from the preset correspondence between the position information and the room, the target room corresponding to the initial position information is searched; the target room is determined as a dangerous area, and the target position information of the dangerous area is searched from the correspondence.

[0051] Optionally, in a specific implementation, the device further includes:

[0052] The location recording module is used to record the target location information of the risk area into a preset risk area database.

[0053] Optionally, in a specific implementation, the device further includes:

[0054] a distance determination module, configured to detect whether the distance between the alarm device and the risk area is less than a preset distance based on the target location information and third location information of the alarm device;

[0055] The distance judgment module is specifically used to calculate the distance between the target location information and the third location information of the alarm device, and judge whether the calculated distance is less than the preset distance; or, based on the target location information, judge whether the risk area and the target area intersect; if so, the distance between the alarm device and the risk area is less than the preset distance; wherein, the target area is: a circular area with the third location information of the alarm device as the center and the preset distance as the radius.

[0056] In a fourth aspect, an embodiment of the present invention provides a data processing device, comprising a processor, a communication interface, a memory, and a communication bus, wherein the processor, the communication interface, and the memory communicate with each other via the communication bus;

[0057] Memory for storing computer programs;

[0058] The processor is configured to implement the steps of any indoor risk perception and warning method provided in the first aspect when executing the program stored in the memory.

[0059] In a fifth aspect, an embodiment of the present invention provides a computer-readable storage medium, in which a computer program is stored. When the computer program is executed by a processor, the steps of any indoor risk perception and warning method provided in the first aspect are implemented.

[0060] In a sixth aspect, an embodiment of the present invention provides a computer program product comprising instructions, which, when executed on a computer, enables the computer to execute the steps of any one of the indoor risk perception and warning methods provided in the first aspect above.

[0061] Beneficial effects of the embodiments of the present invention:

[0062] As can be seen from the above, the solution provided by the embodiment of the present invention, in the process of indoor risk perception and early warning, first obtains the first position information of the mobile device during the movement of the mobile device, as well as the environmental data collected by multiple sensors installed on the mobile device, and then uses the above environmental data to determine whether there is a fall risk in the collection area corresponding to the above environmental data; if there is a fall risk, the second position information of the first position information of the mobile device, whose collection time is closest to the collection time of the environmental data, and the relative position information of the mobile device and the collection area when the mobile device is at the position indicated by the second position information, are used to determine the target position information of the risk area including the above collection area. In this way, when it is detected that the distance between the alarm device and the risk area is less than the preset distance based on the target position information and the third position information of the alarm device, an alarm instruction can be sent to the alarm device to cause the alarm device to output an alarm signal.

[0063] Based on this, by applying the solution provided by the embodiment of the present invention, it is possible to issue an early warning for risk areas in the environment with a higher risk of falling, so as to remind people to stay away from the risk area when they appear in the environment, thereby reducing the risk of falling.

[0064] Furthermore, the sensors are mounted on a movable device so that they can follow the movement of the movable device. This allows the sensors to be moved to different spaces to collect environmental data when determining hazardous areas in multiple spaces. This means that for each type of sensor, only one sensor can be used to determine the risk area. This avoids the need to install duplicate sensors in different spaces, reduces the number of sensors, and lowers the cost of indoor risk perception and early warning. Furthermore, since the sensors can collect continuous environmental data along the path of movement as the movable device moves, the types of data that can be collected can be expanded. This allows the use of a wider range of sensors for environmental data collection, improving the accuracy of risk area determination. BRIEF DESCRIPTION OF THE DRAWINGS

[0065] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0066] Figure 1 A schematic flow chart of a first indoor risk perception and early warning method provided by an embodiment of the present invention;

[0067] Figure 2 A schematic flow chart of a second indoor risk perception and early warning method provided by an embodiment of the present invention;

[0068] Figure 3 A schematic diagram of a risk area provided by an embodiment of the present invention;

[0069] Figure 4 A schematic diagram of a risk area determination method provided by an embodiment of the present invention;

[0070] Figure 5 A schematic diagram of the structure of an indoor risk perception and early warning system provided by an embodiment of the present invention;

[0071] Figure 6 A schematic structural diagram of another indoor risk perception and warning system provided by an embodiment of the present invention;

[0072] Figure 7 A schematic structural diagram of an indoor risk perception and warning device provided by an embodiment of the present invention;

[0073] Figure 8 A schematic structural diagram of a data processing device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0074] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0075] At present, in addition to improving one’s own protection awareness for self-protection and taking care of family members, the methods for preventing people from falling in related technologies mainly include: using special anti-slip shoes to improve the anti-slip performance of shoes; installing anti-slip handrails in places such as bathrooms where people are prone to fall; wearing wearable monitoring equipment to predict falls caused by physiological diseases so as to take measures to prevent falls. However, although the above-mentioned related technologies have reduced the risk of people falling in daily life through methods such as mobility assistance and body monitoring, for certain areas in the environment with a higher risk of falling, it is difficult to prevent people from falling by simply using the above-mentioned related technologies. Based on this, how to issue early warnings for risk areas in the environment with a higher risk of falling, so as to remind people to stay away from the risk area when they appear in the environment and reduce the risk of falling, has become a technical problem that needs to be solved urgently.

[0076] In order to solve the above technical problems, an embodiment of the present invention provides an indoor risk perception and early warning method.

[0077] This method can be applied to various indoor scenarios where risk perception and early warning are required to reduce the risk of falls, such as elderly people in activity rooms in nursing homes and pregnant women in their homes. Furthermore, this method can be applied to various data processing devices, including mobile devices, mobile phones, and desktop computers.

[0078] When the method is applied to a mobile device, a data processing module for performing data processing to execute the method can be separately added to the mobile device; or program code for performing data processing to execute the method can be added to the control module of the mobile device, that is, the data processing module for performing data processing to execute the method can be integrated into the control module of the mobile device. In this case, the data processing device is the mobile device, and the sensor is installed on the mobile device, that is, it can be understood that the sensor is integrated into the data processing device.

[0079] When the method is applied to electronic devices other than mobile devices, such as mobile phones and desktop computers, application software for performing data processing to execute the method can be installed on the electronic device, and program code for performing data processing to execute the method can also be added to the control module of the electronic device. In this case, the electronic device serves as a data processing device, and the electronic device can communicate with sensors installed on the mobile device.

[0080] An indoor risk perception and early warning method provided by an embodiment of the present invention may include the following steps:

[0081] Acquiring first position information of the movable device during movement of the movable device, and environmental data collected by a plurality of sensors installed on the movable device; wherein the sensors include at least two of an obstacle sensor, a friction sensor, a vibration sensor, and a light sensor;

[0082] Using the environmental data, determining whether there is a fall risk in a collection area corresponding to the environmental data;

[0083] If so, the target location information of the risk area including the collection area is determined using the second location information and the relative location information; wherein the second location information is: the location information of the first location information of the movable device, the collection time of which is closest to the collection time of the environmental data; and the relative location information is: the relative location information of the movable device and the collection area when the movable device is located at the position indicated by the second location information;

[0084] When it is detected that the distance between the alarm device and the risk area is less than a preset distance based on the target position information and the third position information of the alarm device, an alarm instruction is sent to the alarm device so that the alarm device outputs an alarm signal; wherein, the alarm signal is used to prompt the caregiver corresponding to the alarm device that there is a risk area.

[0085] As can be seen from the above, the solution provided by the embodiment of the present invention, in the process of indoor risk perception and early warning, first obtains the first position information of the mobile device during the movement of the mobile device, as well as the environmental data collected by multiple sensors installed on the mobile device, and then uses the above environmental data to determine whether there is a fall risk in the collection area corresponding to the above environmental data; if there is a fall risk, the second position information of the first position information of the mobile device, whose collection time is closest to the collection time of the environmental data, and the relative position information of the mobile device and the collection area when the mobile device is at the position indicated by the second position information, are used to determine the target position information of the risk area including the above collection area. In this way, when it is detected that the distance between the alarm device and the risk area is less than the preset distance based on the target position information and the third position information of the alarm device, an alarm instruction can be sent to the alarm device to cause the alarm device to output an alarm signal.

[0086] Based on this, by applying the solution provided by the embodiment of the present invention, it is possible to issue an early warning for risk areas in the environment with a higher risk of falling, so as to remind people to stay away from the risk area when they appear in the environment, thereby reducing the risk of falling.

[0087] Furthermore, the sensors are mounted on a movable device so that they can follow the movement of the movable device. This allows the sensors to be moved to different spaces to collect environmental data when determining hazardous areas in multiple spaces. This means that for each type of sensor, only one sensor can be used to determine the risk area. This avoids the need to install duplicate sensors in different spaces, reduces the number of sensors, and lowers the cost of indoor risk perception and early warning. Furthermore, since the sensors can collect continuous environmental data along the path of movement as the movable device moves, the types of data that can be collected can be expanded. This allows the use of a wider range of sensors for environmental data collection, improving the accuracy of risk area determination.

[0088] An indoor risk perception and early warning method provided by an embodiment of the present invention will be described in detail below with reference to the accompanying drawings.

[0089] Figure 1 A flow chart of an indoor risk perception and early warning method provided by an embodiment of the present invention is shown as follows: Figure 1 As shown, the method may include the following steps S101-S104.

[0090] S101: Acquire first location information of a movable device and environmental data collected by a plurality of sensors installed on the movable device during the movement of the movable device.

[0091] The sensors include at least two of an obstacle sensor, a friction sensor, a vibration sensor, and a light sensor.

[0092] During the movement of the movable device, the positioning device can locate the movable device according to a preset positioning frequency to obtain the first position information of the movable device, and the multiple sensors installed on the movable device can follow the movement of the movable device and collect environmental data according to the preset collection frequency during the movement.

[0093] Optionally, the movable device may include an intelligent sweeping device, such as a sweeping robot.

[0094] In this way, the data processing device can obtain the first position information of the movable device during the movement of the movable device, as well as the environmental data collected by multiple sensors installed on the movable device.

[0095] The data processing device may obtain the first location information of the movable device and the environmental data collected by multiple sensors installed on the movable device during the movement of the movable device.

[0096] After the movable device has completed its movement, the data processing device may also retrieve the first location information of the movable device during its movement, as well as environmental data collected by multiple sensors installed on the movable device, stored in the designated storage space. The designated storage space may be a positioning device and sensors, or storage space in another device capable of communicating with the positioning device and sensors. This is all reasonable.

[0097] The positioning device may be a position sensor installed on the movable device, so that during the movement of the movable device, the position sensor may obtain the first position information of the movable device.

[0098] The positioning device may also include a fixed positioning device arranged in space, and the positioning mode of the fixed positioning device may include active positioning and passive positioning.

[0099] Active positioning refers to the following: after a positioning device is pre-installed at a designated location, it can emit a signal. When the signal hits the movable device, it is reflected, generating a reflected echo. The positioning device can then determine the location of the movable device by processing the received reflected echo, thereby obtaining the first location information of the movable device. For example, the positioning device can be a radar.

[0100] Passive positioning involves installing a positioning device in a designated location and then attaching a signal generator to a removable device. The positioning device then captures signals from the signal generator and uses the captured signals to determine the removable device's location, thereby obtaining the first location information of the removable device. For example, the positioning device may be a thermal radiation detector.

[0101] When collecting the first location information of the movable device, the positioning device may collect the information in real time or periodically, for example, collecting the first location information of the movable device once every three seconds. Of course, the embodiment of the present invention does not limit the positioning frequency of the positioning device.

[0102] Furthermore, the sensors mounted on the movable device may include at least two of an obstacle sensor, a friction sensor, a vibration sensor, and a light sensor.

[0103] For example, the sensors installed on the movable device may include an obstacle sensor and a friction sensor; for another example, the sensors installed on the movable device may include an obstacle sensor, a friction sensor, a vibration sensor, and a light sensor.

[0104] Among them, since the sensor can move with the movable device, during the movement of the movable device, the sensor can collect environmental data when the movable device is in different positions as the movable device moves. In this way, when it is necessary to determine the risk areas in multiple spaces, the sensor can be moved to different spaces for environmental data collection by directly controlling the movement of the movable device. That is, for each type of sensor, the risk area can be determined by only one sensor, thereby avoiding the installation of repeated types of sensors in different spaces, reducing the number of sensors, and reducing the cost of indoor risk perception and early warning.

[0105] The sensor's collection frequency and the positioning frequency of the positioning device may be the same or different. Furthermore, when there are multiple sensors, the environmental data collection frequencies of the sensors may be the same or different.

[0106] S102: Using the environmental data, determine whether there is a fall risk in the collection area corresponding to the environmental data.

[0107] S103: If yes, determine the target location information of the risk area including the collection area using the second location information and the relative location information;

[0108] Among them, the second location information is: the location information in the first location information of the movable device, the collection time of which is closest to the collection time of the environmental data; the relative location information is: the relative location information between the movable device and the collection area when the movable device is located at the position indicated by the second location information.

[0109] After acquiring the above environmental data, the data processing device can use the above environmental data to determine whether there is a fall risk in the collection area corresponding to the above environmental data.

[0110] When a sensor collects environmental data, it collects environmental data from a specific area in the space where it is located, thereby quantifying the real scene in that area. This area can then be referred to as the collection area corresponding to the collected environmental data. In other words, the collection area corresponding to the collected data is the area in the space where the sensor is located that is used to collect the collected data.

[0111] For example, for an obstacle sensor, the collection area corresponding to the environmental data such as the size of the obstacle collected by it is the area where the obstacle is located; for another example, for a friction sensor, the collection area corresponding to the environmental data such as friction collected by it is the road section passed through when the environmental data was collected; for another example, for a vibration sensor, the collection area corresponding to the collection data such as the electrical signal waveform of the vibration condition collected by it is the road section passed through when the environmental data was collected.

[0112] When the environmental data is used to determine that a fall risk exists in the collection area corresponding to the environmental data, the data processing device can obtain the second location information whose collection time is closest to the collection time of the environmental data from the first location information.

[0113] Furthermore, based on the data collection method of the sensor used to collect the environmental data, the relative positional relationship between the collection area and the sensor can be determined when the movable device is located at the location indicated by the second location information. Since the sensor used to collect the environmental data is mounted on the movable device, the relative positional relationship between the collection area and the sensor can serve as the relative positional information between the movable device and the collection area when the movable device is located at the location indicated by the second location information.

[0114] In this way, the target location information of the risk area including the collection area can be determined using the second location information and the relative location information between the mobile device and the collection area when the mobile device is at the location indicated by the second location information. In this way, the risk area existing in the area passed by the mobile device during movement and the target location information of the risk area can be obtained.

[0115] Among them, since the second location information is closest to the time when the environmental data was collected in the first location information, that is, among the locations where the mobile device was located when the first location information was collected, the location where the mobile device was located when the second location information was collected is closest to the location where the mobile device was located when the environmental data was collected. In this way, when it is determined that the collection area corresponding to the environmental data has a fall risk, the dangerous area including the collection area is closest to the location where the mobile device was located when the second location information was collected. Therefore, the second location information and the relative position information between the mobile device and the collection area when the mobile device is located at the position indicated by the second location information can be used to determine the target location information of the risk area including the collection area.

[0116] Among them, when the acquisition frequency of the sensor is the same as the positioning frequency of the positioning device, the second location information can be understood as: the location information in which the acquisition time is the same as the acquisition time of the environmental data in the above-mentioned first location information; when the acquisition frequency of the sensor is different from the positioning frequency of the positioning device, the second location information can be understood as: the location information in which the difference between the acquisition time and the acquisition time of the environmental data in the above-mentioned first location information is the smallest.

[0117] Optionally, when it is determined by using the environmental data that the collection area corresponding to the environmental data does not have danger, this judgment can be ignored and the next judgment can be entered.

[0118] S104: When it is detected based on the target location information and the third location information of the alarm device that the distance between the alarm device and the risk area is less than a preset distance, sending an alarm instruction to the alarm device so that the alarm device outputs an alarm signal;

[0119] The alarm signal is used to remind the person being cared for corresponding to the alarm device that there is a risk area.

[0120] After determining the target location information of the above-mentioned risk area, the data processing device can also obtain the third location information of the alarm device, and after obtaining the third location information, it can detect whether the distance between the alarm device and the above-mentioned determined risk area is less than the preset distance based on the target location information and the third location information of the determined risk area.

[0121] When, based on the target location information and the third location information of the alarm device, it is detected that the distance between the alarm device and the risk area is less than a preset distance, the data processing device can send an alarm instruction to the alarm device, instructing the alarm device to output an alarm signal. Thus, upon receiving the alarm instruction, the alarm device can respond to the alarm instruction and output an alarm signal.

[0122] The alarm signal is used to remind the guarded person that there is a risk area.

[0123] Optionally, the warning signal may include one or more of various types of signals such as sound signals, color signals, vibration signals, and text signals, etc. This is not specifically limited in the embodiment of the present invention.

[0124] In this way, the person being cared for who carries the alarm device or is close to the alarm device can receive the alarm signal and then stay away from the risk area, or increase their attention and move more carefully, thereby reducing the risk of falling.

[0125] In order to warn the person being cared for, an alarm device may be placed on the person being cared for, wherein the alarm device is any device that can output an alarm signal under the control of a data processing device.

[0126] For example, mobile terminals such as mobile phones, various wearable devices such as smart watches and smart bracelets, and of course, other devices that have the above-mentioned function of outputting alarm signals under the control of the data processing device.

[0127] Among them, when the alarm device is a mobile terminal such as a mobile phone, or various wearable devices such as a smart watch and a smart bracelet, an application software for outputting an alarm signal under the control of a data processing device can be installed on the mobile terminal or wearable device, or a program code for outputting an alarm signal under the control of a data processing device can be added to the control module of the mobile terminal or wearable device.

[0128] In this way, optionally, the third position information of the alarm device can be obtained by using the positioning device, and then the positioning device can send the third position information to the data processing device, that is, the data processing device can obtain the third position information of the alarm device from the positioning device.

[0129] The manner in which the positioning device obtains the third location information of the alarm device is the same as the manner in which the positioning device obtains the first location information of the movable device, and will not be described in detail here.

[0130] Based on this, by applying the solution provided by the embodiment of the present invention, it is possible to issue an early warning for risk areas in the environment with a higher risk of falling, so as to remind people to stay away from the risk area when they appear in the environment, thereby reducing the risk of falling.

[0131] Furthermore, the sensors are mounted on a movable device so that they can follow the movement of the movable device. This allows the sensors to be moved to different spaces to collect environmental data when determining hazardous areas in multiple spaces. This means that for each type of sensor, only one sensor can be used to determine the risk area. This avoids the need to install duplicate sensors in different spaces, reduces the number of sensors, and lowers the cost of indoor risk perception and early warning. Furthermore, since the sensors can collect continuous environmental data along the path of movement as the movable device moves, the types of data that can be collected can be expanded. This allows the use of a wider range of sensors for environmental data collection, improving the accuracy of risk area determination.

[0132] Optionally, in a specific implementation, such as Figure 2 As shown, an indoor risk perception and early warning method provided by an embodiment of the present invention may further include the following step S105:

[0133] S105: Record the target location information of the risk area into a preset risk area database.

[0134] In this specific implementation, after the target location information of the risk area is determined, the target location information of the risk area is recorded in a preset risk area database.

[0135] Optionally, in a specific implementation, periodic information collection may be performed on the environment to continuously update target location information of the risk area recorded in the risk area database.

[0136] For example, information on the environment is collected every week, and S101-S103 and S105 are re-executed to continuously update the target location information of the risk area recorded in the risk area database, thereby improving the real-time performance of the target location information of the determined risk area and reducing the risk of people falling.

[0137] Optionally, in a specific implementation, when the environment changes, it is necessary to re-execute S101-S103 and S105 to update the target location information of the risk area recorded in the risk area database, improve the real-time performance of the target location information of the determined risk area, and thereby reduce the risk of people falling.

[0138] For example, if the room layout changes, in order to avoid people falling, it is necessary to redefine the risk area in the room and record the target location information of the redetermined risk area into the preset risk area database.

[0139] Optionally, in a specific implementation, the sensors may include: an obstacle sensor, a friction sensor, a vibration sensor, and a light sensor. Furthermore, step S102, using the environmental data to determine whether a fall risk exists in the collection area corresponding to the environmental data, may include the following steps 102A-102D:

[0140] Step 102A: If the size of the obstacle detected by the obstacle sensor is larger than a specified size, it is determined that there is a fall risk in the collection area corresponding to the environmental data;

[0141] Step 102B: If the friction force collected by the friction sensor during the first time period is lower than a specified intensity, it is determined that there is a fall risk in the collection area corresponding to the environmental data;

[0142] Step 102C: If the amplitude of the change in the electrical signal waveform collected by the vibration sensor during the second time period is greater than a specified amplitude, then it is determined that there is a fall risk in the collection area corresponding to the environmental data; wherein the electrical signal waveform is used to represent the vibration condition of the vibration sensor during the second time period;

[0143] Step 102D: If the light intensity collected by the light sensor during the third time period is lower than the specified intensity, it is determined that there is a fall risk in the collection area corresponding to the environmental data.

[0144] In this specific implementation, we can first determine the sensor used to collect environmental data and the risk determination conditions that match the sensor, and then determine whether there is a fall risk in the collection area corresponding to the environmental data.

[0145] The risk determination conditions for different types of sensors may be different.

[0146] For example, the risk assessment criteria for an obstacle sensor are: if the size of a detected obstacle is larger than a specified size, the collection area where the obstacle is located is determined to have a fall risk. For example, a fall risk is determined to exist in the collection area where the obstacle is located when the following conditions are simultaneously met: the length of the detected obstacle is larger than a specified length, the width of the detected obstacle is larger than a specified width, and the height of the detected obstacle exceeds a specified height. Therefore, for an obstacle sensor, if the size of the detected obstacle is larger than the specified size, the collection area corresponding to the environmental data is determined to have a fall risk.

[0147] For another example, the risk determination condition for a light sensor is: if the light intensity collected during a third time period is lower than a specified intensity, then the area through which the mobile device passed during that third time period is determined to have a fall risk. Therefore, for the light sensor, if the light intensity collected during the third time period is lower than the specified intensity, then the area corresponding to the environmental data collected is determined to have a fall risk.

[0148] For another example, a friction sensor's risk assessment criteria is: if the friction force collected during a first time period is lower than a specified friction force value, then the area through which the movable device passed during that first time period is determined to have a fall risk. Therefore, for a friction sensor, if the friction force collected during the first time period is lower than a specified intensity, then the area corresponding to the environmental data collected is determined to have a fall risk.

[0149] For another example, a vibration sensor's risk determination condition is: if the amplitude of the change in the waveform of the electrical signal reflecting vibration conditions collected during the second time period exceeds a specified amplitude, then the area through which the movable device passed during the second time period is determined to have a fall risk. Therefore, for a vibration sensor, if the amplitude of the change in the waveform of the electrical signal collected by the vibration sensor during the second time period exceeds a specified amplitude, then the area corresponding to the environmental data collection is determined to have a fall risk.

[0150] It should be noted that the risk determination conditions of the above-mentioned various sensors are only used to illustrate the above-mentioned step S102, and are not limiting. Any sensor that can determine the risk area and the risk determination conditions that match the sensor fall within the scope of protection of the embodiments of the present invention.

[0151] Optionally, for steps 102A-102D, developers can set specific values ​​for each type of sensor as a baseline value for determining whether there is a risk, and also set a safety range for each type of sensor. The safety range set for each type of sensor means that when the error between the environmental data collected by that type of sensor and the baseline value set for that type of sensor is within the safety range set for that type of sensor, that is, the error is not less than the minimum value of the safety range and not greater than the maximum value of the safety range, the collection area corresponding to the environmental data is determined to be safe.

[0152] In this way, for each environmental data, when the error between the environmental data and the reference value set for the sensor that collects the environmental data is not within the safety range set for the sensor that collects the environmental data, that is, the error is less than the minimum value of the safety range, or greater than the maximum value of the safety range, then it is determined that there is a fall risk in the collection area corresponding to the environmental data.

[0153] Based on this, the above-mentioned risk determination condition is that the error between the environmental data and the reference value set for the sensor collecting the environmental data is not within the safety range set for the sensor collecting the environmental data.

[0154] Optionally, in a specific implementation, the above step S103, using the second position information and the relative position information to determine the target position information of the risk area including the collection area, may include the following step 103A:

[0155] Step 103A: Determine the collection area as a risk area, and use the second position information and the target relative position information to determine the target position information of the risk area.

[0156] In this specific implementation method, after confirming that there is a fall risk in the collection area corresponding to the environmental data, the collection area can be directly determined as a risk area; thereafter, the second position information and the target relative position information can be used to determine the target position information of the collection area, that is, to determine the target position information of the risk area.

[0157] For example, when the sensor is an obstacle sensor, the collection area corresponding to the environmental data is the area where the detected obstacle is located. Furthermore, when a fall risk is determined to exist in the collection area, that is, when a fall risk is determined to exist in the area where the obstacle is located, the area where the obstacle is located can be determined as a risk area. Furthermore, the distance from the obstacle to the movable device and the angle between the obstacle and the movable device included in the environmental data can be used to obtain target relative position information. Furthermore, the second position information and the target relative position information can be used to determine the position information of the area where the obstacle is located, thereby obtaining target position information for the risk area.

[0158] For another example, when the sensor is a light sensor, the collection area corresponding to the environmental data is the area that the movable device passed through when collecting the environmental data. Furthermore, when it is determined that there is a fall risk in the collection area, the area passed by the movable device can be determined as a risk area. Furthermore, based on the movement route and movement speed of the movable device, the relative position information of the location information of the area passed by the movable device and the second location information can be determined, thereby obtaining the target relative position information. In this way, the second location information and the target relative position information can be used to determine the location information of the area passed by the movable device, thereby obtaining the target location information of the risk area.

[0159] For another example, when the sensor is a friction sensor, the collection area corresponding to the environmental data is the area that the movable device passed through when collecting the environmental data. Furthermore, when it is determined that there is a fall risk in the collection area, the area passed by the movable device can be determined as a risk area. Furthermore, based on the movement route and speed of the movable device, the relative position information of the position information of the area passed by the movable device and the second position information can be determined, thereby obtaining the target relative position information. In this way, the second position information and the target relative position information can be used to determine the position information of the area passed by the movable device, thereby obtaining the target position information of the risk area.

[0160] For another example, when the sensor is a vibration sensor, the collection area corresponding to the environmental data is the area that the movable device passed through when collecting the environmental data. Furthermore, when it is determined that there is a fall risk in the collection area, the area passed by the movable device can be determined as a risk area. Furthermore, based on the movement route and movement speed of the movable device, the relative position information of the location information of the area passed by the movable device and the second location information can be determined, thereby obtaining the target relative position information. In this way, the second location information and the target relative position information can be used to determine the location information of the area passed by the movable device, thereby obtaining the target location information of the risk area.

[0161] Optionally, in a specific implementation, the above step S103, using the second position information and the relative position information to determine the target position information of the risk area including the collection area, may include the following steps 103B-103C:

[0162] Step 103B: Determine an area including the acquisition area and having an edge with a specified distance from the center of the acquisition area as a risk area;

[0163] Step 103C: Determine the target position information of the risk area using the designated distance, the second position information, and the target relative position information.

[0164] In this specific implementation, after confirming that there is a fall risk in the collection area corresponding to the environmental data, an area including the collection area and having an edge with a specified distance from the center of the collection area can be determined and determined as a risk area.

[0165] For example, after confirming that there is a fall risk in the collection area corresponding to the environmental data, the center of the collection area is used as the center of the circle, and the circular area with the specified distance as the radius is used as the designated area, and the area is determined as the risk area. The second position information and the target relative position information are used to determine the position information of the center of the collection area, and then the position information of the center and the specified distance are used to determine the position information of the circular area, that is, the target position information of the risk area is obtained.

[0166] For another example, after confirming that there is a fall risk in the collection area corresponding to the environmental data, the center of the collection area is used as the center of the rectangle, and the rectangular area with a specified distance as the side length is used as the designated area, and the rectangular area is determined as the risk area. The second position information is used to determine the position information of the collection area, and then the position information of the center and the specified distance are used to determine the position information of the rectangular area, that is, the target position information of the risk area is obtained.

[0167] It should be noted that the circle and rectangle described above are merely examples of the "region that includes the acquisition area and whose edge is a specified distance from the center of the acquisition area" in step 103B, and are not intended to be limiting. Any region that meets the condition of "including the acquisition area and whose edge is a specified distance from the center of the acquisition area" falls within the scope of protection of this embodiment of the present invention.

[0168] Optionally, the aforementioned "area including the collection area and having an edge at a specified distance from the center of the collection area" may be: after confirming that a fall risk exists in the collection area corresponding to the environmental data, an area formed by lines parallel to each edge of the collection area and at a specified distance from each edge is defined as the risk area, and the scope of the risk area is larger than the scope of the collection area. Target position information of the risk area is determined using the specified distance, the second position information, and the target relative position information collected by the positioning device.

[0169] For example, Figure 3 This is a schematic diagram of a risk area provided by an embodiment of the present invention. Figure 3 As shown, the acquisition area 301, the risk area 302, the distance between the left edge of the acquisition area and the left edge of the risk area is a specified distance, and similarly, the distance between the right edge of the acquisition area and the right edge of the risk area, the distance between the upper edge of the acquisition area and the upper edge of the risk area, and the distance between the lower edge of the acquisition area and the lower edge of the risk area are also specified distances.

[0170] Optionally, the distances between each edge of the acquisition area and the edges in the risk area that are parallel thereto may be different, that is, the number of the above-specified distances may be multiple.

[0171] For the convenience of description, the above-mentioned area including the acquisition area and having an edge with a specified distance from the center of the acquisition area may be referred to as a set area.

[0172] Optional, such as Figure 4 As shown in the figure, in a special case, when a wall 402 is in front of movable device 401, the distance between the center of collection area 405 and the wall is less than the specified distance. As a result, part of sub-area 404 in set area 403 is occupied by wall 402, and set area 403 cannot be fully obtained. In this case, the remaining area of ​​set area 403 excluding sub-area 404 can be directly determined as a risk area.

[0173] Optionally, in a specific implementation, determining the target position information of the risk area including the collection area using the second position information and the relative position information may include the following steps 103D-103F:

[0174] Step 103D: Determine the initial position information of the acquisition area using the second position information and the target relative position information;

[0175] Step 103E: Searching for the target room corresponding to the initial location information from the preset correspondence between location information and rooms;

[0176] Step 103F: Determine the target room as a risk area, and search for target location information of the risk area from the corresponding relationship.

[0177] In this specific implementation, the correspondence between the location information and the room can be pre-set based on the house structure, house floor plan, etc. For example, the correspondence can be as shown in Table 1:

[0178] Table 1

[0179] Room Location information living room A kitchen B Master bedroom C bathroom D

[0180] Furthermore, when it is determined that there is a fall risk in the collection area, the second position information can be used to determine the initial position information of the collection area.

[0181] Among them, the method of using the second position information and the target relative position information to determine the initial position information of the collection area in the above step 103D is the same as the method of using the second position information and the target relative position information to determine the target position information of the dangerous area in the above step 103A. That is, the target position information of the dangerous area determined in the above step 103A is the initial position information of the collection area determined in the above step 103D.

[0182] Then, from the preset correspondence between location information and rooms, find the room corresponding to the location information to which the above initial location information belongs. The room is the target room. Thus, the target room can be determined as a risk area, and the location information corresponding to the target room can be found from the above correspondence to obtain the target location information of the risk area.

[0183] For example, taking Table 1 above as an example, when the initial position information of the collection area is determined to be c, since c belongs to position information C, the master bedroom corresponding to position information C can be determined as the target room, and the master bedroom is the risk area. Therefore, the target position information of the risk area can be obtained as position information C.

[0184] Furthermore, optionally, in this specific implementation, in order to more accurately determine the risk area, the above-mentioned correspondence between location information and rooms can be established more finely. For example, the room information corresponding to each location information can be each object in the room, for example, a sofa, carpet, TV cabinet, etc.

[0185] For example, for a bathroom, the above correspondence between location information and rooms may include: location information of the anti-slip mat, location information of the washbasin, etc.; for another example, for a living room, the above correspondence between location information and rooms may include: location information of the coffee table, location information of the sofa, location information of the carpet, etc.; for another example, for a bedroom, the above correspondence between location information and rooms may include: location information of the dressing table, location information of the wardrobe, location information of the bed, etc.

[0186] Optionally, in a specific implementation, based on the target location information and the third location information of the alarm device, detecting whether the distance between the alarm device and the risk area is less than a preset distance may include the following step 21:

[0187] Step 21: Calculate the distance between the target location information and the third location information of the alarm device, and determine whether the calculated distance is less than a preset distance.

[0188] In this specific implementation, after obtaining the target location information of the risk area and the third location information of the alarm device, the distance between the target location information and the third location information can be calculated, and a determination can be made as to whether the calculated distance is less than a preset distance. If so, it indicates that the caregiver corresponding to the alarm device is close to the risk area and, therefore, is at risk of falling. At this point, the data processing device can send an alarm instruction to the alarm device, causing it to output an alarm signal, notifying the caregiver of the risk area.

[0189] For example, the position information of the center of the risk area is determined based on the target position information, and then the distance between the position information of the center and the third position information of the alarm device is calculated.

[0190] Optionally, in a specific implementation, based on the target location information and the third location information of the alarm device, a method for detecting whether the distance between the alarm device and the risk area is less than a preset distance may include the following step 31:

[0191] Step 31: Based on the target location information, determine whether the risk area intersects with the target area; if so, the distance between the alarm device and the risk area is less than a preset distance;

[0192] The target area is a circular area with the third position information of the alarm device as the center and the preset distance as the radius.

[0193] It should be noted that the embodiment of the present invention does not specifically limit the above-mentioned method of determining the target risk area whose distance from the alarm device is less than the preset distance.

[0194] Corresponding to the indoor risk perception and early warning method provided by the above-mentioned embodiment of the present invention, the embodiment of the present invention provides an indoor risk perception and early warning system.

[0195] Figure 5 A schematic diagram of the structure of an indoor risk perception and early warning system provided by an embodiment of the present invention is shown in FIG. Figure 5 As shown, the system may include: a data processing device 501, a sensor 502, an alarm device 503, a positioning device 504 and a movable device 505, wherein the sensor is installed on the movable device 505;

[0196] The sensor 502 is used to collect environmental data during the movement of the movable device 505 and send the environmental data to the data processing device 501;

[0197] The positioning device 504 is configured to obtain first location information of the movable device 505 during movement of the movable device 505 and send the first location information to the data processing device 501;

[0198] The data processing device 501 is configured to receive the environmental data and the first position information; use the environmental data to determine whether a fall risk exists in a collection area corresponding to the environmental data; and if so, use the second position information and the relative position information to determine target position information of a risk area including the collection area, wherein the second position information is position information of the first position information of the movable device 505, the collection time of which is closest to the collection time of the environmental data; and the relative position information is relative position information between the movable device 505 and the collection area when the movable device 505 is located at the position indicated by the second position information.

[0199] The positioning device 504 is further configured to obtain third location information of the alarm device 503 and send the third location information to the data processing device 501;

[0200] The data processing device 501 is further configured to receive the third location information, and when it is detected based on the target location information and the third location information that the distance between the alarm device 503 and the risk area is less than a preset distance, send an alarm instruction to the alarm device 503;

[0201] The alarm device 503 is configured to output an alarm signal after receiving the alarm instruction; wherein the alarm signal is used to prompt the cared person corresponding to the alarm device that there is a risk area.

[0202] Optional, Figure 6 This is a structural diagram of another indoor risk perception and warning system provided by an embodiment of the present invention. Figure 6 As shown, the data processing device 501 is installed on a removable device 505 .

[0203] As can be seen from the above, the solution provided by the embodiment of the present invention, in the process of indoor risk perception and early warning, first obtains the first position information of the mobile device during the movement of the mobile device, as well as the environmental data collected by multiple sensors installed on the mobile device, and then uses the above environmental data to determine whether there is a fall risk in the collection area corresponding to the above environmental data; if there is a fall risk, the second position information of the first position information of the mobile device, whose collection time is closest to the collection time of the environmental data, and the relative position information of the mobile device and the collection area when the mobile device is at the position indicated by the second position information, are used to determine the target position information of the risk area including the above collection area. In this way, when it is detected that the distance between the alarm device and the risk area is less than the preset distance based on the target position information and the third position information of the alarm device, an alarm instruction can be sent to the alarm device to cause the alarm device to output an alarm signal.

[0204] Based on this, by applying the solution provided by the embodiment of the present invention, it is possible to issue an early warning for risk areas in the environment with a higher risk of falling, so as to remind people to stay away from the risk area when they appear in the environment, thereby reducing the risk of falling.

[0205] Furthermore, the sensors are mounted on a movable device so that they can follow the movement of the movable device. This allows the sensors to be moved to different spaces to collect environmental data when determining hazardous areas in multiple spaces. This means that for each type of sensor, only one sensor can be used to determine the risk area. This avoids the need to install duplicate sensors in different spaces, reduces the number of sensors, and lowers the cost of indoor risk perception and early warning. Furthermore, since the sensors can collect continuous environmental data along the path of movement as the movable device moves, the types of data that can be collected can be expanded. This allows the use of a wider range of sensors for environmental data collection, improving the accuracy of risk area determination.

[0206] Optionally, in a specific implementation, the sensors include: an obstacle sensor, a friction sensor, a vibration sensor, and a light sensor; the data processing device uses the environmental data to determine whether there is a fall risk in a collection area corresponding to the environmental data, including:

[0207] If the size of the obstacle detected by the obstacle sensor is larger than a specified size, it is determined that there is a fall risk in the collection area corresponding to the environmental data;

[0208] If the friction force collected by the friction sensor in the first time period is lower than a specified intensity, it is determined that there is a fall risk in the collection area corresponding to the environmental data;

[0209] If the amplitude of the change in the electrical signal waveform collected by the vibration sensor during the second time period is greater than a specified amplitude, it is determined that there is a fall risk in the collection area corresponding to the environmental data; wherein the electrical signal waveform is used to represent the vibration condition of the vibration sensor during the second time period;

[0210] If the light intensity collected by the light sensor during the third time period is lower than a specified intensity, it is determined that there is a fall risk in the collection area corresponding to the environmental data.

[0211] Optionally, in a specific implementation, the data processing device uses the second position information and the relative position information to determine the target position information of the risk area including the collection area, including:

[0212] Determining the acquisition area as a risk area, and determining target position information of the risk area using the second position information and target relative position information;

[0213] or,

[0214] determining an area including the acquisition area and having an edge with a specified distance from the center of the acquisition area as a risk area; and determining target position information of the risk area using the specified distance, the second position information, and the target relative position information;

[0215] or,

[0216] Using the second position information and the target relative position information, the initial position information of the acquisition area is determined; from the preset correspondence between the position information and the room, the target room corresponding to the initial position information is searched; the target room is determined as a dangerous area, and the target position information of the dangerous area is searched from the correspondence.

[0217] Optionally, in a specific implementation, the data processing device is further configured to record the target location information of the risk area into a preset risk area database.

[0218] Optionally, in a specific implementation, the data processing device detects whether the distance between the alarm device and the risk area is less than a preset distance based on the target location information and the third location information of the alarm device, including:

[0219] Calculating the distance between the target location information and the third location information of the alarm device, and determining whether the calculated distance is less than a preset distance;

[0220] or,

[0221] According to the target location information, determine whether the risk area and the target area intersect; if so, the distance between the alarm device and the risk area is less than the preset distance; wherein, the target area is: a circular area with the third location information of the alarm device as the center and the preset distance as the radius.

[0222] Corresponding to the indoor risk perception and early warning method provided by the above-mentioned embodiment of the present invention, the embodiment of the present invention provides an indoor risk perception and early warning device.

[0223] Figure 7 This is a structural diagram of an indoor risk perception and warning device provided by an embodiment of the present invention, such as Figure 7 As shown, the device includes the following modules:

[0224] The data acquisition module 710 is configured to acquire first location information of the movable device and environmental data collected by a plurality of sensors installed on the movable device during the movement of the movable device; wherein the sensors include at least two of an obstacle sensor, a friction sensor, a vibration sensor, and a light sensor;

[0225] The risk determination module 720 is configured to use the environmental data to determine whether there is a fall risk in the collection area corresponding to the environmental data; if so, triggering the location determination module 730;

[0226] The position determination module 730 is configured to determine target position information of a risk area including the collection area using the second position information and the relative position information; wherein the second position information is the position information of the first position information of the movable device whose collection time is closest to the collection time of the environmental data; and the relative position information is the relative position information between the movable device and the collection area when the movable device is located at the position indicated by the second position information.

[0227] The risk alarm module 740 is used to send an alarm instruction to the alarm device when it is detected that the distance between the alarm device and the risk area is less than a preset distance based on the target position information and the third position information of the alarm device, so that the alarm device outputs an alarm signal; wherein, the alarm signal is used to prompt the cared person corresponding to the alarm device that there is a risk area.

[0228] As can be seen from the above, the solution provided by the embodiment of the present invention, in the process of indoor risk perception and early warning, first obtains the first position information of the mobile device during the movement of the mobile device, as well as the environmental data collected by multiple sensors installed on the mobile device, and then uses the above environmental data to determine whether there is a fall risk in the collection area corresponding to the above environmental data; if there is a fall risk, the second position information of the first position information of the mobile device, whose collection time is closest to the collection time of the environmental data, and the relative position information of the mobile device and the collection area when the mobile device is at the position indicated by the second position information, are used to determine the target position information of the risk area including the above collection area. In this way, when it is detected that the distance between the alarm device and the risk area is less than the preset distance based on the target position information and the third position information of the alarm device, an alarm instruction can be sent to the alarm device to cause the alarm device to output an alarm signal.

[0229] Based on this, by applying the solution provided by the embodiment of the present invention, it is possible to issue an early warning for risk areas in the environment with a higher risk of falling, so as to remind people to stay away from the risk area when they appear in the environment, thereby reducing the risk of falling.

[0230] Furthermore, the sensors are mounted on a movable device so that they can follow the movement of the movable device. This allows the sensors to be moved to different spaces to collect environmental data when determining hazardous areas in multiple spaces. This means that for each type of sensor, only one sensor can be used to determine the risk area. This avoids the need to install duplicate sensors in different spaces, reduces the number of sensors, and lowers the cost of indoor risk perception and early warning. Furthermore, since the sensors can collect continuous environmental data along the path of movement as the movable device moves, the types of data that can be collected can be expanded. This allows the use of a wider range of sensors for environmental data collection, improving the accuracy of risk area determination.

[0231] Optionally, in a specific implementation, the sensors include: an obstacle sensor, a friction sensor, a vibration sensor, and a light sensor, and the risk judgment module 720 is specifically configured to:

[0232] If the size of the obstacle detected by the obstacle sensor is larger than a specified size, it is determined that there is a fall risk in the collection area corresponding to the environmental data;

[0233] If the friction force collected by the friction sensor in the first time period is lower than a specified intensity, it is determined that there is a fall risk in the collection area corresponding to the environmental data;

[0234] If the amplitude of the change in the electrical signal waveform collected by the vibration sensor during the second time period is greater than a specified amplitude, it is determined that there is a fall risk in the collection area corresponding to the environmental data; wherein the electrical signal waveform is used to represent the vibration condition of the vibration sensor during the second time period;

[0235] If the light intensity collected by the light sensor during the third time period is lower than a specified intensity, it is determined that there is a fall risk in the collection area corresponding to the environmental data.

[0236] Optionally, in a specific implementation, if there is a risk of falling, the location determination module 730 is specifically configured to:

[0237] Determining the acquisition area as a risk area, and determining target position information of the risk area using the second position information and target relative position information;

[0238] or,

[0239] determining an area including the acquisition area and having an edge with a specified distance from the center of the acquisition area as a risk area; and determining target position information of the risk area using the specified distance, the second position information, and the target relative position information;

[0240] or,

[0241] Using the second position information and the target relative position information, the initial position information of the acquisition area is determined; from the preset correspondence between the position information and the room, the target room corresponding to the initial position information is searched; the target room is determined as a dangerous area, and the target position information of the dangerous area is searched from the correspondence.

[0242] Optionally, in a specific implementation, the device further includes:

[0243] The location recording module is used to record the target location information of the risk area into a preset risk area database.

[0244] Optionally, in a specific implementation, the device further includes:

[0245] a distance determination module, configured to detect whether the distance between the alarm device and the risk area is less than a preset distance based on the target location information and third location information of the alarm device;

[0246] The distance judgment module is specifically used to calculate the distance between the target location information and the third location information of the alarm device, and judge whether the calculated distance is less than the preset distance; or, based on the target location information, judge whether the risk area and the target area intersect; if so, the distance between the alarm device and the risk area is less than the preset distance; wherein, the target area is: a circular area with the third location information of the alarm device as the center and the preset distance as the radius.

[0247] Corresponding to the above embodiment of the present invention, a data processing device is also provided, such as Figure 8 As shown, it includes a processor 801, a communication interface 802, a memory 803 and a communication bus 804, wherein the processor 801, the communication interface 802, and the memory 803 communicate with each other through the communication bus 804.

[0248] Memory 803, used for storing computer programs;

[0249] The processor 801 is configured to implement the steps of any indoor risk perception and early warning method provided by the above-mentioned embodiments of the present invention when executing the program stored in the memory 803.

[0250] The communication bus mentioned in the above-mentioned data processing device may be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus. This communication bus can be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one thick line is used in the figure, but this does not mean that there is only one bus or only one type of bus.

[0251] The communication interface is used for communication between the above data processing device and other devices.

[0252] The memory may include random access memory (RAM) or non-volatile memory (NVM), such as at least one disk storage. Alternatively, the memory may be at least one storage device located away from the processor.

[0253] The above-mentioned processor can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, and discrete hardware components.

[0254] In another embodiment provided by the present invention, a computer-readable storage medium is also provided, which stores a computer program. When the computer program is executed by a processor, the steps of any indoor risk perception and warning method provided by the above-mentioned embodiment of the present invention are implemented.

[0255] In another embodiment provided by the present invention, a computer program product containing instructions is also provided, which, when executed on a computer, enables the computer to execute the steps of any indoor risk perception and warning method provided by the above-mentioned embodiments of the present invention.

[0256] In the above embodiments, all or part of the embodiments can be implemented by software, hardware, firmware, or any combination thereof. When implemented using software, all or part of the embodiments can be implemented in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the processes or functions described in the embodiments of the present invention are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via a wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) method. The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device such as a server or data center that includes one or more available media. The available medium can be a magnetic medium (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a DVD), or a semiconductor medium (e.g., a solid-state drive (SSD)).

[0257] It should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply the existence of any such actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article, or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or device. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or device comprising the element.

[0258] Each embodiment in this specification is described in a related manner. Similar portions between the various embodiments can be referenced to each other. Each embodiment focuses on the differences between the other embodiments. In particular, since the apparatus embodiments, data processing device embodiments, computer-readable storage medium embodiments, and computer program product embodiments are generally similar to the method embodiments, their descriptions are relatively simple. For related portions, reference can be made to the descriptions of the method embodiments.

[0259] The above description is only a preferred embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention are included in the scope of protection of the present invention.

Claims

1. A method for early warning of indoor risk areas, characterized in that: Applied to a data processing device, the method comprises: Acquiring first position information of the movable device during movement of the movable device, and environmental data collected by a plurality of sensors installed on the movable device; wherein the sensors include at least two of an obstacle sensor, a friction sensor, a vibration sensor, and a light sensor; Using the environmental data, determining whether there is a fall risk in a collection area corresponding to the environmental data; If so, the target location information of the risk area including the collection area is determined using the second location information and the relative location information; wherein the second location information is: the location information of the first location information of the movable device, the collection time of which is closest to the collection time of the environmental data; and the relative location information is: the relative location information of the movable device and the collection area when the movable device is located at the position indicated by the second location information; When it is detected that the distance between the alarm device and the risk area is less than a preset distance based on the target position information and the third position information of the alarm device, an alarm instruction is sent to the alarm device so that the alarm device outputs an alarm signal; wherein, the alarm signal is used to prompt the caregiver corresponding to the alarm device that there is a risk area.

2. The method according to claim 1, characterized in that The sensors include: an obstacle sensor, a friction sensor, a vibration sensor, and a light sensor. The step of using the environmental data to determine whether there is a fall risk in the collection area corresponding to the environmental data includes: If the size of the obstacle detected by the obstacle sensor is larger than a specified size, it is determined that there is a fall risk in the collection area corresponding to the environmental data; If the friction force collected by the friction sensor in the first time period is lower than a specified intensity, it is determined that there is a fall risk in the collection area corresponding to the environmental data; If the amplitude of the change in the electrical signal waveform collected by the vibration sensor during the second time period is greater than a specified amplitude, it is determined that there is a fall risk in the collection area corresponding to the environmental data; wherein the electrical signal waveform is used to represent the vibration condition of the vibration sensor during the second time period; If the light intensity collected by the light sensor during the third time period is lower than a specified intensity, it is determined that there is a fall risk in the collection area corresponding to the environmental data.

3. The method according to claim 1 or 2, characterized in that The step of determining target position information of the risk area including the acquisition area by using the second position information and the relative position information includes: Determining the collection area as a risk area, and determining target position information of the risk area using the second position information and the relative position information; or, determining an area including the acquisition area and having an edge thereof at a specified distance from the center of the acquisition area as a risk area; and determining target position information of the risk area using the specified distance, the second position information, and the relative position information; or, Using the second position information and the relative position information, the initial position information of the acquisition area is determined; from the preset correspondence between the position information and the room, the target room corresponding to the initial position information is searched; the target room is determined as a dangerous area, and the target position information of the dangerous area is searched from the correspondence.

4. The method according to claim 1, wherein The method further comprises: The target location information of the risk area is recorded in a preset risk area database.

5. The method according to claim 1, wherein The method of detecting whether the distance between the alarm device and the risk area is less than a preset distance based on the target location information and the third location information of the alarm device includes: Calculating the distance between the target location information and the third location information of the alarm device, and determining whether the calculated distance is less than a preset distance; or, According to the target location information, determine whether the risk area and the target area intersect; if so, the distance between the alarm device and the risk area is less than the preset distance; wherein, the target area is: a circular area with the third location information of the alarm device as the center and the preset distance as the radius.

6. An indoor risk perception and early warning system, characterized by: The device comprises a data processing device, a sensor, an alarm device, a positioning device and a movable device, wherein the sensor is installed on the movable device; The sensor is used to collect environmental data during the movement of the movable device and send the environmental data to the data processing device; The positioning device is configured to obtain first location information of the movable device during movement of the movable device, and send the first location information to the data processing device; The data processing device is configured to receive the environmental data and the first position information; use the environmental data to determine whether a fall risk exists in a collection area corresponding to the environmental data; and if so, use the second position information and the relative position information to determine target position information of a risk area including the collection area, wherein the second position information is position information of the first position information of the movable device, the collection time of which is closest to the collection time of the environmental data; and the relative position information is relative position information between the movable device and the collection area when the movable device is located at the position indicated by the second position information; The positioning device is further configured to obtain third location information of the alarm device and send the third location information to the data processing device; The data processing device is further configured to receive the third location information, and when it is detected based on the target location information and the third location information that the distance between the alarm device and the risk area is less than a preset distance, send an alarm instruction to the alarm device; The alarm device is used to output an alarm signal after receiving the alarm instruction; wherein, the alarm signal is used to prompt the cared person corresponding to the alarm device that there is a risk area.

7. An indoor risk perception and warning device, characterized in that: The device comprises: a data acquisition module, configured to acquire first position information of the movable device during movement of the movable device, and environmental data collected by a plurality of sensors installed on the movable device; wherein the sensors include at least two of an obstacle sensor, a friction sensor, a vibration sensor, and a light sensor; a risk determination module, configured to use the environmental data to determine whether there is a fall risk in the collection area corresponding to the environmental data; if so, triggering a location determination module; The position determination module is configured to determine target position information of a risk area including the collection area using the second position information and the relative position information; wherein the second position information is position information of the first position information of the movable device, the collection time of which is closest to the collection time of the environmental data; and the relative position information is relative position information of the movable device and the collection area when the movable device is located at the position indicated by the second position information; The risk alarm module is used to send an alarm instruction to the alarm device when it is detected that the distance between the alarm device and the risk area is less than a preset distance based on the target position information and the third position information of the alarm device, so that the alarm device outputs an alarm signal; wherein, the alarm signal is used to prompt the caregiver corresponding to the alarm device that there is a risk area.

8. The device according to claim 7, characterized in that The sensors include: an obstacle sensor, a friction sensor, a vibration sensor, and a light sensor. The risk judgment module is specifically used to: If the size of the obstacle detected by the obstacle sensor is larger than a specified size, it is determined that there is a fall risk in the collection area corresponding to the environmental data; If the friction force collected by the friction sensor in the first time period is lower than a specified intensity, it is determined that there is a fall risk in the collection area corresponding to the environmental data; If the amplitude of the change in the electrical signal waveform collected by the vibration sensor during the second time period is greater than a specified amplitude, it is determined that there is a fall risk in the collection area corresponding to the environmental data; wherein the electrical signal waveform is used to represent the vibration condition of the vibration sensor during the second time period; If the light intensity collected by the light sensor during the third time period is lower than a specified intensity, it is determined that there is a fall risk in the collection area corresponding to the environmental data.

9. The device according to claim 7 or 8, characterized in that The position determination module is specifically used for: Determining the collection area as a risk area, and determining target position information of the risk area using the second position information and the relative position information; or, Determine an area including the acquisition area and having an edge with a specified distance from the center of the acquisition area as a risk area; Determining target location information of the risk area using the designated distance, the second location information, and the relative location information; or, Determining initial position information of the acquisition area using the second position information and the relative position information; The target room corresponding to the initial position information is searched from a preset correspondence between position information and rooms; the target room is determined as a dangerous area, and target position information of the dangerous area is searched from the correspondence.

10. The device according to claim 7, characterized in that The device further comprises: The location recording module is used to record the target location information of the risk area into a preset risk area database.

11. The device according to claim 9, characterized in that The device further comprises: a distance determination module, configured to detect whether the distance between the alarm device and the risk area is less than a preset distance based on the target location information and third location information of the alarm device; The distance judgment module is specifically used to calculate the distance between the target location information and the third location information of the alarm device, and judge whether the calculated distance is less than the preset distance; or, based on the target location information, judge whether the risk area and the target area intersect; if so, the distance between the alarm device and the risk area is less than the preset distance; wherein, the target area is: a circular area with the third location information of the alarm device as the center and the preset distance as the radius.

12. A data processing device, characterized in that: It includes a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory communicate with each other via the communication bus; Memory for storing computer programs; A processor, configured to implement the method steps described in any one of claims 1 to 5 when executing a program stored in a memory.

13. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method steps described in any one of claims 1 to 5 are implemented.

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