Mobile robot control method for illegal user, chip and mobile robot

Abstract

The application discloses a mobile robot control method for illegal users, a chip and a mobile robot, and the method comprises the following steps: the mobile robot follows the illegal user and collects the video image of the illegal user in real time; the illegal user intrusion alarm and the video image of the illegal user are transmitted to a user terminal; the mobile robot requests the user terminal to grant the illegal user intrusion alarm release instruction; when the request is passed, the mobile robot stops sending the illegal user intrusion alarm to the user terminal, and stops following and collecting the video image of the illegal user; when the user terminal refuses to grant the illegal user intrusion alarm release instruction, or after a first time, the mobile robot does not receive the illegal user intrusion alarm release instruction granted by the user terminal, the mobile robot transmits preset alarm home information, the illegal user intrusion alarm and the video image of the illegal user to a network alarm platform to perform alarm. The application improves the alarm efficiency of the mobile robot for illegal users.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of robot security, in particular to a mobile robot control method for illegal users, a chip and a mobile robot. BACKGROUND

[0002] At present, the security monitoring problem of illegal user intrusion in the family usually adopts a fixed position camera to monitor the door, this technical scheme has limited monitoring range, when the illegal user intrudes from outside the monitoring range, such as the room window, it cannot realize effective monitoring, if a large number of cameras are arranged, there are problems of high security cost and easy leakage of user privacy. In order to improve the flexibility of monitoring range, there are also cameras carried on mobile robots in the prior art, such robots usually directly transmit the video image of the illegal user to the user after monitoring the illegal user intrusion, cannot realize the intelligent alarm function, or usually do not carry out accurate correction after monitoring the illegal user intrusion, directly alarm, the alarm efficiency is low, and it hinders the police work. SUMMARY

[0003] The present application provides a mobile robot control method for illegal users, a chip and a mobile robot, and the specific technical solutions are as follows:

[0004] The mobile robot control method for illegal users specifically comprises: controlling the mobile robot to follow the illegal user and collect illegal user video images in real time; controlling the mobile robot to send an illegal user intrusion alarm to the user terminal and transmit illegal user video images to the user terminal in real time; determining whether the length of time of the illegal user video images collected by the mobile robot reaches a preset alarm cancellation time length; when the length of time of the illegal user video images collected by the mobile robot reaches the preset alarm cancellation time length, controlling the mobile robot to request the user terminal to grant an illegal user intrusion alarm cancellation instruction and start a request timing, and determining whether the mobile robot receives feedback from the user terminal for the request to grant the illegal user intrusion alarm cancellation instruction; when the mobile robot receives the feedback from the user terminal for the request to grant the illegal user intrusion alarm cancellation instruction, controlling the robot to determine whether the feedback from the user terminal is an agreement to grant or a refusal to grant; when the mobile robot receives the feedback from the user terminal as an agreement to grant the illegal user intrusion alarm cancellation instruction, controlling the mobile robot to stop sending the illegal user intrusion alarm to the user terminal, stop following the illegal user, and stop collecting illegal user video images; when the mobile robot receives the feedback from the user terminal as a refusal to grant the illegal user intrusion alarm cancellation instruction, controlling the mobile robot to transmit preset alarm home information, illegal user intrusion alarms, and illegal user video images to a network alarm platform for alarm; when the request timing elapses for a first time and the mobile robot still does not receive the feedback from the user terminal for the request to grant the illegal user intrusion alarm cancellation instruction, controlling the mobile robot to transmit the preset alarm home information, illegal user intrusion alarms, and illegal user video images to the network alarm platform for alarm.

[0005] Further, the mobile robot control method for illegal users further comprises, before controlling the mobile robot to follow the illegal user, when the mobile robot receives information that an illegal user intrusion exists, determining a preliminary illegal user following position according to the illegal user intrusion information; controlling the mobile robot to move to the preliminary illegal user following position, and in the process of moving the mobile robot to the preliminary illegal user following position, controlling the mobile robot to collect first environment images in real time and analyze whether the first environment images contain illegal users; if the first environment images contain illegal users, locking the illegal users based on the first environment images, and controlling the mobile robot to start following the illegal users; if the first environment images do not contain illegal users, controlling the mobile robot to continue moving to the preliminary illegal user following position.

[0006] Further, the mobile robot control method for illegal users further comprises, before controlling the mobile robot to follow the illegal user, rotating the mobile robot by a first angle at a preliminary illegal user following position, and acquiring a second environment image by using a camera mounted on the mobile robot during the rotation; performing human body recognition based on the second environment image, and when the second environment image contains a human body, stopping the rotation of the mobile robot, and controlling the mobile robot to follow a position where the human body is located to acquire a third environment image; acquiring human body parameter information in the environment based on the third environment image, comparing the human body parameter information in the environment with preset human body parameter information to determine whether the human body parameter information belongs to an illegal user, and if the human body parameter information in the environment belongs to an illegal user, locking the illegal user based on the second environment image, and controlling the mobile robot to start following the illegal user.

[0007] Further, the method for the mobile robot to receive information that an illegal user invades further comprises: acquiring a pet barking sound, and determining whether a decibel corresponding to the pet barking sound reaches a preset abnormal decibel; if the decibel corresponding to the pet barking sound reaches the preset abnormal decibel, taking a time when the pet barking sound reaching the preset abnormal decibel is acquired as a starting point of an abnormal detection time, taking a time when the time when the pet barking sound reaching the preset abnormal decibel is acquired is passed by a second time length as an ending point of the abnormal detection time, and matching and comparing a pet barking sound frequency between the starting point of the abnormal detection time and the ending point of the abnormal detection time with a preset abnormal pet barking sound frequency, if a matching degree meets a preset matching threshold, determining that the pet barking sound meets a preset abnormal condition, and if the matching degree does not meet the preset matching threshold, determining that the pet barking sound does not meet the preset abnormal condition; if the decibel corresponding to the pet barking sound does not reach the preset abnormal decibel, determining that the pet barking sound does not meet the preset abnormal condition; and when the pet barking sound meets the preset abnormal condition, determining that the mobile robot receives information that an illegal user invades.

[0008] Further, the method for determining a preliminary illegal user following position according to illegal user invasion information further comprises: determining a position where a pet is located in real time based on the pet barking sound; taking the position where the pet is located as a center, taking a preset shortest distance between the mobile robot and the pet as a first radius to acquire a first circle; taking the position where the pet is located as the center, taking a preset longest distance between the mobile robot and the pet as a second radius to acquire a second circle; and determining the preliminary illegal user following position to be between the first circle and the second center.

[0009] Further, the mobile robot control method for the illegal user further comprises: after the mobile robot requests the user terminal to grant the illegal user intrusion alarm cancellation instruction, the mobile robot traverses each room and executes a user search process in the process of traversing each room; if a user is found in the user search process, the mobile robot plays preset audio to the user to prompt the presence of the illegal user intrusion, and determines whether a user-issued instruction to stop playing the preset audio is received; if the mobile robot receives the user-issued instruction to stop playing the preset audio, the mobile robot stops sending the illegal user intrusion alarm to the user terminal; if the mobile robot does not receive the user-issued instruction to stop playing the preset audio within a third time, it is determined that the user is at risk of being restricted by the illegal user.

[0010] Further, the mobile robot control method for the illegal user further comprises: when it is determined that the user is at risk of being restricted by the illegal user, the mobile robot collects a user video image containing the user, and transmits the preset alarm home information, the illegal user intrusion alarm, the illegal user video image, and the user video image to the network alarm platform.

[0011] Further, the mobile robot control method for the illegal user further comprises: when the mobile robot collects the user video image containing the user, the mobile robot controls the mobile robot to identify in real time whether the user is restrained based on the user video image; if it is identified that the user is restrained, the mobile robot transmits the preset alarm home information, the illegal user intrusion alarm, the illegal user video image, and the user video image to the network alarm platform.

[0012] The application also discloses a chip internally storing a computer program, which executes the mobile robot control method for the illegal user when the computer program stored in the chip is run by a processor.

[0013] The application also discloses a mobile robot, which comprises: a camera for collecting illegal user video images, first environment images, second environment images, and / or user video images; a user interaction device for transmitting an illegal user intrusion alarm, illegal user video images, and a request to grant an illegal user intrusion alarm cancellation instruction to a user terminal, and for receiving a grant or a refusal to grant an illegal user intrusion alarm cancellation instruction transmitted by the user terminal; a network alarm device storing preset alarm home information, for transmitting the preset alarm home information, the illegal user intrusion alarm, the illegal user video image, and the user video image to a network alarm platform; a chip internally storing a computer program, which executes the mobile robot control method for the illegal user when the computer program stored in the chip is run by a processor; and a processor for running the computer program stored in the chip.

[0014] The mobile robot control method for illegal users, the chip and the mobile robot described in the present application improve the efficiency and intelligent degree of illegal user intrusion alarm by limiting the mobile robot to only refuse to grant the illegal user intrusion alarm cancellation instruction of the user terminal, or limiting the first time of user feedback as the trigger condition for the mobile robot to alarm illegal user intrusion. At the same time, transmitting the illegal user intrusion alarm to the network alarm platform can assist the police to determine the alarm reason, and transmitting the illegal user video image to the network alarm platform can assist the police to analyze and judge the number of illegal users, armed forces and other information before going on duty, so as to optimize the success rate of on-duty rescue. BRIEF DESCRIPTION OF DRAWINGS

[0015] Figure 1 The flowchart of the mobile robot control method for illegal users according to an embodiment of the present application is described. EMBODIMENTS

[0016] The embodiments of the present application will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described below are only used to explain the present application and do not limit the present application.

[0017] At present, the security monitoring problem of illegal user intrusion in the family usually adopts the method of setting up fixed position camera to monitor the doorway. This technical solution has limited monitoring range. When illegal users intrude from outside the monitoring range, such as windows, etc., effective monitoring cannot be achieved. If a large number of cameras are arranged, there are problems of high security cost and easy leakage of user privacy. In order to improve the flexibility of monitoring range, there are also cameras carried on mobile robots in the prior art. This robot usually directly transmits the illegal user video image to the user after monitoring the illegal user intrusion, which cannot realize the intelligent alarm function, or it usually does not perform accurate correction and directly alarms after monitoring the illegal user intrusion, which has low alarm efficiency and hinders the police work.

[0018] In order to solve the problems of low intelligent degree of alarm and low alarm efficiency of the mobile robot for illegal user intrusion in the prior art, the present application provides a mobile robot control method for illegal users, which aims to improve the intelligent degree of alarm and the alarm efficiency of the mobile robot after illegal user intrusion, and effectively optimize the user experience. Specifically, as shown in Figure 1 The mobile robot control method for illegal users, specifically includes:

[0019] The mobile robot controls the following of the illegal user, and collects video images of the illegal user in real time. Specifically, the mobile robot controlling the following of the illegal user can be, but is not limited to, controlling the mobile robot to follow the illegal user at a safe distance. The safe distance can be set according to the maximum distance at which the mobile robot can collect video images of the illegal user, so that the illegal user cannot easily destroy the collection of video images of the illegal user by the mobile robot.

[0020] The mobile robot sends an illegal user intrusion alarm to the user terminal and transmits the video images of the illegal user to the user terminal. When the time length of the video images of the illegal user collected by the mobile robot reaches a preset alarm cancellation time length, the mobile robot requests the user terminal to grant an illegal user intrusion alarm cancellation instruction. Specifically, the mobile robot transmits the video images of the illegal user to the user terminal, so that the user can identify the identity of the illegal user again, to prevent the illegal user from being a friend of the user who has not entered the identity information, and to avoid false alarm. By limiting the mobile robot to request the user terminal to grant the illegal user intrusion alarm cancellation instruction when the collection time length of the video images of the illegal user reaches the preset alarm cancellation time length, the mobile robot requests the user to grant the illegal user intrusion alarm cancellation instruction based on the collection time length of the video images of the illegal user, which ensures that the collected video images of the illegal user can be used by the user to make an indication, so that the mobile robot receives the indication of the user on the next alarm or alarm cancellation work, and improves the alarm efficiency of the mobile robot.

[0021] The mobile robot judges whether the time length of the video images of the illegal user collected by the mobile robot reaches a preset alarm cancellation time length. When the time length of the video images of the illegal user collected by the mobile robot reaches the preset alarm cancellation time length, the mobile robot requests the user terminal to grant an illegal user intrusion alarm cancellation instruction and starts a request timer, and judges whether the user terminal receives feedback on the request for granting the illegal user intrusion alarm cancellation instruction. By limiting the time length of the video images of the illegal user collected by the mobile robot, when the illegal user stays at home for a time length reaching the preset alarm cancellation time length, the mobile robot needs to request the user to grant the illegal user intrusion alarm cancellation instruction, to assist the mobile robot in further identity recognition of the illegal user based on the feedback of the user, so as to determine whether to alarm.

[0022] When the mobile robot receives the feedback of the user terminal for the request to grant the illegal user intrusion alarm release instruction, the control robot judges the feedback of the user terminal as granting or refusing to grant; when the mobile robot receives the feedback of the user terminal for the illegal user intrusion alarm release instruction, the control mobile robot stops sending the illegal user intrusion alarm to the user terminal, stops following the illegal user, and stops collecting the video image of the illegal user; specifically, if the user terminal grants the illegal user intrusion alarm release instruction, it means that the user has learned about the intrusion behavior of the illegal user, which is equivalent to the user authorizing the entry of the illegal user, and accordingly, the mobile robot controls the illegal user who has obtained the user's authorization to enter as a temporary user, and does not need to monitor and collect the video image of the temporary user, thereby protecting the user's privacy security.

[0023] When the mobile robot receives the feedback of the user terminal for the request to grant the illegal user intrusion alarm release instruction, the control robot judges the feedback of the user terminal as granting or refusing to grant; when the mobile robot receives the feedback of the user terminal for the illegal user intrusion alarm release instruction, the control mobile robot stops sending the illegal user intrusion alarm to the user terminal, stops following the illegal user, and stops collecting the video image of the illegal user; specifically, if the user terminal grants the illegal user intrusion alarm release instruction, it means that the user has learned about the intrusion behavior of the illegal user, which is equivalent to the user authorizing the entry of the illegal user, and accordingly, the mobile robot controls the illegal user who has obtained the user's authorization to enter as a temporary user, and does not need to monitor and collect the video image of the temporary user, thereby protecting the user's privacy security.

[0024] When the request timing passes the first time, the mobile robot still does not receive the feedback of the user terminal granting the illegal user intrusion alarm release instruction for the request, the control mobile robot transmits the preset alarm home information, the illegal user intrusion alarm and the illegal user video image to the network alarm platform for alarm. Wherein, the preset alarm home information at least includes the home address, the emergency contact phone and other information that can assist the police to determine the alarm position; the first time is a time length for determining whether the user is affected by the illegal user and cannot feedback in time, which can be but is not limited to 5 minutes, 10 minutes, 15 minutes, etc. When the user does not respond to the illegal user intrusion alarm release instruction issued by the mobile robot after the first time, the user may be at risk of being coerced or bound by the illegal user, so the control mobile robot performs illegal user intrusion alarm through the network alarm platform. The embodiment limits the mobile robot to alarm the illegal user intrusion only when the user terminal refuses to grant the illegal user intrusion alarm release instruction, or limits the user feedback time length as the trigger condition of the mobile robot alarm for the illegal user intrusion, improves the efficiency and intelligent degree of the illegal user intrusion alarm, and transmits the illegal user intrusion alarm to the network alarm platform to assist the police to determine the alarm reason, and transmits the illegal user video image to the network alarm platform to assist the police to analyze and judge the number of illegal users, armed forces and other information before going out to optimize the success rate of going out to rescue.

[0025] As one of the embodiments, the mobile robot control method for illegal users further comprises:

[0026] When the mobile robot receives the illegal user intrusion information, the initial illegal user following position is determined according to the illegal user intrusion information; specifically, the method for determining the initial illegal user following position according to the illegal user intrusion information is based on the acquisition device / equipment, and the initial illegal user following position is determined based on the acquisition means and position of the acquisition device / equipment, that is, the area where the illegal user is located is limited to a small range by using the position of the acquisition device / equipment, so as to reduce the range of the area that the mobile robot needs to search for the illegal user, and effectively improve the efficiency of the mobile robot following the illegal user; for example, when the illegal user intrusion information is transmitted to the mobile robot by the fixed position camera, the initial illegal user following position is determined according to the position of the camera.

[0027] The mobile robot is controlled to move to a preliminary illegal user following position, and during the movement of the mobile robot to the preliminary illegal user following position, the mobile robot is controlled to collect a first environment image in real time and analyze whether there is an illegal user in the first environment image; if there is an illegal user in the first environment image, the illegal user is locked based on the first environment image, and the mobile robot is controlled to start following the illegal user; if there is no illegal user in the first environment image, the mobile robot is controlled to continue moving to the preliminary illegal user following position. Specifically, the locking of the illegal user based on the first environment image refers to analyzing the position of the illegal user by using image information, and tracking and shooting the illegal user by using the camera. The present embodiment determines the preliminary illegal user following position, so that the mobile robot only needs to search and track the illegal user in a small range, thereby improving the efficiency of the mobile robot entering the illegal user following state.

[0028] As one of the embodiments, the mobile robot control method for the illegal user further comprises, before the mobile robot is controlled to follow the illegal user, when the mobile robot moves to the preliminary illegal user following position, controlling the mobile robot to rotate by a first angle at the preliminary illegal user following position, and obtaining a second environment image by using the camera mounted on the body of the mobile robot during the rotation; this step obtains the second environment image by controlling the mobile robot to rotate, so that the range involved in the second environment image information is not limited by the shooting range of the camera, and the environment is more comprehensively detected. Human body recognition is performed based on the second environment image, when the second environment image contains a human body, the mobile robot is controlled to stop rotating, and the mobile robot is controlled to follow the position of the human body to obtain a third environment image; human body parameter information in the environment is obtained based on the third environment image, the human body parameter information in the environment is compared with preset human body parameter information to determine whether the human body parameter information belongs to an illegal user, if the human body parameter information in the environment belongs to an illegal user, the illegal user is locked based on the second environment image, and the mobile robot is controlled to start following the illegal user. Specifically, the human body recognition based on the second environment image can be, but is not limited to, human body existence recognition by recognizing human body contours, human body temperature and other signs in the second environment image; the difference between the third environment image and the second environment image is that the third environment image contains more human body sign information, so as to obtain human body parameter information; the human body parameter information can be, but is not limited to, human body gait information, human body height information, human body face information and other information capable of realizing human body identity recognition. The preset human body parameter information refers to the human body parameter information of a legal user stored in advance, and the human body parameter information in the third environment image can be effectively distinguished as belonging to a legal user or an illegal user by comparing the human body parameter information in the third environment image with the preset human body parameter information.

[0029] As one of the embodiments, the method for receiving illegal user intrusion information by the mobile robot specifically comprises: the mobile robot acquires pet barking sound and judges whether the corresponding decibel of the pet barking sound reaches the preset abnormal decibel; wherein the mobile robot acquires pet barking sound can be but not limited to receiving sound through a microphone array; the preset abnormal decibel can be but not limited to the condition information set by the user in advance according to the type of pet, barking habits and other multi-angle conditions for distinguishing whether the decibel of pet barking sound is abnormal.

[0030] If the corresponding decibel of the pet barking sound reaches the preset abnormal decibel, the time when the pet barking sound reaching the preset abnormal decibel is acquired is taken as the starting point of the abnormal detection time, the time when the time when the pet barking sound reaching the preset abnormal decibel is acquired is passed through the second time length is taken as the ending point of the abnormal detection time, the pet barking sound frequency between the starting point of the abnormal detection time and the ending point of the abnormal detection time is matched and compared with the preset abnormal pet barking sound frequency, if the matching degree meets the preset matching threshold, it is determined that the pet barking sound meets the preset abnormal condition, if the matching degree does not meet the preset matching threshold, it is determined that the pet barking sound does not meet the preset abnormal condition; if the corresponding decibel of the pet barking sound does not reach the preset abnormal decibel, it is determined that the pet barking sound does not meet the preset abnormal condition; when the pet barking sound meets the preset abnormal condition, it is determined that the mobile robot receives the illegal user intrusion information. Because when the environment is intruded by illegal users, pets usually wander around and bark near illegal users, therefore, the barking sound of the pet is taken as the trigger condition for the mobile robot to acquire illegal user intrusion information in this embodiment, the security characteristics of the pet to the home are fully utilized, the mobile robot does not need to continuously patrol in the home, and the camera does not need to be long-term shooting, so the monitoring of illegal user intrusion in the home can be realized at low cost and high efficiency.

[0031] As one of the implementations, the method for determining the preliminary illegal user following position based on the illegal user intrusion information comprises: determining the position of the pet in real time based on the barking sound of the pet; taking the position of the pet as the center, and taking the preset minimum distance between the mobile robot and the pet as the first radius to obtain a first circle; taking the position of the pet as the center, and taking the preset maximum distance between the mobile robot and the pet as the second radius to obtain a second circle; and determining the preliminary illegal user following position between the first circle and the second circle. The preset minimum distance can be, but is not limited to, the minimum distance for the mobile robot to detect and shoot the environment around the pet from the perspective of the pet without colliding with the pet. The preset maximum distance can be, but is not limited to, the maximum shooting distance of the camera mounted on the mobile robot. Since the pet usually wanders around the illegal user when the illegal user intrudes, the present implementation determines the preliminary illegal user following position based on the position of the pet, reduces the area range that the mobile robot needs to search for the illegal user, and improves the utilization effectiveness of the computing resources of the mobile robot.

[0032] As one of the implementations, the method for controlling the mobile robot against the illegal user further comprises:

[0033] After the mobile robot requests the user terminal to grant the illegal user intrusion alarm release instruction, the mobile robot is controlled to traverse each room and execute the user search process in the process of traversing each room. If the user is found in the user search process, the mobile robot is controlled to play a preset audio towards the user to prompt the existence of the illegal user intrusion, and it is judged whether the instruction to stop playing the preset audio is received from the user. If the mobile robot receives the instruction to stop playing the preset audio from the user, the mobile robot is controlled to stop sending the illegal user intrusion alarm to the user terminal. If the mobile robot does not receive the instruction to stop playing the preset audio from the user within a third time, it is determined that the user is at risk of being restricted by the illegal user. The preset audio is an audio preset by the user to prompt the existence of the illegal user intrusion, which can be, but is not limited to, a direct voice prompt or a music segment set as a code to avoid alerting the illegal user. Since the intrusion behavior of the illegal user may affect the safety of the user, the present implementation controls the mobile robot to execute the user search process after requesting the user terminal to grant the illegal user intrusion alarm release instruction, and determines whether the user is at risk of being restricted by the illegal user by playing the preset audio and further determining whether the instruction to stop playing the preset audio is received from the user, thereby improving the user experience while considering the safety of the user when the illegal user intrudes.

[0034] As one of the embodiments, the mobile robot control method for the illegal user further comprises: when it is determined that the user is at risk of being restricted by the illegal user, controlling the mobile robot to collect a user video image containing the user, and transmitting the preset alarm home information, the illegal user intrusion alarm, the illegal user video image and the user video image to the network alarm platform. The embodiment transmits the user video image to the network alarm platform together with the illegal user video image, so as to explain to the police that there is also a hostage restriction in this alarm, which helps the police to arrange the police more reasonably, improves the success rate of arresting the illegal user, and improves the success rate of rescuing the user.

[0035] As one of the embodiments, the mobile robot control method for the illegal user further comprises: when the mobile robot collects a user video image containing the user, controlling the mobile robot to identify whether the user is bound in real time based on the user video image; if it is identified that the user is bound, controlling the mobile robot to transmit the preset alarm home information, the illegal user intrusion alarm, the illegal user video image and the user video image to the network alarm platform. Specifically, the method of identifying whether the user is bound in real time based on the user video image can be, but is not limited to, identifying whether the user has struggle behavior through the posture action of the user, or determining whether the face of the user has an occlusion such as an eye patch, adhesive tape and the like through face recognition.

[0036] In one embodiment of the application, a chip is provided, which internally stores a computer program. When the computer program internally stored in the chip is run by a processor, the mobile robot control method for the illegal user as described in any of the preceding embodiments is executed.

[0037] In one embodiment of the application, a mobile robot is provided, which comprises: a camera for collecting an illegal user video image, a first environment image, a second environment image and / or a user video image; a user interaction device for transmitting an illegal user intrusion alarm, an illegal user video image and a request for granting an illegal user intrusion alarm cancellation instruction to a user terminal, and further for receiving a grant or a refusal to grant an illegal user intrusion alarm cancellation instruction transmitted by the user terminal; a network alarm device for storing preset alarm home information, and for transmitting the preset alarm home information, the illegal user intrusion alarm, the illegal user video image and the user video image to a network alarm platform; a chip internally storing a computer program, wherein the computer program internally stored in the chip is run by a processor to execute the mobile robot control method for the illegal user as described in any of the preceding embodiments; and the processor for running the computer program internally stored in the chip. The mobile robot provided in the embodiment improves the intelligent degree and the alarm efficiency of the mobile robot after the illegal user intrusion, and effectively optimizes the user experience.

[0038] Obviously, the above embodiments are only a part of the embodiments of the present application, and not all the embodiments. The technical solutions of each embodiment can be combined with each other. If the terms of "first", "second", "third" and the like are used in the embodiments, they are used for distinguishing the features, and should not be understood as indicating or implying relative importance, sequence or quantity of technical features.

[0039] Those skilled in the art can understand that all or part of the steps of the methods in the above embodiments can be completed by a program instructing relevant hardware. The program is stored in a storage medium, and includes a plurality of instructions for enabling a single-chip microcomputer, a chip or a processor to perform all or part of the steps of the methods described in each of the embodiments of the present application. The aforementioned storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, and various media capable of storing program codes.

[0040] It should be noted that any process or method descriptions or any other descriptions herein can be understood as representing modules, segments or portions of code including executable instructions for implementing specific logic functions or steps, and the scope of the preferred embodiments of the present application includes additional implementations in which the functions can be performed in an order different from the described or discussed order, including functions performed at substantially the same time or in reverse order, as should be understood by those skilled in the art to which the embodiments of the present application belong.

[0041] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit it; although the present application has been described in detail with reference to the above embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the above embodiments, or make equivalent replacement for part or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A mobile robot control method against illegal users, characterized by, The mobile robot control method for illegal users specifically comprises the following steps: controlling the mobile robot to follow the illegal user and collect the video image of the illegal user in real time; controlling the mobile robot to send an illegal user intrusion alarm to the user terminal and transmit the video image of the illegal user to the user terminal in real time; judging whether the length of time for the mobile robot to collect the video image of the illegal user reaches a preset alarm cancellation time length; when the length of time for the mobile robot to collect the video image of the illegal user reaches the preset alarm cancellation time length, controlling the mobile robot to request the user terminal to grant the illegal user intrusion alarm cancellation instruction and start a request timing, and judging whether the mobile robot receives the feedback of the user terminal to the request to grant the illegal user intrusion alarm cancellation instruction; when the mobile robot receives the feedback of the user terminal to the request to grant the illegal user intrusion alarm cancellation instruction, controlling the robot to judge whether the feedback of the user terminal is to agree to grant or to refuse to grant; when the mobile robot receives the feedback of the user terminal to agree to grant the illegal user intrusion alarm cancellation instruction, controlling the mobile robot to stop sending the illegal user intrusion alarm to the user terminal, stop following the illegal user, and stop collecting the video image of the illegal user; when the mobile robot receives the feedback of the user terminal to refuse to grant the illegal user intrusion alarm cancellation instruction, controlling the mobile robot to transmit the preset alarm home information, the illegal user intrusion alarm and the video image of the illegal user to the network alarm platform for alarm; when the request timing elapses for a first time and the mobile robot still does not receive the feedback of the user terminal to the request to grant the illegal user intrusion alarm cancellation instruction, controlling the mobile robot to transmit the preset alarm home information, the illegal user intrusion alarm and the video image of the illegal user to the network alarm platform for alarm.

2. The mobile robot control method against illegal users according to claim 1, characterized by, The mobile robot control method for illegal users further comprises the following steps before controlling the mobile robot to follow the illegal user: when the mobile robot receives the illegal user intrusion information, determining a preliminary illegal user following position according to the illegal user intrusion information; controlling the mobile robot to move to the preliminary illegal user following position, and in the process of moving the mobile robot to the preliminary illegal user following position, controlling the mobile robot to collect a first environment image in real time and analyze whether there is an illegal user in the first environment image; if there is an illegal user in the first environment image, locking the illegal user based on the first environment image, and controlling the mobile robot to start following the illegal user; if there is no illegal user in the first environment image, controlling the mobile robot to continue moving to the preliminary illegal user following position.

3. The mobile robot control method against illegal users according to claim 2, characterized by, The mobile robot control method for illegal users further comprises the following steps before controlling the mobile robot to follow the illegal user: when the mobile robot moves to the preliminary illegal user following position, controlling the mobile robot to rotate by a first angle at the preliminary illegal user following position, and acquiring a second environment image by using the camera mounted on the body of the mobile robot during the rotation; The human body recognition is performed based on the second environment image, when the human body is contained in the second environment image, the mobile robot is controlled to stop rotating, and the third environment image is acquired by the mobile robot following the position of the human body; The human body parameter information in the environment is acquired based on the third environment image, the human body parameter information in the environment is compared with the preset human body parameter information, to determine whether the human body parameter information belongs to an illegal user, if the human body parameter information in the environment belongs to an illegal user, the illegal user is locked based on the second environment image, and the mobile robot is controlled to start following the illegal user.

4. The mobile robot control method against illegal users according to claim 2, characterized by, The method for the mobile robot to receive the illegal user intrusion information, specifically includes: The mobile robot acquires pet barking sound, and judges whether the pet barking sound corresponds to the preset abnormal decibel; If the pet barking sound corresponds to the preset abnormal decibel, the time when the pet barking sound corresponding to the preset abnormal decibel is acquired is taken as the abnormal detection time starting point, the time when the time length of the second time is passed after the time when the pet barking sound corresponding to the preset abnormal decibel is acquired is taken as the abnormal detection time ending point, the pet barking sound frequency between the abnormal detection time starting point and the abnormal detection time ending point is matched and compared with the preset abnormal pet barking frequency, if the matching degree meets the preset matching threshold, it is determined that the pet barking sound meets the preset abnormal condition, if the matching degree does not meet the preset matching threshold, it is determined that the pet barking sound does not meet the preset abnormal condition; if the pet barking sound does not correspond to the preset abnormal decibel, it is determined that the pet barking sound does not meet the preset abnormal condition; When the pet barking sound meets the preset abnormal condition, it is determined that the mobile robot receives the illegal user intrusion information.

5. The mobile robot control method against illegal users according to claim 4, characterized by, The preliminary illegal user following position is determined according to the illegal user intrusion information, specifically including: the position of the pet is determined in real time based on the pet barking sound; the first circle is acquired with the position of the pet as the center and the preset shortest distance between the mobile robot and the pet as the first radius; the second circle is acquired with the position of the pet as the center and the preset longest distance between the mobile robot and the pet as the second radius; the preliminary illegal user following position is determined to be between the first circle and the second circle. 6.The method of claim 1, wherein The mobile robot control method for the illegal user further includes: After controlling the mobile robot to request the user terminal to grant the illegal user intrusion alarm release instruction, the mobile robot is controlled to traverse each room, and the user search process is executed in the process of traversing each room; If a user is searched in the user search process, the mobile robot is controlled to play preset audio towards the user to prompt the existence of illegal user intrusion, and it is judged whether a stop playing preset audio instruction issued by the user is received; If the mobile robot receives the stop playing preset audio instruction issued by the user, the mobile robot is controlled to stop sending the illegal user intrusion alarm to the user terminal; If the mobile robot does not receive the stop playing preset audio instruction issued by the user within the third time, it is determined that the user has the risk of being restricted by the illegal user.

7. The mobile robot control method against illegal users according to claim 6, characterized by, The mobile robot control method for the illegal user further includes: When it is determined that the user is at risk of being restricted by an illegal user, the mobile robot is controlled to collect a user video image containing the user, and preset alarm home information, an illegal user intrusion alarm, an illegal user video image, and the user video image are transmitted to a network alarm platform. 8.The method of claim 7, wherein, The mobile robot control method for illegal users further includes: When the mobile robot collects the user video image containing the user, the mobile robot is controlled to identify in real time whether the user is bound based on the user video image. If it is identified that the user is bound, the mobile robot is controlled to transmit the preset alarm home information, the illegal user intrusion alarm, the illegal user video image, and the user video image to the network alarm platform.

9. A chip internally storing a computer program, characterized by The computer program stored in the chip is executed by the processor to perform the mobile robot control method for illegal users according to any one of claims 1 to 8.

10. A mobile robot, characterized by The mobile robot includes: a camera configured to collect an illegal user video image, a first environment image, a second environment image, and / or a user video image; a user interaction device configured to transmit an illegal user intrusion alarm, an illegal user video image, and a request for granting an illegal user intrusion alarm cancellation instruction to a user terminal, and to receive a grant or a refusal to grant the illegal user intrusion alarm cancellation instruction transmitted by the user terminal; a network alarm device configured to store preset alarm home information and transmit the preset alarm home information, the illegal user intrusion alarm, the illegal user video image, and the user video image to a network alarm platform; The chip according to claim 9 has a computer program stored therein, and the computer program stored in the chip is executed by the processor to perform the mobile robot control method for illegal users according to any one of claims 1 to 8.

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