Intelligent robot

Abstract

The invention discloses an intelligent robot. The intelligent robot comprises a health detection module, a cruising module and an interaction module. The health detection module is used for judging whether the target user is in a health abnormal state or not based on the daily behavior habits, the physiological and psychological states and the current behavior characteristics of the target user; the cruise module is used for determining a cruise point according to the received cruise instruction; generating a cruise path passing through all cruise points by taking the current position of the intelligent robot as a starting point; in combination with an obstacle avoidance technology, a cruise path is optimized in real time so as to control the intelligent robot to cruise; the interaction module is used for determining a search range when the search instruction is received, and searching a target main body matched with the search instruction in the search range; and after the target main body is searched, determining a main body position corresponding to the target main body so as to reply a search instruction. Therefore, the cruising function, the searching function and the health detection function can be provided, and the social service quality and the old-age service quality of the intelligent robot are improved.

Description

Technical Field

[0001] The present application relates to the field of robotics technology, and more specifically, to an intelligent robot. Background Art

[0002] As the global population ages, the proportion of the elderly population continues to rise, which puts tremendous pressure on the social pension security system and places higher demands on the quality and efficiency of elderly care services. As a product of the integration of technology and elderly care services, elderly care robots have attracted much attention because they can undertake tasks such as daily care and health monitoring.

[0003] However, although traditional elderly care robots can help elderly care services to a certain extent, their functions are obviously limited. Most robots can only be fixed in a certain position or provide services within a limited range. For example, they can only perform simple health monitoring at the bedside or in a specific area. They cannot fully cover the living space of the elderly and cannot provide timely assistance to the elderly in abnormal situations. For example, when an elderly person is cooking in the kitchen, if an accident occurs, it is difficult for a fixed-position robot to detect and provide assistance in time. Therefore, how to improve the quality of robot elderly care services has become a focus of attention for people in this field. Summary of the invention

[0004] In view of this, the present application provides an intelligent robot for improving the quality of the robot's elderly care services.

[0005] In order to achieve the above objectives, the proposed solution is as follows:

[0006] An intelligent robot, comprising a health detection module, a cruise module and an interaction module;

[0007] The health detection module determines the physiological and psychological state and current behavior characteristics of the target user based on visual information and auditory information; and determines whether the target user is in an abnormal health state based on the target user's daily behavior habits, the physiological and psychological state and the current behavior characteristics;

[0008] The cruise module determines one or more cruise points according to the received cruise command; generates a cruise path passing through all cruise points with the current position of the intelligent robot as the starting point; and optimizes the cruise path in real time in combination with obstacle avoidance technology to control the intelligent robot to cruise;

[0009] When receiving a search instruction, the interactive module determines a search range and searches for a target subject matching the search instruction in the search range in combination with visual technology; after finding the target subject, the subject position corresponding to the target subject is determined to reply to the search instruction.

[0010] Optionally, the health detection module includes a state determination unit;

[0011] The state determination unit uses integrated biometric technology to monitor the vital signs of the target user; combines image processing technology to identify visual information including facial expressions and body language of the target user, and combines speech recognition technology to generate auditory information including intonation features, speech speed features and volume features; combines multimodal fusion technology to evaluate the physiological and psychological state of the target user based on the vital signs, the auditory information and the visual information.

[0012] Optionally, the intelligent robot according to claim 1 is characterized in that the health detection module includes a habit generation unit;

[0013] The habit generating unit analyzes the behavior habits of the target user in different periods within different cycles, identifies the behavior regularity characteristics and behavior sporadic characteristics of the target user, and generates the daily behavior habits of the target user.

[0014] Optionally, the habit generation unit includes an edge-side analysis component and a cloud-based calling component;

[0015] The edge side analysis component, combined with a preset habit analysis model, analyzes the behavior habits of target users in different periods of time in different cycles and extracts preliminary features;

[0016] The cloud calling component uploads the preliminary features and the behavioral habits of the target user in different periods of time in different cycles to the cloud accordingly, and upon receiving the behavior regularity analysis results and behavior sporadic analysis results generated based on the preliminary features and the behavioral habits of the target user in different periods of time in different cycles returned by the cloud, combines the preliminary features, the behavior regularity analysis results and the behavior sporadic analysis results to identify the behavior regularity characteristics and behavior sporadic characteristics of the target user.

[0017] Optionally, the cruise module includes a cruise point determination unit;

[0018] The cruise point determination unit performs indoor modeling on the indoor area where the target user is located to generate indoor multi-dimensional data; analyzes the cruise instruction to generate a cruise target, and determines one or more cruise points that meet the cruise target based on the indoor multi-dimensional data with the minimum number of cruise points as the goal.

[0019] Optionally, the cruise module further includes a cruise control unit;

[0020] The cruise control unit generates a cruise path passing through all cruise points based on the indoor multi-dimensional data and taking the current position of the intelligent robot as the starting point; combines obstacle avoidance technology to detect obstacles of the intelligent robot during the cruise in real time, and optimizes the cruise path based on the obstacles.

[0021] Optionally, the interaction module includes a range determination unit;

[0022] The range determination unit determines the volume level of the target subject upon receiving the search instruction; and determines the search range in the indoor area where the target user is located based on the volume level.

[0023] Optionally, the interaction module includes a main processing unit;

[0024] The subject processing unit controls the intelligent robot to pick up the target subject when the target subject is an object.

[0025] Optionally, a reminder unit is also included;

[0026] The reminder unit generates a living quality reminder based on indoor environmental parameters; and / or generates a health reminder when it is determined that the target user is in an abnormal health state; and / or generates a healthy life reminder based on the daily behavior habits of the target user.

[0027] Optionally, a communication module is also included;

[0028] The communication module responds to the communication request between the interactive user and the target user, searches for the target user in the indoor area where the target user is located, and provides communication services for the interactive user and the target user.

[0029] It can be seen from the above technical solutions that the intelligent robot provided by the present application may include a health detection module, a cruise module and an interaction module. Among them, the health detection module determines the physiological and psychological state and current behavioral characteristics of the target user based on visual information and auditory information; based on the target user's daily behavioral habits, the physiological and psychological state and the current behavioral characteristics, it determines whether the target user is in an abnormal health state; the cruise module determines one or more cruise points according to the received cruise instructions; starting from the current position of the intelligent robot, a cruise path passing through all cruise points is generated; combined with obstacle avoidance technology, the cruise path is optimized in real time to control the intelligent robot to cruise; based on this, the robot of the present application has a cruise function and a health detection function, and can reach each cruise point along the cruise path and perform health detection on the target user during the cruise process, avoiding the monitoring delay caused by the robot's inability to move, so as to timely identify the abnormal health of the target user, and realize health detection without limiting the target user's activity range, thereby timely identifying unexpected situations and handling unexpected situations; secondly, when making abnormal judgments, the present application combines multiple information such as visual information, auditory information, user behavior, user physiological state, user psychological state and daily behavioral habits. The health abnormality recognition is carried out in three dimensions, and the physiological state can directly reflect the physical function of the target user, and the psychological state and behavior can indirectly reflect the potential health risks of the target user, thereby improving the reliability and accuracy of the health abnormality recognition, and further improving the quality of the elderly care service of the intelligent robot when the target user is an elderly person; at the same time, the interactive module of the present application can determine the search range when receiving the search instruction, and combine the visual technology to search for the target subject matching the search instruction in the search range; after searching the target subject, determine the subject position corresponding to the target subject to reply to the search instruction; based on this, when the target subject is an object, the present application can provide an interactive module to help forgetful target users or target users with limited mobility find their lost items or difficult-to-obtain items, greatly improving the independence and convenience of the target user's life; at the same time, when the target subject is an elderly person, the interactive module of the present application can control the robot to find the location of the elderly, combine the health detection module, judge the health abnormality of the elderly, continuously collect the physiological and psychological state and behavioral characteristics of the elderly, fully understand the physical state of the elderly, and discover health problems in time. It can be seen that this application can provide cruising function, search function and health detection function, and improve the social service quality and elderly care service quality of intelligent robots. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying any creative work.

[0031] Figure 1 A structural block diagram of an intelligent robot disclosed in an embodiment of the present application;

[0032] Figure 2 A structural block diagram of a health detection module disclosed in an embodiment of the present application;

[0033] Figure 3 This is a structural block diagram of a cruise module disclosed in an embodiment of the present application;

[0034] Figure 4 This is a structural block diagram of an interaction module disclosed in an embodiment of the present application. DETAILED DESCRIPTION

[0035] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0036] The intelligent robot of the present application can be used as a nursing robot or a medical robot.

[0037] Next, combine Figure 1 The intelligent robot of the present application is introduced in detail.

[0038] See also Figure 1 It can be found that the intelligent robot of the present application may include a health detection module 10 , a cruise module 20 and an interaction module 30 .

[0039] Among them, the health detection module 10 can determine the physiological and psychological state and current behavioral characteristics of the target user based on visual information and auditory information; based on the target user's daily behavioral habits, the physiological and psychological state and the current behavioral characteristics, determine whether the target user is in an abnormal health state.

[0040] Specifically, the health detection module 10 can obtain visual information such as image information of the target user in real time through thermal imaging sensors, millimeter wave radar equipment, infrared sensors, and smart cameras, and use biometric recognition technology based on the collected visual information to analyze the current behavioral characteristics and physiological state of the target user;

[0041] The health detection module 10 can generate the target user's corresponding daily behavior habits based on the target user's daily behavior data such as waking time, activity frequency, eating pattern, social interaction, etc.

[0042] The health detection module 10 can obtain auditory information generated by the target user through a voice sensor integrated with a microphone array;

[0043] Among them, the microphone array can be a ring matrix microphone with an eight-microphone design, so as to identify the source of auditory information.

[0044] Based on visual and auditory information, combined with biometric technologies such as facial expression recognition and voice intonation analysis, it can analyze the physiological and psychological state including emotional characteristics and physiological indicators;

[0045] Among them, physiological indicators may include health monitoring indicators such as heart rate and blood pressure.

[0046] The health detection module 10 can analyze whether the current behavior characteristics of the target user exceed the corresponding daily behavior habits, and analyze whether there are any abnormalities in the physiological and psychological state of the target user. If so, it is determined that the target user is in an abnormal health state, and the reminder module 40 can be called for reminder; if not, the current behavior characteristics can be stored in correspondence with the current moment.

[0047] The cruise module 20 can determine one or more cruise points according to the received cruise instructions; generate a cruise path passing through all cruise points with the current position of the intelligent robot as the starting point; and optimize the cruise path in real time in combination with obstacle avoidance technology to control the intelligent robot to cruise.

[0048] Specifically, the cruise module 20 can respond to cruise instructions issued in a variety of different ways; for example, the cruise module 20 can respond to cruise instructions collected by a voice sensor; it can also respond to cruise instructions collected by a touch screen interface.

[0049] Furthermore, the cruise module 20 can respond to cruise instructions issued by different users, for example, it can respond to cruise instructions issued by the target user and cruise instructions issued by other authorized users.

[0050] The cruise module 20 can parse the cruise instruction, generate a plurality of different cruise points, determine the current position of the intelligent robot, and construct a cruise path from the current position to each cruise point in sequence.

[0051] In the process of controlling the movement of the robot, the cruise module 20 can combine obstacle detection technology such as millimeter wave radar equipment and infrared sensors to detect the obstacle position, and combine obstacle avoidance technology to locally optimize the cruise path and control the intelligent robot to complete the cruise.

[0052] At the same time, during the cruising process, the intelligent robot can combine face recognition technology to identify the target user, and the health detection module 10 can detect abnormal health conditions of the identified target user.

[0053] When receiving a search instruction, the interaction module 30 can determine a search range and, in combination with visual technology, search for a target subject matching the search instruction in the search range; after finding the target subject, determine the subject position corresponding to the target subject to reply to the search instruction.

[0054] Specifically, the interaction module 30 can respond to search instructions issued in a variety of different ways; for example, the interaction module 30 can respond to search instructions collected by a voice sensor; it can also respond to search instructions collected by a touch screen interface, wherein the touch screen interface supports facial expression human-computer interaction and animation playback to enhance user experience.

[0055] Furthermore, the interaction module 30 may respond to search instructions issued by different users, for example, it may respond to search instructions issued by a target user or by other authorized users.

[0056] The interactive module 30 can control the intelligent robot to move within the search range, analyze the images collected by visual technology such as infrared sensors or intelligent cameras, identify the target subject, and determine the subject position corresponding to the target subject until the target subject is found.

[0057] The target users may be elderly people, patients, children and other users who need attention.

[0058] The target subject refers to the subject to be searched, which can be the target user, other users or any object.

[0059] The interactive module 30 can also respond to daily instructions such as time query instructions, date query instructions, weather query instructions, news query instructions, etc., and can also respond to entertainment instructions such as lighting adjustment instructions, music playing instructions, video playing instructions, etc.

[0060] It can be seen from the above technical solutions that the intelligent robot provided by the present application may include a health detection module, a cruise module and an interaction module. Among them, the health detection module determines the physiological and psychological state and current behavioral characteristics of the target user based on visual information and auditory information; based on the target user's daily behavioral habits, the physiological and psychological state and the current behavioral characteristics, it determines whether the target user is in an abnormal health state; the cruise module determines one or more cruise points according to the received cruise instructions; starting from the current position of the intelligent robot, a cruise path passing through all cruise points is generated; combined with obstacle avoidance technology, the cruise path is optimized in real time to control the intelligent robot to cruise; based on this, the robot of the present application has a cruise function and a health detection function, and can reach each cruise point along the cruise path and perform health detection on the target user during the cruise process, avoiding the monitoring delay caused by the robot's inability to move, so as to timely identify the abnormal health of the target user, and realize health detection without limiting the target user's activity range, thereby timely identifying unexpected situations and handling unexpected situations; secondly, when making abnormal judgments, the present application combines multiple information such as visual information, auditory information, user behavior, user physiological state, user psychological state and daily behavioral habits. The health abnormality recognition is carried out in three dimensions, and the physiological state can directly reflect the physical function of the target user, and the psychological state and behavior can indirectly reflect the potential health risks of the target user, thereby improving the reliability and accuracy of the health abnormality recognition, and further improving the quality of the elderly care service of the intelligent robot when the target user is an elderly person; at the same time, the interactive module of the present application can determine the search range when receiving the search instruction, and combine the visual technology to search for the target subject matching the search instruction in the search range; after searching the target subject, determine the subject position corresponding to the target subject to reply to the search instruction; based on this, when the target subject is an object, the present application can provide an interactive module to help forgetful target users or target users with limited mobility find their lost items or difficult-to-obtain items, greatly improving the independence and convenience of the target user's life; at the same time, when the target subject is an elderly person, the interactive module of the present application can control the robot to find the location of the elderly, combine the health detection module, judge the health abnormality of the elderly, continuously collect the physiological and psychological state and behavioral characteristics of the elderly, fully understand the physical state of the elderly, and discover health problems in time. It can be seen that this application can provide cruising function, search function and health detection function, and improve the social service quality and elderly care service quality of intelligent robots.

[0061] Furthermore, the central processing unit of the intelligent robot can provide powerful computing power for the RK3399 Android open source platform.

[0062] Intelligent robots can be integrated with the zkteco bilingual platform to ensure the fluency and accuracy of voice interaction.

[0063] The intelligent robot also provides comprehensive cloud platform management functions, including video access, patrol management, smart advertising push, etc., to achieve intelligent management.

[0064] In some embodiments of the present application, see Figure 1 It can be found that the intelligent robot may further include a reminder unit 40 .

[0065] The reminder unit 40 can generate a living quality reminder based on indoor environmental parameters; and / or generate a health reminder when it is determined that the target user is in an abnormal health state; and / or generate a healthy life reminder based on the daily behavior habits of the target user.

[0066] Specifically, the reminder unit can generate living quality reminders such as opening windows for ventilation, humidification or dehumidification based on indoor environmental parameters such as temperature, humidity, air quality, carbon dioxide content, etc., so as to improve the indoor environment and enhance living comfort.

[0067] The reminder unit 40 may also generate a health reminder such as automatic alarm, notify a preset emergency contact or medical service agency, etc. when determining that the target user is in an abnormal health state, and may also try to provide preliminary first aid guidance.

[0068] The reminder unit 40 can also generate healthy life reminders such as reminders to take medicine, reminders to turn off the water, reminders to decoct medicine, reminders for follow-up visits, dietary suggestions, exercise plan suggestions, sleep improvement suggestions, etc. according to the user's daily behavior habits.

[0069] The reminder unit 40 can also activate the alarm mechanism when abnormal conditions such as fire and water leakage are detected, and send alarm information to the target user or the preset emergency contact through sound, light, mobile phone APP, etc.

[0070] It can be seen from the above technical solution that the present application also provides an optional composition method of an intelligent robot. Through the above composition method, the reminder unit 40 can be used to generate different types of reminders in daily life to improve the quality of social services.

[0071] In some embodiments of the present application, see Figure 1 It can be found that the intelligent robot of the present application may also include a communication module 50 .

[0072] The communication module 50 can respond to the communication request between the interactive user and the target user, search for the target user in the indoor area where the target user is located, and provide communication services for the interactive user and the target user.

[0073] Specifically, the communication module 50 can provide communication services for the target user.

[0074] For example, the communication module 50 can respond to the communication request of the target user collected by the voice sensor, dial the mobile phone number of the interactive user corresponding to the communication request of the target user, combine visual technology and the sound positioning technology of the voice sensor, find the target user and move to the vicinity of the target user, and provide communication services for the interactive user and the target user.

[0075] For another example, the communication module 50 can respond to a communication request sent by an interactive user, combine visual technology and the sound positioning technology of a voice sensor, find a target user and move to the vicinity of the target user, and provide communication services for the interactive user and the target user.

[0076] The communication service may be a voice call service and / or a video communication service.

[0077] It can be seen from the above technical solutions that the present embodiment newly adds a communication module 50, through which communication services can be provided for the target user and other users, thereby further meeting the different needs of the target users.

[0078] In some embodiments of the present application, see Figure 2 It can be found that the health detection module 10 may include a state determination unit 100 .

[0079] The state determination unit 100 can use integrated biometric technology to monitor the vital signs of the target user; combine image processing technology to identify visual information including facial expressions and body language of the target user, and combine speech recognition technology to generate auditory information including intonation features, speech speed features and volume features; combine multimodal fusion technology to evaluate the physiological and psychological state of the target user based on the vital signs, the auditory information and the visual information.

[0080] The state determination unit 100 can use integrated biometric technology to monitor the target user's vital signs such as blood pressure, pulse, and body temperature; can combine image processing technology to identify visual information including facial expressions and body language of the target user; can combine speech recognition technology to generate auditory information including intonation features, speech speed features, and volume features; combined with multimodal fusion technology, it can perform a preliminary health diagnosis of the target user based on the vital signs, the auditory information, and the visual information, and evaluate the physiological and psychological state of the target user.

[0081] Among them, body language can be used to indicate that the target user has fallen, has a fracture, is unable to move, or is bedridden.

[0082] Facial expressions can be used to characterize the emotional state of the target user.

[0083] Physiological and psychological states can be used to indicate the emotional state, mental state, and physical state of the target user.

[0084] It can be seen from the above technical solution that this embodiment provides an optional method of a health detection module 10. Through the above method, the state determination unit 100 can be used in combination with biometric technology, image processing technology, speech recognition technology and multimodal fusion technology to evaluate the physiological and psychological state of the target user, break through the limitations of pure visual perception, broaden the application scope of perception capabilities in the industry, and improve the reliability of the health detection module 10.

[0085] In some embodiments of the present application, see Figure 2 It can be found that the health detection module 10 can also include a habit generation unit 101 .

[0086] The habit generating unit 101 analyzes the behavior habits of the target user in different periods of time in different cycles, identifies the behavior regularity characteristics and behavior occasional characteristics of the target user, and generates the daily behavior habits of the target user.

[0087] Specifically, the habit generation unit 101 can analyze the behavioral habits of the target users in different periods within different cycles collected by visual technology, identify the centrality, distribution and variability of the behavioral habits of the target users, and combine cluster analysis technology to generate the behavioral regularity characteristics and behavioral sporadic characteristics of the target users, and construct the daily behavioral habits of the target users.

[0088] Among them, the target users' behavioral habits may include daily habits such as waking up time, activity frequency, eating patterns, and social interactions.

[0089] It can be seen from the above technical solution that this embodiment provides another optional composition method of the health detection module 10. Through the above method, the health detection module 10 of the present application can use the habit generation unit 101 to identify the daily behavior habits of the target user by analyzing the behavior habits of the target user at different time periods in different cycles.

[0090] In some embodiments of the present application, the habit generation unit 101 may include an edge-side analysis component and a cloud-side calling component.

[0091] The edge-side analysis component can be combined with the preset habit analysis model to analyze the behavioral habits of target users in different periods of time in different cycles and extract preliminary features.

[0092] The cloud calling component can upload the preliminary features and the behavioral habits of the target user in different periods of time in different cycles to the cloud accordingly, and when receiving the behavior regularity analysis results and behavior sporadic analysis results generated based on the preliminary features and the behavioral habits of the target user in different periods of time in different cycles returned by the cloud, combine the preliminary features, the behavior regularity analysis results and the behavior sporadic analysis results to identify the behavior regularity characteristics and behavior sporadic characteristics of the target user.

[0093] Specifically, the edge-side analysis component can be combined with a trained habit analysis model to analyze the behavioral habits of target users in different periods of time within different cycles, identify the centrality, distribution and variability of the target users' behavioral habits, and extract preliminary features for characterizing the time information corresponding to different behavioral habits of target users.

[0094] A habit analysis model and multiple behavioral habit samples marked with time features can be obtained, each behavioral habit sample records multiple time points or multiple duration periods of the corresponding behavioral habits; the habit analysis model is trained using each behavioral habit sample until the habit analysis model meets a preset stop condition, and the final habit analysis model is used as the trained habit analysis model.

[0095] The cloud calling component can call the cloud platform to perform behavioral habit analysis, and integrate the preliminary features and the behavioral regularity analysis results and behavioral sporadic analysis results returned by the cloud based on the preliminary features and the behavioral habits of the target user in different periods of time within different cycles, and obtain the behavioral regularity characteristics and behavioral sporadic characteristics of the target user after integration.

[0096] It can be seen from the above technical solution that this embodiment provides an optional composition method of the habit generation unit 101. Through the above composition method, the present application can use model compression and acceleration technology to reduce the workload of the edge-side analysis component, improve the real-time performance and the intelligence level of the intelligent robot, and ensure the rapid response of the intelligent robot; at the same time, by using the cloud-based calling components, the secondary operations of the edge-side intelligent robot and the cloud are coordinated to improve the accuracy.

[0097] In some embodiments of the present application, see Figure 3 It can be found that the cruise module 20 may include a cruise point determination unit 200 .

[0098] The cruise point determination unit 200 can perform indoor modeling on the indoor area where the target user is located to generate indoor multi-dimensional data; analyze the cruise instruction to generate a cruise target, and determine one or more cruise points that meet the cruise target based on the indoor multi-dimensional data with the minimum number of cruise points as the goal.

[0099] Specifically, the cruise point determination unit 200 can collect various indoor obstacle information such as the door position, sofa position, bed position, window position, etc. of the indoor area where the target user is located, and identify the house layout of the indoor area such as the size, dimensions, shape, etc. of each room, and perform indoor modeling based on the indoor obstacle information and house layout to obtain indoor multi-dimensional data.

[0100] The cruise point determination unit 200 may analyze the cruise instruction and determine the cruise target represented by the cruise instruction.

[0101] Cruise targets can be used to characterize the scope of the cruise area.

[0102] For example, the patrol target can be used to represent the patrol of the entire indoor area; the patrol target can also be used to represent the patrol of part of the rooms in the indoor area.

[0103] With the goal of minimizing the number of cruise points, one or more cruise points that meet the cruise goal can be determined based on the indoor multi-dimensional data in combination with visual technology and indoor positioning technology.

[0104] The observation fields corresponding to each cruising point can constitute the cruising area range.

[0105] It can be seen from the above technical solution that this embodiment provides an optional composition method of the cruise module 20. Through the above method, the cruise point determination unit 200 can be used to minimize the number of cruise points and improve the efficiency of cruise.

[0106] In some embodiments of the present application, the cruise module 20 may include a cruise control unit 201 .

[0107] The cruise control unit 201 can generate a cruise path passing through all cruise points based on the indoor multi-dimensional data and taking the current position of the intelligent robot as the starting point; combined with obstacle avoidance technology, it can detect obstacles of the intelligent robot during the cruise in real time and optimize the cruise path based on the obstacles.

[0108] Specifically, the cruise control unit 201 can combine machine learning algorithms, obstacle detection technology and obstacle avoidance technology, based on indoor multi-dimensional data, with the current position of the intelligent robot as the starting point, to generate multiple paths passing through all cruise points; from the multiple paths, the shortest path is selected as the cruise path.

[0109] At the same time, considering that there are many movable obstacles in indoor areas, during the cruising process of the intelligent robot, obstacle detection technology, visual technology and obstacle avoidance technology are combined to identify obstacles and locally optimize the cruising path based on the obstacles.

[0110] In order to reduce the occurrence of accidents, the intelligent robot can also be integrated with an emergency stop button or receive mobile stop language instructions in real time to stop cruising in time to avoid accidents.

[0111] It can be seen from the above technical solution that this embodiment provides an optional composition method of the cruise module 20. Through the above method, the cruise control unit 201 can be used to combine indoor multi-dimensional data and machine learning algorithms, obstacle detection technology, and obstacle avoidance technology to plan the shortest cruise path and improve the reliability of the cruise.

[0112] In some embodiments of the present application, see Figure 4 It can be found that the interaction module 30 may include a range determination unit 300 .

[0113] The range determination unit 300 may determine the volume level of the target subject upon receiving the search instruction; and determine the search range in the indoor area where the target user is located based on the volume level.

[0114] When receiving a search instruction, the range determination unit 300 can determine the subject type of the target subject, and determine the volume level corresponding to the target subject according to the preset correspondence between each type and each volume size, and select a search range from each space in the indoor area where the target user is located based on the indoor multi-dimensional data and the volume level. For example, if the volume level of the target subject is large, the search range does not include spaces such as under the bed and under the sofa.

[0115] It can be seen from the above technical solution that this embodiment provides an optional composition method of the interaction module 30. Through the above method, the present application can use the range determination unit 300 to analyze the volume level of the target subject, further narrow the search range, and accelerate the search efficiency.

[0116] In some embodiments of the present application, see Figure 4 It can be found that the interaction module 30 may include a main processing unit 301 .

[0117] The subject processing unit 301 can control the intelligent robot to pick up the target subject when the target subject is an object.

[0118] Specifically, when the subject type of the target subject is an object, the subject processing unit 301 can control the intelligent robot to pick up the target subject, and control the intelligent robot to transport the target subject to the location of the search instruction initiator determined based on the voice sensor and visual technology.

[0119] Furthermore, the subject processing unit 301 may also call the health detection module 10 to determine an abnormal health state of the target subject when the target subject is a target user.

[0120] It can be seen from the above technical solution that this embodiment provides an optional method of the interaction module 30. Through the above method, the intelligent robot of the present application can use the main processing unit 301 to pick up the target subject, further help the target user with limited mobility to pick up items, and improve the life independence of the target user.

[0121] Finally, it should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the presence of other identical elements in the process, method, article or device including the elements.

[0122] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0123] The above description of the disclosed embodiments enables professionals and technicians in the field to implement or use the present application. Various modifications to these embodiments will be apparent to professionals and technicians in the field, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present application. The various embodiments of the present application can be combined with each other. Therefore, the present application will not be limited to the embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. An intelligent robot, characterized in that: Including health detection module, cruise module and interactive module; The health detection module determines the physiological and psychological state and current behavior characteristics of the target user based on visual information and auditory information; Based on the target user's daily behavior habits, the physiological and psychological state, and the current behavior characteristics, determining whether the target user is in an abnormal health state; The cruise module determines one or more cruise points according to the received cruise instruction; Taking the current position of the intelligent robot as the starting point, a cruising path passing through all cruising points is generated; combining obstacle avoidance technology, the cruising path is optimized in real time to control the intelligent robot to cruise; When receiving a search instruction, the interactive module determines a search range and searches for a target subject matching the search instruction in the search range in combination with visual technology; after finding the target subject, the subject position corresponding to the target subject is determined to reply to the search instruction.

2. The intelligent robot according to claim 1, characterized in that: The health detection module includes a state determination unit; The state determination unit uses integrated biometric technology to monitor the vital signs of the target user; combines image processing technology to identify visual information including facial expressions and body language of the target user, and combines speech recognition technology to generate auditory information including intonation features, speech speed features and volume features; combines multimodal fusion technology to evaluate the physiological and psychological state of the target user based on the vital signs, the auditory information and the visual information.

3. The intelligent robot according to claim 1, characterized in that: The health detection module includes a habit generation unit; The habit generating unit analyzes the behavior habits of the target user in different periods within different cycles, identifies the behavior regularity characteristics and behavior sporadic characteristics of the target user, and generates the daily behavior habits of the target user.

4. The intelligent robot according to claim 3, characterized in that: The habit generation unit includes an edge-side analysis component and a cloud-side calling component; The edge side analysis component, combined with a preset habit analysis model, analyzes the behavior habits of target users in different periods of time in different cycles and extracts preliminary features; The cloud calling component uploads the preliminary features and the behavioral habits of the target user in different periods of time in different cycles to the cloud accordingly, and upon receiving the behavior regularity analysis results and behavior sporadic analysis results generated based on the preliminary features and the behavioral habits of the target user in different periods of time in different cycles returned by the cloud, combines the preliminary features, the behavior regularity analysis results and the behavior sporadic analysis results to identify the behavior regularity characteristics and behavior sporadic characteristics of the target user.

5. The intelligent robot according to claim 1, characterized in that: The cruise module includes a cruise point determination unit; The cruise point determination unit performs indoor modeling on the indoor area where the target user is located to generate indoor multi-dimensional data; analyzes the cruise instruction to generate a cruise target, and determines one or more cruise points that meet the cruise target based on the indoor multi-dimensional data with the minimum number of cruise points as the goal.

6. The intelligent robot according to claim 5, characterized in that: The cruise module also includes a cruise control unit; The cruise control unit generates a cruise path passing through all cruise points based on the indoor multi-dimensional data and taking the current position of the intelligent robot as a starting point; Combined with obstacle avoidance technology, obstacles encountered by the intelligent robot during cruising are detected in real time, and the cruising path is optimized based on the obstacles.

7. The intelligent robot according to claim 1, characterized in that: The interaction module includes a range determination unit; The range determination unit, upon receiving the search instruction, determines the volume level of the target subject; Based on the volume level, a search range is determined in the indoor area where the target user is located.

8. The intelligent robot according to claim 1, characterized in that: The interaction module includes a main processing unit; The subject processing unit controls the intelligent robot to pick up the target subject when the target subject is an object.

9. The intelligent robot according to claim 1, characterized in that: Also includes a reminder unit; The reminder unit generates a living quality reminder based on the indoor environment parameters; and / or generates a health reminder when it is determined that the target user is in an abnormal health state; And / or, generating healthy living reminders based on the daily behavior habits of the target user.

10. The intelligent robot according to claim 1, characterized in that: Also includes a communication module; The communication module responds to the communication request between the interactive user and the target user, searches for the target user in the indoor area where the target user is located, and provides communication services for the interactive user and the target user.

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