WO2020253162A1 - Robot and control method therefor, and intelligent home control system - Google Patents

Abstract

A robot (31) and a control method therefor, and an intelligent home control system. The control method comprises: acquiring environment data information and user data information of an active area, and receiving user detection results input by a plurality of external devices (S102); performing data processing on the environment data information and the user data information (S104); analyzing whether a user is in a dangerous state range on the basis of the data processing results and the user detection results (S106); and if it is determined that the user is the dangerous state range, sending warning information (S108).

Description

Translated fromChinese

机器人及其控制方法、智能家居控制系统Robot and its control method, smart home control system

本申请要求于2019年06月21日提交中国专利局、申请号为201910544407.3、申请名称“机器人及其控制方法、智能家居控制系统”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。This application claims the priority of a Chinese patent application filed with the Chinese Patent Office, the application number is 201910544407.3, and the application name "Robot and its control method, smart home control system" on June 21, 2019, the entire content of which is incorporated herein by reference Applying.

技术领域Technical field

本申请涉及机器人控制技术领域，具体而言，涉及一种机器人及其控制方法、智能家居控制系统。This application relates to the technical field of robot control, and in particular to a robot, a control method thereof, and a smart home control system.

背景技术Background technique

在相关技术中，随着经济不断发展，机器人开始进入家庭、工厂等环境中，辅助家庭成员、厂内人员工作，当前的机器人，在设计时，往往是加入某一个环节，仅对某一个场景(如一个房间)或者某一个加工节点(如设备转运)等单一环节执行相应的工作，例如，在一个家庭中，需要设置多个机器人分别执行扫地、温湿度检测、孩子摔倒检测、老人摔倒检测等等，这样会使得机器人的数量大量增加，严重干扰家庭成员的正常生活。这种单一功能的机器人无法适应当前生活节奏和工厂加工节奏的快速发展，而且当前的单一功能的机器人对家庭成员的监测单一，其监测结果也单一，若是老人或者小孩在一段时间内发生意外摔倒，家人不在身边的情况下是无法及时救助的，即机器人无法及时检测家庭成员是否处于危险状态，使得各个家庭成员的生活质量较低。In related technologies, as the economy continues to develop, robots have begun to enter the environment of homes, factories, etc., to assist family members and factory personnel in their work. Current robots are often designed to include a certain link, only for a certain scene. (Such as a room) or a processing node (such as equipment transfer) and other single links to perform corresponding tasks. For example, in a family, multiple robots need to be set to perform sweeping, temperature and humidity detection, child fall detection, and elderly fall Inverted detection, etc., this will increase the number of robots and seriously interfere with the normal life of family members. This single-function robot cannot adapt to the current pace of life and the rapid development of factory processing rhythm, and the current single-function robot has a single monitoring of family members, and its monitoring results are also single. If the elderly or children accidentally fall within a period of time On the contrary, it is impossible to help in time when the family is not around, that is, the robot cannot detect whether the family members are in a dangerous state in time, which makes the quality of life of each family member lower.

针对上述的问题，目前尚未提出有效的解决方案。In view of the above-mentioned problems, no effective solutions have yet been proposed.

发明内容Summary of the invention

本申请实施例提供了一种机器人及其控制方法、智能家居控制系统，以至少解决相关技术中机器人的功能单一，导致无法及时检测用户是否处于危险状态的技术问题。The embodiments of the present application provide a robot, a control method thereof, and a smart home control system, so as to at least solve the technical problem that the function of the robot in the related technology is single, resulting in the inability to detect whether the user is in a dangerous state in time.

根据本申请实施例的一个方面，提供了一种机器人的控制方法，应用于预设机器人，所述控制方法包括：采集活动区域的环境数据信息和用户数据信息，并接收多个外部设备输入的用户检测结果；对所述环境数据信息和所述用户数据信息进行数据处理；基于数据处理结果和所述用户检测结果，分析用户是否处于危险状态范围；在确 定用户处于危险状态范围内，发出提醒信息。According to one aspect of the embodiments of the present application, there is provided a robot control method, which is applied to a preset robot. The control method includes: collecting environmental data information and user data information of an active area, and receiving input from multiple external devices User detection results; perform data processing on the environmental data information and the user data information; analyze whether the user is in a dangerous state based on the data processing results and the user detection result; send a reminder when it is determined that the user is in a dangerous state information.

可选地，采集活动区域的环境数据信息和用户数据信息的步骤，包括：采集所述活动区域内的域内温湿度数据和所述活动区域外的域外温湿度数据，其中，所述域外温湿度数据是通过域外传感设备检测的，所述域内温湿度数据是通过域内传感设备检测的；采集所述活动区域内的域内天然气含量或域内煤气含量，并采集所述活动区域内的域内天然气浓度或域内煤气浓度；采集所述活动区域内的域内空气参数，其中，所述域内空气参数包括下述至少之一：甲醛、二氧化碳；基于所述域内温湿度数据、所述域外温湿度数据、所述域内天然气含量、所述域内煤气含量、所述域内天然气浓度、所述域内煤气浓度、所述域内空气参数，确定所述环境数据信息。Optionally, the step of collecting environmental data information and user data information of the activity area includes: collecting temperature and humidity data within the activity area and outside temperature and humidity data outside the activity area, wherein the outside temperature and humidity The data is detected by external sensing equipment, and the temperature and humidity data in the domain is detected by in-domain sensing equipment; the gas content in the domain or the gas content in the activity area is collected, and the natural gas in the activity area is collected Concentration or gas concentration in the domain; collect the air parameters in the activity area, wherein the air parameters in the domain include at least one of the following: formaldehyde, carbon dioxide; based on the temperature and humidity data in the domain, the temperature and humidity data outside the domain, The content of natural gas in the domain, the content of gas in the domain, the concentration of natural gas in the domain, the concentration of gas in the domain, and the air parameters in the domain are used to determine the environmental data information.

可选地，采集活动区域的环境数据信息和用户数据信息的步骤，还包括：采集所述活动区域内的用户的人脸信息和用户的人体姿态信息；采集所述用户的活动手势信息；基于所述用户的人脸信息、所述人体姿态信息和所述活动手势信息，确定所述用户数据信息。Optionally, the step of collecting environmental data information and user data information of the active area further includes: collecting the user's face information and the user's body posture information in the active area; collecting the user's active gesture information; The face information of the user, the body posture information, and the activity gesture information determine the user data information.

可选地，接收多个外部设备输入的用户检测结果的步骤，包括：接收第一外部设备输入的用户体重和用户脂肪率；接收第二外部设备输入的用户血压信息；接收第三外部设备输入的用户心率；基于所述用户体重、所述用户脂肪率、所述用户血压信息和所述用户心率，确定所述用户检测结果。Optionally, the step of receiving user detection results input from multiple external devices includes: receiving user weight and user fat percentage input from a first external device; receiving user blood pressure information input from a second external device; receiving input from a third external device The user's heart rate; based on the user's weight, the user's fat rate, the user's blood pressure information, and the user's heart rate, determine the user's detection result.

可选地，在接收多个外部设备输入的用户检测结果之后，所述控制方法还包括：接收所述活动区域内的用户发出的语音，得到语音输入信号；或者，接收所述活动区域内的多个智能家电设备发出的家电运行参数。Optionally, after receiving user detection results input by multiple external devices, the control method further includes: receiving a voice uttered by a user in the active area to obtain a voice input signal; or, receiving a voice input signal in the active area Home appliance operating parameters issued by multiple smart home appliances.

可选地，对所述环境数据信息和所述用户数据信息进行数据处理的步骤，包括：对所述环境数据信息进行数据滤波和数据降维；以及基于用户图像库和用户语音库，对所述用户数据信息进行数据处理。Optionally, the step of performing data processing on the environmental data information and the user data information includes: performing data filtering and data dimensionality reduction on the environmental data information; and performing data processing on the user image database and user voice database. The user data information for data processing.

可选地，基于数据处理结果和所述用户检测结果，分析用户是否处于危险状态范围的步骤，包括：基于数据处理结果和所述用户检测结果，分析用户的活动环境的环境参数是否高于预设参数阈值，并在所述环境参数高于所述预设参数阈值的情况下，确定所述用户处于危险状态范围；或者，基于所述数据处理结果和所述用户检测结果，分析用户的饮食时间和健康参数，并在所述饮食时间未处于预设时间段且所述健康参数超出预设健康范围时，确定所述用户处于危险状态范围。Optionally, the step of analyzing whether the user is in a dangerous state based on the data processing result and the user detection result includes: analyzing whether the environmental parameters of the user's activity environment are higher than expected based on the data processing result and the user detection result Set a parameter threshold, and when the environmental parameter is higher than the preset parameter threshold, determine that the user is in a dangerous state range; or, based on the data processing result and the user detection result, analyze the user’s diet Time and health parameters, and when the eating time is not within a preset time period and the health parameters exceed the preset health range, it is determined that the user is in a dangerous state range.

可选地，在确定用户处于危险状态范围内，发出提醒信息的步骤，包括：在确定用户处于危险状态范围内，向与所述预设机器人远程通讯连接的第一目标终端发送提 醒信息；或者，在确定用户处于危险状态范围内，向远程服务器或者云端存储设备上传所述提醒信息，并通过所述远程服务器或者云端存储设备将所述提醒信息转发至第二目标终端；或者，在确定用户处于危险状态范围内，向所述活动区域内的至少一个智能家电设备发送所述提醒信息，并通过所述智能家电设备的显示板显示所述提醒信息。Optionally, the step of sending a reminder message after determining that the user is in a dangerous state includes: sending reminder information to a first target terminal connected to the preset robot remotely in communication within the range of determining that the user is in a dangerous state; or , Upload the reminder information to a remote server or cloud storage device within the range of determining that the user is in a dangerous state, and forward the reminder information to the second target terminal through the remote server or cloud storage device; or, after determining the user Within the range of the dangerous state, send the reminder information to at least one smart home appliance in the activity area, and display the reminder information through a display panel of the smart home appliance.

可选地，所述控制方法还包括：在检测到所述活动区域内的用户处于目标状态时，获取当前定位参数，其中，所述目标状态至少包括：睡眠状态、出门状态；基于所述定位参数，运行到充电区域进行充电。Optionally, the control method further includes: when it is detected that the user in the active area is in a target state, acquiring current positioning parameters, wherein the target state includes at least: a sleeping state and a home state; based on the positioning Parameters, run to the charging area for charging.

可选地，所述控制方法还包括：在接收到闹钟指令，通过所述预设机器人在预设时间点发出闹铃；或者，在接收到天气指令后，通过所述预设机器人播报预报时间段内的天气。Optionally, the control method further includes: upon receiving an alarm clock instruction, sending an alarm at a preset time by the preset robot; or, after receiving a weather instruction, broadcasting the forecast time through the preset robot The weather within the segment.

根据本申请实施例的另一方面，还提供了一种机器人，所述机器人用于实施上述任意一项所述的机器人的控制方法，包括：多个数据采集设备，设置为采集活动区域的环境数据信息和用户数据信息；数据接入口，设置为接收多个外部设备输入的用户检测结果；处理器，设置为对所述环境数据信息和所述用户数据信息进行数据处理，基于数据处理结果和所述用户检测结果，分析用户是否处于危险状态范围；报警模块，设置为在确定用户处于危险状态范围内，发出提醒信息。According to another aspect of the embodiments of the present application, there is also provided a robot, which is used to implement any one of the above-mentioned robot control methods, and includes: a plurality of data collection devices configured to collect the environment of the active area Data information and user data information; a data access port is set to receive user detection results input by multiple external devices; a processor is set to perform data processing on the environmental data information and the user data information, based on the data processing results and The user detection result analyzes whether the user is in a dangerous state range; the alarm module is set to send a reminder message when the user is determined to be in a dangerous state range.

可选地，所述多个数据采集设备包括：域内温湿度模块，采集所述活动区域内的域内温湿度数据；天然气传感模块，采集所述活动区域内的域内天然气含量和/或浓度；煤气传感模块，采集所述活动区域内的煤气含量和/或浓度；气体传感模块，采集所述活动区域内的域内空气参数，其中，所述域内空气参数包括下述至少之一：甲醛、二氧化碳。Optionally, the multiple data collection devices include: an intra-domain temperature and humidity module to collect intra-domain temperature and humidity data in the active area; a natural gas sensor module to collect intra-domain natural gas content and/or concentration in the active area; The gas sensor module collects the gas content and/or concentration in the activity area; the gas sensor module collects the air parameters in the activity area, wherein the air parameters in the area include at least one of the following: formaldehyde ,carbon dioxide.

可选地，所述多个数据采集设备还包括：人脸识别模块，采集所述活动区域内的用户的人脸信息，并识别人脸特征点；三轴传感模块，采集所述活动区域内的用户的人体姿态信息；手势识别传感模块，采集所述活动区域内的用户的活动手势信息；测距传感模块，使用飞行时间法，采集所述活动区域的环境深度信息、与用户的活动距离。Optionally, the multiple data collection devices further include: a face recognition module, which collects facial information of users in the active area, and recognizes facial feature points; a three-axis sensing module, which collects the active area The user’s human body posture information in the area; the gesture recognition sensor module, which collects the user’s activity gesture information in the activity area; the ranging sensor module, which uses the time-of-flight method to collect the environmental depth information of the activity area, and the user’s The distance of the activity.

可选地，所述多个外部设备包括：域外温湿度模块，采集所述活动区域外的域外温湿度数据，其中，所述域外温湿度模块与所述机器人通过预设通讯模块远程连接；体脂称，检测用户的体重和脂肪率；血压计，检测用户的血压信息；可穿戴设备，检测用户的运动信息和心率。Optionally, the multiple external devices include: an out-of-domain temperature and humidity module that collects out-of-domain temperature and humidity data outside the active area, wherein the out-of-domain temperature and humidity module is remotely connected to the robot through a preset communication module; The fat scale detects the user's weight and fat rate; the sphygmomanometer detects the user's blood pressure information; and the wearable device detects the user's exercise information and heart rate.

可选地，所述机器人还包括：语音接收模块，接收用户发出的语音指令；语音处理模块，识别所述语音指令，并按照所述语音指令执行目标动作，其中，所述目标动作包括下述至少之一：播放音乐、播放视频、预报天气、提供饮食建议、生成健康报告、充电。Optionally, the robot further includes: a voice receiving module to receive a voice instruction issued by a user; a voice processing module to recognize the voice instruction and execute a target action according to the voice instruction, wherein the target action includes the following At least one: play music, play video, forecast weather, provide dietary advice, generate health report, charge.

可选地，所述机器人还包括多个应用软件，所述多个应用软件包括：权限管理应用、天气应用、饮食健康应用、导航应用。Optionally, the robot further includes a plurality of application software, and the plurality of application software includes: an authority management application, a weather application, a diet and health application, and a navigation application.

可选地，所述机器人与下述至少之一的智能家电设备连接：智能冰箱、智能空调、节能灯、智能扫地设备、智能橱柜。Optionally, the robot is connected to at least one of the following smart home appliances: smart refrigerator, smart air conditioner, energy-saving lamp, smart sweeping device, smart cabinet.

根据本申请实施例的另一方面，还提供了一种智能家居控制系统，包括：上述任意一项所述的机器人；智能家庭设备，包括下述至少之一：智能冰箱、智能空调、节能灯；网关，分别与所述机器人和所述智能家庭设备建立网络连接。According to another aspect of the embodiments of the present application, there is also provided a smart home control system, including: the robot described in any one of the above; smart home equipment, including at least one of the following: smart refrigerator, smart air conditioner, energy-saving lamp ; A gateway, which establishes a network connection with the robot and the smart home device respectively.

根据本申请实施例的另一方面，还提供了一种存储介质，所述存储介质设置为存储程序，其中，所述程序在被处理器执行时控制所述存储介质所在设备执行上述任意一项所述的机器人的控制方法。According to another aspect of the embodiments of the present application, a storage medium is also provided, the storage medium is configured to store a program, wherein when the program is executed by a processor, the device where the storage medium is located controls any one of the above The described robot control method.

根据本申请实施例的另一方面，还提供了一种处理器，所述处理器设置为运行存储在存储器中的程序，其中，所述程序运行时执行上述任意一项所述的机器人的控制方法。According to another aspect of the embodiments of the present application, a processor is also provided, the processor is configured to run a program stored in a memory, wherein the program executes the control of any one of the above robots when the program is running. method.

在本申请实施例中，通过采集活动区域的环境数据信息和用户数据信息，并接收多个外部设备输入的用户检测结果，然后对环境数据信息和用户数据信息进行数据处理，并基于数据处理结果和用户检测结果，分析用户是否处于危险状态范围，若确定用户处于危险状态范围，则发出提醒信息。在该实施例中，可以利用预设机器人采集多种信息，包括采集环境数据信息和用户数据信息，对用户进行识别、跟踪，并对用户的生活环境进行环境检测，对用户活动区域进行实时监控，在检测及工作的功能上更加多样化，且在用户存在危险时能够及时报警，为用户提供安全保障及生活服务检测，从而解决相关技术中机器人的功能单一，导致无法及时检测用户是否处于危险状态的技术问题。In the embodiment of this application, the environmental data information and user data information of the active area are collected, and user detection results input by multiple external devices are received, and then the environmental data information and user data information are processed based on the data processing results Analyze whether the user is in the dangerous state range with the user detection result, and send a reminder message if it is determined that the user is in the dangerous state range. In this embodiment, a preset robot can be used to collect a variety of information, including collecting environmental data information and user data information, identifying and tracking users, detecting the user’s living environment, and real-time monitoring of user activity areas , The detection and work functions are more diversified, and the user can promptly alarm when the user is in danger, and provide the user with safety assurance and life service detection, thereby solving the problem of the single function of the robot in the related technology, resulting in the inability to detect whether the user is in danger in time Status of technical issues.

附图说明Description of the drawings

此处所说明的附图用来提供对本申请的进一步理解，构成本申请的一部分，本申请的示意性实施例及其说明设置为解释本申请，并不构成对本申请的不当限定。在附图中：The drawings described here are used to provide a further understanding of the application and constitute a part of the application. The exemplary embodiments and descriptions of the application are provided to explain the application and do not constitute an improper limitation of the application. In the attached picture:

图1是根据本申请实施例的一种可选机器人的控制方法的流程图；Fig. 1 is a flowchart of a control method for an optional robot according to an embodiment of the present application;

图2根据本申请实施例的一种可选的机器人的示意图；Fig. 2 is a schematic diagram of an optional robot according to an embodiment of the present application;

图3是根据本申请实施例的一种可选的智能家居控制系统的示意图；Fig. 3 is a schematic diagram of an optional smart home control system according to an embodiment of the present application;

图4是根据本申请实施例的一种基于机器人的控制系统的示意图。Fig. 4 is a schematic diagram of a robot-based control system according to an embodiment of the present application.

具体实施方式Detailed ways

为了使本技术领域的人员更好地理解本申请方案，下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本申请一部分的实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都应当属于本申请保护的范围。In order to enable those skilled in the art to better understand the solution of the application, the technical solutions in the embodiments of the application will be clearly and completely described below in conjunction with the drawings in the embodiments of the application. Obviously, the described embodiments are only It is a part of the embodiments of this application, not all the embodiments. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative work should fall within the protection scope of this application.

需要说明的是，本申请的说明书和权利要求书及上述附图中的术语“第一”、“第二”等是用于区别类似的对象，而不必用于描述特定的顺序或先后次序。应该理解这样使用的数据在适当情况下可以互换，以便这里描述的本发明的实施例能够以除了在这里图示或描述的那些以外的顺序实施。此外，术语“包括”和“具有”以及他们的任何变形，意图在于覆盖不排他的包含，例如，包含了一系列步骤或单元的过程、方法、系统、产品或设备不必限于清楚地列出的那些步骤或单元，而是可包括没有清楚地列出的或对于这些过程、方法、产品或设备固有的其它步骤或单元。It should be noted that the terms "first" and "second" in the description and claims of the application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific sequence or sequence. It should be understood that the data used in this way can be interchanged under appropriate circumstances so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations of them are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to the clearly listed Those steps or units may include other steps or units that are not clearly listed or are inherent to these processes, methods, products, or equipment.

本申请下述实施例可以应用各种智能设备中，尤其是应用于以机器人为主体实现控制的智能家居控制系统、智能工厂工作系统、智能售货商店系统等。本申请实施例中的机器人包括但不限于：服务机器人、工业机器人、仿真机器人、扫地机器人等，在本申请中以服务机器人作为机器人的优选项进行示意性说明。The following embodiments of the present application can be applied to various smart devices, especially smart home control systems, smart factory working systems, smart vending store systems, etc., which are controlled by robots as the main body. The robots in the embodiments of this application include but are not limited to: service robots, industrial robots, simulation robots, sweeping robots, etc. In this application, the service robot is used as a preferred item of the robot for schematic illustration.

在本申请实施例中，机器人可以实现多项功能，以家庭中的服务机器人为例，其可以实现环境数据检测(包括温湿度、空气气体、煤气、天然气、光照度、地面摩擦值、地面是否有水、地面是否有香蕉皮等地面脏物的数据检测)和用户数据检测(包括每个家庭成员的实时血压、血脂、体重、是否摔倒)，也可以从外部设备获取到这些信息，综合检测信息，判断用户是否处于危险状态，将检测信息提供给用户，若是有危险，还可以通过报警模块发出报警信息。下面通过各个实施例来说明本申请。In the embodiments of this application, the robot can realize multiple functions. Taking the service robot in the home as an example, it can realize environmental data detection (including temperature and humidity, air gas, gas, natural gas, illuminance, ground friction value, whether there is ground Data detection of ground dirt such as banana peels on the water and the ground) and user data detection (including real-time blood pressure, blood lipids, weight, and whether each family member has fallen). This information can also be obtained from external equipment for comprehensive detection Information, judge whether the user is in a dangerous state, and provide the detection information to the user. If it is dangerous, an alarm message can also be sent through the alarm module. The following examples illustrate the application.

实施例一Example one

根据本申请实施例，提供了一种机器人的控制方法实施例，需要说明的是，在附图的流程图示出的步骤可以在诸如一组计算机可执行指令的计算机系统中执行，并且， 虽然在流程图中示出了逻辑顺序，但是在某些情况下，可以以不同于此处的顺序执行所示出或描述的步骤。According to an embodiment of the present application, an embodiment of a method for controlling a robot is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions, and although The logical sequence is shown in the flowchart, but in some cases, the steps shown or described may be performed in a different order than here.

图1是根据本申请实施例的一种可选机器人的控制方法的流程图，应用于预设机器人，如图1所示，该控制方法包括：Fig. 1 is a flowchart of a control method of an optional robot according to an embodiment of the present application, which is applied to a preset robot. As shown in Fig. 1, the control method includes:

步骤S102，采集活动区域的环境数据信息和用户数据信息，并接收多个外部设备输入的用户检测结果；Step S102: Collect environmental data information and user data information of the active area, and receive user detection results input by multiple external devices;

步骤S104，对环境数据信息和用户数据信息进行数据处理；Step S104, data processing is performed on the environmental data information and user data information;

步骤S106，基于数据处理结果和用户检测结果，分析用户是否处于危险状态范围；Step S106, based on the data processing result and the user detection result, analyze whether the user is in a dangerous state range;

步骤S108，在确定用户处于危险状态范围内，发出提醒信息。Step S108: Send a reminder message when it is determined that the user is in a dangerous state.

通过上述步骤，可以采集活动区域的环境数据信息和用户数据信息，并接收多个外部设备输入的用户检测结果，然后对环境数据信息和用户数据信息进行数据处理，并基于数据处理结果和用户检测结果，分析用户是否处于危险状态范围，若确定用户处于危险状态范围，则发出提醒信息。在该实施例中，可以利用预设机器人采集多种信息，包括采集环境数据信息和用户数据信息，对用户进行识别、跟踪，并对用户的生活环境进行环境检测，对机器人及用户活动区域进行实时监控，在检测及工作的功能上更加多样化，且在用户存在危险时能够及时报警，为用户提供安全保障及生活服务检测，从而解决相关技术中机器人的功能单一，导致无法及时检测用户是否处于危险状态的技术问题。Through the above steps, the environmental data information and user data information of the active area can be collected, and the user detection results input by multiple external devices can be received, and then the environmental data information and user data information can be processed based on the data processing results and user detection As a result, it is analyzed whether the user is in the dangerous state range, and if it is determined that the user is in the dangerous state range, a reminder message is issued. In this embodiment, a preset robot can be used to collect a variety of information, including collecting environmental data information and user data information, to identify and track users, to perform environmental detection on the user’s living environment, and to perform monitoring on the robot and user activity area. Real-time monitoring is more diversified in terms of detection and work functions, and can promptly alarm when users are in danger, provide users with safety assurance and life service detection, so as to solve the problem of the single function of robots in related technologies, which makes it impossible to detect whether users are in time Technical problems in a dangerous state.

本申请实施例中可以通过机器人对用户进行识别、跟踪以及活动姿态的监测，并对用户活动区域进行环境检测，且可创建智能平台，与外部检测设备(可以理解为健康检测仪器)通讯连接，接收各个检测设备的检测数据，为主人提供健康服务。In the embodiments of the application, the robot can be used to identify, track, and monitor the activity posture of the user, and perform environmental detection of the user's activity area, and an intelligent platform can be created to communicate with an external detection device (which can be understood as a health detection instrument). Receive testing data from various testing equipment to provide health services for the host.

在本申请实施例中，机器人与各个设备之间可以预先建立无线网络连接，该连接网络可以为5G通讯网络(或者4G网络/3G网络)，通过5G通讯网络可实现对机器人及室内远程监控，为主人提供安全保障及生活服务。例如，在有老人或者小孩时，能够远程查看监测信息，实时了解到老人或者小孩的身体情况，防止其因发生意外无法及时救治。本申请实施例中，可以通过机器人接收外部检测设备的监测数据，或者利用自身携带的各个检测模块或者拍摄装置(例如机器人上携带的摄像头或者扫描仪、射频模块等)来检测生活环境或者用户身体健康数据，根据检测数据，提供健康服务，为用户提供高品质生活。In the embodiment of the present application, a wireless network connection can be established between the robot and each device in advance. The connection network can be a 5G communication network (or a 4G network/3G network), and the robot and indoor remote monitoring can be realized through the 5G communication network. Provide security and life services for the owner. For example, when there are elderly or children, the monitoring information can be viewed remotely, and the physical condition of the elderly or children can be learned in real time to prevent them from failing to be treated in time due to accidents. In the embodiments of this application, the monitoring data of the external detection equipment can be received by the robot, or the detection modules or shooting devices carried by itself (such as the camera or scanner, radio frequency module carried on the robot, etc.) can be used to detect the living environment or the user's body Health data, based on the test data, provide health services to provide users with a high-quality life.

下面结合上述各步骤对本申请进行详细说明。The application will be described in detail below in conjunction with the above steps.

步骤S102，采集活动区域的环境数据信息和用户数据信息，并接收多个外部设备输入的用户检测结果。Step S102: Collect environmental data information and user data information of the active area, and receive user detection results input by multiple external devices.

以服务机器人作为预设机器人为例，其活动区域可以理解为工作区域，该活动区域可以是预先设置的，即机器人需要检测、实时工作的区域，例如，在一个家庭中，设置整个屋内的空白地板为其活动区域，对于卧室内的床、衣柜，以及客厅内的沙发等装置所在区域不是其活动区域。该活动区域可以自行设置，在本申请实施例中不做具体限定。Take a service robot as a preset robot as an example. Its activity area can be understood as a working area. The activity area can be preset, that is, the area where the robot needs to detect and work in real time. For example, in a home, set the blank space in the entire house The floor is the active area. The area where the bed, wardrobe, and sofa in the living room are located is not the active area. The activity area can be set by itself, and is not specifically limited in the embodiment of this application.

作为本申请一可选的实施例，采集活动区域的环境数据信息和用户数据信息的步骤，包括：采集活动区域内的域内温湿度数据和活动区域外的域外温湿度数据，其中，域外温湿度数据是通过域外传感设备检测的，域内温湿度数据是通过域内传感设备检测的；采集活动区域内的域内天然气含量或域内煤气含量，并采集活动区域内的域内天然气浓度或域内煤气浓度；采集活动区域内的域内空气参数，其中，域内空气参数包括下述至少之一：甲醛、二氧化碳；基于域内温湿度数据、域外温湿度数据、域内天然气含量、域内煤气含量、域内天然气浓度、域内煤气浓度、域内空气参数，确定环境数据信息。As an optional embodiment of the present application, the step of collecting environmental data information and user data information of the activity area includes: collecting temperature and humidity data within the activity area and outside temperature and humidity data outside the activity area, where the outside temperature and humidity The data is detected by external sensor equipment, and the temperature and humidity data in the domain is detected by internal sensor equipment; collect the natural gas content or gas content in the active area, and collect the natural gas concentration or gas concentration in the active area; Collect intra-domain air parameters in the active area, where the intra-domain air parameters include at least one of the following: formaldehyde, carbon dioxide; based on intra-domain temperature and humidity data, outside temperature and humidity data, intra-domain natural gas content, intra-region gas content, intra-region natural gas concentration, intra-region gas Concentration, air parameters in the domain, determine environmental data information.

即可以通过机器人上的各个传感器或者检测模块来检测环境数据信息，包括但不限于：检测室内室外温/湿度、天然气/煤气、二氧化碳/甲醛等，在得到这些环境数据信息后，可以使用滤波算法或者降维方式等对这些信息进行处理，然后基于这些数据信息确定用户所处的环境是否处于危险状态，例如，判断室内外温湿度是否过高、判断天然气/煤气的浓度是否超出室内可允许浓度范围(如超出用户可能发生窒息、重度昏迷等危险情况)、判断甲醛是否超标等。That is, the environmental data information can be detected through various sensors or detection modules on the robot, including but not limited to: detecting indoor and outdoor temperature/humidity, natural gas/gas, carbon dioxide/formaldehyde, etc. After obtaining these environmental data information, filtering algorithms can be used Or use dimensionality reduction methods to process this information, and then determine whether the user's environment is in a dangerous state based on the data information, for example, determine whether the indoor and outdoor temperature and humidity are too high, and determine whether the concentration of natural gas/gas exceeds the allowable indoor concentration Scope (if it exceeds the user's dangerous situation such as suffocation, severe coma, etc.), judge whether the formaldehyde exceeds the standard, etc.

具体检测时，可以通过室内温湿度模块和室外温湿度模块检测室内室外温/湿度，通过无线模块将数据传输至机器人系统；安装天然气/煤气传感器在服务机器人上，以检测活动区域内的天然气/煤气含量；或者，使用AD采样(利用芯片的ADC模块进行模拟信号转为数字信号)实现天然气/煤气浓度采集；同时可安装气体传感器，以检测活动区域内的甲醛、二氧化碳等空气质量。For specific detection, the indoor and outdoor temperature/humidity can be detected through the indoor temperature and humidity module and the outdoor temperature and humidity module, and the data is transmitted to the robot system through the wireless module; natural gas/gas sensors are installed on the service robot to detect the natural gas/humidity in the active area Gas content; or, use AD sampling (using the chip's ADC module to convert analog signals to digital signals) to achieve natural gas/gas concentration collection; at the same time, gas sensors can be installed to detect air quality such as formaldehyde and carbon dioxide in the active area.

作为本申请另一种可选的实施例，采集活动区域的环境数据信息和用户数据信息的步骤，还包括：采集活动区域内的用户的人脸信息和用户的人体姿态信息；采集用户的活动手势信息；基于用户的人脸信息、人体姿态信息和活动手势信息，确定用户数据信息。As another optional embodiment of the present application, the step of collecting environmental data information and user data information of the activity area further includes: collecting the user's face information and the user's body posture information in the activity area; collecting the user's activity Gesture information: Determine user data information based on the user's face information, body posture information, and activity gesture information.

即可以通过拍摄装置或者其它扫描装置扫描人体姿态，然后通过人脸识别算法或 者匹配人脸图像库等方式，对用户进行识别，确认用户的身份；同时接收用户的语音指令(然后通过语音识别算法或者语音解析库来得到语音指令内容)，识别用户的活动手势(通过手势识别传感器识别多种手势，包括向上、向下、向左、向右、向前、向后、顺时针方向，逆时针方向等手势)，确定用户想要机器人执行的操作，例如，用户发出语音指令让机器人播放音乐或者控制扫地机器人开始扫地等动作。That is, the posture of the human body can be scanned by the camera or other scanning device, and then the user can be recognized by the face recognition algorithm or the matching face image library, etc., to confirm the user's identity; at the same time, the user's voice command can be received (and then the voice recognition algorithm Or the voice analysis library to get the content of the voice command), recognize the user's active gestures (recognize a variety of gestures through the gesture recognition sensor, including up, down, left, right, forward, backward, clockwise, counterclockwise Gestures such as direction), determine the operation that the user wants the robot to perform, for example, the user issues a voice command to let the robot play music or controls the sweeping robot to start sweeping.

在本申请实施例，机器人还可以实时检测自身与用户的距离和用户的高度，实现对用户的3D视觉建模，确定用户的人体信息，保持机器人与用户在一个合理范围内，不干扰用户的活动。例如，通过飞行时间算法TOF来实现多功能机器人对周边环境深度信息的获取，实现距离识别和高度识别。同时还可以通过预设测距方式，区分目标物体的横向或纵向移动，如果跟踪的老人/小孩突然摔倒，可以及时获得相关姿态数据，并进行判断，提醒家人，以防发生意外事故。In the embodiment of this application, the robot can also detect the distance between itself and the user and the height of the user in real time, realize the 3D vision modeling of the user, determine the user's human body information, and keep the robot and the user within a reasonable range without disturbing the user's activity. For example, the time-of-flight algorithm TOF is used to realize the acquisition of the depth information of the surrounding environment by the multifunctional robot, and realize the distance recognition and height recognition. At the same time, it is possible to distinguish the horizontal or vertical movement of the target object through the preset ranging method. If the tracked old man/child suddenly falls down, the relevant posture data can be obtained in time, judged, and reminded to family members to prevent accidents.

作为本申请另一种可选的实施例，接收多个外部设备输入的用户检测结果的步骤，包括：接收第一外部设备输入的用户体重和用户脂肪率；接收第二外部设备输入的用户血压信息；接收第三外部设备输入的用户心率；基于用户体重、用户脂肪率、用户血压信息和用户心率，确定用户检测结果。As another optional embodiment of the present application, the step of receiving user detection results input from multiple external devices includes: receiving user weight and user fat percentage input from a first external device; receiving user blood pressure input from a second external device Information; receiving the user's heart rate input by the third external device; determining the user's detection result based on the user's weight, the user's fat rate, the user's blood pressure information, and the user's heart rate.

这些外部设备可以与机器人预先建立网络通信，或者，外部设备可以与一个数据接口连接，机器人通过该数据接口(例如蓝牙接口、5G接口、USB接口、电力载波PLC接口)获取到各个外部设备检测到的数据。可选的，这些外部设备可以包括但不限于：智能血压计、智能体脂称、智能穿戴设备(例如智能手环、智能眼睛等)。These external devices can establish network communication with the robot in advance, or the external device can be connected to a data interface, and the robot can obtain the detection of each external device through the data interface (such as Bluetooth interface, 5G interface, USB interface, power carrier PLC interface) The data. Optionally, these external devices may include, but are not limited to: smart blood pressure monitors, smart body fat scales, smart wearable devices (such as smart bracelets, smart eyes, etc.).

通过至少一个外部设备得到用户检测结果后，可以通过上述的数据接口来显示用户检测结果，并且可基于用户检测结果和上述的用户数据信息、环境数据信息，生成检测报告，并通过短信/邮件等方式发送给主人或者家庭私人医生，也可以将检测数据和检测结果上传至云端(例如上传至云端服务器)。After the user detection result is obtained through at least one external device, the user detection result can be displayed through the above-mentioned data interface, and the detection report can be generated based on the user detection result and the above-mentioned user data information and environmental data information, and through SMS/email, etc. It can be sent to the owner or family doctor, or the test data and test results can be uploaded to the cloud (for example, to a cloud server).

在本申请一可选的实施例中，在接收多个外部设备输入的用户检测结果之后，控制方法还包括：接收活动区域内的用户发出的语音，得到语音输入信号；或者，接收活动区域内的多个智能家电设备发出的家电运行参数。In an optional embodiment of the present application, after receiving user detection results input by multiple external devices, the control method further includes: receiving a voice uttered by a user in the active area to obtain a voice input signal; or, receiving a voice input in the active area Home appliance operating parameters issued by multiple smart home appliances.

在具体实施时，可以通过麦克风阵列接收外部声音，然后通过接收外部的声音的回声消除参考信号，通过算法进行降噪处理后，以得到语音输入信号。通过算法实现语音增强及回声消除后的语音模拟信号，可以直接用AUX数据线接到机器人所在的控制系统内部，系统内置喇叭，可以实现声音输出，最终实现人机对话。In a specific implementation, the external sound can be received through the microphone array, and then the echo cancellation reference signal of the external sound can be received, and the noise reduction process can be performed by the algorithm to obtain the voice input signal. The voice simulation signal after voice enhancement and echo cancellation is realized by algorithm, which can be directly connected to the inside of the control system where the robot is located with the AUX data line. The system has a built-in speaker, which can realize sound output and finally realize man-machine dialogue.

步骤S104，对环境数据信息和用户数据信息进行数据处理。Step S104, data processing is performed on the environmental data information and the user data information.

可选地，对环境数据信息和用户数据信息进行数据处理的步骤，包括：对环境数据信息进行数据滤波和数据降维；以及基于用户图像库和用户语音库，对用户数据信息进行处理。Optionally, the step of performing data processing on the environmental data information and user data information includes: performing data filtering and data dimensionality reduction on the environmental data information; and processing the user data information based on the user image database and the user voice database.

步骤S106，基于数据处理结果和用户检测结果，分析用户是否处于危险状态范围。Step S106, based on the data processing result and the user detection result, analyze whether the user is in a dangerous state range.

在本申请实施例中，基于数据处理结果和用户检测结果，分析用户是否处于危险状态范围的步骤，包括：基于数据处理结果和用户检测结果，分析用户的活动环境的环境参数是否高于预设参数阈值，并在环境参数高于预设参数阈值的情况下，确定用户处于危险状态范围；或者，基于数据处理结果和用户检测结果，分析用户的饮食时间和健康参数，并在饮食时间未处于预设时间段且健康参数超出预设健康范围时，确定用户处于危险状态范围。In the embodiment of the present application, the step of analyzing whether the user is in a dangerous state based on the data processing result and the user detection result includes: analyzing whether the environmental parameters of the user's activity environment are higher than the preset based on the data processing result and the user detection result Parameter thresholds, and when the environmental parameters are higher than the preset parameter thresholds, determine the user’s range in a dangerous state; or, based on the data processing results and user detection results, analyze the user’s eating time and health parameters, and not be in When the preset time period and the health parameters exceed the preset health range, it is determined that the user is in a dangerous state range.

在具体分析用户的活动环境的环境参数是否高于预设参数阈值时，可以是通过对每个环境参数(如温湿度、天然气、煤气、甲醛等)是否高于预设参数阈值，例如，分析室内温湿度是否高于预设室内温度(如45摄氏度)，或者，分析室内甲醛含量是否超出预设标准甲醛范围。When specifically analyzing whether the environmental parameters of the user’s activity environment are higher than the preset parameter threshold, it can be done by determining whether each environmental parameter (such as temperature and humidity, natural gas, gas, formaldehyde, etc.) is higher than the preset parameter threshold, for example, analyzing Whether the indoor temperature and humidity are higher than the preset indoor temperature (for example, 45 degrees Celsius), or whether the indoor formaldehyde content exceeds the preset standard formaldehyde range.

步骤S108，在确定用户处于危险状态范围内，发出提醒信息。Step S108: Send a reminder message when it is determined that the user is in a dangerous state.

可选地，在确定用户处于危险状态范围内，发出提醒信息的步骤，包括：在确定用户处于危险状态范围内，向与预设机器人远程通讯连接的第一目标终端发送提醒信息；或者，在确定用户处于危险状态范围内，向远程服务器或者云端存储设备上传提醒信息，并通过远程服务器或者云端存储设备将提醒信息转发至第二目标终端；或者，在确定用户处于危险状态范围内，向活动区域内的至少一个智能家电设备发送提醒信息，并通过智能家电设备的显示板显示提醒信息。Optionally, the step of sending a reminder message after determining that the user is in a dangerous state includes: sending a reminder message to the first target terminal connected to the preset robot remote communication; or Confirm that the user is in a dangerous state, upload reminder information to the remote server or cloud storage device, and forward the reminder information to the second target terminal through the remote server or cloud storage device; or, if the user is determined to be in a dangerous state, send the reminder to the activity At least one smart home appliance in the area sends reminder information, and the reminder information is displayed through the display board of the smart home appliance.

在发出提醒信息，可以通过发送远程信息(如上述三种提醒方式)，还可以通过喇叭或声光报警(如发出红色灯光报警)来提示有危险。When sending out reminding information, you can send remote information (such as the above three reminding methods), and you can also use a horn or sound and light alarm (such as a red light alarm) to indicate danger.

上述第一目标终端可以包括但不限于：移动终端(如手机、平板等)、固定终端、报警器等，第一目标终端可以通过邮件/短信/电话/社交聊天产品等方式接收提醒信息；第二目标终端可以与第一目标终端类似，在此不再赘述。The above-mentioned first target terminal may include, but is not limited to: mobile terminals (such as mobile phones, tablets, etc.), fixed terminals, alarms, etc. The first target terminal may receive reminder information through email/SMS/phone/social chat products; The second target terminal may be similar to the first target terminal, and will not be repeated here.

可选地，控制方法还包括：在接收到闹钟指令，通过预设机器人在预设时间点发出闹铃；或者，在接收到天气指令后，通过预设机器人播报预报时间段内的天气。在本申请实施例中，在控制机器人工作时，还可以包括控制机器人的各个应用工作，例如，机器人的权限管理、闹钟、天气预报，当然，还可以包括：饮食健康提醒(包含早中晚餐饮食建议、体检提醒和用药提醒)、健康数据生成提醒、数据存、活动区域导 航、设备查找。Optionally, the control method further includes: upon receiving an alarm clock instruction, sending an alarm at a preset time by a preset robot; or, after receiving a weather instruction, broadcasting the weather in the forecast time period through the preset robot. In the embodiments of the present application, when controlling the robot's work, it may also include controlling the robot's various application tasks, such as robot authority management, alarm clock, weather forecast, and of course, it may also include: diet health reminders (including breakfast, lunch and dinner Recommendations, physical examination reminders and medication reminders), health data generation reminders, data storage, activity area navigation, equipment search.

通过该机器人还可以实现各种智能家电控制，例如，实现家庭冰箱控制、家庭空调控制、家庭灯光控制、安防设备控制。同时该机器人还可以实现自动充电等操作，例如，显示健康监测数据信息、通过喇叭或声光报警、自动实现充电等。可选地，控制方法还包括：在检测到活动区域内的用户处于目标状态时，获取当前定位参数，其中，目标状态至少包括：睡眠状态、出门状态；基于定位参数，运行到充电区域进行充电。即在确定用户处于睡眠、出门等状态时，运行到充电区域自动进行充电。The robot can also achieve various smart home appliances control, for example, home refrigerator control, home air conditioning control, home lighting control, and security equipment control. At the same time, the robot can also realize automatic charging and other operations, for example, display health monitoring data information, alarm through a horn or sound and light, and automatically realize charging. Optionally, the control method further includes: when it is detected that the user in the active area is in a target state, acquiring current positioning parameters, where the target state includes at least: a sleep state and a state of going out; based on the positioning parameters, running to the charging area for charging . That is, when it is determined that the user is sleeping, going out, etc., it runs to the charging area to automatically charge.

以上述机器人为主体的智能家居控制系统，可以使用远程或语音交互实现家庭的冰箱、空调、灯光、安防设备等终端控制，实现智慧家居功能。多功能的机器人可以实现人脸识别、自动监测环境数据信息和用户数据信息、接收外部健康检测设备检测到的数据，自动进行判别，保证能够及时报警。同时，机器人的可驱动底盘自动跟踪用户，并与用户保持合适的距离，用户可以通过语音或触摸屏显示界面与机器人进行深入交互，提高了机器人的服务能力，减少机器人设置数量，提高用户的生活质量。The smart home control system with the above-mentioned robot as the main body can use remote or voice interaction to realize home terminal control of refrigerators, air conditioners, lights, security equipment, etc., and realize smart home functions. The multi-functional robot can realize face recognition, automatically monitor environmental data information and user data information, receive data detected by external health detection equipment, and automatically make judgments to ensure timely alarm. At the same time, the robot's drivable chassis automatically tracks the user and keeps a proper distance from the user. The user can interact with the robot in-depth through voice or touch screen display interface, which improves the robot's service capability, reduces the number of robots, and improves the user's quality of life .

下面通过另一种实施例来说明本申请。Hereinafter, another embodiment is used to illustrate this application.

实施例二Example two

图2根据本申请实施例的一种可选的机器人的示意图，机器人用于实施上述任意一项的机器人的控制方法，如图2所示，该机器人可以包括：Fig. 2 is a schematic diagram of an optional robot according to an embodiment of the present application. The robot is used to implement any one of the above-mentioned robot control methods. As shown in Fig. 2, the robot may include:

多个数据采集设备21，设置为采集活动区域的环境数据信息和用户数据信息；A plurality of data collection devices 21 are set to collect environmental data information and user data information of the active area;

数据接入口23，设置为接收多个外部设备输入的用户检测结果；The data access port 23 is set to receive user detection results input by multiple external devices;

处理器25，设置为对环境数据信息和用户数据信息进行数据处理，基于数据处理结果和用户检测结果，分析用户是否处于危险状态范围；The processor 25 is configured to perform data processing on environmental data information and user data information, and analyze whether the user is in a dangerous state based on the data processing result and the user detection result;

报警模块27，设置为在确定用户处于危险状态范围内，发出提醒信息。The alarm module 27 is set to send out a reminder message when the user is determined to be in a dangerous state.

上述机器人，可以通过多个数据采集设备21采集活动区域的环境数据信息和用户数据信息，并通过数据接入口23接收多个外部设备输入的用户检测结果，然后通过处理器25对环境数据信息和用户数据信息进行数据处理，并基于数据处理结果和用户检测结果，分析用户是否处于危险状态范围，通过报警模块27在确定用户处于危险状态范围内，则发出提醒信息。在该实施例中，可以利用机器人的采集设备和数据接入口得到环境数据信息和用户数据信息，对用户进行识别、跟踪，并对用户的生活环境进 行环境检测，对机器人及用户活动区域进行实时监控，在检测及工作的功能上更加多样化，且在用户存在危险时能够及时报警，为用户提供安全保障及生活服务检测，从而解决相关技术中机器人的功能单一，导致无法及时检测用户是否处于危险状态的技术问题。The above-mentioned robot can collect environmental data information and user data information of the active area through multiple data collection devices 21, and receive user detection results input from multiple external devices through the data access port 23, and then use the processor 25 to compare the environmental data information and user data information. The user data information is data processed, and based on the data processing result and the user detection result, whether the user is in a dangerous state is analyzed, and the alarm module 27 determines that the user is in the dangerous state, and then a reminder message is issued. In this embodiment, the collection equipment and data access port of the robot can be used to obtain environmental data information and user data information, to identify and track users, to perform environmental detection on the user’s living environment, and to perform real-time monitoring of the robot and user activity area. Monitoring, detection and work functions are more diversified, and can promptly alarm when users are in danger, provide users with safety guarantees and life service detection, so as to solve the problem of the single function of robots in related technologies, which makes it impossible to detect whether users are in a timely manner. Technical problems in dangerous conditions.

作为本申请一可选的实施例，多个数据采集设备包括：域内温湿度模块，采集活动区域内的域内温湿度数据；天然气传感模块，采集活动区域内的域内天然气含量和/或浓度；煤气传感模块，采集活动区域内的煤气含量和/或浓度；气体传感模块，采集活动区域内的域内空气参数，其中，域内空气参数包括下述至少之一：甲醛、二氧化碳。As an optional embodiment of the present application, multiple data collection devices include: an intra-domain temperature and humidity module to collect intra-domain temperature and humidity data in the active area; a natural gas sensor module to collect the intra-domain natural gas content and/or concentration in the active area; The gas sensor module collects the gas content and/or concentration in the active area; the gas sensor module collects the intra-domain air parameters in the active area, where the intra-domain air parameters include at least one of the following: formaldehyde and carbon dioxide.

上述域内温湿度模块可以是一种传感器，也可以是一种温湿度检测仪器。而天然气传感模块可以是一种传感器，也可以是一种天然气含量检测仪器；气体传感模块可以包括气体传感器(检测室内甲醛、二氧化碳等空气质量)，也可以是单独的甲醛检测仪、二氧化碳检测仪，还可以是其它的检测仪器，例如，氧气检测器、氧离子检测仪。The above-mentioned temperature and humidity module in the domain may be a sensor or a temperature and humidity detection instrument. The natural gas sensing module can be a sensor or a natural gas content detection instrument; the gas sensing module can include a gas sensor (detecting indoor air quality such as formaldehyde and carbon dioxide), or a separate formaldehyde detector, carbon dioxide The detector can also be other detectors, such as an oxygen detector and an oxygen ion detector.

在本申请实施例，多个数据采集设备还包括：人脸识别模块，采集活动区域内的用户的人脸信息，并识别人脸特征点；三轴传感模块，采集活动区域内的用户的人体姿态信息；手势识别传感模块，采集活动区域内的用户的活动手势信息；测距传感模块，使用飞行时间法，采集活动区域的环境深度信息、与用户的活动距离。In this embodiment of the application, the multiple data collection devices further include: a face recognition module, which collects facial information of users in the active area, and recognizes facial feature points; a three-axis sensor module, which collects information about users in the active area Human body posture information; gesture recognition sensor module, which collects the user’s activity gesture information in the active area; distance measurement sensor module, which uses the time-of-flight method to collect the environmental depth information of the active area and the activity distance from the user.

上述人脸识别模块，可以是一种连接摄像头的人脸识别仪器，其可以运行人脸特征识别算法或者人脸识别比对库，来完成人脸识别，并对需要跟踪的用户进行实时跟踪、检测。可选的，上述的三轴传感模块，可以是三轴传感器，设置为检测用户的活动手势，包括向上、向下、向左、向右、向前、向后、顺时针方向，逆时针方向等手势；上述的测距传感模块可以是激光测距传感器，使用飞行时间法TOF完成距离识别，实现机器人对周边环境深度信息的获取，如果跟踪的老人/小孩等发生突然摔倒等意外情况，可以获得相关数据，并进行判断，提醒家人，以防发生意外事故。The aforementioned face recognition module can be a face recognition instrument connected to a camera, which can run a facial feature recognition algorithm or a face recognition comparison library to complete face recognition and perform real-time tracking of users who need to be tracked. Detection. Optionally, the above-mentioned three-axis sensor module may be a three-axis sensor, which is set to detect the user's active gestures, including up, down, left, right, forward, backward, clockwise, and counterclockwise Gestures such as direction; the above-mentioned ranging sensor module can be a laser ranging sensor, which uses the time-of-flight method TOF to complete distance recognition, and realizes the acquisition of depth information of the surrounding environment by the robot. If the tracked elderly/children suddenly fall down and other accidents According to the situation, relevant data can be obtained and judged to remind family members to prevent accidents.

作为本申请另一种可选的实施方式，多个外部设备包括：域外温湿度模块，采集活动区域外的域外温湿度数据，其中，域外温湿度模块与机器人通过预设通讯模块远程连接；体脂称，检测用户的体重和脂肪率；血压计，检测用户的血压信息；可穿戴设备，检测用户的运动信息和心率。该可穿戴设备可以为智能手环、智能手机等设备。As another optional implementation manner of the present application, multiple external devices include: an out-of-domain temperature and humidity module, which collects out-of-domain temperature and humidity data outside the active area, where the out-of-domain temperature and humidity module is remotely connected to the robot through a preset communication module; The fat scale detects the user's weight and fat rate; the sphygmomanometer detects the user's blood pressure information; and the wearable device detects the user's exercise information and heart rate. The wearable device may be a smart bracelet, a smart phone and other devices.

在本申请实施例中，上述机器人的控制系统还可以具有USB/wifi/蓝牙接口，系统可以通过此类接口与外部智能健康检测设备进行通信，实现数据处理及保存，通过蓝牙可以与体脂称进行通信，记录体重、脂肪率等趋势变化，与智能血压计、智能手 环通讯，可以获取个人血压及心跳等信息，通过远程通讯信号发送相关数据至个人或私人医生，实现个人健康服务管理。系统还可以通过wifi/5G等无线通讯方式，实现远程端控制，在系统运行过程中，系统自动保存最近一段时间段(例如，一周)的数据，同时通过联网，将内部数据保存至云端，实现数据多地保存及长期备份。In the embodiment of the application, the control system of the robot may also have a USB/wifi/Bluetooth interface, and the system can communicate with an external smart health detection device through this type of interface to realize data processing and storage. Communicate, record trend changes such as weight and fat rate, communicate with smart blood pressure monitors, smart bracelets, and obtain personal blood pressure and heartbeat information, and send relevant data to individuals or private doctors through remote communication signals to achieve personal health service management. The system can also realize remote control through wireless communication methods such as wifi/5G. During the operation of the system, the system automatically saves the data of the most recent period of time (for example, one week), and at the same time saves the internal data to the cloud through the Internet. Data storage and long-term backup.

作为本申请另一种可选的实施例，机器人还包括：语音接收模块，接收用户发出的语音指令；语音处理模块，识别语音指令，并按照语音指令执行目标动作，其中，目标动作包括下述至少之一：播放音乐、播放视频、预报天气、提供饮食建议、生成健康报告、充电。As another optional embodiment of the present application, the robot further includes: a voice receiving module, which receives voice instructions from a user; a voice processing module, which recognizes voice instructions, and executes target actions according to the voice instructions, where the target actions include the following At least one: play music, play video, forecast weather, provide dietary advice, generate health report, charge.

通过运行以机器人为主体的智能家居控制系统，使用远程或语音交互实现家庭的冰箱、空调、灯光、安防设备等终端控制，实现智慧家居功能。多功能机器人可以实现人脸识别，驱动底盘自动跟踪并与主人保持合适的距离，主人可以通过语音和触摸屏显示界面进行深入交互，机器人可以主动播放视频或音乐。当检测到室内异常时，自动进行声光报警及远程短信提醒。By running a robot-based smart home control system, remote or voice interaction is used to realize home terminal control of refrigerators, air conditioners, lights, security equipment, etc., to realize smart home functions. The multifunctional robot can realize face recognition, drive the chassis to automatically track and keep a proper distance from the owner. The owner can interact in-depth through voice and touch screen display interface, and the robot can actively play video or music. When an indoor abnormality is detected, it will automatically carry out sound and light alarm and remote SMS reminder.

另一种可选地，机器人还包括多个应用软件，多个应用软件包括：权限管理应用、天气应用、饮食健康应用、导航应用。Optionally, the robot further includes multiple application software, and the multiple application software includes: a permission management application, a weather application, a diet and health application, and a navigation application.

可选地，机器人与下述至少之一的智能家电设备连接：智能冰箱、智能空调、节能灯、智能扫地设备、智能橱柜。Optionally, the robot is connected to at least one of the following smart home appliances: smart refrigerator, smart air conditioner, energy-saving lamp, smart sweeping device, smart cabinet.

本申请实施例中的机器人可以实时对用户进行识别、跟踪以及活动姿势的检测，在有异常或者用户处于危险状态时(例如，摔倒无法爬起)，进行异常报警；通过采集室内各种健康仪器内数据，结合自身的检测模块对用户和环境的检测结果，可以生成健康检测报告，为用户提供实时健康服务，提高用户的生活质量。The robot in the embodiment of the present application can recognize, track, and detect the active posture of the user in real time. When there is an abnormality or the user is in a dangerous state (for example, falling down and unable to get up), it can give an abnormal alarm; by collecting various indoor health The data in the instrument, combined with the detection results of the user and the environment by its own detection module, can generate a health detection report to provide users with real-time health services and improve the quality of life of users.

图3是根据本申请实施例的一种可选的智能家居控制系统的示意图，如图3所示，该智能家居控制系统可以包括：Fig. 3 is a schematic diagram of an optional smart home control system according to an embodiment of the present application. As shown in Fig. 3, the smart home control system may include:

上述任意一项的机器人31；Robot 31 of any one of the above;

智能家庭设备33，包括下述至少之一：智能冰箱、智能空调、节能灯；Thesmart home equipment 33 includes at least one of the following: smart refrigerators, smart air conditioners, and energy-saving lamps;

网关35，分别与机器人和智能家庭设备建立网络连接。The gateway 35 establishes network connections with robots and smart home devices respectively.

本申请实施例中，可以利用机器人31识别用户人脸识别、跟踪用户、检测用户数据，利用3D图像信息，实时对主人进行识别、跟踪以及摔倒检测，异常报警。同时机器人可以与各个智能家庭设备建立网络连接，实现智能家居设备的智能控制，例如，实时通过空调器来调节室内温湿度，使得室内温湿度保持在一个合理范围内，或者通 过智能扫地机器人来完成地面清洁等。这样就可以利用机器人来实现智能家居设备的有效控制，减少用户的操作，提高用户的生活质量。In the embodiment of the present application, the robot 31 may be used to recognize the user's face, track the user, and detect user data, and use the 3D image information to recognize, track, and fall detection of the owner in real time, and alarm for abnormalities. At the same time, the robot can establish a network connection with each smart home device to realize the intelligent control of the smart home device. For example, the air conditioner can be used to adjust the indoor temperature and humidity in real time to keep the indoor temperature and humidity within a reasonable range, or through the intelligent sweeping robot Floor cleaning, etc. In this way, the robot can be used to achieve effective control of smart home equipment, reduce user operations, and improve the user's quality of life.

图4是根据本申请实施例的一种基于机器人的控制系统的示意图，如图4所示，该控制系统可以包括：数据采集层、通讯与数据处理层、操作系统应用层、执行控制层，其中，Fig. 4 is a schematic diagram of a robot-based control system according to an embodiment of the present application. As shown in Fig. 4, the control system may include: a data acquisition layer, a communication and data processing layer, an operating system application layer, and an execution control layer. among them,

数据采集层，包括：室内外传感器、人体交互设备、外部健康检测仪，可选的，室内外传感器可以实现室内室外温湿度检测、天然气/煤气检测、二氧化碳/甲醛检测；而人体交互设备可以实现人脸识别、语音/手势识别、与用户的距离和高度；同时外部健康检测仪可以包括智能血压计、智能体脂称、智能手环。The data collection layer includes: indoor and outdoor sensors, human interaction equipment, and external health detectors. Optionally, indoor and outdoor sensors can achieve indoor and outdoor temperature and humidity detection, natural gas/gas detection, carbon dioxide/formaldehyde detection; and human interaction equipment can achieve Face recognition, voice/gesture recognition, distance and height from the user; meanwhile, external health detectors can include smart blood pressure monitors, smart body fat scales, and smart bracelets.

通讯与数据处理层，可以对数据采集层各个设备采集到的数据进行处理，包括对室内外传感器采集到的环境数据通过滤波算法进行处理；还可以对人体交互设备采集到的数据进行处理，包括对人脸图像进行人脸识别(使用人脸识别算法)、对用户语音使用语音识别算法进行识别，对用户的距离和高度通过TOF进行距离识别。另外，可以对外部健康检测仪的接口接收和发送各种数据，包括：远程控制、短信/邮件提醒、云服务、外部健康检测仪连接，可以远程桌面显示、远程视频，同时可以在确认用户处于危险状态时，通过短信/邮件等方式发送提醒文件给用户或私人医生。The communication and data processing layer can process the data collected by various devices in the data collection layer, including processing the environmental data collected by indoor and outdoor sensors through filtering algorithms; it can also process the data collected by human interaction devices, including Perform face recognition on facial images (using face recognition algorithms), use voice recognition algorithms to recognize user voices, and perform distance recognition on the distance and height of users through TOF. In addition, various data can be received and sent to the interface of the external health monitor, including: remote control, SMS/email reminder, cloud service, external health monitor connection, remote desktop display, remote video, and the user can be When in danger, send reminder files to users or private doctors via SMS/email.

操作系统应用层，包括多个应用软件，实现多个软件功能，例如权限管理、闹钟、天气预报、饮食健康提醒(包含早中晚餐饮食建议、体检提醒、用药提醒)、健康数据生成提醒、系统数据保存、室内导航，或者其它专用APP。The operating system application layer, including multiple application software, realizes multiple software functions, such as permission management, alarm clock, weather forecast, diet health reminder (including breakfast, lunch and dinner diet suggestions, physical examination reminders, medication reminders), health data generation reminders, and systems Data storage, indoor navigation, or other special apps.

执行控制层，可以包括家电控制或者其它控制，其中，家电控制可包括但不限于：家庭冰箱控制、家庭空调控制、家庭灯光控制、安防设备控制；而其它控制可以包括但不限于：显示与触摸屏、喇叭与声光报警、底盘电机驱动、自动充电。The executive control layer can include home appliance control or other controls. The home appliance control can include but is not limited to: home refrigerator control, home air conditioning control, home lighting control, and security equipment control; and other controls can include, but are not limited to: display and touch screen , Horn and sound and light alarm, chassis motor drive, automatic charging.

通过上述机器人的控制系统，可以在用户独处情况下，可以给家人远程查看家里的生活状态，有效地识别主人身体情况，防止主人因发生意外无法及时救治。根据健康仪器提供数据，提供健康服务，有效管控室内状态，为主人提供高品质生活。Through the above-mentioned robot control system, when the user is alone, the family can remotely view the life state at home, effectively identify the physical condition of the owner, and prevent the owner from failing to treat in time due to an accident. Provide data based on health equipment, provide health services, effectively control indoor conditions, and provide a high-quality life for the host.

根据本申请实施例的另一方面，还提供了一种存储介质，存储介质设置为存储程序，其中，程序在被处理器执行时控制存储介质所在设备执行上述任意一项的机器人的控制方法。According to another aspect of the embodiments of the present application, a storage medium is also provided, the storage medium is configured to store a program, wherein when the program is executed by the processor, the device where the storage medium is located controls the method for controlling any one of the above robots.

根据本申请实施例的另一方面，还提供了一种处理器，处理器设置为运行存储在存储器中的程序，其中，程序运行时执行上述任意一项的机器人的控制方法。According to another aspect of the embodiments of the present application, a processor is also provided, the processor is configured to run a program stored in a memory, wherein the program executes any one of the aforementioned robot control methods when the program is running.

本申请还提供了一种计算机程序产品，当在数据处理设备上执行时，适于执行初始化有如下方法步骤的程序：采集活动区域的环境数据信息和用户数据信息，并接收多个外部设备输入的用户检测结果；对环境数据信息和用户数据信息进行数据处理；基于数据处理结果和用户检测结果，分析用户是否处于危险状态范围；在确定用户处于危险状态范围内，发出提醒信息。This application also provides a computer program product, which when executed on a data processing device, is suitable for executing a program that initializes the following method steps: collecting environmental data information and user data information of the active area, and receiving input from multiple external devices Data processing of environmental data information and user data information; Based on the data processing results and user detection results, analyze whether the user is in a dangerous state range; When the user is determined to be in a dangerous state range, a reminder message is issued.

上述本申请实施例序号仅仅为了描述，不代表实施例的优劣。The serial numbers of the foregoing embodiments of the present application are only for description, and do not represent the advantages and disadvantages of the embodiments.

在本申请的上述实施例中，对各个实施例的描述都各有侧重，某个实施例中没有详述的部分，可以参见其他实施例的相关描述。In the above-mentioned embodiments of the present application, the description of each embodiment has its own focus. For parts that are not described in detail in an embodiment, reference may be made to related descriptions of other embodiments.

在本申请所提供的几个实施例中，应该理解到，所揭露的技术内容，可通过其它的方式实现。其中，以上所描述的装置实施例仅仅是示意性的，例如所述单元的划分，可以为一种逻辑功能划分，实际实现时可以有另外的划分方式，例如多个单元或组件可以结合或者可以集成到另一个系统，或一些特征可以忽略，或不执行。另一点，所显示或讨论的相互之间的耦合或直接耦合或通信连接可以是通过一些接口，单元或模块的间接耦合或通信连接，可以是电性或其它的形式。In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. The device embodiments described above are merely illustrative. For example, the division of the units may be a logical function division, and there may be other divisions in actual implementation, for example, multiple units or components may be combined or may be Integrate into another system, or some features can be ignored or not implemented. In addition, the displayed or discussed mutual coupling or direct coupling or communication connection may be through some interfaces, indirect coupling or communication connection of units or modules, and may be in electrical or other forms.

所述作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个单元上。可以根据实际的需要选择其中的部分或者全部单元来实现本实施例方案的目的。The units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple units. Some or all of the units may be selected according to actual needs to achieve the objectives of the solutions of the embodiments.

另外，在本申请各个实施例中的各功能单元可以集成在一个处理单元中，也可以是各个单元单独物理存在，也可以两个或两个以上单元集成在一个单元中。上述集成的单元既可以采用硬件的形式实现，也可以采用软件功能单元的形式实现。In addition, the functional units in each embodiment of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units may be integrated into one unit. The above-mentioned integrated unit can be implemented in the form of hardware or software functional unit.

所述集成的单元如果以软件功能单元的形式实现并作为独立的产品销售或使用时，可以存储在一个计算机可读取存储介质中。基于这样的理解，本申请的技术方案本质上或者说对现有技术做出贡献的部分或者该技术方案的全部或部分可以以软件产品的形式体现出来，该计算机软件产品存储在一个存储介质中，包括若干指令用以使得一台计算机设备(可为个人计算机、服务器或者网络设备等)执行本申请各个实施例所述方法的全部或部分步骤。而前述的存储介质包括：U盘、只读存储器(ROM，Read-Only Memory)、随机存取存储器(RAM，Random Access Memory)、移动硬盘、磁碟或者光盘等各种可以存储程序代码的介质。If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer readable storage medium. Based on this understanding, the technical solution of this application essentially or the part that contributes to the existing technology or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium , Including several instructions to make a computer device (which may be a personal computer, a server, or a network device, etc.) execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage media include: U disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, magnetic disk or optical disk and other media that can store program code .

以上所述仅是本申请的优选实施方式，应当指出，对于本技术领域的普通技术人员来说，在不脱离本申请原理的前提下，还可以做出若干改进和润饰，这些改进和润 饰也应视为本申请的保护范围。The above are only the preferred embodiments of this application. It should be pointed out that for those of ordinary skill in the art, without departing from the principle of this application, several improvements and modifications can be made, and these improvements and modifications are also Should be regarded as the scope of protection of this application.

工业实用性Industrial applicability

本申请实施例提供的方案可以用于机器人的控制领域，适用于家庭服务、工业生产等环境，在本申请实施例中，利用预设机器人采集多种信息，包括采集环境数据信息和用户数据信息，对用户进行识别、跟踪，并对用户的生活环境进行环境检测，对用户活动区域进行实时监控，在检测及工作的功能上更加多样化，且在用户存在危险时能够及时报警，为用户提供安全保障及生活服务检测，从而解决相关技术中机器人的功能单一，导致无法及时检测用户是否处于危险状态的技术问题。The solutions provided by the embodiments of this application can be used in the field of robot control, and are suitable for environments such as household services and industrial production. In the embodiments of this application, preset robots are used to collect a variety of information, including collecting environmental data information and user data information. , To identify and track users, to perform environmental detection on the user’s living environment, to monitor the user’s activity area in real time, to have more diversified detection and work functions, and to alert the user in time when the user is in danger, providing users with Safety assurance and life service detection, so as to solve the technical problem of the single function of the robot in the related technology, which leads to the inability to detect whether the user is in a dangerous state in time.

Claims (20)

Translated fromChinese

一种机器人的控制方法，应用于预设机器人，所述控制方法包括：A control method of a robot, applied to a preset robot, the control method includes:采集活动区域的环境数据信息和用户数据信息，并接收多个外部设备输入的用户检测结果；Collect environmental data information and user data information in the active area, and receive user detection results input from multiple external devices;对所述环境数据信息和所述用户数据信息进行数据处理；Perform data processing on the environmental data information and the user data information;基于数据处理结果和所述用户检测结果，分析用户是否处于危险状态范围；Based on the data processing result and the user detection result, analyze whether the user is in a dangerous state range;在确定用户处于危险状态范围内，发出提醒信息。When it is determined that the user is in a dangerous state, a reminder message is issued.根据权利要求1所述的控制方法，其中，采集活动区域的环境数据信息和用户数据信息的步骤，包括：The control method according to claim 1, wherein the step of collecting environmental data information and user data information of the active area comprises:采集所述活动区域内的域内温湿度数据和所述活动区域外的域外温湿度数据，其中，所述域外温湿度数据是通过域外传感设备检测的，所述域内温湿度数据是通过域内传感设备检测的；Collect the temperature and humidity data in the active area and the temperature and humidity data outside the active area, wherein the temperature and humidity data outside the area are detected by an out-of-domain sensing device, and the temperature and humidity data in the area are transmitted through the intra-domain Sensing equipment testing;采集所述活动区域内的域内天然气含量或域内煤气含量，并采集所述活动区域内的域内天然气浓度或域内煤气浓度；Collecting the intra-regional natural gas content or intra-regional gas content in the activity area, and collecting the intra-regional natural gas concentration or intra-regional gas concentration in the activity area;采集所述活动区域内的域内空气参数，其中，所述域内空气参数包括下述至少之一：甲醛、二氧化碳；Collecting the intra-domain air parameters in the activity area, where the intra-domain air parameters include at least one of the following: formaldehyde and carbon dioxide;基于所述域内温湿度数据、所述域外温湿度数据、所述域内天然气含量、所述域内煤气含量、所述域内天然气浓度、所述域内煤气浓度、所述域内空气参数，确定所述环境数据信息。The environmental data is determined based on the temperature and humidity data in the domain, the temperature and humidity data outside the domain, the natural gas content in the domain, the gas content in the domain, the gas concentration in the domain, the gas concentration in the domain, and the air parameters in the domain information.根据权利要求2所述的控制方法，其中，采集活动区域的环境数据信息和用户数据信息的步骤，还包括：The control method according to claim 2, wherein the step of collecting environmental data information and user data information of the active area further comprises:采集所述活动区域内的用户的人脸信息和用户的人体姿态信息；Collecting the user's face information and the user's body posture information in the activity area;采集所述用户的活动手势信息；Collecting activity gesture information of the user;基于所述用户的人脸信息、所述人体姿态信息和所述活动手势信息，确定所述用户数据信息。The user data information is determined based on the user's face information, the human body posture information, and the activity gesture information.根据权利要求1所述的控制方法，其中，接收多个外部设备输入的用户检测结果的步骤，包括：The control method according to claim 1, wherein the step of receiving user detection results input from a plurality of external devices comprises:接收第一外部设备输入的用户体重和用户脂肪率；Receiving user weight and user fat percentage input by the first external device;接收第二外部设备输入的用户血压信息；Receiving user blood pressure information input by the second external device;接收第三外部设备输入的用户心率；Receiving the user's heart rate input by the third external device;基于所述用户体重、所述用户脂肪率、所述用户血压信息和所述用户心率，确定所述用户检测结果。The user detection result is determined based on the user's weight, the user's fat rate, the user's blood pressure information, and the user's heart rate.根据权利要求1所述的控制方法，其中，在接收多个外部设备输入的用户检测结果之后，所述控制方法还包括：The control method according to claim 1, wherein after receiving user detection results input by multiple external devices, the control method further comprises:接收所述活动区域内的用户发出的语音，得到语音输入信号；或者，Receive the voice uttered by the user in the activity area to obtain a voice input signal; or,接收所述活动区域内的多个智能家电设备发出的家电运行参数。Receive home appliance operating parameters sent by multiple smart home appliances in the active area.根据权利要求1所述的控制方法，其中，对所述环境数据信息和所述用户数据信息进行数据处理的步骤，包括：The control method according to claim 1, wherein the step of performing data processing on the environmental data information and the user data information comprises:对所述环境数据信息进行数据滤波和数据降维；以及Perform data filtering and data dimensionality reduction on the environmental data information; and基于用户图像库和用户语音库，对所述用户数据信息进行数据处理。Based on the user image library and the user voice library, data processing is performed on the user data information.根据权利要求1所述的控制方法，其中，基于数据处理结果和所述用户检测结果，分析用户是否处于危险状态范围的步骤，包括：The control method according to claim 1, wherein the step of analyzing whether the user is in a dangerous state range based on the data processing result and the user detection result comprises:基于数据处理结果和所述用户检测结果，分析用户的活动环境的环境参数是否高于预设参数阈值，并在所述环境参数高于所述预设参数阈值的情况下，确定所述用户处于危险状态范围；或者，Based on the data processing result and the user detection result, analyze whether the environmental parameters of the user's activity environment are higher than a preset parameter threshold, and if the environmental parameters are higher than the preset parameter threshold, determine that the user is in The range of dangerous conditions; or,基于所述数据处理结果和所述用户检测结果，分析用户的饮食时间和健康参数，并在所述饮食时间未处于预设时间段且所述健康参数超出预设健康范围时，确定所述用户处于危险状态范围。Based on the data processing result and the user detection result, analyze the user’s eating time and health parameters, and determine the user when the eating time is not within a preset time period and the health parameters exceed the preset health range In a dangerous state range.根据权利要求1所述的控制方法，其中，在确定用户处于危险状态范围内，发出提醒信息的步骤，包括：The control method according to claim 1, wherein the step of sending a reminder message after determining that the user is in a dangerous state includes:在确定用户处于危险状态范围内，向与所述预设机器人远程通讯连接的第一目标终端发送提醒信息；或者，Within the range of determining that the user is in a dangerous state, send a reminder message to the first target terminal connected to the preset robot remote communication; or,在确定用户处于危险状态范围内，向远程服务器或者云端存储设备上传所述提醒信息，并通过所述远程服务器或者云端存储设备将所述提醒信息转发至第二目标终端；或者，Within the range of determining that the user is in a dangerous state, upload the reminder information to a remote server or cloud storage device, and forward the reminder information to the second target terminal through the remote server or cloud storage device; or,在确定用户处于危险状态范围内，向所述活动区域内的至少一个智能家电设备发送所述提醒信息，并通过所述智能家电设备的显示板显示所述提醒信息。When it is determined that the user is in a dangerous state, the reminder information is sent to at least one smart home appliance in the activity area, and the reminder information is displayed through a display panel of the smart home appliance.根据权利要求1所述的控制方法，其中，所述控制方法还包括：The control method according to claim 1, wherein the control method further comprises:在检测到所述活动区域内的用户处于目标状态时，获取当前定位参数，其中，所述目标状态至少包括：睡眠状态、出门状态；When it is detected that the user in the active area is in a target state, acquiring current positioning parameters, where the target state includes at least a sleeping state and a going out state;基于所述定位参数，运行到充电区域进行充电。Based on the positioning parameters, run to the charging area for charging.根据权利要求1所述的控制方法，其中，所述控制方法还包括：The control method according to claim 1, wherein the control method further comprises:在接收到闹钟指令，通过所述预设机器人在预设时间点发出闹铃；或者，Upon receiving an alarm clock instruction, the preset robot sends an alarm at a preset time point; or,在接收到天气指令后，通过所述预设机器人播报预报时间段内的天气。After receiving the weather instruction, the preset robot broadcasts the weather in the forecast time period.一种机器人，所述机器人用于实施上述权利要求1至10中任意一项所述的机器人的控制方法，包括：A robot for implementing the robot control method according to any one of claims 1 to 10, comprising:多个数据采集设备，设置为采集活动区域的环境数据信息和用户数据信息；Multiple data collection devices are set to collect environmental data information and user data information in the active area;数据接入口，设置为接收多个外部设备输入的用户检测结果；The data access port is set to receive user detection results input by multiple external devices;处理器，设置为对所述环境数据信息和所述用户数据信息进行数据处理，基于数据处理结果和所述用户检测结果，分析用户是否处于危险状态范围；A processor configured to perform data processing on the environmental data information and the user data information, and analyze whether the user is in a dangerous state range based on the data processing result and the user detection result;报警模块，设置为在确定用户处于危险状态范围内，发出提醒信息。The alarm module is set to send out a reminder message when the user is determined to be in a dangerous state.根据权利要求11所述的机器人，其中，所述多个数据采集设备包括：The robot according to claim 11, wherein the plurality of data collection devices include:域内温湿度模块，采集所述活动区域内的域内温湿度数据；An intra-domain temperature and humidity module to collect intra-domain temperature and humidity data in the active area;天然气传感模块，采集所述活动区域内的域内天然气含量和/或浓度；A natural gas sensor module to collect the content and/or concentration of natural gas in the active area;煤气传感模块，采集所述活动区域内的煤气含量和/或浓度；A gas sensor module to collect the gas content and/or concentration in the activity area;气体传感模块，采集所述活动区域内的域内空气参数，其中，所述域内空气参数包括下述至少之一：甲醛、二氧化碳。The gas sensing module collects the air parameters in the area in the active area, where the air parameters in the area include at least one of the following: formaldehyde and carbon dioxide.根据权利要求12所述的机器人，其中，所述多个数据采集设备还包括：The robot according to claim 12, wherein the plurality of data collection devices further comprise:人脸识别模块，采集所述活动区域内的用户的人脸信息，并识别人脸特征点；The face recognition module collects the face information of the user in the active area, and recognizes facial feature points;三轴传感模块，采集所述活动区域内的用户的人体姿态信息；A three-axis sensing module to collect the user's body posture information in the active area;手势识别传感模块，采集所述活动区域内的用户的活动手势信息；A gesture recognition sensing module to collect active gesture information of the user in the active area;测距传感模块，使用飞行时间法，采集所述活动区域的环境深度信息、与用户的活动距离。The distance measuring sensor module uses the time-of-flight method to collect the environmental depth information of the active area and the active distance from the user.根据权利要求12所述的机器人，其中，所述多个外部设备包括：The robot according to claim 12, wherein the plurality of external devices includes:域外温湿度模块，采集所述活动区域外的域外温湿度数据，其中，所述域外温湿度模块与所述机器人通过预设通讯模块远程连接；An out-of-domain temperature and humidity module that collects out-of-domain temperature and humidity data outside the active area, wherein the out-of-domain temperature and humidity module is remotely connected to the robot through a preset communication module;体脂称，检测用户的体重和脂肪率；Body fat scale, which detects the user's weight and fat percentage;血压计，检测用户的血压信息；Sphygmomanometer, which detects the user's blood pressure information;可穿戴设备，检测用户的运动信息和心率。Wearable devices can detect the user's exercise information and heart rate.根据权利要求11所述的机器人，其中，所述机器人还包括：The robot according to claim 11, wherein the robot further comprises:语音接收模块，接收用户发出的语音指令；Voice receiving module, which receives voice instructions from users;语音处理模块，识别所述语音指令，并按照所述语音指令执行目标动作，其中，所述目标动作包括下述至少之一：播放音乐、播放视频、预报天气、提供饮食建议、生成健康报告、充电。A voice processing module that recognizes the voice instruction and executes a target action according to the voice instruction, wherein the target action includes at least one of the following: playing music, playing video, forecasting the weather, providing dietary advice, generating health reports, Recharge.根据权利要求11所述的机器人，其中，所述机器人还包括多个应用软件，所述多个应用软件包括：权限管理应用、天气应用、饮食健康应用、导航应用。The robot according to claim 11, wherein the robot further includes a plurality of application software, the plurality of application software including: a rights management application, a weather application, a diet and health application, and a navigation application.根据权利要求11所述的机器人，其中，所述机器人与下述至少之一的智能家电设备连接：The robot according to claim 11, wherein the robot is connected to at least one of the following smart home appliances:智能冰箱、智能空调、节能灯、智能扫地设备、智能橱柜。Smart refrigerators, smart air conditioners, energy-saving lamps, smart sweeping equipment, smart cabinets.一种智能家居控制系统，包括：A smart home control system, including:权利要求11至17中任意一项所述的机器人；The robot according to any one of claims 11 to 17;智能家庭设备，包括下述至少之一：智能冰箱、智能空调、节能灯；Smart home equipment, including at least one of the following: smart refrigerators, smart air conditioners, energy-saving lamps;网关，分别与所述机器人和所述智能家庭设备建立网络连接。The gateway establishes network connections with the robot and the smart home device respectively.一种存储介质，所述存储介质设置为存储程序，其中，所述程序在被处理器执行时控制所述存储介质所在设备执行权利要求1至10中任意一项所述的机器人的控制方法。A storage medium configured to store a program, wherein, when the program is executed by a processor, a device where the storage medium is located executes the robot control method according to any one of claims 1 to 10.一种处理器，所述处理器设置为运行存储在存储器中的程序，其中，所述程序运行时执行权利要求1至10中任意一项所述的机器人的控制方法。A processor configured to run a program stored in a memory, wherein the method for controlling a robot according to any one of claims 1 to 10 is executed when the program is running.

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