CN-121995782-A - Mobile home environment adjusting robot based on user behavior perception and control method thereof

CN121995782ACN 121995782 ACN121995782 ACN 121995782ACN-121995782-A

Abstract

The invention relates to a control method of a movable household environment regulating robot based on user behavior perception, which comprises a mobile chassis module, an environment regulating executing module, a multi-mode non-imaging perception module and a local intelligent control module, wherein the control method comprises the steps of S1, multi-mode non-imaging perception, S2, behavior characteristic extraction and intention recognition, S3, service standing point mapping and strategy generation, S4, path planning and user avoidance, and S5, autonomous movement and environment regulating execution. According to the invention, the user behavior and the environment information are acquired in a non-imaging multi-mode sensing mode, and the indoor space semantic mapping is combined to construct an environment adjustment decision mechanism taking the user behavior intention as a core, so that the environment adjustment is changed from passive triggering to active and directional service, and the active environment adjustment facing the user behavior intention is realized.

Inventors

DIAO KE
ZHAN RUI
LIU JIAXIN
XIANG LIGANG
SUN YANG
SI XIAOLEI
YU HUA
XIE ZICHAO
WANG GANYU
ZHAO FEIXIANG
ZHANG KEQIANG
CHEN JIAN

Assignees

柒贰零（北京）健康科技有限公司

Dates

Publication Date: 20260508
Application Date: 20260115

Claims (10)

1. A control method of a mobile home environment adjustment robot based on user behavior perception, the mobile home environment adjustment robot comprising: The mobile chassis module is used for driving the robot to autonomously move in an indoor environment and executing obstacle avoidance, fixed-point stopping and recharging operations; The environment regulation execution module comprises an air purification module, a humidification module, a dehumidification module and/or an odor regulation module and is used for regulating the indoor environment; The multi-mode non-imaging perception module is used for acquiring user behavior data and environment parameter data, does not comprise an image acquisition device, or does not enable an image acquisition function in a default working mode; the local intelligent control module is in communication connection with the mobile chassis module, the environment adjustment execution module and the multi-mode non-imaging perception module and is used for executing a control method of the robot; the control method comprises the following steps: s1, acquiring indoor environment parameter data and behavior data related to the existence and behavior of a user through the multi-mode non-imaging sensing module; S2, preprocessing and extracting features of the indoor environment parameter data and the behavior data, and judging the current behavior intention of a user by combining a pre-established indoor space semantic map; S3, according to the behavior intention and the corresponding space semantic information, calling a preset space mapping rule, calculating target service residence coordinates relative to a user, and generating an environment adjustment strategy matched with the behavior intention; S4, in the path planning process, setting an active area where a user is currently located as a high-cost avoiding area, and generating a moving path leading to the target service residence point coordinates; And S5, controlling the movable home environment adjustment robot to move to the target service standing point coordinates along the moving path, and executing environment adjustment operation at the position according to the environment adjustment strategy.
2. The method for controlling a mobile home environment adjustment robot based on user behavior perception according to claim 1, wherein the multi-modal non-imaging perception module comprises at least a millimeter wave radar for detecting one or more of human presence, position change, posture change, or human micro-motion information without collecting image information, an air quality sensor, and a temperature and humidity sensor.
3. The control method of a mobile home environment adjustment robot based on user behavior perception according to claim 2, wherein the millimeter wave radar is used for detecting chest micro-motion caused by human breath and determining whether a user is in a sleep state based on the chest micro-motion feature.
4. The method for controlling a mobile home environment adjustment robot based on user behavior perception according to claim 1, wherein in step S2, the behavior intents include at least one or more of sleep behavior intents, cooking behavior intents, household behavior intents, or abnormal environment behavior intents.
5. The method for controlling a mobile home environment conditioning robot based on user behavior awareness according to claim 4, wherein in step S3, when the behavior intention is a sleep behavior intention, the target service standing point coordinates are calculated as a preset safe distance position located at a side of a bed body, and the environment conditioning policy corresponds to a low noise operation mode and a wind-shielding wind-out mode.
6. The method according to claim 4, wherein in step S3, when the behavior intention is a cooking behavior intention, the target service stagnation point coordinates are calculated as an air flow interception position between a user operation area and a kitchen ventilation area, and the environment adjustment strategy corresponds to an intensified air purification mode.
7. The control method of a mobile home environment adjustment robot based on user behavior perception according to claim 1, wherein in step S5, when no explicit user behavior intention is determined and an environment parameter exceeding an abnormal threshold is detected, the mobile home environment adjustment robot plans a moving path based on a spatial distribution change of the environment parameter and moves to a parameter abnormal region as a target service standing point to perform fixed-point environment adjustment.
8. The method for controlling a mobile home environment conditioning robot based on user behavior perception according to claim 1, wherein the environment conditioning operation includes one or more of air purification, humidification, dehumidification, or scent conditioning in step S5.
9. The control method of a mobile home environment adjustment robot based on user behavior perception according to claim 1, characterized in that the mobile home environment adjustment robot further comprises: And the communication module is used for carrying out data interaction and model updating with the cloud server.
10. The method for controlling a mobile home environment conditioning robot based on user behavior awareness according to claim 9, further comprising: And S6, the collected environment adjustment operation execution effect data is subjected to summarization and anonymization processing and then uploaded to a cloud server, the cloud server performs model training or parameter optimization based on data from a plurality of home environments, and the updated model or parameter is issued to the movable home environment adjustment robot so as to update a local control strategy.

Description

Mobile home environment adjusting robot based on user behavior perception and control method thereof Technical Field The invention belongs to the technical field of intelligent home, and particularly relates to a movable home environment adjusting robot based on user behavior perception and a control method thereof. Background Most of the existing household environment adjusting devices such as air purifiers, humidifiers, dehumidifiers and the like are fixed devices, the adjusting action range of the existing household environment adjusting devices is limited, the existing household environment adjusting devices can only cover local spaces around the devices, and the adjusting positions are difficult to dynamically adjust along with the activities of users in different indoor areas. Meanwhile, most of existing environment adjusting devices are controlled based on environment parameter thresholds or manual instructions, and the current behavior state of a user, such as sleeping, cooking or short-time activities, cannot be understood, so that the adjusting mode is not matched with the actual demands of the user, and the problems of energy waste or insufficient comfort level exist. With the development of service robot technology, part of home robots with autonomous movement capability are introduced into a home environment, but the main functions of the home robots are concentrated on cleaning, inspection or simple accompanying, and a unified sensing and decision mechanism is lacking between the movement behaviors and the environment regulating equipment, so that collaborative services facing the user demands are difficult to form. In addition, part of the prior art collects image information through a camera to realize human body identification and behavior analysis, privacy risks exist in private family scenes such as bedrooms, and meanwhile, the privacy risks are easily influenced by illumination conditions and shielding factors, so that the application range of the privacy monitoring system is limited. Therefore, a mobile home environment adjustment technical scheme capable of understanding user behavior intention and actively determining environment adjustment service position and mode on the premise of protecting user privacy is needed. Disclosure of Invention The invention aims to provide a movable household environment regulation robot based on user behavior perception and a control method thereof, wherein user behavior and environment information are acquired through a non-imaging multi-mode perception mode, and an environment regulation decision mechanism taking user behavior intention as a core is constructed by combining indoor space semantic mapping, so that environment regulation is changed into active and directional service from passive triggering. The invention provides a control method of a movable household environment adjustment robot based on user behavior perception, which comprises the following steps: The mobile chassis module is used for driving the robot to autonomously move in an indoor environment and executing obstacle avoidance, fixed-point stopping and recharging operations; The environment regulation execution module comprises an air purification module, a humidification module, a dehumidification module and/or an odor regulation module and is used for regulating the indoor environment; The multi-mode non-imaging perception module is used for acquiring user behavior data and environment parameter data, does not comprise an image acquisition device, or does not enable an image acquisition function in a default working mode; the local intelligent control module is in communication connection with the mobile chassis module, the environment adjustment execution module and the multi-mode non-imaging perception module and is used for executing a control method of the robot; the control method comprises the following steps: s1, acquiring indoor environment parameter data and behavior data related to the existence and behavior of a user through the multi-mode non-imaging sensing module; S2, preprocessing and extracting features of the indoor environment parameter data and the behavior data, and judging the current behavior intention of a user by combining a pre-established indoor space semantic map; S3, according to the behavior intention and the corresponding space semantic information, calling a preset space mapping rule, calculating target service residence coordinates relative to a user, and generating an environment adjustment strategy matched with the behavior intention; S4, in the path planning process, setting an active area where a user is currently located as a high-cost avoiding area, and generating a moving path leading to the target service residence point coordinates; And S5, controlling the movable home environment adjustment robot to move to the target service standing point coordinates along the moving path, and executing environment adjustment operation at the positio