WO2020150927A1

WO2020150927A1 - Smart device, method for three-dimensional indoor positioning of person, and method for realizing smart home

Info

Publication number: WO2020150927A1
Application number: PCT/CN2019/072844
Authority: WO
Inventors: 李修球
Original assignee: 李修球
Priority date: 2019-01-23
Filing date: 2019-01-23
Publication date: 2020-07-30

Abstract

A smart device, a method for three-dimensional indoor positioning of a person, and method for realizing smart home. The smart device comprises a main control module (10) and an upper sensing module (21) and a lower sensing module (22) provided at a frame. The upper sensing module (21) and the lower sensing module (22) sense distances to a target within upper and lower detection spaces formed therebetween. The lower detection space at least partially overlaps with the upper detection space. The main control module (10) is used to acquire sensed data in real time and to determine three-dimensional position coordinates of the target.

Description

Smart device, indoor human body three-dimensional positioning method and smart home realization method

Technical field

The invention relates to the field of smart homes, in particular to a smart device, an indoor human body three-dimensional positioning method and a smart home realization method.

Background technique

Facing the diversification of the needs of home users, the smart devices in the current family mostly respond to user needs in a passive manner. The reason why they are called passive is because the smart devices in the home cannot perceive user needs, so they cannot provide users with active services. The feeling is that smart devices are not smart.

Perceiving user needs is a comprehensive project, but the most basic need is user positioning. At present, indoor positioning technology and products have many problems. For example, for indoor Bluetooth positioning, multiple Bluetooth beacons must be installed in the indoor space. Bluetooth beacons generally can only be powered by batteries. More importantly, the installation position of the Bluetooth beacon determines the positioning effect of the mobile phone. Therefore, professionals must analyze and install the indoor Bluetooth beacon in advance to achieve complete coverage of the Bluetooth signal. The positioning function is time-consuming, labor-intensive, and cost-intensive, and the user's experience of positioning with the aid of the device is also relatively poor. Therefore, the user's consumption desire is severely restricted. Another example: smart home human detector products, generally ceiling-mounted, forming a conical detection space, and generally a single sensor is built-in, when the user passes through the detection space, the signal is triggered, and the switch signal is controlled by a delay method. This product It is more suitable for walkway applications, users will not stay in the detection area for a long time, and will not stay still. The detection range of ceiling installation is quite limited. If you want to realize the full perception of indoor space, you need to add multiple sensors. The cost is too high, the installation is inconvenient, wiring or power supply is difficult, and the single sensor lacks direction, number of people, height, size, logic, etc. Judging to control the signal output, so the scope of adaptation is quite limited.

technical problem

The technical problem to be solved by the present invention is that the prior art has the defects of inconvenient installation and difficulty in wiring or power supply due to the scattered arrangement of sensors.

Technical solutions

The technical solution adopted by the present invention to solve its technical problem is to construct an intelligent device, which includes an equipment main body and a frame located on the periphery of the equipment main body, and also includes a main control module and an upper sensing module and a lower sensing module arranged on the frame. A sensing module, wherein the lower sensing module performs distance sensing on the target in the formed lower detection space, and the upper sensing module performs distance sensing on the target in the formed upper detection space, Moreover, the lower detection space and the upper detection space at least partially intersect;

The main control module is used to acquire the sensing data of the lower sensing module and the sensing data of the upper sensing module in real time, and determine the three-dimensional position coordinates of the target object in real time according to the acquired sensing data.

Preferably, the lower sensing module includes at least two first distance sensors for single transmission and single receipt, and/or at least one second distance sensor for multiple transmission and multiple receipt;

The upper sensing module includes at least one first distance sensor with single transmission and single receipt, and/or at least one second distance sensor with multiple transmission and multiple receipt.

Preferably, the frame includes an inner frame and an outer frame connected at the top, and the cross section of the frame is V-shaped or semicircular.

Preferably, the lower sensing module includes at least one group of first sensing units, each group of first sensing units includes two first distance sensors, and the two first distance sensors of each group of first sensing units are respectively arranged On the lower left side and the lower right side of the frame, the intersection area of the detection space of every two adjacent first distance sensors forms at least a part of the lower detection space.

Preferably, the lower sensing module includes two sets of first sensing units, and the two first distance sensors of the first set of first sensing units are respectively arranged on the inner frame, and the second set of first sensing units The two first distance sensors of the measuring unit are respectively arranged on the outer frame.

Preferably, the lower sensing module includes at least one set of second sensing units, each set of second sensing units includes two second distance sensors, and each set of second sensing units has two second distance sensors Are respectively arranged on the inner frame and the outer frame.

Preferably, the upper sensing module includes a first distance sensor or a second distance sensor, and the first distance sensor or the second distance sensor is arranged at a middle position on the upper side of the frame.

Preferably, the upper sensing module further includes at least one group of third sensing units, each group of third sensing units includes two first distance sensors, and the two first distance sensors of each group of third sensing units are respectively Set on the upper left side and upper right side of the frame.

Preferably, the upper sensing module includes two sets of third sensing units, and the two first distance sensors of the first set of third sensing units are respectively arranged on the inner frame, and the second set of third sensing units The two first distance sensors of the measuring unit are respectively arranged on the outer frame.

Preferably, the upper sensing module includes at least one group of fourth sensing units, each group of fourth sensing units includes two second distance sensors, and each group of fourth sensing units has two second distance sensors Are respectively arranged on the inner frame and the outer frame.

Preferably, the first distance sensor and/or the second distance sensor in the lower sensing module are arranged on the same horizontal plane; the first distance sensor and/or the second distance sensor in the upper sensing module are arranged on the same horizontal plane. Horizontal surface.

Preferably, when the cross section of the frame is V-shaped, the angle between the inner frame and the wall is 20-70 degrees, and the angle between the outer frame and the wall is 20-70 degrees.

Preferably, the first distance sensor is a radar sensor or an ultrasonic sensor; the second distance sensor is a radar sensor.

Preferably, the device main body includes an intercom extension, a TV, a router, a photo frame, a refrigerator, a kitchen cabinet, an air conditioner, a robot, a positioning detector, and a magic mirror.

The present invention also constructs an indoor human body three-dimensional positioning method, including the following steps:

S11. Acquire the sensing data of the lower sensing module and the sensing data of the upper sensing module in real time, wherein the lower sensing module and the upper sensing module are respectively arranged on the frame of the smart device, and the lower sensing module The detection module performs distance sensing on the target in the formed lower detection space, the upper sensing module performs distance sensing on the target in the formed upper detection space, and the lower detection space and the The upper detection space at least partially crosses;

S12. Determine the three-dimensional position coordinates of the target in real time according to the sensing data in the lower detection space and the sensing data in the upper detection space.

The present invention also constructs a smart home realization method, including the following steps:

S10. Position the target according to the aforementioned three-dimensional positioning method of the human body in the home interior, so as to obtain the user's three-dimensional position coordinates in real time;

S20. Determine the user's type and demand information according to the three-dimensional position coordinates and site information, where the site information includes at least one of the following: indoor space information, environmental information, time information, user feature information, and house structure information;

S30. Control corresponding household appliances and/or output corresponding prompt information according to the user's demand information.

Preferably, the demand information includes at least one of the following: sitting/standing/falling in a specific position, sedentary, getting up, lying down, entering the door, leaving home, illegal intrusion, wandering.

Preferably, in step S20, the type of the user is determined according to at least one of the following:

Determine the user’s height according to the user’s three-dimensional position coordinates, and determine the user’s type according to the user’s height;

Determine the user's movement form according to the user's real-time three-dimensional position coordinates, and determine the user's type according to the movement form;

In step S20, the user's demand information is determined according to at least one of the following:

If it is determined that the X and Y coordinates of the user in the horizontal plane are unchanged, and the height drops from the first preset height to the second preset height within the first preset period of time, it is determined that the user sits down;

If it is determined that the user is sitting down and the X, Y coordinates and Z coordinates in the horizontal plane remain unchanged within the second preset time period, it is determined that the user is sedentary;

If it is determined that the X and Y coordinates of the user in the horizontal plane are unchanged, and the height rises from the second preset height to the first preset height within the first preset time period, it is determined that the user is standing;

If it is determined that the X and Y coordinates of the user in the horizontal plane are unchanged, and the height drops from the first preset height or the second preset height to the third preset height within the first preset time period, and the holding time is longer than the third preset height Set a time period to determine that the user falls;

If it is determined that the X and Y coordinates of the user in the horizontal plane in the bedroom remain unchanged, and the height drops from the fourth preset height to the fifth preset height within the fourth preset period of time, it is determined that the user lies down;

If it is determined that the X and Y coordinates of the user in the horizontal plane in the bedroom remain unchanged, and the height rises from the fifth preset height to the fourth preset height within the fourth preset time period, it is determined that the user gets up.

Beneficial effect

Implementing the technical solution of the present invention, since all the sensing modules are integrated on the same smart device, the equipment is simplified and integrated, the installation is convenient, and the positioning is accurate, and the user experience is better.

Description of the drawings

In order to explain the embodiments of the present invention or the technical solutions in the prior art more clearly, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only These are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative work. In the attached picture:

Figure 1 is a logical structure diagram of the first embodiment of the smart device of the present invention;

2 is a flowchart of Embodiment 1 of the indoor human body three-dimensional positioning method of the present invention;

3 is a flowchart of Embodiment 1 of the method for implementing a smart home according to the present invention;

FIG. 4 is a schematic diagram of the positional relationship between the target object with a height higher than the installation height of the device and the distance sensor according to the present invention;

FIG. 5 is a schematic diagram of the positional relationship between the target object whose height is lower than the installation height of the device and the distance sensor according to the present invention;

6 is a schematic diagram of the first embodiment of the sensing module according to the present invention;

FIG. 7 is a schematic diagram of Embodiment 1 of the upper sensing module of the present invention;

FIG. 8 is a schematic diagram of the positional relationship between the target object with a height higher than the installation height of the device and the distance sensor according to the present invention;

Fig. 9 is a schematic diagram of the positional relationship between the target object with a height lower than the installation height of the device and the distance sensor according to the present invention.

Embodiments of the invention

Figure 1 is a logical structure diagram of the first embodiment of the smart device of the present invention. The smart device of this embodiment includes a main body (not shown) and a frame (not shown) surrounding the main body of the device. The main body of the device includes an intercom. Extension, TV, router, photo frame, refrigerator, kitchen cabinet, air conditioner, robot, positioning detector, magic mirror, etc. The smart device of this embodiment also includes a main control module 10 and an upper sensing module 21 and a lower sensing module 22 arranged on the frame. The lower sensing module 22 distances the target in the formed lower detection space. For sensing, the upper sensing module 21 performs distance sensing on the target in the formed upper detection space, and the lower detection space and the upper detection space at least partially intersect. The main control module 10 is configured to acquire the sensing data of the lower sensing module 22 and the sensing data of the upper sensing module 21 in real time, and determine the three-dimensional position coordinates of the target object in real time according to the acquired sensing data. It should be noted that the main control module 10 can be integrated with the control module in the main body of the device.

It should be noted here that the smart device of the present invention further includes components such as a camera, a microphone array, a fingerprint sensor, a touch screen, a fingerprint sensor, and a speaker.

Further, the lower sensing module 22 includes at least two first distance sensors for single transmission and single receipt, and/or at least one second distance sensor for multiple transmission and multiple receipt. The upper sensing module 21 includes at least one first distance sensor for single transmission and single receipt, and/or at least one second distance sensor for multiple transmission and multiple receipt. Moreover, the first distance sensor and the second distance sensor may be radar sensors. For single-shot and single-receive radar sensors, it has the advantages of small size, milli- or centimeter-level positioning accuracy, and low power consumption of microwatts. It avoids the disadvantages of large size and high power consumption of conventional radars, and is conducive to the intelligence of specific appearance structures Application in products. However, the single-shot single-receive radar sensor can only detect the radial target distance, and cannot detect the target angle or movement tangentially. It should be understood that the function of the ultrasonic sensor is similar. For the radar sensor with multiple transmissions and multiple receptions, it has the advantages of small size, millimeter-level positioning accuracy and low power consumption of milliwatts, avoiding the disadvantages of large volume and high power consumption of conventional radars, and is beneficial to the application of smart products with specific appearance structures . Because the multiple-transmit and multiple-receive radar has the characteristics of detecting the target's radial distance and target tangential angle, a single multiple-transmit and multiple-receive radar can perform stereo positioning of space targets. Due to the limitation of equipment installation height and antenna volume, vertical detection is not sensitive, so you can choose single-shot single-receiving radar and multiple-shot multiple-receiving radar to combine up and down applications, mainly to improve vertical tangential detection sensitivity and easy realization of three-dimensional detection targets .

Preferably, the first distance sensor and/or the second distance sensor in the lower sensing module are arranged on the same horizontal plane. The first distance sensor and/or the second distance sensor in the upper sensing module are arranged on the same horizontal plane, which can simplify the calculation process of the three-dimensional position coordinates.

Further, the frame includes an inner frame and an outer frame connected at the top, and the cross section of the frame is V-shaped or semicircular. When the section is V-shaped, because the smart device is generally installed on the wall, the angle (acute angle) between the inner frame and the wall is 20-70 degrees, and the angle (acute angle) between the outer frame and the wall is 20- 70 degrees, it should be noted that, regardless of the inner frame and outer frame, the above angles are defined as acute angles. It should be understood that for the right frame of the smart device, the angle between the inner frame and the wall is 20-70 degrees. The angle between the outer frame and the wall is 110-160 degrees; similarly, for the left frame of the smart device, the angle between the inner frame and the wall is 110-160 degrees, and the angle between the outer frame and the wall is 20- 70 degrees. It should also be noted that in practical applications, the setting of the angles of the inner and outer frames and the wall should be determined according to the type of distance sensor selected. Generally, half of the detection angle of the distance sensor is used as the inner and outer frames. The angle to the wall, for example, if the detection angle of the radar sensor is 90 degrees, the angles of the inner frame and the outer frame to the wall can be set to 45 degrees or 135 degrees, respectively.

In an optional embodiment, the lower sensing module 22 includes at least one group of first sensing units, each group of first sensing units includes two first distance sensors, and each group of first sensing units has two first distance sensors. The distance sensors are respectively arranged on the lower left side and the lower right side of the frame, preferably at two corners of the lower side of the frame, and the intersection of the detection spaces of every two adjacent first distance sensors forms at least a part of the lower detection space. Preferably, when the lower sensing module 22 includes multiple groups of first sensing units, by adjusting the installation position and angle of each first distance sensor, the lower detection space composed of the first sensing units of each group can reach 180 degrees and above.

Further, the lower sensing module 22 includes two groups of first sensing units, and the two first distance sensors of the first group of first sensing units are respectively arranged on the inner frame, and the second group of first sensing units The two first distance sensors are respectively arranged on the outer frame. Since the inner and outer frames are not parallel to the wall, but are at a certain angle to the wall respectively, this arrangement of the distance sensor can increase the cross detection space of the two first distance sensors.

In an optional embodiment, the lower sensing module includes at least one set of second sensing units, each set of second sensing units includes two second distance sensors, and two second distance sensors of each set of second sensing units Two distance sensors are respectively arranged on the inner frame and the outer frame.

In an optional embodiment, the upper sensing module includes a first distance sensor or a second distance sensor, and the first distance sensor or the second distance sensor is arranged at a middle position on the upper side of the frame.

In an optional embodiment, the upper sensing module further includes at least one set of third sensing units, each set of third sensing units includes two first distance sensors, and each set of third sensing units has two first distance sensors. The distance sensors are respectively arranged on the upper left side and the upper right side of the frame. Preferably, the two first distance sensors of each group of third sensing units are respectively arranged at two corners on the upper side of the frame.

In an optional embodiment, the upper sensing module includes two sets of third sensing units, and the two first distance sensors of the first set of third sensing units are respectively arranged on the inner frame, and the second set The two first distance sensors of the third sensing unit are respectively arranged on the outer frame.

In an optional embodiment, the upper sensing module includes at least one set of fourth sensing units, each set of fourth sensing units includes two second distance sensors, and two of the fourth sensing units in each set Two second distance sensors are respectively arranged on the inner frame and the outer frame.

Fig. 2 is a flowchart of Embodiment 1 of the indoor human body three-dimensional positioning method of the present invention. The family indoor three-dimensional human body positioning method of this embodiment includes the following steps:

FIG. 3 is a flowchart of Embodiment 1 of the smart home realization method of the present invention. The smart home realization method of this embodiment includes the following steps:

S20. Determine the user's type and demand information according to the three-dimensional position coordinates and on-site information. The on-site information includes at least one of the following: indoor space information, environmental information, time information, user feature information, and house structure information. Among them, the user's demand information includes at least one of the following: sitting/standing/falling in a specific location (for example, sofa, dining chair, office, study, exhibition hall), sedentary, getting up, lying down, entering, leaving home , Illegal invasion, wandering.

In an example, step S20 determines the height of the user according to the three-dimensional position coordinates of the user, and determines the type of the user according to the height of the user. For example, for a family, the members have father, mother, child and a puppy, where the father’s height is 1.8 meters, the mother’s height is 1.6 meters, the child’s height is 0.9 meters, and the puppy’s height is 0.4 meters. It is explained that the information of family members can be input to the smart device in advance by the user, or it can be obtained through big data learning. In this way, in practical applications, after the user's three-dimensional position coordinates are determined based on the sensing data of the upper sensing module and the lower sensing module, the user's height can be determined, and then which family member the user is based on the height.

In an example, step S20 determines the user's movement form according to the user's real-time three-dimensional position coordinates, and determines the user's type according to the movement form. It should be noted that since young people, children, elderly people, and pets have different exercise patterns, the user type can be determined according to the exercise pattern.

In an example, the user's demand information is determined according to at least one of the following:

In this embodiment, it should be noted that each preset height and each preset time period can be set by the user, or the smart device can be obtained through big data learning. It should be understood that for different users, due to different heights, habits, etc. Factors, the corresponding preset heights and preset time periods are different. In addition, it should be noted that when determining the user’s type and needs, in addition to the sensing data and on-site information of the upper and lower sensing modules, it can also be combined with the detection data of the camera and microphone in the smart device to make a comprehensive judgment. .

In a specific embodiment, three distance sensors A, B, and C are selected for single transmission and single receipt. Moreover, the three distance sensors A, B, and C are constructed as an equilateral or isosceles triangle on the frame, where the distance The sensor B is arranged at the lower left corner of the frame, the distance sensor C is arranged at the lower right corner of the frame, and B and C are arranged horizontally, that is, in the same horizontal plane, the two distance sensors B and C form the first sensor module. A sensing unit. In addition, the horizontal line where B and C are located is the X axis of the three-dimensional coordinate, and the midpoint of BC is the coordinate origin O. The distance sensor A is set at the middle position on the upper side of the frame, based on the origin of the coordinate O, the vertical horizontal X axis, that is, the AO line is the Z axis based on the origin of the vertical X axis, and the line passing the coordinate origin O of the vertical X axis and the Z axis is the Y axis . Using the characteristics of the cone-shaped detection space of the distance sensor, by adjusting the detection angles of the three distance sensors A, B, C, the detection space of any two distance sensors is at least partially crossed, and the cross detection area of the distance sensors B and C forms a lower In the detection space, the detection area of the distance sensor A forms an upper detection space. When the target (set as point R) approaches the intersection of the upper detection space and the lower detection space, the three distance sensors A, B, and C detect the target R at the same time, and get the distance of each distance sensor from the target R. That is, the distances of RB, RC, and RA are acquired. It should be noted here that when the distance sensor (whether it is a radar sensor or an ultrasonic sensor) detects the distance, the detected distance is the distance of the closest point of the sensor to the target, so for the same user, even three distances The target points measured by sensors A, B, and C are not the same point, they can still be regarded as the same point, because the calculation will take into account the front or side width of the human body, and the distance between the two distance sensors and the detection angle. Calculate the more accurate three-dimensional coordinates of the human body, even if there is a little error, it is still within the allowable range. In addition, the installation height of the smart device (the distance from the bottom of the device to the ground) is assumed to be 1.2 meters, and the device height of the smart device (the distance from the bottom to the top of the device) is assumed to be 0.65 meters. For users whose height is less than 1.85 meters, The height can be accurately measured. Assuming that there are members whose height is greater than 1.85 meters in the family, just adjust the installation height of the equipment. For users whose height is between 1.2 meters and 1.85 meters, only the sensing data of distance sensors B and C need to be combined to determine their X and Y coordinates, and then the sensing data of distance sensor A to determine their Z coordinates. For users whose height is less than 1.2 meters, when determining their X and Y coordinates, the sensing data of the three distance sensors A, B, and C need to be combined.

The following describes the process of 3D location positioning for users whose height is between 1.2 meters and 1.85 meters in conjunction with Figure 4:

First, for users who are higher than 1.2 meters, the closest points to the three distance sensors B, C, and A are located at different body parts. Set the user's foot position as R, head position as r', and the corresponding distance at 1.2 meters The position is r (ignoring the user's body width), the distance between the lower left distance sensor B, the lower right distance sensor C and the upper distance sensor A respectively detects the target point, and three distance values can be obtained: Br, Cr, Ar'. In addition, it is known that the midpoint of BC is the coordinate origin O, and AO is perpendicular to rO, so the length of rO can be obtained by the triangle midline theorem. Then, knowing the three sides of rO, BO, and rB, the angle between rO and OB is obtained by the principle of triangle, and then it can be judged whether the target is on the left or right of O. Then, the angle between rO and OB and the length of rO are known, and the vertical distance from point r to OB is obtained by the triangle principle. Set the intersection point as x, that is, the length of rx as the Y coordinate of the target, and then obtain the distance of Ox through the principle of triangle, namely The X coordinate of the target. Finally, draw a perpendicular line to AO through r'and set the focal point as z. Since rO=r'z, according to the principle of Ar'z right angle, the length of Az can be obtained, r'r=AO－Az, that is, Z coordinate. So far, the three-dimensional position coordinates of the target user have been calculated. It should also be noted that when the Z coordinate of point r'is equal to or higher than the height of point A, the height of the target can be ignored.

The following describes the process of 3D location positioning for users whose height is less than 1.2 meters:

First, for a user below 1.2 meters, the closest point to the three distance sensors A, B, and C is the head position (ignoring the head width). Set the user's head position as R, and the distance from the three distance sensors Three distance values can be obtained by detection: BR, CR, AR. In addition, let the projection of point R on the XY plane be r, draw a perpendicular line through R to the Z axis, set the intersection point as Z, draw a perpendicular line through R to the X axis, and set the intersection point as x. When calculating, first calculate the OR length based on the three sides RB, RC, and BC, then calculate the area based on the three sides AO, RA, and RO, and then calculate the ZO length based on the area, and then the Z coordinate of the target can be determined. Then, since OZ=Rr, calculate rO according to RO and Rr right triangle, then calculate the length of rB according to RB and Rr, and then calculate the length of rx and Ox, so that the X and Y coordinates of the target can be obtained.

After the three-dimensional positioning of the target is carried out by the above method, the existence, running speed, direction, trajectory, wandering, invasion, pet, and child of the target can be accurately calculated according to the continuous changes of multiple X, Y, and Z coordinate values. , Sedentary, sedentary, sitting or standing, falling, breathing rate and other information to intelligently judge user needs.

Further, although the three distance sensors A, B, and C constructed into an equilateral or isosceles triangle can realize the three-dimensional positioning of the target, but because the detection angle of each distance sensor is limited, it is assumed to be 80 degrees * 40 Therefore, the detection space after the cross detection of the three distance sensors is very limited, which is not suitable for the detection of large spaces in the family. Therefore, if you want to realize the position detection in a three-dimensional space of 180 degrees or more, multiple distance sensors can be set in the lower detection module and the upper detection module. For example, if a distance sensor with a detection angle of 80 degrees is selected, the upper detection module must be selected at least For three distance sensors, at least two sets of first sensing units (corresponding to four distance sensors) must be selected for the lower detection module; assuming that a distance sensor with a detection angle of 90 degrees is selected, at least two distance sensors should be used for the upper detection module.

In a specific embodiment, with reference to FIG. 6, the frame includes an inner frame 31 and an outer frame 32, and the cross-section of the frame is V-shaped, and the angle between the inner frame 31 and the wall is 20 degrees or 160 degrees. The angle is 20 degrees (left side) or 160 degrees (right side). The lower sensing module includes four distance sensors D, B, C, and E for single sending and receiving, and the 4 distance sensors are respectively arranged on the outer frame on the lower left side, the inner frame on the lower left side, the inner frame on the lower right side, and the right The outer frame on the lower side is on a horizontal line, which is the horizontal X axis. The distance sensors B and C form a first group of first sensing units, the distance sensors D and E form a second group of first sensing units, and the two distance sensors in each group are symmetrically arranged. In this way, the midpoint of BC is the X axis coordinate origin is O, and OD=OE, OB=OC. The cross detection space formed by 4 distance sensors D, B, C, E can form a 180-degree horizontal detection space.

With reference to Figure 7, there are three distance sensors G, A, and F for single firing and single receiving on the top of the device, and they are respectively set on the outer frame on the upper left side, the middle position, and the outer frame on the upper right side. The three distance sensors are set on the same horizontal line. Above, and A is the midpoint of the GF horizontal line, GA=AF, AO, GD and FE are perpendicular to GAF and DBCE two straight lines, AO, GD and FE are parallel to each other, AO straight line is the Z axis based on the coordinate origin O perpendicular to the X axis, Through the distributed detection of the three distance sensors on the top, a 180-degree upper detection space can be formed, and it crosses the lower detection space. Based on the coordinate origin O, the line perpendicular to the X axis and the Z axis is the Y axis. Using the characteristics of the cone detection space of the distance sensor, the lower detection space mainly detects the X and Y axis coordinates of the target, and the upper detection space mainly detects the Z axis coordinates of the target.

Under the continuous detection of the distance sensor, the existence, running speed, direction, trajectory, wandering, intrusion, etc. of the target can be accurately calculated within the detection range of 180 degrees according to the continuous changes of multiple X, Y, and Z coordinate values. Pets, children, sedentary, sedentary, sitting or standing, falling, breathing rate and other information to determine the user's needs.

In another specific embodiment, the upper and lower sides of the frame are respectively provided with at least one multiple-transmit and multiple-receive distance sensor, wherein the lower distance sensor (set as point E) mainly detects the horizontal X and Y coordinates of the target, and the device E point Is the origin of the coordinates, the horizontal line parallel to the installation wall and passing through point E is the X axis, the line perpendicular to the X axis through the E point in the horizontal plane is the Y axis, parallel to the installation wall and passing through the E point, the line perpendicular to the X axis is the Z axis . The distance sensor on the upper side of the frame (set as point A) mainly detects the vertical Z coordinate of the target. Using the characteristics of the cone-shaped detection space of the distance sensor, the cross detection of the upper and lower detection spaces is realized by adjusting the detection angles of the upper and lower distance sensors.

The following describes the process of 3D location positioning for users whose height is between 1.2 meters and 1.85 meters in conjunction with Figure 8:

First, for a user who is higher than 1.2 meters, the closest points to the two distance sensors E and A are different. Set the user's foot position as R, head position as r', and the corresponding position at 1.2 meters as r (ignore The width of the user's body), according to the principle of triangles, the X and Y horizontal coordinates of the target can be calculated by knowing the distance rE of the target point from the coordinate origin E and the angle between the line rE and the X axis. Moreover, point A is located on the Z axis, so the AE distance and the detected Ar’ and Er (r’z) distances can be calculated according to the triangle principle to calculate the length of Az and then the Z coordinate of the target user.

The following describes the process of 3D location positioning for users whose height is less than 1.2 meters in conjunction with Figure 9:

First, for a user below 1.2 meters, the point closest to the two distance sensors E and A is the head position (ignoring the head width), and the user's head position is set to R. In addition, let the projection of point R on the XY plane be r, make a perpendicular line to the Z axis through R, set the intersection point as Z, make a perpendicular line through R to the X axis, set the intersection point as x, and make a perpendicular line through R to the Y axis , Let the intersection point be Y. In the calculation, first calculate the height Rr (ie h) of the R point from the X and Y axis planes according to the three sides of RA, RE, AE, and then determine the Z coordinate of the target user. Then, according to the angle between RE and REx, find xE, which is the X coordinate, and according to the angle between RE and REx, find the length of Rx. Next, find the length of rX, which is the Y coordinate, based on rR and Rx.

Finally, it should be noted that the calculation of the X and Y coordinates in the above embodiment refers to that the target is in the cross detection area of two of the distance sensors of the lower detection module. If the target is only in the detection space of the distance sensor D or E At this time, although the X and Y coordinates of the target cannot be accurately calculated according to the above method, in practical applications, the X and Y coordinates of the target can be estimated in combination with the movement trend of the target and the indoor spatial structure, for example, The movement trend of the target is from the cross detection area of the B and D distance sensors into the detection area of the D distance sensor, and the space here corresponds to the indoor aisle, so it can be determined that the X coordinate of the target is changing, and the Y coordinate is considered Cross the Y coordinate calculated in the detection space (at the critical position) to determine the target entry into the aisle. Of course, a larger number of distance sensors can also be added to the smart device, so that the 180-degree detection space can be accurately positioned.

Under the continuous detection of the distance sensor, the existence, running speed, direction, trajectory, wandering, intrusion, etc. of the target can be accurately calculated within the detection range of 180 degrees according to the continuous changes of multiple X, Y, and Z coordinate values. Information such as pets, children, sitting, sitting or standing, falling, breathing rate, etc., to determine the needs of users.

Finally, it should be noted that the number, installation positions, and installation angles of the distance sensors can be determined according to actual application scenarios, and the present invention is not limited to the above examples.

In the smart home realization method of the present invention, after the user’s real-time three-dimensional position coordinates are determined by the above method, the user’s status can be determined through information processing according to the changes of the three-dimensional position coordinates X, Y, and Z: 1. When the user’s X , Y coordinates are changing, but the Z coordinate (represented by the target height H) does not change, and the H height is greater than 1.2 meters, the user can be determined to be standing; 2. When the user's X and Y coordinates are both changing, However, when the height of the target H changes very little, and the H value is continuously maintained at a height in the range of 0.5-1.2m, it can be determined that the user is a pet or a child; 3. When the user's X and Y coordinates have not changed, but the target H The height value becomes larger or smaller in a short period of time and then remains for a period of time, and when the H height is about 1M, it can be determined that the user is sitting or standing; 4. When the user's X, Y, and Z coordinates are all within a period of time When there is no change and the H value is continuously maintained at the height value of 1 meter, the user can be determined to be sedentary; 5. When the user's X and Y coordinates have not changed, but the target H height value instantly decreases and then remains unchanged, and When the H height is about 0.3M, it can be determined that the user is in a fallen state. In addition, indoor space information, environmental information, time information, user characteristic information, house structure information, user input information, etc., can be further combined with information processing such as big data and AI learning to analyze user fragmentation needs, and based on users’ Needs, active care and service to users, for example: 1. When it is determined that the user falls on the ground, it will actively output care or assistance information locally and remotely; 2. When it is determined that the user is sedentary, it will actively care for the user to exercise and rest ; 3. When the user is perceived to go home from work, he will take the initiative to turn on indoor lights, curtains, air-conditioning, TV, etc., and actively greet the user with voice; 4. When the user is perceived to be sitting on a dining chair, he will automatically care and start dining Mode; 5. Perceive the user's three-dimensional coordinate changes in the morning (sit up from bed and get out of bed), and determine that when the user wakes up in the morning, he can take the initiative to open curtains, TV or wake-up music, and remind the user of the indoor environment and outdoor weather conditions, and There may be situations in the room when sleeping at night, such as too many wake-ups at night, irregular breathing rate, etc. 6. When the user's coordinates disappear at the entrance door in the morning, the user will be determined to work and leave home, and the indoor space will be automatically performed Arming; or during working hours, when sensing the user to walk in front of the main body of the device, it will take the initiative to care for the user's attention to the image, dress, and sensing the user's body temperature, etc., and then arm the indoor space after the user leaves home; 7. When the user perceives the 3D at night Coordinate changes (sit up from bed and get out of bed), it can be determined that the user wakes up at night, will actively turn on the dark lights at night, according to the user's movement direction and speed, judge to turn on the lights and exhaust of the toilet, kitchen or other areas; When the user returns to the bedroom, the lights and exhaust air in the relevant area will be automatically turned off; 8. When the user sleeps at night, it will sense that the user goes to bed, automatically turn off all the lights and curtains in the room, and adjust the air conditioner to a suitable temperature; 9. When Perceived that the user wanders for more than a certain period of time, it will actively care and greet the user, prompting the user whether he needs music, TV, games, art appreciation, listening to books, radio and other entertainment activities; 10. When there are only elderly or children in the perception room, the user is sedentary , Falling, sudden slow action, prolonged silence, wandering, running, take the initiative to care for users to pay attention to safety, rest, entertainment, etc.; 11. In the hotel living room application, when the user enters the guest room, it will automatically start indoor lighting, curtains, air conditioning , TV, etc., and voice care to greet users whether they have other service needs, etc.; when guests wake up, they will automatically turn on the wake-up light when they wake up; when guests stay in bed for a long time, they will automatically care about the user’s need for meals and activities at the time. , Entertainment, work, etc.; when the check-out time is up, remind the user to pay attention to the check-out time or renew the room, or when the user is aware that the user is leaving, automatically take the initiative to care for the user to go together, and welcome the next visit, etc.; 12. When the application is displayed in the exhibition hall, When perceiving a visitor to stop at Nm, the visitor will automatically start to introduce the information of the visitor; when perceiving a general person to pass at a certain speed, the system can ignore the person or take the initiative to introduce a simple and attractive sentence to attract passing by Of users come to visit and wait; 13. When using in the meeting room , When it senses that someone enters the meeting room, the system automatically cares for the user and reminds the current reservation meeting; 14. When applied in the mall, it can sense the heat of the area; when the consumer keeps passing through at a certain speed, the system can ignore the consumer Or take the initiative to introduce a simple and attractive sentence to attract passing users to come and consume.

The technical effects of the technical solution of the present invention are described below:

1. Simplified integration: multi-transmit and multi-receive CMOS process radar sensor or single-transmit single-receive radar sensor or ultrasonic sensor, which has the advantages of small size, milli or centimeter-level positioning accuracy and micro or milliwatt low power consumption, avoiding the conventional radar volume The shortcomings of large, high power consumption, and high cost are conducive to the application of smart products with a specific appearance structure. The single-shot single-receiving radar or ultrasonic sensor can only detect the distance of the target in the radial direction, and cannot detect the movement of the target in the tangential direction. Although the multi-shot and multiple-receive CMOS technology radar sensor can measure the range and cut angle, the detection by radar or ultrasonic sensor is not just necessary Therefore, it is very difficult for users to invest in equipment that installs multiple radars or ultrasonic sensors in the home, and it is also a difficult problem for users to install multiple radars or ultrasonic sensors. Therefore, the present invention proposes a method for indoor three-dimensional spatial positioning of users with multiple radars or ultrasonic sensors on a single device, innovatively integrates multiple radars or ultrasonic sensors into a single device that is just needed, and sets a lower detection space and an upper detection space, and two detections Spatial cross detection. The lower detection space plane is composed of multiple sets of two radar or ultrasonic sensors cross detection space, and the 180-degree horizontal detection space on the front of the device is divided into five detection areas D, CD, BC, BE, E, any group Any target distance detected by two horizontal radars or ultrasonic waves, using the triangle principle, through information processing, the X and Y coordinates of any target (when the height of the target is higher than 1.2 meters) is obtained. The upper detection space is composed of multiple radar or ultrasonic sensors distributed detection space. For example, the detection space on the front 180 degrees is divided into three detection areas G, A, F, and any target detected by radar or ultrasonic in any area The distance, together with the X and Y coordinates of any target detected in the lower detection space of the corresponding area, uses the principle of triangles to obtain the X, Y, and Z three-dimensional coordinates of any target in the corresponding area through information processing.

Through the 180-degree human space detection of a single device, the device can be fixed on the wall to perform a full-scale three-dimensional perception of the room. Through the perception that the target is animals, children, the elderly, falling, sitting, sedentary, wandering, movement speed, State information such as direction, trajectory, frequency, breathing rate, etc., and then based on spatial structure, house information, user information, environmental information, time information, user input, through big data analysis and AI learning, you can truly understand the fragmented needs of users. Different needs can actively care for users and services, avoiding the state where multiple devices cannot collect complete user needs, and simplifying user integration.

2. Optimization of positioning coverage: the detection angle of the radar or ultrasonic sensor used in this solution has certain limitations, such as a cone-shaped detection range of about 80 degrees * 40 degrees, and the average horizontal width of the human body is generally about 30 cm. If two radar sensors are horizontal If the distance between the two radar sensors is too small, the user's tangential motion detection accuracy will be affected. Therefore, the distance between the two radar sensors cannot be too small. If the distance between the two radar sensors is 30CM, and the radar sensors are installed on the wall with conventional parallel devices , The detection intersection area of the two radar sensors will be relatively far away from the device, so the detection blind area on the front of the device will be relatively large, and the cross detection area near the front of the device is too small, which affects the positioning detection effect.

There are three radar or ultrasonic sensors on the top of the front of the device and the top of the two sides. Because the height of the top of the device is relatively high, the detection angle of the vertical detection surface of the radar or ultrasonic sensor is limited, such as 40 degrees. The surface of the smart device is installed in parallel, and the radar sensor can detect the ground only at a distance of 4.5 meters from the front of the device, and there is a large detection blind area. Therefore, the present invention maintains a certain angle between the three radar sensor antenna planes on the top of the equipment and the equipment plane (wall), such as 20 degrees or 160 degrees, to ensure that the uppermost line of the radar detection area is parallel to the ground, and the conical detection space of the radar or ultrasonic sensor is utilized. Maximum detection efficiency.

In addition, the present invention also arranges two radars or ultrasonic sensors of level B and C on both sides of the front side of the frame of the device, and the antenna surface of the radar or ultrasonic sensor and the smart device surface (wall) maintain a certain angle, such as an angle of 20 degrees. With an angle of 160 degrees, two radar or ultrasonic sensors are arranged face to face, so that the crossing detection of the outer boundary angle of the two radars or ultrasonic sensors extends to the detection range of 140 degrees. The D and E radar or ultrasonic sensors are arranged on both sides of the frame, and are on the same horizontal plane as the front two horizontal radars or ultrasonic sensors B and C, and the antenna surface of the radar or ultrasonic sensor is kept constant with the wall where the smart device is installed or the back of the smart device Angles, such as 20 degrees and 160 degrees, to keep one side of the radar sensor detection surface parallel to the back of the device or the wall where the device is installed, to maximize cross detection with the radar or ultrasonic sensor detection range on the front of the device to achieve The purpose of precise tangential motion positioning. In this way, the front accurate positioning angle of the improved smart device is 140 degrees, and the 20-degree areas on both sides are non-precise positioning angles, which maximizes the user's precise positioning experience.

The multi-transmit and multi-receive radar sensor is set on the inner and outer sides of the left or right side frame of the device. The angle of the inner and outer sides of the device frame is set according to the half of the detection angle of the radar sensor. If the radar detection angle is 90 degrees, the inner and outer sides of the device frame The angle of the wall is 45 degrees or 135 degrees. This allows the detection angle of the radar sensor to detect the target in the largest range.

3. Single device comprehensive positioning method based on distance sensing for single sending and single receiving:

The single-device triangular pyramid stereo positioning method of single-shot and single-receive sensing is limited by the structure, appearance and installation position of the device. It can only detect the range of about 100 degrees from the front of the device, and there are 40 on both sides of the device. The range above the degree is a detection blind zone, which is likely to have a negative impact on user experience. Due to insufficient space on the side of the device with single-shot and single-receive sensing, it is not possible to independently realize the triangular pyramid spatial positioning method, but by adjusting the setting angle of the side sensor, the detection area of the side distance sensor can maximize the cross detection with the detection area of the front sensor. It is also suitable for single device triangular pyramid three-dimensional positioning method positioning. However, considering that the most urgent pain points for users are safety, caring for the elderly and children, etc., the need for precise positioning on the side of the device is not obvious, and regional positioning can meet user needs. Therefore, the integrated positioning method divides the 180-degree detection range of the smart device into 5 partitions for detection. The three areas on the front use the single-device triangular pyramid spatial positioning method, and the two sides use the vertical dual-range sensor spatial area positioning method.

The vertical dual distance sensor spatial area positioning method is to install two distance sensors on both sides of the smart device. The two distance sensors are set up and down. The distance sensor set on the lower side of the side and the X axis of the front triangular pyramid spatial positioning method The height is the same. The distance sensor set on the upper side is the same as the top distance sensor of the front triangular pyramid three-dimensional spatial positioning method. The side area positioning of the device can accurately locate the user's longitudinal distance. The horizontal positioning uses the detection boundary of the front triangular pyramid three-dimensional spatial positioning method. The average speed of the user's movement in the detection area on the front of the device, the vertical precise positioning distance of the side area, and the size and structure of the indoor space on the side of the device are comprehensively analyzed by big data to determine the user's location, lateral movement direction and where to go. The connection between the distance sensor on the top side of the device and the distance sensor on the lower side is perpendicular to the ground. When the user is in the side detection area, the triangle formed by the user and the two distance sensors is perpendicular to the ground. The Z axis in the cone three-dimensional spatial positioning method is referred to as the Z'axis in the following description. Because the height of the human body is relatively high when standing, and some even exceed the detection range of the distance sensor on the top of the device, the three-dimensional positioning coordinates of the human body in the indoor space, when the system's three-dimensional coordinate Z'axis height is more than 1.5 meters, it is judged that the adult user is normal Standing or walking; when the system's three-dimensional coordinate Z'axis height is less than 1.5 meters, it is judged that the child is standing or walking normally; when the system's three-dimensional coordinate Z'axis height is less than 1 meter, it is judged that the animal or baby is standing or walking normally Walking; when the system's height of the three-dimensional coordinate Z'axis is above 1.5 meters, but suddenly the three-dimensional coordinate Z'axis height drops to the range of 1-1.5 meters, it is judged that the user is sitting down. If the height of the three-dimensional coordinate Z'axis is more than 1.5 meters, it is judged For the user to squat down; when the system's height of the three-dimensional coordinate Z'axis is above 1.5 meters, but suddenly the three-dimensional coordinate Z'axis height drops below 0.6 meters, it is determined that the user has fallen.

It is assumed that the height of each scene of the coordinate Z axis and Z’ axis is a provisional description value, and the final product effect verification value shall prevail.

5. Appropriate installation equipment for smart home personnel positioning system:

The smart device of the present invention can be applied to smart TVs, refrigerators, air conditioners, smart screens, intercom extensions, magic mirrors, photo frames, kitchen cabinets, smart panels, routers, washing machines, smart plane robots, etc. Commercially applicable advertising screens, conference screens, projectors, laser TVs, hotel TVs, etc.

Smart homes include smart smart homes, and there are many conventional home control methods, but they are usually passive control, such as APP, panel, passive voice wake-up control, etc. This is no problem for enthusiasts, but for ordinary people Many problems have arisen, and the other is that people have feelings and blindly control relationships, which will only increase people’s loneliness, and will not discover the potential needs of users, increase user stickiness, and solve the problems of user emotion and belonging. . Therefore, the precise positioning of indoor space personnel can accurately perceive and tap user needs, so as to achieve active care, active control, fall alarm, anti-theft alarm, health analysis and other special services to meet user experience requirements and allow users to enjoy smart systems The affordable, fast, convenient, intelligent and comfortable user experience brought to users allows users to re-recognize smart systems, like smart systems, and want more consumer smart systems, so that users can truly feel the warmth of home and the wisdom of home.

The above are only preferred embodiments of the present invention and are not used to limit the present invention. For those skilled in the art, the present invention may have various modifications and changes. Any tampering, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the scope of the claims of the present invention.

Claims

An intelligent device, comprising a device main body and a frame located on the circumference of the device main body, and is characterized in that it also includes a main control module and an upper sensing module and a lower sensing module arranged on the frame, wherein the lower sensor The detection module performs distance sensing on the target in the formed lower detection space, the upper sensing module performs distance sensing on the target in the formed upper detection space, and the lower detection space and the The upper detection space at least partially crosses;

The main control module is used to acquire the sensing data of the lower sensing module and the sensing data of the upper sensing module in real time, and determine the three-dimensional position coordinates of the target object in real time according to the acquired sensing data.
The smart device according to claim 1, wherein:

The lower sensing module includes at least two first distance sensors with single transmission and single reception, and/or at least one second distance sensor with multiple transmissions and multiple reception;

The upper sensing module includes at least one first distance sensor with single transmission and single receipt, and/or at least one second distance sensor with multiple transmission and multiple receipt.
The smart device according to claim 2, wherein the frame comprises an inner frame and an outer frame connected at the top, and the cross section of the frame is V-shaped or semicircular.
The smart device according to claim 3, wherein the lower sensing module includes at least one set of first sensing units, each set of first sensing units includes two first distance sensors, and each set of first sensing units The two first distance sensors of the measuring unit are respectively arranged on the lower left side and the lower right side of the frame, and the intersection area of the detection space of every two adjacent first distance sensors forms at least a part of the lower detection space.
The smart device according to claim 4, wherein the lower sensing module comprises two sets of first sensing units, and the two first distance sensors of the first set of first sensing units are respectively arranged in the On the inner frame, two first distance sensors of the second group of first sensing units are respectively arranged on the outer frame.
The smart device according to claim 3, wherein the lower sensing module includes at least one set of second sensing units, each set of second sensing units includes two second distance sensors, and each set of second distance sensors The two second distance sensors of the two sensing units are respectively arranged on the inner frame and the outer frame.
The smart device according to claim 2, wherein the upper sensing module comprises a first distance sensor or a second distance sensor, and the first distance sensor or the second distance sensor is arranged on the frame In the middle of the side.
The smart device according to claim 3, wherein the upper sensing module further comprises at least one set of third sensing units, each set of third sensing units includes two first distance sensors, and each set of third sensing units The two first distance sensors of the sensing unit are respectively arranged on the upper left side and the upper right side of the frame.
The smart device according to claim 8, wherein the upper sensing module includes two sets of third sensing units, and the two first distance sensors of the first set of third sensing units are respectively arranged in the On the inner frame, the two first distance sensors of the second group of third sensing units are respectively arranged on the outer frame.
The smart device according to claim 3, wherein the upper sensing module includes at least one group of fourth sensing units, each group of fourth sensing units includes two second distance sensors, and each group of first distance sensors The two second distance sensors of the four-sensing unit are respectively arranged on the inner frame and the outer frame.
The smart device according to any one of claims 2-10, wherein the first distance sensor and/or the second distance sensor in the lower sensing module are arranged on the same horizontal plane; the upper sensing module The first distance sensor and/or the second distance sensor are arranged on the same horizontal plane.
The smart device according to any one of claims 3-10, wherein when the cross section of the frame is V-shaped, the angle between the inner frame and the wall is 20-70 degrees, and the outer frame is The angle of the wall is 20-70 degrees.
The smart device according to any one of claims 2-10, wherein the first distance sensor is a radar sensor or an ultrasonic sensor; and the second distance sensor is a radar sensor.
The smart device according to any one of claims 1-10, wherein the device main body includes an intercom extension, a TV, a router, a photo frame, a refrigerator, a kitchen cabinet, an air conditioner, a robot, a positioning detector, and a magic mirror.
An indoor human body three-dimensional positioning method, characterized in that it comprises the following steps:

S11. Acquire the sensing data of the lower sensing module and the sensing data of the upper sensing module in real time, wherein the lower sensing module and the upper sensing module are respectively arranged on the frame of the smart device, and the lower sensing module The detection module performs distance sensing on the target in the formed lower detection space, the upper sensing module performs distance sensing on the target in the formed upper detection space, and the lower detection space and the The upper detection space at least partially crosses;

S12. Determine the three-dimensional position coordinates of the target in real time according to the sensing data in the lower detection space and the sensing data in the upper detection space.
A method for implementing a smart home is characterized by including the following steps:

S10. The method for three-dimensional positioning of a human body in a home according to claim 15 locates a target to obtain the user's three-dimensional position coordinates in real time;

S20. Determine the user's type and demand information according to the three-dimensional position coordinates and site information, where the site information includes at least one of the following: indoor space information, environmental information, time information, user feature information, and house structure information;

S30. Control corresponding household appliances and/or output corresponding prompt information according to the user's demand information.
The smart home implementation method of claim 16, wherein the demand information includes at least one of the following: sitting/standing/falling in a specific position, sedentary, getting up, lying down, entering the door, leaving home , Illegal invasion, wandering.
The method for implementing a smart home according to claim 16, wherein in step S20, the type of the user is determined according to at least one of the following:

Determine the user’s height according to the user’s three-dimensional position coordinates, and determine the user’s type according to the user’s height;

Determine the user's movement form according to the user's real-time three-dimensional position coordinates, and determine the user's type according to the movement form;

In step S20, the user's demand information is determined according to at least one of the following:

If it is determined that the X and Y coordinates of the user in the horizontal plane are unchanged, and the height drops from the first preset height to the second preset height within the first preset period of time, it is determined that the user sits down;

If it is determined that the user is sitting down and the X, Y coordinates and Z coordinates in the horizontal plane remain unchanged within the second preset time period, it is determined that the user is sedentary;

If it is determined that the X and Y coordinates of the user in the horizontal plane are unchanged, and the height rises from the second preset height to the first preset height within the first preset time period, it is determined that the user is standing;

If it is determined that the X and Y coordinates of the user in the horizontal plane are unchanged, and the height drops from the first preset height or the second preset height to the third preset height within the first preset time period, and the holding time is longer than the third preset height Set a time period to determine that the user falls;

If it is determined that the X and Y coordinates of the user in the horizontal plane in the bedroom remain unchanged, and the height drops from the fourth preset height to the fifth preset height within the fourth preset period of time, it is determined that the user lies down;

If it is determined that the X and Y coordinates of the user in the horizontal plane in the bedroom remain unchanged, and the height rises from the fifth preset height to the fourth preset height within the fourth preset time period, it is determined that the user gets up.