Intelligent pedestal pan and human body position detection method, device and system for intelligent bathroom space

Abstract

The invention relates to the technical field of intelligent bathrooms, in particular to an intelligent toilet bowl and a human body position detection method, device and system for an intelligent bathroom space, the intelligent bathroom space is divided into at least one static interference area and a dynamic detection area, and a cross-domain detection window is arranged at the boundary of the static interference area; a reflection signal in the intelligent bathroom space is detected through a microwave radar; analyzing a reflection signal in a preset peripheral distance range of the static interference area to generate human body target trajectory data; when it is judged that the human body target enters the static interference area, the position information of the human body target is locked in the static interference area, and interference filtering processing is carried out on reflected signals detected in the static interference area. Through the method, it can be effectively determined that the target human body is located in the static interference area, misjudgment caused by interference influence in the static interference area is avoided, and the accuracy of human body position detection is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent sanitary wares, and particularly to an intelligent toilet, a method, a device and a system for detecting the position of a human body in an intelligent sanitary space. Background Art

[0002] As a non-contact detection means, microwave radar technology has been widely used in the fields of smart home, security monitoring, etc. in recent years due to its high sensitivity and fast response characteristics. The intelligent sanitary ware industry, as an important part of the smart home, has developed rapidly in recent years. In the intelligent sanitary ware scenario, for example, automatic induction devices in areas such as bathrooms and showers often use microwave radar to detect the position of a human body to trigger functions of an intelligent sanitary ware system such as lighting, water discharge or safety warning, which is of great significance for application in the field of intelligent healthcare. However, the detection accuracy of existing microwave radar systems still has significant defects in a complex high-reflection environment.

[0003] Existing microwave radars identify the position and motion state of an object by emitting electromagnetic waves and receiving the target reflection signals. However, when there are other moving objects in the detection area besides human activities, such objects will generate strong reflections on the microwave signals, forming continuous interference. For example, in a sanitary ware environment, the flowing water on the surface of the shower room glass, pipe vibration, faucet water flow, wind-blown curtains, movable covers or movable seat rings on the toilet, etc., randomly moving objects will reflect signals with intensities similar to or even stronger than those of human targets, causing the radar system to misidentify static interference sources as dynamic targets or causing the drift of real target position information. In addition, the dynamic changes of water vapor (such as hot water mist) will further interfere with the radar's analysis of the signal source, exacerbating the positioning error.

[0004] Currently, the conventional technical means for interference suppression mainly include signal filtering, Doppler frequency shift analysis, and multi-sensor data fusion, etc. However, these methods have insufficient adaptability in a high-reflection dense scenario: the filtering algorithm is difficult to effectively distinguish stationary high-reflection objects from real moving targets; the Doppler technology can only detect dynamic targets and cannot exclude the interference of static strong reflectors; while introducing multi-sensors (such as infrared, cameras) increases the system complexity and cost, and there are applicability limitations in a humid and privacy-sensitive sanitary ware environment. Therefore, it is difficult for the existing technology to achieve stable detection of the target position in a high-reflection interference environment while ensuring low cost and low power consumption. Summary of the Invention

[0005] To solve the deficiency of detection interference in the application of microwave radar in intelligent sanitary wares in the above-mentioned existing technology, an embodiment of the present invention provides a method for detecting the position of a human body in an intelligent sanitary space, including the following steps: Divide the intelligent bathroom space into at least one static interference area and a dynamic detection area, and set a cross-domain detection window at the boundary of the static interference area; Detect the reflected signal in the intelligent bathroom space through a microwave radar, and analyze the reflected signal to generate human target trajectory data; Monitor the cross-domain detection window, and judge whether the human target enters or leaves the static interference area based on the human target trajectory data and whether the human body enters or exits the cross-domain detection window; When it is judged that the human target enters the static interference area, lock the position information of the human target within the static interference area, and perform interference filtering processing on the reflected signal detected within the static interference area.

[0006] An embodiment of the present invention further provides a human position detection device for an intelligent bathroom space, including: A region division module for dividing the intelligent bathroom space into at least one static interference area and a dynamic detection area, and setting a cross-domain detection window at the boundary of the static interference area; A radar detection and analysis module for detecting the reflected signal in the intelligent bathroom space through a microwave radar, and analyzing the reflected signal to generate human target trajectory data; A monitoring position processing module for monitoring the cross-domain detection window, and judging whether the human target enters or leaves the static interference area based on the human target trajectory data and whether the human body enters or exits the cross-domain detection window; when the human target enters the static interference area, lock the position information of the human target within the static interference area; An interference processing module for performing interference filtering processing on the microwave radar reflected signal detected within the static interference area.

[0007] An embodiment of the present invention further provides an intelligent toilet, the intelligent toilet is located in a predetermined space and the intelligent toilet includes a human position detection device; the human position detection device includes: A region division module for dividing the vertical area range where the intelligent toilet is located into a static interference area, and setting a cross-domain detection window at the boundary of the static interference area; A radar detection and analysis module for detecting the reflected signal in the predetermined space through a microwave radar, and analyzing the reflected signal to generate human target trajectory data; A monitoring position processing module for monitoring the cross-domain detection window, and judging whether the human target enters or leaves the static interference area based on the human target trajectory data and whether the human body enters or exits the cross-domain detection window; when it is judged that the human target enters the static interference area, lock the position information of the human target within the static interference area; An interference processing module is configured to perform interference filtering processing on the reflected signals detected in the static interference area.

[0008] An embodiment of the present invention further provides an intelligent bathroom system, which adopts the human body position detection method for an intelligent bathroom space described in any of the above embodiments or the human body position detection device for an intelligent bathroom space described in any of the above embodiments, so as to control the devices in the intelligent bathroom space to perform corresponding operations according to the distribution of the human body positions.

[0009] Based on the above, compared with the prior art, the human body position detection method for an intelligent bathroom space provided by the present invention divides the bathroom space into a static interference area and a dynamic detection area, and sets a cross-domain detection window at the boundary of the static interference area, solving the problem that it is difficult to accurately locate in a complex environment by traditional monitoring methods. Moreover, by using a microwave radar to detect reflected signals and combining the monitoring of the cross-domain detection window, it can accurately judge the entry and exit states of human targets. For the targets entering the static interference area, the present invention directly locks the position information of the target human body in the static interference area, and at the same time performs interference filtering processing on the reflected signals detected in the static interference area, thereby effectively determining that the target human body is located in the static interference area and will not be misjudged due to the interference in the static interference area. This method improves the accuracy of human target monitoring while ensuring low cost and low power consumption, realizes stable detection of the target position in an interference environment, and provides reliable technical support for the management of the intelligent bathroom space.

[0010] Other features and beneficial effects of the present invention will be described in the subsequent specification, and part of them will become obvious from the specification or be understood by implementing the present invention. The objectives and other beneficial effects of the present invention can be achieved and obtained through the structures specifically pointed out in the specification, claims, and drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the following drawings are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained without creative efforts. In the following description of the positional relationships in the drawings, unless otherwise specified, the directions shown by the components in the drawings are used as the reference.

[0012] Figure 1 It is a flowchart of the steps of the human body position detection method for an intelligent bathroom space provided by an embodiment of the present invention; Figure 2 It is a flowchart of the steps of the human body position detection method for an intelligent bathroom space provided by another embodiment of the present invention; Figure 3 This is a structural block diagram of a human body position detection device for an intelligent bathroom space provided by an embodiment of the present invention. Detailed implementation manners

[0013] To make the objectives, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Apparently, the described embodiments are some but not all of the embodiments of the present invention. The technical features designed in different implementation manners of the present invention described below can be combined with each other as long as they do not conflict with each other. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0014] In the description of the present invention, it should be noted that all terms used in the present invention (including technical terms and scientific terms) have the same meanings as those commonly understood by those of ordinary skill in the technical field to which the present invention belongs, and should not be construed as limiting the present invention. It should be further understood that the terms used in the present invention should be understood as having meanings consistent with their meanings in the context of this specification and the relevant technical fields, and should not be understood in an idealized or overly formal sense, unless clearly defined as such in the present invention.

[0015] Embodiment 1 Please refer to Figure 1 , the present invention provides a method for detecting the position of a human body in an intelligent bathroom space, including the following steps: Step S101, dividing the intelligent bathroom space into at least one static interference area and a dynamic detection area, and a cross-domain detection window is set at the boundary of the static interference area.

[0016] Step S102, detecting the reflection signal in the intelligent bathroom space through a microwave radar, and analyzing the reflection signal to generate human target trajectory data; Step S103, monitoring the cross-domain detection window, and judging whether the human target enters or leaves the static interference area based on the human target trajectory data and whether the human body enters or exits the cross-domain detection window; When it is judged that the human target enters the static interference area, the position information of the human target is locked in the static interference area, and interference filtering processing is performed on the reflection signal detected in the static interference area.

[0017] Through the above detection method, the position of the human body in the bathroom space can be tracked in real time, effectively overcoming the interference of the complex bathroom environment on microwave radar positioning, ensuring that the system can accurately reflect the dynamic changes of the human body, and improving the accuracy and reliability of human body position detection.

[0018] Preferably, referring to Figure 2 , step S103 can be further replaced by step S103'. Specifically, monitor the cross-domain detection window, and judge whether the human body target enters or leaves the static interference area based on the human body target trajectory data and whether the human body enters or exits the cross-domain detection window; when the human body target enters the static interference area, count the number of staying persons in the static interference area; generate a virtual identifier matching the number of staying persons at the corresponding spatial coordinate site in the static interference area; when the human body target does not enter the static interference area, determine the real-time positioning coordinates in the dynamic detection area according to the characteristics of the human body target trajectory data; when the human body target leaves the static interference area, update the number of staying persons and synchronously adjust the virtual identifier; perform interference filtering processing on the microwave radar reflection signals detected in the static interference area; on this basis, step S104 is further included, fusing the spatial coordinate sites of the virtual identifier and the real-time positioning coordinates of the dynamic detection area to generate the human body position distribution information of the intelligent bathroom space.

[0019] In step S101, the static interference area refers to the area in the bathroom space where there are reflection interference sources that cannot be filtered by the microwave radar, such as fixed facilities like toilets, washbasins, shower areas, etc. These facilities will reflect radar signals, resulting in misjudgment. The dynamic detection area refers to the space without fixed interference sources, mainly used to detect the movement of the human body. The cross-domain detection window is a virtual window set at the boundary of the static interference area, used to monitor whether the human body enters or leaves the static interference area. Through this division, the interference of radar signals can be effectively reduced, and the accuracy of human body detection can be improved.

[0020] Specifically, the division of the intelligent bathroom space can adopt artificial delineation technology or automatic delineation technology.

[0021] In the artificial demarcation technology, since the interference sources in these areas are static, the interference in these areas can be identified and processed by pre-demarcating and labeling. Specifically, according to the facility layout in the actual intelligent bathroom space, the space can be divided into several interference areas where microwave radar cannot filter reflected interference sources and normal areas where there are no microwave radar-unfiltered reflected interference sources. The demarcation of the interference areas needs to be determined according to the actual positions of the facilities and the reflection characteristics of the radar signals. For example, fixed facilities such as the toilet area, the washbasin area, and the shower area will have situations where the radar signals are interfered and reflected due to water, metal, or the movement of the cover plate, so these areas are demarcated as interference areas. The normal area refers to the area where there are no fixed facilities or the facilities have little impact on the reflection of radar signals and is used to detect the movement of the human body. Therefore, in specific applications, the interference areas and the normal areas can be artificially demarcated in advance.

[0022] In the automatic demarcation technology, the interference areas and the normal areas can be automatically demarcated according to the interference intensity of the collected radar signals. Specifically, for example, according to the detection range of the microwave radar, the bathroom space is divided into several grid areas. For each grid area, the interference intensity detected in this area is statistically analyzed. A threshold of the interference intensity is set, and the areas where the interference intensity exceeds the threshold are demarcated as interference areas, and the remaining areas are demarcated as normal areas. Among them, the interference intensity can be reasonably demarcated by calculating the median and maximum values of the interference signals and according to the relationship between the two (such as setting a proportionality coefficient). The actual signal amplitude is compared with the threshold to reasonably determine the interference intensity value.

[0023] Based on the above, on the one hand, the interference areas can be directly determined as static interference areas, and the normal areas can be determined as dynamic detection areas, and subsequent steps can be carried out. For example, a 0.5m * 0.5m square area is demarcated around the washbasin as a static interference area, or the shower area is used as an interference area and determined as a static interference area. The dynamic detection area refers to the area where the microwave radar can work normally, and these areas are mainly used to detect the position and movement trajectory of the human body in real time. For example, in the middle area of the bathroom space, since there is no strong reflection source, the microwave radar can accurately detect the position change of the human body, thus realizing dynamic monitoring.

[0024] On the other hand, it is also possible to determine whether the interference area is a static interference area according to the interference source status signal of each interference area. Specifically, the interference source status signals of each interference area are obtained. If the interference source status signal is in the on state, the interference area with the interference source status signal in the on state is determined as a static interference area; if the interference source status signal is in the off state, the interference area with the interference source status signal in the off state and the normal area are determined as dynamic detection areas.

[0025] For example, when the interference area is the shower area, the interference source status signal is the shower water flow status signal. The water flow status signal is detected by using a shower faucet switch or a shower water flow sensor. If shower water flow is detected, it indicates that the human target is taking a shower, and the water from the shower will cause strong interference to the radar reflection signal. Therefore, the shower area in this state is determined as a static interference area. If it is detected that the shower water flow is turned off, it indicates that the human target is not taking a shower and will not cause strong interference to the radar reflection signal. Therefore, the shower area in this state can be determined as a dynamic monitoring area, and the microwave radar can normally and accurately detect the position change of the human body. Similarly, when the interference area is the washbasin area, the interference source status signal is the water flow status signal of the washbasin; when the interference area is the toilet area, the interference source status signal is the toilet lid flip signal. The specific setting method can be reasonably selected according to actual needs, and this embodiment does not make a limitation here.

[0026] In an optional implementation manner, when the interference area where the interference source status signal is in the off state is determined as a dynamic detection area, a preset filtering algorithm can be used to denoise the reflection signal detected by the microwave radar in the interference area of the dynamic detection area, and the denoised reflection signal is used to generate human target trajectory data. Through this design, the residual interference effect generated after the interference source status signal is turned off can be effectively filtered out.

[0027] Taking the shower area as an example of the interference area, when it is detected that the shower water flow is turned off, the water droplets remaining on the walls or glass in the shower area are likely to cause partial interference to the microwave radar. Therefore, in order to reduce the interference problem existing in the above phenomenon, for the reflection signal detected by the microwave radar in the interference area of the dynamic detection area in this embodiment, a suitable preset filtering algorithm is selected for denoising. This embodiment adopts an adaptive median filtering algorithm, which can adaptively adjust the size of the filtering window according to the local statistical characteristics of the signal, so as to effectively remove noise while retaining the detailed information of the signal.

[0028] Through the above determination method, it can be further ensured that the signal of the microwave radar in the dynamic detection area is not interfered, and the detection accuracy is improved.

[0029] Furthermore, a cross-domain detection window monitors whether a human target enters or leaves the static interference area. The cross-domain detection window is set at the boundary of the static interference area for monitoring the entry and exit of the human body.

[0030] As a preferred implementation manner, the setting of the cross-domain detection window includes: analyzing the characteristics of the interference source in the static interference area; setting the size and position of the cross-domain detection window based on the interference source characteristics and the position range of the human body entering and leaving the interference area; setting detection points within the range of the cross-domain detection window, and the detection points are used to detect whether a dynamic object passes through the detection points.

[0031] When analyzing the characteristics of interference sources within the static interference region, it is first necessary to clarify the types of interference sources and their ways of affecting microwave radar signals. Interference sources may include water flow, metal pipes, movable covers, movable seat rings, wind-blown curtains, vibrating pipes, or other moving objects. These objects generate continuous interference signals during radar detection, which may mask or interfere with the dynamic signals of human targets. Therefore, by analyzing the characteristics of interference sources, it is possible to identify which areas of the signals are interfered with, providing a basis for setting subsequent cross-domain detection windows. Specifically, during implementation, the interference sources in existing smart bathroom spaces on the market can be detected in advance. For example, in a certain smart bathroom space, there is a device with a relatively high reflection signal intensity, which may cause significant interference to radar detection. In this case, special attention needs to be paid to the characteristics of the interference source in this area. Among them, the characteristics of the interference source include the interference range caused by the interference source to the microwave radar, as well as the structure, size, etc. of the interference source.

[0032] When setting the size and position of the cross-domain detection window based on the characteristics of the interference source and the position range of the human body entering and leaving the interference region, it is necessary to comprehensively consider the distribution of the interference source and the movement path of the human body in the smart bathroom space. Among them, the movement path of the human body in the smart bathroom space can be determined by the layout in the smart bathroom space to determine the common position range of the human body entering and leaving static interference regions such as the shower area and the toilet area. For example, in the shower area, since the water flow interference is mainly concentrated in the area below and around the shower head, and the position where the human body enters and leaves the shower area is relatively fixed at the entrance. Therefore, a cross-domain detection window is set at the entrance of the shower area. The width of the window is set to 1.0 m, and the height is set according to the human height range, for example, 2.0 m. If there is a door in the shower area, the size of the door can be set as the cross-domain detection window. In the smart toilet area, the human body mainly moves on and within a certain range in front of the smart toilet. The vertical area where the smart toilet is located and the range of 0.1 m to 0.5 m in front can be set as the cross-domain detection window. When setting the size of the cross-domain detection window, the size of the cross-domain detection window should be large enough to ensure that it can cover the main channels for the human body to enter and leave the interference region, while avoiding a too large window resulting in a decrease in detection accuracy.

[0033] When setting detection points within the range of the cross-domain detection window, the distribution and number of detection points are adjusted according to actual needs. For example, within a 1 m × 1 m cross-domain detection window, 4 detection points can be set, located at the four corners of the window respectively. This can not only ensure the detection coverage range but also reduce the computational complexity. The role of the detection points is to judge whether the human body enters or leaves the static interference region by monitoring whether dynamic objects pass through these points. For example, when a detection point captures the passing of a human target, it can be judged that the human body is entering or leaving this region, thus triggering the corresponding processing logic.

[0034] It should be understood that an infrared sensor or a microwave radar can be used as the detection device for the detection point. Taking the microwave radar as an example, when a dynamic object passes through the detection point, the microwave radar sensor at the detection point will receive the microwave signal reflected by the object. The sensor preliminarily processes the reflected signal, extracts the characteristic information such as the intensity, frequency, and phase of the signal, and transmits this information to the central processing unit. The central processing unit analyzes and judges the received characteristic information according to the preset algorithms and models to determine whether there is a dynamic object passing through the detection point and parameters such as the movement direction and speed of the object.

[0035] Preferably, in order to avoid the influence of other dynamic objects passing by on the human target detection, in this embodiment, it is also necessary to determine whether the dynamic object conforms to the human target based on the size characteristic information; if it conforms to the human target, it indicates that the human target has passed through the cross-domain detection window.

[0036] By setting the cross-domain detection window as described above, it is possible to effectively identify and distinguish whether a human target enters the static interference area, thereby improving the detection accuracy and anti-interference ability of the microwave radar in the intelligent bathroom space. Analyzing the characteristics of the interference source helps to clarify the scope and intensity of the interference area. Setting the window size and position based on the characteristics of the interference source and the human activity path can ensure the comprehensiveness and accuracy of the detection, and setting the detection point further improves the detection fineness and response speed.

[0037] In step S102, when detecting the reflected signal in the intelligent bathroom space through the microwave radar, the microwave radar will emit electromagnetic waves of a specific frequency, and these electromagnetic waves will be reflected when encountering a human body or other objects. The reflected signal will be captured by the radar receiver and converted into an electrical signal. The working frequency of the microwave radar is usually 24 GHz or 60 GHz. These frequencies can penetrate most non-metallic materials but have a good reflection effect on human tissues. By analyzing the time delay and frequency change of the reflected signal, the distance and movement state of the target object can be determined.

[0038] In the solution of determining whether the interference area is a static interference area according to the interference source state signal of each interference area, in this embodiment, it is preferably to adjust the sensitivity of the microwave radar in the interference area and the normal area in the dynamic detection area.

[0039] Specifically, when detecting the reflected signal in the intelligent bathroom space through a microwave radar, if the area detected by the microwave radar is the interference area in the dynamic detection area, set the sensitivity of the microwave radar to the first sensitivity, and then use the microwave radar with the first sensitivity to detect the reflected signal in the interference area of the dynamic detection area; if the area detected by the microwave radar is the normal area in the dynamic detection area, set the sensitivity of the microwave radar to the second sensitivity; then use the microwave radar with the second sensitivity to detect the reflected signal in the normal area of the dynamic detection area; the first sensitivity is lower than the second sensitivity.

[0040] Among them, setting the lower first sensitivity is to reduce the response intensity of the microwave radar to non-target signals in the interference area, thereby reducing misjudgment. By reducing the sensitivity, the microwave radar can suppress the reflected signals of other objects and avoid misjudging them as human targets, thereby improving the detection accuracy. The second sensitivity is higher than the first sensitivity, which is to improve the detection ability of the microwave radar for human targets. The normal area refers to the area where human activities are frequent, such as the shower area or the dressing area. These areas require higher detection accuracy to ensure the accurate positioning of the human body. By increasing the sensitivity, the microwave radar can capture weaker human reflected signals, thereby achieving accurate detection of human targets.

[0041] Taking the shower area as an example of the interference area, when it is detected that the shower water flow is turned off, since there are still water droplets on the walls or glass in the shower area, it is easy to cause some interference to the microwave radar. Therefore, in order to reduce the interference problem existing in the above phenomenon, the above embodiment realizes efficient and accurate dynamic detection through differential sensitivity detection of the interference area and the normal area. That is, in the interference area, the low-sensitivity setting can effectively filter non-target signals and reduce misjudgment; in the normal area, the high-sensitivity setting can enhance the detection ability of human targets and improve the positioning accuracy.

[0042] Furthermore, human target trajectory data can be effectively generated by analyzing the reflected signal. In this embodiment, preferably, when the human target enters the preset peripheral distance range of the static interference area, the reflected signal within the preset peripheral distance range of the static interference area is analyzed to generate human target trajectory data. This setting can effectively save computing power and avoid increasing power consumption, computing power cost and occupied space when performing global human target trajectory analysis in the intelligent bathroom space, especially when multiple human targets coexist.

[0043] In specific implementation, the system will first set a preset peripheral distance range, such as the area from 0.5 meters to 1 meter away from the boundary of the static interference area. Within this range, the radar will continuously monitor the changes in the reflected signals. By analyzing the intensity and frequency changes of the reflected signals, the movement direction and speed of the human target can be determined. For example, when a person moves within the peripheral distance range of the static interference area, the intensity of the reflected signal will gradually increase or decrease, and the frequency will also undergo Doppler frequency shift. The system will convert these changes into the position and movement trajectory data of the human target. If the time delay of the reflected signal shortens and the frequency increases, it indicates that the target is approaching the static interference area; if the time delay increases and the frequency decreases, it indicates that the target is moving away from the static interference area. In this way, the system can generate accurate human target trajectory data. The combination of microwave radar detection and reflected signal analysis can effectively avoid the interference of other irrelevant objects in the intelligent bathroom space on the detection results. The setting of the preset peripheral distance range of the static interference area can ensure that the human target enters or leaves the static interference area. This not only improves the detection accuracy but also reduces the misjudgment probability of whether the human target enters or leaves the static interference area.

[0044] On this basis, in step S102, generating human target trajectory data includes the following steps: Obtaining the spatial coordinate data of the human target at different time points based on the reflected signal to form a coordinate sequence, where the coordinate sequence contains time stamps and position information; Calculating the moving speed and direction vector of the human target according to the coordinate sequence to obtain a number of trajectory sequences; determining whether the trajectory sequences conform to the preset normal movement range of the human body; if they conform to the preset normal movement range of the human body, determining them as human target trajectory data; if they do not conform to the preset normal movement range of the human body, filtering them out.

[0045] For example, in a smart bathroom space, a microwave radar can collect and record the position information of a human target every 0.1 seconds, generating a sequence that includes timestamps and three-dimensional coordinates. The timestamps are used to mark the time of each position point, while the position information includes the coordinate values of the human target in the X, Y, and Z directions. By calculating the moving speed and direction vector of the human target based on the coordinate sequence, several trajectory sequences are obtained. By analyzing the position changes between adjacent time points in the coordinate sequence, the moving speed and direction of the human target can be calculated. For example, assuming that at time t1, the position of the human target is (1.0, 2.0, 0.5), and at time t2, the position is (1.2, 2.1, 0.5), the moving speed can be obtained by calculating the position difference and time difference. The direction vector can be determined by the direction of the position difference. Integrating the speed and direction information of several time points into a trajectory sequence is used to describe the motion state of the human target. The generation of the trajectory sequence helps to further analyze the motion trajectory of the human target, thereby effectively determining whether the human target enters or leaves a static interference area.

[0046] Preferably, after generating the trajectory sequence, it is also necessary to determine whether the trajectory sequence conforms to a preset normal human movement range. The preset normal human movement range is set based on the typical motion characteristics of humans in the smart bathroom space. For example, the moving speed of a human in the bathroom space usually does not exceed 2 m / s, and the direction change is not too drastic. By comparing the speed and direction in the trajectory sequence with the preset range, it can be determined whether it conforms to the normal human motion characteristics. For example, if a certain trajectory sequence shows that the human target moves 3 meters within 0.5 seconds and the direction change exceeds 90 degrees, it may not conform to the normal range. This determination helps to exclude abnormal data, such as misjudgments caused by microwave radar signal interference or non-human targets. If it conforms to the preset normal human movement range, it is determined as human target trajectory data. The trajectory sequence that conforms to the normal range is considered valid human target data and can be used for subsequent analysis and processing. That is, this trajectory data can be used to determine the position, motion state of the human target, and whether it enters or leaves a static interference area. The determination of valid trajectory data is a key step to ensure the accuracy of the system and can avoid misjudgments or incorrect operations caused by abnormal data. If the trajectory sequence that does not conform to the normal range is considered invalid data, it may be caused by radar signal interference, non-human targets, or other abnormal situations. For example, if a certain trajectory sequence shows that the human target moves an overly long distance in an extremely short time or the direction change is too drastic, it may be filtered out. Filtering out invalid data helps to improve the robustness and accuracy of the system, avoid misjudgments or incorrect operations caused by abnormal data, and effectively reduce false alarms and missed detections.

[0047] In step S103, determining whether the human target enters or leaves the static interference area based on the human target trajectory data and whether the human body enters or exits the cross-domain detection window includes: when the human target trajectory data within the preset peripheral distance range of the static interference area shows that the human target is moving towards the direction close to the static interference area, and the cross-domain detection window detects that a dynamic object passes through the detection point, and the characteristics of the dynamic object are human characteristics, it is determined that the human target enters the static interference area; when the human target trajectory data within the preset peripheral distance range of the static interference area shows that the human target is moving away from the static interference area, and the cross-domain detection window detects that a dynamic object passes through the detection point, and the characteristics of the dynamic object are human characteristics, it is determined that the human target leaves the static interference area.

[0048] Through the above steps, it is possible to accurately determine whether the human target enters or leaves the static interference area, thereby achieving precise monitoring of the human body position in the intelligent bathroom space.

[0049] In step S103, when it is detected that a human target enters the static interference area, the system will record the number of people staying in the static interference area and generate a corresponding virtual identifier to accurately indicate the number of people in the static interference area. When the human target leaves the static interference area, the number of people staying is updated and the virtual identifier is adjusted synchronously. For example, when there is one person in the area, the system will generate a virtual identifier at the center of the area; when there are multiple people in the area, the system will generate multiple virtual identifiers according to the position distribution of the people and ensure that each identifier corresponds to the actual position one by one.

[0050] During the process of counting the number of people staying, the system will update the personnel information in the area in real time to ensure the accuracy and timeliness of the data. For example, when a person enters the static interference area, the system will immediately increase the number of people staying in the area and generate a corresponding virtual identifier; when a person leaves, the system will decrease the number of people staying and adjust the virtual identifier synchronously. This dynamic adjustment mechanism can effectively avoid data errors caused by personnel flow and ensure that the system can always accurately reflect the personnel distribution in the area.

[0051] Preferably, during the process of adding or reducing virtual identifiers above, interfering with and filtering the microwave radar reflection signals detected in the static interference area is an important step to ensure that the system can accurately identify and locate human targets. Specifically, since virtual identifiers are used for positioning human targets in the static interference area, the chaotic reflection signals existing in the static interference area due to interference can be directly filtered out to prevent the sudden increase in the number of targets or abnormal fluctuations in the target position coordinates when interference occurs in the subsequent static interference area.

[0052] In step S104, the static position information of the virtual identifier is matched and integrated with the real-time position information of the dynamic detection area to generate the human body position distribution information of the intelligent bathroom space. The generated human body position distribution information can be used in various application scenarios. For example, when a human target is detected to enter the static interference area, the system can automatically start bathroom devices such as water heaters, lights, and warm air bath heaters; when a human target is detected to leave the static interference area, the system can automatically turn off these devices, thereby achieving energy conservation and intelligent management. In addition, this judgment method can also be used for security monitoring. For example, in an intelligent bathroom space, if a human target is detected to enter the static interference area and does not leave for a long time, the system can issue an alarm to remind users or managers to pay attention and prevent accidents.

[0053] Embodiment 2 Please refer to Figure 3 , this embodiment of the present invention also provides a human body position detection device for an intelligent bathroom space, including: A region division module, configured to divide the intelligent bathroom space into at least one static interference area and a dynamic detection area, and a cross-domain detection window is arranged at the boundary of the static interference area; A radar detection and analysis module, configured to detect the reflection signal in the intelligent bathroom space through a microwave radar, and analyze the reflection signal to generate human target trajectory data; A monitoring position processing module, configured to monitor the cross-domain detection window, and judge whether a human target enters or leaves the static interference area based on the human target trajectory data and whether the human body enters or exits the cross-domain detection window; when the human target enters the static interference area, lock the position information of the human target within the static interference area; An interference processing module, configured to perform interference filtering processing on the microwave radar reflection signal detected in the static interference area.

[0054] Further, when the human target enters the static interference area, the monitoring position processing module further includes counting the number of staying people in the static interference area; generating a virtual identifier matching the number of staying people at the corresponding spatial coordinate site in the static interference area; when the human target does not enter the static interference area, determining the real-time positioning coordinates in the dynamic detection area according to the motion trajectory characteristics; when the human target leaves the static interference area, updating the number of staying people and synchronously adjusting the virtual identifier; On this basis, the human body position detection device further includes a position information generation module, configured to fuse the spatial coordinate site of the virtual identifier with the real-time positioning coordinates of the dynamic detection area to generate the human body position distribution information of the intelligent bathroom space.

[0055] Among them, the specific implementation manners of the above-mentioned modules can be referred to those described in Embodiment 1, and will not be elaborated here.

[0056] Embodiment 3 The embodiment of the present invention further provides an intelligent toilet, the intelligent toilet is located in a predetermined space and the intelligent toilet includes a human position detection device; the human position detection device includes: A region division module, configured to divide the vertical region range where the intelligent toilet is located into a static interference region, and a cross-domain detection window is arranged at the boundary of the static interference region; A radar detection and analysis module, configured to detect a reflected signal in the predetermined space through a microwave radar, and analyze the reflected signal to generate human target trajectory data; A monitoring position processing module, configured to monitor the cross-domain detection window, and judge whether a human target enters or leaves the static interference region based on the human target trajectory data and whether a human enters or exits the cross-domain detection window; when it is judged that the human target enters the static interference region, lock the position information of the human target within the static interference region; An interference processing module, configured to perform interference filtering processing on the reflected signal detected in the static interference region.

[0057] Among them, the specific implementation manners of the above-mentioned modules can be referred to those described in Embodiment 1, and will not be elaborated here.

[0058] Embodiment 4 The present invention further provides an intelligent bathroom system, the intelligent bathroom system adopts the human position detection method for an intelligent bathroom space as described in Embodiment 1 above or adopts the human position detection device for an intelligent bathroom as described in Embodiment 2 above, so as to control the devices in the intelligent bathroom space to perform corresponding operations according to the human position distribution. This not only improves the intelligent level of the system, but also enhances the safety and user experience of the system.

[0059] Specifically, in an intelligent bathroom system, the human body position detection method can also be linked with other intelligent devices. For example, when a human target is detected entering the toilet area, the system can automatically open the toilet lid and adjust the exhaust device according to the user's position, or adjust the direction of the warm air from the ceiling heater, control the blowing of cool or warm air, etc. When a human target is detected leaving the toilet area, the system can automatically close the toilet lid and perform automatic cleaning. Another example is that in an intelligent bathroom system, environmental parameters such as lighting, water temperature, and music can be automatically adjusted according to the human body position distribution information to provide a personalized bathroom experience. In addition, the human body position distribution information can also be used for security monitoring, to continuously monitor the activities of people in the bathroom space, promptly detect abnormal situations and issue alarms. This linkage control method further improves the intelligence level of the bathroom system and provides a more convenient and comfortable user experience.

[0060] The intelligent bathroom system adopting the human body position detection method described above can achieve accurate human body position detection and intelligent control. This method not only improves the detection accuracy and response speed of the system, but also reduces misjudgment and interference, enhancing the user experience. At the same time, through the linkage with other intelligent devices, the intelligent bathroom system further improves the intelligence level of the system and provides a more convenient and comfortable user experience.

[0061] In addition, those skilled in the art should understand that although there are many problems in the prior art, each embodiment or technical solution of the present invention can be improved in only one or several aspects, and it is not necessary to simultaneously solve all the technical problems listed in the prior art or the background art. Those skilled in the art should understand that the content not mentioned in a claim should not be regarded as a limitation to that claim.

[0062] Although terms such as static interference area, dynamic detection area, human target trajectory data, cross-domain detection window, etc. are used more frequently in this article, the possibility of using other terms is not excluded. The use of these terms is only to more conveniently describe and explain the essence of the present invention; interpreting them as any additional limitation is contrary to the spirit of the present invention; the terms "first", "second", etc. (if any) in the specification, claims and the above drawings of the embodiments of the present invention are used to distinguish similar objects and do not necessarily need to describe a specific order or sequence.

[0063] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements on some or all of the technical features; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for detecting the human body position in an intelligent bathroom space, characterized in that, Including the following steps: Dividing the intelligent bathroom space into at least one static interference area and a dynamic detection area, and setting cross-domain detection windows at the boundaries of the static interference area; Detecting the reflection signals in the intelligent bathroom space through a microwave radar, and analyzing the reflection signals to generate human target trajectory data; Monitoring the cross-domain detection windows, and judging whether the human target enters or leaves the static interference area based on the human target trajectory data and whether the human body enters or exits the cross-domain detection window; When it is judged that the human target enters the static interference area, locking the position information of the human target within the static interference area, and performing interference filtering processing on the reflection signals detected within the static interference area.

2. The method for detecting the human body position in the intelligent bathroom space according to claim 1, wherein, Dividing the intelligent bathroom space into at least one static interference area and a dynamic detection area includes the following steps: According to the facility layout in the intelligent bathroom space, dividing the intelligent bathroom space into several interference areas where there are reflection interference sources that cannot be filtered by the microwave radar and normal areas where there are no reflection interference sources that cannot be filtered by the microwave radar; Determining the interference areas as static interference areas, and determining the normal areas as dynamic detection areas.

3. The method for detecting the human body position in the intelligent bathroom space according to claim 1, wherein, Dividing the intelligent bathroom space into at least one static interference area and a dynamic detection area includes the following steps: According to the facility layout in the intelligent bathroom space, dividing the intelligent bathroom space into several interference areas where there are reflection interference sources that cannot be filtered by the microwave radar and normal areas where there are no reflection interference sources that cannot be filtered by the microwave radar; Obtaining the interference source status signals of each of the interference areas. If the interference source status signal is in the on state, determining the interference area with the interference source status signal in the on state as the static interference area; If the interference source status signal is in the off state, determining the interference area with the interference source status signal in the off state and the normal area as the dynamic detection area.

4. The method for detecting the human body position in the intelligent bathroom space according to claim 3, characterized in that: When the interference area with the interference source status signal in the off state is determined as the dynamic detection area, the reflection signals detected by the microwave radar in the interference area within the dynamic detection area can be denoised through a preset filtering algorithm, and the denoised reflection signals are used to generate human target trajectory data.

5. The method for detecting the human body position in the intelligent bathroom space according to claim 1, wherein, It also includes the following steps: Counting the number of staying persons in the static interference area; Generating a virtual identifier matching the number of staying persons at the corresponding spatial coordinate points in the static interference area; When the human target does not enter the static interference area, determining the real-time positioning coordinates in the dynamic detection area according to the characteristics of the analyzed reflection signals; When the human target leaves the static interference area, updating the number of staying persons and synchronously adjusting the virtual identifier; Fusing the spatial coordinate points of the virtual identifier and the real-time positioning coordinates of the dynamic detection area to generate the human position distribution information of the intelligent bathroom space.

6. The method for detecting the human body position in the intelligent bathroom space according to claim 1, wherein: The setting of the cross-domain detection window includes the following steps: Analyzing the characteristics of the interference sources in the static interference area; Setting the size and position of the cross-domain detection window based on the interference source characteristics and the position range of the human body entering and leaving the interference area; Detection points are set within the cross - domain detection window, and the detection points are used to detect whether a dynamic object passes through the detection points; The generation of human target trajectory data includes the following steps: Based on the reflection signal, obtain the spatial coordinate data of the human target at different time points to form a coordinate sequence, and the coordinate sequence includes time stamps and position information; Calculate the moving speed and direction vector of the human target according to the coordinate sequence to obtain a number of trajectory sequences; judge whether the trajectory sequence conforms to the preset normal moving range of the human body; if it conforms to the preset normal moving range of the human body, determine it as human target trajectory data; if it does not conform to the preset normal moving range of the human body, filter it out; The determination of whether the human target enters or leaves the static interference area based on the human target trajectory data and whether the human body enters or exits the cross - domain detection window includes the following steps: When the human target trajectory data within the preset peripheral distance range of the static interference area shows that the human target is moving towards the direction close to the static interference area, and the cross - domain detection window detects that a dynamic object passes through the detection point, and the characteristics of the dynamic object are human characteristics, it is determined that the human target enters the static interference area; When the human target trajectory data within the preset peripheral distance range of the static interference area shows that the human target is moving away from the static interference area, and the cross - domain detection window detects that a dynamic object passes through the detection point, and the characteristics of the dynamic object are human characteristics, it is determined that the human target leaves the static interference area.

7. The method for detecting the human body position in an intelligent bathroom space according to claim 3, wherein: When detecting the reflection signal in the intelligent bathroom space through a microwave radar, if the area detected by the microwave radar is the interference area in the dynamic detection area, set the sensitivity of the microwave radar to the first sensitivity, and then use the microwave radar with the first sensitivity to detect the reflection signal in the interference area of the dynamic detection area; if the area detected by the microwave radar is the normal area in the dynamic detection area, set the sensitivity of the microwave radar to the second sensitivity; then use the microwave radar with the second sensitivity to detect the reflection signal in the normal area of the dynamic detection area; the first sensitivity is lower than the second sensitivity.

8. A human body position detection device for an intelligent bathroom space, characterized in that, It includes: An area division module for dividing the intelligent bathroom space into at least one static interference area and a dynamic detection area, and a cross - domain detection window is set at the boundary of the static interference area; A radar detection and analysis module for detecting the reflection signal in the intelligent bathroom space through a microwave radar and analyzing the reflection signal to generate human target trajectory data; A monitoring position processing module for monitoring the cross - domain detection window and determining whether the human target enters or leaves the static interference area based on the human target trajectory data and whether the human body enters or exits the cross - domain detection window; When the human target enters the static interference area, lock the position information of the human target within the static interference area; An interference processing module for performing interference filtering processing on the microwave radar reflection signal detected within the static interference area.

9. An intelligent toilet, characterized in that, The intelligent toilet is located in a predetermined space and the intelligent toilet includes a human body position detection device; The human body position detection device includes: A region division module for dividing the vertical region range where the intelligent toilet is located into a static interference region, and a cross-domain detection window is provided at the boundary of the static interference region; A radar detection and analysis module for detecting a reflected signal in the predetermined space through a microwave radar and analyzing the reflected signal to generate human target trajectory data; A monitoring position processing module for monitoring the cross-domain detection window, and judging whether a human target enters or leaves the static interference region based on the human target trajectory data and whether the human body enters or exits the cross-domain detection window; when it is judged that the human target enters the static interference region, locking the position information of the human target within the static interference region; An interference processing module for performing interference filtering processing on the reflected signal detected in the static interference region.

10. An intelligent bathroom system, characterized in that: Adopting the human body position detection method for an intelligent bathroom space according to any one of claims 1-7 or adopting the human body position detection device for an intelligent bathroom space according to claim 8 to control the devices in the intelligent bathroom space to perform corresponding operations according to the human body position distribution.

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