Threshold adjustment method and a processing device and an electronic device with threshold adjustment function

Abstract

The present disclosure provides a threshold adjustment method, a processing device, and an electronic device. A processor pre-stores a preset threshold table. The preset threshold table shows a plurality of preset threshold corresponding to different coordinates in a preset range. When a radar scanner is in a second mode, the processor is configured to generate a scanning result according to radar echo information generated by the radar scanner and the preset threshold, and determine whether the scanning result meets a switching condition. When the scanning result meets the switching condition, the processor further determines whether the scanning result meets a preset ignore state. If it is determined to meet the preset ignore state, at least one threshold value in the preset threshold value table is modified. Next, the radar scanner is switched to a first mode.

Description

[Technical Field]

[0001] The present invention relates to a threshold adjustment method, a processing apparatus, and an electronic device, particularly a threshold adjustment method for providing a radar scanning module executed by a processor, a processing apparatus comprising the ability to execute the threshold adjustment method, and an electronic device comprising a radar scanning module. [Previous Technology]

[0002] Existing common smart doorbells tend to issue warnings or activate video capture when they detect situations such as swaying trees. This design not only inconveniences users but also wastes the doorbell's battery power. [Summary of the Invention]

[0003] The present invention provides a threshold adjustment method, processing device and electronic device, mainly used to improve the problem that existing smart doorbells tend to issue warnings or activate the image capture device when they detect swaying trees, thereby wasting power.

[0004] One embodiment of the present invention discloses a threshold adjustment method, which is provided for execution by a processor of a radar scanning module. The processor pre-stores a preset threshold table, which represents a preset threshold corresponding to different coordinates in a preset range. The radar scanning module further includes a radar scanner. The processor controls the radar scanner to switch between a first mode and a second mode. The radar scanner can scan the preset range to generate multiple radar echo information. When the radar scanner is in the second mode, the processor can execute the threshold adjustment method, which includes the following steps: a mode switching judgment step: generating a scanning result based on the multiple radar echo information and the preset threshold, and judging whether the scanning result meets a switching condition; if the switching condition is met, then executing the following steps: a threshold adjustment judgment step: judging whether the scanning result meets a preset ignore state; if the condition is met, then modifying at least one threshold in the preset threshold table; a switching step: switching the radar scanner to the first mode.

[0005] One embodiment of the present invention discloses a processing device, which includes a processor capable of executing the threshold adjustment method of the present invention.

[0006] One embodiment of the present invention discloses an electronic device comprising: a processor and a radar scanner, wherein the processor is capable of executing the threshold adjustment method of the present invention.

[0007] In summary, the threshold adjustment method, processing device and electronic device of the present invention, through the design of the mode switching judgment step, the threshold adjustment judgment step and the switching step, can make the radar scanner less likely to frequently switch between the first mode and the second mode because of objects that do not need to be tracked, thereby effectively reducing the overall power consumption of the electronic device.

[0008] To further understand the features and technical content of the present invention, please refer to the following detailed description and drawings of the present invention. However, these descriptions and drawings are only used to illustrate the present invention and are not intended to limit the scope of protection of the present invention in any way.

Implementation Method

[0009] In the following description, if it is indicated that a specific figure is referred to or as shown in a specific figure, it is only to emphasize that most of the relevant content mentioned in the following description appears in that specific figure, but does not limit the following description to refer only to that specific figure.

[0010] Please refer to Figures 1 and 2 together. Figure 1 is a block diagram of the electronic device of the present invention, and Figure 2 is a flowchart of the first embodiment of the threshold adjustment method of the present invention. As shown in Figure 1, the electronic device 100 of the present invention includes: a radar scanning module 1 and an image capture device 2. The radar scanning module 1 includes a processor 11, a radar scanner 12, and a storage device 13. The processor 11 is electrically connected to the radar scanner 12 and the storage device 13. After scanning a preset range, the radar scanner 12 generates multiple radar echo information 121. The processor 11 can receive multiple radar echo information 121. The storage device 13 stores a preset threshold table in advance. The preset threshold table is used to represent a preset threshold corresponding to different coordinates in the preset range. In one embodiment, the preset thresholds included in the preset threshold table may be different values ​​depending on the requirements. That is, the preset threshold table may have different thresholds for different coordinate positions in the preset range. In one specific embodiment, the electronic device 100 may be a doorbell, but the invention is not limited thereto.

[0011] In practice, after receiving multiple radar echo information 121, the processor 11 may perform calculations such as Fast Fourier Transform (FFT) and Constant False Alarm Rate (CFAR) on the radar echo information to generate at least one point cloud information. The method of converting radar echo information into point cloud information is prior art and will not be elaborated here. Each point cloud information includes at least coordinate, radius, signal strength, signal-to-noise ratio (SNR), and horizontal and vertical azimuth / elevation angles.

[0012] The preset threshold table is used to provide the processor 11 with information to determine whether an object that needs to be tracked appears within a preset range. Specifically, after obtaining radar echo information, the processor 11 will look up the corresponding preset threshold in the preset threshold table based on the coordinates in the radar echo information, and determine whether the signal strength in the radar echo information is greater than the found preset threshold. If the signal strength is greater than the found preset threshold, the processor 11 will determine that an object that may need to be tracked appears at the position corresponding to the coordinates within the preset range.

[0013] It should be noted that the closer the object is to the radar scanner 12 within the preset range, the stronger the signal intensity of the radar echo information received by the processor 11; conversely, the farther the object is from the radar scanner 12 within the preset range, the weaker the signal intensity of the radar echo information received by the processor 11. Therefore, in order for the processor to more accurately determine whether an object that may need to be tracked appears within the preset range, in practice, the preset threshold corresponding to the position farther from the radar scanner 12 within the preset range can be made smaller in the preset threshold table; and the preset threshold corresponding to the position closer to the radar scanner 12 within the preset range can be made larger in the preset threshold table. However, the present invention is not limited to this. For example, in other embodiments of the present invention not illustrated, the preset threshold corresponding to the preset threshold table can be adjusted and changed according to actual design requirements.

[0014] In one embodiment, when the radar scanner 12 is in the first mode, it scans the preset range at a first time interval; when the radar scanner 12 is in the second mode, it scans the preset range at a second time interval; wherein the first time interval is longer than the second time interval. For example, when the radar scanner 12 is in the first mode, it scans the preset range once every 1000 milliseconds; when the radar scanner 12 is in the second mode, it scans the preset range once every 100 milliseconds. That is to say, if the radar scanner 12 is in the second mode for the same duration, the power consumption will be higher than that if it is in the first mode for the same duration. In one embodiment, when the radar scanner 12 is in the first mode and the second mode, the radar scanner 12 may scan the preset range in a low-resolution mode and a high-resolution mode, respectively.

[0015] The processor 11 can control the radar scanner 12 to switch between a first mode and a second mode. When the radar scanner 12 is in the second mode, the radar scanner 12 scans a preset range to generate multiple radar echo information. The processor 11 can then receive the multiple radar echo information and execute the threshold adjustment method of the present invention.

[0016] In practice, when the radar scanner 12 is in the first mode, if the processor 11 determines that there is an object to be tracked in the preset range based on the radar echo information transmitted by the radar scanner 12, the processor will control the radar scanner 12 to switch to the second mode.

[0017] The threshold adjustment method of the present invention includes the following steps:

[0018] Mode switching judgment step S1: Generate a scan result based on multiple radar echo information and a preset threshold, and determine whether the scan result meets a switching condition:

[0019] If the determination is met, then perform the following steps:

[0020] A threshold adjustment judgment step S2: Determine whether the scan result meets a preset ignore state;

[0021] If the preset ignore state is met, then the following steps are executed:

[0022] One threshold adjustment step S3: Modify at least one preset threshold in the preset threshold table;

[0023] Switching step S4: Switch the radar scanner 12 to the first mode.

[0024] If it is determined that the preset ignore state is not met, then a threshold holding step S5 is executed: the preset threshold of the preset threshold table is not modified.

[0025] In practical applications, in the mode switching judgment step S1, the processor 11 may first convert each radar echo information into point cloud information, then use the coordinates in the point cloud information to find the corresponding preset threshold in the preset threshold table, and determine whether the signal strength in the point cloud information is greater than the preset threshold. If it is greater than the preset threshold, the processor uses the point cloud information to establish the object to be tracked. After the processor establishes the corresponding object to be tracked using multiple radar echo information, the processor can establish the movement trajectory of the object to be tracked based on the positions of multiple objects to be tracked, and the movement trajectory is the scanning result.

[0026] Continuing from the above, in the mode switching judgment step S1, after the movement trajectory of the object to be tracked is established, the processor 11 can determine whether the movement trajectory of the object to be tracked conforms to one of the multiple preset trajectories; if the processor 11 determines that it does not conform to one of the preset trajectories, the processor 11 will determine that the scanning result meets the switching conditions, otherwise the processor 11 will determine that the scanning result does not meet the switching conditions.

[0027] In the example where the electronic device 100 is used as a doorbell, one of the preset trajectories can be objects walking towards the doorbell. That is, in the example where the electronic device 100 is used as a doorbell, when the processor 11 is in the second mode, if the processor 11 determines, based on the radar echo information, that an object walking towards the doorbell appears in the preset range in front of the doorbell, the processor 11 will determine that the scanning result does not meet the switching conditions, and the processor 11 will not switch the radar scanner 12 to the first mode; the radar scanner will remain in the second mode. Conversely, if the processor 11 determines, based on the radar echo information, that no object matching any preset trajectory appears in the preset range in front of the doorbell, the processor 11 will determine that the scanning result meets the switching conditions and continue to execute the threshold adjustment judgment step S2.

[0028] As described above, during the mode switching judgment step S1, if the scanning result meets the switching conditions, it indicates that the movement trajectory of the object to be tracked does not conform to one of the multiple preset trajectories. If the scanning result does not meet the switching conditions, it indicates that the movement trajectory of the object to be tracked conforms to one of the multiple preset trajectories, and the processor can then execute a notification step SX: sending a notification message 111 to the image capturer 2 to start the image capturer 2. After the image capturer 2 is started, it may, for example, take pictures and / or record videos of a preset range.

[0029] In an embodiment where the electronic device 100 does not include an image capture device 2, in the notification step SX, the processor 11 sends the notification information 111 to a preset external image capture device. After receiving the notification information 111, the external image capture device may take a picture and / or record a video of a preset area.

[0030] In practical applications, in the threshold adjustment judgment step S2, the preset ignore state can be that the movement distance of the tracked object within a preset time period is less than a preset distance, that is, the movement distance corresponding to the movement trajectory is less than the preset distance. For example, assuming that there are trees swaying in the wind within the preset range, and the distance the trees sway is less than the preset distance, then in the mode switching judgment step S1, the processor will determine that the movement trajectory of the tracked object (tree) within the preset range does not conform to any preset trajectory, and continue the threshold adjustment judgment step S2. In the threshold adjustment judgment step S2, the processor 11 will determine that the scanning result conforms to the preset ignore state because the movement distance of the trees is less than the preset distance.

[0031] In practical applications, in the threshold adjustment step S3, the method of modifying the preset threshold in the preset threshold table is to modify at least one preset threshold in the preset threshold table to a new threshold. The value of the new threshold is greater than the value of the preset threshold. The threshold adjustment area formed by the coordinates corresponding to the multiple new thresholds can cover at least a portion of the activity range of the tracked object within a preset time period. In other words, the thresholds corresponding to at least a portion of the activity range of the tracked object within the preset time period will be modified to the new thresholds.

[0032] In practice, after the radar scanner 12 switches to the first mode, it will continue to generate radar echo information. After receiving the radar echo information, the processor can use the coordinates and signal strength in the radar echo information, as well as the current preset threshold table, to determine whether an object to be tracked appears within a preset range. When the processor determines that the signal strength in the radar echo information is less than the corresponding preset threshold in the preset threshold table, the processor will determine that no object to be tracked appears within the preset range. Conversely, if the processor determines that an object to be tracked appears in the radar echo information, the processor will switch the radar scanner to the second mode, and the processor can continue to execute the threshold adjustment method of the present invention.

[0033] Continuing with the example of the tree above, after the processor 11 completes the threshold adjustment step S3 and the switching step S4 and the radar scanner 12 switches to the first mode, since the threshold corresponding to the tree position in the current preset threshold table has been modified to the new threshold, after the processor obtains the signal strength corresponding to the tree position in the radar echo information, it will determine that there is no object to be tracked in the preset range corresponding to the tree position because the signal strength is less than the new threshold. Therefore, the processor will not switch the radar scanner to the second mode because there are trees swaying in the wind in the preset range.

[0034] As described above, by designing the mode switching judgment step S1, the threshold adjustment judgment step S2 and the threshold adjustment step S3, the radar scanner 12 will not frequently switch between the first mode and the second mode because of objects that exist in the preset range and do not need to be tracked (such as trees swaying in the wind in the above example). In this way, the power consumption of the radar scanner 12 can be reduced.

[0035] Please also refer to Figure 3, which shows a flowchart of the second embodiment of the threshold adjustment method of the present invention. The threshold adjustment method of this embodiment differs from that of the first embodiment in that, in the mode switching judgment step S1, the following steps are performed:

[0036] Conversion step S11: Convert multiple radar echo information into multiple point cloud information;

[0037] Step S12: Using multiple point cloud information, establish the object to be tracked and determine whether the movement trajectory of the object to be tracked conforms to one of the multiple preset trajectories.

[0038] If the determination is met, then execute the notification step SX.

[0039] If it is determined that it does not meet the requirements, then the threshold adjustment judgment step S2 is executed.

[0040] It should be noted that when the radar scanner 12 is in the second mode, the radar scanner 12 will continuously scan a preset range at second preset time intervals to continuously generate radar echo information 121, and the processor 11 will continuously receive the radar echo information 121 transmitted by the radar scanner 12. Since the processor 11 continuously receives the radar echo information 121, the processor 11 can continuously convert the radar echo information 121 into multiple point cloud information, and use the multiple point cloud information to establish the tracker. In the tracker trajectory establishment and judgment step S12, the processor 11 uses the positions of the multiple trackers established successively to generate the trajectory of the tracker. The method of establishing the movement trajectory of the tracker is conventional technology and will not be described in detail here.

[0041] In practice, when the processor 11 determines in the tracking trajectory establishment and judgment step S12 that the movement trajectory of the object to be tracked is not any preset trajectory, it may mean that the object to be tracked is stationary, the movement of the object to be tracked is very small, the object to be tracked has disappeared, or the object to be tracked has moved but does not belong to any preset trajectory.

[0042] In practical applications, the radar scanning module 1 may include a hardware accelerator, which is mainly used to accelerate the processor 11 in executing the above-mentioned conversion step S11, the tracking object trajectory establishment and judgment step S12, and the work of establishing the tracking object using multiple point cloud information. Specifically, the hardware accelerator may include a computing chip, which is designed specifically to perform the above steps. Through the design of the hardware accelerator, the overall response speed and operating efficiency of the electronic device can be improved.

[0043] In one embodiment, in the tracking trajectory establishment and judgment step S12, the processor 11 may use an extended Kalman filter (EKF) to generate the tracking object.

[0044] Please refer to Figure 4 as well. Figure 4 shows a flowchart of the third embodiment of the threshold adjustment method of the present invention. In the figure of this embodiment, the process steps before the threshold adjustment judgment step S2 are the same as those in the second embodiment, and are therefore omitted from the figure.

[0045] In the threshold adjustment step S3, the following steps are performed:

[0046] Step S31A for establishing an adjustment range: Using the point cloud coordinates of each point cloud information, establish a point cloud adjustment area with a preset area;

[0047] Replacement step S32A: Based on the point cloud adjustment area, modify at least one preset threshold to be corrected in the preset threshold table to a new threshold greater than the original threshold. It should be noted that each preset threshold to be corrected refers to a preset threshold that is less than the signal strength in the point cloud information. That is, if it is located in the point cloud adjustment area but the threshold is greater than the signal strength threshold, it is not the preset threshold to be corrected.

[0048] For example, as shown in Tables 1 and 2 below, these are a preset threshold table and a modified preset threshold table, respectively, stored in the memory. In Tables 1 and 2, the values ​​in the first row represent the Y-axis coordinate values, the values ​​in the first column represent the X-axis coordinate values, and the value in each cell of the table represents the threshold corresponding to a specific (X,Y) coordinate. For example, in Table 1, the threshold corresponding to coordinate (1,1) is 19.208, and the threshold corresponding to coordinate (3,4) is 7. The threshold values ​​corresponding to each coordinate in the preset threshold table can be designed according to actual needs; Table 1 shows only one example.

[0049] As shown in Table 1, assuming that in the mode switching judgment step S1, the processor 11 determines that a point cloud information appears within a preset range, and in the adjustment range establishment step S31A, the processor 11 determines that the point cloud coordinates of the point cloud information correspond to the coordinates (3,4) of the preset threshold table, then the preset threshold value corresponding to the point cloud information in the preset threshold table is 7. The method by which the processor 11 converts the point cloud coordinates into the coordinates of the preset threshold table is prior art and will not be described in detail here.

[0050] Continuing with the above example, as shown in Table 2 below, assuming that the preset area is 9 square units in the adjustment range establishment step S31A, the processor 11 will expand by 1 cell in each direction around the coordinate (3,4) to establish the point cloud adjustment area. The preset area of ​​the point cloud adjustment area is 9 square units. In the replacement step S32A, at least one threshold in the point cloud adjustment area in the preset threshold table shown in Table 1 will be modified to a new threshold that is greater than the original threshold.

[0051] Specifically, assuming the signal strength of the point cloud information is 7.25, then in the replacement step S32A, the processor 11 may only modify the threshold corresponding to the coordinates located in the point cloud adjustment area whose threshold is less than 7.25. In other words, in the preset threshold table shown in Table 1, since the thresholds corresponding to coordinates (2,4), (2,5), (3,4), (3,5), and (4,5) are all less than 7.25, while the thresholds corresponding to coordinates (2,3), (3,3), (4,3), and (4,4) are all greater than 7.25, in the replacement step S32A, the processor 11 will only modify the thresholds corresponding to coordinates (2,4), (2,5), (3,4), (3,5), and (4,5) to the new thresholds, and the processor 11 will not modify the thresholds corresponding to coordinates (2,3), (3,3), (4,3), and (4,4).

[0052] Table 1: X coordinates Y coordinates 1 2 3 4 5 6 1 19.208 19.208 19.208 19.208 19.208 19.208 2 19.208 19.208 19.208 19.208 19.208 19.208 3 19.208 19.208 19.208 19.208 19.208 19.208 4 7 7 7 19.208 19.208 19.208 5 7 7 7 7 19.208 19.208 6 7 7 7 7 7 19.208

[0053] Table 2: X coordinate Y coordinate 1 2 3 4 5 6 1 19.208 19.208 19.208 19.208 19.208 19.208 2 19.208 19.208 19.208 19.208 19.208 19.208 3 19.208 19.208 19.208 19.208 19.208 19.208 4 7 9.25 9.25 19.208 19.208 19.208 5 7 9.25 9.25 9.25 19.208 19.208 6 7 7 7 7 7 19.208

[0054] Please refer to Figures 5 and 6 together. Figure 5 shows a flowchart of the fourth embodiment of the threshold adjustment method of the present invention, and Figure 6 shows an adjustment schematic diagram of the threshold adjustment step in Figure 5. The flow steps of the threshold adjustment method in this embodiment before the threshold adjustment judgment step S2 are the same as those in the third embodiment, and therefore are omitted from the figures.

[0055] In this embodiment, in the conversion step S11 (as shown in Figure 3), multiple radar echo information 121 are converted into multiple point cloud information. Each point cloud information includes at least point cloud coordinates and signal parameters. In the threshold adjustment step S3, the following steps are performed:

[0056] S31B: Based on the distance between multiple point cloud coordinates, the multiple point cloud coordinates are divided into multiple point cloud groups; the straight-line distance between multiple point cloud coordinates located in the same point cloud group is less than a preset distance.

[0057] Step S32B for establishing an adjustment range: A point cloud adjustment area is established based on the straight-line distance between each point cloud coordinate in each point cloud group and the radar scanner 12; all point cloud coordinates in the same point cloud group are located in the same point cloud adjustment area.

[0058] One replacement step S33B: Based on the point cloud adjustment area, modify at least one preset threshold to be corrected in the preset threshold table to a new threshold.

[0059] As shown in Figure 6, Figure 6 illustrates the distance relationship between point cloud information and the radar scanner. The X and Y axes in the figure represent distances, and each pattern in the figure represents a single point cloud information entry. The area enclosed in the figure represents the preset range. In the example shown in Figure 6, in the clustering step S31B, the processor 11 will cluster the multiple point cloud coordinates into a first point cloud group PG1, a second point cloud group PG2, a third point cloud group PG3, a fourth point cloud group PG4, and a fifth point cloud group PG5 based on the straight-line distances between them. In one example, the processor may use a density-based spatial clustering of applications with noise (DBSCAN) algorithm to cluster the multiple point cloud information entries. In other words, adjacent point cloud information entries will be classified into the same point cloud group by the processor.

[0060] Following the above, after the processor divides the multiple point cloud information into groups, in the adjustment range establishment step S32B, the processor may use the straight-line distance between each point cloud coordinate and the radar scanner 12 in each point cloud group to establish the point cloud adjustment area corresponding to each point cloud group.

[0061] Taking the first point cloud group PG1 as an example, the processor 11 can find the point cloud coordinates with a minimum straight-line distance MR and the point cloud coordinates with a maximum straight-line distance LR based on the straight-line distance between the point cloud coordinates of each point cloud information in the point cloud group and the position of the radar scanner 12. Furthermore, the processor 11 can find the point cloud coordinates with a minimum angle MA and a maximum angle LA based on the angle between the line connecting each point cloud coordinate to the radar scanner 12 and the horizontal line in the first point cloud group PG1. After finding the four point cloud coordinates, the processor 11 can use these four point cloud coordinates to establish the point cloud adjustment area of ​​the first point cloud group PG1. The establishment methods for the point cloud adjustment areas of the second point cloud group PG2, the third point cloud group PG3, the fourth point cloud group PG4, and the fifth point cloud group PG5 are the same as those for the first point cloud group PG1, and will not be repeated here.

[0062] In practical applications, in the adjustment range establishment step S32B, after establishing the point cloud adjustment area, the processor 11 can record the point cloud coordinates and signal parameters of multiple point cloud information within each point cloud adjustment area, and record the corresponding threshold value of each point cloud coordinate in the preset threshold table. In the replacement step S33B, the processor 11 corrects the corresponding preset threshold value to be corrected in the preset threshold table based on the multiple point cloud information within each point cloud adjustment area. It should be noted that in this embodiment, the processor first establishes multiple point cloud adjustment areas and records multiple preset threshold values ​​to be corrected, and then in the replacement step S33B, corrects multiple preset threshold values ​​to be corrected in the preset threshold table all at once. However, in practice, the processor can also correct multiple preset threshold values ​​to be corrected in the preset threshold table in stages. In practice, to ensure that each preset threshold to be corrected is correctly modified, the processor may first confirm whether each point cloud coordinate has been assigned to one of the point cloud adjustment areas before replacing step S33B, and whether the preset threshold to be corrected for each point cloud coordinate and its coordinate in the preset threshold table have been recorded.

[0063] Please refer to Figure 7, which shows a flowchart of the fifth embodiment of the threshold adjustment method of the present invention. This embodiment differs from the aforementioned fourth embodiment in that the substitution step S33B in this embodiment includes the following steps:

[0064] Average calculation step S331A: Remove outliers from multiple signal parameters (such as the aforementioned signal strength) in each point cloud group, and calculate an average signal value using the remaining multiple signal parameters.

[0065] Modification step S332A: Take the average value of the signal as the new threshold, and adjust the area according to the point cloud, modify at least one preset threshold to be corrected in the preset threshold table to the new threshold.

[0066] It should be noted that in this embodiment, in the average calculation step S331A, by first removing outliers from multiple signal parameters in the point cloud group and then calculating the average signal value, the new threshold in the preset threshold table will not be affected by outliers, and the new threshold will not be adjusted to a value that is too low or too high.

[0067] Please refer to Figure 8, which shows a flowchart of the sixth embodiment of the threshold adjustment method of the present invention. This embodiment differs from the aforementioned fourth embodiment in that: the substitution step S33B in this embodiment includes the following steps:

[0068] Step S331B for obtaining the maximum value: The maximum value among multiple signal parameters in each point cloud group is used as an adjustment threshold; and

[0069] Modification step S332B: Take the adjustment threshold as the new threshold, and based on the point cloud adjustment area, modify at least one preset threshold to be corrected in the preset threshold table to the new threshold.

[0070] It is worth mentioning that, in one preferred embodiment, in the step of taking the maximum value S331B, outlier values ​​of multiple signal parameters in each point cloud group can be removed first, and then the maximum value can be taken from the remaining signal parameters as the adjustment threshold.

[0071] Please refer to Figure 9, which shows a flowchart of the seventh embodiment of the threshold adjustment method of the present invention. This embodiment differs from the aforementioned fourth embodiment in that the substitution step S33B in this embodiment includes the following steps:

[0072] Smoothing calculation step S331C: Using multiple signal intensities in each point cloud group, a smoothing process is performed to calculate a smoothing threshold;

[0073] Modification step S332C: Take the smoothing threshold as the new threshold, and modify multiple preset thresholds to be corrected in the preset threshold table to the new threshold based on the point cloud adjustment area.

[0074] In one practical application, in the smoothing calculation step S331C, Gaussian smoothing can be performed on multiple signal intensities to calculate the smoothing threshold. Performing Gaussian smoothing on multiple data points to calculate the smoothed data is a known technique and will not be elaborated upon here.

[0075] Please refer to Figure 10, which shows a flowchart of the eighth embodiment of the threshold adjustment method of the present invention. This embodiment differs from the previous embodiments in that: in the threshold adjustment step S3 (as shown in Figure 3), after at least one preset threshold in the preset threshold table is modified to a new threshold, the preset threshold table is defined as a modified threshold table; in the threshold adjustment judgment step S2, if the scan result is determined to meet the preset ignore state, the following steps are executed:

[0076] Initialization judgment step S6: Determine whether the operating time of processor 11 has reached a preset interval time;

[0077] If the operating time reaches the preset interval, the processor 11 will execute the following steps:

[0078] Initialization step S7: Replace the current modified threshold table with a preset threshold table that is stored in a memory.

[0079] Switching step S4: Switch the radar scanner 12 to the first mode.

[0080] In practice, the memory 13 may store two preset threshold tables. In the aforementioned threshold adjustment step, the processor 11 will only modify one of the preset threshold tables, while the processor 11 will not modify the other preset threshold table. In the initialization step S7, the processor 11 replaces the other preset threshold table with the preset threshold table that has never been modified. That is, in the initialization step S7, the processor 11 updates the preset threshold table that can be modified to the original preset threshold table that has not been modified.

[0081] It should be noted that the design of the initialization judgment step S6 in this embodiment can avoid erroneous changes caused by repeatedly modifying the threshold values ​​in the preset threshold table. For example, due to weather factors (e.g., typhoons), the environment changes drastically (e.g., trees sway violently), causing the threshold table to be updated frequently and the threshold values ​​to become increasingly larger, making it unusable in normal use scenarios. Therefore, the initialization step S7 in this embodiment is designed to ensure that the threshold table can be applied to normal use scenarios.

[0082] In one of the variations, the initialization judgment step S6 may not be executed after the threshold adjustment judgment step S2, while the processor 11 executes the initialization step S7 when its operating time reaches the preset interval.

[0083] Please refer to Figure 11, which shows a flowchart of the ninth embodiment of the threshold adjustment method of the present invention. This embodiment differs from the aforementioned second embodiment in that, after notifying step SX, this embodiment performs the following steps:

[0084] Initialization step SY: Replace the current modified preset threshold table with the preset threshold table that is stored in memory 13.

[0085] Switching step S4: Switch radar scanner 12 to the first mode.

[0086] In this embodiment, in addition to executing the initialization step SY when the processor 11's operating time reaches a preset interval, the initialization step SY will also be executed after the notification step SX.

[0087] It should be noted that the processing device capable of performing the threshold adjustment method of the present invention, and the electronic device including the processing device of the present invention, can be sold, implemented or manufactured independently.

[0088] [Technical Effects of the Embodiments of the Invention]

[0089] In summary, the threshold adjustment method, processing device and electronic device of the present invention, through the design of the mode switching judgment step, the threshold adjustment judgment and switching step, etc., make it less likely for the radar scanner to frequently switch between the first mode and the second mode because there is no object to track. In this way, the overall power consumption of the electronic device is effectively reduced.

[0090] The content disclosed above is only a preferred and feasible embodiment of the present invention, and is not intended to limit the patent scope of the present invention. Therefore, all equivalent technical changes made using the contents of the present invention specification and drawings are included in the patent scope of the present invention. [Simplified Explanation of the Diagram]

[0091] Figure 1 is a block diagram of the electronic device of the present invention.

[0092] Figure 2 is a flowchart of the first embodiment of the threshold adjustment method of the present invention.

[0093] Figure 3 is a flowchart of the second embodiment of the threshold adjustment method of the present invention.

[0094] Figure 4 is a flowchart of the third embodiment of the threshold adjustment method of the present invention.

[0095] Figure 5 is a flowchart of the fourth embodiment of the threshold adjustment method of the present invention.

[0096] Figure 6 is a schematic diagram of the adjustment range establishment of the threshold adjustment steps in Figure 5.

[0097] Figure 7 is a flowchart of the fifth embodiment of the threshold adjustment method of the present invention.

[0098] Figure 8 is a flowchart of the sixth embodiment of the threshold adjustment method of the present invention.

[0099] Figure 9 is a flowchart of the seventh embodiment of the threshold adjustment method of the present invention.

[0100] Figure 10 is a flowchart of the eighth embodiment of the threshold adjustment method of the present invention.

[0101] Figure 11 is a flowchart of the ninth embodiment of the threshold adjustment method of the present invention.

Claims

1. A threshold adjustment method, provided for execution by a processor of a radar scanning module, the processor pre-storing a preset threshold table, the preset threshold table representing a preset threshold corresponding to different coordinates within a preset range; the radar scanning module further includes a radar scanner, the processor controlling the radar scanner to switch between a first mode and a second mode, the radar scanner capable of scanning the preset range to generate multiple radar echo information; the processor can execute the threshold adjustment method when the radar scanner processes the second mode, comprising the following steps: A mode switching judgment step: Based on multiple radar echo information and the preset threshold, a scanning result is generated, and it is determined whether the scanning result meets a switching condition; If it is determined that the switching condition is met, the following steps are executed: A threshold adjustment judgment step: It is determined whether the scanning result meets a preset ignore state; If it is determined that it meets the condition, at least one threshold in the preset threshold table is modified; A switching step: The radar scanner is switched to the first mode.

2. The threshold adjustment method as described in claim 1, wherein, In the threshold adjustment judgment step, if it is determined that the preset ignore state is not met, a threshold holding step is executed: the preset threshold of the preset threshold table is not modified.

3. The threshold adjustment method as described in claim 1, wherein, The mode switching judgment step includes: a conversion step: converting multiple radar echo information into multiple point cloud information; a tracking object trajectory establishment judgment step: using the multiple point cloud information, establishing a tracking object, and judging whether the movement trajectory of the tracking object conforms to one of multiple preset trajectories, so as to determine whether the scanning result meets the switching condition; if the scanning result is determined to meet the switching condition, then the movement trajectory is not one of the multiple preset trajectories, and the threshold adjustment judgment step is executed.

4. The threshold adjustment method as described in claim 3, wherein, In the threshold adjustment judgment step, the processor modifies the preset threshold of the preset threshold table by performing the following steps: a threshold adjustment step: modifying at least one preset threshold in the preset threshold table to a new threshold; wherein the value of the new threshold is greater than the value of the preset threshold.

5. The threshold adjustment method as described in claim 4, wherein, The coordinates corresponding to the multiple new thresholds can form a threshold adjustment region, which can cover at least a portion of the activity range of the tracked object within a preset time period.

6. The threshold adjustment method as described in claim 5, wherein, In the threshold adjustment judgment step, if it is determined that the movement distance of the object to be tracked within the preset time period is less than a preset distance, then it is determined that the movement trajectory conforms to the preset ignore state.

7. The threshold adjustment method as described in claim 4, wherein, Each point cloud information entry contains at least one point cloud coordinate. The threshold adjustment step includes the following steps: an adjustment range establishment step: establishing a point cloud adjustment region with a preset area based on the point cloud coordinates of each point cloud information entry; and a replacement step: modifying at least one preset threshold to be corrected in the preset threshold table to a new threshold that is greater than the original threshold, based on the point cloud adjustment region.

8. The threshold adjustment method as described in claim 4, wherein, Each point cloud information entry includes at least one point cloud coordinate and one signal parameter. The threshold adjustment step includes the following steps: A grouping step: Based on the distance between the multiple point cloud coordinates, the multiple point cloud coordinates are divided into multiple point cloud groups; the straight-line distance between multiple point cloud coordinates located in the same point cloud group is less than a preset distance; A point adjustment range establishment step: Using the straight-line distance and angle between each point cloud coordinate in each point cloud group and the radar scanner, a point cloud adjustment area is established; all point cloud coordinates in the same point cloud group are located in the same point cloud adjustment area; And a replacement step: Based on the point cloud adjustment area, modify at least one preset threshold to be corrected in the preset threshold table to the new threshold.

9. The threshold adjustment method as described in claim 8, wherein, The replacement step includes the following steps: an average calculation step: removing outliers from multiple signal parameters in each point cloud group, and calculating an average signal value using the remaining multiple signal parameters; and a modification step: using the average signal value as the new threshold, and modifying at least one preset threshold to be corrected in the preset threshold table to the new threshold based on the point cloud adjustment area.

10. The threshold adjustment method as described in claim 8, wherein, The replacement step includes the following steps: a maximum value step: taking the maximum value among multiple signal parameters in each point cloud group as an adjustment threshold; and a modification step: taking the adjustment threshold as the new threshold, and modifying at least one preset threshold to be corrected in the preset threshold table to the new threshold according to the point cloud adjustment area.

11. The threshold adjustment method as described in claim 8, wherein, The replacement step includes the following steps: a smoothing calculation step: using the signal strength of multiple point cloud information in each point cloud group to perform a smoothing process to calculate a smoothing threshold; and a modification step: using the smoothing threshold as the new threshold, and modifying multiple preset thresholds to be corrected in the preset threshold table to the new threshold according to the point cloud adjustment area.

12. The threshold adjustment method as described in claim 8, wherein, In the threshold adjustment step, after at least one of the preset threshold values ​​in the preset threshold table is modified to the new threshold value, the preset threshold table is defined as a modified threshold table. In the tracking trajectory establishment and judgment step, if the movement trajectory of the object to be tracked is not one of a plurality of preset trajectories, and before the grouping step, the processor first executes the following steps: an initialization judgment step: determining whether the processor's operating time has reached a preset interval time; if the operating time has reached the preset interval time, the processor will execute the following steps: an initialization step: replacing the current modified threshold table with the preset threshold table that is pre-stored in a storage.

13. The threshold adjustment method as described in claim 4, wherein, In the threshold adjustment step, after at least one preset threshold in the preset threshold table is modified to the new threshold, the preset threshold table is defined as a modified threshold table. In the tracking trajectory establishment judgment step, if the movement trajectory of the object to be tracked is not one of the multiple preset trajectories, the processor first executes the following steps: an initialization judgment step: determining whether the processor's operating time has reached a preset interval; if the operating time has reached the preset interval, the processor will execute the following steps: an initialization step: replacing the current modified threshold table with the preset threshold table pre-stored in a storage device.

14. The threshold adjustment method as described in claim 4, wherein, In the tracking trajectory establishment and judgment step, if it is determined that the movement trajectory of the object to be tracked conforms to one of the multiple preset trajectories, the following steps are executed: a notification step: sending a notification message to an image capture device to start the image capture device; an initialization step: replacing the current preset threshold table with the preset threshold table that is pre-stored in a storage device.

15. A processing apparatus having a threshold adjustment function, comprising a processor capable of performing the threshold adjustment method as described in any one of claims 1 to 14.

16. An electronic device having a threshold adjustment function, comprising: a processor and a radar scanner, the processor being capable of performing the threshold adjustment method as described in any one of claims 1 to 14.

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