Target detection method, system, computer device and readable storage medium

Abstract

The present invention provides a target detection method, comprising: collecting multiple to-be-processed data returned by the object to be detected according to a preset number of times within a first preset time by a radar, and preprocessing the multiple to-be-processed data collected each time to obtain multiple intermediate frequency data; judging whether the object to be detected has entered a first preset area of ​​the radar according to the multiple intermediate frequency data by the chip of the radar; if the object to be detected has entered the first preset area, judging whether the multiple intermediate frequency data meet the preset target detection rules by a microprocessor; and if the multiple intermediate frequency data meet the preset target detection rules, determining that the object to be detected is a target. The present invention makes two judgments on the object to be detected by the radar and the microprocessor, effectively improving the efficiency and accuracy of target detection, reducing the influence of environmental interference on target detection, and reducing the false alarm rate of the radar.

Description

Technical Field

[0001] Embodiments of the present invention relate to the field of sensor detection technology, and in particular, to a target detection method, system, computer device, and computer-readable storage medium. Background Art

[0002] In the target detection technology of wireless technology, infrared sensors are mainly used to collect signals to detect targets and determine whether the targets are close to the area where the infrared sensors are located. However, the method of using infrared sensor technology for target detection has high power consumption, and the detection process is easily affected by outdoor environmental factors, resulting in low detection efficiency and low detection accuracy. Summary of the invention

[0003] In view of this, the embodiments of the present invention provide a target detection method, system, computer device and computer-readable storage medium, which are used to solve the problems of low detection efficiency and low detection accuracy of the target detection method using infrared sensing technology.

[0004] The embodiment of the present invention solves the above technical problems through the following technical solutions:

[0005] One aspect of the present invention provides a target detection method, comprising:

[0006] The radar collects a plurality of to-be-processed data returned by the object to be tested according to a preset number of times within a first preset time, and pre-processes the plurality of to-be-processed data collected each time to obtain a plurality of intermediate frequency data;

[0007] Determining, by the radar chip according to the plurality of intermediate frequency data, whether the object to be detected enters a first preset area of ​​the radar;

[0008] If the object to be detected enters the first preset area, the microprocessor determines whether the plurality of intermediate frequency data meet the preset target detection rules; and

[0009] If the plurality of intermediate frequency data satisfy the preset target detection rule, the object to be detected is determined to be a target object.

[0010] Optionally, the preprocessing of the multiple to-be-processed data collected each time to obtain multiple intermediate frequency data includes:

[0011] Performing a low-pass filtering operation on the multiple data to be processed collected each time through a recursive filter in the radar, and screening to obtain multiple first data, wherein the frequency of each first data is lower than a preset frequency threshold of the recursive filter;

[0012] Downsampling the plurality of first data by using an integral comb cascade filter in the radar, and filtering to obtain a plurality of second data; wherein the plurality of to-be-processed data collected each time are obtained by sampling at a first sampling rate of an ADC in the radar, and the second data are obtained at a second sampling rate, and the first sampling rate is higher than the second sampling rate; and

[0013] The radar performs a mixing operation on the plurality of second data to obtain the plurality of intermediate frequency data.

[0014] Optionally, the chip of the radar determines whether the object to be detected enters a first preset area of ​​the radar according to the plurality of intermediate frequency data, including:

[0015] Acquiring multiple level values ​​corresponding to the multiple intermediate frequency signals collected each time through the radar chip;

[0016] Extracting the maximum level value and the minimum level value from the multiple level values ​​collected each time, and calculating the target level value corresponding to each collection according to the maximum level value and the minimum level value collected each time;

[0017] Determine whether the target level value collected each time is greater than a preset first level value threshold;

[0018] According to the multiple judgment results, a plurality of to-be-processed count values ​​corresponding to the multiple judgment results are generated;

[0019] Calculating a target count value according to the plurality of count values ​​to be processed; and

[0020] The target count value is compared with a preset count value threshold to determine whether the object to be detected enters a first preset area of ​​the radar.

[0021] Optionally, generating a plurality of to-be-processed count values ​​corresponding to the plurality of judgment results according to the plurality of judgment results includes:

[0022] If the target level value is greater than the preset first level value threshold, generating a first count value;

[0023] If the target level value is not greater than the preset first level value threshold, a second count value is generated; wherein the first count value is greater than the second count value.

[0024] Optionally, if the object to be detected enters the first preset area, determining by a microprocessor whether the plurality of intermediate frequency data satisfy a preset target detection rule includes:

[0025] If the object to be detected enters a first preset area of ​​the radar, a trigger instruction is generated by the radar, and the trigger instruction is sent to the microprocessor; and

[0026] In response to the trigger signal, the microprocessor compares the plurality of target level values ​​with a preset second level value threshold value respectively;

[0027] Correspondingly,

[0028] If the plurality of intermediate frequency data satisfy the preset target detection rule, determining that the object to be detected is a target object includes:

[0029] If a preset number of target level values ​​are continuously greater than the preset second level value threshold, the object to be detected is determined to be a target object.

[0030] Optionally, the method further comprises:

[0031] If there is an abnormal level value among a continuous preset number of target level values, the object to be tested is determined to be a non-target object; wherein the abnormal level value is a level value not greater than the preset second level value threshold.

[0032] Optionally, after determining that the object to be detected is a non-target object, the method further includes:

[0033] generating a modification instruction by the microprocessor, and sending the modification instruction to the radar;

[0034] adjusting the first preset area by the radar in response to the modification instruction;

[0035] Determining whether the object to be detected is an environmental interference object after a second preset time interval according to the adjusted first preset area by the radar;

[0036] If it is determined that the object to be detected is an environmental interference object, the radar repeatedly performs the operation of determining whether the object to be detected is an environmental interference object after a second preset time interval, until it is determined that the object to be detected is not an environmental interference object; and

[0037] The adjusted first preset area is updated to be the original first preset area.

[0038] One aspect of the present invention further provides a target detection system, the system comprising:

[0039] A sampling module is used to collect a plurality of to-be-processed data returned by the object to be tested according to a preset number of times within a first preset time through a radar, and pre-process the plurality of to-be-processed data collected each time to obtain a plurality of intermediate frequency data;

[0040] A first judgment module, used for judging whether the object to be detected enters a first preset area of ​​the radar through the radar chip according to the plurality of intermediate frequency data;

[0041] A second judgment module is used for judging whether the plurality of intermediate frequency data satisfy a preset target detection rule through a microprocessor if the object to be detected enters the first preset area; and

[0042] A determination module is used to determine that the object to be detected is a target object if the multiple intermediate frequency data meet the preset target detection rule.

[0043] An aspect of an embodiment of the present invention further provides a computer device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the target detection method as described above when executing the computer program.

[0044] An aspect of an embodiment of the present invention further provides a computer-readable storage medium, including a memory, a processor, and a computer program stored in the memory and executable on at least one processor, wherein the at least one processor implements the steps of the target detection method as described above when executing the computer program.

[0045] The target detection method, system, computer device and computer-readable storage medium provided by the embodiments of the present invention determine whether the object to be detected enters the first preset area of ​​the radar according to the multiple intermediate frequency data through the radar; if the object to be detected enters the first preset area, the microprocessor determines whether the multiple intermediate frequency data meet the preset target detection rules; and if the multiple intermediate frequency data meet the preset target detection rules, the object to be detected is determined to be a target. The radar and the microprocessor make two judgments on the object to be detected, which effectively improves the efficiency and accuracy of target detection, reduces the impact of environmental interference on target detection, and reduces the false alarm rate of the radar.

[0046] The present invention is described in detail below with reference to the accompanying drawings and specific embodiments, but is not intended to limit the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] Figure 1 An exemplary flow chart of a target detection method according to an embodiment of the present invention is schematically shown;

[0048] Figure 2 An exemplary flow chart schematically shows preprocessing of a plurality of to-be-processed data in a target detection method according to an embodiment of the present invention;

[0049] Figure 3 An example flow chart of judging whether the object to be detected has entered the first preset area of ​​the radar in the target detection method according to an embodiment of the present invention is schematically shown;

[0050] Figure 4An example flow chart of determining whether an object to be detected is a target object in a target detection method according to an embodiment of the present invention is schematically shown;

[0051] Figure 5 An exemplary flow chart of modifying a first preset area in a target detection method according to an embodiment of the present invention is schematically shown;

[0052] Figure 6 A block diagram of a target detection system according to a second embodiment of the present invention is schematically shown; and

[0053] Figure 7 The hardware architecture diagram of a computer device suitable for implementing a target detection method according to Embodiment 3 of the present invention is schematically shown. DETAILED DESCRIPTION

[0054] In order to make the purpose, technical scheme and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0055] It should be noted that the descriptions involving "first", "second", etc. in the embodiments of the present invention are only for descriptive purposes and cannot be understood as indicating or suggesting their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in the field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0056] In the description of the present invention, it should be understood that the numerical labels before the steps do not identify the order of executing the steps, but are only used to facilitate the description of the present invention and distinguish each step, and therefore cannot be understood as a limitation of the present invention.

[0057] Embodiment 1

[0058] See also Figure 1 , which shows a flowchart of the steps of the target detection method according to an embodiment of the present invention. It is understood that the flowchart in the embodiment of the present method is not used to limit the order of executing the steps. The following is an exemplary description using a computer device as the execution subject, as follows:

[0059] like Figure 1 As shown, the target detection method may include steps S100 to S112, wherein:

[0060] Step S100, collecting a plurality of to-be-processed data returned by the object to be tested according to a preset number of times within a first preset time by means of a radar, and pre-processing the plurality of to-be-processed data collected each time to obtain a plurality of intermediate frequency data.

[0061] The objects to be tested include but are not limited to moving people, animals, environmental interferences (such as rain, fallen leaves, etc.), etc. The data to be processed is a signal received by the radar when the radar (microwave sensor) transmits an electromagnetic wave at a fixed transmission frequency and is reflected back by the object to be tested. The data to be processed is pre-processed by the radar chip and converted into multiple intermediate frequency data. Exemplarily, the preset number of times can be set to 4 times, and 10 data are sampled at a time. The method can use a radar with a chip model of 5815.

[0062] At present, infrared sensors are often used for target detection in the market. However, when using infrared sensors for detection, only one point or a certain angle range can be detected, the detection range is small, and the detection efficiency is low; and it cannot be applied to the changeable outdoor environment, and is easily affected by temperature, rain, leaves, etc., resulting in misjudgment, low applicability, poor practicality, and high power consumption. Compared with the method of using infrared sensors for target detection in the prior art, in the embodiment of the present invention, the advantages of using radar are: low power consumption, suitable for battery-powered scenarios; no fear of temperature changes, reducing the interference of rain and leaves on radar detection, reducing the misjudgment rate, and improving the accuracy of radar monitoring.

[0063] In order to ensure the accuracy of the data collected by the radar, it is necessary to filter out the redundant electromagnetic wave signals and to ensure that the data collected by the radar is not easily distorted, it is necessary to appropriately reduce the sampling rate; please refer to Figure 2 , the operation of preprocessing the multiple data to be processed collected each time may also include the following steps S200 to S204, wherein: step S200, performing a low-pass filtering operation on the multiple data to be processed collected each time through the recursive filter in the radar, and screening to obtain multiple first data, wherein the frequency of each first data is lower than the preset frequency threshold of the recursive filter; step S202, performing a down-sampling operation on the multiple first data through the integral comb cascade filter in the radar, and screening to obtain multiple second data; wherein the multiple data to be processed collected each time are sampled based on the first sampling rate of the ADC in the radar, and the second data are obtained through the second sampling rate, and the first sampling rate is higher than the second sampling rate; and step S204, performing a mixing operation on the multiple second data through the radar to obtain the multiple intermediate frequency data.

[0064] Among them, the recursive filter is an IIR (Infinite Impulse Response) digital filter, and the low-pass filtering operation is to obtain the frequency of each data to be processed, and remove the data to be processed whose frequency is higher than the preset frequency threshold of the recursive filter, and filter out multiple first data. The integral comb cascade filter is a CIC (Cascaded Integrator-Comb) filter; multiple second data are filtered out from multiple first data through the integral comb cascade filter, wherein the first sampling rate of the ADC is 1000Hz (Hertz) and the second sampling rate is 200Hz. The mixing operation is implemented by the following mixing formula; the mixing formula is: If 泥 = sin[(ω1-ω2)], where: ω1 is the transmitting frequency, ω2 is the receiving frequency, If 混 Represented as the waveform signal corresponding to the intermediate frequency data.

[0065] Step S102: determining, by the radar chip according to the plurality of intermediate frequency data, whether the object to be detected enters a first preset area of ​​the radar.

[0066] In this embodiment, in order to reduce the false triggering of the radar, the radar is first used to determine whether there is an object approaching, that is, to determine whether the object to be detected enters the first preset area of ​​the radar. Exemplarily, the first preset area of ​​the radar can be a space area with a radius of 7 meters with the radar as the center.

[0067] In order to reduce the misjudgment of the object to be detected by the radar, the radar is first used to sense whether the object to be detected is approaching. Figure 3, the determination of whether the object to be detected enters the first preset area of ​​the radar according to the multiple intermediate frequency data by the radar chip can also be obtained by the following operations, wherein: step S300, obtaining multiple level values ​​corresponding to the multiple intermediate frequency signals collected each time through the radar chip; step S302, extracting the maximum level value and the minimum level value from the multiple level values ​​collected each time, and calculating the target level value corresponding to each collection according to the maximum level value and the minimum level value collected each time; step S304, judging whether the target level value collected each time is greater than the preset first level value threshold; step S306, generating multiple count values ​​to be processed corresponding to the multiple judgment results according to the multiple judgment results; step S308, calculating the target count value according to the multiple count values ​​to be processed; and step S310, comparing the target count value with the preset count value threshold to determine whether the object to be detected enters the first preset area of ​​the radar. In this embodiment, the radar used is a low-energy radar in the 5.8G frequency band with a minimum power consumption of only 40uA; the radar can support its own power supply by installing a battery. The modulation mode of the radar is CW (Frequency Modulated Continuous Wave), which can detect the speed of the object to be detected. The multiple count values ​​to be processed include a first count value and a second count value; the target count value is the sum of the multiple count values ​​to be processed. Exemplarily, the difference obtained by subtracting the maximum level value and the minimum level value collected each time is the target level value; if the target level value is greater than the preset first level value threshold, a first count value is generated, wherein the first count value can be set to 1, which can be understood as if the target level value is greater than the preset first level value threshold, the counter in the radar is increased by 1; if the target level value is not greater than the preset first level value threshold, a second count value is generated; wherein, the first count value is greater than the second count value, and the second count value can be set to 0, which can be understood as if the target level value is not greater than the preset first level value threshold, the counter in the radar is increased by 0, that is, the count value remains unchanged. In an exemplary embodiment, the preset number of radar sampling is four times, and the preset count value threshold can be set to 3. Therefore, the count value obtained after performing the above counting operation four times in a row is determined as the target count value; after the counting is completed, the counter is cleared and enters a dormant state; until the next time the radar starts logical judgment on whether the object to be detected enters the first preset area of ​​the radar, the counting is restarted.

[0068] Step S104: if the object to be detected enters the first preset area, the microprocessor determines whether the plurality of intermediate frequency data meet a preset target detection rule.

[0069] In this embodiment, the preset count value threshold can be set to 3. If the target count value is greater than 3, it is determined that the object to be detected enters the first preset area, which can be understood as an object approaching the radar; if the target count value is less than 3, it is determined that the object to be detected is not in the first preset area, which can be understood as no object approaching the radar.

[0070] Step S106: If the plurality of intermediate frequency data satisfy the preset target detection rule, it is determined that the object to be detected is a target object.

[0071] The preset target detection rule is that the target level value is greater than the second level value threshold. The target object is a moving person or animal.

[0072] In order to further reduce the false alarm rate of the radar, it is necessary to use a microprocessor to perform a secondary judgment on whether the object to be detected is a target object. Figure 4 , determining whether the object to be tested is a target object can also be obtained by the following operations, wherein: step S400, if the object to be tested enters the first preset area of ​​the radar, a trigger instruction is generated by the radar, and the trigger instruction is sent to the microprocessor; step S402, the microprocessor responds to the trigger signal and compares multiple target level values ​​with the preset second level value threshold respectively; and step S404, if a preset number of target level values ​​are greater than the preset second level value threshold, the object to be tested is determined to be a target object. In this embodiment, when the radar senses that an object is approaching, the trigger wake-up microprocessor (MCU) is triggered to perform a secondary judgment within 2 consecutive seconds whether the object to be tested is a target object. The preset number can be set to 4 times. The sampling rate of the microprocessor is 200Hz. In an exemplary embodiment, if the target level value is greater than the preset second level value threshold for four consecutive judgments, the object to be tested is determined to be a target object. The method also includes: if there is an abnormal level value in a preset number of target level values, the object to be tested is determined to be a non-target object; wherein the abnormal level value is a level value not greater than the preset second level value threshold. It can be understood that if the target level value is compared with the preset second level value threshold for four consecutive times, wherein any one of the target level values ​​is less than the preset second level value threshold, then the target level value corresponding to the preset second level value threshold is considered to be an abnormal level value, and the object to be tested is determined to be a non-target object. In this embodiment, if the object to be tested is determined to be a non-target object, the microprocessor and the radar shield the object to be tested and are not triggered, and the data returned by the non-target object is not processed subsequently. If the target object is determined to be the object to be tested, the microprocessor and the radar are triggered, and the data returned by the target object is subsequently processed and analyzed.

[0073] Among them, non-target objects can be understood as no target objects approaching, and there are strong interfering objects in the current environment where the radar is located, such as rain, snow, fallen leaves, etc. In order to reduce the impact of environmental interference on target detection and effectively reduce the false alarm rate of the radar, please refer to Figure 5 , after determining that the object to be detected is a non-target object, the method further includes the following steps: step S500, generating a modification instruction through the microprocessor and sending the modification instruction to the radar; step S502, adjusting the first preset area through the radar in response to the modification instruction; step S504, judging whether the object to be detected is an environmental interference object after a second preset time interval according to the adjusted first preset area through the radar; step S506, if it is determined that the object to be detected is an environmental interference object, the radar repeatedly performs the operation of judging whether the object to be detected is an environmental interference object after a second preset time interval, until it is determined that the object to be detected is not an environmental interference object; and step S508, updating the adjusted first preset area to the original first preset area. In this embodiment, after determining that the object to be detected is a non-target object, the first preset area is modified, for example, the original first preset area is set to 7m, and the adjusted first preset area is set to 4.5m. A flag (status flag register) is provided in the chip of the radar. According to the modification instruction, after adjusting the first preset area, the flag is set to 1, and the radar switches from judging whether the object to be measured has entered the first preset area to judging whether the object to be measured is an environmental interference object. At this time, the radar is triggered to judge whether the object to be measured is an environmental interference object; if the object to be measured is determined to be an environmental interference object, the radar enters a sleep state for a second preset time, and the second preset time can be set to 2 seconds. It can be understood that if the object to be measured is determined to be an environmental interference object, the radar enters a sleep state for 2 seconds; after an interval of 2 seconds of sleep, the radar wakes up by itself and judges whether the flag is set to 1 or 0 at this time. If the flag is set to 1, the operation of judging whether the object to be measured is an environmental interference object is repeated; until it is determined that the object to be measured is not an environmental interference object; then the first preset area is modified from 4.5m to 7m, and the flag is set to 0 at the same time. When the radar wakes up for sampling next time, the flag is set to 0, and the radar executes the operation of determining whether the object to be tested has entered the first preset area; if it is determined that the object to be tested has entered the first preset area, the MCU is awakened for a second determination.

[0074] The solution for target detection based on radar in the embodiment of the present invention has at least the following beneficial effects:

[0075] (1) Insensitive to environmental changes, can be used in outdoor changing environments; strong anti-interference ability; can support all-weather operation;

[0076] (2) The radar and microprocessor make two judgments on the object to be detected, reducing the interference of rain, leaves, etc. on radar detection, effectively improving the efficiency and accuracy of target detection;

[0077] (3) Low power consumption, suitable for battery-powered scenarios.

[0078] Embodiment 2

[0079] Please continue reading Figure 6 , showing a schematic diagram of the program modules of the target detection system 60 of the embodiment of the present invention. In the present embodiment, the target detection system 60 may include or be divided into one or more program modules, one or more program modules are stored in an embedded storage chip and executed by one or more processors to complete the present invention and implement the above-mentioned target detection method. The program module referred to in the embodiment of the present invention refers to a series of computer program instruction segments that can complete specific functions, which is more suitable for describing the execution process of the target detection system 60 in the storage medium than the program itself. The following description will specifically introduce the functions of each program module of the present embodiment:

[0080] The system includes: a sampling module 600, a first judgment module 602, a second judgment module 604 and a determination module 606, wherein:

[0081] The sampling module 600 is used to collect a plurality of to-be-processed data returned by the object to be tested according to a preset number of times within a first preset time through the radar, and pre-process the plurality of to-be-processed data collected each time to obtain a plurality of intermediate frequency data;

[0082] A first judgment module 602 is used to judge whether the object to be detected enters a first preset area of ​​the radar according to the plurality of intermediate frequency data through the chip of the radar;

[0083] A second judgment module 604 is configured to judge whether the plurality of intermediate frequency data satisfy a preset target detection rule through a microprocessor if the object to be detected enters the first preset area; and

[0084] The determination module 606 is configured to determine that the object to be detected is a target object if the plurality of intermediate frequency data satisfy the preset target detection rule.

[0085] In an exemplary embodiment, the sampling module 600 is further used to: perform a low-pass filtering operation on the multiple data to be processed collected each time through the recursive filter in the radar, and filter out multiple first data, wherein the frequency of each first data is lower than the preset frequency threshold of the recursive filter; perform a downsampling operation on the multiple first data through the integral comb cascade filter in the radar, and filter out multiple second data; wherein the multiple data to be processed collected each time are sampled based on the first sampling rate of the ADC in the radar, and the second data are obtained through the second sampling rate, and the first sampling rate is higher than the second sampling rate; and perform a mixing operation on the multiple second data through the radar to obtain the multiple intermediate frequency data.

[0086] Optionally, the first judgment module 602 is also used to: obtain multiple level values ​​corresponding to the multiple intermediate frequency signals collected each time through the chip of the radar; extract the maximum level value and the minimum level value from the multiple level values ​​collected each time, and calculate the target level value corresponding to each collection according to the maximum level value and the minimum level value collected each time; judge whether the target level value collected each time is greater than a preset first level value threshold; generate multiple count values ​​to be processed corresponding to the multiple judgment results according to multiple judgment results; calculate the target count value according to the multiple count values ​​to be processed; and compare the target count value with the preset count value threshold to judge whether the object to be detected enters the first preset area of ​​the radar.

[0087] The first judgment module 602 is also used to: generate a first count value if the target level value is greater than the preset first level value threshold; generate a second count value if the target level value is not greater than the preset first level value threshold; wherein the first count value is greater than the second count value.

[0088] Optionally, the second judgment module 604 is also used to: if the object to be tested enters the first preset area of ​​the radar, generate a trigger instruction through the radar and send the trigger instruction to the microprocessor; and respond to the trigger signal through the microprocessor to compare multiple target level values ​​with the preset second level value threshold.

[0089] Correspondingly, the determination module 606 is further configured to: determine that the object to be detected is a target object if a preset number of target level values ​​are continuously greater than the preset second level value threshold.

[0090] Optionally, the determination module 606 is further used to: determine that the object to be tested is a non-target object if there is an abnormal level value among a consecutive preset number of target level values; wherein the abnormal level value is a level value not greater than the preset second level value threshold.

[0091] Optionally, the system further includes: an update module (unidentified). The adjustment module is used to: generate a modification instruction through the microprocessor and send the modification instruction to the radar; adjust the first preset area through the radar in response to the modification instruction; determine whether the object to be detected is an environmental interference object after a second preset time interval based on the adjusted first preset area through the radar; if it is determined that the object to be detected is an environmental interference object, repeatedly perform the operation of determining whether the object to be detected is an environmental interference object after a second preset time interval through the radar until it is determined that the object to be detected is not an environmental interference object; and update the adjusted first preset area to the original first preset area.

[0092] Embodiment 3

[0093] Figure 7 The hardware architecture diagram of a computer device 10000 suitable for implementing a target detection method according to Embodiment 3 of the present invention is schematically shown. In this embodiment, the computer device 10000 is a device that can automatically perform score calculations and / or information processing according to pre-set or stored instructions. For example, it can be a smart phone, a tablet computer, a laptop computer, a desktop computer, a rack server, a blade server, a tower server or a cabinet server (including an independent server, or a server cluster composed of multiple servers), a gateway, etc. Figure 7 As shown, the computer device 10000 includes at least but is not limited to: a memory 10010, a processor 10020, and a network interface 10030 that can communicate with each other through a system bus. Among them:

[0094] The memory 10010 includes at least one type of computer-readable storage medium, and the readable storage medium includes a flash memory, a hard disk, a multimedia card, a card-type memory (e.g., an SD or DX memory, etc.), a random access memory (RAM), a static random access memory (SRAM), a read-only memory (ROM), an electrically erasable programmable read-only memory (EEPROM), a programmable read-only memory (PROM), a magnetic memory, a magnetic disk, an optical disk, etc. In some embodiments, the memory 10010 may be an internal storage module of the computer device 10000, such as a hard disk or a memory of the computer device 10000. In other embodiments, the memory 10010 may also be an external storage device of the computer device 10000, such as a plug-in hard disk equipped on the computer device 10000, a smart memory card (Smart Media Card, referred to as SMC), a secure digital (Secure Digital, referred to as SD) card, a flash card, etc. Of course, the memory 10010 may also include both the internal storage module of the computer device 10000 and its external storage device. In this embodiment, the memory 10010 is generally used to store an operating system and various application software installed in the computer device 10000, such as program codes of the target detection method, etc. In addition, the memory 10010 can also be used to temporarily store various data that have been output or will be output.

[0095] In some embodiments, the processor 10020 may be a central processing unit (CPU), a controller, a microcontroller, a microprocessor, or other data processing chips. The processor 10020 is generally used to control the overall operation of the computer device 10000, such as performing control and processing related to data interaction or communication with the computer device 10000. In this embodiment, the processor 10020 is used to run the program code stored in the memory 10010 or process data.

[0096] The network interface 10030 may include a wireless network interface or a wired network interface, and the network interface 10030 is generally used to establish a communication link between the computer device 10000 and other computer devices. For example, the network interface 10030 is used to connect the computer device 10000 to an external terminal through a network, and to establish a data transmission channel and a communication link between the computer device 10000 and the external terminal. The network may be a wireless or wired network such as an intranet, the Internet, the Global System of Mobile communication (GSM), Wideband Code Division Multiple Access (WCDMA), 4G network, 5G network, Bluetooth, Wi-Fi, etc.

[0097] It should be pointed out that Figure 7 Only a computer device having components 10010 - 10030 is shown, but it should be understood that implementation of all of the components shown is not a requirement, and more or fewer components may be implemented instead.

[0098] In this embodiment, the target detection method stored in the memory 10010 may also be divided into one or more program modules and executed by a processor (processor 10020 in this embodiment) to complete the embodiment of the present invention.

[0099] Embodiment 4

[0100] The present invention also provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by at least one processor, the steps of the target detection method in the embodiment are implemented.

[0101] In this embodiment, the computer-readable storage medium includes flash memory, hard disk, multimedia card, card-type memory (for example, SD or DX memory, etc.), random access memory (RAM), static random access memory (SRAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), programmable read-only memory (PROM), magnetic memory, disk, optical disk, etc. In some embodiments, the computer-readable storage medium can be an internal storage unit of a computer device, such as a hard disk or memory of the computer device. In other embodiments, the computer-readable storage medium can also be an external storage device of a computer device, such as a plug-in hard disk equipped on the computer device, a smart memory card (Smart Media Card, referred to as SMC), a secure digital (Secure Digital, referred to as SD) card, a flash card (Flash Card), etc. Of course, the computer-readable storage medium can also include both the internal storage unit of the computer device and its external storage device. In this embodiment, the computer-readable storage medium is generally used to store an operating system and various application software installed on the computer device, such as the program code of the target detection method in the embodiment, etc. In addition, the computer-readable storage medium can also be used to temporarily store various types of data that have been output or are to be output.

[0102] Obviously, those skilled in the art should understand that the modules or steps of the above-mentioned embodiments of the present invention can be implemented by a general computing device, they can be concentrated on a single computing device, or distributed on a network composed of multiple computing devices, and optionally, they can be implemented by a program code executable by a computing device, so that they can be stored in a storage device and executed by the computing device, and in some cases, the steps shown or described can be executed in a different order from that here, or they can be made into individual integrated circuit modules, or multiple modules or steps therein can be made into a single integrated circuit module for implementation. In this way, the embodiments of the present invention are not limited to any specific combination of hardware and software.

[0103] The above are only preferred embodiments of the present invention, and are not intended to limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made using the contents of the present invention specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A target detection method, characterized in that: include: The radar collects a plurality of to-be-processed data returned by the object to be tested according to a preset number of times within a first preset time, and pre-processes the plurality of to-be-processed data collected each time to obtain a plurality of intermediate frequency data, wherein the to-be-processed data is a signal received by the radar after the radar transmits electromagnetic waves at a fixed transmission frequency and is reflected back by the object to be tested; Determining, by the radar chip according to the plurality of intermediate frequency data, whether the object to be detected enters a first preset area of ​​the radar; If the object to be detected enters the first preset area, the microprocessor determines whether the plurality of intermediate frequency data meet the preset target detection rules; and If the plurality of intermediate frequency data satisfy the preset target detection rule, the object to be detected is determined to be a target object, wherein the target object is a moving person or animal; The step of judging whether the object to be detected enters a first preset area of ​​the radar by the radar chip according to the plurality of intermediate frequency data includes: Acquiring multiple level values ​​corresponding to the multiple intermediate frequency signals collected each time through the radar chip; Extracting the maximum level value and the minimum level value from the multiple level values ​​collected each time, and calculating the target level value corresponding to each collection according to the maximum level value and the minimum level value collected each time; Determine whether the target level value collected each time is greater than a preset first level value threshold; According to the multiple judgment results, a plurality of to-be-processed count values ​​corresponding to the multiple judgment results are generated; Calculating a target count value according to the plurality of count values ​​to be processed; and Comparing the target count value with a preset count value threshold to determine whether the object to be detected enters a first preset area of ​​the radar; If the object to be detected enters the first preset area, determining whether the plurality of intermediate frequency data meet a preset target detection rule by a microprocessor includes: If the object to be detected enters a first preset area of ​​the radar, a trigger instruction is generated by the radar, and the trigger instruction is sent to the microprocessor; and In response to the trigger instruction, the microprocessor compares the plurality of target level values ​​with the preset second level value thresholds respectively; Correspondingly, If the plurality of intermediate frequency data satisfy the preset target detection rule, determining that the object to be detected is a target object includes: If a preset number of target level values ​​are continuously greater than the preset second level value threshold, the object to be detected is determined to be a target object.

2. The target detection method according to claim 1, characterized in that: The preprocessing of the multiple to-be-processed data collected each time to obtain multiple intermediate frequency data includes: Performing a low-pass filtering operation on the multiple data to be processed collected each time through a recursive filter in the radar, and screening to obtain multiple first data, wherein the frequency of each first data is lower than a preset frequency threshold of the recursive filter; Downsampling the plurality of first data by using an integral comb cascade filter in the radar, and filtering to obtain a plurality of second data; wherein the plurality of to-be-processed data collected each time are obtained by sampling at a first sampling rate of an ADC in the radar, and the second data are obtained at a second sampling rate, and the first sampling rate is higher than the second sampling rate; and The radar performs a mixing operation on the plurality of second data to obtain the plurality of intermediate frequency data.

3. The target detection method according to claim 1, characterized in that: The step of generating a plurality of to-be-processed count values ​​corresponding to the plurality of judgment results according to the plurality of judgment results comprises: If the target level value is greater than the preset first level value threshold, generating a first count value; If the target level value is not greater than the preset first level value threshold, a second count value is generated; wherein the first count value is greater than the second count value.

4. The target detection method according to claim 1, characterized in that: The method further comprises: If there is an abnormal level value among a continuous preset number of target level values, the object to be tested is determined to be a non-target object; wherein the abnormal level value is a level value not greater than the preset second level value threshold.

5. The target detection method according to claim 4, characterized in that: After determining that the object to be detected is a non-target object, the method further includes: generating a modification instruction by the microprocessor, and sending the modification instruction to the radar; adjusting the first preset area by the radar in response to the modification instruction; Determining whether the object to be detected is an environmental interference object after a second preset time interval according to the adjusted first preset area by the radar; If it is determined that the object to be detected is an environmental interference object, the radar repeatedly performs the operation of determining whether the object to be detected is an environmental interference object after a second preset time interval, until it is determined that the object to be detected is not an environmental interference object; and The adjusted first preset area is updated to be the original first preset area.

6. A target detection system, characterized in that: The system comprises: A sampling module, used to collect a plurality of to-be-processed data returned by the object to be tested according to a preset number of times within a first preset time through a radar, and pre-process the plurality of to-be-processed data collected each time to obtain a plurality of intermediate frequency data, wherein the to-be-processed data is a signal received by the radar after the radar transmits electromagnetic waves at a fixed transmission frequency and is reflected back by the object to be tested; A first judgment module is used to judge whether the object to be detected has entered the first preset area of ​​the radar according to the multiple intermediate frequency data through the chip of the radar; the first judgment module is also used to: obtain multiple level values ​​corresponding to the multiple intermediate frequency signals collected each time through the chip of the radar; extract the maximum level value and the minimum level value from the multiple level values ​​collected each time, and calculate the target level value corresponding to each collection according to the maximum level value and the minimum level value collected each time; judge whether the target level value collected each time is greater than the preset first level value threshold; generate multiple count values ​​to be processed corresponding to the multiple judgment results according to multiple judgment results; calculate the target count value according to the multiple count values ​​to be processed; and compare the target count value with the preset count value threshold to judge whether the object to be detected has entered the first preset area of ​​the radar; The second judgment module is used to judge whether the multiple intermediate frequency data meet the preset target detection rules through the microprocessor if the object to be detected enters the first preset area; the second judgment module is also used to: if the object to be detected enters the first preset area of ​​the radar, generate a trigger instruction through the radar, and send the trigger instruction to the microprocessor; and respond to the trigger instruction through the microprocessor to compare multiple target level values ​​with the preset second level value threshold respectively; and A determination module is used to determine that the object to be detected is a target object if the multiple intermediate frequency data meet the preset target detection rules, wherein the target object is a moving person or animal; the determination module is also used to: if a consecutive preset number of target level values ​​are greater than the preset second level value threshold, determine that the object to be detected is a target object.

7. A computer device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, it is used to implement the steps of the target detection method described in any one of claims 1 to 5.

8. A computer-readable storage medium, characterized in that: A computer program is stored therein, and the computer program can be executed by at least one processor so that the at least one processor executes the steps of the target detection method described in any one of claims 1 to 5.

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