Sleep position monitoring method, device, radar and storage medium

Abstract

The present invention provides a sleep position monitoring method, device, radar, and storage medium. The method includes: performing FFT calculation on the echo signal to obtain a distance-angle two-dimensional matrix; subtracting each data point in the current frame's distance-angle two-dimensional matrix from the corresponding data point in the previous frame's distance-angle two-dimensional matrix to obtain the current frame's cancellation matrix; recording the serial number of the angle unit containing the cancellation data point with the largest amplitude in the cancellation matrix as the target serial number, and calculating the angle of a human body located on the target bed relative to the radar based on the target serial number; and calculating the relative position of the human body on the target bed based on the angle of the human body relative to the radar. The present application can eliminate static targets in the echo signal through the above method and realize sleep position monitoring based on the angular dimension information of the echo signal.

Description

Technical Field

[0001] The present invention relates to the field of radar technology, and in particular to a sleeping position monitoring method, device, radar and storage medium. Background Art

[0002] With the continuous development of millimeter-wave radar technology, its application scenarios are gradually expanding. In the smart home sector, one application of millimeter-wave radar is sleep monitoring. The radar is typically installed at the head of the bed or on the ceiling directly opposite the bed. By transmitting and receiving millimeter-wave signals, it monitors the person's breathing, heart rate, body movement, and whether they are in bed. The radar transmits this information for one night to a back-end health monitoring platform, which performs statistical analysis on the data and ultimately generates a report on the person's sleep quality.

[0003] Current sleep monitoring radars can only capture the aforementioned physiological information and are unable to monitor a person's sleep habits. However, sleep habits can also provide insights into a person's health. For example, if an elderly person or child sleeps on the edge of the bed for extended periods, they are at increased risk of falling out of bed unconsciously, requiring intervention. A person who has a long-standing habit of sleeping in the same position, but experiences scattered sleep patterns on certain days, may indicate poor sleep quality and frequent changes in sleeping position. Therefore, monitoring sleep position is also crucial. Summary of the Invention

[0004] In view of this, the present invention provides a sleeping position monitoring method, device, radar and storage medium, which can solve the problem of how to monitor the sleeping position.

[0005] In a first aspect, an embodiment of the present invention provides a method for monitoring a sleeping position, comprising:

[0006] Acquire echo signals through multiple receiving antennas of the radar; the echo signals are signals returned and processed after the radar sends a detection signal to the target bed;

[0007] Performing FFT calculation on the echo signal to obtain a distance-angle two-dimensional matrix [RA(i,j)], where RA(i,j) represents the data point of the j-th distance unit of the i-th angle unit in the distance-angle two-dimensional matrix;

[0008] Subtract each data point in the distance-angle two-dimensional matrix of the current frame from the corresponding data point in the distance-angle two-dimensional matrix of the previous frame to obtain the cancellation matrix [RAdiff(i,j)] of the current frame; where RAdiff(i,j) represents the cancellation data point of the i-th angle unit and the j-th distance unit in the cancellation matrix;

[0009] The serial number of the angle unit where the cancellation data point with the largest amplitude in the cancellation matrix is located is recorded as the target serial number, and the angle of the human body located on the target bed relative to the radar is calculated according to the target serial number;

[0010] The relative position of the human body on the target bed is calculated according to the angle of the human body relative to the radar.

[0011] In a second aspect, an embodiment of the present invention provides a sleep position monitoring device, comprising:

[0012] An echo signal acquisition module is used to acquire echo signals through multiple receiving antennas of the radar; the echo signals are signals returned and processed after the radar sends a detection signal to the target bed;

[0013] A distance-angle two-dimensional matrix calculation module is used to perform FFT calculation on the echo signal to obtain a distance-angle two-dimensional matrix [RA(i,j)], where RA(i,j) represents the data point of the j-th distance unit of the i-th angle unit in the distance-angle two-dimensional matrix;

[0014] A cancellation module is configured to subtract each data point in the distance-angle two-dimensional matrix of the current frame from the corresponding data point in the distance-angle two-dimensional matrix of the previous frame to obtain the cancellation matrix [RAdiff(i,j)] of the current frame; where RAdiff(i,j) represents the cancellation data point of the jth distance unit in the i-th angle unit in the cancellation matrix;

[0015] An angle calculation module, configured to record the serial number of the angle unit where the cancellation data point with the largest amplitude in the cancellation matrix is located as the target serial number, and calculate the angle of the human body located on the target bed relative to the radar based on the target serial number;

[0016] The position calculation module is used to calculate the relative position of the human body on the target bed according to the angle of the human body relative to the radar.

[0017] In a third aspect, an embodiment of the present application provides a radar, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the steps of the method described in any possible implementation of the first aspect above are implemented.

[0018] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, it implements the steps of the method described in any possible implementation of the first aspect above.

[0019] Compared with the prior art, the embodiments of the present invention have the following beneficial effects:

[0020] The sleep position monitoring method provided in an embodiment of the present invention first obtains a distance-angle two-dimensional matrix by performing FFT calculation on the echo signal, and performs cancellation processing on the distance-angle two-dimensional matrix, which can eliminate static targets and retain only dynamic targets, thereby improving the accuracy of human body recognition. Then, the angle of the human body relative to the radar is calculated based on the serial number of the angle unit where the cancellation data point with the largest amplitude in the cancellation matrix is located. The position of the human body on the target bed is calculated based on the angle of the human body relative to the radar, realizing the human sleep monitoring function and improving the accuracy of sleep position monitoring. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0022] Figure 1 is a flowchart of an implementation method of a sleep position monitoring method provided by an embodiment of the present invention;

[0023] Figure 2 Schematic diagram of radar installation position provided by an embodiment of the present invention;

[0024] Figure 3 is a schematic diagram of the relationship between signal frequency and time provided by an embodiment of the present invention;

[0025] Figure 4 is a distance angle diagram provided by an embodiment of the present invention;

[0026] Figure 5 is a structural diagram of a sleep position monitoring device provided by an embodiment of the present invention;

[0027] Figure 6 Schematic diagram of a radar provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0028] In the following description, specific details such as particular system structures and techniques are provided for purposes of illustration, not limitation, to facilitate a thorough understanding of the embodiments of the present invention. However, it will be apparent to those skilled in the art that the present invention may be practiced in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present invention with unnecessary detail.

[0029] In order to make the purpose, technical solutions and advantages of the present invention more clear, specific embodiments will be described below with reference to the accompanying drawings.

[0030] Figure 1 The following is a schematic diagram of the implementation process of the sleep position monitoring method provided by an embodiment of the present invention, and the process is described in detail as follows:

[0031] S101: Acquire echo signals through multiple receiving antennas of a radar; the echo signals are signals returned and processed after the radar sends a detection signal to a target bed.

[0032] In this embodiment, the radar can be installed at the head of the target bed or just above it. Figure 2 FIG. 4 shows a schematic diagram of a preferred installation position of the radar provided in this embodiment, as shown in FIG. Figure 2 As shown, the radar is installed on the center line of the bed width.

[0033] Specifically, the radar transmits FMCW (Frequency Modulated Continuous Wave) signals to the surface of the target bed. The relationship between signal frequency and time is as follows: Figure 3 As shown, f0 represents the starting frequency of the signal, B represents the bandwidth, T represents the duration of a PRT (pulse repetition time), and Tframe represents the time difference between two PRTs.

[0034] For example, f0=60 GHz, B=2 GHz, T=100 us, and Tframe=50 ms.

[0035] In this embodiment, the echo signal is a digital echo signal, and the specific implementation process of S101 includes:

[0036] The radar receives the FMCW echo signal through the receiving antenna, and performs down-conversion, filtering, analog-to-digital conversion and other processing on the FMCW echo signal to obtain a digital echo signal.

[0037] Specifically, the radar may have Nr receiving antennas, with the spacing between them set to lamda / 2, where lamda represents the radar wavelength, lamda = c / f0, and c represents the speed of light. The radar sampling rate is fs, and the number of sampling points in a frame of digital echo signals is Ns = fs * T. Because each frame of digital echo signals includes digital echo signals acquired by Nr receiving antennas, a frame of digital echo signals Sr is a two-dimensional matrix [Sr(x,y)] comprising Ns * Nr. Sr(x,y) represents the data point corresponding to the yth sampling point of the xth receiving antenna in the two-dimensional matrix [Sr(x,y)], where x = 1, 2, ..., Nr, and y = 1, 2, ..., Ns.

[0038] For example, a typical value of Nr may be 8, a typical value of fs may be 640 kHz, and a typical value of Ns may be 64.

[0039] S102: Perform FFT calculations on the echo signal in the distance dimension and the angle dimension to obtain a two-dimensional distance-angle matrix.

[0040] In one embodiment, the specific implementation process of S102 includes:

[0041] Performing FFT calculations on the data points corresponding to each receiving antenna in the two-dimensional matrix to obtain an intermediate two-dimensional matrix;

[0042] Perform FFT calculation on the data points corresponding to each sampling point in the intermediate two-dimensional matrix to obtain the distance-angle two-dimensional matrix.

[0043] In this embodiment, when the echo signal Sr is a two-dimensional matrix with Ns rows and Nr columns, an FFT calculation of N1Dfft points is performed on each column data point of the two-dimensional matrix to obtain a one-dimensional range image of each receiving antenna, forming an intermediate two-dimensional matrix. The intermediate two-dimensional matrix is a complex matrix of N1Dfft*Nr points, and the 1st to Nrth columns store the one-dimensional range images of the 1st to Nrth receiving antennas respectively.

[0044] Where N1Dfft is the number of points used to calculate the FFT. N1Dfft can be a minimum value greater than or equal to Ns raised to the power of 2. For example, if Ns is 60, then N1Dfft is 64.

[0045] After obtaining the intermediate two-dimensional matrix, perform FFT calculations at N2Dfft points on each row of the intermediate two-dimensional matrix to obtain a distance-angle two-dimensional matrix. The matrix size is N2Dfft*N1Dfft, and its 1st to N2Dfftth rows represent angle units, and the 1st to N1Dfftth columns represent distance units. The distance-angle graph RA corresponding to the distance-angle two-dimensional matrix is as follows Figure 4 shown.

[0046] Wherein, N2Dfft is the number of points for calculating FFT, and a typical value may be 64.

[0047] In one embodiment of the present invention, another implementation process of S102 may further include:

[0048] Performing FFT calculation on the data points corresponding to each sampling point in the two-dimensional matrix to obtain an initial two-dimensional matrix;

[0049] Perform FFT calculation on the data points corresponding to each receiving antenna in the initial two-dimensional matrix to obtain the distance-angle two-dimensional matrix.

[0050] In this embodiment, when the echo signal Sr is a two-dimensional matrix with Ns rows and Nr columns, it is also possible to first perform an FFT calculation of N2Dfft points on each row of data points in the two-dimensional matrix to obtain an initial two-dimensional matrix, and then perform an FFT calculation of N1Dfft points on each column of data points in the initial two-dimensional matrix to obtain a distance-angle two-dimensional matrix.

[0051] S103: Subtract each data point in the distance-angle two-dimensional matrix of the current frame from the corresponding data point in the distance-angle two-dimensional matrix of the previous frame to obtain the cancellation matrix [RAdiff(i,j)] of the current frame; where RAdiff(i,j) represents the cancellation data point of the jth distance unit of the i-th angle unit in the cancellation matrix.

[0052] In this embodiment, the cancellation formula is as follows:

[0053] RAdiff(i,j)=RA(i,j)-RApre(i,j);

[0054] Among them, RApre(i,j) represents the data point of the i-th angle unit and the j-th distance unit in the distance-angle two-dimensional matrix of the previous frame of the current frame.

[0055] This embodiment performs cancellation processing on the data points in the distance-angle two-dimensional matrix to eliminate stationary targets and retain only moving targets. Since items such as beds and bedside tables are stationary targets, they will be eliminated. However, people move due to breathing, heartbeats, etc., so they are moving targets and will be retained in the cancellation matrix. Therefore, the above method can improve the recognition accuracy of the human body, thereby improving the accuracy of monitoring the sleeping position.

[0056] S104: Record the serial number of the angle unit where the cancellation data point with the largest amplitude in the cancellation matrix is located as the target serial number, and calculate the angle of the human body located on the target bed relative to the radar according to the target serial number.

[0057] Specifically, this embodiment is based on the angle estimation principle of radar, and can calculate the angle of the human body relative to the radar according to the target sequence number and the total number of angle units in the distance-angle two-dimensional matrix.

[0058] In one embodiment, the specific implementation process of S104 includes:

[0059] Obtaining the total number of angle units in the distance-angle two-dimensional matrix;

[0060] If the target sequence number is greater than half of the total number, subtract the total number from the target sequence number to obtain an updated target sequence number;

[0061] Calculate the angle of the human body relative to the radar based on the formula angle=asind(angleIndex*2 / N2Dfft);

[0062] Wherein, angle represents the angle of the human body, angleIndex represents the updated target sequence number, N2Dfft represents the total number, and asind() represents the inverse sine function.

[0063] In this embodiment, the cancellation matrix is traversed to find the row where the cancellation data point with the largest amplitude in the cancellation matrix is located, that is, the angle unit, to obtain the target sequence number.

[0064] In this embodiment, if the target sequence number is not greater than half of the total number, the current target sequence number remains unchanged.

[0065] S105: Calculate the relative position of the human body on the target bed according to the angle of the human body relative to the radar.

[0066] In one embodiment, the specific implementation process of S105 includes:

[0067] S201: Acquire the vertical distance from the radar to the surface of the target bed;

[0068] S202: Calculate the relative position of the human body on the target bed based on a trigonometric function formula, the vertical distance, and the angle of the human body relative to the radar.

[0069] In this embodiment, since the relative positions of the radar and the target bed are fixed, the vertical distance can be determined by actual measurement when the radar is installed.

[0070] In one embodiment, the radar is located at the width centerline of the target bed; the specific implementation process of S202 includes:

[0071] Based on the formula position=bedRange*tand(angle), the relative position of the human body on the target bed is obtained;

[0072] Among them, position represents the position coordinates of the human body in a one-dimensional coordinate system with the width direction as the x-axis and the width centerline as the zero point, bedRange represents the vertical distance, angle represents the angle θ of the human body relative to the radar, and tand() represents the tangent function.

[0073] In this embodiment, when the radar antenna is set on the width center line, the receiving antennas are arranged from left to right, with receiving antenna 1 located on the left side of the width center line and receiving antenna Nr located on the right side of the width center line. Therefore, in the width direction, the left side of the target bed is negative and the right side is positive. When position is a negative value, it indicates that the human body is located on the left side of the width center line of the target bed. When position is a positive value, it indicates that the human body is located on the right side of the width center line of the target bed.

[0074] It can be seen from the above embodiments that this embodiment can accurately determine the specific position of the human body on the target bed based on the angle and distance of the human body relative to the radar by obtaining the angle θ of the human body relative to the radar, thereby improving the accuracy of sleep position monitoring.

[0075] In one embodiment, after S105, the method provided in this embodiment further includes:

[0076] S106: Divide the target bed into multiple sections in the width direction, and count the number of frames in which the human body appears in each section within a preset time period according to the relative position of the human body on the target bed corresponding to each frame of echo signal.

[0077] In one embodiment, the radar is located at the width centerline of the target bed; the specific implementation process of S106 includes:

[0078] According to the formula Calculate the interval index number where the human body is located;

[0079] According to the interval index number where the human body is located in each frame of the echo signal, the number of frames in which the human body appears in each interval within the preset time period is counted;

[0080] Among them, binInd represents the interval index number, round() represents rounding, position represents the position coordinate of the human body in a one-dimensional coordinate system with the width direction as the x-axis and the width centerline as the zero point, bedwidth represents the width of the target bed, and widthbin represents the interval width.

[0081] In this embodiment, the width centerline of the target bed is taken as the zero point, the width range of the target bed is set to -bedWidth / 2 to bedWidth / 2, and widthBin is used as the interval width. The target bed is divided into binNum intervals in width, binNum = bedWidth / widthbin, where bedWidth represents the actual width of the target bed, and a typical value of widthbin may be 0.2 m.

[0082] Based on the above division, taking the leftmost side of the target bed as -bedWidth / 2 and the rightmost side of the target bed as bedWidth / 2 as an example, the range of each interval from left to right is:

[0083] -bedWidth / 2+(i-1)*widthBin~-bedWidth / 2+i*widthBin

[0084] Here, i represents the bin number, and i=1, 2, ...binNum.

[0085] By using the above formula and substituting the calculated interval index number into the i value, the interval range where the human body is located can be determined.

[0086] In this embodiment, after calculating the interval index number of the human body corresponding to each frame of digital echo signal, a new one-dimensional array sumTable is created. The size of sumTable is binNum, and it is initialized to binNum zeros. Every time the radar determines the interval index number corresponding to a frame of digital echo signal, the corresponding sumTable(binInd) value in sumTable is added by 1. sumTable can reflect the number of frames of the human body in different sleeping positions within the preset time period. Finally, the data in sumTable can be displayed through histograms and pie charts, so that the user can intuitively view the position habits of the human body during the entire sleep process.

[0087] This embodiment uses statistics on sleeping positions to determine a person's sleeping habits. By analyzing long-term sleeping positions, it can provide insights into a person's health status. For example, if an elderly person or child sleeps on the edge of the bed for a long time, they are at high risk of falling out of bed unconsciously and require intervention. If someone has a long-term habit of sleeping in the same position, but their sleeping positions are scattered on certain days, this may indicate poor sleep quality and frequent changes in sleeping position.

[0088] It can be seen from the above embodiments that the sleep position monitoring method provided in this embodiment first obtains a distance-angle two-dimensional matrix by performing FFT calculation on the echo signal, and performs cancellation processing on the distance-angle two-dimensional matrix, which can eliminate static targets and retain only dynamic targets, thereby improving the accuracy of human body recognition. Then, the angle of the human body relative to the radar is calculated according to the serial number of the angle unit where the cancellation data point with the largest amplitude in the cancellation matrix is located, thereby calculating the position of the human body on the target bed according to the angle of the human body relative to the radar, thereby realizing the human sleep monitoring function. Compared with the method of calculating the position of the radar target based on the distance dimension data in the echo signal, this embodiment extracts the angle dimension data of the dynamic target in the echo target, and can more accurately calculate the position of the human body on the target bed based on the distance and angle of the human body relative to the radar, thereby improving the accuracy of sleep position monitoring.

[0089] It should be understood that the size of the serial numbers of the steps in the above embodiments does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present invention.

[0090] The following are device embodiments of the present invention. For details not fully described therein, reference may be made to the corresponding method embodiments described above.

[0091] like Figure 5 As shown, Figure 5 FIG. 1 is a schematic structural diagram of a sleep position monitoring device 100 provided in an embodiment of the present application, which includes:

[0092] The echo signal acquisition module 110 is used to acquire the echo signal through the multiple receiving antennas of the radar; the echo signal is the signal returned and processed after the radar sends the detection signal to the target bed;

[0093] a distance-angle two-dimensional matrix calculation module 120, configured to perform FFT calculation on the echo signal to obtain a distance-angle two-dimensional matrix [RA(i,j)], wherein RA(i,j) represents the data point of the j-th distance unit of the i-th angle unit in the distance-angle two-dimensional matrix;

[0094] A cancellation module 130 is configured to subtract each data point in the distance-angle two-dimensional matrix of the current frame from the corresponding data point in the distance-angle two-dimensional matrix of the previous frame to obtain a cancellation matrix [RAdiff(i,j)] for the current frame; where RAdiff(i,j) represents the cancellation data point for the jth distance unit in the i-th angle unit in the cancellation matrix;

[0095] Angle calculation module 140, configured to record the serial number of the angle unit where the cancellation data point with the largest amplitude in the cancellation matrix is located as the target serial number, and calculate the angle of the human body located on the target bed relative to the radar based on the target serial number;

[0096] The position calculation module 150 is used to calculate the relative position of the human body on the target bed according to the angle of the human body relative to the radar.

[0097] In one embodiment, the echo signal includes a two-dimensional matrix [Sr(x,y)]; wherein Sr(x,y) represents a data point corresponding to the y-th sampling point of the x-th receiving antenna in the two-dimensional matrix [Sr(x,y)];

[0098] The distance-angle two-dimensional matrix calculation module 120 includes:

[0099] Performing FFT calculations on the data points corresponding to each receiving antenna in the two-dimensional matrix to obtain an intermediate two-dimensional matrix;

[0100] Perform FFT calculation on the data points corresponding to each sampling point in the intermediate two-dimensional matrix to obtain the distance-angle two-dimensional matrix.

[0101] In one embodiment, the angle calculation module 140 includes:

[0102] Obtaining the total number of angle units in the distance-angle two-dimensional matrix;

[0103] If the target sequence number is greater than half of the total number, subtract the total number from the target sequence number to obtain an updated target sequence number;

[0104] Calculate the angle of the human body relative to the radar based on the formula angle=asind(angleIndex*2 / N2Dfft);

[0105] Wherein, angle represents the angle of the human body relative to the radar, angleIndex represents the updated target sequence number, N2Dfft represents the total number, and asind() represents the inverse sine function.

[0106] In one embodiment, the position calculation module 150 includes:

[0107] A vertical distance acquisition unit, configured to acquire a vertical distance from the radar to the surface of the target bed;

[0108] The position calculation unit is used to calculate the relative position of the human body on the target bed based on a trigonometric function formula, the vertical distance and the angle of the human body relative to the radar.

[0109] In one embodiment, the radar is located at the width centerline of the target bed; the position calculation unit includes:

[0110] Based on the formula position=bedRange*tand(angle), the relative position of the human body on the target bed is obtained;

[0111] Among them, position represents the position coordinates of the human body in a one-dimensional coordinate system with the width direction as the x-axis and the width centerline as the zero point, bedRange represents the vertical distance, angle represents the angle of the human body relative to the radar, and tand() represents the tangent function.

[0112] In one embodiment, the sleep position monitoring device 100 provided in this embodiment further includes:

[0113] The position statistics module is used to divide the target bed into multiple intervals in the width direction, and count the number of frames in which the human body appears in each interval within a preset time period according to the relative position of the human body on the target bed corresponding to each frame of echo signal.

[0114] In one embodiment, the radar is located at the width centerline of the target bed; the position statistics module specifically includes:

[0115] According to the formula Calculate the interval index number where the human body is located;

[0116] According to the interval index number where the human body is located in each frame of the echo signal, the number of frames in which the human body appears in each interval within the preset time period is counted;

[0117] Among them, binInd represents the interval index number, round() represents rounding, position represents the position coordinate of the human body in a one-dimensional coordinate system with the width direction as the x-axis and the width centerline as the zero point, bedwidth represents the width of the target bed, and widthbin represents the interval width.

[0118] It can be seen from the above embodiments that the sleep position monitoring method provided in the embodiments of the present invention can eliminate static targets by performing FFT calculation on the echo signal to obtain a distance-angle two-dimensional matrix, and performing cancellation processing on the distance-angle two-dimensional matrix. The angle of the human body relative to the radar is calculated based on the serial number of the angle unit where the cancellation data point with the largest amplitude in the cancellation matrix is located, and the position of the human body on the target bed is calculated based on the angle of the human body relative to the radar, thereby realizing the human sleep monitoring function and improving the accuracy of sleep position monitoring.

[0119] Figure 6 FIG is a schematic diagram of a radar provided by an embodiment of the present invention. Figure 6As shown, the radar 6 of this embodiment includes: a processor 60, a memory 61, and a computer program 62 stored in the memory 61 and executable on the processor 60. When the processor 60 executes the computer program 62, the steps in the above-mentioned various sleep position monitoring method embodiments are implemented, such as Figure 1 Alternatively, the processor 60 implements the functions of the modules / units in the above-mentioned device embodiments when executing the computer program 62 .

[0120] Exemplarily, the computer program 62 may be divided into one or more modules / units, which are stored in the memory 61 and executed by the processor 60 to implement the present invention. The one or more modules / units may be a series of computer program instruction segments capable of implementing specific functions, and the instruction segments are used to describe the execution process of the computer program 62 in the radar 6.

[0121] The radar 6 may include, but is not limited to, a processor 60 and a memory 61. Those skilled in the art will appreciate that Figure 6 It is only an example of radar 6 and does not constitute a limitation of radar 6. It may include more or fewer components than shown in the figure, or a combination of certain components, or different components. For example, the signal processing device may also include input and output devices, network access devices, buses, etc.

[0122] The processor 60 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or any conventional processor.

[0123] The memory 61 can be an internal storage unit of the radar 6, such as the radar 6's hard drive or memory. Alternatively, the memory 61 can be an external storage device of the radar 6, such as a plug-in hard drive, a Smart Media Card (SMC), a Secure Digital (SD) card, a flash memory card, etc. Furthermore, the memory 61 can include both the radar 6's internal storage unit and an external storage device. The memory 61 is used to store the computer program and other programs and data required by the signal processing device. The memory 61 can also be used to temporarily store data that has been output or is about to be output.

[0124] Those skilled in the art can clearly understand that, for the convenience and brevity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In actual applications, the above-mentioned functions can be distributed and completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiment can be integrated into one processing unit, or each unit can exist physically alone, or two or more units can be integrated into one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application. The specific working process of the units and modules in the above-mentioned system can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here.

[0125] In the above embodiments, the description of each embodiment has its own focus. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant description of other embodiments.

[0126] Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professionals and technicians can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the present invention.

[0127] In the embodiments provided by the present invention, it should be understood that the disclosed devices / signal processing devices and methods can be implemented in other ways. For example, the device / signal processing device embodiments described above are merely illustrative. For example, the division of the modules or units is merely a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0128] The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected to achieve the purpose of this embodiment according to actual needs.

[0129] In addition, the functional units in the various embodiments of the present invention may be integrated into a single processing unit, each unit may exist physically separately, or two or more units may be integrated into a single unit. The aforementioned integrated units may be implemented in the form of hardware or software functional units.

[0130] If the integrated module / unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present invention can implement all or part of the process steps in the above-mentioned embodiment method by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium. When executed by a processor, the computer program can implement the steps of each of the above-mentioned sleep position monitoring method embodiments. The computer program includes computer program code, which can be in source code form, object code form, executable file, or some intermediate form. The computer-readable medium can include: any entity or device capable of carrying the computer program code, recording medium, USB flash drive, mobile hard drive, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electric carrier signal, telecommunication signal, and software distribution medium. It should be noted that the content of the computer-readable medium can be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, computer-readable media does not include electric carrier signals and telecommunication signals.

[0131] The embodiments described above are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention, and should all be included in the scope of protection of the present invention.

Claims

1. A sleeping position monitoring method, characterized in that: include: Acquire echo signals through multiple receiving antennas of the radar; The echo signal is a signal that is returned and processed after the radar sends a detection signal to the target bed; Performing FFT calculation on the echo signal to obtain a distance-angle two-dimensional matrix [RA(i,j)], where RA(i,j) represents the data point of the j-th distance unit of the i-th angle unit in the distance-angle two-dimensional matrix; Subtract each data point in the distance-angle two-dimensional matrix of the current frame from the corresponding data point in the distance-angle two-dimensional matrix of the previous frame to obtain the cancellation matrix [RAdiff(i,j)] of the current frame; where RAdiff(i,j) represents the cancellation data point of the i-th angle unit and the j-th distance unit in the cancellation matrix; The serial number of the angle unit where the cancellation data point with the largest amplitude in the cancellation matrix is located is recorded as the target serial number, and the angle of the human body located on the target bed relative to the radar is calculated according to the target serial number; Calculating the relative position of the human body on the target bed according to the angle of the human body relative to the radar; After calculating the relative position of the human body on the target bed, the method further includes: The target bed is divided into a plurality of sections in the width direction, and according to the relative position of the human body on the target bed corresponding to each frame of the echo signal, the number of frames in which the human body appears in each section within a preset time period is counted; Determine the sleeping habits of the human body based on the number of frames that appear in each interval within a preset time period, and generate corresponding health status prompts based on the sleeping habits; the health status prompts include fall risk prompts and poor sleep quality prompts; The radar is located at the width centerline of the target bed; The method of counting the number of frames in which the human body appears in each interval within a preset time period according to the relative position of the human body on the target bed corresponding to each frame of the echo signal includes: According to the formula Calculate the interval index number where the human body is located; According to the interval index number where the human body is located in each frame of the echo signal, the number of frames in which the human body appears in each interval within the preset time period is counted; Among them, binInd represents the interval index number, round() represents rounding, position represents the position coordinate of the human body in a one-dimensional coordinate system with the width direction as the x-axis and the width centerline as the zero point, bedwidth represents the width of the target bed, and widthbin represents the interval width.

2. The sleep position monitoring method according to claim 1, wherein: The echo signal includes a two-dimensional matrix [Sr(x,y)]; wherein Sr(x,y) represents the data point corresponding to the y-th sampling point of the x-th receiving antenna in the two-dimensional matrix [Sr(x,y)]; The performing of FFT calculations of the distance dimension and the angle dimension on the echo signal to obtain a distance-angle two-dimensional matrix includes: Performing FFT calculations on the data points corresponding to each receiving antenna in the two-dimensional matrix to obtain an intermediate two-dimensional matrix; Perform FFT calculation on the data points corresponding to each sampling point in the intermediate two-dimensional matrix to obtain the distance-angle two-dimensional matrix.

3. The sleep position monitoring method according to claim 1, wherein: Calculating the angle of the human body on the target bed relative to the radar according to the target sequence number includes: Obtaining the total number of angle units in the distance-angle two-dimensional matrix; If the target sequence number is greater than half of the total number, subtract the total number from the target sequence number to obtain an updated target sequence number; Calculate the angle of the human body relative to the radar based on the formula angle=asind(angleIndex*2 / N2Dfft); Wherein, angle represents the angle of the human body relative to the radar, angleIndex represents the updated target number, N2Dfft represents the total number, and asind() represents the inverse sine function.

4. The sleep position monitoring method according to claim 1, wherein: Calculating the relative position of the human body on the target bed according to the angle of the human body relative to the radar includes: Obtaining a vertical distance from the radar to the surface of the target bed; The relative position of the human body on the target bed is calculated based on a trigonometric function formula, the vertical distance, and the angle of the human body relative to the radar.

5. The sleeping position monitoring method according to claim 4, wherein: The radar is located at the width centerline of the target bed; The calculating the relative position of the human body on the target bed based on a trigonometric formula, the vertical distance, and the angle of the human body relative to the radar includes: Based on the formula position=bedRange*tand(angle), the relative position of the human body on the target bed is obtained; Among them, position represents the position coordinates of the human body in a one-dimensional coordinate system with the width direction as the x-axis and the width centerline as the zero point, bedRange represents the vertical distance, angle represents the angle of the human body relative to the radar, and tand() represents the tangent function.

6. A sleeping position monitoring device, characterized in that: include: An echo signal acquisition module is used to acquire echo signals through multiple receiving antennas of the radar; The echo signal is a signal that is returned and processed after the radar sends a detection signal to the target bed; A distance-angle two-dimensional matrix calculation module is used to perform FFT calculation on the echo signal to obtain a distance-angle two-dimensional matrix [RA(i,j)], where RA(i,j) represents the data point of the j-th distance unit of the i-th angle unit in the distance-angle two-dimensional matrix; A cancellation module is configured to subtract each data point in the distance-angle two-dimensional matrix of the current frame from the corresponding data point in the distance-angle two-dimensional matrix of the previous frame to obtain the cancellation matrix [RAdiff(i,j)] of the current frame; where RAdiff(i,j) represents the cancellation data point of the jth distance unit in the i-th angle unit in the cancellation matrix; An angle calculation module, configured to record the serial number of the angle unit where the cancellation data point with the largest amplitude in the cancellation matrix is located as the target serial number, and calculate the angle of the human body located on the target bed relative to the radar based on the target serial number; A position calculation module, configured to calculate the relative position of the human body on the target bed according to the angle of the human body relative to the radar; The sleep position monitoring device further includes a position statistics module for: The target bed is divided into a plurality of sections in the width direction, and according to the relative position of the human body on the target bed corresponding to each frame of the echo signal, the number of frames in which the human body appears in each section within a preset time period is counted; Determine the sleeping habits of the human body based on the number of frames that appear in each interval within a preset time period, and generate corresponding health status prompts based on the sleeping habits; The health status prompts include falling risk prompts and poor sleep quality prompts; The radar is located at the width centerline of the target bed; The location statistics module includes: According to the formula Calculate the interval index number where the human body is located; According to the interval index number where the human body is located in each frame of the echo signal, the number of frames in which the human body appears in each interval within the preset time period is counted; Among them, binInd represents the interval index number, round() represents rounding, position represents the position coordinate of the human body in a one-dimensional coordinate system with the width direction as the x-axis and the width centerline as the zero point, bedwidth represents the width of the target bed, and widthbin represents the interval width.

7. A radar, characterized in that: The device comprises 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 sleep position monitoring method according to any one of claims 1 to 5 when executing the computer program.

8. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the steps of the sleep position monitoring method according to any one of claims 1 to 5 are implemented.

Images