A security protection method, system and storage medium based on radar monitoring

Abstract

This invention discloses a safety protection method, system, and storage medium based on radar monitoring, belonging to the field of fall detection technology. The method includes radar detection of the indoor environment and determination of the elderly person's walking path; based on different walking paths, the environment is analyzed, and different warning signals are given; radar detects the elderly person's posture to determine if there is a tendency to fall; if there is a tendency to fall, a posture correction method is given based on this tendency; radar detects changes in the elderly person's movements to determine if a fall has occurred; if the elderly person falls, an indoor camera is activated to take a photo of the elderly person and upload it to the cloud; the elderly person's body information is also detected by radar and uploaded to the cloud; simultaneously, a distress signal is sent to family members or a hospital. This invention uses a correction device worn by the elderly person to correct their posture, thereby preventing falls during walking and avoiding the subsequent burden caused by falls.

Description

Technical Field

[0001] This invention relates to the field of fall detection technology, specifically to a safety protection method, system, and storage medium based on radar monitoring. Background Technology

[0002] A fall is a sudden and unexpected event that causes a person to fall to the ground. Falls can occur at any age, but they are more common in the elderly. Studies have shown that up to one-third of people over 65 years of age experience one or more falls per year. Among these, 20-30% of elderly people suffer abrasions, hip fractures, head injuries, and other injuries during falls, and this number increases with age.

[0003] my country currently has approximately 130 million elderly people, and about 20 million elderly people experience at least 25 million falls each year, resulting in direct medical costs exceeding 5 billion yuan. This demonstrates that falls have become a significant factor threatening the lives of the elderly and increasing the social burden. Because falls can lead to serious consequences such as psychological trauma, fractures, and soft tissue injuries, affecting the physical and mental health of the elderly and increasing the burden on families and society, it has become a highly valued topic in geriatric clinical medicine.

[0004] Therefore, how to provide a safety protection method that can predict whether an elderly person is prone to falling, and can correct the elderly person's posture before they fall to prevent them from falling, thereby avoiding the subsequent burden caused by the elderly person's fall, is a technical problem that urgently needs to be solved by those skilled in the art. Summary of the Invention

[0005] Therefore, the present invention provides a safety protection method, system and storage medium based on radar monitoring to solve the problems in the prior art that threaten the life safety of the elderly and increase the social burden caused by falls.

[0006] To achieve the above objectives, the present invention provides the following technical solution:

[0007] According to a first aspect of the present invention, a security protection method based on radar monitoring is provided, comprising the following steps:

[0008] S1: The radar detects the indoor environment and determines the elderly person's walking path. Based on different walking paths, it analyzes the environment and gives different warning signals.

[0009] S2: Radar detects the elderly person's posture and behavior to determine if the elderly person is prone to falling;

[0010] S3: If the elderly person is prone to falling, provide methods to correct their posture based on this tendency;

[0011] S4: Radar detects changes in the elderly person's movements to determine if the elderly person has fallen;

[0012] S5: If an elderly person falls, the indoor camera will be activated to take a photo of the elderly person and upload it to the cloud. The radar will also detect the elderly person's physical information and upload it to the cloud. At the same time, a distress signal will be sent to family members or the hospital.

[0013] Furthermore, step S2, in which the radar determines whether the elderly person has a tendency to fall, specifically includes the following steps:

[0014] S201: The direction of the elderly person's fall relative to the vertical plane is obtained by radar, the angular velocity of the elderly person's fall is obtained by gyroscope, and the acceleration of the elderly person's fall is obtained by three-axis accelerometer.

[0015] S202: The predicted tilting pose is obtained based on the attitude prediction formula;

[0016] S203: Compare the estimated falling posture with the preset critical posture. If the estimated falling posture deviates from the preset critical posture, the elderly person is likely to fall.

[0017] Furthermore, the posture correction method in step S3 specifically includes the following steps:

[0018] S301: Based on the elderly person's tendency to fall, activate the correction device on the elderly person's body. The correction device is equipped with multiple air outlets, which are located in multiple directions of the correction device.

[0019] S302: Determine the direction of gas ejection based on the tilting direction obtained from radar;

[0020] S303: Determine the gas outlet angle based on the angle prediction function;

[0021] S304: When an elderly person falls, the first gas output is determined based on the first gas output prediction function; when the elderly person returns to upright, the second gas output is determined based on the second gas output prediction function.

[0022] Furthermore, the attitude prediction formula is as follows:

[0023] ;

[0024] Where P(x,y,z) is the estimated tilting pose of the elderly person, T(x1,y1,z1) is the initial pose of the elderly person, and W[(v x t+a x t 2 ), (v y t+a y t 2 ), (v z t+a z t 2[)] represents the changing postures of the elderly, v x v y and v z The initial angular velocities of the elderly person falling along the x, y, and z axes were collected by the gyroscope. x a y and a z The accelerations of the elderly person falling along the x, y, and z axes are collected by a triaxial accelerometer, and t is the estimated time of the elderly person falling.

[0025] Furthermore, the angle prediction function is:

[0026] ;

[0027] Where α is the angle between the elderly person's body and the y-axis, x, y, and z are the coordinates of the elderly person's estimated tilting posture on the x-axis, y-axis, and z-axis, and β is the gas outlet angle.

[0028] Furthermore, the first gas volume prediction function is:

[0029] ;

[0030] Where Q1 is the initial gas output, M is the weight of the elderly person, and v y a is the initial angular velocity of the elderly man falling along the y-axis, collected by the gyroscope. y The acceleration of the elderly person falling along the y-axis is collected by a triaxial accelerometer, f is the air resistance, P is the pressure difference between the inside and outside of the correction device, S is the area of ​​the elderly person's body that bears the weight, t is the estimated time of the elderly person's fall, and f1(α) is the estimated angle function of the elderly person's fall.

[0031] The second gas volume prediction function is:

[0032] ;

[0033] Where Q2 is the second gas output, M is the weight of the elderly person, and a y The acceleration of the elderly person falling along the y-axis is collected by a triaxial accelerometer, f is the air resistance, P is the pressure difference between the inside and outside of the correction device, S is the area of ​​the elderly person's body that bears the weight, t' is the estimated time for the elderly person to right themselves, and f2(α) is the estimated angle function for the elderly person to right themselves.

[0034] Furthermore, the elderly person's walking path includes walking on flat ground and walking on slopes. When the elderly person is walking on flat ground, the radar detects whether there are obstacles on the ground. If there are obstacles, the alarm issues a first alarm message to remind the elderly person to detour. When the elderly person is walking on slopes, the radar detects the height of the slope h1 and the height of the elderly person's leg lift h2. If h1 > h2, the alarm issues a second alarm message to remind the elderly person to increase the height of their leg lift.

[0035] Furthermore, the physical information includes at least the elderly person's heart rate and respiratory rate.

[0036] According to a second aspect of the present invention, a radar-based security system is provided for implementing the radar-based security method described in any of the preceding claims. The system includes a radar, a gyroscope, a three-axis accelerometer, a central processing unit (CPU), an alarm, and an indoor camera. The radar transmits detected indoor environmental information, the elderly person's behavior and posture, movement changes, and body information to the CPU. The gyroscope and the three-axis accelerometer transmit the angular velocity and acceleration of the elderly person's fall to the CPU. The CPU controls the switching on and off of the alarm and the indoor camera.

[0037] It also includes a correction device, which is worn around the waist of the elderly person. The correction device has multiple air outlets, which are located in multiple directions. Each air outlet is equipped with a control system, which controls the air volume and air angle. The central processing unit remotely controls the control system.

[0038] According to a third aspect of the present invention, a storage medium is provided, including a program and instructions, wherein when the program or instructions are run on a computer, the security protection method based on radar monitoring described in any of the preceding claims is implemented.

[0039] The present invention has the following advantages:

[0040] This invention uses radar to detect the indoor environment, enabling elderly people to avoid obstacles on the ground or lift their legs high enough to cross platforms while walking normally, thus providing early warning before a fall and avoiding the impact of the external environment. The invention also uses radar to detect the elderly person's own posture and predict their potential falling position. By predicting the falling position in advance, it determines whether the elderly person has a tendency to fall. When a fall tendency is detected, a posture correction method is provided based on this tendency. The invention uses a correction device worn by the elderly person to correct their posture, thereby preventing falls while walking and avoiding the subsequent burden of a fall. In the event of an unconscious fall, radar scanning confirms the fall, an indoor camera is activated to take a picture of the elderly person and upload it to the cloud, and radar detects and uploads the elderly person's physical information to the cloud. Simultaneously, a distress signal is sent to family members or a hospital so that the elderly person can receive timely medical attention. Attached Figure Description

[0041] To more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are merely exemplary, and those skilled in the art can derive other embodiments based on the provided drawings without creative effort.

[0042] The structures, proportions, sizes, etc. illustrated in this specification are only for the purpose of assisting those skilled in the art in understanding and reading the content disclosed herein, and are not intended to limit the conditions under which the present invention can be implemented. Therefore, they have no substantial technical significance. Any modifications to the structure, changes in the proportions, or adjustments to the size, without affecting the effects and objectives that the present invention can produce, should still fall within the scope of the technical content disclosed in the present invention.

[0043] Figure 1 A flowchart of a radar-based security protection method provided by the present invention;

[0044] Figure 2 This is a flowchart of step S2 in the safety protection method;

[0045] Figure 3 This is a flowchart of step S3 in the safety protection method;

[0046] Figure 4 This invention provides a connection block diagram for a radar-based security protection system. Detailed Implementation

[0047] The following specific embodiments illustrate the implementation of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0048] According to a first aspect of the present invention, a security protection method based on radar monitoring is provided, such as... Figure 1 The process, as shown, includes the following steps:

[0049] S1: The radar detects the indoor environment and determines the elderly person's walking path. Based on different walking paths, it analyzes the environment and issues different warning signals. The elderly person's walking path includes walking on flat ground and walking on slopes. When the elderly person is consciously walking indoors, obstacles on the horizontal ground may trip them, causing them to fall. When the elderly person needs to cross steps or other high platforms, if the height of the step is too low, they may trip at the step, and in severe cases, they may roll down the steps.

[0050] When an elderly person is walking on a flat surface, the radar detects whether there are obstacles on the ground. If there are obstacles, the alarm will sound the first alarm to remind the elderly person to detour and avoid falling. When an elderly person is walking on a slope, the radar detects the height of the slope h1 and the height of the elderly person's leg lift h2. If h1 > h2, the alarm will sound the second alarm to remind the elderly person to lift their leg higher so that they can safely cross the slope and avoid falling.

[0051] S2: Radar detects the elderly person's posture and behavior to determine if they are prone to falling. For example... Figure 2 As shown, the specific steps include:

[0052] S201: The direction of the elderly person's fall relative to the vertical plane is obtained by radar, the angular velocity of the elderly person's fall is obtained by gyroscope, and the acceleration of the elderly person's fall is obtained by three-axis accelerometer.

[0053] S202: The predicted tilting pose is obtained based on the attitude prediction formula.

[0054] The attitude prediction formula is:

[0055] ;

[0056] Where P(x,y,z) is the estimated tilting pose of the elderly person, T(x1,y1,z1) is the initial pose of the elderly person, and W[(v x t+a x t 2 ), (v y t+a y t 2 ), (v z t+a z t 2 [)] represents the changing postures of the elderly, v x v y and v z The initial angular velocities of the elderly person falling along the x, y, and z axes were collected by the gyroscope. x a y and a z The accelerations of the elderly person falling along the x, y, and z axes are collected by a triaxial accelerometer, and t is the estimated time of the elderly person falling.

[0057] S203: Compare the estimated falling posture with the preset critical posture. If the estimated falling posture deviates from the preset critical posture, the elderly person is likely to fall.

[0058] Besides external environmental factors that could cause falls in the elderly, their own improper posture and behavior can also lead to falls. To predict whether an elderly person's posture is indicative of a potential fall, a posture prediction formula is proposed. Based on the initial posture, the formula predicts the elderly person's potential falling posture. The predicted falling posture is then compared to a preset critical posture, which represents the posture the elderly person is about to fall in. If the predicted falling posture deviates from the preset critical posture, the elderly person may fall.

[0059] S3: If the elderly person shows a tendency to fall, provide methods to correct their posture based on this tendency. For example... Figure 3 As shown, the specific steps include:

[0060] S301: Based on the elderly person's tendency to fall, the correction device on the elderly person is activated. The correction device is equipped with multiple air outlets, which are located in multiple directions of the correction device.

[0061] S302: Determine the direction of gas ejection based on the tilting direction obtained from radar.

[0062] S303: Determine the gas outlet angle based on the angle prediction function.

[0063] The angle prediction function is:

[0064] ;

[0065] Where α is the angle between the elderly person's body and the y-axis, x, y, and z are the coordinates of the elderly person's estimated tilting posture on the x-axis, y-axis, and z-axis, and β is the gas outlet angle.

[0066] S304: When an elderly person falls, the first gas output is determined based on the first gas output prediction function; when the elderly person returns to upright, the second gas output is determined based on the second gas output prediction function.

[0067] The first gas volume prediction function is:

[0068] ;

[0069] Where Q1 is the initial gas output, M is the weight of the elderly person, and v y a is the initial angular velocity of the elderly man falling along the y-axis, collected by the gyroscope. yThe acceleration of the elderly person falling along the y-axis is collected by a triaxial accelerometer, f is the air resistance, P is the pressure difference between the inside and outside of the correction device, S is the area of ​​the elderly person's body that bears the weight, t is the estimated time of the elderly person's fall, and f1(α) is the estimated angle function of the elderly person's fall.

[0070] The second gas volume prediction function is:

[0071] ;

[0072] Where Q2 is the second gas output, M is the weight of the elderly person, and a y The acceleration of the elderly person falling along the y-axis is collected by a triaxial accelerometer, f is the air resistance, P is the pressure difference between the inside and outside of the correction device, S is the area of ​​the elderly person's body that bears the weight, t' is the estimated time for the elderly person to right themselves, and f2(α) is the estimated angle function for the elderly person to right themselves.

[0073] When a fall is predicted in an elderly person, a corrective device worn by the elderly person is used to prevent the fall. This device has air vents in all directions, and a jet mechanism on the device ejects air from these vents. The direction of the ejected air is the same as the direction the elderly person is about to fall, providing a reverse thrust that helps them right themselves.

[0074] The angle at which the elderly person tilts is calculated to determine the required angle for gas ejection. The gas ejection angle is always perpendicular to the elderly person's body, thus enabling the gas to push the elderly person back to the correct position.

[0075] When an elderly person falls and is straightened, the angle and amount of gas ejected need to be controlled so that the reverse thrust can change in real time to adapt to the changes in the elderly person's posture, thus smoothly straightening them. Gas is ejected when the elderly person begins to fall, i.e., when the angle of fall is 0°. The amount of gas ejected is calculated based on the first gas volume prediction function, and the amount of gas ejected gradually increases, thus increasing the thrust on the elderly person. When the thrust of the gas brings the elderly person to a straightened state, such as when the angle of fall is 15°, the angle begins to decrease. At this point, the amount of gas ejected is calculated based on the second gas volume prediction function, and the amount of gas ejected gradually decreases, thus decreasing the thrust on the elderly person.

[0076] Based on the elderly person's estimated tilt angle function f1(α) and estimated return angle function f2(α), it can be determined whether the elderly person is tilted or returns to normal.

[0077] S4: Radar detects changes in the elderly person's movements to determine if they have fallen.

[0078] S5: If an elderly person falls, the indoor camera will be activated to take a photo of the elderly person and upload it to the cloud. The radar will also detect the elderly person's physical information and upload it to the cloud. At the same time, a distress signal will be sent to family members or the hospital.

[0079] This invention uses radar to detect the indoor environment, enabling elderly people to avoid obstacles on the ground or lift their legs high enough to cross platforms while walking normally, thus providing early warning before they fall and avoiding the impact of the external environment on them.

[0080] This invention uses radar to detect the elderly person's own posture and predict their potential falling position. By predicting the elderly person's falling position in advance, it determines whether the elderly person has a tendency to fall. When a falling tendency is detected, a method to correct the posture is provided based on this tendency.

[0081] This invention uses a corrective device worn by the elderly to help them regain their correct posture, thereby preventing them from falling while walking and thus avoiding the subsequent burden caused by a fall.

[0082] The above operations require the elderly person to be conscious, able to perceive their external environment, and cooperate with the correction device to correct their posture. If the elderly person falls unconsciously, such as due to a sudden illness, the correction device cannot maintain their balance for an extended period, and they may fall again. In this case, radar detection of the elderly person's movements is necessary to determine if a fall has occurred.

[0083] When an elderly person falls unconsciously, radar scans confirm the fall, indoor cameras are activated to take a picture of the elderly person and upload it to the cloud, radar detects the elderly person's physical information such as heart rate and respiratory rate and uploads it to the cloud, and at the same time, a distress signal is sent to family members or hospitals so that the elderly person can receive medical treatment in time.

[0084] According to a second aspect of the present invention, a radar-based security protection system is provided for implementing a radar-based security protection method, such as... Figure 4 As shown, the system includes radar, gyroscope, three-axis accelerometer, central processing unit, alarm, and indoor camera. The radar transmits the detected indoor environmental information, the elderly person's behavior, posture, movement changes, and body information to the central processing unit. The gyroscope and three-axis accelerometer transmit the angular velocity and acceleration of the elderly person's fall to the central processing unit. The central processing unit controls the on / off switch of the alarm and indoor camera.

[0085] It also includes a correction device, which is worn around the elderly person's waist. The correction device has multiple air outlets, which are located in multiple directions. Each air outlet has a control system that controls the air volume and air angle. The central processor remotely adjusts the control system.

[0086] According to a third aspect of the present invention, a storage medium is provided, including a program and instructions, wherein a security protection method based on radar monitoring is implemented when the program or instructions are run on a computer.

[0087] Although the present invention has been described in detail above with general descriptions and specific embodiments, modifications or improvements can be made to it, which will be obvious to those skilled in the art. Therefore, all such modifications or improvements made without departing from the spirit of the present invention fall within the scope of protection claimed by the present invention.

Claims

1. A safety protection method based on radar monitoring, characterized in that, The method comprises the following steps: S1: the radar detects the indoor environment and judges the walking path of the old person, and according to different walking paths, the environment is analyzed to give different warning signals; S2: the radar detects the behavior posture of the old person to judge whether the old person has a tendency to fall; S3: if the old person has a tendency to fall, and according to the tendency, a correction posture method is given, specifically: S301: based on the tendency of the old person to fall, the correction device on the old person is started, the correction device is provided with a plurality of gas outlets, and the gas outlets are arranged in a plurality of directions of the correction device; S302: the gas ejection direction is determined according to the falling direction obtained by the radar; S303: the gas outlet angle is determined according to the angle estimation function; S304: when the old person falls, the first gas amount of the gas is determined according to the first gas amount estimation function; when the old person returns to normal, the second gas amount of the gas is determined according to the second gas amount estimation function; S4: the radar detects the action change of the old person to judge whether the old person falls; S5: if the old person falls, the indoor camera is started, the photo of the old person is uploaded to the cloud, the body information of the old person is detected by the radar and uploaded to the cloud, and a help signal is sent to the family or hospital; In S304, the first gas amount estimation function is: ； Wherein, Q1 is the first gas output of gas, M is the weight of the old man, v y is the initial angular velocity of the old man in y-axis collected by the gyroscope, a y is the acceleration of the old man in y-axis collected by the three-axis acceleration sensor, f is the air resistance, P is the internal and external pressure difference of the correction device, S is the body bearing area of the old man, t is the estimated falling time of the old man, f1(α) is the estimated falling angle function of the old man; The second gas amount estimation function is: ； Wherein, Q2 is the second gas output of the gas, M is the weight of the old man, a y is the acceleration of the old man in y axis collected by the triaxial acceleration sensor, f is the air resistance, P is the internal and external pressure difference of the correction device, S is the body bearing area of the old man, t' is the estimated righting time of the old man, and f2(α) is the estimated righting angle function of the old man.

2. The safety shield method based on radar monitoring as claimed in claim 1, wherein, The radar judging whether the old person has a tendency to fall in S2 comprises the following steps: S201: the falling direction of the old person relative to the vertical plane is obtained by the radar, the angular velocity of the old person falling is obtained by the gyroscope, and the acceleration of the old person falling is obtained by the three-axis acceleration sensor; S202: the estimated falling posture is obtained according to the posture estimation formula; S203: the estimated falling posture is compared with the preset critical posture, if the estimated falling posture deviates from the preset critical posture, the old person has a tendency to fall.

3. The safety shield method based on radar monitoring as claimed in claim 2, wherein, The posture estimation formula is: ； Wherein, P(x, y, z) is the estimated falling posture of the old man, T(x1, y1, z1) is the initial posture of the old man, W[(v x t+a x t 2 ), (v y t+a y t 2 ), (v z t+a z t 2 )] is the changing posture of the old man, v x , v y and v z are the initial angular velocities of the old man falling in the x-axis, y-axis and z-axis collected by the gyroscope, a x , a y and a z are the accelerations of the old man falling in the x-axis, y-axis and z-axis collected by the three-axis acceleration sensor, and t is the time of the old man estimated to fall.

4. The safety shield method based on radar monitoring according to claim 1, wherein, The angle estimation function is: ； Wherein, α is the included angle between the body of the old person and the y axis, x, y and z are the coordinate values of the estimated falling posture of the old person on the x axis, y axis and z axis, and β is the gas outlet angle.

5. The safety shield method based on radar monitoring according to claim 1, wherein, The walking path of the old person includes flat walking and slope walking, when the old person is in flat walking, the radar detects whether there is an obstacle on the ground, if there is an obstacle, the alarm gives the first alarm information to remind the old person to detour; when the old person is in slope walking, the radar detects the height h1 of the slope, at the same time, the radar detects the height h2 of the old person's leg lifting, if h1> h2, the alarm gives the second alarm information to remind the old person to increase the height of leg lifting.

6. The safety shield method based on radar monitoring according to claim 1, wherein, The body information at least includes the heart rate and the breathing frequency of the old person.

7. A radar monitoring based safety protection system for implementing the radar monitoring based safety protection method according to any one of claims 1-6, characterized by It comprises a radar, a gyroscope, a three-axis acceleration sensor, a central processor, an alarm and an indoor camera, the indoor environment information, the behavior posture, the action change and the body information of the old person detected by the radar are transmitted to the central processor, the angular velocity and the acceleration of the old person falling are transmitted to the central processor by the gyroscope and the three-axis acceleration sensor, and the central processor controls the switch of the alarm and the indoor camera; The application further comprises a correction device worn on the waist of the old person, the correction device is provided with a plurality of air outlets arranged in multiple directions, and each air outlet is provided with a control system for controlling the air volume and air angle, and the central processor remotely allocates the control system.

8. A storage medium, characterized by The application further comprises a program and instructions, and when the program or instructions are run on a computer, the safety protection method based on radar monitoring as claimed in any one of claims 1-6 is realized.

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