A human presence detection system

Abstract

The present invention provides a human presence detection system, comprising: an infrared sensor and a millimeter-wave radar sensor respectively connected to the processor for communication, the infrared sensor and the millimeter-wave radar sensor both being used to detect whether a human body exists in a target area; obtaining a current area state identifier M; if M is a first state identifier, controlling the millimeter-wave radar sensor to be in a dormant state and controlling the infrared sensor to be in an active state; obtaining a first target detection value R corresponding to the current sliding time window T at set intervals; 1 φ; if R 1 φ≥R 1 , then wake up the millimeter wave radar sensor; otherwise, maintain M as the first state identifier; obtain the second target detection value R corresponding to the current T 1 ψ; where R 1 ψ is determined based on several second detection values ​​output by the millimeter wave radar sensor within the current T; if R 1 ψ≥R 2 , then change the state of M to the second state; otherwise, maintain M as the first state identifier.

Description

Technical Field

[0001] The present invention relates to the field of human body detection, and in particular to a human body presence detection system. Background Art

[0002] Human presence perception is an extremely important application technology in smart homes. Smart home devices accurately sense the presence and status of the human body and make corresponding responses or interactions.

[0003] Currently, human presence detection primarily relies on passive pyroelectric infrared (PIR) sensors and millimeter-wave radar sensors. PIR sensors can detect moving people, but they cannot accurately detect stationary individuals. Furthermore, PIR sensors are susceptible to interference from environmental factors, such as sunlight from windows and overall temperature fluctuations. Millimeter-wave radar detects human presence by exploiting the fact that the amplitude and frequency of chest fluctuations during breathing and heartbeats vary, resulting in different frequencies of reflected echoes. Millimeter-wave radar overcomes the PIR sensors' vulnerability to light and temperature and can identify stationary individuals. However, detecting breathing and heartbeats requires continuous electromagnetic wave transmission and reception, as well as a series of data processing and calculations, which consumes significant power. Therefore, while the existing method of using both PIR and millimeter-wave radar sensors for human presence detection is relatively accurate, it consumes a significant amount of power. Summary of the Invention

[0004] In view of the above technical problems, the technical solution adopted by the present invention is:

[0005] According to a first aspect of the present application, a human presence detection system is provided, comprising: an infrared sensor, a millimeter-wave radar sensor, and a processor; wherein the infrared sensor and the millimeter-wave radar sensor are respectively communicatively connected to the processor, and both the infrared sensor and the millimeter-wave radar sensor are used to detect whether a human body exists in a target area;

[0006] The processor is configured to perform the following steps:

[0007] S100: Obtain the current area status identifier M of the target area.

[0008] S110, if M is a first state identifier, control the millimeter wave radar sensor to be in a dormant state and control the infrared sensor to be in an active state; wherein the first state identifier indicates that there is no human body in the target area.

[0009] S120, obtaining the first target detection value R corresponding to the current sliding time window T at every set time period.1 φ; where R 1 φ is determined based on a number of first detection values ​​output by the infrared sensor within a preset sliding time window T, where the end time of T is the current time.

[0010] S130, if R 1 φ≥R 1 , then wake up the millimeter wave radar sensor; where R 1 is the first threshold, R 1 Determined according to several first detection values ​​output by the infrared sensor within T.

[0011] S140, obtaining the second target detection value R corresponding to the current T 1 ψ; where R 1 ψ is determined based on several second detection values ​​output by the millimeter-wave radar sensor within the current T.

[0012] S150, if R 1 ψ≥R 2 , then change M to the second state identifier; otherwise, maintain M as the first state identifier; where R 2 is the second threshold, R 2 Determined based on several second detection values ​​output by the millimeter-wave radar sensor within the current T; the second state identifier indicates that there is a human body in the target area.

[0013] The present invention has at least the following beneficial effects:

[0014] The human presence detection system of the present invention first obtains the current area status identifier of the target area. If the area status identifier is the first status identifier, it means that there is no human body in the target area. Then, at this time, the millimeter-wave radar sensor is first controlled to be in a dormant state, and the infrared sensor is controlled to continue working. Since the power consumption of the millimeter-wave radar sensor is higher than that of the infrared sensor, controlling the millimeter-wave radar sensor to be in a dormant state can reduce the overall power consumption of the detection system.

[0015] Furthermore, the human body presence status indicated by the current area status identification is not necessarily accurate. Therefore, the presence of a human body in the target area is detected by an infrared sensor. If the detection result of the infrared sensor is consistent with the human body presence status result indicated by the initial area status identification, both indicating that there is no human body, then it can be determined that there is no human body in the target area; this method can further verify whether the human body presence status indicated by the initial area status identification is correct, making the detection result more accurate.

[0016] Furthermore, the detection results of the infrared sensor will be affected by the ambient temperature. There may be a situation where the detection results of the infrared sensor are inconsistent with the human body presence status results indicated by the initial area status mark. At this time, the millimeter-wave radar sensor with relatively high detection accuracy is used for final verification, and the detection results of the millimeter-wave radar sensor are used as the final result; the millimeter-wave radar sensor outputs more accurate detection results in a shorter time, so that the detection system can ensure detection accuracy while the overall power consumption will not increase significantly. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] 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 description of the embodiments. 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 creative work.

[0018] Figure 1 This is a structural framework diagram of a human presence detection system provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0019] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without making any creative efforts shall fall within the scope of protection of the present invention.

[0020] It should be noted that various aspects of the embodiments within the scope of the appended claims are described below. It should be apparent that the aspects described herein can be embodied in a wide variety of forms, and any specific structure and / or function described herein is merely illustrative. Based on this disclosure, it should be understood by those skilled in the art that an aspect described herein can be implemented independently of any other aspect, and two or more of these aspects can be combined in various ways. For example, any number of aspects described herein can be used to implement an apparatus and / or practice a method. In addition, other structures and / or functionalities other than one or more of the aspects described herein can be used to implement this apparatus and / or practice this method.

[0021] The embodiment of the present invention provides a Figure 1The human presence detection system shown in the figure includes: an infrared sensor, a millimeter-wave radar sensor and a processor; wherein the infrared sensor and the millimeter-wave radar sensor are respectively communicated with the processor, and the infrared sensor and the millimeter-wave radar sensor are both used to detect whether there is a human body in the target area; it can be understood that the area detected by the infrared sensor and the millimeter-wave radar sensor is the same target area.

[0022] In this embodiment, the infrared sensor can output an infrared detection value, which is a probability value. The larger the infrared detection value, the greater the probability that a human body exists in the target area; and the millimeter wave radar sensor can output a radar detection value, which is a probability value. The larger the radar detection value, the greater the probability that a human body exists in the target area.

[0023] The processor is configured to perform the following steps:

[0024] S100: Obtain the current area status identifier M of the target area.

[0025] In this embodiment, the area status flag is used to indicate the presence of a human body within the target area. For example, M can be set to the first status flag to indicate the absence of a human body within the target area, while M can be set to the second status flag to indicate the presence of a human body within the target area. The initial status flag of M can be set manually, or the detection system can automatically detect the presence of a human body within the target area upon power-up and automatically set the status flag of M based on the detection result.

[0026] S110, if M is a first state identifier, control the millimeter wave radar sensor to be in a dormant state and control the infrared sensor to be in an active state; wherein the first state identifier indicates that there is no human body in the target area.

[0027] In this embodiment, the result that there is no human body in the target area is the initial result of the detection system, and its correctness needs to be verified. At this time, since the power consumption of the infrared sensor is lower than that of the millimeter-wave radar sensor, the correctness of the initial result is verified by using the infrared sensor and the millimeter-wave radar sensor is controlled to be in a dormant state. On the one hand, it can ensure the accuracy of the detection results of the detection system, and on the other hand, it can effectively reduce the overall power consumption of the detection system.

[0028] S120, obtaining the first target detection value R corresponding to the current sliding time window T at every set time period. 1 φ; where R 1 φ is determined based on a number of first detection values ​​output by the infrared sensor within a preset sliding time window T, where the end time of T is the current time.

[0029] It's understandable that environmental factors within the target area can change over time; for example, the temperature within the target area can vary at different times of the day. If the time window is fixed, the data within that fixed window cannot accurately represent the human presence within the target area at that time.

[0030] In this embodiment, the set time length is the step length of the sliding time window, and the preset time window is the sliding time window, that is, the end time of the time window is always the current time. Therefore, it can be ensured that the first detection value in the time window is the latest detection value, and the first detection value in the sliding time window can represent the presence of the human body in the current environment; in addition, the first target detection value is not the first detection value output by the infrared sensor at a certain moment, but is determined based on several first detection values ​​output by the infrared sensor in the sliding time window. Therefore, even if there are individual abnormal detection values ​​among the several first detection values, it will not cause the final detection result to be wrong, thereby further improving the accuracy of the detection result of the detection system.

[0031] S130, if R 1 φ≥R 1 , then wake up the millimeter wave radar sensor; where R 1 is the first threshold, R 1 Determined according to several first detection values ​​output by the infrared sensor within T.

[0032] In this embodiment, the initial result of the detection system is that there is no human body in the target area, and R 1 φ≥R 1 , indicating that the infrared sensor detects the presence of a human body in the target area, then one of the initial result and the infrared sensor's detection result is wrong; therefore, in R 1 φ≥R 1 In this case, it is necessary to wake up the millimeter-wave radar sensor for the final detection; since the detection accuracy of the millimeter-wave radar sensor is higher than that of the infrared sensor, and its power consumption is also higher than that of the infrared sensor, therefore, using the millimeter-wave radar sensor to work briefly for the final detection can, on the one hand, ensure the accuracy of the detection results of the detection system, and on the other hand, will not significantly increase the power consumption of the detection system.

[0033] In addition, the first threshold is not a fixed threshold, but is determined based on a number of first detection values ​​output by the infrared sensor within T. Therefore, the first threshold is a variable threshold, which has the following beneficial effects:

[0034] The infrared sensor's detection value is affected by the ambient temperature. The range of its output detection value is different in low and high ambient temperature conditions. For example, when the ambient temperature is 10°C, the infrared sensor's detection value range is 0.3-0.5, while when the ambient temperature is 30°C, the infrared sensor's detection value range is 0.5-0.8. If a fixed threshold method is used, the threshold set for an ambient temperature of 10°C cannot be used to determine the detection result at an ambient temperature of 30°C.

[0035] In this embodiment, the first threshold is determined based on several first detection values ​​output by the infrared sensor within T, and the end time of T is the current time. Therefore, no matter how the ambient temperature changes, the first threshold is always within the range of the detection value output by the infrared sensor at the current ambient temperature. The first threshold can be used to determine the detection results of the infrared sensor in the target area at the current temperature, thereby improving the accuracy of the detection results of the detection system.

[0036] S140, obtaining the second target detection value R corresponding to the current T 1 ψ; where R 1 ψ is determined based on several second detection values ​​output by the millimeter-wave radar sensor within the current T.

[0037] It is understandable that although the detection accuracy of the millimeter-wave radar sensor is higher than that of the infrared sensor, the millimeter-wave radar sensor is also affected by environmental factors, and the detection value output at a certain moment may also be inaccurate; therefore, using several second detection values ​​output within the current T to determine the second target detection value can ensure that the second detection value within the current T is the latest detection value, and the second detection value within the sliding time window can represent the presence of the human body in the current environment; in addition, the second target detection value is not the second detection value output by the millimeter-wave radar sensor at a certain moment, but is determined based on several second detection values ​​output by the millimeter-wave radar sensor within the sliding time window. Therefore, even if there are individual abnormal detection values ​​among the several second detection values, it will not cause the final detection result to be wrong, thereby further improving the accuracy of the detection result of the detection system.

[0038] S150, if R 1 ψ≥R 2 , then change M to the second state identifier; otherwise, maintain M as the first state identifier; where R 2 is the second threshold, R 2 Determined based on several second detection values ​​output by the millimeter-wave radar sensor within the current T; the second state identifier indicates that there is a human body in the target area.

[0039] In this embodiment, since the detection accuracy of the millimeter-wave radar sensor is higher than that of the infrared sensor, and the power consumption is also higher than that of the infrared sensor, using the detection result of the millimeter-wave radar sensor as the final detection result can improve the accuracy of the detection result of the detection system; and the millimeter-wave radar sensor works for a relatively short time, and will not significantly increase the overall power consumption of the detection system.

[0040] The detection values ​​of millimeter-wave radar sensors are also affected by environmental factors. For example, soft materials can affect the detection value output by the millimeter-wave radar sensor. The output detection value ranges are also different when there are more soft materials and less soft materials in the target area. For example, when there are more soft materials in the target area, the detection value output by the millimeter-wave radar sensor ranges from 0.3 to 0.5. When there are fewer soft materials in the target area, the detection value range of the millimeter-wave radar sensor is 0.5 to 0.8. If a fixed threshold method is used, the threshold set when the target area has more soft materials cannot be used to determine the detection results when there are fewer soft materials in the target area.

[0041] In this embodiment, the second threshold is determined based on several second detection values ​​output by the millimeter-wave radar sensor within T, where the end time of T is the current time. Therefore, regardless of how the amount of soft material in the target area changes, the second threshold is always within the range of the detection values ​​output by the millimeter-wave radar sensor at the current ambient temperature. The second threshold can be used to determine the detection results of the millimeter-wave radar sensor in the target area at the current temperature, thereby improving the accuracy of the detection results of the detection system.

[0042] The human presence detection system of this embodiment first obtains the current area status identifier of the target area. If the area status identifier is the first status identifier, it means that there is no human body in the target area. Then, at this time, the millimeter-wave radar sensor is first controlled to be in a sleep state, and the infrared sensor is controlled to continue working. Since the power consumption of the millimeter-wave radar sensor is higher than that of the infrared sensor, controlling the millimeter-wave radar sensor to be in a sleep state can reduce the overall power consumption of the detection system.

[0043] Furthermore, the human body presence status indicated by the current area status identification is not necessarily accurate. Therefore, the presence of a human body in the target area is detected by an infrared sensor. If the detection result of the infrared sensor is consistent with the human body presence status result indicated by the initial area status identification, both indicating that there is no human body, then it can be determined that there is no human body in the target area; this method can further verify whether the human body presence status indicated by the initial area status identification is correct, making the detection result more accurate.

[0044] Furthermore, the detection results of the infrared sensor will be affected by the ambient temperature. There may be a situation where the detection results of the infrared sensor are inconsistent with the human body presence status results indicated by the initial area status mark. At this time, the millimeter-wave radar sensor with relatively high detection accuracy is used for final verification, and the detection results of the millimeter-wave radar sensor are used as the final result; the millimeter-wave radar sensor outputs more accurate detection results in a shorter time, so that the detection system can ensure detection accuracy while the overall power consumption will not increase significantly.

[0045] In an exemplary embodiment, after step S100, the processor is further configured to perform the following steps:

[0046] S200: If M is the second state identifier, the millimeter wave radar sensor is controlled to be in a dormant state, and the infrared sensor is controlled to be in an active state.

[0047] In this embodiment, M is the second state identifier indicating that there is a human body in the target area. When there is a human body in the target area, the millimeter-wave radar sensor is controlled to be in a dormant state to reduce the overall power consumption of the detection system; and the infrared sensor is controlled to be in a working state, so that the detection system can detect changes in the presence of a human body in the target area in real time under a lower power consumption state.

[0048] S210, obtaining the third target detection value R corresponding to the current T 2 φ; where R 2 φ is determined based on a plurality of third detection values ​​output by the infrared sensor at the current T.

[0049] The method and effect of step S210 are the same as those of step S120. For detailed description, please refer to step S120 and will not be repeated here.

[0050] S220, if R 2 φ<R 3 , then wake up the millimeter wave radar sensor; otherwise, maintain M as the second state flag; where R 3 is the third threshold, R 3 It is determined according to several third detection values ​​output by the infrared sensor at the current T.

[0051] In this embodiment, R 2 φ<R 3 Indicates that there is no human body in the target area. At this time, the detection result of the infrared sensor is different from the initial result of the detection system. One of the initial result and the detection result of the infrared sensor is wrong. Therefore, in R 2 φ<R 3In this case, it is necessary to wake up the millimeter-wave radar sensor for the final detection; since the detection accuracy of the millimeter-wave radar sensor is higher than that of the infrared sensor, and its power consumption is also higher than that of the infrared sensor, therefore, using the millimeter-wave radar sensor to work briefly for the final detection can, on the one hand, ensure the accuracy of the detection results of the detection system, and on the other hand, will not significantly increase the power consumption of the detection system.

[0052] In this embodiment, the determination method and effect of the third threshold are the same as those of the first threshold, and are not described in detail here.

[0053] S230, obtaining the fourth target detection value R corresponding to the current T 2 ψ; where R 2 ψ is determined based on several fourth detection values ​​output by the millimeter-wave radar sensor within the current T.

[0054] The method and effect of step S230 are the same as those of step S140. For detailed description, please refer to step S140 and will not be repeated here.

[0055] S240, if R 2 ψ≥R 4 , then change M to the third state identifier; otherwise, change M to the first state identifier; where R 4 is the fourth threshold, R 4 Determined according to several fourth detection values ​​output by the millimeter-wave radar sensor within the current T; the third state identifier indicates that there is a stationary human body in the target area.

[0056] In this embodiment, the infrared sensor can detect moving people within the target area, but cannot detect stationary people within the target area. If the initial detection result indicates the presence of a person, the infrared sensor's detection result indicates the absence of a person. The millimeter-wave radar sensor can detect stationary people, and its detection result also indicates the presence of a person. Therefore, it can be determined that the infrared sensor detected a stationary person within the target area as not existing; therefore, the correct detection result in this case is the presence of a stationary person within the target area. Through this method, the detection system can detect stationary people, enabling the detection system to accurately detect the presence of various human bodies within the target area.

[0057] After step S240, the processor is further configured to perform the following steps:

[0058] S300: If M is the third state identifier, the millimeter-wave radar sensor is controlled to be in a dormant state, and the infrared sensor is controlled to work at intervals of a preset time t, and the working time of the infrared sensor each time is greater than T.

[0059] In this embodiment, when there is a stationary human body in the target area, it can be understood that the human body is in a resting state, which usually lasts for a long time. Then, controlling the millimeter-wave radar sensor to be in a dormant state at this time can reduce the overall power consumption of the detection system; in addition, controlling the infrared sensor to work at a preset interval of time t can further reduce the overall power consumption of the detection system; where t can be in the range of 2-3 seconds.

[0060] As another embodiment, when M is the first state indicator, that is, when there is no human body in the target area, the method in step S300 can also be used to set the infrared sensor to work at a preset interval of time t to reduce the overall power consumption of the detection system.

[0061] S310, obtaining the fifth target detection value R corresponding to the current T 3 φ; where R 3 φ is determined based on a number of fifth detection values ​​output by the infrared sensor at the current T.

[0062] The method and effect of step S310 are the same as those of step S120. For detailed description, please refer to step S120 and will not be repeated here.

[0063] S320, if R 3 φ≥R 5 , then wake up the millimeter wave radar sensor; otherwise, maintain M as the third state identifier; where R 5 is the fifth threshold, R 5 The value is determined based on a plurality of fifth detection values ​​output by the infrared sensor at the current T.

[0064] In this embodiment, R 3 φ≥R 5 , it means that there is a human body in the target area. At this time, the detection result of the infrared sensor may be a misjudgment due to environmental factors. Therefore, it is necessary to wake up the millimeter-wave radar sensor for confirmation.

[0065] S330, obtaining the sixth target detection value R corresponding to the current T 3 ψ; where R 3 ψ is determined based on several sixth detection values ​​output by the millimeter-wave radar sensor within the current T.

[0066] The method and effect of step S330 are the same as those of step S140. For detailed description, please refer to step S140 and will not be repeated here.

[0067] S340, if R 3 ψ≥R 6 , then M is changed to the second state identifier and the millimeter wave radar sensor is controlled to be in the dormant state; otherwise, M is maintained as the third state identifier; wherein, R6 is the sixth threshold, R 6 Determined according to several sixth detection values ​​output by the millimeter-wave radar sensor within the current T.

[0068] In this embodiment, R 3 ψ≥R 6 When , it indicates that there is a human body in the target area, that is, the infrared sensor in step S330 is not a misjudgment, then M is changed to the second state flag, and the millimeter wave radar sensor is controlled to be in a dormant state to reduce the overall power consumption of the detection system; if R 3 ψ<R 6 , indicating that there is no human body in the target area, that is, the infrared sensor misjudged in step S330. At this time, M continues to be maintained as the third state indicator.

[0069] The human presence detection system of this embodiment can detect the presence of a stationary human body in the target area. The detection of this state can provide a basis for the selection of control strategies for other systems. For example, when a stationary human body exists in the target area, the air-conditioning system should control the temperature in the target area to be higher than when there is an active human body.

[0070] The step S120 includes the following steps:

[0071] S121, obtain the first detection value set S within the current T 1 =(S 1 1,S 1 2,…,S 1 a ,…,S 1 b ), where S 1 a is the ath first detection value, b is the number of first detection values; S 1 x+1 The time corresponding to T is later than S 1 x At the corresponding time within T, x=1, 2,…, b-1.

[0072] In this embodiment, S 1 The first detection values ​​in the image are arranged in the order of time according to the output of the infrared sensor, that is, the first output is arranged in front and the later output is arranged in the back. Since the environmental factors in the target area will change, the first detection value output later can more accurately reflect the status of the human body in the current environment; the value range of T is 2-3 seconds, and the value range of b is 3-5.

[0073] S122, according to S 1 a Corresponding to the time sequence within T, determine the weight set λ of the first detection value 1=(λ 1 1,λ 1 2,…,λ 1 a ,…,λ 1 b ), where λ 1 a For S 1 a The weight of , 0<λ 1 a <1,λ 1 x+1 >λ 1 x .

[0074] λ 1 The weight in increases with the increase of a value. The first detection value output closer to the current time is given a larger weight. Therefore, the first detection value output later and more accurately reflecting the presence of the human body in the current environment is given a higher weight. Then, according to S 1 and λ 1 The determined first target detection value is also more consistent with the current environment, thereby improving the accuracy of the detection result.

[0075] S123, according to S 1 and λ 1 , determine the first target detection value R 1 φ=∑ a＝1 b (λ 1 a *S 1 a ).

[0076] In this embodiment, R 1 φ is obtained by 1 The weighted sum of the first detection values ​​in S 1 If there is an abnormality in the individual first detection value, the R 1 The influence of φ is limited and does not directly lead to R 1 φ mutation, thereby improving the stability of the detection results.

[0077] The R 1 Determine this by following these steps:

[0078] S131, traverse S 1 , determine S 1 The largest first detection value S 1 max .

[0079] In this embodiment, due to changes in environmental factors and the limited accuracy of the infrared sensor itself, the first detection values ​​output by the infrared sensor within T are not completely the same. Therefore, the maximum first detection value can be determined from the first detection values.

[0080] S132, according to S 1 max and b, determine R 1 =f*b*S 1 max ; Wherein, f is the preset proportional coefficient, 0<f<1.

[0081] Understandably, b*S 1 max is the maximum value of the sum of the first detection values ​​within the current T. As time goes by, due to the change of the ambient temperature in the target area, S 1 max will change, so R 1 It is also a variable threshold, which targets R 1 φ, R 1 φ is also based on the S in the current T 1 and λ 1 Determined, therefore, R 1 and R 1 φ is in the same sliding time window, R 1 Able to accurately measure R 1 φ; if R 1 If it is set to a fixed value, then when the ambient temperature changes greatly, the overall change of each first detection value is also large, and the fixed value R 1 It is not possible to accurately measure the detection results within the current T; therefore, the variable threshold of this embodiment can improve the accuracy of the detection results and avoid the occurrence of erroneous detection results of the infrared sensor due to changes in the ambient temperature in the target area.

[0082] f can be determined by multiple experiments, that is, the temperature in the target area is set to the first temperature and kept constant. At this time, the human body is placed in the first position of the target area, and the first target detection value R in the current state is obtained. 11 φ, and the maximum first detection value S 11 max , according to R 11 φ and S 11 max , determine f1 = R 11 φ / b*S 11 max Then, by changing the temperature in the target area and placing the human body in different positions in the target area, multiple proportional coefficients can be determined, and the average of all proportional coefficients can be calculated to determine f.

[0083] This method of determining f covers all situations where the target area is at different temperatures and the human body is in different positions. Therefore, in the subsequent detection process of the detection system, any situation where the human body is in the target area falls into the above situation, thereby improving the accuracy of the detection results judged by the threshold.

[0084] The step S140 includes the following steps:

[0085] S141, obtain the second detection value set S within the current T 2 =(S 2 1,S 2 2,…,S 2 c ,…,S 2 d ), where S 2 c is the cth second detection value, d is the number of second detection values; S 1 y+1 The time corresponding to T is later than S 1 y At the corresponding time within T, y = 1, 2,…, d-1.

[0086] In this embodiment, the method in step S141 is the same as the method in step S121, except that the object targeted by step S141 is a millimeter wave radar sensor, while the object targeted by step S121 is an infrared sensor; the value range of d is 6-10,

[0087] Since the millimeter-wave radar sensor has a short operating time and the weight of the detection value output by the millimeter-wave radar sensor is relatively high, d>b can be set. A smaller b can reduce the operating frequency of the infrared sensor and further reduce the overall power consumption of the detection system; while a larger d allows the millimeter-wave radar sensor to maintain a higher sampling frequency, which can improve the accuracy of the detection system's detection results.

[0088] S142, according to S 2 c Corresponding to the time sequence within T, determine the weight set λ of the second detection value 2 =(λ 2 1,λ 2 2,…,λ 2 c ,…,λ 2 d ); where λ 2 c For S 2 c The weight of , 0<λ 2c <1,λ 2 y+1 >λ 2 y .

[0089] In this embodiment, the method in step S142 is the same as the method in step S122 and is not described again here.

[0090] S143, according to S 2 and λ 2 , determine the second target detection value R 1 ψ=∑ c＝1 d (λ 1 c *S 1 c ).

[0091] In this embodiment, R 1 ψ is obtained by 2 The weighted sum of the second detection values ​​in S 2 If there is an abnormality in the individual second detection value, the R 1 The influence of ψ is limited and does not directly lead to R 1 ψ mutation, thereby improving the stability of the test results.

[0092] The R 2 Determine this by following these steps:

[0093] S151, traverse S 2 , determine S 2 The second largest detection value S 2 max .

[0094] S152, according to S 2 max and d, determine R 2 =e*d*S 2 max ; Wherein, e is the preset proportional coefficient, 0<e<1.

[0095] Understandably, d*S 2 max is the maximum value of the sum of the second detection values ​​within the current T. As time goes by, due to the changes in environmental factors in the target area, S 2 max will change, so R 2 It is also a variable threshold, which targets R 1 ψ, R 1 ψ is also based on the S in the current T 2 and λ2 Determined, therefore, R 2 and R 1 ψ is in the same sliding time window, R 2 Able to accurately measure R 1 ψ; if R 2 If it is set to a fixed value, then when the environmental factors in the target area change greatly, the overall change of each second detection value is also large, and the fixed value R 2 It is impossible to accurately measure the detection results within the current T; therefore, the variable threshold of this embodiment can improve the accuracy of the detection results and avoid the occurrence of incorrect detection results of the millimeter wave radar sensor due to changes in environmental factors in the target area.

[0096] e can be determined by multiple experiments, that is, a first number of soft materials are set in the target area, at this time, the human body is placed in the first position of the target area, and the second target detection value R in the current state is obtained. 11 ψ, and the maximum second detection value S 21 max , according to R 11 ψ and S 21 max , determine e1=R 11 ψ / d*S 21 max Then, by changing the amount of soft materials in the target area and placing the human body in different positions within the target area, multiple proportional coefficients can be determined, and the average of all proportional coefficients can be calculated to determine e.

[0097] This method of determining e covers all situations where there are different amounts of soft materials in the target area and the human body is in different positions. Therefore, during the subsequent detection system detection process, any situation where the human body is in the target area falls into the above situation, thereby improving the accuracy of the detection results judged by the threshold.

[0098] Before step S100, the processor is further configured to perform the following steps:

[0099] S010, in response to the system startup instruction, obtaining the seventh detection value set S output by the infrared sensor within the current T 3 =(S 3 1,S 3 2,…,S 3 m ,…,S 3 n ) and the eighth detection value set S output by the millimeter wave radar sensor 4 =(S 4 1,S 4 2,…,S 4p ,…,S 4 q ); where m = 1, 2, ..., n; p = 1, 2, ..., q; S 3 m is the mth seventh detection value, n is the number of seventh detection values, S 4 p is the pth eighth detection value, q is the number of eighth detection values; S 3 j+1 The time corresponding to T is later than S 3 j The corresponding time in T, j = 1, 2, ..., n-1; S 4 k+1 The time corresponding to T is later than S 4 k The corresponding time in T is k=1,2,…,q-1.

[0100] In this embodiment, step S010 is executed before step S100, that is, when the detection system is powered on, to obtain m seventh detection values ​​of the infrared sensor within the current T and q eighth detection values ​​of the millimeter-wave radar sensor; the value range of m can be set to 6-8, and the value range of q can be set to 11-13; that is, when the detection system is powered on, the operating frequencies of the infrared sensor and the millimeter-wave radar sensor are higher, so as to improve the accuracy of the initial detection results.

[0101] S020, according to S 1 m Corresponding to the time sequence within T, determine the weight set λ of the eighth detection value 1 =(λ 1 1,λ 1 2,…,λ 1 m ,…,λ 1 n ); According to S 2 p Corresponding to the time sequence within T, determine the weight set λ of the eighth detection value 2 =(λ 2 1,λ 2 2,…,λ 2 p ,…,λ 2 q ), where λ 1 m For S 1 m The weight of , 0<λ 1 m <1,λ 1 r+1 >λ 1r , r=1,2,…,n-1;λ 2 p For S 2 p The weight of , 0<λ 2 p <1,λ 1 y+1 >λ 1 y , y=1,2,…,q-1.

[0102] The method and effect of step S020 are the same as those of step S142 and are not described in detail here.

[0103] S030, according to S 1 and λ 1 , determine the seventh target detection value Rφ=sum(λ 1 1*S 1 1,λ 1 2*S 1 2,…,λ 1 m *S 1 m ,…,λ 1 n *S 1 n ); According to S 2 and λ 2 , determine the eighth target detection value Rψ=sum(λ 2 1*S 2 1,λ 2 2*S 2 2,…,λ 2 p *S 2 p ,…,λ 2 q *S 2 q ); where sum() is the summation function.

[0104] S040 , determining a ninth target detection value R=λ×Rφ+(1−λ)×Rψ based on Rφ and Rψ; wherein λ is a preset weight, 0<λ<0.5.

[0105] In this embodiment, since the millimeter wave radar sensor can detect not only active human bodies but also stationary human bodies, its detection accuracy is higher than that of the infrared sensor. Therefore, a higher weight is given to Rψ, thereby improving the accuracy of the initial detection results of the detection system.

[0106] S050, if R<R 7, then M is set to the first state flag; otherwise, M is set to the second state flag; where R 7 is the preset seventh threshold.

[0107] In this embodiment, R 7 It can be determined by a method of multiple experiments, that is, the ambient temperature in the target area is set to a first temperature, and a first number of soft materials are set at the same time. At this time, the human body is placed in a first position in the target area, and the ninth target detection value R' in the current state is obtained. Then, the ambient temperature in the target area is kept unchanged, the number of soft materials in the target area is changed, or the position of the human body is changed, and multiple ninth target detection values ​​can be obtained. Similarly, the number of soft materials in the target area is kept unchanged, the ambient temperature in the target area is changed, or the position of the human body is changed, and multiple ninth target detection values ​​can also be obtained. Finally, the smallest ninth target detection value is determined among all the ninth target detection values, which is R 7 .

[0108] In this embodiment, R 3 and R 5 The determination method of R 1 The same method is used to determine R 4 and R 5 The determination method of R 2 The determination method is the same and will not be repeated here.

[0109] Furthermore, although the steps of the method of the present disclosure are described in a particular order in the accompanying drawings, this does not require or imply that the steps must be performed in this particular order, or that all steps shown must be performed to achieve the desired results. Additionally or alternatively, some steps may be omitted, multiple steps may be combined into one step, and / or one step may be decomposed into multiple steps.

[0110] An embodiment of the present invention also provides a non-transitory computer-readable storage medium, which can be set in an electronic device to store at least one instruction or at least one program related to implementing a method in a method embodiment. The at least one instruction or the at least one program is loaded and executed by the processor to implement the method provided in the above embodiment.

[0111] The program product can adopt any combination of one or more readable media. The readable medium can be a readable detection value medium or a readable storage medium. The readable storage medium can be, for example, but not limited to, a system, device or component of electricity, magnetism, light, electromagnetic, infrared, or semiconductor, or any combination thereof. More specific examples (non-exhaustive list) of readable storage media include: an electrical connection with one or more wires, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof.

[0112] Computer-readable detection value media may include data detection values ​​transmitted in baseband or as part of a carrier wave, which carry readable program code. Such transmitted data detection values ​​may take a variety of forms, including but not limited to electromagnetic detection values, optical detection values, or any suitable combination thereof. The readable detection value medium may also be any readable medium other than a readable storage medium that can transmit, transmit, or transfer a program for use by or in conjunction with an instruction execution system, apparatus, or device.

[0113] The program code embodied on the readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

[0114] The program code for performing the operations of the present application can be written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Java, C++, etc., and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code can be executed entirely on the user computing device, partially on the user device, as a separate software package, partially on the user computing device and partially on a remote computing device, or entirely on a remote computing device or server. In the case of a remote computing device, the remote computing device can be connected to the user computing device through any type of network, including a local area network (LAN) or a wide area network (WAN), or can be connected to an external computing device (e.g., via the Internet using an Internet service provider).

[0115] An embodiment of the present invention further provides an electronic device including a processor and the aforementioned non-transitory computer-readable storage medium.

[0116] The electronic device according to this embodiment of the present application is merely an example and should not limit the functions and scope of use of the embodiments of the present application.

[0117] The electronic device is implemented as a general-purpose computing device. Components of the electronic device may include, but are not limited to, the aforementioned at least one processor, the aforementioned at least one storage, and a bus connecting different system components (including the storage and the processor).

[0118] The storage stores program codes, which can be executed by the processor, so that the processor executes the steps described in the above “Exemplary Method” section of this specification according to various exemplary embodiments of the present application.

[0119] The memory may include readable media in the form of volatile memory, such as random access memory (RAM) and / or cache memory, and may further include read only memory (ROM).

[0120] The storage may also include a program / utility having a set (at least one) of program modules, such program modules including but not limited to: an operating system, one or more application programs, other program modules, and program data, each of which or some combination may include an implementation of a network environment.

[0121] The bus may represent one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, a processor, or a local bus using any of a variety of bus architectures.

[0122] The electronic device may also communicate with one or more external devices (e.g., keyboards, pointing devices, Bluetooth devices, etc.), one or more devices that enable a user to interact with the electronic device, and / or any device that enables the electronic device to communicate with one or more other computing devices (e.g., routers, modems, etc.). Such communication may be performed via an input / output (I / O) interface. Furthermore, the electronic device may also communicate with one or more networks (e.g., local area networks (LANs), wide area networks (WANs), and / or public networks, such as the Internet) via a network adapter. The network adapter communicates with other modules of the electronic device via a bus. It should be understood that, although not shown in the figures, other hardware and / or software modules may be used in conjunction with the electronic device, including but not limited to: microcode, device drivers, redundant processors, external disk drive arrays, RAID systems, tape drives, and data backup storage systems.

[0123] Through the description of the above embodiments, it is easy for those skilled in the art to understand that the example embodiments described herein can be implemented by software or by combining software with necessary hardware. Therefore, the technical solution according to the embodiments of the present disclosure can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (which can be a CD-ROM, a USB flash drive, a mobile hard disk, etc.) or on a network, and includes several instructions to enable a computing device (which can be a personal computer, a server, a terminal device, or a network device, etc.) to execute the method according to the embodiments of the present disclosure.

[0124] An embodiment of the present invention further provides a computer program product comprising program code. When the program product is run on an electronic device, the program code is used to enable the electronic device to execute the steps of the method according to various exemplary embodiments of the present invention described above in this specification.

[0125] Although some specific embodiments of the present invention have been described in detail by way of example, it will be understood by those skilled in the art that the above examples are for illustration only and are not intended to limit the scope of the present invention. It will also be understood by those skilled in the art that various modifications may be made to the embodiments without departing from the scope and spirit of the present invention. The scope of the present invention is defined by the appended claims.

Claims

1. A human presence detection system, characterized in that: include: An infrared sensor, a millimeter-wave radar sensor, and a processor; wherein the infrared sensor and the millimeter-wave radar sensor are respectively connected to the processor for communication, and both the infrared sensor and the millimeter-wave radar sensor are used to detect whether there is a human body in the target area; The processor is configured to perform the following steps: S100, obtaining the current area status identifier M of the target area; S110, if M is a first state indicator, controlling the millimeter wave radar sensor to be in a dormant state and controlling the infrared sensor to be in an active state; wherein the first state indicator indicates that no human body is present in the target area; S120, obtaining the first target detection value R corresponding to the current sliding time window T at every set time period. 1 φ; where R 1 φ is determined based on a number of first detection values ​​output by the infrared sensor within a preset sliding time window T, where the end time of T is the current time; S130, if R 1 φ≥R 1 , then wake up the millimeter wave radar sensor; where R 1 is the first threshold, R 1 Determined according to a number of first detection values ​​output by the infrared sensor within T; S140, obtaining the second target detection value R corresponding to the current T 1 ψ; where R 1 ψ is determined based on a number of second detection values ​​output by the millimeter-wave radar sensor within the current T; S150, if R 1 ψ≥R 2 , then change M to the second state identifier; otherwise, maintain M as the first state identifier; where R 2 is the second threshold, R 2 Determined based on a number of second detection values ​​output by the millimeter-wave radar sensor within the current T; the second state indicator indicates that a human body is present in the target area; The step S120 includes the following steps: S121, obtain the first detection value set S within the current T 1 =(S 1 1,S 1 2,…,S 1 a ,…,S 1 b ), where S 1 a is the ath first detection value, b is the number of first detection values; S 1 x+1 The time corresponding to T is later than S 1 x At the corresponding time in T, x=1,2,…,b-1; S122, according to S 1 a Corresponding to the time sequence within T, determine the weight set λ of the first detection value 1 =(λ 1 1,λ 1 2,…,λ 1 a ,…,λ 1 b ); where λ 1 a For S 1 a The weight of , 0<λ 1 a <1,λ 1 x+1 >λ 1 x ; S123, according to S 1 and λ 1 , determine the first target detection value .

2. The human presence detection system according to claim 1, wherein: After step S100, the processor is further configured to perform the following steps: S200, if M is the second state indicator, control the millimeter wave radar sensor to be in a dormant state and control the infrared sensor to be in an active state; S210, obtaining the third target detection value R corresponding to the current T 2 φ; where R 2 φ is determined based on a number of third detection values ​​output by the infrared sensor at the current T; S220, if R 2 φ<R 3 , then wake up the millimeter wave radar sensor; otherwise, maintain M as the second state flag; where R 3 is the third threshold, R 3 Determined according to a number of third detection values ​​output by the infrared sensor at the current T; S230, obtaining the fourth target detection value R corresponding to the current T 2 ψ; where R 2 ψ is determined based on a plurality of fourth detection values ​​output by the millimeter-wave radar sensor within the current T; S240, if R 2 ψ≥R 4 , then change M to the third state identifier; otherwise, change M to the first state identifier; where R 4 is the fourth threshold, R 4 Determined according to several fourth detection values ​​output by the millimeter-wave radar sensor within the current T; the third state identifier indicates that there is a stationary human body in the target area.

3. The human presence detection system according to claim 2, wherein: After step S240, the processor is further configured to perform the following steps: S300, if M is a third state indicator, control the millimeter wave radar sensor to be in a dormant state, and control the infrared sensor to operate at a preset interval of time t, and the infrared sensor operates for a duration greater than T each time; S310, obtaining the fifth target detection value R corresponding to the current T 3 φ; where R 3 φ is determined based on a number of fifth detection values ​​output by the infrared sensor at the current T; S320, if R 3 φ≥R 5 , then wake up the millimeter wave radar sensor; otherwise, maintain M as the third state identifier; where R 5 is the fifth threshold, R 5 Determined according to a number of fifth detection values ​​output by the infrared sensor at the current T; S330, obtaining the sixth target detection value R corresponding to the current T 3 ψ; where R 3 ψ is determined based on a number of sixth detection values ​​output by the millimeter-wave radar sensor within the current T; S340, if R 3 ψ≥R 6 , then M is changed to the second state identifier and the millimeter wave radar sensor is controlled to be in the dormant state; otherwise, M is maintained as the third state identifier; wherein, R 6 is the sixth threshold, R 6 Determined according to several sixth detection values ​​output by the millimeter-wave radar sensor within the current T.

4. The human presence detection system according to claim 1, wherein: R 1 Determine this by following these steps: S131, traverse S 1 , determine S 1 The largest first detection value S 1 max ; S132, according to S 1 max and b, determine ; Wherein, f is the preset proportional coefficient, 0<f<1.

5. The human presence detection system according to claim 1, wherein: The step S140 includes the following steps: S141, obtain the second detection value set S within the current T 2 =(S 2 1,S 2 2,…,S 2 c ,…,S 2 d ), where S 2 c is the cth second detection value, d is the number of second detection values; S 1 y+1 The time corresponding to T is later than S 1 y At the corresponding time in T, y=1,2,…,d-1; S142, according to S 2 c Corresponding to the time sequence within T, determine the weight set λ of the second detection value 2 =(λ 2 1,λ 2 2,…,λ 2 c ,…,λ 2 d ); where λ 2 c For S 2 c The weight of , 0<λ 2 c <1,λ 2 y+1 >λ 2 y ; S143, according to S 2 and λ 2 , determine the second target detection value .

6. The human presence detection system according to claim 5, characterized in that: The R 2 Determine this by following these steps: S151, traverse S 2 , determine S 2 The second largest detection value S 2 max ; S152, according to S 2 max and d, determine ; Wherein, e is the preset proportional coefficient, 0<e<1.

7. The human presence detection system according to claim 1, wherein: Before step S100, the processor is further configured to perform the following steps: S010, in response to the system startup instruction, obtaining the seventh detection value set S output by the infrared sensor within the current T 3 =(S 3 1,S 3 2,…,S 3 m ,…,S 3 n ) and the eighth detection value set S output by the millimeter wave radar sensor 4 =(S 4 1,S 4 2,…,S 4 p ,…,S 4 q ); where m = 1, 2, ..., n; p = 1, 2, ..., q; S 3 m is the mth seventh detection value, n is the number of seventh detection values, S 4 p is the pth eighth detection value, q is the number of eighth detection values; S 3 j+1 The time corresponding to T is later than S 3 j The corresponding time in T, j=1,2,…,n-1; S 4 k+1 The time corresponding to T is later than S 4 k The corresponding time in T is k=1,2,…,q-1; S020, according to S 1 m Corresponding to the time sequence within T, determine the weight set λ of the eighth detection value 1 =(λ 1 1,λ 1 2,…,λ 1 m ,…,λ 1 n ); According to S 2 p Corresponding to the time sequence within T, determine the weight set λ of the eighth detection value 2 =(λ 2 1,λ 2 2,…,λ 2 p ,…,λ 2 q ); where λ 1 m For S 1 m The weight of , 0<λ 1 m <1,λ 1 r+1 >λ 1 r ,r=1,2,…,n-1;λ 2 p For S 2 p The weight of , 0<λ 2 p <1,λ 1 y+1 >λ 1 y , y=1,2,…,q-1; S030, according to S 1 and λ 1 , determine the seventh target detection value According to S 2 and λ 2 , determine the eighth target detection value ; Among them, sum() is the summation function; S040 , determining a ninth target detection value R=λ×Rφ+(1−λ)×Rψ based on Rφ and Rψ; where λ is a preset weight, 0<λ<0.5; S050, if R<R 7 , then M is set to the first state flag; otherwise, M is set to the second state flag; where R 7 is the preset seventh threshold.

8. The human presence detection system according to claim 1, wherein: The time length of the preset time window T ranges from 2 to 3 seconds.

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