Moving target detection method and device

Abstract

The invention provides a moving target detection method and device, and the method comprises the following steps: judging whether a maintenance stage is ended or not, starting an infrared induction module if the maintenance stage is ended, and entering a triggering stage; otherwise, continuing to maintain the maintaining stage until the condition change is detected, and triggering to enter the next triggering stage; wherein in the maintaining stage, power supply to the infrared sensing module is stopped, and target movement is continuously detected through the radar sensing module; in the triggering stage, one of the radar sensing module and the infrared sensing module is selected to be closed according to the detection result of the radar sensing module, a decision sub-stage in the initial stage of the triggering stage is formed, and the triggering stage is decided to be continued according to the detection result in the decision sub-stage or is timely adjusted to the maintenance stage.

Description

Technical Field

[0001] The present invention relates to the technical field of human presence detection, and in particular to a moving target detection method and device. Background Art

[0002] In the prior art, the moving target detection method usually adopts a multi-sensor combination to improve the detection accuracy and reliability, among which the combination of radar sensing module and infrared sensing module is widely used. This combination uses the characteristic of radar sensor that is not affected by ambient light conditions and combines the sensitive detection ability of infrared sensor to heat source changes to accurately capture moving targets.

[0003] However, the existing detection scheme of radar and infrared combination sensors still has many technical problems in practical applications, especially in low-power application scenarios, where infrared cannot be truly turned off, resulting in unnecessary power consumption.

[0004] In view of this, overcoming the defects of the prior art is an urgent problem to be solved in the field of this technology. Summary of the invention

[0005] In order to overcome the problems existing in the prior art, the present invention provides a moving target detection method and device.

[0006] According to a first aspect of the present invention, there is provided a moving target detection method, comprising the following steps:

[0007] Determine whether a maintenance phase is ended. If it is determined that the maintenance phase is ended, turn on the infrared sensing module and enter the trigger phase; otherwise, continue to maintain the maintenance phase until a condition change is detected, triggering the next round of trigger phase;

[0008] In the maintenance phase, the infrared sensing module is powered off, and the target movement is continuously detected through the radar sensing module;

[0009] In the triggering stage, the radar sensing module and the infrared sensing module are selectively turned off according to the detection result of the radar sensing module, forming a decision sub-stage at the beginning of the triggering stage. In this decision sub-stage, it is decided to continue the triggering stage or adjust to the maintenance stage in time according to the detection result.

[0010] According to a second aspect of the present invention, there is provided a moving target detection device for detecting a moving target by using the moving target detection method as described in the first aspect.

[0011] It should be understood that the above general description and the following detailed description are only exemplary and explanatory and cannot limit the present invention. The above invention contents can be combined arbitrarily, and these and other purposes of the present invention will be fully reflected through the following detailed description and drawings.

[0012] It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings required for use in the embodiments or the prior art descriptions are briefly introduced below. The drawings herein are incorporated into the specification and constitute a part of the specification, showing embodiments consistent with the present application, and are used together with the specification to explain the principles of the present application. Obviously, the drawings described below are only some embodiments of the present invention, and for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0014] Figure 1 This is a schematic diagram of the control system structure in one embodiment of the present invention. Figure 1 ;

[0015] Figure 2 This is a schematic diagram of the control system structure in one embodiment of the present invention. Figure 2 ;

[0016] Figure 3 FIG. 1 is a flow chart of a moving target detection method according to an embodiment of the present invention. Figure 1 ;

[0017] Figure 4 FIG. 1 is a flow chart of a moving target detection method according to an embodiment of the present invention. Figure 2 ;

[0018] Figure 5 is a flow chart of a more refined moving target detection method in one embodiment of the present invention;

[0019] Figure 6 It is a partial flow chart of a moving target detection method in one embodiment of the present invention;

[0020] Figure 7 The structure of a moving target detection device in one embodiment of the present invention is shown in FIG. Figure 1 ;

[0021] Figure 8 The structure of a moving target detection device according to an embodiment of the present invention is shown in FIG. Figure 2 . DETAILED DESCRIPTION

[0022] The embodiments of the present invention will be described in detail below. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0023] It should be understood that in the description of all embodiments of the present invention, the terms "upper", "lower", "left", "right" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, which is only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. The terms "first" and "second" are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. The terms "coupled" and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral body; it can be a mechanical connection, an electrical connection, or can communicate with each other; it can be directly connected, or indirectly connected through an intermediate medium to form a linkage relationship, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0024] In the embodiments of the present invention, the symbol " / " means that it has two functions at the same time. The symbol "A and / or B" indicates that the combination of the preceding and following objects connected by the symbol includes three situations: "A", "B", and "A and B".

[0025] Figure 1 Schematic diagram of the structure of a control system in one embodiment of the present invention. The control system includes a moving target detection device, a cloud, a gateway and a terminal.

[0026] The moving target detection device is used to sense the moving target, and is equipped with a wireless communication module, which can communicate with the outside to receive and send data. The wireless communication module can be at least one of a Bluetooth module and a Zigbee module.

[0027] The terminal may be, for example, a mobile phone, a tablet computer, a computer, a car computer, a smart home appliance, etc. The terminal may be Figure 1The terminal can interact with the cloud via a WIFI network or a gateway via Bluetooth. In a specific example, the terminal can interact with the cloud via a mobile network. The external terminal can be understood as an intelligent device independent of the moving target detection device for controlling, monitoring or interacting with the moving target detection device.

[0028] The gateway may be any device that can communicate with the cloud and the moving target detection device, for example, a gateway device dedicated to data interaction and processing, such as Figure 2 The Bluetooth gateway (or Zigbee gateway) shown in FIG. 1 is a schematic diagram of a Bluetooth gateway shown in FIG. 1 . In addition, the gateway may be configured with a separate Bluetooth communication module, or may be configured with a Bluetooth communication module (Zigbee communication module) and a WIFI communication module at the same time to form a dual-mode gateway.

[0029] In some solutions, the control system may also include controlled devices, which may include any devices for home, commercial, or industrial use, such as doorbells, air conditioners, smart curtains, fans, refrigerators, lighting devices, wall switches, and the like.

[0030] The cloud can be any device or combination of devices that has data storage and data processing capabilities and can interact with the gateway, and specifically can be, for example, a server in which the required programs can be deployed.

[0031] Among them, the moving target detection device can access the target network through the network configuration operation, and the network configuration operation is used to trigger the moving target detection device to enter the network configuration mode. In the network configuration mode, the moving target detection device sends out network configuration messages, and these network configuration messages carry at least information characterizing the moving target detection device, so that external devices such as terminals and gateways can scan the moving target detection device in the network configuration state based on the network configuration message, and then guide the moving target detection device to join the target network based on the preset network configuration method to complete the network configuration of the moving target detection device. After the network configuration is completed, the moving target detection device can communicate with the gateway, terminal, and cloud through the target network.

[0032] Furthermore, after completing the network configuration, the motion target detection device can report the detection results to the cloud through the gateway, such as whether there are motion targets, light intensity, power information, etc. The terminal can obtain these detection results from the cloud and display them to the user.

[0033] A typical scenario is as follows: the moving target detection device can be triggered locally (for example, in power saving mode, click a button to enter the network configuration mode, or press and hold the button for more than three seconds in the network configuration state to enter the reset network configuration mode), and then broadcast the Bluetooth network configuration message to the outside, so that the mobile phone can search for the moving target detection device, and after establishing a direct connection with the moving target detection device, guide the moving target detection device to access the target network formed by the Bluetooth gateway. The moving target detection device first establishes a communication connection with the Bluetooth gateway through the Bluetooth low energy (BLE) protocol, and then uses the Bluetooth gateway to access the wireless network (Wi-Fi) of the router of the home or enterprise to achieve seamless connection with the Internet. After the network is successfully connected, the moving target detection device can report its monitoring results - including but not limited to whether the moving target is detected, the ambient light intensity and other information - to the cloud. These data are not only the basis for the triggering of intelligent scenes, but also the basis for remote monitoring and management of users. Users can view the status of the moving target detection device in real time through the application of the terminal (mobile device or PC), or preset a series of intelligent scenes according to personal needs and preferences. For example, in scenes such as warehouse storage and transportation, the moving target detection device can switch to power saving mode.

[0034] In the prior art, the moving target detection method usually adopts a multi-sensor combination to improve the detection accuracy and reliability, among which the combination of radar sensing module and infrared sensing module is widely used. This combination utilizes the characteristic that the radar sensor is not affected by the ambient light conditions, combined with the infrared sensor's sensitive detection ability of heat source changes, to achieve accurate capture of moving targets. However, the existing detection scheme of radar and infrared combination sensors still has many technical problems in practical applications, especially in low-power application scenarios. Specifically, since the infrared sensor takes a certain amount of time to power on, and the output is unstable in the early stage of power-on and is prone to misjudgment, the existing detection scheme usually does not turn off the power supply of the infrared sensor when the radar maintains detection to ensure that the infrared sensor is used immediately when needed, but it leads to continuous energy consumption problems, especially in the maintenance stage when the infrared sensor is not needed for detection.

[0035] The above technical problems are particularly prominent in low-power application scenarios, especially battery-powered devices have strict requirements for energy consumption management. If misjudgments or unnecessary energy consumption occur frequently during device operation, the battery life will be significantly shortened, affecting the user experience and practicality of the device. Therefore, how to effectively reduce energy consumption while ensuring detection accuracy has become a problem that needs to be solved urgently in existing technologies.

[0036] In order to solve the above technical problems, in the moving target detection method provided by the present application, a decision-making sub-stage is embedded in the early stage of the triggering stage. In this decision-making sub-stage, the radar sensing module and the infrared sensing module are kept in the startup state at the same time, but the two work independently of each other, so as to deal with the problem of unstable signal when the infrared sensing module is started and the problem that the moving target cannot be effectively detected during the startup of the infrared sensing module. In this decision-making sub-stage, although the infrared sensing module is restarted, the radar sensing module still keeps working, ensuring that a stable moving target detection function is provided by the radar sensing module at the initial startup of the infrared sensing module.

[0037] like Figure 3 As shown in FIG. 1 , a moving target detection method provided by the present invention is specifically illustrated. The moving target detection method can be applied to Figure 1 and Figure 2 In the moving target detection device of the control system shown.

[0038] like Figure 3 As shown, a moving target detection method provided in this embodiment includes the following steps:

[0039] Determine whether to end a maintenance stage S1. If it is determined that the maintenance stage S1 is over, turn on the infrared sensing module and enter the trigger stage S2; otherwise, continue to maintain the maintenance stage S1 until a condition change is detected (for example, it is detected that there is no moving target), triggering to enter the next round of triggering stage; wherein, in the maintenance stage S1, stop supplying power to the infrared sensing module, and continue to detect target movement through the radar sensing module; in the trigger stage S2, according to the detection result of the radar sensing module, choose to turn off the radar sensing module and the infrared sensing module, forming a decision sub-stage S21 at the beginning of the trigger stage, so that in the decision sub-stage S21, it is decided to continue the trigger stage S2 according to the detection result, or adjust to the maintenance stage S1 in time.

[0040] In this embodiment of the present invention, the entire detection method is divided into two main stages: the maintenance stage S1 and the trigger stage S2, to ensure continuous monitoring and efficient detection of moving targets. When it is determined that there is no moving target, the trigger stage S2 is entered, ready to capture any moving target that may appear. When it is determined that there is a moving target, the maintenance stage S1 is entered. At this time, the radar sensing module will assume the task of continuous perception to ensure continuous monitoring of whether the moving target has left. The trigger stage S2 is closely connected with the maintenance stage S1 and operates alternately to ensure efficient detection and precise maintenance of moving targets. In the maintenance stage S1, the infrared sensing module stops powering on and only relies on the radar sensing module to detect target motion in order to achieve energy saving, which is particularly suitable for low-power application scenarios.

[0041] It is worth noting that the infrared sensing module requires a stable power supply, so there is a certain delay when it is powered on, and the power consumption is relatively large. Therefore, stopping its power supply in the maintenance phase S1 can effectively save power consumption. The radar sensing module can respond quickly to environmental changes and is not affected by external conditions such as light and temperature. It is suitable for long-term motion monitoring.

[0042] Once the maintenance phase S1 is over (i.e., a change in the environment is detected, such as no moving target is detected for a certain period of time, and it is determined that there is no moving target in the monitored space), the trigger phase S2 will be entered, and the infrared sensing module will be turned on. At this time, the power-on startup of the infrared sensing module is accompanied by the continued operation of the radar sensing module, forming the "decision sub-phase S21" at the beginning of the trigger phase S2.

[0043] It should be noted that the infrared sensing module is powered on immediately after entering the triggering stage S2, so as to be ready to take over the detection task in time when the radar sensing module stops working. During the duration of this decision sub-stage S21, the radar sensing module continues to work, responsible for detection and providing redundancy to help filter out possible false alarm signals in the early stage of powering on the infrared sensing module.

[0044] In other words, the decision sub-stage S21 is mainly used for the transition period when the infrared sensing module is started, and determines whether to continue the trigger stage S2 or switch back to the maintenance stage S1 according to the detection result of the radar sensing module. In this stage, the radar sensing module or the infrared sensing module is turned off according to the detection situation to maintain the accuracy of moving target detection while minimizing energy consumption.

[0045] The embodiment of the present invention reasonably divides the maintenance stage S1 and the trigger stage S2, and uses the decision sub-stage S21 to optimize the switching of the sensing module, thereby effectively solving the problem of unstable signals of the infrared sensing module at the initial startup and the problem of a long startup process. At the same time, the continuous monitoring of the radar sensing module ensures accurate perception of moving targets in the environment, thereby achieving a good balance between energy consumption and detection accuracy.

[0046] like Figure 4 As shown, in some embodiments, in the decision sub-stage S21, it is decided to continue the trigger stage S2 according to the detection result, or to adjust to the maintenance stage S1 in a timely manner, specifically including:

[0047] If the radar sensing module does not detect a moving target, it is decided to continue the triggering stage S2, and exit the decision sub-stage S21, turn off the radar sensing module, and the infrared sensing module continues to detect whether there is a moving target in the environment during the remaining time of the triggering stage, forming a triggering sub-stage S22 at the end of the triggering stage S2;

[0048] If the radar sensing module detects a moving target, the infrared sensing module is turned off, and according to the timing of detecting the moving target, the triggering stage S2 is terminated in time and switched to the maintaining stage S1.

[0049] In this embodiment of the present invention, by introducing the decision sub-stage S21, the radar sensing module is used to accurately monitor the start-up timing of the infrared sensing module, ensuring that the detection result is fully relied on only after the output signal of the infrared sensing module is stable.

[0050] Specifically, if the infrared sensing module is successfully started and reaches a stable state, and the radar sensing module does not detect a moving target, the radar sensing module will be turned off to save energy and exit the decision sub-stage S21. Subsequently, only the infrared sensing module will perform the subsequent detection tasks of the triggering stage S2. However, if the radar sensing module detects a moving target during this period, the infrared sensing module will be immediately turned off and re-enter the maintenance stage S1 to ensure the accuracy of continuous monitoring.

[0051] In this embodiment, the core of the design of the decision sub-stage S21 is that during the transition period when the infrared sensing module is activated, the radar sensing module temporarily takes over the detection of moving targets until the output signal of the infrared sensing module is stable. This not only effectively avoids false alarms during the activation of the infrared sensing module, but also can intelligently shut down one of the modules at an appropriate time, thereby maintaining the detection capability and reducing overall energy consumption.

[0052] This method is particularly suitable for devices that need to run for a long time and have limited energy (such as motion target detection devices powered by button batteries). By optimizing the working timing and function allocation of infrared sensing modules and radar sensing modules, it solves the shortcomings of the existing technology and improves detection accuracy and stability.

[0053] This multi-stage detection method based on multiple sensing modules ensures efficient detection capabilities under different conditions and can dynamically adjust the working state of the sensing module according to actual conditions. Through this flexible sensing module switching mechanism, energy consumption performance is optimized to the maximum extent without sacrificing detection accuracy.

[0054] Furthermore, after the maintenance phase S1 ends and the trigger phase begins, the radar sensing module is kept turned on for at least a specified time, and the specified time is set so that the duration of the decision sub-phase S21 can ensure that the infrared sensing module is successfully started.

[0055] In this embodiment of the present invention, after entering the triggering stage S2, the radar sensing module is set to remain turned on for at least a preset minimum time period (i.e., a specified time). The purpose of the design of the specified time is to ensure that the radar sensing module can continue to effectively detect moving targets in the environment when the infrared sensing module has not yet been fully started and reached a stable state. Usually, the preset time is several seconds (e.g., 3 to 6 seconds, preferably 5 seconds) to ensure that the radar sensing module can fully exert its detection function in the initial decision sub-stage S21 of the triggering stage S2.

[0056] By setting the specified time, it is possible to avoid the detection blind area of ​​the radar sensing module and the infrared sensing module during the switching process. Once the time is up, the subsequent operation will be determined based on the detection result of the radar sensing module, ensuring continuous and effective monitoring throughout the entire detection process, improving detection accuracy and stability.

[0057] Furthermore, if Figure 5 As shown, if the radar sensing module does not detect a moving target, the radar sensing module is turned off to exit the initial decision sub-stage S21, which specifically includes:

[0058] Determine whether the radar sensing module has not detected a moving target within a specified time T1;

[0059] If not, continue to detect the moving target until T1 timing ends;

[0060] If so, after T1 time has passed, it is determined whether the infrared sensing module is successfully started, and if it is determined that the infrared sensing module is successfully started, the radar sensing module is turned off to exit the decision sub-stage S21 and enter the later triggering sub-stage S22.

[0061] In the embodiment of the present invention, when the radar sensing module does not detect a moving target, it is first determined whether the radar sensing module detects a moving target within a preset time T1. If no moving target is detected within T1, the radar sensing module will be turned off and exit the initial decision sub-stage S21, and then the infrared sensing module will be switched to continue to perform the moving target detection task.

[0062] After the T1 time is over, the startup status of the infrared sensing module will be checked, and the output signal will be used to determine whether the infrared sensing module has been successfully started. If the output signal meets the predetermined conditions, the infrared sensing module is deemed to have been successfully started, and the radar sensing module is turned off to save energy. At the same time, the latter sub-stage of the triggering stage S2 (i.e., the triggering sub-stage S22) is entered to continue monitoring the moving targets in the environment.

[0063] If the infrared sensing module fails to start successfully at the end of T1 time, the current environmental status will be re-evaluated and corresponding measures will be taken to ensure the continuity of the detection task. For example, the detection function of the radar sensing module can continue to be maintained, while the startup of the infrared sensing module is detected at periodic intervals (such as 1 second). This design ensures that moving targets in the environment can be detected uninterruptedly and efficiently under any conditions, avoiding monitoring gaps and optimizing energy consumption management.

[0064] Further, judging whether the infrared sensing module is successfully started includes:

[0065] The signal output by the infrared sensing module is read, and when the signal meets a predetermined condition, it is determined that the infrared sensing module has been successfully started.

[0066] In this embodiment of the present invention, the step of determining whether the infrared sensing module is successfully started includes: reading the output signal of the infrared sensing module and comparing the signal with a predetermined condition. When the signal meets the predetermined condition, it is determined that the infrared sensing module has been successfully started.

[0067] In one example, if the infrared sensor module continuously outputs a low level for a period of time, it indicates that it has been successfully started.

[0068] like Figure 5 As shown, in some embodiments, after deciding to continue the triggering stage S2, the method further includes:

[0069] In the trigger sub-stage S22 of the non-decision sub-stage S21 in the trigger stage S2, the infrared sensing module is used to first sense whether there is a moving target in the monitored space to form an infrared trigger sub-stage S221, and the infrared trigger sub-stage S221 is continued according to the perception result of no moving target and the radar sensing module is guided to remain closed in the infrared trigger sub-stage S221; and, according to the perception result of a moving target, the radar sensing module is guided to adjust to a high transmission frame rate scanning state to form a radar trigger sub-stage S222, so that the perception result of the moving target is quickly confirmed in the radar trigger sub-stage S222, and whether to switch to the maintenance stage S1 is decided accordingly.

[0070] In this embodiment of the present invention, the radar sensing module remains turned off, which can be understood as: the radar sensing module is in a first working state in which it is powered on but does not emit detection waves, or the radar sensing module is in a second working state in which it is powered off.

[0071] Among them, in the first working state, the radar sensing module does not transmit / receive the working state of the detection wave externally, which can be, for example but not limited to: forming a zero transmission frame rate state by entering a sleep or standby state (low-power sleep state), in which the radar sensing module will greatly reduce its activity level, turn off or slow down most of the non-essential hardware components to reduce power consumption, and only retain the most basic functions, such as clocks or a small number of I / O interfaces, to monitor wake-up events, such as the trigger level signal transmitted by the infrared sensing module to indicate the detection of a moving target). At this time, the radar sensing module will not transmit or receive any detection waves, greatly reducing power consumption. Or, in the first working state, the radar sensing module works normally but does not emit detection waves: unlike full sleep, the radar sensing module in this state still keeps its control system and signal processing part running, but does not actually transmit detection waves. In this working state, the radar sensing module can respond to external triggers faster because it is already in a "hot standby" state and only needs to start emitting detection waves immediately after receiving the start signal without going through a complete startup process.

[0072] It can be seen that in the first working state, the zero transmission frame rate state of the radar sensing module is essentially a deep energy-saving working state. In the zero transmission frame rate state, the radar sensing module will not actively emit detection waves outward, nor will it receive reflected signals, so as to greatly reduce power consumption while maintaining the basic availability of the radar sensing module.

[0073] Correspondingly, the high transmission frame rate scanning state of the radar sensing module can be understood as a working state in which detection waves are emitted / received at a higher transmission frame rate to quickly detect whether there are moving targets in the monitored space. In this state, the radar sensing module will scan and detect at a higher transmission frame rate (for example, greater than 7Hz). This higher transmission frame rate allows the radar sensing module to quickly confirm the moving target to verify whether the moving target detected by the infrared sensing module actually exists, thereby deciding whether to switch to the moving target maintenance stage for continuous tracking and monitoring.

[0074] Among them, in the second working state, the radar sensing module can power off the main power-consuming circuit inside to save energy, for example, only retain the monitoring function of the infrared sensing module. In a further example, the radar sensing module includes a radar processing submodule and a radar sensing submodule, wherein the radar processing submodule can be a single-chip microcomputer, the radar sensing submodule can be a radar chip for transmitting radar detection waves, and the infrared sensing module is electrically connected to the radar processing submodule. In the second working state, the radar processing submodule can be kept in a low-power standby state to maintain monitoring of the infrared sensing module, and the radar sensing submodule is powered off to save most of the electrical energy.

[0075] Furthermore, in this embodiment, the trigger sub-stage S22 at the end of the trigger stage S2 is further subdivided into two key sub-stages, namely, the infrared trigger sub-stage S221 and the radar trigger sub-stage S222. After entering the trigger sub-stage S22, the infrared sensing module is first used to identify the moving target. During this period, the radar sensing module is kept closed, which not only saves energy, but also avoids unnecessary data processing and improves the overall efficiency. Once the infrared sensing module identifies the moving target, the radar sensing module is immediately activated to enter the high emission frame rate scanning state for accurate confirmation, thereby deciding whether to switch to the maintenance stage S1. This refinement strategy aims to efficiently screen out potential moving targets through the initial perception of the infrared sensing module, while maximally saving the energy consumption of the radar sensing module, achieving a seamless transition from low power consumption to high precision, not only saving energy, but also ensuring the rapid and accurate confirmation of the existence state of the moving target. For example, in the detection scene for the human body, once the infrared sensing module detects someone, the radar sensing module will quickly intervene in the scanning state with a short high frame rate to confirm whether there is really someone, which greatly improves the accuracy of the detection and ensures the accurate start of the "someone" state.

[0076] Furthermore, if Figure 5 As shown, in the radar triggering sub-stage S222, the perception result is quickly confirmed, specifically including:

[0077] When the high emission frame rate scanning state is activated, the radar sensing module starts a high-frequency scan within the time limit T2, during which it continues to scan whether there is a moving target in the monitored space at a first emission frame rate greater than or equal to 10 Hz, and ends the timing in advance based on the perception result of the presence of a moving target and confirms the presence of a moving target to enter the maintenance stage S1; otherwise, when the timing ends and the infrared sensing module does not sense a moving target, it returns to the infrared trigger sub-stage S221; wherein, after entering the maintenance stage S1, the radar sensing module operates at a second emission frame rate, and the second emission frame rate is at least 5 Hz lower than the first emission frame rate.

[0078] In this embodiment of the present invention, the radar triggering sub-stage S222 is set to have a time limit less than or equal to T2 seconds. That is, after the radar triggering sub-stage S222 is triggered, the radar sensing module will only maintain high-frequency scanning for a maximum of T2 seconds, and then exit the high-frequency scanning regardless of whether a moving target is scanned, for example, directly exit the radar triggering sub-stage S222. In other words, after entering the radar triggering sub-stage S222, although the radar sensing module is awakened and enters high-frequency scanning, it cannot confirm that there is indeed a moving target at present, which is different from the maintenance stage S1, which is entered only after confirming that there is a moving target. That is, the radar triggering sub-stage S222 is not the maintenance stage S1, and there is a substantial difference from the scheme of "first triggered by infrared, then maintained by radar".

[0079] Therefore, the radar triggering sub-stage S222 can be understood as a transitional detection state, the purpose of which is to quickly verify whether the moving target detected by the infrared sensing module is real, but it does not mean that the continuous monitoring "maintenance stage S1" has been entered. Since the duration of the radar triggering sub-stage S222 is short enough (for example, T2≤5), this stage will hardly increase the overall energy consumption too much, and thus will not affect the endurance time too much. In the triggering sub-stage S22, the advantages of infrared biological detection and low power consumption can be utilized, and the advantages of accurate detection of radar segment shielding can also be utilized.

[0080] It should be noted that the core advantage of monitoring whether there is a moving target within the T2 time and ending the timing immediately when the target is detected, otherwise it will continue until the T2 time is over and return to the infrared trigger sub-stage S221. In the case where no moving target is detected, the radar trigger sub-stage S222 will be guaranteed to last for T2 time before it is confirmed that there is no moving target, and then return to the infrared trigger sub-stage S221 to prevent missed detection and false detection. After the T2 time is over, the radar sensing module will not waste additional resources to continue monitoring, but directly end the current radar trigger sub-stage S222 to save power and other computing resources. Within the T2 time, when a moving target is detected, the radar sensing module immediately stops timing and takes corresponding actions, such as switching to the maintenance stage S1 and reporting the results, which ensures immediate response and processing of events.

[0081] Furthermore, in this embodiment, the radar sensing module is kept in a closed state in the infrared triggering sub-stage S221, and the radar triggering sub-stage S222 adopts high-frequency detection within the time limit T2, with a transmission frame rate of not less than 10 Hz. The timing is ended in advance according to the exact perception result of the existence of the moving target, or the timing is returned to the infrared triggering sub-stage S221 when the timing is ended and the infrared does not detect the moving target, thereby ensuring an efficient perception confirmation mechanism, controlling energy consumption, achieving a balance between high response speed and low energy consumption, and improving the instant responsiveness of monitoring.

[0082] Furthermore, T2 is set to 3 to 5 seconds, and / or the first transmission frame rate is set to 10 Hz, 15 Hz or 20 Hz to meet monitoring needs and energy efficiency requirements in different scenarios.

[0083] Below, taking the first transmission frame rate of 10Hz, the second transmission frame rate of 2Hz, and the perception scene of the human body (moving target) as an example, taking the current human process starting point in the monitored space as an example, the specific working process of the scheme defined in the above embodiment is described as follows:

[0084] Since there is someone currently, it will inevitably trigger the maintenance phase S1 in which the radar sensing module alone detects whether there is someone. In this maintenance phase S1, the radar sensing module will cut off the power supply of the infrared sensing module to save power. At the same time, the radar sensing module maintains a low frame rate scan of the monitored space at a transmission frame rate of 2Hz (i.e., it transmits radar waves (i.e., detection waves) twice per second to scan and update whether there is a human body in the monitored space) to detect whether there is always someone in the monitored space;

[0085] The next step is to determine whether to end the current maintenance stage S1. If a human body leaves the current monitored space at a certain moment, the radar sensing module will determine that there is no one in the current monitored space after not detecting a person for a period of time (for example, 3 seconds, this time can be customized by the user on terminal devices such as mobile phones, and can be set to a few seconds to tens of minutes according to different usage scenarios and needs). The maintenance stage S1 is then ended and the trigger stage S2 is entered.

[0086] After entering the trigger stage S2, the radar sensing module will immediately start the power supply of the infrared sensing module. After the infrared sensing module is powered on, it will take some time to enter the stable period. During this period, the radar sensing module continues to replace the infrared sensing module to detect human bodies, forming a decision sub-stage S21 in which the radar sensing module alone performs the task of human body detection when entering the trigger stage S2. Then, if the radar sensing module detects a human body at any time during the duration of this decision sub-stage S21, it will immediately exit the decision sub-stage S21 and exit the trigger stage S2, and enter the maintenance stage S1. On the contrary, if the radar sensing module does not detect a human body until the end of the decision sub-stage S21, then after the end of the decision sub-stage S21, the infrared sensing module will take over the detection task from the radar sensing module, thereby forming a trigger sub-stage S22 of the non-decision sub-stage S21 in the trigger stage S2. In this trigger sub-stage S22, the radar sensing module remains turned off and keeps monitoring the output signal of the infrared sensing module. First, the infrared sensing module alone detects whether there is a person in the monitored space, forming an infrared trigger sub-stage S221. If the infrared sensing module outputs a specified signal representing the presence of a person, the radar sensing module is awakened, and the radar sensing module quickly enters a high frame rate scanning state with a transmission frame rate of 10 Hz to form a radar trigger sub-stage S222. This stage will be limited to 5 seconds. If no person is scanned after the 5-second countdown, it means that the result of the infrared sensing module is incorrect (it may be a misidentification, or it may be that the human body is in the shielding space of the radar sensing module), and then returns to the infrared trigger sub-stage S221 after the end of 5 seconds. If a human body is scanned at any time during the radar triggering sub-stage S222, it will be immediately determined that there is a person and switch to the maintenance stage S1 (the remaining timing will not be continued). It is worth noting that during the duration of the radar triggering sub-stage S222, the infrared sensing module remains powered on.

[0087] In actual tests, when the radar trigger sub-stage S222 runs at 10Hz, the power consumption of the trigger stage S2 can be limited to about 100mA. When the maintenance stage S1 runs at a 2Hz transmission frame rate, the power consumption of the maintenance stage S1 can be limited to about 20mA. When the maintenance stage S1 runs at a 1Hz transmission frame rate, the power consumption of the maintenance stage S1 can be limited to about 10mA. When powered by a CR2450 button battery, the normal battery life can reach 2 to 3 years.

[0088] Furthermore, this embodiment sets a reasonable time limit T2 and a first transmission frame rate, thereby ensuring a fast response while taking into account energy efficiency, and can perform well in different scenarios.

[0089] Furthermore, the radar sensing module is also configured to be triggered to enter the radar triggering sub-stage after receiving the regular jump level transmitted by the infrared sensing module. It can be understood that compared with pure high-level triggering and low-level triggering, the jump trigger mechanism can effectively reduce the risk of false triggering. In the mode of high-level or low-level continuous triggering, any short-term noise or interference may be mistakenly interpreted as a target signal. In contrast, the jump trigger requires a clear and rapid change in the signal state, which is usually not easily caused by environmental noise, so it can provide better anti-interference performance. In addition, the jump time point of the jump level is easier to capture, which is conducive to the judgment and action of the program. In some examples, the jump level can be, for example, a rising edge, that is, a jump from a low level to a high level; it can also be, for example, a falling edge, that is, a jump from a high level to a low level.

[0090] In some embodiments, the method further comprises:

[0091] The trigger mechanism of the radar sensing module is directly triggered by the output of the infrared sensing module;

[0092] The power supply of the infrared sensor module is directly controlled by the radar sensor module:

[0093] During the maintenance phase, the radar sensing module cuts off the power supply to the infrared sensing module;

[0094] In the decision-making sub-stage at the beginning of the triggering stage, the radar sensing module connects the power supply of the infrared sensing module.

[0095] In this embodiment of the present invention, the output of the infrared sensing module can be directly connected to an I / O port of the radar sensing module so that the output signal of the infrared sensing module can be directly monitored by the radar sensing module, and then the radar sensing module can perform corresponding operations according to the output signal of the infrared sensing module in a timely manner, such as phase switching, power supply switching, etc.

[0096] The infrared sensing module can draw power from a button battery through an LDO. The LDO has an enable pin, and the enable pin is directly controlled by the radar sensing module through a level signal to directly control the on / off of the power supply of the infrared sensing module.

[0097] It is understandable that when the infrared sensing module directly triggers the trigger mechanism of the radar sensing module, ensuring the coordination between the radar sensing module and the infrared sensing module is crucial to avoid potential conflicts during the switching process of each sub-stage. If the radar sensing module does not detect a moving target but the infrared sensing module detects a moving target, if it is not handled properly, the infrared sensing module may not be able to generate a valid jump level signal again.

[0098] Based on this, Figure 6As shown, in some embodiments, in the radar triggering sub-stage S222, the perception result of the moving target is quickly confirmed, and whether to switch to the maintenance stage S1 is determined accordingly, which specifically includes:

[0099] In the radar triggering sub-stage S222, if the radar sensing module detects a moving target, it confirms that there is a moving target, ends the triggering stage S2 and enters the maintaining stage S1; otherwise, according to the state that the infrared sensing module does not sense a moving target, exits the radar triggering sub-stage S222; and, according to the state that the infrared sensing module senses a moving target, maintains the radar triggering sub-stage S222.

[0100] In this embodiment of the present invention, if the radar sensing module detects the presence of a person at any time during the radar triggering sub-stage S222, it will immediately confirm that there is a person and enter the maintenance stage S1. Otherwise, after the radar triggering sub-stage S222 ends, it will be determined whether to return to the infrared triggering sub-stage S221 or maintain the radar triggering sub-stage S222 based on the output signal of the infrared sensing module. For example, if the infrared sensing module still outputs a signal indicating the presence of a person after the radar triggering sub-stage S222 ends, it will not return to the infrared triggering sub-stage S221, but will continue to be in the radar triggering sub-stage S222 to prevent missed detection. If the infrared sensing module does not output a signal indicating the presence of a person after the radar triggering sub-stage S222 ends, it will return to the infrared triggering sub-stage S221 and turn off the radar sensing module to save power.

[0101] In a specific example, the infrared sensing module outputs a high level when it senses a moving target, and vice versa, it outputs a low level, and the radar sensing module is set to be triggered after detecting the rising edge of the infrared sensing module. In a scenario, after the moving target enters the monitored space of the infrared sensing module, the infrared sensing module will generate a rising edge to the radar sensing module, and then the radar sensing module is triggered to enter the radar triggering sub-stage, scanning its monitored space at a high transmission frame rate. If the moving target happens to be in the shielding space of the radar sensing module, the radar sensing module will detect the result of no moving target. At this time, since the moving target is in the shielding space but still in the monitored space of the infrared sensing module, the infrared sensing module will still output a high level to the radar sensing module. If it directly returns to the infrared triggering sub-stage S221 at this time, since the infrared sensing module always outputs a high level and cannot output a rising edge, the radar sensing module cannot be triggered in time. Therefore, in this embodiment, when the infrared sensing module still senses the presence of a person, the radar sensing module will return to the radar trigger sub-stage S222 to reconfirm whether there is a moving target, until the moving target leaves the monitored space of the infrared sensing module and the radar sensing module detects that the infrared sensing module outputs a low level and it itself does not detect any moving target, then it will return to the infrared trigger sub-stage S221. In this way, it can prevent the radar sensing module from directly returning to the infrared trigger sub-stage S221 after detecting that there is no moving target without considering the state of the infrared sensing module. The conflict caused.

[0102] In addition, the shielded space mentioned in the above embodiment can be understood as at least part of the geographical range that can be detected by the radar sensing module, and the geographical range can be divided into a shielded space and a monitored space, wherein the geographical range is divided into several sections, and the selection and shielding of these sections can be visualized through the user interface of a terminal device such as a mobile phone, so that the user can intuitively select multiple sections to form a monitored space, or shield one or more sections to form a shielded space. When the radar sensing module performs a detection task, it will not pay too much attention to the state of the moving target in the shielded space, but will focus resources on detecting whether there are people in the monitored space.

[0103] In addition, the infrared sensing module involved in the above embodiments has a pyroelectric infrared sensor, which can sense the monitored space based on a Fresnel lens. The principle is mainly as follows: when a moving target (such as a human body) enters the monitored space, the infrared radiation it emits will be captured by the Fresnel lens and focused on the pyroelectric infrared sensor. As the infrared radiation is received, the temperature of the pyroelectric infrared sensor changes. Due to the pyroelectric effect, the charge separation occurs inside the sensor, forming an electric field or voltage. When the moving target moves in the monitored space, due to the optical properties of the Fresnel lens, the intensity of the infrared radiation received by the pyroelectric infrared sensor will change periodically, causing the voltage at both ends of the sensor to change accordingly. This changing voltage signal can be converted into a motion detection signal after amplification and processing by the subsequent circuit. By analyzing the voltage signal, it can be determined whether there is a moving target in the monitored space, thereby achieving the purpose of sensing the moving target.

[0104] The radar sensing module involved in the above embodiment has a pulse radar transmitting and receiving unit in the microwave frequency band, which can realize the scanning of moving targets in the monitored space. In a specific example, the radar sensing module can scan whether there are moving targets in the monitored space based on the working principle of Doppler radar (Doppler effect is a phenomenon of frequency change. When there is relative motion between the wave source and the observer, the frequency of the wave received by the observer will be different from the frequency emitted by the wave source).

[0105] In some embodiments, the method further comprises:

[0106] Acquire a switching instruction, and switch between the first mode and the second mode based on the switching instruction; the switching instruction originates from an application of a terminal;

[0107] During the maintenance phase, the transmission frame rate of the radar response module is determined according to the current mode; if in the first mode, it operates at a second transmission frame rate greater than or equal to 2 Hz; if in the second mode, it operates at a second transmission frame rate less than or equal to 1 Hz.

[0108] Compared with the previously described embodiment, the highlight of this embodiment of the present invention is that the user is given the authority to customize the working mode of the maintenance phase through an external terminal.

[0109] This embodiment can not only be regarded as an extension and enrichment of the previous embodiment, but also can be integrated with it to jointly construct a more comprehensive and flexible implementation scheme. Of course, this embodiment also has the ability to run independently without relying on other embodiments.

[0110] According to a moving target detection method provided in the above embodiment, an embodiment of the present invention also provides a corresponding moving target detection device, such as Figure 7As shown, a structural schematic diagram of a moving target detection device provided by an embodiment of the present invention is illustrated.

[0111] It can be seen that the moving target detection device is powered by a button battery (for example, only powered by one button battery), and includes at least a judgment module, a radar sensing module, and an infrared sensing module. The radar sensing module is electrically connected to the judgment module, the infrared sensing module is electrically connected to the radar sensing module, and the button battery is responsible for powering the judgment module, the radar sensing module, and the infrared sensing module.

[0112] The judging module is used to judge whether a maintenance phase is ended. If it is determined that the maintenance phase is ended, the infrared sensing module is turned on and the trigger phase is entered; otherwise, the maintenance phase is continued until a condition change is detected, triggering the next round of trigger phase;

[0113] In the maintenance phase, the infrared sensing module is powered off, and the target movement is continuously detected through the radar sensing module;

[0114] In the triggering stage, the radar sensing module and the infrared sensing module are selectively turned off according to the detection result of the radar sensing module, forming a decision sub-stage at the beginning of the triggering stage. In this decision sub-stage, it is decided to continue the triggering stage or adjust to the maintenance stage in time according to the detection result.

[0115] In some embodiments, in the decision sub-stage, it is determined according to the detection result whether to continue the trigger stage or to adjust to the maintenance stage in a timely manner, specifically for:

[0116] If the radar sensing module does not detect a moving target, it decides to continue the triggering stage, exits the decision sub-stage, turns off the radar sensing module, and the infrared sensing module continues to detect whether there is a moving target in the environment during the remaining time of the triggering stage, forming a triggering sub-stage in the later stage of the triggering stage;

[0117] If the radar sensing module detects a moving target, the infrared sensing module is turned off, and according to the timing of detecting the moving target, the triggering phase is terminated in a timely manner and switched to the maintaining phase.

[0118] In some embodiments, after the maintenance phase ends and the trigger phase begins, the radar sensing module is kept turned on for at least a specified time, and the specified time is set so that the duration of the decision sub-phase can ensure that the infrared sensing module is successfully started.

[0119] In some embodiments, if the radar sensing module does not detect a moving target, the radar sensing module is turned off to exit the initial decision sub-stage, specifically for:

[0120] Determine whether the radar sensing module has not detected a moving target within a specified time T1;

[0121] If not, continue to detect the moving target until T1 timing ends;

[0122] If so, after T1 time ends, it is determined whether the infrared sensing module is successfully started, and if it is determined that the infrared sensing module is successfully started, the radar sensing module is turned off to exit the decision sub-stage and enter the later trigger sub-stage.

[0123] In some embodiments, determining whether the infrared sensing module is successfully started is used to:

[0124] The signal output by the infrared sensing module is read, and when the signal meets a predetermined condition, it is determined that the infrared sensing module has been successfully started.

[0125] In some embodiments, the specified time ranges from 3 to 6 seconds.

[0126] In some embodiments, after determining to continue the triggering phase, the method is further configured to:

[0127] In the triggering sub-stage of the non-decision-making sub-stage in the triggering stage, the infrared sensing module is used to first sense whether there is a moving target in the monitored space to form an infrared triggering sub-stage, and the infrared triggering sub-stage is continued according to the sensing result of no moving target and the radar sensing module is guided to remain closed in the infrared triggering sub-stage; and, according to the sensing result of a moving target, the radar sensing module is guided to adjust to a high transmission frame rate scanning state to form a radar triggering sub-stage, so as to quickly confirm the sensing result of the moving target in the radar triggering sub-stage, and decide whether to switch to the maintenance stage accordingly.

[0128] In some embodiments, the perception result is quickly confirmed in the radar triggering sub-phase, specifically for:

[0129] When the high emission frame rate scanning state is activated, the radar sensing module starts a high-frequency scan within the time limit T2, during which it continues to scan whether there is a moving target in the monitored space at a first emission frame rate greater than or equal to 10 Hz, and ends the timing in advance based on the perception result of the presence of a moving target and confirms the presence of a moving target to enter the maintenance stage; otherwise, when the timing ends and the infrared sensing module does not sense the presence of a moving target, it returns to the infrared triggering sub-stage; wherein, after entering the maintenance stage, the radar sensing module operates at a second emission frame rate, and the second emission frame rate is at least 5 Hz lower than the first emission frame rate.

[0130] In some embodiments, T2 is set to 3-5 seconds, and / or the first transmission frame rate is set to 10 Hz, 15 Hz or 20 Hz.

[0131] In some embodiments, the perception result of the moving target is quickly confirmed in the radar triggering sub-phase, and whether to switch to the maintenance phase is determined accordingly, which is specifically used for:

[0132] In the radar triggering sub-stage, if the radar sensing module detects a moving target, it confirms that there is a moving target, ends the triggering stage and enters the maintaining stage; otherwise, according to the state that the infrared sensing module does not sense a moving target, the radar triggering sub-stage is exited; and, according to the state that the infrared sensing module senses a moving target, the radar triggering sub-stage is maintained.

[0133] In some embodiments, the device directly triggers the trigger mechanism of the radar sensing module through the output of the infrared sensing module, and the radar sensing module directly controls the power supply of the infrared sensing module:

[0134] During the maintenance phase, the radar sensing module cuts off the power supply to the infrared sensing module;

[0135] In the decision-making sub-stage at the beginning of the triggering stage, the radar sensing module connects the power supply of the infrared sensing module.

[0136] In some embodiments, Figure 8 As shown, the device further comprises a communication module. The communication module can establish communication with a terminal (eg, a mobile phone) via a communication protocol such as Bluetooth or ZIGBEE.

[0137] After establishing communication, the communication module is used to obtain a switching instruction, and switch the first mode to the second mode based on the switching instruction; the switching instruction originates from an application of a terminal;

[0138] The judgment module is also used to determine the transmission frame rate of the radar response module according to the current mode during the maintenance phase; if in the first mode, it operates at a second transmission frame rate greater than or equal to 2 Hz; if in the second mode, it operates at a second transmission frame rate less than or equal to 1 Hz.

[0139] In the description of this specification, the description with reference to the terms "some embodiments", "a specific implementation", "a specific implementation process", "an example", etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the specific features, structures, materials or characteristics described in the schematic expressions of the above terms can be combined in any one or more embodiments or examples in a suitable manner.

[0140] It should also be noted that the above-mentioned embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments, that is, the technical solutions disclosed in the later (order of sequence recorded in the text) embodiments should include the technical solutions recorded in the embodiment and the technical solutions recorded in all embodiments before the embodiment.

[0141] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. 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 replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A moving target detection method, characterized in that: The following steps are involved: Determine whether a maintenance phase is ended. If it is determined that the maintenance phase is ended, turn on the infrared sensing module and enter the trigger phase; otherwise, continue to maintain the maintenance phase until a condition change is detected, triggering the next round of trigger phase; In the maintenance phase, the infrared sensing module is powered off, and the target movement is continuously detected through the radar sensing module; In the triggering stage, the radar sensing module and the infrared sensing module are selectively turned off according to the detection result of the radar sensing module, forming a decision sub-stage at the beginning of the triggering stage. In this decision sub-stage, it is decided to continue the triggering stage or adjust to the maintenance stage in time according to the detection result.

2. The moving target detection method according to claim 1, characterized in that: In the decision-making sub-stage, it is decided to continue the triggering stage or adjust to the maintenance stage in a timely manner according to the detection results, which specifically includes: If the radar sensing module does not detect a moving target, it decides to continue the triggering stage, exits the decision sub-stage, turns off the radar sensing module, and the infrared sensing module continues to detect whether there is a moving target in the environment during the remaining time of the triggering stage, forming a triggering sub-stage in the later stage of the triggering stage; If the radar sensing module detects a moving target, the infrared sensing module is turned off, and according to the timing of detecting the moving target, the triggering phase is terminated in a timely manner and switched to the maintaining phase.

3. The moving target detection method according to claim 2, characterized in that: After the maintenance phase ends and the trigger phase begins, the radar sensing module is kept turned on for at least a specified time, and the specified time is set so that the duration of the decision sub-phase can ensure that the infrared sensing module is successfully started.

4. The moving target detection method according to claim 3, characterized in that: If the radar sensing module does not detect a moving target, the radar sensing module is turned off to exit the initial decision-making sub-stage, including: Determine whether the radar sensing module has not detected a moving target within a specified time T1; If not, continue to detect the moving target until T1 timing ends; If so, after T1 time ends, it is determined whether the infrared sensing module is successfully started, and if it is determined that the infrared sensing module is successfully started, the radar sensing module is turned off to exit the decision sub-stage and enter the later trigger sub-stage.

5. The moving target detection method according to claim 4, characterized in that: Determine whether the infrared sensing module is successfully started, including: The signal output by the infrared sensing module is read, and when the signal meets a predetermined condition, it is determined that the infrared sensing module has been successfully started.

6. The moving target detection method according to any one of claims 3 to 5, characterized in that: The specified time ranges from 3 to 6 seconds.

7. The moving target detection method according to claim 2, characterized in that: After determining to continue the triggering phase, the method further includes: In the triggering sub-stage of the non-decision-making sub-stage in the triggering stage, the infrared sensing module is used to first sense whether there is a moving target in the monitored space to form an infrared triggering sub-stage, and the infrared triggering sub-stage is continued according to the sensing result of no moving target and the radar sensing module is guided to remain closed in the infrared triggering sub-stage; and, according to the sensing result of a moving target, the radar sensing module is guided to adjust to a high transmission frame rate scanning state to form a radar triggering sub-stage, so as to quickly confirm the sensing result of the moving target in the radar triggering sub-stage, and decide whether to switch to the maintenance stage accordingly.

8. The moving target detection method according to claim 7, characterized in that: In the radar triggering sub-stage, the perception results are quickly confirmed, including: When the high emission frame rate scanning state is activated, the radar sensing module starts a high-frequency scan within the time limit T2, during which it continues to scan whether there is a moving target in the monitored space at a first emission frame rate greater than or equal to 10 Hz, and ends the timing in advance based on the perception result of the presence of a moving target and confirms the presence of a moving target to enter the maintenance stage; otherwise, when the timing ends and the infrared sensing module does not sense the presence of a moving target, it returns to the infrared triggering sub-stage; wherein, after entering the maintenance stage, the radar sensing module operates at a second emission frame rate, and the second emission frame rate is at least 5 Hz lower than the first emission frame rate.

9. The moving target detection method according to claim 8, characterized in that: T2 is set to 3-5 seconds, and / or the first transmission frame rate is set to 10 Hz, 15 Hz or 20 Hz.

10. The moving target detection method according to claim 7, characterized in that: In the radar triggering sub-phase, the perception results of the moving target are quickly confirmed, and then a decision is made whether to switch to the maintenance phase, including: In the radar triggering sub-stage, if the radar sensing module detects a moving target, it confirms that there is a moving target, ends the triggering stage and enters the maintaining stage; otherwise, according to the state that the infrared sensing module does not sense a moving target, the radar triggering sub-stage is exited; and, according to the state that the infrared sensing module senses a moving target, the radar triggering sub-stage is maintained.

11. The moving target detection method according to any one of claims 2 to 5 and 7 to 10, characterized in that: The method further comprises: The trigger mechanism of the radar sensing module is directly triggered by the output of the infrared sensing module; The power supply of the infrared sensor module is directly controlled by the radar sensor module: During the maintenance phase, the radar sensing module cuts off the power supply to the infrared sensing module; In the decision-making sub-stage at the beginning of the triggering stage, the radar sensing module connects the power supply of the infrared sensing module.

12. The moving target detection method according to any one of claims 1 to 5 and 7 to 10, characterized in that: The method further comprises: Acquire a switching instruction, and switch between the first mode and the second mode based on the switching instruction; the switching instruction originates from an application of a terminal; During the maintenance phase, the transmission frame rate of the radar response module is determined according to the current mode; if in the first mode, it operates at a second transmission frame rate greater than or equal to 2 Hz; if in the second mode, it operates at a second transmission frame rate less than or equal to 1 Hz.

13. A moving target detection device, characterized in that: Used to detect a moving target by using the moving target detection method as described in any one of claims 1 to 12.

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