Physical sign monitoring obstacle avoidance system and method based on multi-sensor baby carriage

Abstract

The invention discloses a sign monitoring obstacle avoidance system and method based on a multi-sensor baby carriage, and belongs to the technical field of safety protection, the sign monitoring obstacle avoidance system comprises a baby carriage, a central processing unit, a wireless communication module, a user terminal, an indication module, a temperature detection unit, a forward millimeter wave radar, a life detection unit and a sound detection unit, the central processing unit is electrically connected with the indication module, the temperature detection unit, the forward millimeter wave radar, the life detection unit and the sound detection unit, and the user terminal is in wireless communication connection with the wireless communication module. By means of the mode, vital signs of a baby in the baby carriage are detected, an alarm is given when the vital signs are abnormal, and corresponding warning reminding is sent out according to different alarm signals.

Description

Technical Field

[0001] The present invention relates to the technical field of safety protection, and in particular to a vital sign monitoring and obstacle avoidance system based on a multi-sensor baby carriage and a method thereof. Background Art

[0002] Baby strollers are very common in our daily lives, but due to designs such as awnings, parents have large blind spots and are unable to avoid obstacles on the road ahead in a timely manner, posing a high safety hazard.

[0003] Among many existing technologies, Chinese patent application CN106037349A discloses a baby stroller security system, wherein the baby stroller includes a wheelbase, a body, and four wheels, wherein the body and the wheels are connected via a support, the wheelbase is provided with a through hole, the through hole is provided with a net bag, and the four wheels are distributed at four positions of the body, and the security system includes: a pressure sensing device, which is arranged on the support; an infrared sensing device, which is arranged around the through hole; and a distance sensor, which is arranged on the body.

[0004] However, this patent application is unable to detect the vital signs of the baby in the stroller and sound an alarm when an abnormality occurs, and issue corresponding warning reminders based on different alarm signals.

[0005] Based on this, the present invention designs a multi-sensor baby stroller-based vital sign monitoring and obstacle avoidance system and method thereof to solve the above-mentioned problems. Summary of the invention

[0006] In view of the above-mentioned shortcomings of the prior art, the present invention provides a vital sign monitoring and obstacle avoidance system and method based on a multi-sensor baby stroller.

[0007] To achieve the above objectives, the present invention is implemented through the following technical solutions:

[0008] A vital sign monitoring and obstacle avoidance system based on a multi-sensor baby carriage, comprising a baby carriage, a central processing unit, a wireless communication module, a user terminal, an indication module, a temperature detection unit, a forward millimeter wave radar, a life detection unit and a sound detection unit, wherein the central processing unit is electrically connected to the indication module, the temperature detection unit, the forward millimeter wave radar, the life detection unit and the sound detection unit, and the user terminal is wirelessly connected to the wireless communication module;

[0009] The temperature detection unit is used to collect the body temperature of the baby in the stroller and analyze the body temperature data and its duration. When the body temperature value is abnormal and the duration is longer than the set duration, the temperature detection unit sends an abnormal temperature alarm signal to the central processor;

[0010] The forward millimeter-wave radar is used for early warning of obstacles and approaching objects when the baby stroller is moving forward. When the forward millimeter-wave radar detects an obstacle, it generates an obstacle warning signal. When the forward millimeter-wave radar detects an object approaching quickly, it generates a rapid approach warning signal and sends it to the central processor.

[0011] The life detection unit is used to detect the heart rate and breathing rate of the baby in the baby carriage, and analyzes the heart rate and breathing rate data. When the heart rate is abnormal, the life detection unit sends an abnormal heart rate alarm signal to the central processor, and when the breathing rate is abnormal, the life detection unit sends an abnormal breathing rate alarm signal to the central processor. The life detection unit is also used to periodically determine whether there is a baby in the baby carriage, and send a human sensing signal to the central processor;

[0012] The sound detection unit is used for noise inside the baby carriage. The sound detection unit analyzes the noise data. When the noise data is abnormal, the sound detection unit sends a noise abnormality alarm signal to the central processor;

[0013] The wireless communication module is used for wireless communication between the central processing unit and the user terminal;

[0014] The central processor detects the human sensing signal n, and when the human sensing signal n is true, the central processor turns on the temperature detection unit, the forward millimeter wave radar and the sound detection unit;

[0015] The central processing unit is also used to control the indication module to output corresponding alarm signal lights when receiving a rapid approach alarm signal, an obstacle alarm signal, an abnormal body temperature alarm signal, an abnormal breathing rate alarm signal, an abnormal heart rate alarm signal, and an abnormal noise alarm signal;

[0016] At the same time, the central processor records these alarm information and sends it to the user terminal through the wireless communication module;

[0017] The user terminal is used by parents to obtain alarm information.

[0018] Furthermore, the central processing unit is an MCU, and the wireless communication module is a Bluetooth module.

[0019] Furthermore, the user terminal is an APP application.

[0020] Furthermore, the indication module is an indicator light.

[0021] Furthermore, the temperature detection unit is an infrared temperature measuring device.

[0022] Furthermore, the life detection unit is a vital signs monitoring radar, and the forward millimeter-wave radar is a 60G multi-transmit and multi-receive 4D millimeter-wave radar module.

[0023] In order to better achieve the purpose of the present invention, the present invention also provides a method for avoiding obstacles based on vital sign monitoring of a multi-sensor baby stroller, comprising the following steps:

[0024] The implementation steps A of obstacle warning and object approach warning of forward millimeter wave radar are:

[0025] Step A1: The forward millimeter-wave radar performs space detection. The forward millimeter-wave radar sends an FMCW waveform and receives the echo reflected by the target. After signal processing, it outputs a point cloud set P = {p1, p2, ..., pn} of the target with a period of 75ms, where each point cloud p {r, v, θ, φ} includes distance information r, velocity information v, horizontal angle information θ, and pitch angle information φ;

[0026] Step A2: Process all point clouds of the current frame, traverse the point cloud set P, and convert all point clouds of the point cloud set P into rectangular coordinate positions with the forward millimeter-wave radar as the origin of the coordinate system to obtain a new point cloud set Pb = {pb1, pb2, ..., pbn}. The calculation method of coordinate conversion is:

[0027] x = r*s in (θ);

[0028] y = r*cos(θ);

[0029] z=r*sin(φ);

[0030] Step A3: Traverse all point clouds in the point cloud set Pb to determine whether the point clouds meet the obstacle existence alarm condition. The judgment condition is:

[0031] Xa_max <x<Xa_min;

[0032] Ya_min <y;

[0033] Za_min <z;

[0034] When the above three conditions are met at the same time, the forward millimeter-wave radar outputs an obstacle presence alarm signal, and the central processor controls the indicator module to output an obstacle presence alarm light after receiving the signal;

[0035] Where Xa_max represents the maximum value of the obstacle warning area on the X axis, Xa_min represents the minimum value in the obstacle warning area on the X axis, Ya_max represents the maximum value in the obstacle warning area on the Y axis, and Za_max represents the maximum value in the obstacle warning area on the Z axis;

[0036] Determine whether the point cloud meets the rapid approach alarm conditions. The judgment conditions are:

[0037] Xb_max <x<Xb_min;

[0038] Yb_min <y;

[0039] V_max <v;

[0040] When the above three conditions are met at the same time, the forward millimeter-wave radar outputs a rapid approach warning signal, and the central processor controls the indicator module to output a rapid approach warning light after receiving the signal;

[0041] Among them, Xb_max represents the maximum value that is rapidly approaching the alarm area on the X-axis, Xb_min represents the minimum value that is rapidly approaching the alarm area on the X-axis, Ya_max represents the maximum value that is rapidly approaching the alarm area on the Y-axis, and V_max represents the threshold value that is close to the speed of the baby stroller point cloud in the speed dimension;

[0042] When the central processing unit receives a rapid approach warning signal and an obstacle presence warning signal, the first received signal is used as the control output of the central processing unit.

[0043] 3. The method for avoiding obstacles based on vital sign monitoring of a multi-sensor baby carriage according to claim 1, wherein the temperature detection unit determines whether the baby's body temperature is normal by performing step B:

[0044] Step B1, measuring the infrared radiation of the baby in the car, converting the radiation intensity into the baby's body temperature, and outputting the temperature Tp;

[0045] Step B2, when Tp>T_max and lasts for a period of time L, the temperature detection unit outputs a high body temperature alarm signal to 1;

[0046] When Tp>T_min and lasts for a period of time L, the temperature detection unit outputs a hypothermia alarm signal to the central processor.

[0047] Furthermore, the sound detection unit determines whether the noise in the baby carriage is normal in step C:

[0048] Step C1, the sound detection unit measures the noise inside the baby carriage as S in real time;

[0049] Step C2, when S>S_max, the monitoring module outputs an excessive noise alarm signal in the vehicle to the central processor;

[0050] Where S_max is the noise high alarm threshold.

[0051] Furthermore, the life detection unit determines whether the baby's heart rate and breathing are normal in step D:

[0052] Step D1, the life detection unit detects the baby's breathing R and heart rate h;

[0053] Step D2: When R_r > R_max, the life detection unit outputs a signal of too-fast breathing alarm to the central processor;

[0054] When R_r < R_min, the life detection unit outputs a signal of too-slow breathing alarm to the central processor;

[0055] Step D3: When R_r < R_c and n = true, the life detection unit outputs a signal of asphyxia alarm to the central processor;

[0056] Wherein, R_c is the asphyxia alarm threshold, R_max is the too-fast breathing alarm threshold, and R_min is the too-slow breathing alarm threshold;

[0057] Step D4: When h > H_max, the life detection unit outputs a signal of too-high heart rate alarm to the central processor;

[0058] When h < H_min, the life detection unit outputs a signal of too-low heart rate alarm to the central processor;

[0059] Wherein, H_max is the too-high heart rate alarm threshold, and H_min is the too-low heart rate alarm threshold.

[0060] The present invention has the following technical effects:

[0061] When the present invention is in use, by detecting the approach of obstacles and objects and sending a signal of rapid approach alarm and an obstacle alarm signal, it realizes the prevention of the baby carriage from colliding with obstacles and timely warning when an object approaches the baby carriage;

[0062] By using the sound detection unit to detect the noise inside the baby carriage, it realizes the timely detection of whether the baby is crying;

[0063] By using the temperature detection unit to detect the baby's body temperature in real time and the life detection unit to detect the baby's heart rate and breathing rate, the baby's health condition can be judged. Description of the Drawings

[0064] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0065] Figure 1 It is a block diagram of a physical sign monitoring and obstacle avoidance system for a multi-sensor baby carriage according to the present invention.

[0066] The reference numerals in the figure respectively represent:

[0067] 1. Central processing unit 2. Wireless communication module 3. User terminal 4. Indication module 5. Temperature detection unit 6. Forward millimeter wave radar 7. Life detection unit 8. Sound detection unit. DETAILED DESCRIPTION

[0068] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are 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 ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0069] The present invention will be further described below in conjunction with the embodiments.

[0070] Example 1: Please refer to the attached manual Figure 1 ,A multi-sensor baby stroller-based vital sign monitoring obstacle avoidance system, comprising a baby stroller;

[0071] It also includes a central processor 1, a wireless communication module 2, a user terminal 3, an indication module 4, a temperature detection unit 5, a forward millimeter-wave radar 6, a life detection unit 7 and a sound detection unit 8 fixedly mounted on the baby carriage, the central processor 1 is electrically connected to the indication module 4, the temperature detection unit 5, the forward millimeter-wave radar 6, the life detection unit 7 and the sound detection unit 8, and the user terminal 3 is wirelessly connected to the wireless communication module 2;

[0072] The temperature detection unit 5 is used to collect the body temperature of the baby in the stroller, and analyze the body temperature data and its duration. When the body temperature value is abnormal and the duration is longer than the set duration, the temperature detection unit 5 sends an abnormal temperature alarm signal to the central processor 1;

[0073] The forward millimeter-wave radar 6 is used for early warning of obstacles and approaching objects when the baby carriage is moving forward. When the forward millimeter-wave radar 6 detects an obstacle, it generates an obstacle warning signal. When the forward millimeter-wave radar 6 detects an object approaching quickly, it generates a rapid approach warning signal and sends it to the central processor 1.

[0074] The life detection unit 7 is used to detect the heart rate and breathing rate of the baby in the baby carriage, and analyzes the heart rate and breathing rate data. When the heart rate is abnormal, the life detection unit 7 sends an abnormal heart rate alarm signal to the central processor 1, and when the breathing rate is abnormal, the life detection unit 7 sends an abnormal breathing rate alarm signal to the central processor 1. The life detection unit 7 is also used to periodically determine whether there is a baby in the baby carriage, and send a human sensing signal to the central processor 1;

[0075] The sound detection unit 8 is used for detecting the noise inside the baby carriage. The sound detection unit 8 analyzes the noise data. When the noise data is abnormal, the sound detection unit 8 sends a noise abnormality alarm signal to the central processor 1;

[0076] The wireless communication module 2 is used for wireless communication between the central processor 1 and the user terminal 3;

[0077] The central processor 1 detects the human sensing signal n. When the human sensing signal n is true, the central processor 1 turns on the temperature detection unit 5, the forward millimeter wave radar 6 and the sound detection unit 8;

[0078] The central processing unit 1 is also used to control the indication module 4 to output corresponding alarm signal lights when receiving a rapid approach alarm signal, an obstacle alarm signal, an abnormal body temperature alarm signal, an abnormal breathing rate alarm signal, an abnormal heart rate alarm signal, and an abnormal noise alarm signal;

[0079] At the same time, the central processor 1 records these alarm information and sends it to the user terminal 3 through the wireless communication module 2;

[0080] User terminal 3 is used by parents to obtain alarm information.

[0081] When the present invention is used, the forward millimeter wave radar 6 detects obstacles and objects approaching, and sends a rapid approach alarm signal and an obstacle alarm signal to the central processor 1, thereby preventing the baby carriage from colliding with obstacles and providing a timely warning when an object approaches the baby carriage;

[0082] The sound detection unit 8 detects the noise in the baby carriage, so as to detect whether the baby is crying in time;

[0083] The temperature detection unit 5 detects the baby's body temperature in real time, and the life detection unit 7 detects the baby's heart rate and breathing rate, thereby judging the baby's health condition.

[0084] Example 2: Figure 1 As shown, as a preferred embodiment of the present invention, the central processor 1 is an MCU;

[0085] User terminal 3 is an APP application;

[0086] The wireless communication module 2 is a Bluetooth module;

[0087] The indication module 4 is an indicator light;

[0088] The temperature detection unit 5 is an infrared temperature measurement device;

[0089] The life detection unit 7 is a vital sign monitoring radar;

[0090] The forward millimeter-wave radar 6 is a 60G multi-transmit and multi-receive 4D millimeter-wave radar module.

[0091] Example 3: Figure 1 As shown, as a preferred embodiment of the present invention, the present invention also provides a method for using a vital sign monitoring and obstacle avoidance system based on a multi-sensor baby stroller, comprising the following steps: the obstacle warning and object approach warning implementation step A of the forward millimeter wave radar 6 is:

[0092] Step A1: The forward millimeter-wave radar 6 performs space detection. The forward millimeter-wave radar 6 sends an FMCW waveform and receives the echo reflected by the target. After signal processing, it outputs a point cloud set P = {p1, p2, ..., pn} of the target with a period of 75 ms, where each point cloud p {r, v, θ, φ} includes distance information r, speed information v, horizontal angle information θ, and pitch angle information φ;

[0093] Step A2: Process all point clouds of the current frame, traverse the point cloud set P, and convert all point clouds of the point cloud set P into rectangular coordinate positions with the forward millimeter-wave radar 6 as the origin of the coordinate system to obtain a new point cloud set Pb = {pb1, pb2, ..., pbn}. The calculation method of coordinate conversion is:

[0094] x = r*s in (θ);

[0095] y = r*cos(θ);

[0096] z=r*sin(φ);

[0097] Step A3: Traverse all point clouds in the point cloud set Pb to determine whether the point clouds meet the obstacle existence alarm condition. The judgment condition is:

[0098] Xa_max <x<Xa_min;

[0099] Ya_min <y;

[0100] Za_min <z;

[0101] When the above three conditions are met at the same time, the forward millimeter-wave radar 6 outputs an obstacle presence alarm signal, and the central processor 1 controls the indication module 4 to output an obstacle presence alarm light after receiving the signal;

[0102] Where Xa_max represents the maximum value of the obstacle warning area on the X axis, Xa_min represents the minimum value in the obstacle warning area on the X axis, Ya_max represents the maximum value in the obstacle warning area on the Y axis, and Za_max represents the maximum value in the obstacle warning area on the Z axis;

[0103] Determine whether the point cloud meets the rapid approach alarm conditions. The judgment conditions are:

[0104] Xb_max <x<Xb_min;

[0105] Yb_min <y;

[0106] V_max <v;

[0107] When the above three conditions are met at the same time, the forward millimeter wave radar 6 outputs a rapid approach warning signal, and the central processor 1 controls the indication module 4 to output a rapid approach warning light after receiving the signal;

[0108] Among them, Xb_max represents the maximum value that is rapidly approaching the alarm area on the X-axis, Xb_min represents the minimum value that is rapidly approaching the alarm area on the X-axis, Ya_max represents the maximum value that is rapidly approaching the alarm area on the Y-axis, and V_max represents the threshold value that is close to the speed of the baby stroller point cloud in the speed dimension;

[0109] When the central processing unit 1 receives a rapid approach warning signal and an obstacle presence warning signal, the first received signal is used as the control output of the central processing unit 1 .

[0110] The temperature detection unit 5 determines whether the baby's body temperature is normal in the following steps:

[0111] Step B1, measuring the infrared radiation of the baby in the car, converting the radiation intensity into the baby's body temperature, and outputting the temperature Tp;

[0112] Step B2, when Tp>T_max and lasts for a period of time L, the temperature detection unit 5 outputs a high body temperature alarm signal to 1;

[0113] When Tp>T_min and lasts for a period of time L, the temperature detection unit 5 outputs a hypothermia alarm signal to the central processor 1 .

[0114] The sound detection unit 8 determines whether the noise in the baby carriage is normal by performing the following steps:

[0115] Step C1, the sound detection unit 8 measures the noise inside the baby carriage as S in real time;

[0116] Step C2, when S>S_max, the monitoring module outputs an excessive noise alarm signal in the vehicle to the central processor 1;

[0117] Where S_max is the noise high alarm threshold.

[0118] The life detection unit 7 determines whether the baby's heart rate and breathing are normal. The judgment implementation step D is:

[0119] Step D1, the life detection unit 7 detects the baby's breathing R and heart rate h;

[0120] Step D2: When R_r > R_max, the life detection unit 7 outputs a too-fast breathing alarm signal to the central processor 1;

[0121] When R_r < R_min, the life detection unit 7 outputs a too-slow breathing alarm signal to the central processor 1;

[0122] Step D3: When R_r < R_c and n = true, the life detection unit 7 outputs a suffocation alarm signal to the central processor 1;

[0123] wherein, R_c is the suffocation alarm threshold, R_max is the too-fast breathing alarm threshold, and R_min is the too-slow breathing alarm threshold;

[0124] Step D4: When h > H_max, the life detection unit 7 outputs a too-high heart rate alarm signal to the central processor 1;

[0125] When h < H_min, the life detection unit 7 outputs a too-low heart rate alarm signal to the central processor 1;

[0126] where H_max is the too-high heart rate alarm threshold and H_min is the too-low heart rate alarm threshold.

[0127] When the present invention is in use, when the baby has abnormal breathing, heartbeat, body temperature or cries, parents can discover and intervene in time through the app, thereby avoiding serious consequences.

[0128] 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 foregoing embodiments, those of ordinary skill in the art should understand that: they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements on some of the technical features; and these modifications or replacements will not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A multi-sensor baby stroller-based vital sign monitoring and obstacle avoidance system, comprising a baby stroller, characterized in that: The system further comprises a central processing unit (1), a wireless communication module (2), a user terminal (3), an indication module (4), a temperature detection unit (5), a forward millimeter wave radar (6), a life detection unit (7) and a sound detection unit (8), wherein the central processing unit (1) is electrically connected to the indication module (4), the temperature detection unit (5), the forward millimeter wave radar (6), the life detection unit (7) and the sound detection unit (8), and the user terminal (3) is wirelessly connected to the wireless communication module (2); The temperature detection unit (5) is used to collect the body temperature of the baby in the stroller and analyze the body temperature data and its duration. When the body temperature value is abnormal and the duration is longer than a set duration, the temperature detection unit (5) sends an abnormal body temperature alarm signal to the central processor (1); The forward millimeter-wave radar (6) is used for early warning of obstacles and approaching objects when the baby carriage is moving forward. When the forward millimeter-wave radar (6) detects an obstacle, it generates an obstacle warning signal. When the forward millimeter-wave radar (6) detects an object approaching rapidly, it generates a rapid approach warning signal and sends it to the central processor (1). The life detection unit (7) is used to detect the heart rate and breathing rate of the baby in the baby carriage, and analyzes the heart rate and breathing rate data. When the heart rate is abnormal, the life detection unit (7) sends an abnormal heart rate alarm signal to the central processor (1); when the breathing rate is abnormal, the life detection unit (7) sends an abnormal breathing rate alarm signal to the central processor (1). The life detection unit (7) is also used to periodically determine whether there is a baby in the baby carriage, and send a human sensing signal to the central processor (1); The sound detection unit (8) is used to detect noise inside the baby carriage. The sound detection unit (8) analyzes noise data. When the noise data is abnormal, the sound detection unit (8) sends a noise abnormality alarm signal to the central processor (1); The wireless communication module (2) is used for wireless communication between the central processing unit (1) and the user terminal (3); The central processor (1) detects a human sensing signal n. When the human sensing signal n is true, the central processor (1) turns on a temperature detection unit (5), a forward millimeter wave radar (6) and a sound detection unit (8); The central processing unit (1) is also used for controlling the indicating module (4) to output corresponding alarm signal lights when receiving a rapid approach alarm signal, an obstacle alarm signal, an abnormal body temperature alarm signal, an abnormal breathing rate alarm signal, an abnormal heart rate alarm signal, and an abnormal noise alarm signal; At the same time, the central processor (1) records the alarm information and sends it to the user terminal (3) via the wireless communication module (2); The user terminal (3) is used for parents to obtain alarm information.

2. The multi-sensor baby stroller-based vital sign monitoring and obstacle avoidance system according to claim 1, characterized in that: The central processing unit (1) is an MCU, and the wireless communication module (2) is a Bluetooth module.

3. The multi-sensor baby stroller-based vital sign monitoring and obstacle avoidance system according to claim 2, characterized in that: The user terminal (3) is an APP application.

4. The multi-sensor baby stroller-based vital sign monitoring and obstacle avoidance system according to claim 3, characterized in that: The indicating module (4) is an indicating light.

5. The multi-sensor baby stroller-based vital sign monitoring and obstacle avoidance system according to claim 4, characterized in that: The temperature detection unit (5) is an infrared temperature measuring device.

6. The multi-sensor baby stroller-based vital sign monitoring and obstacle avoidance system according to claim 5, characterized in that: The life detection unit (7) is a vital sign monitoring radar, and the forward millimeter wave radar (6) is a 60G multi-transmit and multi-receive 4D millimeter wave radar module.

7. A method for avoiding obstacles based on vital sign monitoring of a multi-sensor baby stroller, using the system for avoiding obstacles based on vital sign monitoring of a multi-sensor baby stroller according to claim 6, characterized in that: The obstacle warning and object approach warning implementation step A of the forward millimeter wave radar (6) is: Step A1: The forward millimeter wave radar (6) performs space detection. The forward millimeter wave radar (6) sends an FMCW waveform and receives an echo reflected by the target. After signal processing, it outputs a point cloud set P = {p1, p2, ..., pn} of the target with a period of 75 ms, wherein each point cloud p {r, v, θ, φ} includes distance information r, velocity information v, horizontal angle information θ, and pitch angle information φ; Step A2: Process all point clouds of the current frame, traverse the point cloud set P, and convert all point clouds of the point cloud set P into rectangular coordinate positions with the forward millimeter wave radar (6) as the origin of the coordinate system to obtain a new point cloud set Pb = {pb1, pb2, ..., pbn}. The calculation method of coordinate conversion is: x = r*sin(θ); y = r*cos(θ); z=r*sin(φ); Step A3: Traverse all point clouds in the point cloud set Pb to determine whether the point clouds meet the obstacle existence alarm condition. The judgment condition is: Xa_max <x<Xa_min; Ya_min <y; Za_min <z; When the above three conditions are met at the same time, the forward millimeter wave radar (6) outputs an obstacle presence alarm signal, and after receiving the signal, the central processor (1) controls the indication module (4) to output an obstacle presence alarm light; Where Xa_max represents the maximum value of the obstacle warning area on the X axis, Xa_min represents the minimum value in the obstacle warning area on the X axis, Ya_max represents the maximum value in the obstacle warning area on the Y axis, and Za_max represents the maximum value in the obstacle warning area on the Z axis; Determine whether the point cloud meets the rapid approach alarm conditions. The judgment conditions are: Xb_max <x<Xb_min; Yb_min <y; V_max <v; When the above three conditions are met at the same time, the forward millimeter wave radar (6) outputs a rapid approach warning signal, and the central processor (1) controls the indication module (4) to output a rapid approach warning light after receiving the signal; Among them, Xb_max represents the maximum value that is rapidly approaching the alarm area on the X-axis, Xb_min represents the minimum value that is rapidly approaching the alarm area on the X-axis, Ya_max represents the maximum value that is rapidly approaching the alarm area on the Y-axis, and V_max represents the threshold value that is close to the speed of the baby stroller point cloud in the speed dimension; When the central processor (1) receives a rapid approach alarm signal and an obstacle presence alarm signal, the first received signal is used as the control output of the central processor (1).

8. The method for avoiding obstacles based on vital sign monitoring of a multi-sensor baby carriage according to claim 7, characterized in that: The temperature detection unit (5) determines whether the baby's body temperature is normal in step B: Step B1, measuring the infrared radiation of the baby in the car, converting the radiation intensity into the baby's body temperature, and outputting the temperature Tp; Step B2, when Tp>T_max and lasts for a period of time L, the temperature detection unit (5) outputs a high body temperature alarm signal to 1; When Tp > T_min and lasts for a duration L, the temperature detection unit (5) outputs a hypothermia alarm signal to the central processing unit (1).

9. The multi-sensor baby stroller vital sign monitoring and obstacle avoidance method according to claim 8, characterized in that: The judgment implementation steps C for the sound detection unit (8) to judge whether the noise in the baby carriage is normal are as follows: Step C1, the sound detection unit (8) measures the noise in the baby carriage as S in real time; Step C2, when S > S_max, the monitoring module outputs an excessive in-car noise alarm signal to the central processing unit (1); where S_max is the excessive noise alarm threshold.

10. The multi-sensor baby stroller vital sign monitoring and obstacle avoidance method according to claim 8, characterized in that: The judgment implementation steps D for the life detection unit (7) to judge whether the baby's heart rate and breathing are normal are as follows: Step D1, the life detection unit (7) detects the baby's breathing R and heart rate h; Step D2, when R_r > R_max, the life detection unit (7) outputs an excessive breathing alarm signal to the central processing unit (1); When R_r < R_min, the life detection unit (7) outputs a slow breathing alarm signal to the central processing unit (1); Step D3, when R_r < R_c and n = true, the life detection unit (7) outputs a suffocation alarm signal to the central processing unit (1); where R_c is the suffocation alarm threshold, R_max is the excessive breathing alarm threshold, and R_min is the slow breathing alarm threshold; Step D4, when h > H_max, the life detection unit (7) outputs an excessive heart rate alarm signal to the central processing unit (1); When h < H_min, the life detection unit (7) outputs a low heart rate alarm signal to the central processing unit (1); where H_max is the excessive heart rate alarm threshold and H_min is the low heart rate alarm threshold.

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