Indoor space information self-acquisition method based on microwave distance measurement

Abstract

The invention provides an indoor space information self-acquisition method based on microwave distance measurement, and the method comprises the steps: carrying out the microwave detection in an indoor space through a periodic frequency modulation radar; the related information of the indoor space can be automatically acquired, so that the effective response space of the periodic frequency modulation radar can be adaptively set based on the automatically acquired related information of the indoor space; therefore, professional requirements of installation of the periodic frequency modulation radar on operators can be reduced so as to reduce installation cost of the periodic frequency modulation radar, and the periodic frequency modulation radar can be free from manual debugging and debugging cost of the periodic frequency modulation radar.

Description

Technical Field

[0001] The invention relates to the field of microwave detection based on the Doppler effect principle, and in particular to a method for self-acquisition of indoor space information based on microwave ranging. Background Art

[0002] Microwave detection technology based on the Doppler effect principle is an important hub connecting people and objects, and objects and objects. It has unique advantages in existence detection and behavior detection technologies. It can detect moving objects, such as human motion characteristics, movement characteristics, and micro-motion characteristics, and even human heartbeat and breathing characteristics information, without infringing on human privacy. Therefore, it has a wide range of application needs. For example, based on the detection results, the working status of the corresponding electrical equipment can be intelligently adjusted to achieve intelligent interconnection between people and objects, and between objects and objects.

[0003] Specifically, the corresponding microwave detector emits a microwave beam at a fixed frequency, and receives a reflected echo formed by the microwave beam reflected by the corresponding object, and subsequently generates an intermediate frequency signal corresponding to the frequency difference between the microwave beam and the reflected echo by mixing detection. The amplitude fluctuation of the intermediate frequency signal corresponds to the Doppler effect generated by the movement of the corresponding object. In this way, the movement of the corresponding object is characterized by the effective amplitude that satisfies the corresponding threshold setting based on the existence of the intermediate frequency signal, and when applied to the detection of the movement of the target detection object, it can realize the intelligent interconnection between people and objects and has a wide range of application prospects. It can be understood that for microwave detectors of the same specification, the beam angle size of the microwave beam emitted by it is consistent based on the uniformity requirement of the product, but the indoor space in actual application is diverse. Therefore, for the installation of current microwave detectors, it is usually necessary for the installer to select the installation method and installation position of the microwave detector according to the height of the indoor space and the shape and size of the corresponding target detection surface. The common installation methods include top installation, wall installation and corner installation, and after installation, the sensitivity parameters of the microwave detector are further debugged so that the effective response space of the microwave detector can match the indoor space. In other words, the installation and debugging of existing microwave detectors have high professional requirements for operators, which is a cross-field operation that ordinary electricians cannot perform simultaneously, thus incurring high labor costs. In terms of the current market environment, the labor costs generated by the installation and debugging of existing microwave detectors have far exceeded the product value of the microwave detectors themselves, and the high installation and debugging costs are bound to hinder the promotion of microwave detectors.

[0004] In summary, the diversity of indoor space forces the installer to select the installation method and installation position of the microwave detector according to the height of the indoor space and the shape and size of the corresponding target detection surface, and further debug the sensitivity parameters of the microwave detector after installation so that the effective response space of the microwave detector can match the indoor space. If the relevant information of the indoor space and the position of the microwave detector relative to the indoor space can be obtained automatically, the installation of the microwave detector will be able to be performed by ordinary electricians and free from manual debugging, thereby reducing the installation and debugging costs. Based on this technical idea, one of the current technical routes is to take advantage of the high precision of millimeter wave detection, use microwaves working in the millimeter wave band (wavelength of 1 to 10 mm, corresponding to the 30 to 300 GHz frequency band) to obtain high-density point cloud data of the walls of the indoor space, and import the point cloud data into the corresponding algorithm to construct the wall model of the indoor space to obtain the relevant information of the indoor space and the position of the microwave detector relative to the indoor space. However, microwave detectors based on this technology route work in the millimeter wave band and usually use microwaves in the frequency band of 60GHz and above. They have higher hardware requirements and computing power requirements than millimeter wave radars used for autonomous driving. As a result, the product value of microwave detectors based on this technology route itself is much higher than the sum of the product value of the aforementioned microwave detectors themselves and the installation and debugging costs. Therefore, it is also impossible to reduce the application cost of microwave detectors. Summary of the invention

[0005] An object of the present invention is to provide a method for self-acquisition of indoor space information based on microwave ranging, wherein the method for self-acquisition of indoor space information based on microwave ranging uses a periodic frequency modulation radar to perform microwave detection in the indoor space, and can self-acquire relevant information of the indoor space, thereby reducing the professional requirements of the installation of the periodic frequency modulation radar for the operator, thereby helping to reduce the installation cost of the periodic frequency modulation radar.

[0006] Another object of the present invention is to provide a method for self-acquisition of indoor space information based on microwave ranging, wherein the method for self-acquisition of indoor space information based on microwave ranging can self-acquire relevant information of the indoor space so that the effective response space of the periodic frequency modulation radar can be adaptively set based on the self-acquired relevant information of the indoor space, thereby enabling the periodic frequency modulation radar to be exempted from manual debugging and eliminating the debugging cost of the periodic frequency modulation radar.

[0007] Another object of the present invention is to provide a method for self-acquisition of indoor space information based on microwave ranging, wherein the method for self-acquisition of indoor space information based on microwave ranging can self-acquire relevant information of the indoor space so that the effective response space of the periodic frequency modulation radar can be adaptively set to match the indoor space based on the self-acquired relevant information of the indoor space, which is correspondingly beneficial to ensure the anti-interference capability of the periodic frequency modulation radar and improve the reliability of the periodic frequency modulation radar.

[0008] Another object of the present invention is to provide a method for self-acquisition of indoor space information based on microwave ranging, wherein the method for self-acquisition of indoor space information based on microwave ranging does not rely on microwaves in the millimeter wave band and has lower hardware requirements and computing power requirements, and thus has lower cost than microwave detectors in the millimeter wave band.

[0009] Another object of the present invention is to provide a method for self-acquisition of indoor space information based on microwave ranging, wherein the method for self-acquisition of indoor space information based on microwave ranging uses a periodic frequency modulation radar to perform microwave detection in the indoor space and generates an intermediate frequency signal based on mixing processing, and obtains amplitude-frequency characteristic data corresponding to the amplitude-frequency characteristic diagram of the intermediate frequency signal based on digital sampling analysis of the intermediate frequency signal, and analyzes and processes the amplitude-frequency characteristic data according to a preset amplitude difference comparison algorithm to obtain a frequency value fs of a convex peak with a relatively high amplitude in the amplitude-frequency characteristic diagram, so that based on the principle of corner reflection, the structural feature of the corner reflector can be formed by the wall corner of the indoor space, and the obtained frequency value fs is the frequency corresponding to the wall corner of the indoor space in the intermediate frequency signal, so that the distance information of the wall corner of the indoor space from the periodic frequency modulation radar can be obtained according to the correlation between the frequency of the intermediate frequency signal and the distance between the detected object and the periodic frequency modulation radar.

[0010] Another object of the present invention is to provide a method for self-acquisition of indoor space information based on microwave ranging, wherein the method for self-acquisition of indoor space information based on microwave ranging further adaptively sets the effective response space of the periodic frequency modulation radar according to the distance of each wall corner from the periodic frequency modulation radar.

[0011] Another object of the present invention is to provide a method for self-acquisition of indoor space information based on microwave ranging, wherein the method for self-acquisition of indoor space information based on microwave ranging further depends on the correlation between the frequency of the intermediate frequency signal and the distance between the detected object and the periodic frequency modulation radar, and based on the corresponding threshold setting, the periodic frequency modulation radar has a setting with Dmax as the maximum detection distance threshold, wherein Dmax corresponds to the minimum frequency value in the acquired frequency value fs, and Dmax corresponds to the distance between the wall corner closest to the periodic frequency modulation radar and the periodic frequency modulation radar, so as to reduce the wall penetration range of the effective response space of the periodic frequency modulation radar, thereby facilitating the anti-interference ability of the periodic frequency modulation radar and improving the reliability of the periodic frequency modulation radar.

[0012] Another object of the present invention is to provide a method for self-acquisition of indoor space information based on microwave ranging, wherein the method for self-acquisition of indoor space information based on microwave ranging further depends on the correlation between the frequency of the intermediate frequency signal and the distance between the detected object and the periodic frequency modulation radar, and based on the corresponding threshold setting, the periodic frequency modulation radar has a setting with Dmax as the maximum detection distance threshold, wherein Dmax corresponds to the maximum frequency value in the acquired frequency value fs, and Dmax corresponds to the distance between the wall corner farthest from the periodic frequency modulation radar and the periodic frequency modulation radar, so as to ensure that the effective response space of the periodic frequency modulation radar fully covers the indoor space and enables the effective response space of the periodic frequency modulation radar to adapt to different indoor spaces.

[0013] Another object of the present invention is to provide a method for self-acquisition of indoor space information based on microwave ranging, wherein the method for self-acquisition of indoor space information based on microwave ranging is in a state where the number of receiving antennas of the periodic frequency modulation radar is at least two, further based on the angle dimension solution of each frequency value fs, obtains the azimuth information of each wall corner relative to the periodic frequency modulation radar, and adaptively sets the effective response space of the periodic frequency modulation radar based on the distance of each wall corner from the periodic frequency modulation radar and the azimuth information of each wall corner relative to the periodic frequency modulation radar.

[0014] Another object of the present invention is to provide a method for self-acquisition of indoor space information based on microwave ranging, wherein the method for self-acquisition of indoor space information based on microwave ranging reconstructs the indoor space by fitting a curve based on the distance of each wall corner from the periodic frequency modulation radar and the azimuth information of each wall corner relative to the periodic frequency modulation radar, and adaptively sets the effective response space of the periodic frequency modulation radar based on the relevant information of the reconstructed indoor space and the position information of the periodic frequency modulation radar relative to the indoor space.

[0015] Another object of the present invention is to provide a method for self-acquisition of indoor space information based on microwave ranging, wherein when the indoor space is reconstructed, the reconstructed indoor space can be visually displayed on a corresponding display screen, thereby enabling the visual adjustment display of the effective response space of the periodic frequency modulation radar to be realized on the display screen that displays the reconstructed indoor space.

[0016] Another object of the present invention is to provide a method for self-acquisition of indoor space information based on microwave ranging, wherein when the indoor space is reconstructed, the indoor space can be divided into multiple detection partitions based on the distance from the periodic frequency modulation radar and the orientation relative to the periodic frequency modulation radar, so that subsequent applications such as partition detection management, mobile trajectory tracking, customized functional areas and partition shielding can be realized, thereby enriching the intelligent application scenarios of the periodic frequency modulation radar.

[0017] Another object of the present invention is to provide a method for self-acquisition of indoor space information based on microwave ranging, wherein the method for self-acquisition of indoor space information based on microwave ranging obtains relative orientation information between multiple periodic frequency modulation radars based on data exchange between multiple periodic frequency modulation radars in a networking state, and reconstructs the indoor space by fitting curves based on the distance of each wall corner from the corresponding periodic frequency modulation radar and the orientation information of each wall corner relative to the corresponding periodic frequency modulation radar, and adaptively sets the effective response space of each periodic frequency modulation radar based on the relevant information of the reconstructed indoor space and the position information of each periodic frequency modulation radar relative to the indoor space, thereby being suitable for indoor spaces with large-area apartments.

[0018] To achieve at least one of the above purposes, the present invention provides a method for self-acquisition of indoor space information based on microwave ranging, the method for self-acquisition of indoor space information based on microwave ranging comprising the steps of:

[0019] (S1) performing microwave detection in an indoor space using a periodic frequency modulation radar and generating an intermediate frequency signal based on a mixing process;

[0020] (S2) acquiring amplitude-frequency characteristic data corresponding to an amplitude-frequency characteristic diagram of the intermediate frequency signal based on digital sampling analysis of the intermediate frequency signal;

[0021] (S3) analyzing and processing the amplitude-frequency characteristic data according to a preset amplitude difference comparison algorithm to obtain a frequency value fs of a convex peak with a relatively high amplitude in the amplitude-frequency characteristic diagram;

[0022] (S4) The obtained frequency value fs is the frequency corresponding to the wall corner of the indoor space in the intermediate frequency signal, so that the distance information of the wall corner of the indoor space from the periodic frequency modulation radar can be obtained based on the correlation between the frequency of the intermediate frequency signal and the distance of the detected object from the periodic frequency modulation radar.

[0023] In one embodiment, the method for self-acquisition of indoor space information based on microwave ranging further comprises the steps of:

[0024] (S5) Setting an effective response space of the periodic frequency modulation radar according to the distance between each wall corner and the periodic frequency modulation radar.

[0025] In one embodiment, the periodic frequency modulation radar has a setting with Dmax as the maximum detection distance threshold based on the corresponding threshold setting according to the correlation between the frequency of the intermediate frequency signal and the distance of the detected object from the periodic frequency modulation radar.

[0026] In one embodiment, the indoor space information self-acquisition method based on microwave ranging adaptively sets Dmax to correspond to the minimum frequency value in the acquired frequency values ​​fs according to step (S5), so that Dmax corresponds to the distance between the wall corner closest to the periodic frequency modulation radar and the periodic frequency modulation radar.

[0027] In one embodiment, the indoor space information self-acquisition method based on microwave ranging adaptively sets Dmax to correspond to the maximum frequency value in the acquired frequency values ​​fs according to step (S5), so that Dmax corresponds to the distance between the wall corner farthest from the periodic frequency modulation radar and the periodic frequency modulation radar.

[0028] In one embodiment, the number of receiving antennas of the periodic frequency modulation radar is at least two, and the method for self-acquisition of indoor space information based on microwave ranging in step (S4) further obtains the azimuth information of each wall corner relative to the periodic frequency modulation radar based on the angle dimension solution of each frequency value fs, and further comprises the steps of:

[0029] (S5) Setting an effective response space of the periodic frequency modulation radar according to the distance of each wall corner from the periodic frequency modulation radar and the azimuth information of each wall corner relative to the periodic frequency modulation radar.

[0030] In one embodiment, the method for self-acquisition of indoor space information based on microwave ranging, according to step (S5), reconstructs the indoor space by fitting a curve according to the distance of each wall corner from the periodic frequency modulation radar and the azimuth information of each wall corner relative to the periodic frequency modulation radar, and sets the effective response space of the periodic frequency modulation radar according to the relevant information of the reconstructed indoor space.

[0031] In one embodiment, the periodic frequency modulation radar has a setting with Dmax as the maximum detection distance threshold based on the corresponding threshold setting according to the correlation between the frequency of the intermediate frequency signal and the distance of the detected object from the periodic frequency modulation radar, wherein the indoor space information self-acquisition method based on microwave ranging is based on step (S5), with the distance between the corresponding position of the reconstructed indoor space and the periodic frequency modulation radar being Dmax.

[0032] In one embodiment, the indoor space information self-acquisition method based on microwave ranging is based on step (S5), and the minimum distance between the edge of the target detection surface of the reconstructed indoor space and the periodic frequency modulation radar is Dmax.

[0033] In one embodiment, the method for self-acquisition of indoor space information based on microwave ranging further divides the reconstructed indoor space into a plurality of detection partitions according to the distance from the periodic frequency modulation radar and the azimuth relative to the periodic frequency modulation radar in step (S5), and sets the effective response space of the periodic frequency modulation radar according to the combination of corresponding detection partitions.

[0034] In one embodiment, there are multiple periodic frequency modulation radars, and they are arranged to obtain relative position information between the multiple periodic frequency modulation radars based on data exchange in a networking state. The indoor space information self-acquisition method based on microwave ranging reconstructs the indoor space by fitting a curve according to the relative position information between the multiple periodic frequency modulation radars, the distance of each wall corner from the corresponding periodic frequency modulation radar, and the position information of each wall corner relative to the corresponding periodic frequency modulation radar in step (S5), and sets the effective response space of each periodic frequency modulation radar according to the relevant information of the reconstructed indoor space and the position information of each periodic frequency modulation radar relative to the reconstructed indoor space.

[0035] In one embodiment, in step (S3), the frequency value fs of each convex peak is the peak frequency value corresponding to the point with the highest amplitude in the convex peak.

[0036] In one embodiment, the periodic frequency modulation radar is configured to implement periodic frequency modulation based on any one of periodic linear frequency modulation and periodic step frequency modulation.

[0037] Further objects and advantages of the present invention will be fully apparent from an understanding of the following description and the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1A Schematic diagram of the structure of a reflector consisting of two mutually perpendicular surfaces S1 and S2.

[0039] Figure 1BIt is a schematic diagram of the structure of a corner reflector composed of three surfaces S1, S2 and S3 which are perpendicular to each other.

[0040] Figure 2A This is a schematic diagram of an application scenario in which the floor of an indoor space is used as the target detection surface using a top-mounted method.

[0041] Figure 2B This is a schematic diagram of an application scenario in which the floor of an indoor space is used as the target detection surface using a top-mounted method.

[0042] Figure 3A The figure is a schematic diagram of an installation position of a periodic frequency modulation radar in the above application scenario.

[0043] Figure 3B The figure is an amplitude-frequency characteristic diagram of the intermediate frequency signal generated by the periodic frequency modulation radar corresponding to the above installation position in the above application scenario.

[0044] Figure 4A The figure is a schematic diagram of another installation position of the periodic frequency modulation radar in the above application scenario.

[0045] Figure 4B The figure is an amplitude-frequency characteristic diagram of the intermediate frequency signal generated by the periodic frequency modulation radar corresponding to the above installation position in the above application scenario.

[0046] Figure 4C The figure is a schematic diagram of a wall corner structure that can form a continuous corner reflector in the above application scenario.

[0047] Figure 5 The figure is a schematic diagram of the principle of reconstructing the indoor space based on the distance of the wall corner from the periodic frequency modulation radar and the azimuth information relative to the periodic frequency modulation radar.

[0048] Fig. 6A Schematic diagram showing the reconstructed interior space being visualized on the corresponding display screen.

[0049] Figure 6B Schematic diagram showing the visualization of the reconstructed indoor space on the corresponding display screen based on the division of the detected partitions. DETAILED DESCRIPTION

[0050] The following description is used to disclose the present invention so that those skilled in the art can implement the present invention. The preferred embodiments described below are only examples, and those skilled in the art can think of other obvious variations. The basic principles of the present invention defined in the following description can be applied to other embodiments, deformation schemes, improved schemes, equivalent schemes, and other technical solutions that do not deviate from the spirit and scope of the present invention.

[0051] It is to be understood that the term "one" should be understood as "at least one" or "one or more", that is, in one embodiment, the number of an element may be one, while in another embodiment, the number of the element may be multiple, and the term "one" should not be understood as a limitation on the quantity.

[0052] The present invention provides a method for self-acquisition of indoor space information based on microwave ranging, wherein the method for self-acquisition of indoor space information based on microwave ranging uses a periodic frequency modulation radar to perform microwave detection in an indoor space, and can self-acquire relevant information of the indoor space so that an effective response space of the periodic frequency modulation radar can be adaptively set based on the self-acquired relevant information of the indoor space, thereby reducing the professional requirements of the installation of the periodic frequency modulation radar on an operator to reduce the installation cost of the periodic frequency modulation radar, and at the same time, the periodic frequency modulation radar can be exempted from manual debugging and exempted from the debugging cost of the periodic frequency modulation radar.

[0053] Specifically, the indoor space information self-acquisition method based on microwave ranging uses a periodic frequency modulation radar to perform microwave detection in the indoor space and generates an intermediate frequency signal based on mixing processing, and obtains amplitude-frequency characteristic data corresponding to the amplitude-frequency characteristic diagram of the intermediate frequency signal based on digital sampling analysis of the intermediate frequency signal, and analyzes and processes the amplitude-frequency characteristic data according to a preset amplitude difference comparison algorithm to obtain the frequency value fs of a convex peak with a relatively high amplitude in the amplitude-frequency characteristic diagram. In this way, based on the principle of corner reflection, the structural feature of the corner reflector can be formed by the wall corner of the indoor space, so that the obtained frequency value fs is the frequency corresponding to the wall corner of the indoor space in the intermediate frequency signal, and thus the distance information of the wall corner of the indoor space from the periodic frequency modulation radar can be obtained according to the correlation between the frequency of the intermediate frequency signal and the distance between the detected object and the periodic frequency modulation radar.

[0054] That is to say, the indoor space information self-acquisition method based on microwave ranging includes the steps of:

[0055] (S1) performing microwave detection in an indoor space using a periodic frequency modulation radar and generating an intermediate frequency signal based on a mixing process;

[0056] (S2) acquiring amplitude-frequency characteristic data corresponding to an amplitude-frequency characteristic diagram of the intermediate frequency signal based on digital sampling analysis of the intermediate frequency signal;

[0057] (S3) analyzing and processing the amplitude-frequency characteristic data according to a preset amplitude difference comparison algorithm to obtain a frequency value fs of a convex peak with a relatively high amplitude in the amplitude-frequency characteristic diagram;

[0058] (S4) The obtained frequency value fs is the frequency corresponding to the wall corner of the indoor space in the intermediate frequency signal, so that the distance information of the wall corner of the indoor space from the periodic frequency modulation radar can be obtained based on the correlation between the frequency of the intermediate frequency signal and the distance of the detected object from the periodic frequency modulation radar.

[0059] It is worth mentioning that the periodic frequency modulation radar is a radar whose frequency of the transmitted wave has periodic changes, such as but not limited to a frequency modulated continuous wave (FMCW) radar based on a periodic linear frequency modulation method, and a radar based on a periodic step frequency modulation method, so that the frequency of the intermediate frequency signal can be directly proportional to the distance between the static object and the receiving antenna of the periodic frequency modulation radar.

[0060] It can be understood that when the periodic frequency modulation radar is used to perform microwave detection in an indoor space corresponding to step (S1), the frequency of the intermediate frequency signal is proportional to the distance between the static object and the receiving antenna of the periodic frequency modulation radar, so that the distance of each static object from the periodic frequency modulation radar can be obtained by solving the distance dimension, and when the number of receiving antennas of the periodic frequency modulation radar is at least two, the orientation of each static object relative to the periodic frequency modulation radar can be further solved in the angle dimension based on the distance difference between each static object and different receiving antennas, wherein the distance dimension solution and the angle dimension solution of each static object are affected by the operating frequency, sweep bandwidth, sweep period and the number and position distribution of the receiving antennas of the periodic frequency modulation radar, and have certain accuracy limitations. Therefore, the part of the static object that cannot be further distinguished in the distance dimension and the angle dimension is regarded as a point at the same direction and distance from the periodic frequency modulation radar in the distance dimension and the angle dimension solution, and the multi-point set formed by the solution of the static object in the distance dimension and the angle dimension is called a point cloud. The distribution form of the point cloud in space is similar to the photo of the static object, and the point cloud density is similar to the resolution of the photo.

[0061] As we all know, for the recognition of low-resolution photos, for example, for walls represented by only a few points, due to the relatively small amount of data, recognition is more difficult for programming languages ​​that rely on raw data as known conditions. Therefore, in order to obtain relevant information about the indoor space and the position of the periodic frequency modulation radar relative to the indoor space, the high-density point cloud data of the walls of the indoor space is currently mainly obtained by using a periodic frequency modulation radar operating in the frequency band of 60GHz and above, and the point cloud data is imported into the corresponding algorithm to construct a wall model of the indoor space to obtain relevant information about the indoor space and the position of the periodic frequency modulation radar relative to the indoor space. However, this technical route has higher hardware requirements and computing power requirements than millimeter-wave radars for autonomous driving because it uses periodic frequency modulation radars in the frequency band of 60GHz and above and relies on high-density point cloud data.

[0062] However, in the indoor space information self-acquisition method based on microwave ranging of the present invention, based on the principle of corner reflection, the structural feature of the corner reflector can be formed by utilizing the wall corner of the indoor space. After obtaining the amplitude-frequency characteristic data corresponding to the amplitude-frequency characteristic diagram of the intermediate frequency signal, the corresponding step (S3) analyzes and processes the amplitude-frequency characteristic data according to a preset amplitude difference comparison algorithm to obtain the frequency value fs of the convex peak with relatively high amplitude in the amplitude-frequency characteristic diagram. Based on the strong reflection characteristic of the corner reflector to electromagnetic waves, the frequency value fs obtained in step (S3) most likely corresponds to the frequency corresponding to the wall corner of the indoor space in the intermediate frequency signal.

[0063] That is to say, when a periodic frequency modulation radar is used to perform microwave detection in an indoor space, in the amplitude-frequency characteristic diagram of the intermediate frequency signal, the amplitude of each peak corresponds to the intensity of the electromagnetic wave reflected by the corresponding reflection area in the indoor space, and the frequency value of each peak corresponds to the distance between the corresponding reflection area and the periodic frequency modulation radar. Since the corners of the indoor space can form corner reflectors and have strong reflection characteristics for electromagnetic waves, the amplitude of the peaks corresponding to the corners is relatively high. Therefore, the frequency value fs obtained in step (S4) is the frequency corresponding to the corners of the indoor space in the intermediate frequency signal, and the distance information of the corners of the indoor space from the periodic frequency modulation radar is obtained.

[0064] It is worth mentioning that in the corresponding Figure 1A In a reflector composed of two mutually perpendicular surfaces S1 and S2, the final reflection direction will be opposite to the incident direction only when the incident direction of the incident wave is perpendicular to the intersection of S1 and S2; Figure 1B In the corner reflector composed of three perpendicular surfaces S1, S2 and S3, the incident wave from any direction can be reflected back in the direction opposite to the incident direction. Figure 1B The peak amplitude of the corner reflector is much higher than that corresponding to Figure 1A The amplitude of the convex peak of the reflector and the amplitude of the convex peak corresponding to the plane reflecting surface can thus be accurately identified in step (S3) according to the preset amplitude difference comparison algorithm. Figure 1B The corner reflector corresponds to a convex peak with a higher amplitude, and then the frequency value fs of the convex peak is obtained.

[0065] Corresponding to the indoor space, the corners of the indoor space can form corresponding Figure 1B Therefore, the frequency value fs obtained in step (S3) is most likely the frequency corresponding to the wall corner of the indoor space in the intermediate frequency signal.

[0066] It is understandable that, although in step (S3), based on the corresponding setting of the preset amplitude difference comparison algorithm, the frequency value fs actually obtained may also include the corresponding frequency value formed by two walls or formed by the ground and a wall. Figure 1A The reflector of the intermediate frequency signal corresponds to the frequency. However, for the practical application of the periodic frequency modulation radar in indoor space, whether the ground or wall of the indoor space is the target detection surface, since the reasonable and universal installation methods of the periodic frequency modulation radar are only three installation methods, namely, top installation, wall installation and corner installation, and in these three installation methods, detection is performed vertically or obliquely toward the target detection surface, and as mentioned above, in the corresponding Figure 1A In the reflector, the final reflection direction is opposite to the incident direction only when the incident direction of the incident wave is perpendicular to the intersection of S1 and S2. Therefore, even if the frequency value fs obtained in step (S3) contains the value corresponding to Figure 1A The frequency corresponding to the reflector in the intermediate frequency signal, no matter what installation method the periodic frequency modulation radar adopts, the reflector is also formed by the target detection surface and the wall / ground perpendicular thereto. When the frequency value fs obtained in step (S4) is the frequency corresponding to the corner of the indoor space in the intermediate frequency signal, the "corner" formed by the target detection surface and the wall / ground perpendicular thereto is still located at the edge of the target detection surface, and when the effective response space of the periodic frequency modulation radar is set according to the distance of the corner of the indoor space from the periodic frequency modulation radar, it will not cause an adverse effect on the matching relationship between the effective response space and the indoor space. It will not cause an adverse effect on the accuracy of the reconstructed indoor space related information and the position information of the periodic frequency modulation radar relative to the indoor space when the target detection surface formed by the corner connection line is subsequently calculated based on the distance dimension and angle dimension of each corner, and thus will not cause an adverse effect on the purpose of setting the effective response space of the periodic frequency modulation radar based on the relevant information of the indoor space.

[0067] For example, referring to the accompanying drawings of the present invention, Figure 2A and Figure 2B The illustrated application scenario is a ceiling-mounted application scenario in which the floor of an indoor space is used as the target detection surface. In this application scenario, the periodic frequency modulation radar uses the floor as the target detection surface and detects toward the floor with a certain beam angle. For the corresponding beam formed by the mutually perpendicular walls, Figure 1A For the reflector, the incident direction of the incident wave emitted by the periodic frequency modulation radar is inclined to the intersection of S1 and S2, and at the corresponding Figure 1AIn the reflector, only when the incident direction of the incident wave is perpendicular to the intersection of S1 and S2, the final reflection direction will be opposite to the incident direction. Therefore, the frequency value fs obtained in step (S3) is most likely the frequency corresponding to the corner formed by the ground and two perpendicular walls in the indoor space in the intermediate frequency signal, and in a few cases, it may include the corresponding frequency formed by the ground and the wall based on the corresponding setting of the preset amplitude difference comparison algorithm. Figure 1A However, in step (S4), when the frequency value fs obtained is the frequency corresponding to the wall corner of the indoor space in the intermediate frequency signal, due to Figure 1A The "corner" corresponding to the reflector is formed by the ground and the wall as the target detection surface, so the "corner" is still located at the edge of the target detection surface and is on the line that can define the target detection surface. In this way, when the effective response space of the periodic frequency modulation radar is set according to the distance between the wall corner of the indoor space and the periodic frequency modulation radar, it will not have an adverse effect on the matching relationship between the effective response space and the indoor space. It will not have an adverse effect on the accuracy of the reconstructed relevant information of the indoor space and the position information of the periodic frequency modulation radar relative to the indoor space when the target detection surface formed by the wall corner line is subsequently resolved based on the distance dimension and angle dimension of each wall corner. Therefore, it will not have an adverse effect on the purpose of setting the effective response space of the periodic frequency modulation radar based on the relevant information of the indoor space.

[0068] It is worth mentioning that in the description of the present invention, when the frequency value fs obtained in step (S4) is the frequency corresponding to the corner of the indoor space in the intermediate frequency signal, the corner should not be limited or understood as the indoor space must actually have a structure corresponding to the corner, that is, the description of step (S4) does not constitute a restriction on the actual structure of the indoor space, but based on step (S4), the distance information that can be obtained is more likely to correspond to the indoor space formed by the target detection surface and the wall / ground perpendicular to it. Figure 1B The actual corner structure of the corner reflector is located at the distance from the periodic frequency modulation radar, and in a few cases, the corresponding setting of the preset amplitude difference comparison algorithm may include the corresponding indoor space formed by the target detection surface and the wall / ground perpendicular thereto. Figure 1A The distance information of the actual corner structure of the reflector from the periodic frequency modulation radar is obtained, and thus it has practical value for setting the effective response space of the periodic frequency modulation radar based on the relevant information of the indoor space.

[0069] By way of further example, in the case corresponding to Figure 2A and Figure 2BThe application scenario shown in FIG. 1 is that when the periodic frequency modulation radar corresponds to Figure 3A When the periodic frequency modulation radar is installed at the center of the top of the indoor space, the distance between the periodic frequency modulation radar and the corners of the wall that can define the ground tends to be consistent, then in the amplitude-frequency characteristic diagram corresponding to the amplitude-frequency characteristic data in step (S2), there will be Figure 3B There is a peak with a relatively high amplitude.

[0070] Specifically, in the case corresponding to Figure 2A and Figure 2B In the application scenario shown in FIG. 1 , when the installation position of the periodic frequency modulation radar at the top of the indoor space corresponds to Figure 4A When the distance between the periodic frequency modulation radar and each corner that can define the ground is different, then in the amplitude-frequency characteristic diagram corresponding to the amplitude-frequency characteristic data in step (S2), there will be Figure 4B A plurality of convex peaks with significantly relatively high amplitudes appear, the number of which corresponds to the number of wall corners capable of defining the ground.

[0071] It is worth mentioning that Figure 4B The four peaks with relatively high amplitudes correspond to the four corners of the indoor space that can define the ground, and the frequency value fs of each peak is related to the distance between the corresponding corner and the periodic frequency modulation radar. Generally speaking, the farther the corner is from the periodic frequency modulation radar, the lower the reflected energy is, and the lower the amplitude of the corresponding peak is. Figure 4B In the figure, the peak with the highest amplitude does not have the smallest frequency value fs. The reason is that in the Figure 4A In the indoor space, the corner corresponding to the convex peak with the highest amplitude is as follows Figure 4C The structure shown has a design capable of forming a continuous corner reflector, such as a wall corner formed at a load-bearing column. Since the wall thickness is usually less than the side length of the load-bearing column, it has a corresponding Figure 4C structural design.

[0072] Corresponding to Figure 4B In the embodiment, the convex peak corresponding to the corner of the wall that can form a continuous corner reflector is actually formed by the superposition of two convex peaks with similar frequency values ​​fs. Therefore, whether from the perspective of error or from the actual structure of the corner corresponding to each convex peak, the specific value of the frequency value fs of any convex peak is not limited to the peak frequency value corresponding to the point with the highest amplitude in the convex peak. Specifically, in step (S3), it can be the frequency value fs corresponding to any amplitude that meets the relative amplitude height requirement according to the preset amplitude difference comparison algorithm in the convex peak with relatively high amplitude, and preferably the peak frequency value corresponding to the point with the highest amplitude in the convex peak is taken, so that the frequency value fs of each convex peak obtained in step (S3) corresponds to the distance information between the top of the corresponding corner and the periodic frequency modulation radar.

[0073] Those skilled in the art should understand that, in the description of the present invention, the introduction and related description of the amplitude-frequency characteristic diagram corresponding to the amplitude-frequency characteristic data of the intermediate frequency signal are only used to understand and explain the graphical features of the amplitude-frequency characteristic data of the intermediate frequency signal and the graphical features corresponding to the related processing of the amplitude-frequency characteristic data, and therefore does not constitute a limitation on the appearance of a visualized amplitude-frequency characteristic diagram during the processing of the amplitude-frequency characteristic data of the intermediate frequency signal.

[0074] In addition, the indoor space information self-acquisition method based on microwave ranging is preferably started after the periodic frequency modulation radar is powered on and can adaptively set the effective response space of the periodic frequency modulation radar and / or adaptively process the environmental noise in the intermediate frequency signal according to the acquired indoor space information.

[0075] Furthermore, the indoor space information self-acquisition method based on microwave ranging of the present invention further comprises the steps of:

[0076] (S5) Setting an effective response space of the periodic frequency modulation radar according to the distance between each wall corner and the periodic frequency modulation radar.

[0077] For example, the periodic frequency modulation radar has a setting with Dmax as the maximum detection distance threshold based on the corresponding threshold setting according to the correlation between the frequency of the intermediate frequency signal and the distance of the detected object from the periodic frequency modulation radar. Therefore, Dmax can be made to correspond to the corresponding frequency value fs obtained based on the corresponding threshold setting. For example, Figure 4A In the application scenario shown, Dmax is adaptively set to correspond to the minimum frequency value in the obtained frequency value fs, so that Dmax corresponds to the distance between the wall corner closest to the periodic frequency modulation radar and the periodic frequency modulation radar, so as to reduce the wall penetration range of the effective response space of the periodic frequency modulation radar, which is conducive to ensuring the anti-interference ability of the periodic frequency modulation radar and improving the reliability of the periodic frequency modulation radar. Or Dmax is adaptively set to correspond to the maximum frequency value in the obtained frequency value fs, so that Dmax corresponds to the distance between the wall corner farthest from the periodic frequency modulation radar and the periodic frequency modulation radar, so as to ensure that the effective response space of the periodic frequency modulation radar fully covers the indoor space and enables the effective response space of the periodic frequency modulation radar to adapt to different indoor spaces.

[0078] Furthermore, when the number of receiving antennas of the periodic frequency modulation radar is at least two, the indoor space information self-acquisition method based on microwave ranging of the present invention can be further based on the angle dimension solution of each frequency value fs, corresponding to Figure 5The indicated angle information (horizontal angle α, pitch angle ω) obtains the azimuth information of each wall corner relative to the periodic frequency modulation radar, and the effective response space of the periodic frequency modulation radar is set based on the distance of each wall corner from the periodic frequency modulation radar and the azimuth information of each wall corner relative to the periodic frequency modulation radar.

[0079] The corresponding indoor space information self-acquisition method based on microwave ranging further obtains the azimuth information of each wall corner relative to the periodic frequency modulation radar based on the angle dimension solution of each frequency value fs in step (S4), and sets the effective response space of the periodic frequency modulation radar according to the distance of each wall corner from the periodic frequency modulation radar and the azimuth information of each wall corner relative to the periodic frequency modulation radar in step (S5).

[0080] For example, in the method for self-acquisition of indoor space information based on microwave ranging, in step (S5), a fitting curve is made according to the distance of each wall corner from the periodic frequency modulation radar and the azimuth information of each wall corner relative to the periodic frequency modulation radar to reconstruct the indoor space, and the effective response space of the periodic frequency modulation radar is set according to the relevant information of the reconstructed indoor space.

[0081] Specifically Figure 3A Taking the application scenario shown in the figure as an example, although the distance between the periodic frequency modulation radar and each corner that can define the ground tends to be consistent, the amplitude-frequency characteristic diagram corresponding to the amplitude-frequency characteristic data in step (S2) corresponds to Figure 3B Only one convex peak with a relatively high amplitude will appear. However, based on the angle dimension solution of the frequency value fs of the convex peak, the number of corners and the orientation of each corner relative to the periodic frequency modulation radar can still be obtained. Corresponding to the state of establishing a spatial coordinate system with the periodic frequency modulation radar as the coordinate origin, the spatial coordinates of each corner with the periodic frequency modulation radar as the coordinate origin can be obtained, so it can correspond to Figure 5 Reconstruction of the definition of the ground as the target detection surface based on the wall corner Figure 3A The corresponding indoor space and the effective response space of the periodic frequency modulation radar are set according to the relevant information of the reconstructed indoor space.

[0082] It is worth mentioning that, in the periodic frequency modulation radar, according to the correlation between the frequency of the intermediate frequency signal and the distance between the detected object and the periodic frequency modulation radar, based on the corresponding threshold setting, a state in which Dmax is set as the maximum detection distance threshold is set, and the indoor space information self-acquisition method based on microwave ranging can be optionally Figure 3A The application scenario shown corresponds to Figure 5The distance between the corresponding position of the reconstructed indoor space and the periodic frequency modulation radar is Dmax, for example, the minimum distance between the edge of the target detection surface of the reconstructed indoor space and the periodic frequency modulation radar is Dmax, so that while ensuring the coverage of the target detection surface of the indoor space by the effective response space of the periodic frequency modulation radar, the wall penetration range of the effective response space of the periodic frequency modulation radar is reduced, which is beneficial to ensuring the anti-interference capability of the periodic frequency modulation radar and improving the reliability of the periodic frequency modulation radar.

[0083] That is to say, Figure 3A In the application scenario shown in the figure, for the purpose of setting the effective sensing radius of the microwave detector on the target detection surface, the installation personnel are required to obtain the height data of the microwave detector relative to the ground as the target detection surface and the projection position of the microwave detector on the target detection surface through manual measurement, so as to set the appropriate effective sensing surface radius R according to the shape and size of the target detection surface with the projection position as the center of the circle. For example, corresponding to Figure 5 The minimum distance between the edge of the target detection surface in the indoor space and the projection position is R. Based on the value of R and the input setting of the height value of the microwave detector relative to the target detection surface, the maximum detection distance threshold of the corresponding microwave detector can match Dmax and have an effective sensing radius corresponding to the R value on the target detection surface.

[0084] However, for the indoor space information self-acquisition method based on microwave ranging of the present invention, in a state where the distance of each wall corner from the periodic frequency modulation radar and the azimuth information of each wall corner relative to the periodic frequency modulation radar can be obtained, not only can the height / distance of the periodic frequency modulation radar relative to the target detection surface defined by the wall corner be obtained based on the distance of each wall corner from the periodic frequency modulation radar and the azimuth information of each wall corner relative to the periodic frequency modulation radar, but the indoor space can also be reconstructed based on the distance of each wall corner from the periodic frequency modulation radar and the azimuth information of each wall corner relative to the periodic frequency modulation radar. Therefore, it is possible to make the effective sensing radius of the periodic frequency modulation radar on the target detection surface correspond to R in a state where only the corresponding R value is input, and it is also possible to adaptively set the effective sensing radius of the periodic frequency modulation radar on the target detection surface in a state where the setting of the R value is not input.

[0085] Furthermore, when the indoor space is reconstructed, the reconstructed indoor space can be divided into multiple detection zones according to the distance from the periodic frequency modulation radar and the orientation relative to the periodic frequency modulation radar. Therefore, the effective response space of the periodic frequency modulation radar can be set according to the combination of different detection zones, so as to subsequently realize applications such as partition detection management, mobile trajectory tracking, customized functional areas and partition shielding, thereby enriching the intelligent application scenarios of the periodic frequency modulation radar.

[0086] In step (S5), the indoor space is reconstructed by fitting a curve according to the distance of each wall corner from the periodic frequency modulation radar and the azimuth information of each wall corner relative to the periodic frequency modulation radar, and the reconstructed indoor space is divided into a plurality of detection partitions according to the distance from the periodic frequency modulation radar and the azimuth relative to the periodic frequency modulation radar, and the effective response space of the periodic frequency modulation radar is set according to the combination of corresponding detection partitions.

[0087] In particular, when the indoor space is reconstructed, the reconstructed indoor space can also correspond to Fig. 6A and Figure 6B The corresponding display screen is visually displayed, so that the effective response space of the periodic frequency modulation radar can be visually adjusted and displayed on the display screen that displays the reconstructed indoor space. And in the state where the periodic frequency modulation radar can obtain its own direction information based on the setting of the geomagnetic sensor, gyroscope, compass and other orientation sensors, or GPS and Beidou navigation modules, further corresponds to Fig. 6A and Figure 6B Displaying the direction information of the reconstructed indoor space, and the state in which the reconstructed indoor space is divided into a plurality of detection partitions according to the distance from the periodic frequency modulation radar and the azimuth relative to the periodic frequency modulation radar, and corresponding to Figure 6B The partition information of the reconstructed indoor space and the visual mark of whether there are target detection objects in each partition are displayed, so as to realize applications such as visual partition detection management, mobile trajectory tracking, custom functional areas and partition shielding.

[0088] It is worth mentioning that when there are multiple periodic frequency modulation radars, since the multiple periodic frequency modulation radars can obtain the relative orientation information between the multiple periodic frequency modulation radars based on data exchange in a networking state, the indoor space can be reconstructed by fitting curves based on the distance of each wall corner from the corresponding periodic frequency modulation radar and the orientation information of each wall corner relative to the corresponding periodic frequency modulation radar, and the effective response space of each periodic frequency modulation radar can be set based on the relevant information of the reconstructed indoor space and the position information of each periodic frequency modulation radar relative to the indoor space, so as to match the indoor space with a large-area apartment.

[0089] In step (S5), the indoor space is reconstructed by fitting a curve according to the relative orientation information between the plurality of periodic frequency modulation radars, the distance between each wall corner and the corresponding periodic frequency modulation radar, and the orientation information of each wall corner relative to the corresponding periodic frequency modulation radar, and the effective response space of each periodic frequency modulation radar is set according to the relevant information of the reconstructed indoor space and the position information of each periodic frequency modulation radar relative to the reconstructed indoor space.

[0090] It should be understood by those skilled in the art that the embodiments of the present invention described above and shown in the accompanying drawings are only examples and do not limit the present invention. The purpose of the present invention has been fully and effectively achieved. The functional and structural principles of the present invention have been demonstrated and explained in the embodiments, and the embodiments of the present invention may be deformed or modified in any way without departing from the principles.

Claims

1. A method for self-acquisition of indoor space information based on microwave ranging, characterized in that: The following steps are involved: (S1) performing microwave detection in an indoor space using a periodic frequency modulation radar and generating an intermediate frequency signal based on a mixing process; (S2) acquiring amplitude-frequency characteristic data corresponding to an amplitude-frequency characteristic diagram of the intermediate frequency signal based on digital sampling analysis of the intermediate frequency signal; (S3) analyzing and processing the amplitude-frequency characteristic data according to a preset amplitude difference comparison algorithm to obtain a frequency value fs of a convex peak with a relatively high amplitude in the amplitude-frequency characteristic diagram; (S4) The obtained frequency value fs is the frequency corresponding to the wall corner of the indoor space in the intermediate frequency signal, so that the distance information of the wall corner of the indoor space from the periodic frequency modulation radar can be obtained based on the correlation between the frequency of the intermediate frequency signal and the distance of the detected object from the periodic frequency modulation radar.

2. The method for self-acquisition of indoor space information based on microwave ranging according to claim 1, wherein the method for self-acquisition of indoor space information based on microwave ranging further comprises the steps of: (S5) Setting an effective response space of the periodic frequency modulation radar according to the distance between each wall corner and the periodic frequency modulation radar.

3. The method for self-acquisition of indoor space information based on microwave ranging according to claim 2, wherein the periodic frequency modulation radar has a setting with Dmax as the maximum detection distance threshold based on the corresponding threshold setting according to the correlation between the frequency of the intermediate frequency signal and the distance of the detected object from the periodic frequency modulation radar.

4. The method for self-acquisition of indoor space information based on microwave ranging according to claim 3, wherein the method for self-acquisition of indoor space information based on microwave ranging adaptively sets Dmax to correspond to the minimum frequency value in the acquired frequency values ​​fs according to step (S5), so that Dmax corresponds to the distance between the wall corner closest to the periodic frequency modulation radar and the periodic frequency modulation radar.

5. The method for self-acquisition of indoor space information based on microwave ranging according to claim 3, wherein the method for self-acquisition of indoor space information based on microwave ranging adaptively sets Dmax to correspond to the maximum frequency value in the acquired frequency value fs according to step (S5), so that Dmax corresponds to the distance between the wall corner farthest from the periodic frequency modulation radar and the periodic frequency modulation radar.

6. The method for self-acquisition of indoor space information based on microwave ranging according to claim 1, wherein the number of receiving antennas of the periodic frequency modulation radar is at least two, and the method for self-acquisition of indoor space information based on microwave ranging further comprises the steps of: obtaining the azimuth information of each wall corner relative to the periodic frequency modulation radar based on the angle dimension solution of each frequency value fs in step (S4); and further comprising the steps of: (S5) Setting an effective response space of the periodic frequency modulation radar according to the distance of each wall corner from the periodic frequency modulation radar and the azimuth information of each wall corner relative to the periodic frequency modulation radar.

7. The method for self-acquisition of indoor space information based on microwave ranging according to claim 6, wherein the method for self-acquisition of indoor space information based on microwave ranging, according to step (S5), reconstructs the indoor space by fitting a curve according to the distance of each wall corner from the periodic frequency modulation radar and the azimuth information of each wall corner relative to the periodic frequency modulation radar, and sets the effective response space of the periodic frequency modulation radar according to the relevant parameters of the reconstructed indoor space.

8. The method for self-acquisition of indoor space information based on microwave ranging according to claim 7, wherein the periodic frequency modulation radar has a setting with Dmax as the maximum detection distance threshold based on the corresponding threshold setting according to the correlation between the frequency of the intermediate frequency signal and the distance of the detected object from the periodic frequency modulation radar, wherein the method for self-acquisition of indoor space information based on microwave ranging, according to step (S5), takes the distance between the corresponding position of the reconstructed indoor space and the periodic frequency modulation radar as Dmax.

9. The method for self-acquisition of indoor space information based on microwave ranging according to claim 8, wherein the method for self-acquisition of indoor space information based on microwave ranging, according to step (S5), the minimum distance between the edge of the target detection surface of the reconstructed indoor space and the periodic frequency modulation radar is Dmax.

10. The method for self-acquisition of indoor space information based on microwave ranging according to claim 7, wherein in step (S5), the method for self-acquisition of indoor space information based on microwave ranging further divides the reconstructed indoor space into a plurality of detection partitions according to the distance from the periodic frequency modulation radar and the azimuth relative to the periodic frequency modulation radar, and sets the effective response space of the periodic frequency modulation radar according to the combination of corresponding detection partitions.

11. The method for self-acquisition of indoor space information based on microwave ranging according to claim 7, wherein the number of the periodic frequency modulation radars is multiple, and the periodic frequency modulation radars are arranged to obtain relative position information between the multiple periodic frequency modulation radars based on data exchange in a networking state, wherein the method for self-acquisition of indoor space information based on microwave ranging reconstructs the indoor space by fitting a curve according to the relative position information between the multiple periodic frequency modulation radars, the distance of each wall corner from the corresponding periodic frequency modulation radar, and the position information of each wall corner relative to the corresponding periodic frequency modulation radar in step (S5), and sets the effective response space of each periodic frequency modulation radar according to the relevant parameters of the reconstructed indoor space and the position information of each periodic frequency modulation radar relative to the reconstructed indoor space.

12. The method for self-acquisition of indoor space information based on microwave ranging according to any one of claims 1 to 11, wherein in step (S3), the frequency value fs of each convex peak is the peak frequency value corresponding to the point with the highest amplitude in the convex peak.

13. The method for self-acquisition of indoor space information based on microwave ranging according to any one of claims 1 to 11, wherein the periodic frequency modulation radar is configured to implement periodic frequency modulation based on any frequency modulation method of periodic linear frequency modulation and periodic step frequency modulation.

Images