Attitude detection method, apparatus and device, and computer readable storage medium

Abstract

The invention discloses an attitude detection method, apparatus and device, and a computer readable storage medium, and belongs to the technical field of radars. The method comprises the steps that multiple pieces of echo data of a to-be-detected target object are acquired, and the multiple pieces of echo data are obtained by processing multiple echo signals; determining a phase difference between adjacent echo data in the plurality of echo data to obtain a plurality of phase differences; determining a plurality of first speeds of the target object according to the plurality of phase differences, wherein one phase difference corresponds to one first speed; and determining a posture detection result of the target object according to the plurality of first speeds, wherein the posture detection result indicates whether the target object is in an abnormal posture. The first speed is determined by calculating the phase difference of the adjacent echo data, the attitude detection result can be determined according to the first speed, the attitude detection involves few steps, and the detection complexity is low. In addition, the method has no structural requirement on a radar system for receiving echo signals, can be suitable for any type of radar system, and is high in universality.

Description

Technical Field

[0001] The present application relates to the field of radar technology, and in particular to a posture detection method, device, equipment and computer-readable storage medium. Background Art

[0002] With the development of radar technology, the gradually mature radar system is widely used in posture detection. The radar system transmits radar signals outward, and the radar signals are reflected by the target object to form echo signals, and then the posture of the target object can be determined according to the echo signals.

[0003] In the related art, the radar system used for attitude detection includes three transmit (TX) antennas and four receive (RX) antennas. The radar system uses a 3-transmit 4-receive (3T4R) time division multiplexing (TDM) multiple-input multiple-output (MIMO) waveform configuration. The three transmit antennas take turns to transmit chirp signals as radar signals in time, and the four receive antennas receive echo signals of the chirp signals within three consecutive chirp cycles. After the echo signals are subjected to fast Fourier transform (FFT) to obtain echo data, a power beamforming (Capon BF), two-dimensional constant false alarm rate (CFAR) and peak search steps are sequentially performed on the echo data to obtain a point cloud containing the distance, horizontal angle, vertical angle and speed of the target object, and then attitude estimation is performed based on the point cloud to achieve attitude detection.

[0004] However, the above method requires the echo data to undergo multiple processes such as Capon BF, two-dimensional CFAR and peak search, which has high detection complexity. In addition, a 3T4R radar system is required, which has high requirements for the radar system and low versatility. Summary of the invention

[0005] The present application provides a posture detection method, device, equipment and computer-readable storage medium to solve the problems existing in the related technologies. The technical solution is as follows:

[0006] In a first aspect, a posture detection method is provided, the method comprising: acquiring multiple echo data of a target object to be detected, wherein the multiple echo data are obtained based on multiple echo signal processing; determining a phase difference between adjacent echo data in the multiple echo data to obtain multiple phase differences; determining multiple first velocities of the target object based on the multiple phase differences, one phase difference corresponding to one first velocity; determining a posture detection result of the target object based on the multiple first velocities, the posture detection result indicating whether the target object is in an abnormal posture.

[0007] By calculating the phase difference of adjacent echo data to determine the first speed, the attitude detection result can be determined according to the first speed. The attitude detection involves fewer steps and has low detection complexity. In addition, the method has no structural requirements for the radar system receiving the echo signal and can be applied to any type of radar system, with high versatility.

[0008] In a possible implementation, multiple echo data of a target object to be detected are obtained, including: obtaining frequency domain signals of multiple regions, the frequency domain signals being obtained by processing the echo signals; selecting the frequency domain signal of a reference region where the target object is located from the frequency domain signals of the multiple regions, and determining the frequency domain signal of the reference region as the echo data of the target object. Echo data are selected from the multiple frequency domain signals obtained according to the reference region where the target object is located, ensuring that the echo data used to calculate the first velocity are all echo data related to the target object, and the accuracy of the first velocity calculated based on the echo data with high correlation is high.

[0009] In a possible implementation, determining the phase difference of adjacent echo data in a plurality of echo data includes: determining echo data in a receiving order that is adjacent in the plurality of echo data, wherein the receiving order of the echo data is determined according to the echo signals corresponding to the echo data; for each group of echo data in a receiving order that is adjacent, extracting the phase information of the peak position of the echo data in the receiving order that is adjacent, and determining the phase difference according to the extracted phase information. The phase difference is calculated by the extracted phase information, and the calculation process of the phase difference is simple and the calculation efficiency is high.

[0010] In a possible implementation, determining multiple first speeds of a target object based on multiple phase differences includes: calculating a reference relationship between each phase difference and a distance to the target object; calibrating the multiple phase differences based on the reference relationship to obtain multiple calibrated phase differences, and determining multiple first speeds of the target object based on the multiple calibrated phase differences. By first calibrating the phase difference to improve the accuracy of the phase difference, the accuracy of the first speed determined based on the phase difference with higher accuracy is high.

[0011] In a possible implementation, the multiple first speeds are the speeds of the target object within the transmission period of the multiple echo signals, and the posture detection result of the target object is determined according to the multiple first speeds, including: determining at least one of the second speed, acceleration, and moving distance of the target object within the transmission period of the multiple echo signals according to the multiple first speeds; and determining the posture detection result according to at least one of the second speed, acceleration, and moving distance. Since the parameters used in the process of determining the posture detection result are not limited, it can be one or more of the second speed, acceleration, and moving distance, which has high flexibility.

[0012] In a possible implementation, determining at least one of a second speed, acceleration, and moving distance of a target object within a transmission period of multiple echo signals according to multiple first speeds includes: fitting the multiple first speeds to obtain the second speed and acceleration of the target object within the transmission period of multiple echo signals; and integrating the second speed to obtain the moving distance. The second speed, acceleration, and moving distance can be obtained by fitting and integrating, with low computational complexity and high computational efficiency.

[0013] In a possible implementation, determining the posture detection result according to at least one of the second speed, acceleration, and moving distance includes: comparing the magnitude relationship between at least one of the second speed, acceleration, and moving distance and the corresponding threshold value; when at least one of the second speed, acceleration, and moving distance is greater than the corresponding threshold value, determining that the posture detection result indicates that the target object is in an abnormal posture. By comparing the magnitude relationship between the second speed, acceleration, and moving distance and the corresponding threshold value, the posture detection result can be determined, and the posture detection process is simple, the operation complexity is low, and it is easy to implement.

[0014] In a possible implementation, after determining the posture detection result of the target object according to multiple first speeds, it also includes: calculating the confidence of the posture detection result according to the parameters used to determine the posture detection result, wherein the parameters used include at least one of the second speed, acceleration, and moving distance, and the confidence is used to indicate the credibility of the posture detection result; displaying the confidence and the posture detection result. After determining the posture detection result, the confidence is also calculated to reflect the credibility of the posture detection result, and the confidence and the posture detection result are displayed. It can be determined whether the posture detection result needs to be believed based on the confidence, and the displayed information is more comprehensive and the interactive experience is high.

[0015] In a possible implementation, the abnormal posture includes falling. The posture detection method is applicable to falling detection, so as to realize rapid detection of falling problems.

[0016] In a second aspect, a posture detection device is provided, which includes: an acquisition module, used to acquire multiple echo data of a target object to be detected, the multiple echo data are obtained based on multiple echo signal processing; a determination module, used to determine the phase difference between adjacent echo data in the multiple echo data to obtain multiple phase differences; the determination module is also used to determine multiple first speeds of the target object based on the multiple phase differences, one phase difference corresponds to one first speed; a detection module, used to determine a posture detection result of the target object based on the multiple first speeds, the posture detection result indicates whether the target object is in an abnormal posture.

[0017] In one possible implementation, an acquisition module is used to acquire frequency domain signals of multiple regions, where the frequency domain signals are obtained based on echo signal processing; a frequency domain signal of a reference region where a target object is located is selected from the frequency domain signals of the multiple regions, and the frequency domain signal of the reference region is determined as the echo data of the target object.

[0018] In one possible implementation, a determination module is used to determine echo data with adjacent receiving orders among multiple echo data, and the receiving order of the echo data is determined according to the echo signals corresponding to the echo data; for each group of echo data with adjacent receiving orders, the phase information of the peak position of the echo data with adjacent receiving orders is extracted, and the phase difference is determined according to the extracted phase information.

[0019] In a possible implementation, a determination module is used to calculate a reference relationship between each phase difference and the distance to the target object; calibrate multiple phase differences according to the reference relationship to obtain multiple calibrated phase differences; and determine multiple first velocities of the target object according to the multiple calibrated phase differences.

[0020] In one possible implementation, the multiple first speeds are the speeds of the target object within the transmission period of the multiple echo signals, and the detection module is used to determine at least one of the second speed, acceleration and moving distance of the target object within the transmission period of the multiple echo signals based on the multiple first speeds; and determine the posture detection result based on at least one of the second speed, acceleration and moving distance.

[0021] In a possible implementation, the detection module is used to fit the multiple first velocities to obtain the second velocity and acceleration of the target object within the transmission period of the multiple echo signals; and to integrate the second velocity to obtain the moving distance.

[0022] In one possible implementation, the detection module is used to compare the magnitude relationship between at least one of the second speed, acceleration and moving distance and the corresponding threshold; when at least one of the second speed, acceleration and moving distance is greater than the corresponding threshold, it is determined that the posture detection result indicates that the target object is in an abnormal posture.

[0023] In one possible implementation, the detection module is also used to calculate the confidence of the posture detection result based on the parameters used to determine the posture detection result, the parameters used include at least one of the second speed, acceleration and moving distance, and the confidence is used to indicate the credibility of the posture detection result; display the confidence and the posture detection result.

[0024] In a possible implementation, the abnormal posture includes falling.

[0025] In a third aspect, a posture detection device is provided, the device comprising a processor, the processor being used to load and execute at least one instruction so that the posture detection device executes the method in the first aspect or any possible implementation manner of the first aspect.

[0026] In a possible implementation, the device includes a memory, which is coupled to a processor, and the memory stores at least one instruction.

[0027] In a fourth aspect, a computer-readable storage medium is provided, in which at least one instruction is stored, and the instruction is loaded and executed by a processor to implement the posture detection method in the first aspect or any possible implementation of the first aspect.

[0028] In a fifth aspect, a computer program (product) is provided, which includes a computer program / instructions, and the computer program / instructions are executed by a processor to enable a computer to implement the posture detection method in the first aspect or any possible implementation of the first aspect.

[0029] In a sixth aspect, a communication device is provided, the device comprising: a transceiver, a memory, and a processor. The transceiver, the memory, and the processor communicate with each other through an internal connection path, the memory is used to store instructions, the processor is used to execute the instructions stored in the memory to control the transceiver to receive signals and control the transceiver to send signals, and when the processor executes the instructions stored in the memory, the processor executes the method in the first aspect or any possible implementation of the first aspect.

[0030] Optionally, there are one or more processors and one or more memories.

[0031] Optionally, the memory may be integrated with the processor, or the memory may be provided separately from the processor.

[0032] In the specific implementation process, the memory can be a non-transitory memory, such as a read-only memory (ROM), which can be integrated with the processor on the same chip or can be set on different chips. This application does not limit the type of memory and the setting method of the memory and the processor.

[0033] In a seventh aspect, a chip is provided, comprising a processor for calling and executing program instructions or codes stored in a memory, so that a communication device equipped with the chip executes the methods in the above aspects.

[0034] In an eighth aspect, another chip is provided, comprising: an input interface, an output interface, a processor and a memory, wherein the input interface, the output interface, the processor and the memory are connected via an internal connection path, and the processor is used to execute the code in the memory. When the code is executed, the processor is used to execute the methods in the above aspects.

[0035] It should be understood that the beneficial effects achieved by the technical solutions of the second to eighth aspects of the present application and the corresponding possible implementation methods can be referred to the above-mentioned technical effects of the first aspect and its corresponding possible implementation methods, and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 A schematic diagram of an implementation environment provided for an embodiment of the present application;

[0037] Figure 2 A flowchart of a posture detection method provided in an embodiment of the present application;

[0038] Figure 3 A process diagram of a posture detection method provided in an embodiment of the present application;

[0039] Figure 4 A schematic diagram of another posture detection method provided in an embodiment of the present application;

[0040] Figure 5 A process diagram of another posture detection method provided in an embodiment of the present application;

[0041] Figure 6 A schematic diagram of the structure of a posture detection device provided in an embodiment of the present application;

[0042] Figure 7 A schematic diagram of the structure of a network device provided in an embodiment of the present application;

[0043] Figure 8 A schematic diagram of the structure of another network device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0044] The terms used in the implementation method of this application are only used to explain the specific embodiments of this application, and are not intended to limit this application. In order to make the purpose, technical solution and advantages of this application clearer, the implementation method of this application will be further described in detail below with reference to the accompanying drawings.

[0045] With the development of radar technology, the application scenarios of gradually mature radar systems are becoming more and more extensive, and radar systems can be used to detect the posture of target objects. The radar system includes a transmitting antenna and a receiving antenna. The radar system transmits radar signals to the target object to be detected through the transmitting antenna. After the radar signal reaches the target object, it is reflected to form an echo signal, which is received by the receiving antenna. After that, the radar system processes the received echo signal to obtain echo data, so as to realize posture detection based on the echo data.

[0046] In the related art, the radar system used for attitude detection includes three transmitting antennas and four receiving antennas, and the radar system uses a 3T4R TDM MIMO waveform configuration. The echo signal received by each receiving antenna is subjected to 1D windowing and FFT to obtain echo data. Subsequently, the echo data is subjected to static carrier removal, and the spatial correlation matrix is ​​calculated on the four antennas in the horizontal direction according to the echo data after static carrier removal, and then the distance / horizontal heat map is generated according to the spatial correlation matrix through Capon BF. Using two-dimensional CFAR, the target point of [distance, horizontal angle] is detected on the distance / horizontal heat map. The spatial correlation matrix on the receiving antenna is calculated according to each [distance, horizontal angle] target point, and the vertical heat map of the target point is generated by the vertical BF according to the spatial correlation matrix, and then the peak search is performed on the heat map to obtain the speed of the target point, and a point cloud containing [distance, horizontal angle, vertical angle, speed] is obtained. The attitude of the target object is estimated according to the point cloud to obtain the attitude judgment result of the target object. The above-mentioned attitude detection method requires the use of a 3T4R radar system configuration, which has high requirements for the radar system and low versatility. In addition, obtaining attitude detection results requires multiple operations such as capon BF, two-dimensional CFAR and peak search on the echo data, which has high data processing complexity. Based on the echo signals received by multiple receiving antennas, the amount of echo data processed is large, the data processing efficiency is low, and the cost is high.

[0047] The present application embodiment provides a posture detection method for detecting the posture of a target object based on echo data. Figure 1, which shows a schematic diagram of the implementation environment of the posture detection method provided in the embodiment of the present application, and the implementation environment includes a radar system 01 and a detection device 02. Among them, a communication connection can be established between the radar system 01 and the detection device 02 via a wired or wireless network. Exemplarily, the radar system 01 transmits a radar signal to the target object, and the radar signal is reflected to form an echo signal. The radar system 01 receives the echo signal and processes the echo signal to obtain echo data. Afterwards, the radar system 01 sends the echo data to the detection device 02, and the detection device 02 executes the posture detection method provided in the embodiment of the present application according to the received echo data to obtain the posture detection result of the target object.

[0048] In one possible implementation, the radar system 01 may be a millimeter wave radar, that is, a detection radar operating in the millimeter wave band, and the operating frequency of the millimeter wave radar is 30 to 300 gigahertz (GHz). The radar system 01 may also be a detection radar operating in other bands, including but not limited to microwave radar and centimeter wave radar. In addition, the radar system 01 may include any number of transmitting antennas and receiving antennas, for example, the radar system 01 is a 1T1R system, including one transmitting antenna and one receiving antenna, or the radar system 01 is a 3T4R system, including three transmitting antennas and four receiving antennas.

[0049] The detection device 02 can be any device with a data processing function. For example, the detection device 02 can be a terminal device such as a desktop, a laptop or a smart phone. The detection device 02 can also be a server, such as a central server, an edge server, or a local server in a local data center. The server can be a physical server or a cloud server that provides cloud computing services, which is not limited in the embodiments of the present application.

[0050] The flowchart of the posture detection method provided in the embodiment of the present application is as follows Figure 2 As shown, including S201-S204.

[0051] S201, acquiring a plurality of echo data of a target object to be detected, wherein the plurality of echo data are obtained by processing a plurality of echo signals.

[0052] Exemplarily, the echo signal is a signal formed by the reflection of the radar signal transmitted by the radar system. The radar system includes a radio frequency module (RFM), an analog signal processing module (ASPM) and a digital signal processing module (DSPM). Among them, the RFM includes a transmitting antenna, a receiving antenna and corresponding functional chips of the transmitting antenna and the receiving antenna, which are responsible for the transmission of radar signals, the reception of echo signals, and the mixing processing of radar signals and echo signals. The ASPM includes an intermediate radio frequency (IRF) converter and an analog-to-digital converter (ADC). The ASPM is responsible for analog-to-digital processing of the analog domain signal obtained by the mixing processing transmitted by the RFM, and converting the analog domain signal into a digital domain signal. The DSPM includes components such as a fast Fourier transform (FFT) device, which is used to process the digital domain signal in the time domain and convert it from a time domain signal to a frequency domain signal. In some cases, the radar system may be referred to as a radar sensor unit (RSU), and the radar signal emitted by the radar system may be a chirp signal or other types of signals. A chirp signal, also known as a linear frequency modulation signal, refers to a signal whose instantaneous frequency changes linearly with time. In addition, the radar system may use FFT to process the echo signal to obtain a frequency domain signal, or may use other time domain and frequency domain transformation methods to obtain a frequency domain signal. In one possible case, the radar system operates in a frequency band of not less than 24 GHz and a bandwidth of not less than 250 megahertz (MHz).

[0053] Regardless of the method by which the radar system processes the frequency domain signal, the detection device can receive multiple frequency domain signals sent by the radar system based on the communication connection with the radar system, and obtain multiple echo data of the target object from the received frequency domain signals. Among them, the target object refers to the object whose posture needs to be detected. The target object can be a person or an object, and the embodiment of the present application does not limit this. In one possible case, the process of the detection device acquiring echo data includes: acquiring frequency domain signals of multiple regions, and the frequency domain signals are obtained according to the echo signals; selecting the frequency domain signal of the reference region where the target object is located from the frequency domain signals of the multiple regions, and determining the frequency domain signal of the reference region as the echo data of the target object.

[0054] Among them, the area where the frequency domain signal is located refers to the area where the echo signal corresponding to the frequency domain signal falls, and the echo signal corresponding to the frequency domain signal refers to the frequency domain signal obtained by processing the echo signal. Since the radar signal emitted by the radar system falls on the detection point and reflects to form an echo signal, the detection point is not only located on the target object, but also falls in other areas according to the scanning angle of the radar system. Therefore, after the detection device obtains the frequency domain signals of multiple areas from the radar system, it is necessary to determine the reference area where the target object is located from multiple areas and select the frequency domain signal of the reference area. The process of determining the reference area includes but is not limited to: setting a first length based on experience, taking the target object as the center of the circle and the first length as the radius, and determining the obtained circular area as the reference area. The reference area can also be of other shapes, which is not limited to the embodiments of the present application.

[0055] After determining the reference area where the target object is located, the detection device selects the frequency domain signal of the reference area from the frequency domain signals of multiple areas, and the detection device determines the frequency domain signal of the reference area as the echo data of the target object to achieve the acquisition of echo data. The frequency domain signal of the reference area refers to the echo signal corresponding to the frequency domain signal falling in the reference area. The frequency domain signal of the reference area is selected from the multiple received frequency domain signals as the echo data of the target object, and the frequency domain signals that fall in other areas and are not related to the target object are filtered out, ensuring that the echo data used for posture detection is the frequency domain signal related to the target object, controlling the amount of echo data used in the posture detection process, and improving the accuracy of posture detection.

[0056] S202, determining phase differences between adjacent echo data among a plurality of echo data to obtain a plurality of phase differences.

[0057] Exemplarily, the process of determining the phase difference by the detection device includes: determining echo data with adjacent receiving order among multiple echo data, the receiving order of the echo data is determined according to the echo signal corresponding to the echo data; for each group of echo data with adjacent receiving order, extracting the phase information of the peak position of the echo data with adjacent receiving order, and determining the phase difference according to the extracted phase information. Among them, the receiving order of the echo data refers to the order in which the receiving antenna receives the echo signal corresponding to the echo data, and the echo signal corresponding to the echo data refers to the echo data that can be obtained by processing the echo signal.

[0058] The detection device determines multiple groups of echo data with adjacent receiving orders according to the receiving order of each echo data, and a group of echo data with adjacent receiving orders includes two echo data. Adjacent receiving orders means that the echo signals corresponding to the two echo data are received in sequence by the same receiving antenna. Taking a radar system including a receiving antenna as an example, the receiving antenna receives echo signal 1, echo signal 2 and echo signal 3 respectively, then the echo data 1 corresponding to echo signal 1 and the echo data 2 corresponding to echo signal 2 are echo data with adjacent receiving orders, and the echo data 2 corresponding to echo signal 2 and the echo data 3 corresponding to echo signal 3 are also echo data with adjacent receiving orders. Taking a radar system including two receiving antennas, receiving antenna 1 and receiving antenna 2 as an example, the order in which the two receiving antennas receive echo signals is that receiving antenna 1 receives echo signal 4, receiving antenna 2 receives echo signal 5, and receiving antenna 1 receives echo signal 6. Since, for the same receiving antenna 1, the continuously received echo signals are echo signal 4 and echo signal 6, the echo data 4 corresponding to the echo signal 4 and the echo data 6 corresponding to the echo signal 6 are echo data with adjacent receiving orders.

[0059] After the detection device determines multiple groups of echo data that are adjacent in receiving order, the phase information of the peak position of each group of echo data is extracted, and the difference between the phase information of the echo data in the group of echo data that are adjacent in receiving order is calculated to obtain the phase difference of the group of echo data that are adjacent in receiving order. By performing the above operation on each group of echo data that are adjacent in receiving order, multiple phase differences are obtained.

[0060] S203, determining a plurality of first speeds of the target object according to the plurality of phase differences, where one phase difference corresponds to one first speed.

[0061] In one possible implementation, in the process of measuring the first speed of the target object based on the phase difference, when the actual speed of the target object exceeds the speed measurement range, the moving distance of the target object in one transmission cycle exceeds half a wavelength, and the actual phase difference of the corresponding echo signal will exceed 2π, but in the actual measurement process, the measurement range of the phase value of the echo signal is [0, 2π), so ambiguity will appear when measuring the phase difference. The first speed calculated based on the blurred phase difference is also blurred and has low accuracy. Therefore, in the process of calculating the first speed based on the phase difference, it is necessary to consider the phase ambiguity caused when the actual speed of the target object exceeds the speed measurement range. Exemplarily, the detection device calculates the reference relationship between each phase difference and the distance at which the target object is located; calibrates multiple phase differences based on the reference relationship to obtain multiple calibrated phase differences, and determines multiple first speeds of the target object based on the multiple calibrated phase differences.

[0062] Among them, the distance where the target object is located refers to the distance that the target object moves during the period when the two echo signals corresponding to the phase difference are reflected in the reference area. There is a fuzzy reference relationship between the phase difference and the distance, and the reference relationship is calculated through the defuzzification algorithm. And according to the size of the reference relationship and the reference threshold, it is judged whether the first speed of the target object exceeds the speed measurement range. When the reference relationship is greater than the reference threshold, the phase difference is compensated, and the phase difference and the reference threshold are added to achieve calibration. If the reference relationship is not greater than the reference threshold, the phase difference is not compensated. The reference threshold can be 2π set according to experience. In some cases, the calibrated phase difference can be called an unambiguous phase difference.

[0063] Regardless of whether the detection device calibrates the phase difference, the first speed of the target object in the transmission period of the echo signal can be calculated based on the phase difference. Among them, the transmission period of the echo signal refers to the transmission period of the echo signal corresponding to the phase difference. In the case where the radar signal emitted by the radar system is a chirp signal, the transmission period of the echo signal can also be called a chirp period. The detection device calculates the first speed according to each phase difference to obtain the first speed in the transmission period corresponding to each phase difference. Exemplarily, the process of calculating the first speed according to the phase difference includes: determining the transmission period of the echo signal corresponding to the echo data adjacent in the receiving order, obtaining the wavelength of the echo signal, multiplying the phase difference by the wavelength, and then dividing the obtained product by 4π and the transmission period respectively, and the quotient obtained is the first speed. The first speed in different transmission periods is calculated by the phase difference in different transmission periods, and multiple first speeds are obtained.

[0064] S204, determining a posture detection result of the target object according to the multiple first speeds, where the posture detection result indicates whether the target object is in an abnormal posture.

[0065] Exemplarily, the process of determining the posture detection result according to the first speed by the detection device includes: determining at least one of the second speed, acceleration and moving distance of the target object within the transmission period of multiple echo signals according to multiple first speeds; determining the posture detection result according to at least one of the second speed, acceleration and moving distance. Since in the process of detecting the posture of the target object, the detection device uses frame as the time unit, and one frame is equal to 0.04 seconds. Therefore, it is necessary to calculate the various parameters of the target object in each frame, that is, at least one of the speed, acceleration and moving distance. In some cases, one frame is a working cycle of the radar system, and the radar system will send a string of radar signals during the working cycle. One frame can be understood as the transmission cycle of multiple echo signals. In addition, the detection unit of the detection device can be one frame or multiple frames, such as 20 frames.

[0066] In a possible implementation, the detection device determines the second speed, acceleration and moving distance in a manner including but not limited to: fitting multiple first speeds to obtain the second speed and acceleration of the target object within the transmission period of multiple echo signals; integrating the second speed to obtain the moving distance. The embodiment of the present application does not limit the fitting method used by the detection device in calculating the second speed and acceleration, which may be a robust fitting. Robust fitting refers to automatically eliminating outliers from multiple first speeds during the regression analysis process to obtain a more robust regression coefficient. In addition, the fitting method used by the detection device may also be the least squares method, etc. By fitting and analyzing multiple first speeds, the second speed and acceleration of the target object in each frame are obtained. Afterwards, the second speed in each frame may be integrated to obtain the moving distance. Formula 1 is a method for calculating the moving distance.

[0067]

[0068] in, is the moving distance, i is used to identify the second speed, v i Indicates the second speed, T frame Indicates the transmission time corresponding to the second speed, i frame Indicates different frames. Formula 1 is a formula shown by taking the moving distance as the distance moved by the target object in 20 frames as an example. Substitute the second speed of each frame into Formula 1 to calculate the moving distance.

[0069] The detection device can use the above operation to calculate at least one of the second speed, acceleration and moving distance according to the parameters needed to determine the posture detection result. Exemplarily, after obtaining at least one of the second speed, acceleration and moving distance, the detection device can compare the magnitude relationship between at least one of the second speed, acceleration and moving distance and the corresponding threshold value; when at least one of the second speed, acceleration and moving distance is greater than the corresponding threshold value, it is determined that the posture detection result indicates that the target object is in an abnormal posture. Exemplarily, the abnormal posture includes falling. For ease of understanding, the process of determining the posture detection result using the second speed, acceleration and moving distance alone is introduced based on the following determination methods.

[0070] Determination method 1: determining the magnitude relationship between the second speed and the first threshold; when the second speed is greater than the first threshold, determining that the posture detection result of the target object indicates that the target object is in an abnormal posture.

[0071] Exemplarily, the threshold corresponding to the second speed is the first threshold, and the first threshold is a value set according to experience and the implementation environment. Among them, the first threshold can be a value set by the operation and maintenance object of the operation detection equipment according to experience and the implementation environment, or it can be a value obtained by the detection equipment based on historical data analysis. Taking the abnormal posture detected as falling as an example, the detection equipment obtains the historical speeds of multiple historical objects in the process of falling on flat ground, analyzes the multiple historical speeds, and determines that the first threshold is 20 meters / second. Afterwards, the detection equipment compares the size relationship between the second speed and the first threshold. When the second speed is greater than the first threshold, for example, when the second speed is 21 meters / second, it determines that the posture detection result of the target object is that the target object has fallen.

[0072] In addition, in the case where there are multiple frames of second speed, the detection device will compare the magnitude relationship between the second speed of each frame and the first threshold. When the second speed of any frame is greater than the first threshold, the detection device determines that the target object has fallen.

[0073] Determination method two: determining a magnitude relationship between the acceleration and the second threshold; when the acceleration is greater than the second threshold, determining that the posture detection result of the target object indicates that the target object is in an abnormal posture.

[0074] In one possible case, the threshold corresponding to the acceleration is the second threshold, and the second threshold can also be set based on experience and implementation environment. The setting process of the second threshold is similar to the setting process of the first threshold, and reference may be made to the relevant description in determination method one, which will not be repeated here. Continuing to take the detected abnormal posture as falling as an example, the second threshold is set to 9 meters per square second according to the acceleration of the target object falling on flat ground. Afterwards, the detection device compares the magnitude relationship between the acceleration of the target object and the second threshold. When any frame acceleration is greater than the second threshold, for example, when any frame acceleration is 9.8 meters per square second, it is determined that the posture detection result of the target object is that the target object has fallen.

[0075] Determination method three: determining the magnitude relationship between the moving distance and the third threshold; when the moving distance is greater than the third threshold, determining that the posture detection result of the target object indicates that the target object is in an abnormal posture.

[0076] Exemplarily, the threshold corresponding to the moving distance is the third threshold, and the third threshold can be set according to experience and implementation environment. The setting process of the third threshold is similar to the setting process of the first threshold, and reference may be made to the relevant description in determination method one, which will not be repeated here. Continuing to take the detected abnormal posture as falling as an example, the third threshold is set to 0.1 meters according to the moving distance of the target object falling on flat ground. Afterwards, the detection device compares the size relationship between the moving distance of the target object and the third threshold. When the moving distance of any frame is greater than the third threshold, for example, when the moving distance of any frame is 0.2 meters, it is determined that the posture detection result of the target object is that the target object has fallen.

[0077] Exemplarily, the detection device can select any one of determination method 1, determination method 2 and determination method 3 to implement posture detection, or can combine determination method 1, determination method 2 and determination method 3 to detect the posture of the target object, wherein the combination can be a combination of two or three. Next, taking the combination of determination method 2 and determination method 3 as an example, an example of using multiple parameters to detect the posture of the target object is given. Figure 3 A flowchart of another posture detection provided in an embodiment of the present application, Figure 3 The preceding steps of determining the moving distance based on the echo data and Figure 4 Similar, you can refer to Figure 4 The relevant description will not be repeated here. Figure 3 and Figure 4 The difference is that Figure 3 Because acceleration is also used in the posture detection process, the acceleration will be fitted during the first speed fitting process.

[0078] After the detection device obtains the acceleration and the moving distance, it determines whether the acceleration and the moving distance are both greater than the corresponding thresholds, that is, whether the acceleration is greater than the second threshold and whether the moving distance is greater than the third threshold. When the acceleration is greater than the second threshold and the moving distance is greater than the third threshold, the detection device determines that the posture detection result of the target object indicates that the target object has fallen. When any parameter of the acceleration and the moving distance is not greater than the corresponding threshold, for example, the acceleration is not greater than the second threshold, or the moving distance is not greater than the third threshold, or the acceleration is not greater than the second threshold and the moving distance is not greater than the third threshold, the detection device determines that the posture detection result of the target object indicates that the target object has not fallen.

[0079] In one possible case, in the process of using the moving distance for target detection, in addition to obtaining a posture detection result indicating whether the target object is in an abnormal posture according to the determination method 3, the following operation can also be adopted, where the detection device can determine the motion amplitude of the target object according to multiple thresholds corresponding to the moving distance to obtain a posture detection result indicating the motion amplitude. Figure 4 A flowchart of a posture detection provided in an embodiment of the present application, Figure 4 In the process, after the detection device executes the steps S201-S204, after the frequency domain signal is obtained by FFT, the frequency domain signal in the reference area is selected as the echo data, the unambiguous phase difference of the adjacent echo data is calculated, the first speed is estimated according to the phase difference, the second speed is obtained by robust fitting of the first speed, and the moving distance is obtained by integrating the second speed, and then the moving distance is compared with the threshold A, threshold B and threshold C respectively. Among them, threshold A is used to determine whether it is a large action, threshold B is used to determine whether it is a medium action, and threshold C is used to determine whether it is a small action. The determination process of threshold A, threshold B and threshold C is similar to the determination process of the first threshold, and the relevant description of determination method 1 can be referred to, and it will not be repeated here.

[0080] Figure 4 In the example, for a detection unit of 20 frames and an action duration of 20 × frame period = 0.8 seconds, threshold A is set to 0.1 meters (meters), threshold B is set to 0.05 meters, and threshold C is set to 0.008 meters. Figure 4 , the detection device first compares the moving distance with the threshold A. When the moving distance is greater than the threshold A, the posture detection result of the target object is determined to be a large movement. When the moving distance is not greater than the threshold A, the moving distance is continued to be compared with the threshold B. When the moving distance is greater than the threshold B, the posture detection result of the target object is determined to be a medium movement. When the moving distance is not greater than the threshold B, the moving distance is continued to be compared with the threshold C. When the moving distance is greater than the threshold C, the posture detection result of the target object is determined to be a small movement. When the moving distance is not greater than the threshold C, the posture detection result of the target object is determined to be no movement. Among them, no movement means that the target object is stationary or the target object does not exist, and there is no person. Figure 4 The judgment process shown can be expressed by formula 2, where Indicates how far the target object has moved.

[0081]

[0082] In one possible implementation, the detection device can detect the posture of the target object based only on at least one of the acceleration, the moving distance and the second speed, and can also determine whether the target object is in an abnormal posture based on the detection of at least one of the acceleration, the moving distance and the second speed in combination with the target object's physiological parameters, where the physiological parameters include but are not limited to the target object's breathing rate, heart rate, blood pressure, etc.

[0083] Regardless of the method used by the detection device to detect the posture of the target object, the detection device can start the next detection after outputting the posture detection result, for example Figure 3 As shown. Exemplarily, after determining the posture detection result, the detection device may also calculate the confidence of the posture detection result based on the parameters used in the posture detection result, the parameters used include at least one of the second speed, acceleration and moving distance, and the confidence is used to indicate the credibility of the posture detection result; the confidence and the posture detection result are displayed. In one possible case, the detection device determines the coefficients corresponding to each parameter, multiplies the coefficients and the corresponding parameters, and the percentage obtained is the confidence. The detection device may determine the coefficients corresponding to each parameter based on the phase difference and the first speed. For example Figure 5 As shown, Figure 5 For the echo data sent by the radar system, the detection device will first calculate the phase difference of adjacent echo data, and calculate the first speed according to the phase difference in each chirp cycle, fit the second speed and acceleration according to the first speed, and integrate the second speed to get the moving distance. The detection device will store the phase difference, first speed, second speed, acceleration and moving distance calculated in the posture detection process and output them to the posture detection algorithm module. After calculating the posture detection result using the second speed, acceleration and moving distance, the confidence will be calculated in combination with the first speed and phase difference.

[0084] In one possible case, after calculating the confidence level, the detection device may display the posture detection result and the confidence level. The detection device may choose to display all posture detection results, or may choose to display only when the posture detection result indicates that the target object is in an abnormal posture. Exemplarily, the detection device may directly display the posture detection result and the confidence level, for example, by displaying it on the screen of the detection device, or by voice broadcasting the posture detection result and the confidence level. Figure 5 As shown, the posture detection result and confidence are sent to a wireless access point (AP) / personal computer (PC), and the posture detection result and confidence are displayed through the AP / PC. The PC sent by the detection device is, for example, a PC used by an associated object of the target object. The associated object may be an object that supervises and cares for the target object. For example, if the target object is an elderly person, the associated object may be a child or caregiver of the target object.

[0085] The above examples are intended to illustrate the process of the detection device detecting the posture of the target object, rather than to limit posture detection. The radar system used in the posture detection method may be one or more. The embodiment of the present application does not limit the application scenario of the posture detection method. Taking the abnormal posture including falling as an example, the fall may be a person falling, and the application scenario may be indoors where falling is prone to occur, including but not limited to nursing homes, medical places such as nursing wards, family bathrooms, kitchens and bedrooms. The fall may also be the fall of an object, and the application scenario may be outdoors where objects are easily thrown from high altitudes, including but not limited to construction sites or around high-rise buildings. By installing a certain number of radar systems, real-time detection and early warning of unbiased falls from high altitudes can be achieved.

[0086] In summary, the posture detection method provided by the embodiment of the present application determines the first speed by calculating the phase difference of adjacent echo data, and the posture detection result can be determined according to the first speed. The posture detection involves fewer steps and the detection complexity is low. There is no structural requirement for the radar system that receives the echo signal, and it can be applied to any type of radar system, with high versatility. According to the phase difference, multiple first speeds can be determined, and the acceleration and the second speed can be obtained by fitting the first speed, and the moving distance can be determined according to the second speed integral. The calculation process of the second speed, acceleration and moving distance is simple. Attitude detection can be performed by comparing at least one of the acceleration, the second speed and the moving distance with the corresponding threshold value. The detection process is simple and the detection delay is low. In addition, the parameters used in the process of detecting the posture of the target object are not limited, the flexibility is high, and posture detection can be performed in combination with multiple parameters with high accuracy.

[0087] The above describes the posture detection method of the embodiment of the present application. Corresponding to the above method, the embodiment of the present application also provides a posture detection device. Figure 6 Schematic diagram of a posture detection device provided in an embodiment of the present application. Figure 6 As shown in the following multiple modules, the Figure 6 The posture detection device shown can perform the above Figure 2 It should be understood that the device may include more additional modules than the modules shown or omit some of the modules shown, and the embodiments of the present application are not limited to this. Figure 6 As shown, the device comprises:

[0088] An acquisition module 601 is used to acquire a plurality of echo data of a target object to be detected, wherein the plurality of echo data are obtained by processing a plurality of echo signals;

[0089] A determination module 602 is used to determine the phase difference between adjacent echo data in a plurality of echo data to obtain a plurality of phase differences;

[0090] The determination module 602 is further configured to determine a plurality of first speeds of the target object according to the plurality of phase differences, wherein one phase difference corresponds to one first speed;

[0091] The detection module 603 is used to determine a posture detection result of the target object according to the multiple first speeds, and the posture detection result indicates whether the target object is in an abnormal posture.

[0092] In one possible implementation, the acquisition module 601 is used to acquire frequency domain signals of multiple regions, where the frequency domain signals are obtained based on echo signal processing; the frequency domain signal of a reference region where the target object is located is selected from the frequency domain signals of the multiple regions, and the frequency domain signal of the reference region is determined as the echo data of the target object.

[0093] In one possible implementation, the determination module 602 is used to determine echo data with adjacent receiving orders among multiple echo data, and the receiving order of the echo data is determined according to the echo signals corresponding to the echo data; for each group of echo data with adjacent receiving orders, the phase information of the peak position of the echo data with adjacent receiving orders is extracted, and the phase difference is determined according to the extracted phase information.

[0094] In one possible implementation, the determination module 602 is used to calculate a reference relationship between each phase difference and the distance to the target object; calibrate multiple phase differences according to the reference relationship to obtain multiple calibrated phase differences, and determine multiple first speeds of the target object according to the multiple calibrated phase differences.

[0095] In one possible implementation, the multiple first speeds are the speeds of the target object within the transmission period of the multiple echo signals, and the detection module 603 is used to determine at least one of the second speed, acceleration and moving distance of the target object within the transmission period of the multiple echo signals based on the multiple first speeds; and determine the posture detection result based on at least one of the second speed, acceleration and moving distance.

[0096] In a possible implementation, the detection module 603 is used to fit the multiple first velocities to obtain the second velocity and acceleration of the target object within the transmission period of the multiple echo signals; and integrate the second velocity to obtain the moving distance.

[0097] In one possible implementation, the detection module 603 is used to compare the magnitude relationship between at least one of the second speed, acceleration and moving distance and the corresponding threshold; when at least one of the second speed, acceleration and moving distance is greater than the corresponding threshold, it is determined that the posture detection result indicates that the target object is in an abnormal posture.

[0098] In one possible implementation, the detection module 603 is also used to calculate the confidence of the posture detection result based on the parameters used to determine the posture detection result, the parameters used include at least one of the second speed, acceleration and moving distance, and the confidence is used to indicate the credibility of the posture detection result; display the confidence and the posture detection result.

[0099] In a possible implementation, the abnormal posture includes falling.

[0100] The above device determines the first speed by calculating the phase difference of adjacent echo data, and can determine the attitude detection result according to the first speed. The attitude detection involves fewer steps and has low detection complexity. There is no structural requirement for the radar system receiving the echo signal, and it can be applied to any type of radar system, with high versatility.

[0101] It should be understood that the above Figure 6 When the device provided realizes its functions, only the division of the above-mentioned functional modules is used as an example for illustration. In practical applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above. In addition, the device and method embodiments provided in the above embodiments belong to the same concept, and their specific implementation process is detailed in the method embodiment, which will not be repeated here.

[0102] See also Figure 7 , Figure 7 A schematic diagram of the structure of a network device 700 provided by an exemplary embodiment of the present application is shown. Figure 7 The network device 700 shown is used to perform the above Figure 2 The operations involved in the posture detection method shown. The network device 700 is, for example, a switch, a router, etc. The network device 700 can be implemented by a general bus architecture.

[0103] like Figure 7 As shown, the network device 700 includes at least one processor 701 , a memory 703 , and at least one communication interface 704 .

[0104] Processor 701 is, for example, a general-purpose central processing unit (CPU), a digital signal processor (DSP), a network processor (NP), a graphics processing unit (GPU), a neural-network processing units (NPU), a data processing unit (DPU), a microprocessor, or one or more integrated circuits for implementing the solution of the present application. For example, processor 701 includes an application-specific integrated circuit (ASIC), a programmable logic device (PLD) or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof. PLD is, for example, a complex programmable logic device (CPLD), a field-programmable gate array (FPGA), a generic array logic (GAL), or any combination thereof. It can implement or execute various logic blocks, modules, and circuits described in conjunction with the disclosure of the embodiments of the present application. The processor can also be a combination that implements a computing function, such as a combination of one or more microprocessors, a combination of a DSP and a microprocessor, and the like.

[0105] Optionally, the network device 700 further includes a bus. The bus is used to transmit information between the components of the network device 700. The bus may be a peripheral component interconnect (PCI) bus or an extended industry standard architecture (EISA) bus. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 7 Only one thick line is used in the diagram, but this does not mean that there is only one bus or only one type of bus.

[0106] The memory 703 is, for example, a read-only memory (ROM) or other types of static storage devices that can store static information and instructions, or a random access memory (RAM) or other types of dynamic storage devices that can store information and instructions, or an electrically erasable programmable read-only memory (EEPROM), a compact disc read-only memory (CD-ROM) or other optical disc storage, optical disc storage (including compressed optical disc, laser disc, optical disc, digital versatile disc, Blu-ray disc, etc.), a magnetic disk storage medium or other magnetic storage device, or any other medium that can be used to carry or store the desired program code in the form of instructions or data structures and can be accessed by a computer, but is not limited thereto. The memory 703 is, for example, independent and connected to the processor 701 via a bus. The memory 703 can also be integrated with the processor 701.

[0107] The communication interface 704 uses any transceiver-like device for communicating with other devices or communication networks, and the communication network can be Ethernet, a radio access network (RAN) or a wireless local area network (WLAN), etc. The communication interface 704 may include a wired communication interface and may also include a wireless communication interface. Specifically, the communication interface 704 may be an Ethernet interface, a fast Ethernet (FE) interface, a gigabit Ethernet (GE) interface, an asynchronous transfer mode (ATM) interface, a wireless local area network (WLAN) interface, a cellular network communication interface or a combination thereof. The Ethernet interface may be an optical interface, an electrical interface or a combination thereof. In an embodiment of the present application, the communication interface 704 may be used for the network device 700 to communicate with other devices.

[0108] In a specific implementation, as an embodiment, the processor 701 may include one or more CPUs, such as Figure 7 0 and CPU1 shown in FIG. Each of these processors may be a single-CPU processor or a multi-CPU processor. A processor herein may refer to one or more devices, circuits, and / or processing cores for processing data (e.g., computer program instructions).

[0109] In a specific implementation, as an embodiment, the network device 700 may include multiple processors, such as Figure 7 1 and 10. Each of these processors may be a single-CPU or a multi-CPU. A processor herein may refer to one or more devices, circuits, and / or processing cores for processing data (such as computer program instructions).

[0110] In a specific implementation, as an embodiment, the network device 700 may further include an output device and an input device. The output device communicates with the processor 701 and may display information in a variety of ways. For example, the output device may be a liquid crystal display (LCD), a light emitting diode (LED) display device, a cathode ray tube (CRT) display device, or a projector. The input device communicates with the processor 701 and may receive user input in a variety of ways. For example, the input device may be a mouse, a keyboard, a touch screen device, or a sensor device.

[0111] In some embodiments, the memory 703 is used to store the program code 710 for executing the solution of the present application, and the processor 701 can execute the program code 710 stored in the memory 703. That is, the network device 700 can implement the posture detection method provided by the method embodiment through the processor 701 and the program code 710 in the memory 703. The program code 710 may include one or more software modules. Optionally, the processor 701 itself may also store the program code or instruction for executing the solution of the present application.

[0112] In a specific embodiment, the network device 700 of the embodiment of the present application may correspond to the computing device in the above-mentioned various method embodiments.

[0113] in, Figure 2 Each step of the posture detection method shown is completed by an integrated logic circuit of hardware or software instructions in the processor of the network device 700. The steps of the method disclosed in conjunction with the embodiment of the present application can be directly embodied as a hardware processor, or a combination of hardware and software modules in the processor. The software module can be located in a mature storage medium in the art such as a random access memory, a flash memory, a read-only memory, a programmable read-only memory or an electrically erasable programmable memory, a register, etc. The storage medium is located in the memory, and the processor reads the information in the memory and completes the steps of the above method in conjunction with its hardware. To avoid repetition, it is not described in detail here.

[0114] See also Figure 8 , Figure 8 FIG. 8 is a schematic diagram showing a structure of a network device 800 provided by another exemplary embodiment of the present application. Figure 8 The network device 800 shown is used to perform the above Figure 2 All or part of the operations involved in the posture detection method shown. The network device 800 is, for example, a switch, a router, etc. The network device 800 can be implemented by a general bus architecture.

[0115] like Figure 8 As shown, the network device 800 includes: a main control board 810 and an interface board 830 .

[0116] The main control board 810 is also called a main processing unit (MPU) or a route processor card. The main control board 810 is used to control and manage various components in the network device 800, including routing calculation, device management, device maintenance, and protocol processing functions. The main control board 810 includes: a central processing unit 811 and a memory 812.

[0117] The interface board 830 is also called a line processing unit (LPU), a line card or a service board. The interface board 830 is used to provide various service interfaces and realize the forwarding of data packets. The service interface includes but is not limited to an Ethernet interface, a POS (Packet over SONET / SDH) interface, etc., and the Ethernet interface is, for example, a Flexible Ethernet Clients (FlexE Clients) service interface. The interface board 830 includes: a central processing unit 831, a network processor 832, a forwarding table entry memory 834 and a physical interface card (physical interface card, PIC) 833.

[0118] The central processor 831 on the interface board 830 is used to control and manage the interface board 830 and communicate with the central processor 811 on the main control board 810 .

[0119] The network processor 832 is used to implement the forwarding processing of the message. The network processor 832 can be in the form of a forwarding chip. The forwarding chip can be a network processor (NP). In some embodiments, the forwarding chip can be implemented by an application-specific integrated circuit (ASIC) or a field programmable gate array (FPGA). Specifically, the network processor 832 is used to forward the received message based on the forwarding table stored in the forwarding table entry memory 834. If the destination address of the message is the address of the network device 800, the message is sent to the CPU (such as the central processor 831) for processing; if the destination address of the message is not the address of the network device 800, the next hop and the output interface corresponding to the destination address are found from the forwarding table according to the destination address, and the message is forwarded to the output interface corresponding to the destination address. Among them, the processing of the uplink message may include: processing of the message input interface, forwarding table search; the processing of the downlink message may include: forwarding table search, etc. In some embodiments, the central processor can also perform the function of the forwarding chip, such as implementing software forwarding based on a general-purpose CPU, so that the forwarding chip is not required in the interface board.

[0120] The physical interface card 833 is used to implement the docking function of the physical layer, and the original traffic enters the interface board 830 from it, and the processed message is sent from the physical interface card 833. The physical interface card 833 is also called a daughter card, which can be installed on the interface board 830, and is responsible for converting the optical signal into a message and forwarding the message to the network processor 832 for processing after checking the legitimacy of the message. In some embodiments, the central processor 831 can also perform the functions of the network processor 832, such as realizing software forwarding based on a general-purpose CPU, so that the network processor 832 is not required in the physical interface card 833.

[0121] Optionally, the network device 800 includes a plurality of interface boards, for example, the network device 800 further includes an interface board 840, and the interface board 840 includes: a central processor 841, a network processor 842, a forwarding table entry memory 844, and a physical interface card 843. The functions and implementation methods of the components in the interface board 840 are the same or similar to those of the interface board 830, and are not described in detail herein.

[0122] Optionally, the network device 800 further includes a switching fabric board 820. The switching fabric board 820 may also be referred to as a switch fabric unit (SFU). When the network device 800 has multiple interface boards, the switching fabric board 820 is used to complete data exchange between the interface boards. For example, the interface board 830 and the interface board 840 may communicate via the switching fabric board 820.

[0123] The main control board 810 is coupled to the interface board. For example, the main control board 810, the interface board 830, the interface board 840, and the switching network board 820 are connected to the system backplane through the system bus to achieve intercommunication. In a possible implementation, an inter-process communication (IPC) channel is established between the main control board 810 and the interface board 830 and the interface board 840, and the main control board 810 and the interface board 830 and the interface board 840 communicate through the IPC channel.

[0124] Logically, the network device 800 includes a control plane and a forwarding plane. The control plane includes a main control board 810 and a central processing unit 811. The forwarding plane includes various components for performing forwarding, such as a forwarding table entry memory 834, a physical interface card 833, and a network processor 832. The control plane performs functions such as a router, generating a forwarding table, processing signaling and protocol messages, and configuring and maintaining the status of the network device. The control plane sends the generated forwarding table to the forwarding plane. On the forwarding plane, the network processor 832 forwards the message received by the physical interface card 833 based on the forwarding table sent by the control plane. The forwarding table sent by the control plane can be stored in the forwarding table entry memory 834. In some embodiments, the control plane and the forwarding plane can be completely separated and not on the same network device.

[0125] It is worth noting that there may be one or more main control boards, and when there are multiple boards, they may include a primary main control board and a backup main control board. There may be one or more interface boards. The stronger the data processing capability of the network device, the more interface boards are provided. There may also be one or more physical interface cards on the interface board. There may be no switching network board, or there may be one or more switching network boards. When there are multiple switching network boards, they can jointly realize load sharing and redundant backup. In a centralized forwarding architecture, network devices may not need switching network boards, and the interface board is responsible for processing the service data of the entire system. In a distributed forwarding architecture, network devices may have at least one switching network board, and data exchange between multiple interface boards is realized through the switching network board, providing large-capacity data exchange and processing capabilities. Therefore, the data access and processing capabilities of network devices with distributed architectures are greater than those of network devices with centralized architectures. Optionally, the network device may have only one board, that is, no switching board, and the functions of the interface board and the main control board are integrated on the board. In this case, the central processor on the interface board and the central processor on the main control board can be combined into one central processor on the board to perform the functions of the two. This type of network device has low data exchange and processing capabilities (for example, low-end switches or routers and other network devices). The specific architecture to be adopted depends on the specific networking deployment scenario, and no limitation is made here.

[0126] In a specific embodiment, the network device 800 corresponds to the above Figure 6 In some embodiments, Figure 6 The determination module 602 in the posture detection device shown is equivalent to the central processor 811 or the network processor 832 in the network device 800.

[0127] The embodiment of the present application also provides a communication device, which includes: a transceiver, a memory, and a processor. The transceiver, the memory, and the processor communicate with each other through an internal connection path, the memory is used to store instructions, and the processor is used to execute the instructions stored in the memory to control the transceiver to receive signals and control the transceiver to send signals, and when the processor executes the instructions stored in the memory, the processor executes the posture detection method.

[0128] It should be understood that the processor may be a CPU, or other general-purpose processors, DSPs, ASICs, FPGAs or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor, etc. It is worth noting that the processor may be a processor supporting an advanced RISC machines (ARM) architecture.

[0129] Further, in an optional embodiment, the memory may include a read-only memory and a random access memory, and provide instructions and data to the processor. The memory may also include a non-volatile random access memory. For example, the memory may also store information about the device type.

[0130] The memory may be a volatile memory or a nonvolatile memory, or may include both volatile and nonvolatile memory. Among them, the nonvolatile memory may be a ROM, a programmable read-only memory (programmable ROM, PROM), an erasable programmable read-only memory (erasable PROM, EPROM), an EEPROM or a flash memory. The volatile memory may be a RAM, which is used as an external cache. By way of example but not limitation, many forms of RAM are available. For example, static random access memory (static RAM, SRAM), dynamic random access memory (dynamic random access memory, DRAM), synchronous dynamic random access memory (synchronous DRAM, SDRAM), double data rate synchronous dynamic random access memory (doubledata rate SDRAM, DDR SDRAM), enhanced synchronous dynamic random access memory (enhanced SDRAM, ESDRAM), synchronous connection dynamic random access memory (synchlink DRAM, SLDRAM) and direct memory bus random access memory (direct rambus RAM, DR RAM).

[0131] The embodiment of the present application also provides a posture detection device, the device includes a processor, the processor is used to load and run at least one instruction, so that the posture detection device implements the posture detection method provided in the embodiment of the present application. Optionally, the device also includes a memory, the memory is coupled to the processor, and the memory is used to store at least one instruction.

[0132] An embodiment of the present application also provides a computer-readable storage medium, in which at least one instruction is stored. The instruction is loaded and executed by a processor so that a computer implements any of the posture detection methods described above.

[0133] The embodiments of the present application also provide a computer program (product), which, when executed by a computer, can enable a processor or a computer to execute the corresponding steps and / or processes in the above method embodiments.

[0134] An embodiment of the present application also provides a chip, which includes a processor for calling and executing instructions stored in a memory from the memory, so that a communication device equipped with the chip executes any of the posture detection methods described above.

[0135] An embodiment of the present application also provides another chip, including: an input interface, an output interface, a processor and a memory, wherein the input interface, the output interface, the processor and the memory are connected via an internal connection path, and the processor is used to execute the code in the memory. When the code is executed, the processor is used to execute any of the posture detection methods described above.

[0136] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the process or function described in this application is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions can be transmitted from a website site, computer, server or data center to another website site, computer, server or data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line) or wireless (e.g., infrared, wireless, microwave, etc.) mode. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that includes one or more available media integration. The available medium can be a magnetic medium (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a DVD), or a semiconductor medium (e.g., a solid-state hard disk Solid State Disk), etc.

[0137] It should be noted that the information (including but not limited to user device information, user personal information, etc.), data (including but not limited to data used for analysis, stored data, displayed data, etc.) and signals involved in this application are all authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with relevant laws, regulations and standards of relevant countries and regions. For example, the echo data involved in this application are all obtained with full authorization.

[0138] Those of ordinary skill in the art will appreciate that, in conjunction with the various method steps and modules described in the embodiments disclosed herein, they can be implemented in software, hardware, firmware, or any combination thereof. In order to clearly illustrate the interchangeability of hardware and software, the steps and components of each embodiment have been generally described in terms of function in the above description. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Those of ordinary skill in the art may use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0139] A person skilled in the art will understand that all or part of the steps to implement the above embodiments may be accomplished by hardware or by instructing related hardware through a program, and the program may be stored in a computer-readable storage medium, and the above-mentioned storage medium may be a read-only memory, a disk or an optical disk, etc.

[0140] When software is used for implementation, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer program instructions. As an example, the method of the embodiment of the present application can be described in the context of a machine executable instruction, and the machine executable instruction is such as included in the program module executed in the device on the real or virtual processor of the target. Generally speaking, a program module includes a routine, a program, a library, an object, a class, a component, a data structure, etc., which performs a specific task or realizes a specific abstract data structure. In various embodiments, the function of the program module can be merged or divided between the described program modules. The machine executable instruction for the program module can be executed in a local or distributed device. In a distributed device, the program module can be located in both a local and a remote storage medium.

[0141] The computer program code for realizing the method for the embodiment of the application can be written in one or more programming languages. These computer program codes can be provided to the processor of a general-purpose computer, a special-purpose computer or other programmable gesture detection device, so that the program code, when being executed by a computer or other programmable gesture detection device, causes the function / operation specified in the flow chart and / or the block diagram to be implemented. The program code can be executed completely on a computer, partly on a computer, as an independent software package, partly on a computer and partly on a remote computer or completely on a remote computer or server.

[0142] In the context of the embodiments of the present application, computer program codes or related data may be carried by any appropriate carrier to enable a device, apparatus or processor to perform the various processes and operations described above. Examples of carriers include signals, computer-readable media, and the like.

[0143] Examples of signals may include electrical, optical, radio, acoustic or other forms of propagated signals, such as carrier waves, infrared signals, etc.

[0144] A machine-readable medium may be any tangible medium that contains or stores a program for or related to an instruction execution system, apparatus, or device. A machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination thereof. More detailed examples of machine-readable storage media include an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical storage device, a magnetic storage device, or any suitable combination thereof.

[0145] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and modules described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0146] In the several embodiments provided in the present application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the module is only a logical function division. There may be other division methods in actual implementation, such as multiple modules or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interfaces, devices or modules, or it can be an electrical, mechanical or other form of connection.

[0147] The modules described as separate components may or may not be physically separated, and the components displayed as modules may or may not be physical modules, that is, they may be located in one place or distributed on multiple network modules. Some or all of the modules may be selected according to actual needs to achieve the purpose of the embodiments of the present application.

[0148] In addition, each functional module in each embodiment of the present application can be integrated into one processing module, or each module can exist physically separately, or two or more modules can be integrated into one module. The above integrated modules can be implemented in the form of hardware or software functional modules.

[0149] If the integrated module is implemented in the form of a software function module and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the method in each embodiment of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM), random access memory (RAM), disk or optical disk and other media that can store program code.

[0150] In the present application, the terms "first", "second", etc. are used to distinguish between identical or similar items having substantially the same effects and functions. It should be understood that there is no logical or temporal dependency between "first", "second", and "nth", nor is there a limitation on quantity and execution order. It should also be understood that although the following description uses the terms first, second, etc. to describe various elements, these elements should not be limited by the terms. These terms are only used to distinguish one element from another. For example, without departing from the scope of the various described examples, a first image may be referred to as a second image, and similarly, a second image may be referred to as a first image. Both the first image and the second image may be images, and in some cases, may be separate and different images.

[0151] It should also be understood that in the various embodiments of the present application, the size of the serial number of each process does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0152] The term "at least one" in this application means one or more, and the term "multiple" in this application means two or more, for example, multiple second messages means two or more second messages. The terms "system" and "network" are often used interchangeably herein.

[0153] It should be understood that the terms used in the description of the various examples herein are only for describing specific examples and are not intended to be limiting. As used in the description of the various examples and the appended claims, the singular forms "a", "an", and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.

[0154] It should also be understood that the term "and / or" used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items. The term "and / or" is a description of the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this application generally indicates that the associated objects before and after are in an "or" relationship.

[0155] It should also be understood that the term “comprise” (also known as “includes,” “including,” “comprises” and / or “comprising”) when used in this specification specifies the presence of stated features, integers, steps, operations, elements, and / or components, but does not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or groups thereof.

[0156] It should also be understood that the terms "if" and "if" may be interpreted to mean "when" or "upon" or "in response to determining" or "in response to detecting." Similarly, the phrases "if it is determined that ..." or "if [a stated condition or event] is detected" may be interpreted to mean "upon determining that ..." or "in response to determining that ..." or "upon detecting [a stated condition or event]" or "in response to detecting [a stated condition or event]," depending on the context.

[0157] It should be understood that determining B based on A does not mean determining B only based on A. B can also be determined based on A and / or other information.

[0158] It should also be understood that the references to "one embodiment", "an embodiment", or "a possible implementation" throughout the specification mean that specific features, structures, or characteristics related to the embodiment or implementation are included in at least one embodiment of the present application. Therefore, the references to "in one embodiment" or "in an embodiment", or "a possible implementation" throughout the specification do not necessarily refer to the same embodiment. In addition, these specific features, structures, or characteristics may be combined in any suitable manner in one or more embodiments.

Claims

1. A posture detection method, characterized in that: The method comprises: Acquire a plurality of echo data of a target object to be detected, wherein the plurality of echo data are obtained by processing a plurality of echo signals; Determine phase differences between adjacent echo data in the plurality of echo data to obtain a plurality of phase differences; Determine a plurality of first speeds of the target object according to the plurality of phase differences, wherein one phase difference corresponds to one first speed; A posture detection result of the target object is determined according to the multiple first speeds, and the posture detection result indicates whether the target object is in an abnormal posture.

2. The method according to claim 1, characterized in that The step of acquiring a plurality of echo data of a target object to be detected comprises: Acquire frequency domain signals of multiple regions, wherein the frequency domain signals are obtained by processing the echo signals; A frequency domain signal of a reference region where the target object is located is selected from the frequency domain signals of the multiple regions, and the frequency domain signal of the reference region is determined as the echo data of the target object.

3. The method according to claim 1 or 2, characterized in that: The determining of the phase difference between adjacent echo data in the plurality of echo data comprises: Determine echo data with adjacent receiving orders among the plurality of echo data, wherein the receiving order of the echo data is determined according to echo signals corresponding to the echo data; For each group of echo data that are adjacent in receiving order, phase information of the peak positions of the echo data that are adjacent in receiving order is extracted, and the phase difference is determined according to the extracted phase information.

4. The method according to any one of claims 1 to 3, characterized in that: The determining a plurality of first speeds of the target object according to the plurality of phase differences comprises: Calculating a reference relationship between each phase difference and the distance to the target object; The multiple phase differences are calibrated according to the reference relationship to obtain multiple calibrated phase differences, and multiple first speeds of the target object are determined according to the multiple calibrated phase differences.

5. The method according to any one of claims 1 to 4, characterized in that: The multiple first speeds are speeds of the target object within the transmission period of the multiple echo signals, and determining the posture detection result of the target object according to the multiple first speeds includes: Determining at least one of a second speed, an acceleration, and a moving distance of the target object within a transmission period of the plurality of echo signals according to the plurality of first speeds; The posture detection result is determined according to at least one of the second speed, the acceleration, and the moving distance.

6. The method according to claim 5, characterized in that The determining, according to the plurality of first velocities, at least one of a second velocity, an acceleration, and a moving distance of the target object within a transmission period of the plurality of echo signals comprises: Fitting the multiple first velocities to obtain the second velocity and the acceleration of the target object within the transmission period of the multiple echo signals; The second speed is integrated to obtain the moving distance.

7. The method according to claim 5 or 6, characterized in that: The determining the posture detection result according to at least one of the second speed, the acceleration and the moving distance comprises: comparing a magnitude relationship between at least one of the second speed, the acceleration and the moving distance and a corresponding threshold value; When at least one of the second speed, the acceleration, and the moving distance is greater than a corresponding threshold, it is determined that the posture detection result indicates that the target object is in an abnormal posture.

8. The method according to any one of claims 5 to 7, characterized in that: After determining the posture detection result of the target object according to the multiple first speeds, the method further includes: Calculating the confidence of the posture detection result according to the parameters used to determine the posture detection result, the parameters used include at least one of the second speed, the acceleration and the moving distance, and the confidence is used to indicate the credibility of the posture detection result; The confidence level and the posture detection result are displayed.

9. A posture detection device, characterized in that: The device comprises: An acquisition module, used for acquiring a plurality of echo data of a target object to be detected, wherein the plurality of echo data are obtained by processing a plurality of echo signals; A determination module, used to determine the phase difference between adjacent echo data in the plurality of echo data to obtain a plurality of phase differences; The determination module is further used to determine a plurality of first speeds of the target object according to the plurality of phase differences, wherein one phase difference corresponds to one first speed; A detection module is used to determine a posture detection result of the target object according to the multiple first speeds, and the posture detection result indicates whether the target object is in an abnormal posture.

10. A posture detection device, characterized in that: The device includes a processor, and the processor is used to load and execute at least one instruction so that the posture detection device can implement the posture detection method described in any one of claims 1-8.

11. The device according to claim 10, characterized in that The device also includes a memory coupled to the processor, wherein the at least one instruction is stored in the memory.

12. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores at least one instruction, and the instruction is loaded and executed by the processor to implement the posture detection method as described in any one of claims 1-8.

13. A chip, characterized in that: The chip includes a processor, and the processor is used to run program instructions or codes so that a device including the chip executes the posture detection method as described in any one of claims 1-8.

14. The chip according to claim 13, characterized in that: The chip further includes: an input interface, an output interface and a memory. The input interface, the output interface, the processor and the memory are connected via an internal connection path. The memory contains the program instructions or codes.

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