Walking state vital sign monitoring method and device, equipment and storage medium

Abstract

The invention discloses a vital sign monitoring method and device of a walking state, equipment and a storage medium, and relates to the technical field of vital sign monitoring. According to the specific scheme, the method comprises the following steps: determining an anchor range gate according to first K frames in N frames of FMCW radar echo signals; and respectively executing a processing step on each frame of FMCW radar echo signal after the Kth frame to obtain a plurality of third signals and a plurality of target distance gates, further determining a plurality of second signals, further determining a respiratory frequency and a heartbeat frequency, and sending the respiratory frequency and the heartbeat frequency to an upper computer so as to monitor human body vital signs. The processing method comprises the following steps of: updating an anchor range gate according to a target range gate corresponding to a previous frame of an FMCW radar echo signal of a current frame; determining a target range gate according to the plurality of first signals and an anchor range gate; and determining a third signal according to the plurality of first signals and the target distance gate. The problem that it is difficult to accurately monitor the vital signs of the human body in the walking state can be solved, the application scene of vital sign monitoring is expanded, and the accuracy of vital sign monitoring is improved.

Description

Technical Field

[0001] The present application relates to the technical field of vital signs monitoring, and in particular to a method, device, equipment and storage medium for monitoring vital signs in a walking state. Background Art

[0002] In the field of human vital signs monitoring, heartbeat and breathing are key indicators for assessing human health. FMCW (Frequency-Modulated Continuous Wave) technology can be used to achieve non-contact monitoring of heartbeat and breathing.

[0003] At present, FMCW radar is used to transmit frequency modulated continuous wave signals to the human body, receive the reflected echo signals, and perform certain signal processing on the received echo signals, so as to capture the human heart rate and respiratory rate signs, and realize the monitoring of human heart rate and breathing.

[0004] However, existing methods have poor accuracy in monitoring vital signs while a person is walking. Summary of the invention

[0005] The embodiments of the present application provide a method, device, equipment and storage medium for monitoring vital signs in a walking state, thereby solving the problem that the existing technology is limited in applicable scenarios and difficult to accurately monitor the vital signs of a human body in a walking state. The applicable scenarios of vital signs monitoring are expanded and the accuracy of vital signs monitoring is improved.

[0006] In a first aspect, an embodiment of the present application provides a method for monitoring vital signs in a walking state, comprising: N frames of FMCW radar echo signals are received, wherein each frame of the FMCW radar echo signals includes a plurality of first signals, where N is a positive integer; an anchor range gate is determined according to the first K frames of FMCW radar echo signals in the N frames of FMCW radar echo signals, where K is a positive integer and is less than N; processing steps are performed on each frame of FMCW radar echo signals after the Kth frame in the N frames of FMCW radar echo signals, respectively, to obtain a plurality of third signals and a plurality of target range gates, wherein the plurality of third signals correspond to the plurality of target range gates one by one; a plurality of second signals are determined according to the plurality of third signals and the plurality of target range gates, Among them, the second signal is a third signal for eliminating interference from human walking; based on multiple second signals, the breathing frequency and heart rate are determined; the breathing frequency and heart rate are sent to a host computer to monitor the vital signs of the human body; wherein the processing steps include: updating the anchor range gate according to the target range gate corresponding to the previous frame FMCW radar echo signal of the current frame FMCW radar echo signal; determining the target range gate where the human body is located according to multiple first signals and the anchor range gate; determining the third signal according to multiple first signals and the target range gate, the third signal being the average signal of the first signals located at the target range gate.

[0007] Further, determining an anchor range gate according to the first K frames of FMCW radar echo signals in the N frames of FMCW radar echo signals includes: A plurality of first signals corresponding to the previous K frames of FMCW radar echo signals are fast Fourier transformed along the range dimension and then fast Fourier transformed along the slow time dimension to obtain a plurality of first Doppler-range spectra; the plurality of first Doppler-range spectra are superimposed to obtain a second Doppler-range spectrum; and an anchor range gate is determined according to the second Doppler-range spectrum.

[0008] Further, determining a target range gate where the human body is located according to the multiple first signals and the anchor range gate includes: According to the multiple first signals, after fast Fourier transform is performed along the range dimension, fast Fourier transform is performed along the slow time dimension to obtain multiple third Doppler-range spectra; according to the multiple third Doppler-range spectra and the anchor range gate, the target range gate is determined.

[0009] Further, determining a target range gate according to the plurality of third Doppler-range spectra and the anchor range gate includes: The target movement speed of a walking human body is determined according to a plurality of third Doppler-range spectra; the range of the range gate is determined according to the anchor range gate and the target movement speed; and the target range gate is determined according to the range gate range and a plurality of third Doppler-range spectra.

[0010] Further, determining a third signal according to the plurality of first signals and the target range gate includes: Fast Fourier transform is performed on multiple first signals along the distance dimension, and the first signals located at the target range gate are added along the slow time dimension and then averaged to obtain a third signal; based on the third signal, inverse tangent demodulation is used to determine the phase value of the third signal.

[0011] Further, determining a plurality of second signals according to the plurality of third signals and the plurality of target range gates comprises: An unwrapping operation is performed on the phase values ​​of the plurality of third signals to obtain a plurality of first phases; a plurality of second phases are determined according to the plurality of first phases and the plurality of target range gates; and a plurality of second signals are determined according to the plurality of second phases and the plurality of third signals.

[0012] Further, determining the respiratory rate and the heart rate according to the plurality of second signals includes: A first-order phase difference signal is determined according to the multiple second signals; and a respiratory frequency and a heart rate frequency are determined according to the first-order phase difference signal.

[0013] Further, the respiratory rate and the heart rate are determined according to the first-order phase difference signal, including: The first-order phase difference signal is subjected to fast Fourier transform to determine the breathing frequency. The heart rate is determined based on the first-order phase difference signal through a target algorithm. The target algorithm is an improved adaptive noise complete set empirical mode decomposition algorithm.

[0014] In a second aspect, an embodiment of the present application provides a vital sign monitoring device in a walking state, comprising: The receiving module is used to receive N frames of FMCW radar echo signals, wherein each frame of the FMCW radar echo signal includes a plurality of first signals, and N is a positive integer.

[0015] The first processing module is used to determine the anchor range gate according to the first K frames of FMCW radar echo signals in N frames of FMCW radar echo signals, where K is a positive integer and is less than N.

[0016] The second processing module is used to execute processing steps on each frame of FMCW radar echo signal after the Kth frame in the N frames of FMCW radar echo signal to obtain multiple third signals and multiple target range gates, and the multiple third signals correspond to the multiple target range gates one by one.

[0017] The determination module is used to determine multiple second signals according to multiple third signals and multiple target distance gates, wherein the second signal is a third signal that eliminates interference caused by human walking.

[0018] The monitoring module is used to determine the respiratory rate and the heart rate according to the multiple second signals; and send the respiratory rate and the heart rate to the host computer to monitor the vital signs of the human body.

[0019] The processing steps include: updating the anchor range gate according to the target range gate corresponding to the previous frame FMCW radar echo signal of the current frame FMCW radar echo signal; determining the target range gate where the human body is located according to multiple first signals and the anchor range gate; determining the third signal according to multiple first signals and the target range gate, and the third signal is the average signal of the first signals located at the target range gate.

[0020] In a third aspect, an embodiment of the present application provides a device, comprising: a processor; a memory for storing processor executable instructions; and a method for implementing the first aspect or any possible implementation of the first aspect when the processor executes the executable instructions.

[0021] In a fourth aspect, an embodiment of the present application provides a non-volatile computer-readable storage medium, which includes a device for storing a computer program or instruction. When the computer program or instruction is executed, the method of the first aspect or any possible implementation method of the first aspect is implemented.

[0022] One or more technical solutions provided in the embodiments of the present application have at least the following technical effects or advantages: The embodiment of the present application determines the anchor range gate according to the first K frames of FMCW radar echo signals in N frames of FMCW radar echo signals, and respectively performs processing steps on each frame of FMCW radar echo signals after the Kth frame in the N frames of FMCW radar echo signals to obtain multiple third signals and multiple target range gates; multiple second signals are determined according to the multiple third signals and the multiple target range gates, wherein the second signal is the third signal after eliminating the target motion phase. The present application determines the respiratory rate and heart rate according to the multiple second signals, and can quickly and accurately determine the respiratory rate and heart rate through the second signal that eliminates the interference of human walking to monitor the vital signs of the human body, which solves the problem that the existing technology is limited in the applicable scenarios and it is difficult to accurately monitor the vital signs of the human body in the walking state, expands the applicable scenarios of vital signs monitoring, and improves the accuracy of vital signs monitoring. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments of the present application or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0024] Figure 1 A schematic diagram of a flow chart of a method for monitoring vital signs in a walking state provided in an embodiment of the present application; Figure 2A schematic diagram of the composition of a vital signs monitoring device for walking provided in an embodiment of the present application. DETAILED DESCRIPTION

[0025] The technical solutions in the embodiments of the present application will be described clearly and completely below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0026] The following describes some of the techniques involved in the embodiments of the present application to facilitate understanding, and they should be considered as merely exemplary. Therefore, it should be appreciated by those of ordinary skill in the art that various changes and modifications may be made to the embodiments described herein without departing from the scope and spirit of the present application. Similarly, for the sake of clarity and conciseness, some descriptions of well-known functions and structures are omitted in the following description.

[0027] In the field of human vital signs monitoring, heartbeat and breathing are key indicators for assessing human health. FMCW (Frequency-Modulated Continuous Wave) technology can be used to achieve non-contact monitoring of heartbeat and breathing.

[0028] At present, FMCW radar is used to transmit frequency modulated continuous wave signals to the human body, receive the reflected echo signals, and perform certain signal processing on the received echo signals, so as to capture the human heart rate and respiratory rate signs, and realize the monitoring of human heart rate and breathing.

[0029] However, existing methods have poor accuracy in monitoring vital signs during human walking.

[0030] Against this background technology, the present disclosure provides a method for monitoring vital signs in a walking state, which can solve the problem that the existing technology is limited in applicable scenarios and difficult to accurately monitor the vital signs of a human body in a walking state, expand the applicable scenarios of vital signs monitoring, and improve the accuracy of vital signs monitoring.

[0031] The execution subject of the vital sign monitoring method for walking state provided by the embodiment of the present disclosure may be a computer or a server, or may also be other electronic devices with data processing capabilities; or, the execution subject of the method may also be a processor (such as a central processing unit (CPU)) in the above electronic device; or, the execution subject of the method may also be an application (application, APP) installed in the above electronic device that can realize the function of the method; or, the execution subject of the method may also be a functional module or unit in the above electronic device that has the function of the method, etc. There is no limitation on the execution subject of the method herein.

[0032] The method for monitoring vital signs in a walking state is exemplarily described below with reference to the accompanying drawings.

[0033] Figure 1 : is a flow chart of a method for monitoring vital signs in a walking state provided in an embodiment of the present application. Figure 1 This is only an execution order shown in the embodiment of the present application, and does not represent the only execution order of the method for monitoring vital signs in walking state. If the final result can be achieved, Figure 1 The steps shown can be performed in parallel or in reverse. Figure 1 As shown, the method may include: S101. Receive N frames of FMCW radar echo signals.

[0034] Each frame of FMCW radar echo signal includes multiple first signals, and N is a positive integer.

[0035] For example, N can be set to 10 or 20, and there is no limitation on this.

[0036] Exemplarily, the first signal may be a linear frequency modulation signal (ie, a chirp signal). Generally, each frame of the FMCW radar echo signal includes the same number of first signals.

[0037] It can be understood that the FMCW radar transmits a plurality of frames of radar signals, each frame of which includes a plurality of linear frequency modulation signals.

[0038] S102: Determine an anchor range gate according to first K frames of FMCW radar echo signals among N frames of FMCW radar echo signals.

[0039] Wherein, K is a positive integer and is less than N.

[0040] Exemplarily, the anchor range gate may be used to indicate a range gate where a human body is located in the previous K frames of FMCW radar echo signals.

[0041] Specifically, determining the anchor range gate according to the first K frames of FMCW radar echo signals in N frames of FMCW radar echo signals includes: A plurality of first signals corresponding to the previous K frames of FMCW radar echo signals are fast Fourier transformed along the range dimension and then fast Fourier transformed along the slow time dimension to obtain a plurality of first Doppler-range spectra; the plurality of first Doppler-range spectra are superimposed to obtain a second Doppler-range spectrum; and an anchor range gate is determined according to the second Doppler-range spectrum.

[0042] For example, there is no restriction on the value of K, and the general value range is [5,10].

[0043] Exemplarily, the p first signals corresponding to the FPCW radar echo signal of the first frame can be fast Fourier transformed along the distance dimension, and then fast Fourier transformed along the slow time dimension to obtain p first Doppler-range spectra corresponding to the FPCW radar echo signal of the first frame; then the p first signals corresponding to the FPCW radar echo signal of the second frame, the p first signals corresponding to the FPCW radar echo signal of the third frame, ..., and the p first signals corresponding to the FPCW radar echo signal of the Kth frame are processed in the same manner, and p first Doppler-range spectra corresponding to the FPCW radar echo signal of the second frame, the FPCW radar echo signal of the third frame, ..., and the Kth frame can be obtained in sequence. It can be understood that the first Doppler-range spectra corresponding to the first K frames of FPCW radar echo signals total K×p, where p is a positive integer; then the K×p first Doppler-range spectra are superimposed, and the Doppler-range spectrum obtained by superposition can be determined as the second Doppler-range spectrum.

[0044] For example, p can be set to 32, but there is no limitation on this.

[0045] Exemplarily, after obtaining the second Doppler-range spectrum, a peak search may be performed on the second Doppler-range spectrum, and a range gate corresponding to the peak value may be determined as the anchor range gate.

[0046] In this way, the anchor range gate can be accurately determined based on the previous K frames of FMCW radar echo signals.

[0047] S103 , executing processing steps for each frame of FMCW radar echo signal after the Kth frame in the N frames of FMCW radar echo signal to obtain a plurality of third signals and a plurality of target range gates.

[0048] The plurality of third signals correspond one-to-one to the plurality of target range gates.

[0049] It can be understood that the FMCW radar echo signal after the Kth frame in the N frames of FMCW radar echo signals includes the K+1th frame FMCW radar echo signal, the K+2th frame FMCW radar echo signal, ..., the N-1th frame FMCW radar echo signal, and the Nth frame FMCW radar echo signal in the N frames of FMCW radar echo signals.

[0050] It can be understood that after executing the processing steps on any frame of FMCW radar echo signal after the Kth frame, the third signal corresponding to the FMCW radar echo signal of the frame and the corresponding target range gate can be obtained; by executing the processing steps on the FMCW radar echo signals from the K+1th frame to the Nth frame respectively, NK third signals corresponding to the FMCW radar echo signals from the K+1th frame to the Nth frame and NK target range gates corresponding to them can be obtained.

[0051] The processing steps include S1031 and S1033.

[0052] S1031 . Update the anchor range gate according to the target range gate corresponding to the previous frame of the FMCW radar echo signal of the current frame of the FMCW radar echo signal.

[0053] Exemplarily, the current frame FMCW radar echo signal may be the FMCW radar echo signal of the currently executing processing step, and the previous frame FMCW radar echo signal of the current frame FMCW radar echo signal may be the previous frame FMCW radar echo signal of the currently executing processing step.

[0054] For example, when the processing step is performed on the K+2th frame FMCW radar echo signal, the anchor range gate may be updated to the target range gate corresponding to the previous frame (ie, the K+1th frame) FMCW radar echo signal of the K+2th frame.

[0055] It should be noted that when the processing steps are executed on the K+1th frame of FMCW radar echo signal, the processing steps have not been executed on the previous frame of FMCW radar echo signal (i.e., the Kth frame of FMCW radar echo signal). Therefore, there is no corresponding target range gate for the Kth frame of FMCW radar echo signal. When the processing steps are executed on the K+1th frame of FMCW radar echo signal, there is no need to update the anchor range gate, i.e., there is no need to execute S1031.

[0056] S1032. Determine a target range gate where the human body is located according to the multiple first signals and the anchor range gate.

[0057] Specifically, determining the target range gate where the human body is located according to the multiple first signals and the anchor range gate includes: According to the multiple first signals, after fast Fourier transform is performed along the range dimension, fast Fourier transform is performed along the slow time dimension to obtain multiple third Doppler-range spectra; according to the multiple third Doppler-range spectra and the anchor range gate, the target range gate is determined.

[0058] Exemplarily, for any frame of FMCW radar echo signal after the Kth frame, the number of the corresponding first signals and the corresponding third Doppler-range spectra are the same, and the multiple first signals and the obtained multiple third Doppler-range spectra are in one-to-one correspondence.

[0059] Specifically, determining a target range gate according to multiple third Doppler-range spectra and anchor range gates includes: The target movement speed of a walking human body is determined according to a plurality of third Doppler-range spectra; the range of the range gate is determined according to the anchor range gate and the target movement speed; and the target range gate is determined according to the range gate range and a plurality of third Doppler-range spectra.

[0060] Exemplarily, for any third Doppler-range spectrum, the angular frequency corresponding to the maximum peak in the third Doppler-range spectrum can be determined, and then the speed corresponding to the angular frequency can be determined according to the FMCW speed measurement formula, and the speed corresponding to the angular frequency can be determined as the movement speed of the human body walking corresponding to the third Doppler-range spectrum; wherein the FMCW speed measurement formula can be shown as the following formula (1): (1) In formula (1), Indicates the speed of an object (the application scenario of this application is to determine the walking speed of a human body through the FMCW speed measurement formula. It can represent the speed of human walking). is the wavelength of the FMCW radar, is the angular frequency, is the duration of a linear frequency modulation signal (ie, the duration of a first signal).

[0061] Exemplarily, after a plurality of movement speeds corresponding to a plurality of third Doppler-range spectra are obtained, an average value of the plurality of movement speeds corresponding to the plurality of third Doppler-range spectra may be determined as the target movement speed.

[0062] It should be noted that the above method of determining the average value of multiple motion speeds corresponding to multiple third Doppler-range spectra as the target motion speed is only an example, and those skilled in the art may also determine the target motion speed in other ways, which will not be described in detail here.

[0063] Exemplarily, the range gate range may be determined according to a range gate range determination formula; wherein the range gate range determination formula may be as shown in the following formula (2): (2) In formula (2), Indicates the minimum range gate of the range gate range corresponding to the K+jth frame FMCW radar echo signal, is a positive integer, Indicates the maximum range gate of the range gate range corresponding to the K+jth frame FMCW radar echo signal, Indicates the target range gate corresponding to the K+j-1th frame of FMCW radar echo signal, Indicates the variable speed protection factor ( Generally, 1.2 is recommended. represents the target motion speed corresponding to the K+jth frame FMCW radar echo signal, represents the frame period of the FMCW radar echo signal, represents the unit length of the range gate, Indicates taking the absolute value, Indicates rounding up.

[0064] It should be noted that for the K+1th frame of FMCW radar echo signal, that is, When , the range gate range determination formula can be shown as follows (3): (3) In formula (3), is the anchor distance gate that has not been updated (ie, the anchor distance gate determined in S102).

[0065] Exemplarily, a peak search may be performed in the third Doppler-range spectrum between the minimum range gate and the maximum range gate, and the range gate corresponding to the peak may be determined as the target range gate.

[0066] In this way, the target range gate can be determined quickly and accurately based on the anchor range gate and the third Doppler-range spectrum.

[0067] S1033. Determine a third signal according to the multiple first signals and the target range gate.

[0068] The third signal is an average signal of the first signals located at the target range gate.

[0069] Specifically, determining the third signal according to the plurality of first signals and the target range gate includes: Fast Fourier transform is performed on multiple first signals along the distance dimension, and the first signals located at the target range gate are added along the slow time dimension and then averaged to obtain a third signal; based on the third signal, inverse tangent demodulation is used to determine the phase value of the third signal.

[0070] For example, the third signal may be determined by the following formula (4): (4) In formula (4), Indicates Among the distance gates, The first signal data of the slow time dimension after the fast Fourier transform of the distance dimension; The first range gate is the target range gate; Indicates the number of first signals in the FMCW radar echo signal; Indicates the third signal.

[0071] Exemplarily, the third signal is a complex signal, the real part and the imaginary part of the complex signal constitute the real phase information of the radar intermediate frequency signal, and the phase value of the third signal can be calculated using inverse tangent demodulation.

[0072] For example, the phase value of the third signal may be determined using the following formula (5): (5) In formula (5), represents the phase value of the third signal, is the in-phase branch of the phase signal, It is the orthogonal branch of the phase signal.

[0073] Exemplarily, the phase value of the third signal may also be determined by a DACM demodulation algorithm. The DACM demodulation algorithm is a common technical means for those skilled in the art to determine the phase value of a signal, and its calculation process is not described in detail here.

[0074] In this way, the third signal and the phase value can be accurately determined according to the first signal and the target range gate.

[0075] S104. Determine a plurality of second signals according to a plurality of third signals and a plurality of target range gates.

[0076] Among them, the second signal is the third signal for eliminating interference caused by human walking.

[0077] Specifically, determining a plurality of second signals according to a plurality of third signals and a plurality of target range gates includes: An unwrapping operation is performed on the phase values ​​of the plurality of third signals to obtain a plurality of first phases; a plurality of second phases are determined according to the plurality of first phases and the plurality of target range gates; and a plurality of second signals are determined according to the plurality of second phases and the plurality of third signals.

[0078] Exemplarily, the second phase corresponding to the corresponding third signal can be determined based on the first phase and the target range gate corresponding to the third signal corresponding to the first phase through a human body motion phase elimination formula.

[0079] It can be understood that the multiple third signals correspond one-to-one to the multiple first phases, the multiple first phases correspond one-to-one to the multiple second phases, and the multiple second phases correspond one-to-one to the multiple second signals.

[0080] For example, the human body motion phase elimination formula can be shown as follows (6): (6) In formula (6), Indicates The second phase corresponding to the third signal, and is a positive integer, Indicates The first phase corresponding to the third signal, is the wavelength of the FMCW radar, represents the unit length of the range gate, Indicates the target range gate corresponding to the K+j-1th frame of FMCW radar echo signal.

[0081] It should be noted that for the K+1th frame of FMCW radar echo signal, that is, When , the human body motion phase elimination formula can be shown as follows (7): (7) In formula (7), is the anchor distance gate that has not been updated (ie, the anchor distance gate determined in S102).

[0082] Exemplarily, the phase values ​​of the corresponding third signals may be updated respectively according to the multiple second phases to obtain the multiple second signals.

[0083] In this way, the second signal can be accurately determined according to the plurality of third signals and the plurality of target range gates.

[0084] S105. Determine the respiratory rate and the heart rate according to the multiple second signals.

[0085] Exemplarily, before executing S105 , the plurality of second signals may be passed through a bandpass filter of 0.2 Hz to 2.5 Hz to filter out clutter, thereby improving the accuracy of subsequent processing results.

[0086] Specifically, determining the respiratory rate and the heart rate according to the plurality of second signals may include: A first-order phase difference signal is determined according to the multiple second signals; and a respiratory frequency and a heart rate frequency are determined according to the first-order phase difference signal.

[0087] Exemplarily, a first-order phase difference may be performed on each second signal to obtain a first-order phase difference signal.

[0088] Exemplarily, the respiratory rate and heart rate can be determined by wavelet packet transform algorithm, variational modal decomposition (VMD) algorithm, variational mode extraction (VME) algorithm. Determining the respiratory rate and heart rate by wavelet packet transform algorithm, VMD algorithm, VME algorithm are all conventional technical means in the art, which will not be described in detail here.

[0089] Further, determining the respiratory frequency and the heart rate according to the first-order phase difference signal may include: The first-order phase difference signal is subjected to fast Fourier transform to determine the breathing frequency; the heart rate is determined through the target algorithm based on the first-order phase difference signal.

[0090] Among them, the target algorithm is the Improved Complete Ensemble Empirical Mode Decomposition with Adaptive Noise (ICEEMDAN) algorithm.

[0091] Exemplarily, the frequency corresponding to the peak value after the first-order phase difference signal is fast Fourier transformed can be determined as the respiratory frequency.

[0092] Exemplarily, before determining the heart rate based on the first-order phase difference signal through the target algorithm, the first-order phase difference signal may be further filtered through a 0.8 Hz to 2.5 Hz bandpass filter to reduce the complexity of processing by the target algorithm.

[0093] It should be noted that the ICEEMDAN algorithm belongs to the existing technology, and its calculation iteration process will not be described here.

[0094] It can be understood that multiple intrinsic mode function (IMF) components and a residual signal can be obtained through the ICEEMDAN algorithm. All IMF components are fast Fourier transformed, and the IMF components with frequencies between 0.8Hz and 2.5Hz that are not harmonics of the respiratory signal after fast Fourier transform are determined as target components. After fast Fourier transform of the target components, peak search is performed to obtain the heart rate frequency.

[0095] In this way, the respiratory rate and the heart rate can be determined more accurately based on the multiple second signals.

[0096] S106, sending the respiratory rate and heart rate to the host computer to monitor the vital signs of the human body.

[0097] After obtaining the respiratory rate and heart rate, they can be sent to the host computer, which can then obtain the human body's respiratory rate and heart rate per minute through simple calculations to monitor the human body's vital signs. This will not be elaborated here.

[0098] The embodiment of the present application determines an anchor range gate based on the first K frames of FMCW radar echo signals in N frames of FMCW radar echo signals, and performs processing steps on the N frames of FMCW radar echo signals to obtain multiple third signals and multiple target range gates; determines multiple second signals based on the multiple third signals and the multiple target range gates, wherein the second signal is the third signal after eliminating the target motion phase; determines the respiratory rate and the heart rate based on the multiple second signals, and can quickly and accurately determine the respiratory rate and the heart rate through the second signal that eliminates the interference of human walking, thereby solving the problem that the existing technology is limited in the applicable scenarios and difficult to accurately monitor the vital signs of the human body in the walking state, expands the applicable scenarios of vital signs monitoring, and improves the accuracy of vital signs monitoring.

[0099] Although the present application provides method operation steps such as embodiments or flow charts, more or fewer operation steps may be included based on conventional or non-creative labor. The order of steps listed in this embodiment is only one way of executing the order of many steps and does not represent the only execution order. When the actual device or client product is executed, it can be executed in the order of the method shown in this embodiment or the accompanying drawings or in parallel (for example, in a parallel processor or multi-threaded processing environment).

[0100] like Figure 2 As shown, the embodiment of the present application also provides a vital sign monitoring device in a walking state. The device comprises: a receiving module 201 , a first processing module 202 , a second processing module 203 , a determining module 204 and a monitoring module 205 .

[0101] The receiving module 201 is configured to receive N frames of FMCW radar echo signals, wherein each frame of the FMCW radar echo signal includes a plurality of first signals, and N is a positive integer.

[0102] The first processing module 202 is used to determine an anchor range gate according to the first K frames of FMCW radar echo signals among the N frames of FMCW radar echo signals, where K is a positive integer and is less than N.

[0103] The second processing module 203 is used to perform processing steps on each frame of FMCW radar echo signal after the Kth frame in the N frames of FMCW radar echo signal to obtain multiple third signals and multiple target range gates, and the multiple third signals correspond to the multiple target range gates one by one.

[0104] The determination module 204 is used to determine a plurality of second signals according to the plurality of third signals and the plurality of target range gates, wherein the second signal is a third signal for eliminating interference caused by human walking.

[0105] The monitoring module 205 is used to determine the respiratory rate and the heart rate according to the multiple second signals; and send the respiratory rate and the heart rate to the host computer to monitor the vital signs of the human body.

[0106] The processing steps include: updating the anchor range gate according to the target range gate corresponding to the previous frame of FMCW radar echo signal; determining the target range gate where the human body is located according to multiple first signals and the anchor range gate; determining the third signal according to multiple first signals and the target range gate, and the third signal is the average signal of the first signals located at the target range gate.

[0107] The beneficial effects and specific implementation methods of the device embodiment can be referred to the aforementioned method embodiment, and will not be described in detail here.

[0108] Some modules in the apparatus described in the present application can be described in the general context of computer executable instructions executed by a computer, such as program modules. Generally, program modules include routines, programs, objects, components, data structures, classes, etc. that perform specific tasks or implement specific abstract data types. The present application can also be practiced in distributed computing environments, in which tasks are performed by remote processing devices connected through a communication network. In a distributed computing environment, program modules can be located in local and remote computer storage media including storage devices.

[0109] The devices or modules described in the above application embodiments can be implemented by computer chips or entities, or by products with certain functions. For the convenience of description, the above devices are described in various modules according to their functions. When implementing the embodiments of the present application, the functions of each module can be implemented in the same or multiple software and / or hardware. Of course, the module that implements a certain function can also be implemented by combining multiple sub-modules or sub-units.

[0110] The methods, devices or modules described in this application can be implemented in the form of computer-readable program codes. The controller can be implemented in any appropriate manner. For example, the controller can take the form of a microprocessor or processor and a computer-readable medium storing computer-readable program codes (such as software or firmware) that can be executed by the (micro)processor, logic gates, switches, application-specific integrated circuits (English: Application Specific Integrated Circuit; Abbreviation: ASIC), programmable logic controllers and embedded microcontrollers. Examples of controllers include but are not limited to the following microcontrollers: ARC 625D, Atmel AT91SAM, Microchip PIC18F26K20 and Silicone Labs C8051F320. The memory controller can also be implemented as part of the control logic of the memory. Those skilled in the art also know that in addition to implementing the controller in the form of pure computer-readable program codes, the controller can be implemented in the form of logic gates, switches, application-specific integrated circuits, programmable logic controllers and embedded microcontrollers by logically programming the method steps. Therefore, this controller can be considered as a hardware component, and the devices included in it for implementing various functions can also be regarded as structures within the hardware component. Or even, the means for realizing various functions may be regarded as both a software module for realizing the method and a structure within a hardware component.

[0111] An embodiment of the present application further provides a device, comprising: a processor; a memory for storing processor executable instructions; when the processor executes the executable instructions, the method described in the embodiment of the present application is implemented.

[0112] The embodiments of the present application also provide a non-volatile computer-readable storage medium on which a computer program or instruction is stored. When the computer program or instruction is executed, the method described in the embodiments of the present application is implemented.

[0113] In addition, each functional module in each embodiment of the present invention may be integrated into one processing module, or each module may exist independently, or two or more modules may be integrated into one module.

[0114] The above storage media include but are not limited to random access memory (RAM), read-only memory (ROM), cache, hard disk drive (HDD) or memory card. The memory can be used to store computer program instructions.

[0115] It can be seen from the description of the above implementation methods that those skilled in the art can clearly understand that the present application can be implemented by means of software plus necessary hardware. Based on this understanding, the technical solution of the present application can be essentially or partly reflected in the prior art in the form of a software product, or it can be reflected in the implementation process of data migration. The computer software product can be stored in a storage medium, such as ROM / RAM, a magnetic disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a mobile terminal, a server, or a network device, etc.) to execute the methods described in the various embodiments of the present application or certain parts of the embodiments.

[0116] The various embodiments in this specification are described in a progressive manner, and the same or similar parts between the various embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. All or part of this application can be used in many general or special computer system environments or configurations. For example: personal computers, server computers, handheld devices or portable devices, tablet devices, mobile communication terminals, multi-processor systems, microprocessor-based systems, programmable electronic devices, network PCs, minicomputers, mainframe computers, distributed computing environments including any of the above systems or devices, etc.

[0117] The above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit the present application. Although the present application has been described in detail with reference to the aforementioned embodiments, a person of ordinary skill in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some or all of the technical features thereof may be replaced by equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the present application.

Claims

1. A method for monitoring vital signs in a walking state, characterized in that: include: Receiving N frames of FMCW radar echo signals, wherein each frame of the FMCW radar echo signal includes a plurality of first signals, and N is a positive integer; Determine an anchor range gate according to the first K frames of FMCW radar echo signals among the N frames of FMCW radar echo signals, where K is a positive integer and is less than N; For each frame of the FMCW radar echo signal after the Kth frame in the N frames of the FMCW radar echo signal, respectively perform processing steps to obtain a plurality of third signals and a plurality of target range gates, wherein the plurality of third signals correspond to the plurality of target range gates one by one; Determine a plurality of second signals according to the plurality of third signals and the plurality of target range gates, wherein the second signal is a third signal for eliminating interference from human walking; Determine the respiratory rate and the heart rate according to the plurality of second signals; Sending the respiratory rate and the heart rate to a host computer to monitor the vital signs of the human body; The processing steps include: updating the anchor range gate according to the target range gate corresponding to the previous frame of the FMCW radar echo signal of the current frame; Determine a target range gate where a human body is located according to the plurality of first signals and the anchor range gate; A third signal is determined according to the plurality of first signals and the target range gate, wherein the third signal is an average signal of the first signals located at the target range gate.

2. The method according to claim 1, characterized in that The step of determining the anchor range gate according to the first K frames of FMCW radar echo signals among the N frames of FMCW radar echo signals includes: After performing fast Fourier transform along the range dimension, the first signals corresponding to the first K frames of FMCW radar echo signals are respectively subjected to fast Fourier transform along the slow time dimension to obtain a plurality of first Doppler-range spectra; superimposing the multiple first Doppler-range spectra to obtain a second Doppler-range spectrum; The anchor range gate is determined according to the second Doppler-range spectrum.

3. The method according to claim 1, characterized in that Determining a target range gate where a human body is located according to the plurality of first signals and the anchor range gate includes: According to the plurality of first signals, after performing fast Fourier transform along the range dimension, performing fast Fourier transform along the slow time dimension to obtain a plurality of third Doppler-range spectra; A target range gate is determined according to the plurality of third Doppler-range spectra and the anchor range gate.

4. The method according to claim 3, characterized in that The step of determining a target range gate according to the plurality of third Doppler-range spectra and the anchor range gate comprises: determining a target motion speed of a human body walking according to the plurality of third Doppler-range spectra; Determining a range gate range according to the anchor range gate and the target movement speed; A target range gate is determined according to the range gate range and the plurality of third Doppler-range spectra.

5. The method according to claim 1, characterized in that: The step of determining the third signal according to the plurality of first signals and the target range gate comprises: Performing fast Fourier transform on the multiple first signals along the distance dimension, adding and averaging the first signals located at the target range gate along the slow time dimension, and obtaining a third signal; According to the third signal, the phase value of the third signal is determined by using arc tangent demodulation.

6. The method according to claim 1, characterized in that The step of determining a plurality of second signals according to the plurality of third signals and the plurality of target range gates comprises: Performing an unwrapping operation on the phase values ​​of the plurality of third signals to obtain a plurality of first phases; Determining a plurality of second phases according to the plurality of first phases and the plurality of target range gates; The plurality of second signals are determined according to the plurality of second phases and the plurality of third signals.

7. The method according to claim 1, characterized in that Determining the respiratory rate and the heart rate according to the plurality of second signals comprises: Determining a first-order phase difference signal according to the plurality of second signals; The breathing frequency and the heart rate are determined according to the first-order phase difference signal.

8. The method according to claim 7, characterized in that Determining the respiratory frequency and the heart rate according to the first-order phase difference signal includes: Performing a fast Fourier transform on the first-order phase difference signal to determine the respiratory frequency; According to the first-order phase difference signal, the heartbeat frequency is determined by a target algorithm; wherein the target algorithm is an improved adaptive noise complete set empirical mode decomposition algorithm.

9. A vital sign monitoring device for walking, characterized in that: include: A receiving module, configured to receive N frames of FMCW radar echo signals, wherein each frame of the FMCW radar echo signal includes a plurality of first signals, and N is a positive integer; A first processing module is used to determine an anchor range gate according to the first K frames of FMCW radar echo signals among the N frames of FMCW radar echo signals, where K is a positive integer and is less than N; A second processing module is used to perform processing steps on each frame of FMCW radar echo signal after the Kth frame in the N frames of FMCW radar echo signal to obtain a plurality of third signals and a plurality of target range gates, wherein the plurality of third signals correspond to the plurality of target range gates one by one; A determination module, configured to determine a plurality of second signals according to the plurality of third signals and the plurality of target range gates, wherein the second signal is a third signal for eliminating interference from human walking; A monitoring module, used to determine the respiratory rate and the heart rate according to the plurality of second signals; and send the respiratory rate and the heart rate to a host computer to monitor the vital signs of a human body; The processing steps include: updating the anchor range gate according to the target range gate corresponding to the previous frame of the FMCW radar echo signal of the current frame; Determine a target range gate where a human body is located according to the plurality of first signals and the anchor range gate; A third signal is determined according to the plurality of first signals and the target range gate, wherein the third signal is an average signal of the first signals located at the target range gate.

10. A device for performing a method for monitoring vital signs in a walking state, characterized in that: include: processor; a memory for storing processor-executable instructions; When the processor executes the executable instructions, the method according to any one of claims 1 to 8 is implemented.

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