Object detection and object state identification method and related electronic device

Abstract

The electronic device includes a radar and an analysis control circuit to perform object detection and object state recognition. The radar first performs first radar detection in a moving state to detect an object, and stops moving after the analysis control circuit determines that the object is detected according to a result of the first radar detection. Then, the radar performs a second radar detection in the stopped state to identify the state of the object, so that the analysis control circuit can instruct the electronic device to perform a corresponding action according to the state of the object.

Description

TECHNICAL FIELD

[0001] The present application relates to a method for object detection and state recognition and an electronic device thereof, in particular, a method for object detection by a radar in a moving state and state recognition by a radar in a stopped state and an electronic device thereof. BACKGROUND

[0002] With the development of technology, robotic devices have become increasingly prevalent in performing various tasks in a semi-autonomous or autonomous manner. Such robotic devices can be embodied in various forms and used in various applications, such as for autonomous vacuum cleaners, unmanned aerial vehicles, ground vehicles, and the like. Applications in which robotic devices can be employed include entertainment applications (e.g., toy robots), utilitarian applications in environments hostile to humans (e.g., space, deep water, low temperature, radiation, chemical exposure, biological hazards, etc.), dangerous tasks (e.g., defusing explosives, search and rescue operations), or operations that perform chores in a confined space (e.g., cleaning robots), and the like.

[0003] Since most application environments are not static, a radar and a positioning system are usually configured in a robotic device to provide a high degree of autonomy. Therefore, how to accurately detect the position and motion changes of obstacles in the environment is an important issue in the field of robotic device applications. SUMMARY

[0004] The present application provides a method for object detection and state recognition, which includes an electronic device performing a first radar detection in a moving state, and determining whether an object is detected, and stopping moving to perform a second radar detection in a stopped state. The electronic device performing a first radar detection in a moving state includes sequentially transmitting wireless signals at a first to an Nth time point to correspondingly obtain a first to an Nth moving state radar echo signal, and determining whether an object is detected according to at least one of the first to the Nth moving state radar echo signal, wherein N is an integer greater than 1. The electronic device performing the second radar detection in a stopped state includes sequentially transmitting wireless signals at a first to an Mth time point to correspondingly obtain a first to an Mth stopped state radar echo signal, and recognizing a state of the object according to at least one of the first to the Mth stopped state radar echo signal, wherein the state of the object includes one of static and dynamic, and M is an integer greater than 1.

[0005] The present application also provides an electronic device capable of object detection and object state identification, which includes a movable body, a radar, and an analysis control circuit. The radar is arranged on the movable body to perform a first radar detection in a moving state to sequentially emit wireless signals at a first to an Nth time point and correspondingly acquire a first to an Nth moving state radar echo signal; and perform a second radar detection in a stopping state to sequentially emit wireless signals at a first to an Mth time point and correspondingly acquire a first to an Mth stopping state radar echo signal. The analysis control circuit is used to determine whether an object is detected according to at least one of the first to the Nth moving state radar echo signal; and identify the state of the object according to at least one of the first to the Mth stopping state radar echo signal. Wherein M and N are each an integer greater than 1, and the state of the object includes one of static and dynamic. BRIEF DESCRIPTION OF DRAWINGS

[0006] Figure 1 A functional block diagram of an electronic device capable of object detection and object state identification in an embodiment of the present application.

[0007] Figure 2 A schematic diagram of the actual operation mode of an electronic device capable of object detection and object state identification in an embodiment of the present application.

[0008] Figure 3 A flowchart of the operation of an electronic device in performing object detection and object state identification in an embodiment of the present application.

[0009] Figures 4 to 7 A schematic diagram of the identification of the state of an object by an electronic device in an embodiment of the present application.

[0010] LEGEND:

[0011] 10: Movable body

[0012] 20: Radar

[0013] 30: Analysis control circuit

[0014] 40: Functional device

[0015] 50: Motor

[0016] 100: Electronic device

[0017] 310-340: Steps DETAILED DESCRIPTION

[0018] Figure 1 A functional block diagram of an electronic device 100 capable of object detection and object state identification in an embodiment of the present application. Figure 2Fig. 1 shows a schematic diagram of an electronic device 100 according to an embodiment of the present application. The electronic device 100 includes a movable body 10, one or more radars 20, an analysis control circuit 30, a functional device 40, and a motor 50. Each radar 20 is disposed on the movable body 10 to perform a first radar detection in a moving state and a second radar detection in a stopped state. The analysis control circuit 30 is disposed in the movable body 10 to control the motor 50 to operate the electronic device 100 in the moving state or the stopped state, and to control a traveling direction and / or a turning direction of the electronic device 100 in the moving state. In addition, the analysis control circuit 30 is capable of determining whether an object is detected according to the first radar detection, identifying a state of the object according to the second radar detection when it is determined that the object is detected, and controlling an operation of the functional device 40 according to the state of the object.

[0019] In the present application, each radar 20 can be a pulse radar, a frequency modulated continuous wave (FMCW) radar, or any suitable radar capable of detecting an object and a distance. However, the type of the radar 20 does not limit the scope of the present application.

[0020] In an embodiment of the present application, the electronic device 100 can be a robot vacuum cleaner, and the functional device 40 can be a dust suction device or a mopping device. In another embodiment of the present application, the electronic device 100 can be a rescue robot, and the functional device 40 can be a mechanical arm. However, the type of the electronic device 100 does not limit the scope of the present application.

[0021] In the present application, the electronic device 100 is capable of performing object detection and object state identification. Figure 2 In the embodiment shown, the movable body 10 of the electronic device 100 includes wheels, which are driven by the motor 50 controlled by the analysis control circuit 30, and the traveling direction of the electronic device 100 is controlled by adjusting the angles of the wheels. However, the moving mechanism of the electronic device 100 does not limit the scope of the present application.

[0022] In the process of performing object detection and object state identification by the electronic device 100 of the present application, each radar 20 plays two different roles: the first role of the radar 20 is to perform the first radar detection in the moving state to determine whether there is an object, and the second role of the radar 20 is to perform the second radar detection in the stopped state to identify the state of the object.

[0023] Figure 3 Fig. 2 shows a flowchart of the electronic device 100 according to an embodiment of the present application when performing object detection and object state identification. The flowchart includes the following steps:

[0024] Step 310: The electronic device 100 turns on the radar 20 and the motor 50.

[0025] Step 320: The radar 20 performs a first radar detection in a moving state to determine whether an object is detected. If yes, step 330 is performed; if no, step 320 is performed.

[0026] Step 330: The electronic device 100 controls the motor 50 to stop moving, so that the radar 20 performs a second radar detection in a stopped state to identify the state of the object.

[0027] Step 340: The electronic device 100 performs a corresponding action according to the state of the object.

[0028] In step 310, after the analysis control circuit 30 turns on the radar 20 and the motor 50, the electronic device 100 can move according to a predetermined route or randomly. In another embodiment, the electronic device 100 can further include one or more sensors, and the moving path can be determined / adjusted in real time by sensing the environment through the sensors. However, the way of determining the moving path of the electronic device 100 does not limit the scope of the present application.

[0029] In step 320, the radar 20 can perform a first radar detection in a moving state to determine whether an object is detected. The radar 20 first sequentially transmits wireless signals at first to Nth time points to correspondingly obtain first to Nth moving state radar echo signals, where N is an integer greater than 1. Then, the analysis control circuit 30 determines whether an object is detected according to at least one of the first to Nth moving state radar echo signals. In more detail, the analysis control circuit 30 obtains first to Nth moving state radar range spectrum data corresponding to the first to Nth moving state radar echo signals, respectively, and then determines whether an object is detected according to at least one of the first to Nth moving state radar range spectrum data. The radar range spectrum data includes a corresponding relationship between distance and energy, which is represented in a two-dimensional form of a radar range spectrum graph, where the horizontal axis represents distance and the vertical axis represents the energy of the radar echo signal.

[0030] In an embodiment, the analysis control circuit 30 determines whether the energy of the radar echo signal corresponding to a predetermined distance exceeds a moving state threshold value according to at least one of the first to Nth moving state radar range spectrum data in step 320. When it is determined that the energy exceeds the moving state threshold value, the analysis control circuit 30 determines that an object is detected at the predetermined distance.

[0031] In one embodiment, the analysis control circuit 30 generates a motion state difference in step 320 according to the Nth motion state radar range profile data and a first reference motion state radar range profile data, wherein the first reference motion state radar range profile data is related to at least one of the first to (N-l)th motion state radar range profile data. When the motion state difference is determined to exceed a motion state condition range, the analysis control circuit 30 determines that an object is detected.

[0032] In one embodiment, the analysis control circuit 30 generates a plurality of motion state differences in step 320 according to the Nth motion state radar range profile data and the first reference motion state radar range profile data at least for a period of time, and uses the plurality of motion state differences as a basis for determining whether an object is detected, so as to reduce the interference of unexpected reflected signals in the environment and to reduce the false alarm rate.

[0033] In one embodiment, the motion state condition range can include an energy difference threshold corresponding to a specific range or a group of energy difference thresholds corresponding to a plurality of adjacent specific ranges, and the analysis control circuit can subtract or divide the energy of the radar echo signals of the Nth motion state radar range profile data and the first reference motion state radar range profile data according to the corresponding ranges to generate the motion state difference. The motion state difference includes a corresponding relationship between the range and the energy, which is represented in a two-dimensional form of the radar range profile graph, wherein the horizontal axis represents the range and the vertical axis represents the result of subtracting or dividing the energy of the radar echo signals of the Nth motion state radar range profile data and the first reference motion state radar range profile data. When it is determined that the motion state difference corresponding to a predetermined range exceeds the energy difference threshold, or it is determined that the motion state differences corresponding to a plurality of adjacent predetermined ranges respectively exceed the corresponding group of energy difference thresholds, it is determined that the motion state difference exceeds the motion state condition range.

[0034] In one embodiment, the first reference motion state radar range profile data is a piece of data before the Nth motion state radar range profile data, i.e., the (N-l)th motion state radar range profile data. In another embodiment, the first reference motion state radar range profile data is an average of a plurality of pieces of data before the Nth motion state radar range profile data, i.e., an average of the (N-l-L)th to (N-l)th motion state radar range profile data, wherein L is an integer greater than 0 and less than N-l.

[0035] In one embodiment, the first reference moving state radar range profile data can be used to correct the effect of the radar 20 itself moving: if most of the waveforms still exist after the Nth moving state radar range profile data is subtracted from the first reference moving state radar range profile data (representing that the signals in the first to Nth moving state radar range profile data can be mainly related to the objects), the moving state difference degree exceeds the moving state condition range, and thus the analysis control circuit 30 determines that an object is detected; if all / most of the waveforms disappear after the Nth moving state radar range profile data is subtracted from the first reference moving state radar range profile data (representing that the signals in the first to Nth moving state radar range profile data can be mainly related to the radar 20 itself moving), the moving state difference degree does not exceed the moving state condition range, and thus the analysis control circuit 30 determines that an object is not detected. In this embodiment, the subtraction of the Nth moving state radar range profile data from the first reference moving state radar range profile data can include: subtracting or dividing the Nth moving state radar range profile data from the first reference moving state radar range profile data according to the corresponding distance, or a combination thereof.

[0036] In one embodiment, when the radar 20 performs the first radar detection in the moving state in step 320, the analysis control circuit 30 can further perform background elimination on the moving state radar range profile data at least for a period of time. For example, the first to Nth moving state radar range profile data respectively include a first to Nth frame of moving state radar range profile, and the analysis control circuit 30 continuously subtracts or divides each current frame of moving state radar range profile from a previous frame of moving state radar range profile to perform background elimination at least for a period of time. For example, background elimination can be performed once for two consecutive frames. When the signal of the relevant object appears in at least one of the first to Nth frame of moving state radar range profile after the background elimination is performed, the analysis control circuit 30 determines that an object is detected. By continuously subtracting or dividing each current frame of moving state radar range profile from a previous frame of moving state radar range profile at least for a period of time, the interference of unexpected reflection signals in the environment can be effectively reduced, and the false positive rate can be greatly reduced.

[0037] In one embodiment, when the radar 20 performs the first radar detection in the moving state in step 320, the analysis control circuit 30 can further obtain at least one of first to Nth moving state radar speed data corresponding to the first to Nth moving state radar echo signals, and determine whether an object is detected according to the at least one of the first to Nth moving state radar speed data. In one embodiment, the moving state radar speed data can be speed spectrum data corresponding to the moving state radar echo signals. The speed spectrum data includes a corresponding relationship between speed and energy, and when expressed in a two-dimensional form of a radar speed spectrum diagram, the horizontal axis represents speed, and the vertical axis represents the energy of the radar echo signals. In one embodiment, the speed spectrum data can be obtained by performing a fast Fourier transform (FFT) or other suitable calculation on the distance spectrum data. In one embodiment, the analysis control circuit 30 determines whether the energy of the radar echo signals corresponding to a predetermined speed exceeds a moving state threshold value according to at least one of the first to Nth moving state radar speed data in step 320. When it is determined that the energy exceeds the moving state threshold value, the analysis control circuit 30 determines that an object is detected, and the object moves at the predetermined speed.

[0038] When the analysis control circuit 30 determines that an object is detected in step 320, the electronic device 100 stops moving in step 330 so that the radar 20 performs second radar detection in a stopped state to identify the state of the object. In one embodiment, when it is determined that an object is detected, the analysis control circuit 30 further calculates the distance between the electronic device 100 and the object, and instructs the electronic device 100 to stop moving to perform the second radar detection in the stopped state when it is determined that the distance between the electronic device 100 and the object is less than a predetermined value.

[0039] In step 330, the radar 20 in the stopped state first sequentially transmits wireless signals at first to Mth time points to correspondingly obtain first to Mth stopped state radar echo signals. Then, the analysis control circuit 30 identifies the state of the object according to at least one of the first to Mth stopped state radar echo signals, wherein the state of the object includes one of static and dynamic, and M is an integer greater than 1. In more detail, the analysis control circuit 30 obtains first to Mth stopped state radar distance spectrum data corresponding to the first to Mth stopped state radar echo signals, and identifies the state of the object according to at least one of the first to (M-1)th stopped state radar distance spectrum data.

[0040] In one embodiment, the analysis control circuit 30 generates a stop state difference measure in step 330 based on the Mth stop state radar range profile data and a reference stop state radar range profile data. The reference stop state radar range profile data is associated with at least one of the first to (M-l)th stop state radar range profile data. When the stop state difference measure is determined to be within a stop state condition range, the analysis control circuit 30 identifies the state of the object as static; when the stop state difference measure is determined not to be within the stop state condition range, the analysis control circuit 30 identifies the state of the object as dynamic.

[0041] In one embodiment, the analysis control circuit 30 generates a plurality of stop state difference measures in step 330 based on the Mth stop state radar range profile data and the reference stop state radar range profile data over a period of time, and uses the plurality of stop state difference measures as a basis for identifying the state of the object to reduce the interference of unexpected reflected signals in the environment and to reduce the false identification rate.

[0042] In one embodiment, the stop state condition range includes a plurality of corresponding energy difference threshold groups in a specific distance range, and the analysis control circuit subtracts or divides the energy of the radar return signals of the Mth stop state radar range profile data and the reference stop state radar range profile data in the specific distance range according to the corresponding distances to generate the stop state difference measure. The stop state difference measure includes the corresponding relationship between the distances and the energies, and when represented in a two-dimensional form of the radar range profile, the horizontal axis represents the distances and the vertical axis represents the result of the subtraction or division of the energies of the radar return signals of the Mth stop state radar range profile data and the reference stop state radar range profile data. When it is determined that the plurality of corresponding stop state difference measures in the specific distance range respectively exceed the corresponding energy difference threshold groups, it is determined that the stop state difference measure is not within the stop state condition range; otherwise, it is determined that the stop state difference measure is within the stop state condition range.

[0043] In one embodiment, the reference stop state radar range profile data is a previous data of the Mth stop state radar range profile data, i.e., the (M-l)th stop state radar range profile data. In another embodiment, the reference stop state radar range profile data is an average of a plurality of previous data of the Mth stop state radar range profile data, i.e., an average of the (M-l-L)th to (M-l)th stop state radar range profile data, where L is an integer greater than 0 and less than M-l.

[0044] In one embodiment, the reference stopped state radar range profile data can be used to correct the effect of the radar 20 itself moving: after the radar 20 stops moving in the moving state due to detecting the object, if all / most of the waveforms disappear after the M-th stopped state radar range profile data is subtracted from the reference stopped state radar range profile data (representing that the radar 20 does not detect any movement in the stopped state), the stopped state difference degree is within the stopped state condition range at this time, and thus the analysis control circuit 30 recognizes the state of the object as static; after the radar 20 stops moving in the moving state due to detecting the object, if most of the waveforms still exist after the M-th stopped state radar range profile data is subtracted from the reference stopped state radar range profile data (representing that the signals of the first to M-th stopped state radar range profile data can be related to the movement of the object), the stopped state difference degree is not within the stopped state condition range at this time, and thus the analysis control circuit 30 recognizes the state of the object as dynamic. In this embodiment, the subtraction of the M-th stopped state radar range profile data from the reference stopped state radar range profile data can include: subtracting the M-th stopped state radar range profile data from the reference stopped state radar range profile data according to the corresponding distance, or dividing the M-th stopped state radar range profile data by the reference stopped state radar range profile data according to the corresponding distance, or a combination of the above two.

[0045] In one embodiment, when the radar 20 performs the second radar detection in the stopped state in step 330, the analysis control circuit 30 can further obtain at least one of the first to M-th stopped state radar velocity data corresponding to the first to M-th stopped state radar echo signals, and recognize the state of the object according to the at least one of the first to M-th stopped state radar velocity data. In one embodiment, the above-mentioned stopped state radar velocity data can be velocity spectrum data corresponding to the stopped state radar echo signals. In one embodiment, the analysis control circuit 30 will determine whether the energy of the radar echo signals corresponding to a predetermined velocity exceeds a moving state threshold value according to the at least one of the first to M-th stopped state radar velocity data in step 330. When it is determined that the energy exceeds the moving state threshold value, the analysis control circuit 30 determines that the state of the object is dynamic, and that the object moves at the predetermined velocity.

[0046] In an embodiment, when the radars 20 perform the second radar detection in the stopped state in step 330, after recognizing the state of the object as dynamic based on at least one of the first to Mth stopped state radar return signals, the analysis control circuit 30 further determines whether at least one of the first to Mth stopped state radar return signals matches a predetermined characteristic. When at least one of the first to Mth stopped state radar return signals matches the predetermined characteristic, the analysis control circuit 30 determines that the object is a living being. When at least one of the first to Mth stopped state radar return signals does not match the predetermined characteristic, the analysis control circuit 30 determines that the object is a non-living being. In an embodiment, the predetermined characteristic can include a range profile waveform characteristic and / or a velocity characteristic obtained after processing the first to Mth stopped state radar return signals. For example, for a living being, the predetermined characteristic can be a regular change in the range profile waveform characteristic with a low frequency (e.g., energy fluctuation caused by breathing); for a non-living being, the predetermined characteristic can be a regular motion with a high frequency (e.g., rotation of the blades of an electric fan in operation). In another embodiment, artificial intelligence can be used to recognize the characteristic in the first to Mth stopped state radar return signals to determine the state of the object.

[0047] Figures 4 to 7 A schematic diagram of a radar range profile for an embodiment of the electronic device 100 to recognize the state of an object. For illustrative purposes, it is assumed that the electronic device 100 includes two radars 20, the horizontal axis represents distance (in meters), and the vertical axis represents the energy of the radar return signal (in dBFS). Figure 4 At least one of the moving state radar return signals RX1 and RX2 obtained when the radars 20 perform the first radar detection in the moving state is shown. Figures 5 to 7 At least one of the stopped state radar return signals RX1' and RX2' obtained when the radars 20 perform the second radar detection in the stopped state is shown. According to the foregoing step 320, when the radars 20 perform the first radar detection in the moving state, it is assumed that the object can be detected at a certain distance (e.g., about 0.12 meters, denoted by P1), as shown. Figure 4

[0048] In the embodiment shown in Figure 5 According to the foregoing step 330, when the radars 20 perform the second radar detection in the stopped state, at least one of the stopped state radar return signals RX1' and RX2' obtained at the certain distance (denoted by P2) all / most of the waveforms disappear, representing that the radars 20 do not detect any movement in the stopped state, and thus the analysis control circuit 30 recognizes the state of the object as static.

[0049] In the embodiment shown in Figure 6 and Figure 7 ​In the illustrated embodiment, according to the aforementioned step 330, when the two radars 20 perform the second radar detection in the stopped state, the at least one stopped state radar echo signal RX1' and RX2' still has most of the waveforms at the corresponding specific distances (indicated by P3 and P4, respectively), which represents that the two radars 20 can still detect the movement of the object in the stopped state, and thus the analysis control circuit 30 recognizes that the state of the object is dynamic.

[0050] In Figure 6 In the illustrated embodiment, according to the aforementioned step 340, after recognizing that the state of the object is dynamic, the analysis control circuit 30 further determines whether the at least one stopped state radar echo signal meets the predetermined characteristics. Assuming that the waveforms of the at least one stopped state radar echo signal RX1' and RX2' at the corresponding specific distances (indicated by P3, respectively) meet the characteristics of biological respiration, the analysis control circuit 30 determines that the object is a living being.

[0051] In Figure 7 In the illustrated embodiment, according to the aforementioned step 340, after recognizing that the state of the object is dynamic, the analysis control circuit 30 further determines whether the at least one stopped state radar echo signal meets the predetermined characteristics. Assuming that the waveforms of the at least one stopped state radar echo signal RX1' and RX2' at the corresponding specific distances (indicated by P4, respectively) meet the characteristics of a machine in operation, the analysis control circuit 30 determines that the object is a non-living being.

[0052] The present embodiment is illustrated by using the moving state radar echo signals RX1 and RX2 and the stopped state radar echo signals RX1' and RX2. In one embodiment, only one of the moving state radar echo signals RX1 and RX2 and one of the stopped state radar echo signals RX1' and RX2 are used to perform the aforementioned recognition and determination. In another embodiment, by using the moving state radar echo signals RX1 and RX2 and the stopped state radar echo signals RX1' and RX2 simultaneously, in addition to performing the aforementioned recognition and determination, the moving state radar echo signals RX1 and RX2 or the stopped state radar echo signals RX1' and RX2' can be cooperatively operated to further improve the accuracy and reliability of the recognition and determination and provide more spatial information, such as the direction of the object.

[0053] In step 340, the analysis control circuit 30 instructs the electronic device 100 to perform a corresponding action according to the state of the object. In more detail, when the state of the object is determined to be static, the analysis control circuit 30 instructs the electronic device 100 to perform a first action; when the state of the object is determined to be dynamic and biological, the analysis control circuit 30 instructs the electronic device 100 to perform a second action; when the state of the object is determined to be dynamic and non-biological, the analysis control circuit 30 instructs the electronic device 100 to perform a third action, wherein the first action to the third action at least includes two different actions.

[0054] In an embodiment in which the electronic device 100 is a floor cleaning robot and the functional device 40 is a dust suction device or a mop device, the first action can include controlling the functional device 40 to perform a cleaning action on the detected static object (e.g. a table leg), and then the electronic device 100 turns to travel. The second action can include controlling the functional device 40 to perform an obstacle avoidance operation on the detected dynamic biological object (e.g. a pet or a human leg). The third action can include controlling the functional device 40 to perform an obstacle avoidance operation on the detected dynamic non-biological object (e.g. a running electric fan).

[0055] In an embodiment in which the electronic device 100 is a rescue robot and the functional device 40 is a mechanical arm, the first action can include controlling the functional device 40 to clean the detected static object (e.g. broken furniture, wood, bricks at a disaster site). The second action can include controlling the functional device 40 to send food, water and first-aid supplies to the detected dynamic biological object (e.g. an injured person), and / or send a distress location information. The third action can include controlling the functional device 40 to perform an obstacle avoidance operation on the detected dynamic non-biological object (e.g. an unknown object that can be dangerous), and / or send a warning information.

[0056] In summary, the present application provides an object detection and object state recognition method and related electronic device. The radar 20 can perform a first radar detection in a moving state to detect an object, and stop moving after detecting the object, and then perform a second radar detection in a stopped state to recognize the state of the object.

[0057] The above descriptions are only the preferred embodiments of the present application, and any equivalent changes and modifications made according to the scope of claims of the present application should be covered by the present application.

Claims

1. A method for object detection and object state recognition, the method comprising: performing, by an electronic device in a moving state, a first radar detection, including: sequentially transmitting wireless signals at a first time point to a Nth time point to correspondingly obtain a first radar return signal to an Nth radar return signal in the moving state; and determining whether an object is detected based on at least one of the first radar return signal to the Nth radar return signal, wherein N is an integer greater than 1; and based on a determination that the object is detected, stopping the electronic device from moving to perform a second radar detection in a stopped state, including: sequentially transmitting wireless signals at a first time point to an Mth time point to correspondingly obtain a first radar return signal to an Mth radar return signal in the stopped state; and recognizing a state of the object based on at least one of the first radar return signal to the Mth radar return signal, wherein the state of the object includes one of static and dynamic, and M is an integer greater than 1.

2. The object detection and object state recognition method according to claim 1, wherein, recognizing the state of the object based on at least one of the first radar return signal to the Mth radar return signal further includes: corresponding to the first radar return signal to the Mth radar return signal, obtaining a first range profile data to an Mth range profile data in the stopped state; and recognizing the state of the object based on at least one of the first range profile data to an (M-1)th range profile data in the stopped state.

3. The object detection and object state recognition method according to claim 2, wherein, recognizing the state of the object based on at least one of the first radar return signal to the Mth radar return signal further includes: generating a stopped state difference degree based on the Mth range profile data and a reference range profile data, wherein the reference range profile data is related to at least one of the first range profile data to the (M-1)th range profile data in the stopped state; and when the stopped state difference degree is determined to be within a stopped state condition range, recognizing the state of the object as static, otherwise recognizing the state of the object as dynamic.

4. The method of claim 3, wherein: the reference range profile data is the (M-1)th range profile data, or an average of the (M-1-L)th range profile data to the (M-1)th range profile data; and L is an integer greater than 0 and less than M-1.

5. The object detection and object state recognition method of claim 1, wherein, recognizing the state of the object based on at least one of the first radar return signal to the Mth radar return signal further includes: corresponding to the first radar return signal to the Mth radar return signal, obtaining at least one of a first velocity profile data to an Mth velocity profile data in the stopped state; and recognizing the state of the object based on at least one of the first velocity profile data to the Mth velocity profile data in the stopped state.

6. The object detection and object state recognition method according to claim 1, wherein, determining whether the object is detected based on at least one of the first radar return signal to the Nth radar return signal further includes: corresponding to the first radar return signal to the Nth radar return signal, obtaining a first range profile data to an Nth range profile data in the moving state; and determining whether the object is detected based on at least one of the first to the Nth moving state radar range profile data.

7. The object detection and object state recognition method according to claim 6, wherein, determining whether the object is detected based on at least one of the first to the Nth moving state radar range profile data further comprises: generating a moving state difference degree based on the Nth moving state radar range profile data and a first reference moving state radar range profile data, wherein the first reference moving state radar range profile data is related to at least one of the first to a (N-1)th moving state radar range profile data; and when the moving state difference degree is determined to exceed a moving state condition range, determining that the object is detected.

8. The object detection and object state identification method of claim 7, wherein: the first reference moving state radar range profile data is the (N-1)th moving state radar range profile data, or an average of the (N-1-L)th to the (N-1)th moving state radar range profile data; and L is an integer greater than 0 and less than N-1.

9. The object detection and object state recognition method of claim 1, wherein, determining whether the object is detected based on at least one of the first to the Nth moving state radar range profile data further comprises: obtaining at least one of a first to an Nth moving state radar velocity data corresponding to the first to the Nth moving state radar echo signal; and determining whether the object is detected based on at least one of the first to the Nth moving state radar velocity data.

10. The object detection and object state recognition method of claim 1, wherein, when it is determined that the object is detected, the electronic device stops moving to perform the second radar detection in a stopped state, further comprising: when it is determined that the object is detected, calculating a distance between the electronic device and the object; and when it is determined that the distance between the electronic device and the object is less than a predetermined value, the electronic device stops moving to perform the second radar detection in a stopped state.

11. The object detection and object state recognition method of claim 1, wherein the object state recognition method further comprises: comprising: when the state of the object is identified to be dynamic based on at least one of the first to the Mth stopped state radar echo signal, determining whether at least one of the first to the Mth stopped state radar echo signal matches a predetermined characteristic; when at least one of the first to the Mth stopped state radar echo signal matches the predetermined characteristic, determining that the object is a living being; and when at least one of the first to the Mth stopped state radar echo signal does not match the predetermined characteristic, determining that the object is a non-living being.

12. The object detection and object state recognition method according to claim 11, further comprising: comprising: when it is determined that the state of the object is static, the electronic device performs a first action; when it is determined that the state of the object is dynamic and is the living being, the electronic device performs a second action; when it is determined that the state of the object is dynamic and is the non-living being, the electronic device performs a third action, wherein the first action to the third action comprises at least two different actions.

13. The object detection and object state recognition method of claim 1, wherein, determining whether the object is detected based on at least one of the first to the Nth moving state radar range profile data further comprises: corresponding to the first to the Nth moving state radar echo signals, a first to a Nth moving state radar range profile data is obtained, wherein the first to the Nth moving state radar range profile data respectively comprises a first to a Nth frame moving state radar range profile image; at least in a period of time, each current frame moving state radar range profile image is subtracted or divided by a previous frame moving state radar range profile image among the first to the Nth frame moving state radar range profile images to perform background elimination; and when the signals related to the object simultaneously appear in at least one frame among the first to the Nth frame moving state radar range profile images after performing the background elimination, it is determined that the object has been detected.

14. An electronic device capable of performing object detection and object state recognition, characterized in that, comprise: a movable body; a radar arranged on the movable body, configured to: perform a first radar detection in a moving state to sequentially emit wireless signals at a first to a Nth time point, and correspondingly obtain a first to a Nth moving state radar echo signal; and perform a second radar detection in a stopped state to sequentially emit wireless signals at a first to a Mth time point, and correspondingly obtain a first to a Mth stopped state radar echo signal; and an analysis control circuit, configured to: determine whether an object is detected according to at least one of the first to the Nth moving state radar echo signals; and identify a state of the object according to at least one of the first to the Mth stopped state radar echo signals; wherein: M and N are each an integer greater than 1; and the state of the object comprises one of static and dynamic.

15. The electronic device of claim 14, wherein the processor is further configured to: the analysis circuit is further configured to: corresponding to the first to the Mth stopped state radar echo signals, obtain a first to a Mth stopped state radar range profile data; generate a stopped state difference degree according to the Mth stopped state radar range profile data and a reference stopped state radar range profile data, wherein the reference stopped state radar range profile data is the (M-1)th stopped state radar range profile data, or an average of the (M-1-L)th to the (M-1)th stopped state radar range profile data, and L is an integer greater than 0 and less than M-1; and when the stopped state difference degree is determined to be within a stopped state condition range, identify the state of the object as static, otherwise identify the state of the object as dynamic.

16. The electronic device of claim 14, wherein the processor is further configured to: the analysis circuit is further configured to: corresponding to the first to the Nth moving state radar echo signals, obtain a first to a Nth moving state radar range profile data; generate a moving state difference degree according to the Nth moving state radar range profile data and a first reference moving state radar range profile data, wherein the reference moving state radar range profile data is the (N-1)th moving state radar range profile data, or an average of the (N-1-L)th to the (N-1)th moving state radar range profile data, and L is an integer greater than 0 and less than N-1; and when the moving state difference degree is determined to exceed a moving state condition range, determine that the object is detected.

17. The electronic device of claim 14, wherein the processor is further configured to: the analysis circuit is further configured to: calculating a distance between the electronic device and the object when it is determined that the object is detected; and indicating the electronic device to stop moving to perform the second radar detection in a stopped state when the distance between the electronic device and the object is determined to be less than a predetermined value.

18. The electronic device of claim 14, wherein the processor is further configured to: The analysis circuit is further arranged to: determine whether at least one of the first to the Mth stopped state radar return signals matches a predetermined characteristic when the state of the object is identified to be dynamic based on at least one of the first to the Mth stopped state radar return signals; determine that the object is a living being when at least one of the first to the Mth stopped state radar return signals matches the predetermined characteristic; determine that the object is a non-living being when at least one of the first to the Mth stopped state radar return signals does not match the predetermined characteristic; perform a first action when the state of the object is determined to be static; perform a second action when the state of the object is determined to be dynamic and the living being; and perform a third action when the state of the object is determined to be dynamic and the non-living being, wherein the first to the third actions comprise at least two different actions.

19. The electronic device of claim 14, wherein the processor is further configured to: The analysis circuit is further arranged to: obtain a first to an Nth moving state radar range profile data corresponding to the first to the Nth moving state radar return signals, respectively comprising a first to an Nth frame of moving state radar range profile; subtract or divide each current frame of moving state radar range profile from a previous frame of moving state radar range profile in the first to the Nth frame of moving state radar range profile to perform background cancellation at least for a period of time; and determine that the object is detected when a signal associated with the object appears in at least one of the first to the Nth frame of moving state radar range profile after performing background cancellation. The analysis circuit is further arranged to:

20. The electronic device of claim 14, wherein the processor is further configured to: obtain a first to an Nth moving state radar range profile data corresponding to the first to the Nth moving state radar return signals; determine whether the object is detected based on at least one of the first to the Nth moving state radar range profile data; obtain at least one of a first to an Mth stopped state radar velocity data corresponding to the first to the Mth stopped state radar return signals; and identify the state of the object based on at least one of the first to the Mth stopped state radar velocity data. ​ ​

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