In-vehicle intelligent autonomous disinfection spraying device and method based on millimeter wave radar

Abstract

The invention discloses an in-vehicle intelligent autonomous disinfection spraying device and method based on a millimeter wave radar, and belongs to the technical field of intelligent monitoring and automatic disinfection. The invention aims to solve the problem of intelligent and autonomous disinfection in closed spaces such as private cars and taxies. The system is technically characterized by comprising an intelligent monitoring module based on the millimeter-wave radar, a spraying module and a main control system. Breathing and heartbeat monitoring of a person is achieved through distributed millimeter wave radars arranged at a co-driver position and the back of a front row of seats so as to determine the occupation condition of the corresponding position, and after a passenger gets off, a master control system automatically sends reminding information to a mobile phone of a driver or the master control system through an Internet of Things assembly in a monitoring module. And determining whether to spray and disinfect the space in the vehicle or not. The intelligent monitoring module and the spraying module have the advantages of being convenient to arrange, flexible and autonomous, the monitoring module has heartbeat / breathing monitoring performance, real-time monitoring can be achieved on the premise that privacy of passengers is protected, and the device provides a safe environment for travel of the passengers and has high application and popularization value.

Description

TECHNICAL FIELD

[0001] The patent belongs to the technical field of intelligent monitoring and automatic disinfection, and particularly relates to an in-vehicle intelligent disinfection spraying device and method based on a millimeter wave radar. BACKGROUND

[0003] The problem of intelligent autonomous disinfection in a vehicle interior is extremely important, such as the problem of autonomous disinfection of a taxi, which is related to public health safety. In order to ensure the health and safety of passengers, the problem of car disinfection will become an indispensable part of daily life.

[0004] A lot of research has been done on the existing technology for disinfection in a vehicle cabin. For example, the existing technology with the document number CN115869432A provides a vehicle cabin disinfection device, method and vehicle. In the vehicle cabin disinfection device, when the charging module is connected with the external power supply and the first switch module is turned on, the external power supply supplies power to the disinfection module through the charging module to turn on the disinfection module. When the second switch module is turned on, the vehicle-mounted power supply module supplies power to the disinfection module to turn on the disinfection module. It provides two power supply modes for the disinfection module, improves the reliability of vehicle disinfection, on the one hand, the charging and disinfection of the vehicle can be coordinated to reasonably utilize the charging time of the vehicle, at the same time, the consumption of the power of the vehicle storage battery is avoided to prevent the vehicle from breaking down or being unable to start, thereby improving the safety and reliability of the vehicle; on the other hand, the disinfection module can be powered by the vehicle-mounted power supply module when the vehicle is not charging, so that the disinfection demand can be met at any time and anywhere, and the flexibility and reliability of disinfection are improved. However, it does not realize the function of autonomous monitoring in the vehicle cabin and then disinfecting, especially the problem of automatic disinfection in a closed space such as a private car or a taxi is not solved.

[0005] PATENT CONTENT

[0006] The technical problem to be solved by the present application is:

[0007] The purpose of the present application is to provide an in-vehicle intelligent autonomous disinfection spraying device and method based on a millimeter wave radar, so as to realize intelligent autonomous disinfection in a closed space such as a private car or a taxi, thereby solving the problems of lack of disinfection spraying device in a closed space such as a private car or a taxi, and time-consuming and labor-consuming manual disinfection.

[0008] The technical solution adopted by the present application to solve the above technical problems is as follows:

[0009] This invention provides an intelligent autonomous disinfection spray device for vehicles based on millimeter-wave radar, which provides real-time reminders to the driver based on passenger riding conditions. It is small in size, lightweight, and low in cost, effectively overcoming the drawbacks of traditional disinfection methods. Simultaneously, the 80GHz millimeter-wave radar in the monitoring module has millimeter resolution, effectively protecting passenger privacy. The intelligent autonomous disinfection spray device comprises three parts: a main control system (i.e., a display control terminal), a monitoring module, and a disinfection module; the main control system, i.e., the display control terminal, is as follows: Figure 1 and 2 As shown, the front panel features three yellow LED indicator lights, one red LED warning light, monitoring start / stop buttons, disinfection start / stop buttons, and an automatic execution button. The back panel and top panel are solar panels, providing power to the main control terminal. Inside the display control terminal are an MCU microcontroller, a voice broadcast component, and an IoT module, all mounted on a PCB board. The IoT module in the display control terminal enables wireless communication with the in-vehicle monitoring module and the disinfection module. After receiving information from the IoT module, the MCU microcontroller processes it to determine if any targets exist in the three monitoring modules and whether all targets have left. This information is used to send instructions to the voice broadcast module to remind the driver to disinfect, and also to send instructions to the disinfection module via the IoT module. In automatic mode, the MCU autonomously processes monitoring instructions, provides reminders, and performs disinfection. Once it is determined that all human targets monitored by the three modules have left, the disinfection module starts and stops after 3 minutes, without waiting for driver instructions. The monitoring module includes three sets arranged in different locations, such as... Figures 3-5 As shown, its internal components include a millimeter-wave radar module, an infrared temperature measurement component, a voice broadcast component, an IoT component, and an MCU microcontroller. The millimeter-wave radar is a low-power 80GHz module with a detection angle of ±45° azimuth and ±45° elevation, and a detection range of 1 meter. The infrared temperature measurement component is an uncooled temperature measurement module with a measurement distance of 0.15 meters. The MCU microcontroller processes the millimeter-wave radar echo to obtain target distance, velocity / Doppler change information, and processes the temperature information obtained by the infrared temperature measurement component. The IoT module transmits the target presence / absence information output by the MCU microcontroller to the display control terminal. The millimeter-wave radar, IoT module, MCU microcontroller, and voice broadcast component in the monitoring module are all arranged on a PCB board and powered by a battery. The infrared temperature measurement module is a raised device. The disinfection module includes three sets arranged in different positions, such as... Figure 6As shown, the internal components include MCU single-chip microcomputer, Internet of Things module, small spray pump, disinfectant container; the Internet of Things module is used for receiving disinfection instruction signals sent by the display control end and transmitting them to the MCU single-chip microcomputer, after the MCU processes the instruction signals, the small spray pump is started, and the spray pump performs disinfection work through the catheter to draw disinfectant in the disinfectant container; the single-chip microcomputer and the Internet of Things module are arranged on the PCB and connected with the small spray pump through a cable and powered by a battery; the disinfectant spray pump nozzle is a convex device, which is convenient to install; the disinfectant container can be externally arranged.

[0010] Further, the Internet of Things component adopts a CC2538 device, which is convenient for efficient and stable interconnection in a local small space and is not easy to interfere with other vehicles.

[0011] Further, the voice broadcast component can set different prompt sounds or alarm sounds, such as the monitoring module broadcasting: please measure the wrist temperature; the main control system broadcasting: suggest starting disinfection, disinfection receiving, etc.

[0012] Further, the detection priority of the intelligent monitoring module is: front passenger > right rear > left rear, and the corresponding disinfection module sequence is synchronous start and synchronous end.

[0013] The application also provides a millimeter wave radar-based intelligent autonomous disinfection spraying method in a vehicle, as described in the specification.

[0014] The application has the following beneficial technical effects: coping with the disinfection needs of private cars, taxis and other enclosed spaces, monitoring the personnel in the vehicle by using a millimeter wave radar and an infrared temperature measurement component, and prompting the driver to disinfect within a specified time, disinfecting in time, and reducing the risk of virus transmission caused by people staying in an enclosed space. By installing spray heads at different positions, the disinfection area is larger and more comprehensive. In particular, the spray head is placed under the seat, which can comprehensively disinfect the hidden areas that cannot be covered by conventional disinfection methods but are extremely prone to virus breeding. The millimeter wave radar monitoring module used protects the privacy of passengers compared with conventional camera devices.

[0015] The application solves the problems of lack of disinfection spraying device in closed space such as taxi and private car, and time and labor consuming of manual disinfection. The distributed millimeter wave radar arranged at the co-driver position and the back of the front seat realizes the monitoring of the respiration and heartbeat of the personnel to determine the occupancy of the corresponding position. After the passenger gets off, the master control system sends a reminder information to the driver's mobile phone or the master control system through the Internet of Things component in the monitoring module to determine whether to spray disinfection in the vehicle space. The intelligent monitoring module and the spraying module used in the application have the characteristics of convenient arrangement and flexible autonomy, and the monitoring module has the performance of heartbeat / respiration monitoring, which can realize real-time monitoring on the premise of protecting the privacy of passengers. The device provides a safe environment for passenger travel, and has great application and promotion value. BRIEF DESCRIPTION OF DRAWINGS

[0016] Figure 1 is a front view of a display control terminal; Figure 2 is a back / side view of a display control terminal; Figure 3 is a top view of the arrangement of a monitoring module; Figure 4 is a side view of the arrangement of a monitoring module / spraying module; Figure 5 is a structure diagram of a monitoring module; Figure 6 is a structure diagram of a disinfection module, Figure 7 is a work flow diagram of an intelligent disinfection spraying device in a vehicle. DETAILED DESCRIPTION

[0017] The following will be described in combination with Figures 1 to 7 The present embodiment is described as follows:

[0018] The intelligent autonomous disinfection spraying device in a vehicle based on millimeter wave radar described in the present embodiment comprises three parts of a master control system (i.e. a display control terminal), a monitoring module and a disinfection module.

[0019] The main control system, namely the display control terminal, is provided with three yellow LED display lamps, a red LED warning lamp, a monitoring start / end button, a disinfection start / end button and an automatic execution button on the front panel, and the back panel and the upper end panel are solar panels to provide power support for the display control terminal; the display control terminal is internally provided with an MCU single-chip microcomputer, a voice broadcast component and an Internet of Things module, all of which are installed on a PCB; the Internet of Things module in the display control terminal is used to realize wireless communication with the in-vehicle monitoring module and the disinfection module; the MCU single-chip microcomputer in the display control terminal processes the information received by the Internet of Things module, analyzes whether there are targets in the three monitoring modules and whether the targets have all left, so as to send instructions to the voice broadcast module to remind the driver whether to disinfect, and send instructions to the disinfection module through the Internet of Things module; in the automatic mode, the MCU executes the monitoring instruction processing, reminding and disinfection functions independently, and once it is determined that the human targets monitored by the three monitoring modules have all left, the disinfection module is started and stopped after 3 minutes, without waiting for the driver's instruction.

[0020] The monitoring module internally comprises a millimeter wave radar module, an infrared temperature measurement component, a voice broadcast component, an Internet of Things component and an MCU single-chip microcomputer; the millimeter wave radar is a low-power 80GHz module with a detection angle of ±45° in the azimuth direction and ±45° in the pitch direction and a detection range of 1 meter; the infrared temperature measurement component is a non-refrigeration temperature measurement module with a temperature measurement distance of 0.15 meters; the MCU single-chip microcomputer processes the millimeter wave radar echo to obtain target distance and speed / Doppler change information, and processes the temperature information obtained by the infrared temperature measurement component; the Internet of Things module transmits the target information output by the MCU single-chip microcomputer to the display control terminal; the millimeter wave radar, the Internet of Things module, the MCU single-chip microcomputer and the voice broadcast component in the monitoring module are all arranged on a PCB and powered by a battery; the infrared temperature measurement module is a convex device;

[0021] The disinfection module internally comprises an MCU single-chip microcomputer, an Internet of Things module, a small spray pump and a disinfectant container; the Internet of Things module is used to receive the disinfection instruction signal sent by the display control terminal and transmit it to the MCU single-chip microcomputer, which processes the instruction signal and then starts the small spray pump to perform disinfection work through the catheter to draw the disinfectant in the disinfectant container; the single-chip microcomputer and the Internet of Things module are arranged on a PCB and connected with the small spray pump by a cable and powered by a battery; the disinfection spray pump nozzle is a convex device for easy installation; the disinfectant container can be externally placed.

[0022] The IoT component uses a CC2538 device; the voice broadcast component is equipped with different prompts or alarms; the main control system broadcasts a suggestion to start disinfection or receive disinfection; the detection priority of the monitoring module is: front passenger seat > right rear seat > left rear seat, corresponding to the disinfection module sequence of synchronous start and synchronous end.

[0023] The in-vehicle intelligent autonomous disinfection spraying device based on millimeter-wave radar consists of three main parts, each with an Internet of Things (IoT) module, as each part needs to communicate with the others via IoT. All the IoT modules in each part can perform IoT communication functions.

[0024] The in-vehicle intelligent autonomous disinfection spraying method based on millimeter-wave radar described in this embodiment includes the following steps:

[0025] Step 1: Turn on the monitoring button on the main control system panel in the driver's position (e.g., Figure 1 By placing three monitoring modules at the front passenger seat and the back of the front seats, monitoring of the front passenger seat and the two rear seats begins (e.g., ...). Figure 2 (), to determine whether a human target is present and to start the internal timer of the main control system;

[0026] Alternatively, you can activate the automatic operation button, which will cycle through steps two through four.

[0027] Step 2: If any monitoring module detects a human target, it issues an alert (if no human target is detected, no alert is issued). The monitoring module then activates its internal infrared temperature measurement component and prompts the person to take their temperature three times consecutively. Simultaneously, the built-in IoT component transmits the person's presence information and temperature data to the main control system. Lights 1 / 2 / 3 corresponding to the monitoring module on the main control system's operation panel illuminate. If the temperature data exceeds the normal range, the monitoring module issues an alarm, and the main control system's warning light illuminates.

[0028] Step 3: If none of the three monitoring modules detect a human target, or if any monitoring module detects a human target and the timer exceeds the set time (usually 2 hours), the main control system will turn off the timer, the warning light on the control panel will light up, and a disinfection reminder message will be issued. The driver will then decide whether to start the spray disinfection process.

[0029] Step 4: After receiving the command from the main control system, the spray module will start spraying and the disinfection process will last for 5 minutes. After disinfection is completed, it will send an end message back to the main control system and issue a disinfection end reminder. The disinfection process will then end, and all lights on the control panel will turn off. Alternatively, the driver can manually turn off the disinfection button to stop the disinfection process.

[0030] Suitable vehicles include taxis, private cars, and / or other small enclosed spaces, vehicles that can cause close contact of multiple people.

[0031] The main control system of the driver position in step one is placed in the front left of the driver's seat, and the three monitoring modules are placed in the co-driver position, the back of the front seat, and the specific positions can be flexibly adjusted according to the needs. Figure 1

[0032] The method for the monitoring module in step one to determine whether there is a human target is to monitor whether the target has breathing, heartbeat, and limb micro-Doppler variation information to determine the occupancy of the corresponding position, so as to exclude the problem of misjudgment caused by placing other objects on the seat.

[0033] In step one, the automatic operation button is pressed, that is, the functions of starting monitoring, information transmission, reminding and alarming, and disinfection reminding are cyclically executed, and the automatic button is pressed again to randomly cancel.

[0034] In step two, the standard for the monitoring module to detect a human target is that the target breathing frequency is within the normal range, or the breathing frequency is within the normal range, or the Doppler value change of the limb movement within 1 minute is greater than the threshold value.

[0035] After any monitoring module in step two detects a human target, the internal voice reminding device of the monitoring module issues a voice reminding information to remind the passenger to take a temperature, and then starts the infrared temperature measurement component inside the monitoring module and prompts the person to take a temperature for three times in succession, takes the average value of the higher two values, and transmits the person's existence information and temperature measurement data to the main control system.

[0036] The infrared temperature measurement component inside the monitoring module in step two measures the temperature for three times (wrist temperature measurement), and after three temperature measurements, the infrared temperature measurement component is not started again within a working period (2 hours) (i.e., before disinfection).

[0037] The person's existence information and temperature measurement data measured by the monitoring module in step two are transmitted to the main control system, which is realized through the built-in Internet of Things component of the monitoring module. The Internet of Things component realizes information transmission between the main control system and each module.

[0038] After the main control system receives the information sent by the monitoring module in step two, the 1 / 2 / 3 corresponding to the monitoring module on the operation panel lights up. If the temperature data of any monitoring module is compared with the normal threshold range, and if it exceeds the normal range, the monitoring module issues an alarm reminder, and the warning light of the main control system lights up.

[0039] ​The monitoring module in the three positions in step three does not monitor the human target, or any monitoring module monitors the human target and the timer exceeds the set time (usually 2 hours), and the time when the main control system receives the target existence information sent by each monitoring module for the first time is the start time of the human target existence;

[0040] In step four, the driver at the driving position decides whether to start the spray disinfection process. After the driver presses the button on the control console, the main control console transmits command information to the disinfection spray module through the Internet of Things component, and the single-chip microcomputer in the module controls the spray head to spray and disinfect, with a continuous spraying time of 3 minutes.

[0041] The return of the main control system in step four after disinfection is the end information sent by the disinfection module through the Internet of Things component. After the main control system receives the information, it sends a disinfection end reminder, and the disinfection process is ended. The operation panel is not lit.

[0042] The working interval of the three monitoring modules is 1 minute. In order to avoid beam interference, the three monitoring modules work in turn. The radar selected in the three monitoring modules is an 80GHz millimeter wave radar (parameters: carrier frequency 80GHz, bandwidth 10GHz, ranging error less than 2mm), and the field of view angle is ±45°.

[0043] The main control system module judges the characteristic information such as heart rate, micro-motion distance and micro-Doppler sent by the monitoring module. Normal heart rate is 60-100 times / minute, normal respiratory rate is 16-20 times / minute, and wrist temperature is 34.1-37.2℃.

[0044] Working process:

[0045] The driver starts the monitoring start button on the main control system panel, the main control system starts the internal timer, and sends the start instruction ciphertext to the three monitoring modules distributed in the vehicle through the Internet of Things component;

[0046] After receiving the instruction ciphertext sent by the master control system, the three monitoring modules start their respective millimeter wave radar modules, which detect the respective monitoring areas. If there is Doppler information (such as heart rate, breathing rate, etc.) of the target object, the infrared temperature measurement component is started, and at the same time, the voice prompting component in the monitoring module starts to work, issuing a voice prompt for temperature measurement three times, i.e., the passenger needs to measure the temperature three times. To avoid mutual interference of the working frequency bands, the three monitoring modules adopt a 1-minute monitoring mode, i.e., A works, BC pauses, B works, CA pauses; until the three monitoring modules all obtain their respective three temperature measurement data, the temperature measurement module stops working, and the millimeter wave radar continues to work in turn; the average value of the two higher values is calculated, and the three monitoring modules respectively transmit the personnel presence information and temperature measurement data to the master control system through the built-in Internet of Things component; the master control system receives the temperature measurement data transmitted by the monitoring module and analyzes it. If the temperature measured by a certain module is > 37.2℃, the corresponding control panel light is turned on, and an alarm is initiated; the voice prompts the driver that the passenger's temperature is too high, and the driver can turn off the monitoring module and inform the passenger to take measures.

[0047] If the three radars do not detect personnel presence information for a period of time, and the master control system timer continues for 2 hours, the warning light on the master control system is turned on, and the voice broadcast prompts the driver to start the disinfection mode; the driver presses the disinfection start button on the master control panel, and the master control system sends an instruction ciphertext to the disinfection module through the Internet of Things component. After receiving the instruction ciphertext sent by the master control system, the distributed in-vehicle disinfection modules analyze the instructions and start the disinfection spray component. The disinfection module is stopped after 3 minutes, without waiting for the driver's instruction; after the disinfection module is stopped, it sends disinfection completion information to the master control system through the built-in Internet of Things component, and the master control system prompts the driver through the built-in voice broadcast that the disinfection has been completed.

[0048] The driver can also start the automatic work button on the control panel, which gradually executes the monitoring and disinfection process.

[0049] It should be noted that generally, a person's normal wrist temperature is 34.1℃-37.2℃; a person's normal heart rate is 60-100 times / minute; and the normal breathing rate is 16-20 times / minute. The millimeter wave radar can detect the small Doppler corresponding to the fluctuation change of the chest and heart, i.e., it is determined to exist a target. Under normal circumstances, the chest change range of a stationary adult is 3-12 mm; in addition, if the number of Doppler frequency changes in the limb area within 1 minute exceeds the threshold value (set to 1.5 Hz) for more than 3 times, it is determined that a human body exists.

Claims

1. A millimeter wave radar-based intelligent autonomous disinfection spraying device in a vehicle, characterized in that, The intelligent autonomous disinfection spraying device comprises a main control system, a monitoring module and a disinfection module; The main control system, namely the display control terminal, is provided with three yellow LED display lamps, one red LED warning lamp, a monitoring start / stop button, a disinfection start / stop button and an automatic execution button on the front panel. The back panel and the upper end panel are solar panels, which provide power support for the display control terminal. The display control terminal is internally provided with an MCU single-chip microcomputer, a voice broadcast component and an Internet of Things module, all of which are installed on a PCB. The Internet of Things module in the display control terminal is used to realize wireless communication with the in-vehicle monitoring module and the disinfection module. After receiving the information received by the Internet of Things module, the MCU single-chip microcomputer in the display control terminal processes the information to determine whether there are targets in the three monitoring modules and whether the targets have all left, so as to send instructions to the voice broadcast module to remind the driver whether to disinfect and send instructions to the disinfection module through the Internet of Things module. In the automatic mode, the MCU autonomously executes the monitoring instruction processing, reminding and disinfection functions. Once it is determined that the human targets monitored by the three monitoring modules have all left, the disinfection module is started and stopped after 3 minutes, without waiting for the driver's instructions. The monitoring module comprises a millimeter wave radar module, an infrared temperature measurement component, a voice broadcast component, an Internet of Things component and an MCU single-chip microcomputer. The millimeter wave radar is a low-power 80GHz module with a detection angle of ±45° in the azimuth direction and ±45° in the elevation direction and a detection range of 1 meter. The infrared temperature measurement component is a non-refrigerated temperature measurement module with a temperature measurement distance of 0.15 meters. The MCU single-chip microcomputer processes the millimeter wave radar echo to obtain target distance and speed / Doppler change information and processes the temperature information obtained by the infrared temperature measurement component. The Internet of Things module transmits the target information output by the MCU single-chip microcomputer to the display control terminal. The millimeter wave radar, the Internet of Things module, the MCU single-chip microcomputer and the voice broadcast component in the monitoring module are arranged on a PCB and powered by a battery. The infrared temperature measurement component is a convex device. The disinfection module comprises an MCU single-chip microcomputer, an Internet of Things module, a small spray pump and a disinfectant container. The Internet of Things module is used to receive disinfection instruction signals sent by the display control terminal and transmit them to the MCU single-chip microcomputer. After processing the instruction signals, the MCU starts the small spray pump, which performs disinfection work through a conduit connected to the disinfectant container. The single-chip microcomputer and the Internet of Things module are arranged on a PCB and connected to the small spray pump by a cable and powered by a battery. The disinfection spray pump nozzle is a convex device for easy installation. The disinfectant container can be external.

2. The intelligent autonomous disinfectant spraying device in the vehicle based on millimeter wave radar according to claim 1, characterized in that, The Internet of Things component uses a CC2538 device. The voice broadcast component is provided with different prompt sounds or alarm sounds. The main control system broadcasts content suggesting to start disinfection or disinfection reception. The detection priority of the monitoring module is: front passenger > right rear > left rear, and the corresponding disinfection module sequence is synchronous start and synchronous end.

3. A method for intelligent autonomous disinfection spraying in a vehicle based on millimeter wave radar, characterized in that, The method comprises the following steps: Step one, turn on the monitoring button on the main control system panel of the driver's position, start monitoring the co-driver position and the two backseat positions by the three monitoring modules arranged in the co-driver position and the back of the front seats, to determine whether there is a human target, and start the internal timer of the main control system; Or start the automatic work button, that is, execute steps two to four in a cycle; Step two, if any monitoring module detects a human target, an alert message is sent, the internal infrared temperature measurement component of the monitoring module is started, and the personnel are prompted to take temperature measurements for three times in a row. At the same time, the personnel information and temperature data are transmitted to the main control system using the built-in Internet of Things component. The corresponding monitoring module lights 1 / 2 / 3 on the main control system operation panel are on. If the temperature data exceeds the normal range, the monitoring module sends an alarm reminder, and the main control system warning light is on. Step three, if the monitoring modules of the three positions do not monitor a human target, or any monitoring module monitors a human target and the timer exceeds the set time, the main control system turns off the timer, the warning light on the operation panel is on, and a disinfection reminder message is sent. The driver decides whether to start the spray disinfection process. Step four, after receiving the command of the main control system, the spray head of the spray module works, the spray disinfection process lasts for 5 minutes, and the main control system sends a disinfection end reminder after receiving the end information from the spray module. The disinfection process ends, and the operation panel lights are all off. The driver can also manually turn off the disinfection button to stop the disinfection process.

4. The intelligent autonomous disinfectant spraying method in the vehicle based on the millimeter wave radar according to claim 3, characterized in that, The applicable vehicles include taxis, private cars, and / or other small enclosed spaces that can easily lead to close contact between people.

5. The intelligent autonomous disinfection spraying method in the vehicle based on the millimeter wave radar according to claim 3 or 4, characterized in that, The main control system of the driver's position in step one is placed in the front left of the driver's seat, and the three monitoring modules are placed in the co-driver position and the back of the front seats. The specific positions can be flexibly adjusted according to requirements. In step one, the method for the monitoring module to determine whether there is a human target is to monitor whether the target is breathing, has a heartbeat, and has limb micro-Doppler variation information to determine the occupancy of the corresponding position, thereby excluding the problem of misjudgment caused by placing other objects on the seat. In step one, pressing the automatic work button means that the functions of starting monitoring, information transmission, alarm, disinfection reminder, etc. are executed in a cycle. Pressing the automatic button again randomly cancels the functions.

6. The intelligent autonomous disinfectant spraying method in the vehicle based on the millimeter wave radar according to claim 5, characterized in that, In step two, the standard for the monitoring module to detect a human target is that the target's breathing frequency is within the normal range, or the breathing frequency is within the normal range, or the Doppler value of the limb movement changes by more than a threshold value within 1 minute. In step two, after any monitoring module detects a human target, the internal voice reminder device of the monitoring module sends a voice reminder message to remind the passenger to take temperature measurements. Then, the internal infrared temperature measurement component of the monitoring module is started, and the personnel are prompted to take temperature measurements for three times in a row. The average value of the higher two values is calculated, and the personnel information and temperature data are transmitted to the main control system. In step two, the internal infrared temperature measurement component of the monitoring module takes temperature measurements for three times in a row. After the three temperature measurements, the infrared temperature measurement component is not started again within one working cycle.

7. The method of claim 6, wherein the method further comprises: determining a distance between the vehicle and the object based on the radar signal; and determining a speed of the object based on the radar signal. The personnel presence information and temperature data measured by the monitoring module in step two are transmitted to the main control system, and the information transmission between the main control system and each module is realized through the built-in Internet of Things component of the monitoring module. After receiving the information sent by the monitoring module, the corresponding monitoring module on the operation panel is lit up, and if the temperature data of any monitoring module exceeds the normal threshold range, the monitoring module will send an alarm reminder, and the warning light of the main control system will be lit up.

8. The intelligent autonomous disinfectant spraying method in the vehicle based on the millimeter wave radar according to claim 7, characterized in that, If the monitoring module in step three does not monitor the human target in the three positions, or any monitoring module monitors the human target and the timer exceeds the set time, the time when the human target is monitored is started from the time when the main control system receives the target presence information sent by each monitoring module for the first time.

9. The intelligent autonomous disinfectant spraying method in the vehicle based on the millimeter wave radar according to claim 9, characterized in that, In step four, the driver at the driving position decides whether to start the spray disinfection process. After the driver presses the button on the control console, the main control console transmits command information to the disinfection spray module through the Internet of Things component, and the single-chip microcomputer in the module controls the spray head to perform spray disinfection, with a continuous spray time of 3 minutes. 10.The method of claim 1, wherein the method further comprises: determining a distance between the vehicle and the object based on the reflected signal; and determining a speed of the object based on the reflected signal. After the disinfection is completed, the return information to the main control system is sent by the Internet of Things component in the disinfection module. After receiving the information, the main control system sends a disinfection completion reminder, and the disinfection process is completed. The operation panel is not lit up. The working interval of the three monitoring modules is 1 minute. To avoid beam interference, they work in turn. The radar selected in the three monitoring modules is an 80GHz millimeter wave radar, and the field of view angle is ±45°. The main control system module judges the characteristic information such as heart rate, micro-motion distance, and micro-Doppler sent by the monitoring module. Normal heart rate is 60-100 times per minute, normal respiratory rate is 16-20 times per minute, and wrist temperature is 34.1-37.2℃.

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