Interphone remote control system and method based on multi-modal space-time fusion

Abstract

The interphone remote control system and method based on multi-mode time-space fusion have the advantages of being capable of sensing whether equipment is carried by a person or beside the equipment or not and pausing voice communication when the equipment is not carried by the person, can achieve a communication function in a complex scene, and break through the defects that traditional equipment cannot be positioned and cannot be used for communication in a complex scene. Or only the relative distance can be sensed, and specific space area judgment cannot be performed, multi-scene advanced application is realized, and the problem that scene communication cannot be performed according to services is solved. Meanwhile, equipment energy waste caused by invalid communication and invalid broadcast is avoided, and the overall endurance time of equipment is prolonged.

Description

Technical Field

[0001] This invention relates to the field of intelligent monitoring equipment technology, and in particular to a method for a walkie-talkie remote control system based on multimodal spatiotemporal fusion. Background Technology

[0002] Currently, traditional voice communication devices such as walkie-talkies primarily rely on establishing and connecting wireless frequency bands for communication. Their functional design is relatively basic, typically lacking high-precision sensing capabilities regarding the device's own location and the user's status. Most existing walkie-talkies cannot achieve accurate positioning, or can only estimate the approximate relative distance between devices through simple signal strength indicators, failing to accurately determine the specific spatial area where the device is located or whether it is within a preset effective communication range. This results in a lack of spatial contextual basis for communication initiation and reception.

[0003] Furthermore, traditional walkie-talkies typically transmit voice messages or make calls based on predetermined frequency bands or channels, with all access devices receiving the same content. The communication process lacks intelligent integration with specific business scenarios. This model makes it difficult to dynamically adjust communication strategies based on the actual environment, movement status, or presence of personnel, easily leading to information overload or irrelevant broadcasts. This not only affects efficiency but also limits its application potential in diverse and intelligent scenarios.

[0004] Of particular note is the lack of effective detection mechanisms in existing devices to determine whether they are actually being carried by personnel or whether anyone is nearby. This means that even when the device is unattended or unmanned, it may continue to receive or initiate communications. This not only leads to invalid communication consuming channel resources but also results in unnecessary energy consumption due to continuous operation, shortening the overall battery life of the device. This is especially disadvantageous in applications requiring long standby times or battery power.

[0005] Therefore, it is evident that whether a remote control system and method for walkie-talkies can be provided that integrates multi-source sensing information, intelligently judges the status and location of devices, and dynamically manages communication permissions based on the differences in existing technologies has become a technical problem that urgently needs to be solved by those skilled in the art. Summary of the Invention

[0006] To address the shortcomings of the aforementioned technologies, this invention provides a remote control system and method for walkie-talkies based on multimodal spatiotemporal fusion. This system has the advantages of sensing whether the device is being carried or whether someone is near it, and pausing voice communication when the device is unattended. It enables communication in complex scenarios, overcoming the limitations of traditional devices that cannot locate themselves or can only sense relative distance without determining specific spatial areas. This allows for advanced multi-scenario applications and solves the problem of not being able to perform scenario-based communication according to business needs. Simultaneously, it avoids wasting energy through invalid communication and broadcasts, improving the overall battery life of the device. The specific technical solution is as follows:

[0007] A method for remote control of walkie-talkies based on multimodal spatiotemporal fusion includes the following steps:

[0008] Step 1: The radar gateway transceiver receives the broadcast signal from the walkie-talkie. Based on the strength and content of the broadcast signal, it determines whether the walkie-talkie's location is within the radar transceiver's detection range.

[0009] Step 2: If the walkie-talkie is within the detection range of the radar transceiver, the radar transceiver performs target detection and point cloud establishment, and the radar gateway transceiver determines whether the view angle information of the target detected by the radar is consistent with the view angle information in the broadcast signal emitted by the walkie-talkie.

[0010] Step 3: If the viewpoint information of the radar-detected target is consistent with the viewpoint information in the broadcast signal emitted by the walkie-talkie, determine the state of the target corresponding to the walkie-talkie. For targets in an active state, determine the target attributes through point cloud gait; for targets in a stationary state, determine the target attributes through vital signs.

[0011] Step 4: The gateway pushes information to the walkie-talkie based on the determined target attributes, and the walkie-talkie starts working based on the instructions contained in the received information.

[0012] Furthermore, in step 3, the state of the target corresponding to the walkie-talkie is determined using Doppler radar to determine whether the target is active or in a stable state.

[0013] Furthermore, the method of determining target attributes through point cloud gait in the active state includes the following steps:

[0014] Step 31: Obtain a set of point clouds that match the viewpoint information of the radar-detected target at a certain moment and the viewpoint information in the broadcast signal emitted by the walkie-talkie, and perform constant false alarm rate (CFAR) removal on the point cloud set to remove discrete points.

[0015] Step 32: Obtain the point cloud set sequence within a certain time period, and the radar cross section of the point cloud within the time period;

[0016] Step 33: Calculate the velocity stability index based on the average and standard deviation of the point cloud velocity over a certain period of time; calculate the volume stability index based on the average point value and standard deviation of the point cloud over a certain period of time; and calculate the radar cross section stability index based on the average and standard deviation of the radar cross section of the point cloud over a certain period of time.

[0017] Step 34: Take a weighted average of the velocity stability index, volume stability index and radar cross section stability index to obtain the comprehensive stability index. Compare the comprehensive stability index with the preset value. If the comprehensive stability index is greater than the preset value, determine that the target corresponding to the point cloud is a moving mechanical object.

[0018] Furthermore, in step 31, the point cloud set elements include the three-dimensional point space coordinates and Doppler velocity values ​​of the point cloud.

[0019] Furthermore, the method for determining target attributes through point cloud gait in a steady-state walkie-talkie is as follows: detect the breathing signal of the target in a steady-state state, and when the breathing signal is detected, perform temporal signal feature mode matching of the breathing signal. If it matches the characteristics of human breathing waveform, it is determined to be manually carried.

[0020] Furthermore, target attributes include carrying attributes, spatial region, and movement trajectory.

[0021] Furthermore, in step 4, after the walkie-talkie is started, its working functions include talking to the other person, switching communication frequency bands, or receiving and broadcasting voice messages.

[0022] This invention also provides a walkie-talkie remote control system based on multimodal spatiotemporal fusion, comprising: a signal matching and target status judgment module, an active target attribute judgment module, a stable target attribute judgment module, and an information push module. The signal matching and target status judgment module is connected to the active target attribute judgment module and the stable target attribute judgment module, respectively. The active target attribute judgment module and the stable target attribute judgment module are connected to the information push module, respectively.

[0023] The signal matching and target status judgment module is configured to determine whether the location of the walkie-talkie is within the detection range of the radar transceiver based on the strength and information content of the broadcast signal. If the location of the walkie-talkie is within the detection range of the radar transceiver, the module determines the status of the target corresponding to the walkie-talkie.

[0024] The target attribute judgment module is configured to: acquire a set of point clouds whose viewpoint information matches that of a radar-detected target at a certain moment and whose viewpoint information matches that of a broadcast signal emitted by a walkie-talkie; perform constant false alarm rate (CFAR) removal on the point cloud set to remove discrete points; acquire a sequence of point cloud sets within a certain time period, as well as the radar cross-section (RCS) of the point clouds within that time period; calculate a velocity stability index based on the average velocity and standard deviation of the point cloud within that time period; calculate a volume stability index based on the average point value and standard deviation of the point cloud within that time period; calculate a radar cross-section (RCS) stability index based on the average RCS and standard deviation of the point cloud within that time period; and calculate a radar cross-section (RCS) stability index by weighting the velocity stability index, volume stability index, and RCS stability index to obtain a comprehensive stability index; compare the comprehensive stability index with a preset value; if the comprehensive stability index is greater than the preset value, determine that the target corresponding to the point cloud is a moving mechanical object.

[0025] The steady-state target attribute judgment module is configured to detect the respiratory signal of a target in a steady-state state. When a respiratory signal is detected, it performs time-domain signal feature mode matching of the respiratory signal. If it matches the characteristics of human respiratory waveform, it is determined to be artificially carried.

[0026] The information push module is configured to push information to the walkie-talkie based on the determined target attributes, and the walkie-talkie starts working based on the instructions contained in the received information.

[0027] The present invention also provides an electronic device, comprising: a processor; a memory for storing processor-executable instructions; wherein the processor is configured to invoke the instructions stored in the memory to execute the above-described walkie-talkie remote control method based on multimodal spatiotemporal fusion.

[0028] The present invention also provides a computer-readable storage medium storing computer program instructions thereon, characterized in that: when the computer program instructions are executed by a processor, they implement the above-mentioned walkie-talkie remote control method based on multimodal spatiotemporal fusion.

[0029] One or more technical solutions provided by this invention have at least the following technical effects or advantages:

[0030] 1. This invention deeply integrates Bluetooth high-precision positioning with radar spatiotemporal perception, achieving centimeter-level positioning and continuous trajectory tracking within three-dimensional space for walkie-talkies, breaking through the limitations of traditional technologies that can only perceive rough relative distances. Through spatiotemporal matching and fusion analysis of multi-mode data, the system can accurately determine the absolute position, motion state, and behavioral patterns of the device, laying a precise spatiotemporal perception foundation for all subsequent intelligent application scenarios.

[0031] 2. This invention intelligently identifies the carrying status of a walkie-talkie through the collaborative analysis of radar vital sign detection and Bluetooth signal behavior. Based on this status, the system dynamically adjusts the device's operating mode: when no one is carrying it, it automatically suppresses non-critical communications and enters a low-power sleep state, effectively avoiding invalid broadcasts and channel occupation. This achieves dual optimization of communication resources and device energy consumption, significantly improving the overall system energy efficiency and battery life.

[0032] 3. This invention uses Bluetooth beacons as a lightweight control carrier, combined with high-precision positioning capabilities, to achieve intelligent management and control of device clusters based on geofencing. The system can remotely and automatically execute management commands such as power on / off, group switching, volume adjustment, and firmware upgrades based on the precise location of the walkie-talkies, significantly improving device management efficiency and further reducing overall system energy consumption.

[0033] 4. This invention supports intelligent strategy definition and execution for complex business scenarios. The system can automatically implement advanced functions such as electronic fence boundary crossing warning, patrol route compliance monitoring, dynamic area communication muting, and emergency personnel dispatch, transforming voice communication from indiscriminate broadcasting to on-demand services deeply bound to space, time, and events. Specifically, it can be implemented in the following typical scenarios: improving post safety management through off-duty detection and restricted area intrusion alarms; achieving transparency and objectivity in the inspection process through patrol trajectory analysis; dynamically adjusting communication permissions based on location in key areas such as meeting rooms to maintain order; and enabling precise, nearby calls and rapid emergency response in medical and elderly care facilities, significantly improving overall operational efficiency and security capabilities. Attached Figure Description

[0034] Figure 1 This is a schematic diagram of the multi-transceiver composition and data fusion principle provided in Embodiment 1 of the present invention;

[0035] Figure 2 This is a schematic diagram illustrating the fusion principle of Bluetooth positioning, radar target detection, and vital sign detection provided in Embodiment 1 of the present invention.

[0036] Figure 3 This is a flowchart of the method for detecting the carrying status of a walkie-talkie and for fusion positioning provided in Embodiment 1 of the present invention;

[0037] Figure 4 This is a schematic diagram of a three-dimensional point cloud of a MIMO radar provided in Embodiment 1 of the present invention;

[0038] Figure 5 This is a flowchart of the method for judging the vital signs of a resting target provided in Embodiment 1 of the present invention. Detailed Implementation

[0039] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0040] The technical solution of the present invention will be described in detail below with reference to specific embodiments. These specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments.

[0041] Example 1:

[0042] A method for remote control of walkie-talkies based on multimodal spatiotemporal fusion includes the following steps:

[0043] Step 1: The radar gateway transceiver receives the broadcast signal from the walkie-talkie and determines whether the walkie-talkie's location is within the radar transceiver's detection range based on the strength and content of the broadcast signal.

[0044] Specifically, the walkie-talkie referred to in this embodiment is a traditional walkie-talkie (including traditional UHF band walkie-talkies, digital walkie-talkies, or walkie-talkie-like devices with voice communication functions) with the addition of a Bluetooth BLE module, possessing integrated positioning and command control functions. The relay node referred to in this embodiment functions to transmit gateway commands across regions. The gateway referred to in this embodiment includes BLEAoA / AoD positioning capabilities, MIMO radar positioning and spatial point cloud capabilities, and vital sign detection capabilities, used for walkie-talkie management. AoA / AoD referred to in this embodiment is Bluetooth 5.x positioning technology. MIMO referred to in this embodiment is multi-antenna ultra-wideband microwave / millimeter-wave radar.

[0045] In this step, communication is achieved through a multi-mode radar gateway, walkie-talkies (i.e., BT-walkie-talkie devices), and walkie-talkie repeaters. Please refer to [link to relevant documentation]. Figure 1 The entity includes several MIMO radar gateway transceivers (which can use different or multiple frequency bands indoors and outdoors), walkie-talkies configured with BLE Bluetooth, and walkie-talkie relay nodes.

[0046] The communication between the various gateways, relay nodes, and terminals in the system consists of Bluetooth Beacon broadcasting, 2.4G, and UHF radio communication via walkie-talkies. The following describes each communication method.

[0047] Bluetooth Beacon Broadcast:

[0048] Gateway side: Broadcast communication commands; the broadcast protocol content is as follows:

[0049]

[0050]

[0051] Gateway: Gateways share walkie-talkie location information, status information, etc., with each other via the 2.4G protocol.

[0052] Walkie-talkie radio protocol, namely UHF / VHF band voice communication transmission and reception.

[0053] The multi-mode radar gateway integrates MIMO radar and BLE transceivers.

[0054] The radar sensing methods of radar gateways in the environment vary depending on the situation, including different frequency bands and modulation methods. For example, UWB ultra-wideband MIMO is often used indoors, 60G millimeter wave FMCW is used outdoors, or 24G millimeter wave FMCW is used in mixed environments. It also has the ability to detect vital signs.

[0055] The radar gateway integrates Bluetooth BT positioning technologies for both Area of ​​Arrival (AoA) and Area of ​​D (AoD). It defines a comprehensive system that combines the physical perception of objects or living human bodies with the perception of spatial angles in the transmission and reception of wireless data packets, to determine whether a valid object / living human body (e.g., a person carrying a walkie-talkie) is within range, and its specific X, Y, Z spatial location. The gateway communicates with walkie-talkie devices via Beacon broadcasts, including acquiring basic information and sending / receiving commands.

[0056] The walkie-talkie's Bluetooth module has positioning capabilities and also performs Beacon broadcasting and receiving. Its location and distance can be sensed by a gateway through BLE's AoA / AoD technology. The walkie-talkie periodically sends Beacon broadcasts and simultaneously receives Bluetooth broadcasts from the gateway. Based on gateway commands, it can broadcast voice information or actively initiate voice communication.

[0057] Step 2: If the walkie-talkie is within the detection range of the radar transceiver, the radar transceiver performs target detection and point cloud establishment. The radar gateway transceiver determines whether the viewing angle information of the target detected by the radar is consistent with the viewing angle information in the broadcast signal emitted by the walkie-talkie.

[0058] Specifically, the implementation principle of this step can be combined with... Figure 2 The radar gateway detects whether there is a moving target within the monitoring range, and the moving target (trajectory / stationary mode) matches the motion / stationary mode of the simultaneously received BTbeacon and / or BTAoA / AoD.

[0059] Step 3: If the viewpoint information detected by the radar matches the viewpoint information in the broadcast signal emitted by the walkie-talkie, determine the state of the target corresponding to the walkie-talkie. For targets in an active state, determine the target attributes through point cloud gait; for targets in a stationary state, determine the target attributes through vital signs. The determination of the target's state is performed using Doppler radar, based on the Doppler velocity value, to determine whether the target is active or stationary.

[0060] Specifically, please see Figure 3 This invention uses multimodal (radar target point cloud, radar vital signs, BTAoA / AoD, spatial XYZ position) to determine the target attributes of the walkie-talkie. It supports the definition of multiple parameters, the adjustable threshold of conformity, and the threshold setting supports the determination of specific spatial XYZ position and region, as well as the setting of respiratory, heart rate and vital sign conditions.

[0061] Combination Figure 4 The method for determining target attributes through point cloud gait analysis of an active target includes the following steps. Here, target attributes include carried attributes, spatial region, and movement trajectory.

[0062] Step 31: Obtain a set of point clouds that matches the viewpoint information of the radar-detected target at a certain moment and the viewpoint information in the broadcast signal emitted by the walkie-talkie. Perform constant false alarm rate (CFAR) processing on the point cloud set to remove discrete points and obtain a concentrated spatial profile. The elements of the point cloud set include the three-dimensional point spatial coordinates and Doppler velocity values ​​of the point cloud.

[0063] In this step, at a certain time t, the point cloud set is Qt={P0,P1,…P n}, where Pi = [x i ,y i ,z i ,v i ], x / y / z are the three-dimensional spatial coordinates of the point, and v is the Doppler velocity of that point.

[0064] Step 32: Obtain the point cloud set sequence within a certain time period, and the radar cross section of the point cloud within the time period.

[0065] In this step, the point cloud set sequence within the time period τ seconds is G. t =[Q t-W Q t-W+1 ,…,Q t ], and the radar cross-section of the point cloud within the time period τ seconds is R t =[R t-W ,R t-W+1 ,…,R t ], where W is the number of data windows within the duration τ, i.e., W = τ·frame rate fps.

[0066] Step 33: Calculate the velocity stability index based on the average and standard deviation of the point cloud velocity over a certain time period; calculate the volume stability index based on the average point value and standard deviation of the point cloud over a certain time period; and calculate the radar cross section stability index based on the average and standard deviation of the radar cross section of the point cloud over a certain time period.

[0067] In this step, the speed stability index is: ,in Volume stability index is ,in The radar cross section stability index is ,in

[0068] Step 34: Take a weighted average of the velocity stability index, volume stability index and radar cross section stability index to obtain the comprehensive stability index. Compare the comprehensive stability index with the preset value. If the comprehensive stability index is greater than the preset value, determine that the target corresponding to the point cloud is a moving mechanical object.

[0069] Specifically, the overall stability index is the weighted average of the above three factors, i.e., S(t) = w vel ·S vel (t)+w count ·S count (t)+w RCS ·S RCS (t), where: w vel For velocity weights, w count For volume weights, w RCS This represents the radar cross section (RCS) weight. In this embodiment, the preset value is 0.8. A comprehensive stability index greater than 0.8 indicates that the detected target is assessed as a moving machine.

[0070] Combination Figure 5 The method for determining target attributes through point cloud gait in a steady state is as follows: detect the breathing signal of the target in a steady state, and when the breathing signal is detected, perform time-domain signal feature mode matching of the breathing signal. If it matches the characteristics of human breathing waveform, it is determined to be manually carried.

[0071] Step 4: The gateway pushes information to the walkie-talkie based on the determined target attributes, and the walkie-talkie starts working based on the instructions contained in the received information.

[0072] In this step, after the walkie-talkie is started, its working functions include talking to the other person, switching communication frequency bands, or receiving and broadcasting voice messages.

[0073] Example 2: A walkie-talkie remote control system based on multimodal spatiotemporal fusion, comprising: a signal matching and target state judgment module, an active target attribute judgment module, a stable target attribute judgment module, and an information push module. The signal matching and target state judgment module is connected to the active target attribute judgment module and the stable target attribute judgment module, respectively. The active target attribute judgment module and the stable target attribute judgment module are connected to the information push module, respectively.

[0074] The signal matching and target status judgment module is configured to determine whether the location of the walkie-talkie is within the detection range of the radar transceiver based on the strength and information content of the broadcast signal. If the location of the walkie-talkie is within the detection range of the radar transceiver, the module determines the status of the target corresponding to the walkie-talkie.

[0075] The target attribute judgment module is configured to: acquire a set of point clouds whose viewpoint information matches that of a radar-detected target at a certain moment and whose viewpoint information matches that of a broadcast signal emitted by a walkie-talkie; perform constant false alarm rate (CFAR) removal on the point cloud set to remove discrete points; acquire a sequence of point cloud sets within a certain time period, as well as the radar cross-section (RCS) of the point clouds within that time period; calculate a velocity stability index based on the average velocity and standard deviation of the point cloud within that time period; calculate a volume stability index based on the average point value and standard deviation of the point cloud within that time period; calculate a radar cross-section (RCS) stability index based on the average RCS and standard deviation of the point cloud within that time period; and calculate a radar cross-section (RCS) stability index by weighting the velocity stability index, volume stability index, and RCS stability index to obtain a comprehensive stability index; compare the comprehensive stability index with a preset value; if the comprehensive stability index is greater than the preset value, determine that the target corresponding to the point cloud is a moving mechanical object.

[0076] The steady-state target attribute judgment module is configured to detect the respiratory signal of a target in a steady-state state. When a respiratory signal is detected, it performs time-domain signal feature mode matching of the respiratory signal. If it matches the characteristics of human respiratory waveform, it is determined to be artificially carried.

[0077] The information push module is configured to push information to the walkie-talkie based on the determined target attributes, and the walkie-talkie starts working based on the instructions contained in the received information.

[0078] Example 3: An electronic device includes: a processor; a memory for storing processor-executable instructions; wherein the processor is configured to invoke the instructions stored in the memory to execute the above-described walkie-talkie remote control method based on multimodal spatiotemporal fusion.

[0079] Example 4: A computer-readable storage medium storing computer program instructions thereon, characterized in that: when the computer program instructions are executed by a processor, they implement the above-mentioned walkie-talkie remote control method based on multimodal spatiotemporal fusion.

[0080] The walkie-talkie remote control system and method based on multimodal spatiotemporal fusion provided by this invention can support advanced applications and successfully overcomes the bottlenecks of existing walkie-talkie equipment, which cannot locate or can only sense relative distance and cannot make specific spatial area judgments. Existing voice messages or calls are based on frequency band communication and cannot perform scenario-based communication according to services. By redefining the communication function of complex scenarios through spatial location judgment and trajectory judgment, this invention realizes voice communication services in different application scenarios such as user off-duty reminders, patrol range detection, dynamic deployment of meeting venues, and nearby calls for emergency events in medical or elderly care facilities, providing an excellent solution for the remote control of walkie-talkies.

[0081] Although preferred embodiments of the invention have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including both the preferred embodiments and all changes and modifications falling within the scope of the invention.

[0082] Obviously, those skilled in the art can make various modifications and variations to this invention without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this invention and their equivalents, this invention also intends to include these modifications and variations.

Claims

1. A method for remote control of a walkie-talkie based on multimodal spatiotemporal fusion, characterized in that: Includes the following steps: Step 1: The radar gateway transceiver receives the broadcast signal from the walkie-talkie. Based on the strength and content of the broadcast signal, it determines whether the walkie-talkie's location is within the radar transceiver's detection range. Step 2: If the walkie-talkie is within the detection range of the radar transceiver, the radar transceiver performs target detection and point cloud establishment, and the radar gateway transceiver determines whether the viewing angle information of the radar-detected target is consistent with the viewing angle information in the broadcast signal emitted by the walkie-talkie. Step 3: If the viewpoint information of the radar-detected target is consistent with the viewpoint information in the broadcast signal emitted by the walkie-talkie, determine the state of the target corresponding to the walkie-talkie. For targets in an active state, determine the target attributes through point cloud gait; for targets in a stable state, determine the target attributes through vital signs. Step 4: The gateway pushes information to the walkie-talkie based on the determined target attributes, and the walkie-talkie starts working based on the instructions contained in the received information.

2. The walkie-talkie remote control method based on multimodal spatiotemporal fusion according to claim 1, characterized in that: In step 3, the state of the target corresponding to the walkie-talkie is determined by using Doppler radar to determine whether the target is active or in a stable state.

3. The walkie-talkie remote control method based on multimodal spatiotemporal fusion according to claim 1 or 2, characterized in that: The method of determining target attributes through point cloud gait in an active state includes the following steps: Step 31: Obtain a set of point clouds that match the viewpoint information of the radar-detected target at a certain moment and the viewpoint information in the broadcast signal emitted by the walkie-talkie, and perform constant false alarm rate (CFAR) removal on the point cloud set to remove discrete points. Step 32: Obtain the point cloud set sequence within a certain time period, and the point cloud radar cross section within the time period; Step 33: Calculate the velocity stability index based on the average and standard deviation of the point cloud velocity within the specified time period; calculate the volume stability index based on the average point value and standard deviation of the point cloud within the specified time period; and calculate the radar cross-section stability index based on the average and standard deviation of the radar cross-section of the point cloud within the specified time period. Step 34: Take a weighted average of the velocity stability index, volume stability index and radar cross section stability index to obtain a comprehensive stability index. Compare the comprehensive stability index with a preset value. If the comprehensive stability index is greater than the preset value, determine that the target corresponding to the point cloud is a moving mechanical object.

4. The walkie-talkie remote control method based on multimodal spatiotemporal fusion according to claim 3, characterized in that: In step 31, the point cloud set elements include the three-dimensional point space coordinates and Doppler velocity values ​​of the point cloud.

5. The walkie-talkie remote control method based on multimodal spatiotemporal fusion according to claim 1 or 2, characterized in that: The method for determining target attributes through point cloud gait in a steady state is as follows: detect the breathing signal of the target in a steady state, and when the breathing signal is detected, perform time-domain signal feature mode matching of the breathing signal. If it matches the characteristics of human breathing waveform, it is determined to be manually carried.

6. The walkie-talkie remote control method based on multimodal spatiotemporal fusion according to claim 1, characterized in that: The target attributes include carrying attributes, spatial region, and movement trajectory.

7. The walkie-talkie remote control method based on multimodal spatiotemporal fusion according to claim 1, characterized in that: In step 4, after the walkie-talkie is started, its working functions include talking to the other person, switching communication frequency bands, or receiving and broadcasting voice messages.

8. A walkie-talkie remote control system based on multimodal spatiotemporal fusion, characterized in that: include: The system includes a signal matching and target status determination module, an active target attribute determination module, a stable target attribute determination module, and an information push module. The signal matching and target status determination module is connected to both the active target attribute determination module and the stable target attribute determination module. The active target attribute determination module and the stable target attribute determination module are also connected to the information push module. The signal matching and target status judgment module is configured to determine whether the location of the walkie-talkie is within the detection range of the radar transceiver based on the strength and information content of the broadcast signal; if the location of the walkie-talkie is within the detection range of the radar transceiver, the module determines the status of the target corresponding to the walkie-talkie. The target attribute judgment module is configured to: acquire a set of point clouds whose viewpoint information matches that of a radar-detected target at a certain moment and whose viewpoint information matches that of a broadcast signal emitted by a walkie-talkie; perform constant false alarm rate (CFAR) removal on the point cloud set to remove discrete points; acquire a sequence of point cloud sets within a certain time period, and the radar cross-section (RCS) of the point clouds within that time period; calculate a velocity stability index based on the average velocity and standard deviation of the point cloud within the certain time period; calculate a volume stability index based on the average number of points and the standard deviation of the number of points within the certain time period; calculate a radar cross-section (RCS) stability index based on the average RCS and standard deviation of the point cloud within the certain time period; weight the velocity stability index, volume stability index, and RCS stability index to obtain a comprehensive stability index; compare the comprehensive stability index with a preset value; if the comprehensive stability index is greater than the preset value, determine that the target corresponding to the point cloud is a moving mechanical object; The steady-state target attribute judgment module is configured to detect the respiratory signal of a target in a steady-state state. When a respiratory signal is detected, it performs time-domain signal feature mode matching of the respiratory signal. If it matches the characteristics of human respiratory waveform, it is determined to be artificially carried. The information push module is configured to push information to the walkie-talkie based on the determined target attributes, and the walkie-talkie starts working based on the instructions contained in the received information.

9. An electronic device, characterized in that: include: processor; A memory for storing processor-executable instructions; wherein the processor is configured to invoke the instructions stored in the memory to execute the method according to any one of claims 1 to 7.

10. A computer-readable storage medium having computer program instructions stored thereon, characterized in that: When the computer program instructions are executed by the processor, they implement the method described in any one of claims 1 to 7.

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