Multi-radar based detection device and detection method for target object

Abstract

To provide a multi-radar based detection device and detection method for a target object.SOLUTION: In a detection method, a first detection result corresponding to a first detection space and a second detection result corresponding to a second detection space are received. The first detection space entering a first status is determined in response to the first detection result indicating that the target object in the first detection space moves to an overlapping area between the first detection space and the second detection space. First information is output in response to determining that the first detection space enters the first status. The second detection space entering a second status is determined in response to the second detection result indicating that the target object not in the second detection space appears in the overlapping area. Second information is output in response to determining that the second detection space enters the second status.SELECTED DRAWING: Figure 15

Description

Technical Field

[0001] The present invention relates to radar detection technology, and particularly to a detection device and a detection method for a target object based on multi-radar.

Background Art

[0002] Due to social changes and aging, an increasing number of elderly people are living alone. How to take care of these elderly people living alone has become a major issue that today's society is facing. In addition to utilizing the power of social groups such as social welfare staff and volunteers to conduct visits, if there is a care device with a remote detection function, it is possible to immediately assist the care recipient when an emergency occurs. Existing remote detection devices are mainly based on the identification of wearable devices or imaging devices. When installing a position detection device in a private indoor space, in order to reduce the infringement of the privacy of the care recipient, the care recipient can be detected using radar to prevent the recording of the care recipient's image.

Summary of the Invention

Problems to be Solved by the Invention

[0003] However, the living environment of the care recipient includes a plurality of spaces, and it may not be possible to completely cover the living environment within the detection range of a single radar. Therefore, usually, it is necessary to provide a dedicated radar for each independent space. Therefore, how to integrate the information of a plurality of radar systems in order to effectively detect the care recipient is one of the important issues.

Means for Solving the Problems

[0004] The present invention provides a detection device and a detection method for a target object based on multi-radar, which can integrate the detection results from a plurality of radars to provide accurate information to the user.

[0005] One embodiment of the present invention provides a target detection device based on a multi-radar. The detection device includes a human-machine interface, a transceiver, and a processor. A first detection result corresponding to a first detection space and a second detection result corresponding to a second detection space are received from a plurality of radars. The processor is coupled to the human-machine interface and the transceiver, and determines that the first detection space has entered a first state according to the first detection result indicating that a target object in the first detection space has moved to an overlapping area between the first detection space and the second detection space. According to the determination that the first detection space has entered the first state, the processor outputs, via the human-machine interface, first information indicating that the target object is located within the first detection space. The processor determines that the second detection space has entered a second state according to the second detection result indicating that a target object not in the second detection space has appeared in the overlapping area. According to the determination that the second detection space has entered the second state, the processor outputs, via the human-machine interface, second information indicating that the target object is not in the second detection space.

[0006] One embodiment of the present invention provides a target detection method based on a multi-radar. The detection method includes receiving, from a plurality of radars, a first detection result corresponding to a first detection space and a second detection result corresponding to a second detection space; determining that the first detection space has entered a first state according to the first detection result indicating that a target object in the first detection space has moved to an overlapping area between the first detection space and the second detection space; outputting, via the human-machine interface, first information indicating that the target object is located within the first detection space according to the determination that the first detection space has entered the first state; determining that the second detection space has entered a second state according to the second detection result indicating that a target object not in the second detection space has appeared in the overlapping area; and outputting, via the human-machine interface, second information indicating that the target object is not in the second detection space according to the determination that the second detection space has entered the second state.

Advantages of the Invention

[0007] Based on the above, in the present invention, in order to quickly and accurately determine the space where the target object is located and the state of the target object, the detection results of a plurality of radars can be fused. In the present invention, various information can also be provided for the user to view through the human-machine interface, which helps the user quickly understand the state of the target object or the detection space.

Brief Description of the Drawings

[0008]

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Embodiments for Carrying Out the Invention

[0009] FIG. 1 is a schematic diagram of a target object detection device 100 based on a multi-radar according to one embodiment of the present invention. The detection device 100 may include a processor 110, a human machine interface 120, and a transceiver 130.

[0010] Processor 110 may be, for example, a central processing unit (CPU), or other programmable general-purpose or special-purpose microcontroller unit (MCU), microprocessor, digital signal processor (DSP), programmable controller, application specific integrated circuit (ASIC), graphics processing unit (GPU), image signal processor (ISP), image processing unit (IPU), arithmetic logic unit (ALU), complex programmable logic device (CPLD), field programmable gate array (FPGA), or other similar components, or a combination of the above components. Processor 110 is coupled to human machine interface 120 and transceiver 130 and may access and execute various modules and applications stored in a storage medium.

[0011] Human machine interface (HMI) 120 is used to receive information input by a user or output information for the user to refer to. Human machine interface 120 may include a device such as a touch screen.

[0012] Transceiver 130 transmits and receives signals in a wireless or wired manner. Transceiver 130 may perform operations such as low-noise amplification, impedance matching, frequency mixing, frequency up- or down-conversion, filtering, amplification, etc. Detection device 100 is communicably connected to a plurality of radars provided at a plurality of locations via transceiver 130 and may receive detection results of each radar in the detection space from the plurality of radars.

[0013] FIG. 2 is a schematic diagram of a detection space 200 according to one embodiment of the present invention. For example, the target object detected by the detection device 100 may be the subject (care recipient) 20, and the detection space 200 may be, for example, the area where the subject 20 lives. In the following embodiments, it is assumed that the detection space 200 includes two independent detection spaces 210 and 220, and the detection space 210 and the detection space 220 overlap with the overlapping area 300. The detection space 210 may include a default area 400. The default area 400 may be included in the detection space 210 or the detection space 220, and the default area 400 is, for example, the entrance / exit of the detection space 220. The radar 11 may be configured to monitor the detection space 210 and generate a corresponding detection result. The radar 12 may be configured to monitor the detection space 220 and generate a corresponding detection result. The detection device 100 may receive the detection result corresponding to the detection space 210 and the detection result corresponding to the detection space 220 from the radar 11 and the radar 12 respectively via the transceiver 130. The radar 11 or the radar 12 is, for example, a continuous wave (CW) radar used to detect information including the physiological state (e.g., breathing or heartbeat) of the subject 20, a frequency modulated continuous wave (FMCW) radar used to detect the movement of the subject 20 and generate a detection result of the detection space, or an impulse radio ultra-wideband (IR-UWB) radar, etc., but the present invention is not limited thereto.

[0014] FIG. 3 is a flowchart of a method for detecting a subject according to one embodiment of the present invention, and the method is implemented by the detection device 100 shown in FIG. 1.

[0015] In step S301, the processor 110 may determine whether the target person 20 is in the detection space (for example, detection space 210 or 220) based on the detection result of the radar (for example, radar 11 or 12). If the target person 20 is in the detection space, step S302 is executed. If the target person 20 is not in the detection space, step S308 is executed. In one embodiment, the processor 110 may determine that the target person 20 is in the detection space based on the detection result of the radar including information related to the physiological state of the target person 20, and may determine that the target person 20 is not in the detection space based on the detection result not including information related to the physiological state of the target person.

[0016] In step S302, for the reference of the user, the processor 110 may display, via the human-machine interface 120, information indicating that the target person 20 is in the detection space.

[0017] In step S303, based on the fact that the target person 20 is in the detection space, the processor 110 may count the stay time of the target person 20 in the detection space, and determine whether the stay time is excessively long (for example, the stay time is longer than the threshold or the upper limit), the stay time is excessively short (for example, the stay time is shorter than the threshold or the lower limit), or normal (for example, the stay time is less than or equal to the upper limit or greater than or equal to the lower limit). If the stay time is excessively short, step S304 is executed. If the stay time is excessively long, step S305 is executed. If the stay time is normal, step S306 is executed.

[0018] In step S304, the processor 110 may display, via the human-machine interface 120, a warning message indicating that the stay time of the target person 20 in the detection space is excessively short.

[0019] In step S305, the processor 110 may display, via the human-machine interface 120, a warning message indicating that the stay time of the target person 20 in the detection space is excessively long.

[0020] In step S306, the processor 110 may determine whether the subject 20 has fallen in the detection space based on the detection result. If it is determined that the subject 20 has fallen, step S307 is executed. If it is determined that the subject 20 has not fallen, step S301 is executed again after a certain period of time.

[0021] Specifically, the processor 110 may obtain a plurality of point cloud data corresponding to a plurality of time points from the detection result of the radar of the subject 20 and the detection space, and perform object detection on the plurality of point cloud data in order to generate a plurality of bounding boxes corresponding to the plurality of time points respectively. The processor 110 may determine whether the subject has fallen based on the change of the bounding box.

[0022] In one embodiment, the processor 110 may determine the speed, height, or tilt angle change of the subject 20 by a plurality of bounding boxes, and determine whether the subject 20 has fallen based on the speed, height, or tilt angle change.

[0023] FIG. 4A, FIG. 4B, and FIG. 4C are schematic diagrams of the change of the bounding box according to one embodiment of the present invention. Referring to FIG. 4A, it is assumed that the processor 110 obtains the bounding boxes 41, 42, and 43 corresponding to the point cloud of the subject 20 in time series. The processor 110 may determine the speed of the subject 20 during the default time (for example, 5 seconds) by the bounding boxes 41, 42, and 43. If the speed of the subject 20 is faster than the threshold value (for example, 50 cm per second), the processor 110 may determine that the subject 20 may have fallen.

[0024] Referring to FIG. 4B, it is assumed that the processor 110 acquires the bounding boxes 44, 45, 46 corresponding to the point cloud of the subject 20 in time series. The processor 110 may determine the height of the center of mass or the centroid of the subject 20 based on the bounding boxes 44, 45, 46. If the height of the center of mass or the centroid of the subject 20 is less than a threshold value (for example, 50 cm), the processor 110 may determine that the subject 20 may have fallen.

[0025] Referring to FIG. 4C, it is assumed that the processor 110 acquires the bounding boxes 47, 48, 49 corresponding to the point cloud of the subject 20 in time series. The processor 110 may determine the change in the tilt angle of the subject 20 based on the bounding boxes 47, 48, 49. If the change in the tilt angle of the subject 20 is greater than a threshold value (for example, 45 degrees), the processor 110 may determine that the subject 20 may have fallen.

[0026] Returning to FIG. 3, in step S307, the processor 110 may display, for the reference of the user, information indicating that the subject 20 may have fallen via the human-machine interface 120.

[0027] In step S308, the processor 110 may display, for the reference of the user, information indicating that the subject 20 is not in the detection space via the human-machine interface 120.

[0028] In step S309, the processor 110 counts the absence time after the subject 20 leaves the detection space, and determines whether the absence time is excessively long (for example, the absence time is longer than the threshold value or the upper limit) based on the fact that the subject 20 is not in the detection space. If it is determined that the absence time is excessively long, step S310 is executed. If it is determined that the absence time is not excessively long, step S301 is executed again after a certain time.

[0029] In step S310, the processor 110 may display, via the human-machine interface 120, information indicating that the absence time of the target person 20 is excessively long for the user's reference.

[0030] FIG. 5 is a schematic diagram of a first state machine 500 of a detection space (e.g., detection space 210 or 220) according to an embodiment of the present invention. The processor 110 may determine the current state of the detection space based on the detection results of each radar and the state machine 500, and output corresponding information via the human-machine interface 120 according to the state of the detection space. The information is used to indicate whether the target person is located within the detection space. Taking the detection space 210 as an example, the state machine 500 may include the following states and transition conditions.

[0031] State S1: The target person 20 fades out from the detection space 210. When the detection space 210 is in state S1, the processor 110 outputs, via the human-machine interface 120, information indicating that the target person 20 is in the detection space 210.

[0032] State S2: The target person 20 fades in to the detection space 210. When the detection space 210 is in state S2, the processor 110 outputs, via the human-machine interface 120, information indicating that the target person 20 is not in the detection space 210.

[0033] State S3: The target person 20 is not detected in the detection space 210. When the detection space 210 is in state S3, the processor 110 outputs, via the human-machine interface 120, information indicating that the target person 20 is not in the detection space 210.

[0034] State S4: The target person 20 is detected in the detection space 210. When the detection space 210 is in state S4, the processor 110 outputs, via the human-machine interface 120, information indicating that the target person 20 is in the detection space 210.

[0035] State S5: This is the point where the subject 20 leaves the detection space 210. When the detection space 210 is in state S5, the processor 110 outputs information indicating that the subject 20 is in the detection space 210 via the human-machine interface 120.

[0036] State S6: This is the point where the subject 20 enters the detection space 210. When the detection space 210 is in state S6, the processor 110 outputs information indicating that the subject 20 is not in the detection space 210 via the human-machine interface 120.

[0037] Transition condition T1: When the detection space 210 is in state S4, the detection result indicates that the subject 20 located in the detection space 210 moves from the detection space 210 to the overlapping area 300. When the transition condition T1 is satisfied, the processor 110 may determine that the detection space 210 has switched from state S4 to state S1.

[0038] Transition condition T2: When the detection space 210 is in state S1, the detection result indicates that the subject 20 has disappeared from the detection space 210. When the transition condition T2 is satisfied, the processor 110 may determine that the detection space 210 has switched from state S1 to state S3.

[0039] Transition condition T3: When the detection space 210 is in state S1, the detection result indicates that the subject 20 has moved from the overlapping area 300 to the detection space 210. When the transition condition T3 is satisfied, the processor 110 may determine that the detection space 210 has switched from state S1 to state S4.

[0040] Transition condition T4: When the detection space 210 is in state S2, the detection result indicates that the subject 20 has moved from the overlapping area 300 to the detection space 210. When the transition condition T4 is satisfied, the processor 110 may determine that the detection space 210 has switched from state S2 to state S4.

[0041] Transition condition T5: When the detection space 210 is in the state S2, the detection result indicates that the subject 20 has disappeared from the detection space 210. When the transition condition T5 is satisfied, the processor 110 may determine that the detection space 210 has switched from the state S2 to the state S3.

[0042] Transition condition T6: When the detection space 210 is in the state S3, the detection result indicates that the subject 20 who was not in the detection space 210 has appeared in the overlapping region 300. When the transition condition T6 is satisfied, the processor 110 may determine that the detection space 210 has switched from the state S3 to the state S2.

[0043] Transition condition T7: When the detection space 210 is in the state S4, the detection result indicates that the subject 20 who was located in the detection space 210 has disappeared from the detection space 210. When the transition condition T7 is satisfied, the processor 110 may determine that the detection space 210 has switched from the state S4 to the state S5.

[0044] Transition condition T8: When the detection space 210 is in the state S5, the detection result indicates that the subject 20 has appeared in the detection space 210. When the transition condition T8 is satisfied, the processor 110 may determine that the detection space 210 has switched from the state S5 to the state S4.

[0045] Transition condition T9: When the detection space 210 is in the state S5, the detection result indicates that the subject 20 is not detected in the detection space 210 (i.e., the subject 20 does not appear in the detection space 210). When the transition condition T9 is satisfied, the processor 110 may determine that the detection space 210 has switched from the state S5 to the state S3.

[0046] Transition condition T10: When the detection space 210 is in the state S6, the detection result indicates that the subject 20 has not disappeared from the detection space 210. When the transition condition T10 is satisfied, the processor 110 may determine that the detection space 210 has switched from the state S6 to the state S4.

[0047] Transition condition T11: When the detection space 210 is in state S6, the detection result indicates that the subject 20 has disappeared from the detection space 210. When the transition condition T11 is satisfied, the processor 110 may determine that the detection space 210 has switched from state S6 to state S3.

[0048] Transition condition T12: When the detection space 210 is in state S3, the detection result indicates that the subject 20 who was not in the detection space 210 has appeared in the detection space 210. When the transition condition T12 is satisfied, the processor 110 may determine that the detection space 210 has switched from state S3 to state S6.

[0049] Transition condition T13: When the detection space 210 is in state S4, the detection result indicates that the subject 20 who was located in the detection space 210 has appeared in the detection space 210. When the transition condition T13 is satisfied, the processor 110 may determine that the detection space 210 has switched from state S4 to state S4.

[0050] Transition condition T14: When the detection space 210 is in state S3, the detection result indicates that the subject 20 who was not in the detection space 210 has appeared in the detection space 210. When the transition condition T14 is satisfied, the processor 110 may determine that the detection space 210 has switched from state S3 to state S3.

[0051] FIG. 6 is a schematic diagram of a second state machine 600 of a detection space (e.g., detection space 210 or 220) according to an embodiment of the present invention. The processor 110 may determine the current state of the detection space based on the detection results of each radar and the state machine 600, and output corresponding information via the human-machine interface 120 according to the state of the detection space. The information is used to indicate whether the subject is located within the detection space. Taking the detection space 210 as an example and comparing it with the state machine 500, the state machine 600 may further include the following transition conditions.

[0052] Transition condition T15: When the detection space 210 is in state S4, the detection result indicates that the subject 20 who was located in the detection space 210 has disappeared from the default area 400. When the transition condition T15 is satisfied, the processor 110 may determine that the detection space 210 has switched from state S4 to state S3.

[0053] Transition condition T16: When the detection space 210 is in state S3, the detection result indicates that the subject 20 who was not in the detection space 210 has appeared in the default area 400. When the transition condition T16 is satisfied, the processor 110 may determine that the detection space 210 has switched from state S3 to state S4.

[0054] FIG. 7A and FIG. 7B are schematic diagrams of a first example of state transition of a detection space according to one embodiment of the present invention. FIG. 7A shows a state machine 500 corresponding to the detection space 210, and FIG. 7B shows a state machine 500 corresponding to the detection space 220. It is assumed that the subject 20 is in the detection space 210. State S4 of the detection space 210 indicates that the subject 20 is located in the detection space 210, and state S3 of the detection space 220 indicates that the subject 20 is not in the detection space 220. When the subject 20 is not moving, the transition condition T13 of the detection space 210 and the transition condition T14 of the detection space 220 are respectively satisfied, the state of the detection space 210 is returned to state S4, and the state of the detection space 220 is switched to state S3.

[0055] Figures 8A and 8B are schematic diagrams of a second example of the state transition of the detection space according to one embodiment of the present invention. Figure 8A shows the state machine 500 corresponding to the detection space 210, and Figure 8B shows the state machine 500 corresponding to the detection space 220. Assume that the subject 20 is in the detection space 210. The state S4 of the detection space 210 indicates that the subject 20 is located in the detection space 210, and the state S3 of the detection space 220 indicates that the subject 20 is not in the detection space 220. When the subject 20 appears in the overlapping region 300, the transition condition T1 of the detection space 210 and the transition condition T6 of the detection space 220 are respectively satisfied. The state of the detection space 210 is switched to the state S1, and the state of the detection space 220 is switched to the state S2. Next, when the subject 20 disappears from the detection space 210 and moves from the overlapping region 300 to the detection space 220, the transition condition T2 of the detection space 210 and the transition condition T4 of the detection space 220 are respectively satisfied. The state of the detection space 210 is switched to the state S3, and the state of the detection space 220 is switched to the state S4.

[0056] Figures 9A and 9B are schematic diagrams of a third example of the state transition of the detection space according to one embodiment of the present invention. Figure 9A shows the state machine 500 corresponding to the detection space 210, and Figure 9B shows the state machine 500 corresponding to the detection space 220. Assume that the subject 20 is in the detection space 210. The state S4 of the detection space 210 indicates that the subject 20 is located in the detection space 210, and the state S3 of the detection space 220 indicates that the subject 20 is not in the detection space 220. When the subject 20 appears in the overlapping region 300, the transition condition T1 of the detection space 210 and the transition condition T6 of the detection space 220 are respectively satisfied. The state of the detection space 210 is switched to the state S1, and the state of the detection space 220 is switched to the state S2. Next, when the subject 20 moves from the overlapping region 300 to the detection space 210 and disappears from the detection space 220, the transition condition T3 of the detection space 210 and the transition condition T5 of the detection space 220 are respectively satisfied. The state of the detection space 210 is switched to the state S4, and the state of the detection space 220 is switched to the state S3.

[0057] Figures 10A and 10B are schematic diagrams of a fourth example of the state transition of the detection space according to one embodiment of the present invention. Figure 10A shows the state machine 500 corresponding to the detection space 210, and Figure 10B shows the state machine 500 corresponding to the detection space 220. Assume that the subject 20 is in the detection space 210. The state S4 of the detection space 210 indicates that the subject 20 is located in the detection space 210, and the state S3 of the detection space 220 indicates that the subject 20 is not in the detection space 220. When the subject 20 disappears from the detection space 210 and appears in the detection space 220, the transition condition T7 of the detection space 210 and the transition condition T12 of the detection space 220 are respectively satisfied. The state of the detection space 210 is switched to the state S5, and the state of the detection space 220 is switched to the state S6. Next, if the subject 20 does not appear in the detection space 210 after a certain time and does not appear in the detection space 220 after a certain time, the transition condition T9 of the detection space 210 and the transition condition T10 of the detection space 220 are respectively satisfied. The state of the detection space 210 is switched to the state S3, and the state of the detection space 220 is switched to the state S4.

[0058] Figures 11A and 11B are schematic diagrams of a fifth example of the state transition of the detection space according to one embodiment of the present invention. Figure 11A shows the state machine 500 corresponding to the detection space 210, and Figure 11B shows the state machine 500 corresponding to the detection space 220. Assume that the subject 20 is in the detection space 210. The state S4 of the detection space 210 indicates that the subject 20 is located in the detection space 210, and the state S3 of the detection space 220 indicates that the subject 20 is not in the detection space 220. When the subject 20 disappears from the detection space 210 and appears in the detection space 220, the transition condition T7 of the detection space 210 and the transition condition T12 of the detection space 220 are respectively satisfied. The state of the detection space 210 is switched to the state S5, and the state of the detection space 220 is switched to the state S6. Next, when the subject 20 appears in the detection space 210 and disappears from the detection space 220, the transition condition T8 of the detection space 210 and the transition condition T11 of the detection space 220 are respectively satisfied. The state of the detection space 210 is switched to the state S4, and the state of the detection space 220 is switched to the state S3.

[0059] FIG. 12 is a schematic diagram of a graphical user interface 1100 displayed by a human machine interface 120 according to one embodiment of the present invention. The graphical user interface 1100 may be used to display an icon indicating the physiological state of the subject, and may be used to display an icon indicating the usage state of an area in the detection space (for example, the detection space 210 or 220). For example, the graphical user interface 1100 includes an icon 121 used to indicate the number and name of the detection space, an icon 122 used to indicate the usage state of the bed in the detection space, an icon 123 used to indicate the physiological state such as the heartbeat or respiration of the subject 20, an icon 124 used to indicate the usage state of an area such as a bedroom, a living room, a kitchen, or a toilet, an icon 125 used to indicate whether the subject 20 is in the detection space, and an icon 126 used to indicate the staying time of the subject 20 in the detection space.

[0060] FIG. 13 is a schematic diagram of an icon 124 of a graphical user interface according to one embodiment of the present invention. For an area in the detection space (for example, a bedroom, a living room, a kitchen, or a toilet), the icon 124 may be used to indicate the usage state or related situations of the area, such as information that the area is in use, the area is not in use, an emergency has occurred in the area, a fall has occurred in the area, the connection of the radar used to monitor the area has been disconnected, or the subject has stayed in the area for an excessive length of time.

[0061] FIG. 14 is a schematic diagram of an icon 125 of a graphical user interface according to one embodiment of the present invention. For the detection space, the icon 125 may be used to indicate the usage state or related situations of the detection space, such as information that the detection space is in use, the detection space is not in use, the subject has stayed in the detection space for an excessive length of time, the detection space has been in an idle state (for example, not in use) for an excessive length of time, or the connection of the radar used to monitor the detection space has been disconnected.

[0062] FIG. 15 is a flowchart of a method for detecting a target object based on a multi-radar according to an embodiment of the present invention, and the detection method may be implemented by the detection device 100 in FIG. 1. In step S151, a first detection result corresponding to a first detection space and a second detection result corresponding to a second detection space are received from a plurality of radars. In step S152, in response to a first detection result indicating that a target object in the first detection space has moved to an overlapping area between the first detection space and the second detection space, it is determined that the first detection space has entered a first state. In step S153, in response to the determination that the first detection space has entered the first state, first information is output via a human-machine interface, and the first information indicates that the target object is located in the first detection space. In step S154, in response to a second detection result indicating that a target object that was not in the second detection space has appeared in the overlapping area, it is determined that the second detection space has entered a second state. In step S155, in response to the determination that the second detection space has entered the second state, second information is output via a human-machine interface, and the second information indicates that the target object is not in the second detection space.

[0063] Based on the above, the present invention has the following effects. In the present invention, in order to provide the user with real-time information on the position and state of the target person, the detection results from a plurality of detection devices can be integrated. The present invention has high scalability and flexibility, and the number and position of the radars can be flexibly configured according to different application environments in order to monitor spaces of different sizes. The human-machine interface of the present invention can display the states of a plurality of devices so that the user can quickly understand the situation on site. In the present invention, the user can immediately receive a notification when the state of the target person is abnormal and can respond to an emergency as soon as possible. In the present invention, the state of each space can be automatically detected in order to reduce the cost of human resources. The information integrated by the present invention can be applied to, for example, pedestrian flow statistics, behavior analysis, or activity record analysis in order to enhance the application value of the detection results.

Industrial Applicability

[0064] The detection device and method for a target object based on a multi-radar according to the present invention can be applied to any radar detection technology.

Explanation of Signs

[0065] 11: Radar 12: Radar 20: Target person 41, 42, 43, 44, 45, 46, 47, 48, 49: Bounding box 100: Detection device 110: Processor 120: Human-machine interface 121, 122, 123, 124, 125, 126: Icon 130: Transceiver 200: Detection area 210, 220: Detection space 300: Overlap area 400: Default area 500, 600: State machine 1100: Graphical user interface S1, S2, S3, S4, S5, S6: State S151, S152, S153, S154, S155, S301, S302, S303, S304, S305, S306, S307, S308, S309, S310: Step T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15, T16: Transition condition

Claims

1. A multi-radar based target detection device, comprising: Human machine interface and a transceiver for receiving a first detection result corresponding to the first detection space and a second detection result corresponding to the second detection space; a human machine interface coupled to the transceiver; determining that the first detection space has entered a first state in response to the first detection result indicating that the target object in the first detection space has moved into an overlapping area between the first detection space and the second detection space; outputting first information indicating that the target object is located in the first detection space via the human-machine interface in response to determining that the first detection space has entered the first state; determining that the second detection space has entered a second state in response to a second detection result indicating that the target object that was not in the second detection space has appeared in the overlapping area; outputting second information indicating that the target object is not in the second detection space via the human-machine interface in response to determining that the second detection space has entered the second state; and a processor configured to Including, Detection device.

2. The processor, determining that the first detection space has entered a third state from the first state in response to the first detection result indicating that the target object has left the first detection space; outputting third information indicating that the target object is not in the first detection space via the human-machine interface in response to determining that the first detection space has entered the third state; determining that the second detection space has entered a fourth state from the second state in response to the second detection result indicating that the target object has moved from the overlap region into the second detection space; outputting, via the human-machine interface, fourth information indicating that the target object is located in the second detection space in response to determining that the second detection space has entered the fourth state; [0023] The detection device according to claim 1 .

3. The processor, determining that the first detection space has entered a fourth state from the first state in response to the first detection result indicating that the target object has moved from the overlap region into the first detection space; outputting the first information via the human-machine interface in response to determining that the first detection space has entered the fourth state; determining that the second detection space has entered a third state from the second state in response to the second detection result indicating that the target object has disappeared from the second detection space; outputting the second information via the human-machine interface in response to determining that the second detection space has entered the third state; [0023] The detection device according to claim 1 .

4. The processor, obtaining a plurality of point clouds corresponding to a plurality of time points from the first detection result; performing object detection on the plurality of point clouds to generate a plurality of bounding boxes corresponding to the plurality of point clouds; determining a change in tilt angle of the target object during a default time, a velocity of the target object, or a height of the target object based on the plurality of bounding boxes; determining that the target object has fallen over when the change in the tilt angle is greater than a first threshold, the height is less than a second threshold, or the speed is greater than a third threshold; In response to determining that the target object has fallen, a warning message is output via the human-machine interface. [0023] The detection device according to claim 1 .

5. A method for detecting a target object based on a multi-radar, comprising: receiving a first detection result corresponding to a first detection space and a second detection result corresponding to a second detection space from a plurality of radars; determining that the first detection space has entered a first state in response to the first detection result indicating that the target object in the first detection space has moved into an overlapping area between the first detection space and the second detection space; outputting, in response to determining that the first detection space has entered the first state, first information indicating that the target object is located in the first detection space via a human-machine interface; determining that the second detection space has entered a second state in response to the second detection result indicating that the target object that was not in the second detection space has appeared in the overlapping area; outputting second information indicating that the target object is not in the second detection space via the human-machine interface in response to determining that the second detection space has entered the second state; Including, A method for detecting target objects based on multi-radar.

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