Passive human body detection method, device, equipment and medium

Abstract

The present invention belongs to the technical field of human body detection, and particularly relates to a passive human body detection method, device, equipment and medium, for solving the problem that the conventional human body detection technology is easily interfered with and has low detection accuracy. The method includes: acquiring infrared thermal radiation signals in an environment to acquire the temperature of an object; transmitting electromagnetic waves into the environment and acquiring reflected echo signals; determining the position of the object in the environment based on the echo signals; matching a threshold range based on the position of the object; and comparing the temperature of the object with the threshold range to determine human body detection information in the environment. The present invention combines electromagnetic detection and thermography to detect whether a person exists in the current environment, and can effectively filter out interference signals, greatly improving the accuracy and sensitivity of detecting the presence of a human body.

Description

[Technical Field]

[0001] The present invention relates to the field of human body detection technology, and more particularly to a passive human body detection method, device, equipment and medium. [Background technology]

[0002] Traditionally, the main technologies in the field of human body detection include PIR sensors, millimeter-wave radar sensors, and RGB cameras.

[0003] The disadvantage of PIR sensors is that they are susceptible to interference from various heat and light sources and are greatly affected by the ambient temperature. In addition, passive infrared rays have poor penetration power and are difficult to receive by the probe, so they cannot detect the presence of a stationary person or identify the state of movement of a person.

[0004] Millimeter-wave radar sensors have high resolution and interference resistance, and are highly accurate in detecting moving or slightly moving targets. However, their drawback is that they are prone to false positives when detecting human bodies, and may mistake other moving objects for people. Furthermore, to be able to identify a person's movement, imaging using a high-precision radar is required.

[0005] Human body detection technology that combines RGB cameras and machine learning is prone to violating privacy and has limited application scenarios. Summary of the Invention [Problem to be solved by the invention]

[0006] As described above, the human body detection technology in the prior art has problems such as being easily interfered with and having low detection accuracy, which need to be solved. [Means for solving the problem]

[0007] In view of the above analysis, the embodiments of the present invention aim to provide a passive human body detection method to solve the problems that the conventional human body detection technology is easily interfered with and has a low detection accuracy rate, and the aspects provided by the embodiments of the present invention are as follows: acquiring an infrared thermal radiation signal in the environment to obtain a temperature of the subject; Emitting electromagnetic waves into the environment and acquiring reflected echo signals; determining a position of the subject in the environment based on the echo signals; matching a threshold range based on the position of the subject; and comparing the temperature of the subject with the threshold range to determine human body detection information in the environment.

[0008] In some embodiments, the infrared thermal radiation signals are acquired by a thermography device and converted into a thermal image.

[0009] In some embodiments, the method further includes determining a distance between the object and an infrared thermal radiation signal detection source based on the echo signal, and determining the threshold range using a temperature display range model based on the distance.

[0010] In some embodiments, the threshold range matches a temperature indication range in which the human body appears in the thermal image at the distance.

[0011] In some embodiments, if the temperature of the subject is within the threshold range, a motion posture of the subject is determined by a posture identification model based on the shape of the subject in the thermal image.

[0012] In some embodiments, motion parameter information of the subject in the motion posture is determined based on the echo signals and the thermal image.

[0013] In some embodiments, the human body detection information includes one or more of the following: presence or absence of a human body, a position of a human body, a height of a human body, a posture of a human body, or a motion parameter information.

[0014] The present invention further provides a passive human body detection device, a temperature detection module for acquiring infrared thermal radiation signals in the environment to acquire the temperature of the subject; an electromagnetic wave detection module that emits electromagnetic waves into the environment and acquires reflected echo signals; a location detection module that determines a location of the subject in the environment based on the echo signals; a threshold matching module for matching a threshold range based on the position of the subject; and a human body detection module that compares the temperature of the subject with the threshold range to determine human body detection information in the environment.

[0015] The present invention further provides an electronic device including a memory and a processor, wherein a computer program is stored in the memory, and when the computer program is executed by the processor, the passive human body detection method described in any one of the above embodiments is realized.

[0016] The present invention further provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, realizes the passive human body detection method described in any one of the above embodiments. [Effects of the Invention]

[0017] The human detection system provided by the present invention combines electromagnetic wave detection and thermography to detect whether a person is present in the current environment, and can effectively filter out interference signals, greatly improving the accuracy and sensitivity of detecting the presence of a human body. It can also identify the number of people and their movement status by referring to the spatial position and velocity of the target using the electromagnetic wave detector and the temperature and pixel information using the thermography.

[0018] In addition, embodiments of the present invention can also avoid interference with detection due to changes in temperature indication caused by the distance between the human body and the thermography device by determining the distance between the subject and the source of the infrared thermal radiation signal and adjusting the threshold range for temperature determination of the subject based on the distance. [Brief explanation of the drawings]

[0019] In order to more clearly explain the embodiments of the present specification or aspects of the prior art, the following will briefly introduce the drawings that need to be used in the description of the embodiments or prior art. The drawings in the following description are only some of the embodiments described in the embodiments of the present specification, and it is obvious to those skilled in the art that other drawings can be obtained based on these drawings.

[0020] [Figure 1] FIG. 1 is a schematic flow chart of the passive human body detection method provided by the present invention. [Figure 2] FIG. 2 is a schematic diagram of a passive human body detection device provided by the present invention. [Figure 3] FIG. 3 is a schematic diagram of an electronic device provided by the present invention. [Figure 4] FIG. 4 is a schematic diagram of a human body detection system provided according to an embodiment of the present invention. [Figure 5] FIG. 5 is a schematic diagram of a preferred embodiment of a human body detection system provided by the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0021] In order to clarify the objectives, aspects, and advantages of the embodiments of the present invention, the following provides a clear and complete description of the aspects of the embodiments of the present invention with reference to the drawings in the embodiments of the present invention. It is clear that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. Furthermore, if there is no conflict, the embodiments of the present invention and the features in the embodiments can be combined, separated, exchanged, and / or rearranged with each other. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without any creative efforts fall within the scope of protection of the present invention.

[0022] In the drawings, dimensions and relative dimensions of parts may be exaggerated for purposes of clarity and / or representation. When the illustrative embodiments can be alternatively practiced, specific process steps may be performed in a different order than described. For example, two processes described as sequential may be performed substantially simultaneously, or may be performed in the reverse order from that described. Additionally, like reference numerals refer to like parts.

[0023] When a component is referred to as "located on" or "on" or "connected to" or "coupled to" another component, the component may be directly located on, directly connected to, or directly coupled to the other component, or intermediate components may be present. However, when a component is referred to as "located on," "directly connected to," or "directly coupled to" another component, there are no intermediate components present. Thus, the term "connection" refers to a physical connection, an electrical connection, etc., and may or may not involve intermediate components.

[0024] For purposes of descriptiveness, the present invention may use relative spatial terms for components, such as "top," "bottom," "below," "below," "under," "down," "above," "up," "on," "high," etc., to describe the relationship of one component to another (other) component shown in the drawings.

[0025] The terms used herein are for the purpose of describing specific embodiments and are not intended to be limiting. As used herein, the singular forms "a," "an," "another," and "the," are intended to include the plural, unless the context clearly dictates otherwise. Additionally, when the terms "comprise" and / or "comprises," and variations thereof, are used herein, they refer to the presence of stated features, wholes, steps, operations, parts, components, and / or groups thereof, but do not exclude the presence or addition of one or more other features, wholes, steps, operations, parts, components, and / or groups thereof. It should also be noted that the terms "essentially," "about," and other similar terms used herein are used as terms of approximation, not as terms of degree, and as such, are used to account for inherent variations in measurements, calculations, and / or provided values ​​that would be recognized by one of ordinary skill in the art.

[0026] The present invention provides a specific embodiment, as shown in FIG. 1, which discloses a passive human body detection method to solve the problem that the conventional human body detection technology is easily interfered with and has a low detection accuracy. The aspects provided by this embodiment are: acquiring an infrared thermal radiation signal in the environment to obtain a temperature of the subject; Emitting electromagnetic waves into the environment and acquiring reflected echo signals; determining a position of the subject in the environment based on the echo signals; matching a threshold range based on the position of the subject; and comparing the temperature of the subject with the threshold range to determine human body detection information in the environment.

[0027] Preferably, the infrared thermal radiation signal is acquired by a thermography device and converted into a thermal image. Specifically, a thermography device may be installed to capture the infrared thermal radiation signal in the environment and form a thermal image. Meanwhile, an electromagnetic wave detector may emit electromagnetic waves and receive echo signals, and based on the echo signals, spatial information such as the position, distance, shape, and height of an object, as well as motion information such as the speed and acceleration of the object, can be determined.

[0028] Specifically, this embodiment analyzes the echo signals of the electromagnetic waves emitted by the electromagnetic detector to determine the location of an "obstacle" (i.e., a human subject) in the environment. That is, it can detect a location area in the target environment where a human body may appear. The location area is then compared with the temperature of the thermal image formed by the infrared thermal radiation signal. If the comparison is as expected, it is initially assumed that a human body is present in the location area, and further confirmation is performed. The distance between the human body and the infrared thermal radiation signal detection source, e.g., a thermography device, has a significant effect on the infrared thermal radiation signal, so the temperature reading of the human body detected by the thermography device tends to decrease as the distance increases. At the same time, the distance and orientation of the human body significantly affect the temperature distribution of the human body in the thermal image. Therefore, this embodiment first matches a threshold range based on the location of the human subject, and then matches this threshold range with the temperature range displayed in the thermal image at a specific location. This reduces the adverse effects of the thermography device's characteristics and makes detection more accurate.

[0029] After determining the threshold range, the temperature corresponding to the region in the thermal image where the object is located is compared with the threshold range, and in some embodiments, the proportion of the region temperature that is between the upper and lower limits of the threshold range is determined to determine whether the object meets the expectations of the comparison. If the region temperature of the majority of the object is within the threshold range, the object is initially considered to be a human body, and further information analysis is performed on it.

[0030] In some embodiments, the human body detection information includes one or a combination of the following: presence or absence of a human body, human body position, height, human body posture, or motion parameter information. The human body detection information may be understood as a comprehensive information including presence or absence of a human body, human body posture, location scene, human body motion state, speed, acceleration, etc. Among them, information such as human body position, speed, acceleration, and human body height can be measured by an electromagnetic wave detector. A thermal image formed by an infrared thermal radiation signal can determine the posture of the human body, such as lying down, standing, sitting, etc.

[0031] Preferably, the method further includes determining a distance between the object and a detection source of the infrared thermal radiation signal based on the echo signal, and determining the threshold range based on the distance using a temperature display range model, the threshold range matching the temperature display range of the human body at the distance shown in the thermal image. This embodiment can mainly focus on the influence of the object distance on the temperature display in the thermal image.

[0032] In some embodiments, adjusting the threshold range based on the distance includes determining the threshold range based on the distance using the temperature display range determination model, wherein the temperature display range determination model is trained using display temperatures in thermal images of multiple human bodies formed at different distances from the thermography device, and the temperature display range determination model is configured to output a temperature display range for a human body at a specific distance based on an input distance.

[0033] Preferably, when the temperature of the subject is within the threshold range, the subject's exercise posture is determined based on the shape of the subject in the thermal image by a posture identification model, which is trained by thermal images formed in different human body postures.

[0034] In some embodiments, motion parameter information of the subject in the motion posture may also be determined based on the echo signals and the thermal image.

[0035] The present invention further provides a passive human body detection device, as shown in FIG. a thermal radiation acquisition module for acquiring infrared thermal radiation signals in the environment; an electromagnetic wave detection module that emits electromagnetic waves into the environment and acquires reflected echo signals; a location detection module that determines a location of the subject in the environment based on the echo signals; and a human body detection module that determines whether the temperature of the subject is within a threshold range based on the position of the subject and the infrared thermal radiation signal, so as to determine human body detection information in the environment.

[0036] The present invention further provides an electronic device, as shown in FIG. 3, including a memory and a processor, wherein a computer program is stored in the memory, and when the computer program is executed by the processor, the passive human body detection method described in any one of the above embodiments is realized.

[0037] The present invention further provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, realizes the passive human body detection method described in any one of the above embodiments.

[0038] The present invention provides another specific embodiment, as shown in Figure 4, of a human body detection system, which includes a thermography device 1 for capturing a thermal image of an environment, an electromagnetic wave detector 2 for emitting electromagnetic waves into the environment and capturing reflected echo signals, a location identification module 3 communicatively connected to the electromagnetic wave detector 2 and configured to determine the location of an object 8 based on the echo signals, and a processing module 4 communicatively connected to the thermography device 1 and the location identification module 3, respectively, and configured to determine whether the temperature at the location is within a threshold range based on the thermal image, and if so, to initially determine that a human body may be detected. Although not described here, this can be further confirmed later using more accurate technical means. The threshold range may be set based on empirical data on the temperature of a human body shown in a thermal image, and may have an upper and lower limit. If the temperature displayed in the thermal image is detected to be between the upper and lower limits, the temperature is considered to be within the threshold range.

[0039] The position identified by the position identification module 3 indicates the position of the object 8 within the electromagnetic wave detection area, and for example, when the electromagnetic wave detection result is displayed as a plane figure, the position indicates the display of the position of the object 8 on the plane figure, which may correspond to the position in the thermal image. Alternatively, for example, when the electromagnetic wave detection result is displayed as a sector area, the position may indicate that the object 8 is in a certain angular direction.

[0040] Specifically, the electromagnetic wave detector 2 may emit electromagnetic waves into the environment or target area and receive reflected echo signals. The location identification module 3 may be an analysis module built into the electromagnetic wave detector 2, or may be understood as a signal analysis module other than the electromagnetic wave generator and receiver of the electromagnetic wave detector 2. By analyzing the echo signals, it is possible to determine whether or not a subject 8 is present in the detected environment or target area. The subject 8 refers to an object that may be an electromagnetic wave "obstacle," including a human body, a small animal, a small building, etc., and the location identification module 3 can obtain spatial location information for each subject 8 by analyzing the echo signals. This shows that detecting a human body using only the electromagnetic wave detector 2 can make it easier to identify other subjects 8 as human bodies.

[0041] In addition, this embodiment further detects the human body using the thermal image or temperature matrix acquired by the thermography device 1, and if detection is performed using only the thermography device 1, it is susceptible to interference from other heat sources and light sources and is greatly affected by the ambient temperature.

[0042] In this embodiment, electromagnetic detection is performed by the electromagnetic detector 2, and the location identification module determines whether there are any suspected human objects 8 in the target area and can determine multiple candidate targets. The thermography device 1 then uses the thermal image or temperature matrix acquired to determine the temperature at the location where the object 8 is located. A threshold value is set based on the temperature displayed in the thermal image of the human body. If the temperature in the thermal image of the location where the object 8 is located is within the threshold range, it is initially determined that there may be a human body in that location. The location identification module can then determine whether there are any human bodies in the target area and their respective locations. This effectively filters out interference signals, greatly improving the accuracy and sensitivity of detecting the presence of human bodies.

[0043] As shown in FIG. 5 , some embodiments preferably further include a distance detection module 5 communicatively connected to the electromagnetic wave detector 2 for determining the distance to the object 8 based on the echo signals, and an orientation detection module 6 communicatively connected to the electromagnetic wave detector 2 for determining the orientation of the object 8 based on the echo signals. The distance to a human body has a significant effect on the infrared thermal radiation signal, and the human body temperature display value detected by the thermography device 1 tends to decrease as the distance increases. At the same time, the distance and orientation of the human body significantly affect the temperature distribution of the human body in the thermal image. Therefore, the distance and orientation of the object 8 are determined by the distance detection module 5 and the orientation detection module 6, and the processing module 4 further includes a threshold determination unit 41, which changes the threshold range based on the distance to the object 8 and adjusts the upper and lower temperature limits. This avoids interference with the detection of temperature display changes due to the distance between the human body and the thermography device 1.

[0044] The threshold determination unit 41 can improve the accuracy of human body detection. If only a fixed threshold is set, the temperature measurement value will be affected by the distance when the human body is located at different distances from the thermography device 1. If the lower limit of the threshold is too low, non-human objects will be easily identified as human bodies, and if the lower limit of the threshold is too high, distant human bodies will be easily identified as non-human, resulting in inaccurate detection. Furthermore, adjusting the threshold according to the distance of the subject 8 can prevent confusion between humans and other living organisms. For example, at the same distance, a small animal will have a lower body temperature than a human, and its temperature reading will not fall within the threshold range set for that distance, and will not be identified as a human.

[0045] Preferably, the thermography device 1 includes an infrared thermography sensor, and the electromagnetic wave detector 2 includes a millimeter-wave radar sensor, the frequency of which is in the 5.8 GHz, 24 GHz, 60 GHz or UWB frequency range.

[0046] Preferably, the detection ranges of the thermography device 1 and the electromagnetic wave detector 2 have an overlapping area, and preferably, the detection ranges of both should be the same, for example, the angles of the lens and the electromagnetic wave generator should be the same and have a common starting point in order to perform information fusion or comparison between the electromagnetic wave detection results and the thermal image.

[0047] In some embodiments, as shown in FIG. 5 , the system further includes a motion state module 7 communicatively connected to the electromagnetic wave detector 2 for determining the velocity of the object 8 based on the echo information. Preferably, the motion state module 7 is also communicatively connected to the thermography device 1. In this embodiment, the motion state module 7 may directly determine the motion parameters of a target based on the echo information, or the motion parameters of the target may be obtained by dynamic analysis of a thermal image. However, when using thermal imaging or electromagnetic waves alone, motion analysis of multiple targets is subject to interference due to target occlusion. In this embodiment, the motion state module 7 may further determine the velocity of the object 8 by referring to the echo information and changes in the thermal image, and may analyze the motion states of each of multiple targets by referring to the thermal image and echo information.

[0048] In addition, in some embodiments, the human body detection system provided by the present invention further includes an RGB camera or an IPR sensor, and different types of detection data are obtained by multiple sensors. A trained model is used to determine the human body state based on the detection data, and can identify human movement states such as standing still, running, falling, looking down, etc., and scene states such as sleeping, watching a movie, looking at a mobile phone, etc.

[0049] Those skilled in the art should further understand that the units and algorithm steps of each example described in connection with the embodiments disclosed herein can be realized by electronic hardware, computer software, or a combination of both. In order to clearly explain the compatibility of hardware and software, the configurations and steps of each example are generally described by function in the above description. Whether these functions are performed by hardware or software depends on the specific application and design constraints of the embodiment. Those skilled in the art may realize the described functions using different methods for each specific application; however, this realization should not be considered to go beyond the scope of the present invention.

[0050] The steps of a method or algorithm described in connection with the embodiments disclosed herein may be embodied in hardware, in software modules executed by a processor, or a combination of both. The software modules may be located in random access memory (RAM), memory, read-only memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, removable disk, CD-ROM, or any other form of storage medium known in the art. The calculation, transmission, and control methods involved in the invention are all conventional in the art, and the implementation of the invention does not depend on the computer program itself.

[0051] The specific embodiments described above have explained the objects, aspects and beneficial effects of the present invention in more detail, and it should be understood that the above-described embodiments are merely specific embodiments of the present invention and are not intended to limit the scope of protection of the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention are all included in the scope of protection of the present invention. [Explanation of symbols]

[0052] 1. Thermography equipment 2 - Electromagnetic wave detector 3. Location Identification Module 4. Processing Module 41 - Threshold determination unit 5. Distance detection module 6 - Orientation detection module 7. Motor State Module

Claims

1. A passive human body detection method, comprising: acquiring an infrared thermal radiation signal in the environment to obtain a temperature of the subject; Emitting electromagnetic waves into the environment and acquiring reflected echo signals; determining a position of the subject in the environment based on the echo signals; matching a threshold range based on the position of the subject; comparing the temperature of the subject with the threshold range to determine human body detection information in the environment; determining a distance between the object and an infrared thermal radiation signal detection source based on the echo signal; and determining the threshold range based on the distance using a temperature display range determination model; determining the threshold range includes varying the threshold range based on the distance of the subject, adjusting upper and lower temperature values, and the threshold range matching a temperature display range shown on the thermal image at the distance of the subject; A passive human body detection method, characterized in that the temperature display range determination model is trained by the displayed temperatures in thermal images of multiple human bodies formed at different distances from the thermography device, and the temperature display range determination model is for outputting a temperature display range in which a human body is shown in a thermal image at a specific distance based on an input distance.

2. 2. The passive human body detection method of claim 1, wherein the infrared thermal radiation signal is acquired by a thermography device and converted into a thermal image.

3. The passive human body detection method according to claim 1, characterized in that, when the temperature of the subject is within the threshold range, the subject's exercise posture is determined by a posture identification model based on the shape of the subject in the thermal image.

4. The passive human body detection method according to claim 3, further comprising determining motion parameter information of the subject in the motion posture based on the echo signal and the thermal image.

5. The passive human body detection method according to claim 1, wherein the human body detection information includes one or a combination of multiple types of information on the presence or absence of a human body, the position, height, posture or movement parameters of the human body.

6. A passive human body detection device, a temperature detection module for acquiring infrared thermal radiation signals in the environment to acquire the temperature of the subject; an electromagnetic wave detection module that emits electromagnetic waves into the environment and acquires reflected echo signals; a location detection module that determines a location of the subject in the environment based on the echo signals; a threshold matching module for matching a threshold range based on the position of the subject; a human body detection module that compares the temperature of the subject with the threshold range to determine human body detection information in the environment; determining a distance between the subject and an infrared thermal radiation signal detection source based on the echo signal; determining the threshold range by a temperature display range determination model based on the distance; changing the threshold range based on the distance of the subject and adjusting upper and lower temperature values, the threshold range being a range determination model that matches the temperature display range of the human body shown in the thermal image at the distance; A passive human body detection device characterized in that the temperature display range determination model is trained by the displayed temperatures in thermal images of multiple human bodies formed at different distances from the thermography device, and the temperature display range determination model is configured to output a temperature display range in which a human body is shown in a thermal image at a specific distance based on an input distance.

7. 6. An electronic device comprising a memory and a processor, wherein a computer program is stored in the memory, and wherein the electronic device realizes the passive human body detection method according to any one of claims 1 to 5 when the computer program is executed by the processor.

8. 6. A computer-readable storage medium having a computer program stored thereon, the computer program implementing the passive human body detection method of any one of claims 1 to 5 when executed by a processor.

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