Millimeter-wave radar-based outdoor security monitoring method, device, and system

Abstract

A millimeter-wave radar-based outdoor security monitoring method, a program product, and an electronic device. The method comprises: establishing a pairing relationship between an electronic device and various detection devices, and establishing a communication connection with the various detection devices, wherein there are one or more detection devices (S11); acquiring an area range corresponding to the various detection devices, wherein each detection device comprises a millimeter-wave radar sensor (S12), and the area range corresponding to the one or more detection devices forms a monitoring range for a protection zone; acquiring radar echo data received by the various detection devices by means of the millimeter-wave radar sensor (S13); and identifying a target and target information on the basis of the radar echo data received by the various detection devices by means of the millimeter-wave radar sensor, and executing an early warning operation on the basis of the target information (S14).

Description

Outdoor safety monitoring method, device and system based on millimeter wave radar TECHNICAL FIELD

[0001] The present application relates to the field of artificial intelligence, in particular to an outdoor safety monitoring method based on millimeter wave radar, an electronic device and an outdoor safety monitoring system based on millimeter wave radar. BACKGROUND

[0002] At present, most of the outdoor camping warning systems adopt two ways of infrared sensor detection and visual detection system. The way based on infrared sensor detection is easily affected by environmental factors, such as sunlight, so the false positive rate is high in outdoor scenes. The visual detection system using visual sensor is also easily affected by environmental factors. In bad weather environment such as night, rainy day, snowy day, foggy day and the like, the accuracy of target identification is low, so the false positive rate is also high, and the user experience is low. SUMMARY

[0003] In order to solve the existing technical problems, the present application provides an outdoor safety monitoring method based on millimeter wave radar, an electronic device and an outdoor safety monitoring system based on millimeter wave radar, which can improve the accuracy of early warning.

[0004] In a first aspect, an outdoor safety monitoring method based on millimeter wave radar is provided, comprising: establishing a pairing relationship between the electronic device and each detection device, and establishing a communication connection with each detection device, the detection device being one or more detection devices; obtaining the area range corresponding to each detection device, wherein each detection device comprises a millimeter wave radar sensor, and the area range corresponding to one or more detection devices forms a monitoring range of a protection area; obtaining radar echo data received by each detection device through the millimeter wave radar sensor; identifying a target and target information based on the radar echo data received by each detection device through the millimeter wave radar sensor, and performing a warning operation based on the target information.

[0005] In a second aspect, an electronic device is provided, comprising a memory and a processor, the memory storing a computer program, the computer program being executed by the processor to make the processor execute the outdoor safety monitoring method based on millimeter wave radar as described in the first aspect of the present application.

[0006] In a third aspect, an electronic device is provided, comprising an establishing module, an obtaining module and a warning module.

[0007] The establishing module is configured to establish a pairing relationship between the electronic device and each detection device, and to establish a communication connection with each detection device, the detection device being one or more detection devices.

[0008] The acquisition module is configured to acquire a range corresponding to each of the detection devices, wherein each detection device comprises a millimeter wave radar sensor, and the range corresponding to one or more detection devices forms a monitoring range of the protection area;

[0009] The acquisition module is further configured to acquire radar echo data received by each of the detection devices through the millimeter wave radar sensor;

[0010] The early warning module is configured to identify a target and target information based on the radar echo data received by each of the detection devices through the millimeter wave radar sensor, and perform an early warning operation based on the target information.

[0011] In a fourth aspect, an outdoor safety monitoring system based on a millimeter wave radar is provided, which comprises the electronic device according to the second aspect or the third aspect, and at least one detection device. The electronic device can establish a pairing relationship with the detection device to establish a communication connection. The detection device comprises a millimeter wave radar sensor, and performs detection in a range corresponding to the detection device through the millimeter wave radar sensor, and acquires radar echo data.

[0012] In a fifth aspect, a computer program product is provided, which comprises a computer program. When the computer program is executed by a processor, the method for outdoor safety monitoring based on a millimeter wave radar according to the first aspect is implemented.

[0013] In a sixth aspect, a non-volatile storage medium is provided, which stores a computer program. When the computer program is executed by a processor, the processor executes the method for outdoor safety monitoring based on a millimeter wave radar according to the first aspect.

[0014] The embodiments of the present application establish a pairing relationship between the electronic device and each detection device, establish a communication connection with each of the detection devices, acquire a range corresponding to each of the detection devices, thereby forming a comprehensive monitoring range around the protection area, acquire radar echo data received by each of the detection devices, identify a target based on the radar echo data received by each of the detection devices, acquire target information, and perform an early warning operation according to the target information, thereby achieving comprehensive outdoor monitoring. Moreover, since the target information is identified based on the radar echo data acquired by the millimeter wave radar, the millimeter wave radar has high resolution, good anti-interference ability, small size, light weight, and can work in harsh weather conditions, thereby improving the accuracy of early warning and facilitating portability. BRIEF DESCRIPTION OF DRAWINGS

[0015] FIG. 1 is an application environment diagram of the method for outdoor safety monitoring based on a millimeter wave radar in an embodiment;

[0016] FIG. 2 is a schematic diagram of an electronic device in an embodiment;

[0017] FIG. 3 is a schematic diagram of a detection device in an embodiment;

[0018] FIG. 4 is a flowchart of a method for outdoor safety monitoring based on millimeter wave radar in an embodiment;

[0019] FIG. 5 is a schematic diagram of a range of a detection device in an embodiment;

[0020] FIG. 6 is a schematic diagram of setting a range of a detection device in an embodiment;

[0021] FIG. 7 is a schematic diagram of a virtual map display in an embodiment;

[0022] FIG. 8 is a schematic diagram of an outdoor safety monitoring device based on millimeter wave radar in an embodiment;

[0023] FIG. 9 is a schematic diagram of an electronic device in an embodiment. DETAILED DESCRIPTION

[0024] The technical solutions of the present application are described in further detail below in conjunction with the accompanying drawings and specific embodiments.

[0025] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which the present application belongs. The terminology used in the description of the application herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the present application. As used herein, the term "and / or" includes any and all combinations of one or more of the associated listed items.

[0026] In the following description, expressions relating to "some embodiments" describe a subset of all possible embodiments, but it should be understood that "some embodiments" can be the same subset or different subsets of all possible embodiments, and can be combined with each other without conflict.

[0027] Referring to FIG. 1, an application environment diagram of a method for outdoor safety monitoring based on millimeter wave radar in an embodiment. The application environment diagram includes an electronic device 10 and one or more detection devices 20, the detection device 20 includes a millimeter wave radar sensor 201, and the one or more detection devices 20 are respectively arranged in the surrounding area of the protection area, for monitoring the real-time environmental data around the protection area in all directions, the electronic device 10 is used for identifying the target according to the real-time environmental data monitored by each detection device 20, and timely warning when a dangerous situation is found. The protection area indicates an area where the identified target cannot approach, including but not limited to the area where the tent is located, the area where the vehicle is located, the camping area, etc.

[0028] The electronic device 10 is provided with a plurality of detection device identifiers for binding with the detection device 20, so that each detection device 20 can correspond to a detection device identifier. As shown in FIG. 2, which is a schematic diagram of an electronic device in an embodiment, the detection device identifiers are represented by the numbers 1, 2, 3, 4, 5, and 6. The detection device can be paired by selecting the numbers and the pairing button provided on the electronic device 10, i.e., the detection device 20 can be made to correspond to a number, so that when the electronic device 10 communicates data with a plurality of detection devices 20, the detection device 20 can be identified by the detection device identifier. The detection device identifier and the area setting button can be used to configure the area range of a detection device 20. The electronic device 10 is also provided with a plurality of indicator lights, including but not limited to status indicator lights, detection device identifier indicator lights, pairing key indicator lights, area setting indicator lights, and the like. The indicator lights can perform different prompt operations in different states, including but not limited to: prompting by displaying different colors, prompting by the number of times of flashing, and the like. The detection device identifier, the switch button, the area setting button, and the pairing button can be physical keys or touch keys on a user interface, and the like, which are not limited herein. The form of the electronic device 10 is not limited to that shown in FIG. 2. The electronic device 10 can also be a device installed with an outdoor safety monitoring program based on a millimeter wave radar, which can include a computing device (e.g., a desktop computer, a laptop computer, a tablet computer, a handheld computer, a smart speaker, a server, and the like), a terminal device (e.g., a mobile phone, and the like), a wearable device (e.g., a pair of smart glasses or a smart watch), a handheld device, and the like. The user interface provided by the outdoor safety monitoring program based on a millimeter wave radar can achieve the same functions of the various buttons in FIG. 2.

[0029] As shown in FIG. 3, which is a schematic diagram of a detection device in an embodiment, the detection device 20 is provided with a switch button and a pairing button. The pairing button can send a pairing request signal to the electronic device. It can be understood that the detection device 20 can also include a plurality of indicator lights, which can perform different prompt operations in different states, including but not limited to: prompting by displaying different colors, prompting by the number of times of flashing, and the like.

[0030] The millimeter wave radar sensor 201 is used to send electromagnetic wave signals to the area range corresponding to the detection device. When there are targets in the area range, the targets will reflect the electromagnetic wave signals, and the millimeter wave radar sensor 201 can receive the echo signals reflected by the targets. The electronic device 20 detects the targets in the area range according to the echo signals detected by the millimeter wave radar sensor 201.

[0031] The millimeter wave radar sensor 201 is a radar system that uses millimeter wave frequency band electromagnetic waves to detect targets. The wavelength of millimeter waves ranges between 1 mm and 10 mm, between microwaves and terahertz waves. The millimeter wave radar sensor obtains target information by transmitting millimeter wave signals and receiving signals reflected by targets, including but not limited to the distance between the target and the detection device 20, the position data of the target, the radar point cloud data of the target, and the like.

[0032] Referring to FIG. 4, a flowchart of an outdoor safety monitoring method based on a millimeter wave radar according to an embodiment of the present application is shown. The outdoor safety monitoring method based on the millimeter wave radar is applied to an electronic device, and the outdoor safety monitoring method based on the millimeter wave radar includes the following steps:

[0033] S11, establishing a pairing relationship between the electronic device and each detection device, and establishing a communication connection with each detection device.

[0034] In this embodiment, each detection device corresponds to a respective detection range, and one detection device cannot detect in all directions. Therefore, in an outdoor environment, multiple detection devices are generally needed. Therefore, when multiple detection devices exist, the pairing relationship between each detection device and the electronic device needs to be configured. Through the pairing relationship, the electronic device and the detection device can establish a communication connection, and the detection device can also be identified. In this way, the electronic device can determine the detection device that sends data when receiving data. The communication connection between the electronic device and the detection device can be a wireless or wired network connection.

[0035] S12, obtaining the area range corresponding to each detection device, wherein each detection device includes a millimeter wave radar sensor, and the area range corresponding to one or more detection devices forms a monitoring range of the protection area.

[0036] In this embodiment, for a protection area, multiple detection devices can be placed around the protection area, and each detection device corresponds to an area range. The area ranges corresponding to the detection devices can intersect or not intersect. Based on the area ranges corresponding to the multiple detection devices, a monitoring range around the protection area can be formed. Specifically, the area ranges corresponding to the multiple detection devices are spliced to obtain the monitoring range around the protection area. As shown in FIG. 5, FIG. 5 is a schematic diagram of an area range corresponding to one detection device in an embodiment. The area range of one detection device is similar to a fan-shaped area range, and targets can be identified within the area range.

[0037] S13, obtaining radar echo data received by each detection device through the millimeter wave radar sensor.

[0038] In the embodiment, each detection device is responsible for detection in a respective area range. The millimeter wave radar sensor in each detection device sends electromagnetic waves to the corresponding area range at a preset time interval. When the electromagnetic waves encounter an obstacle, they can reflect a return signal. Thus, the detection device can receive radar return data. By analyzing the radar return data, the distance, speed, angle, and other information of the target can be determined.

[0039] S14, based on the radar return data received by the millimeter wave radar sensor of each detection device, identify the target and target information, and based on the target information, perform a pre-warning operation.

[0040] In the embodiment, for any detection device, the radar return data can be pre-processed to obtain pre-processed signal data. The pre-processing includes at least one of static clutter elimination, mixer-based processing operation, analog-to-digital converter-based sampling operation, and fast-time Fourier transform-based transformation operation. The return signal is pre-processed to obtain pre-processed return data. The pre-processing operation includes but is not limited to static clutter elimination, mixer-based processing operation, analog-to-digital converter-based sampling operation, and fast-time Fourier transform-based transformation operation. The return signal performs static clutter elimination, which can reduce the influence of the clutter signal generated by the large static object in the room on the target return signal. The mixer-based processing operation mixes the transmitted signal and the return signal to obtain a signal with a new frequency, which is an intermediate frequency signal. The frequency and phase of the return signal and the transmitted signal are different, so the distance, speed, and angle data can be extracted from the superimposed intermediate frequency signal. The analog-to-digital converter-based sampling operation is used to sample the processed return signal. The sampled signal is subjected to Fourier transform processing to obtain a discrete return signal x(m, n) containing distance and slow-time information, where m represents the slow-time dimension, which is the mth pulse return, and n represents the distance dimension, which is the nth distance unit.

[0041] Based on the pre-processed signal data, a target recognition algorithm is used to identify the target and determine the target information. The target recognition algorithm includes but is not limited to: a two-dimensional FFT-based direction gradient histogram (HOG) feature recognition method, a support vector machine (SVM) or convolutional neural network (CNN) machine learning algorithm for target recognition, etc. The target information includes but is not limited to the speed, distance, angle, position, etc. of the target. The target includes but is not limited to pedestrians, animals, vehicles, etc. For different outdoor environments, target options corresponding to the outdoor environment can be provided on the user interface, and the target matching the current outdoor environment is configured based on the target options. For example, the user camps in an area where animals often appear, and can configure multiple animal categories as targets on the user interface, so that the target can be more accurately identified. The pre-warning operation includes but is not limited to one or a combination of the following: image warning, indicator light warning, voice warning, etc.

[0042] In this embodiment, by comparing the transmitted and received signals of the millimeter radar wave, the time of flight (ToF) or frequency difference of the signal is calculated to determine the distance and speed of the target. Using the Doppler Effect, the radar can measure the speed of the target. When the target moves towards the radar, the frequency of the return signal will be higher than that of the transmitted signal; when the target moves away from the radar, the frequency of the return signal will be lower than that of the transmitted signal. By calculating the change in frequency, the speed of the target can be obtained. Millimeter wave radar usually uses an antenna array to determine the angle of arrival (AoA) of the return signal. By analyzing the phase difference of the signals received by different antennas in the array, the angular position of the target can be estimated.

[0043] In the above embodiment, by establishing the pairing relationship between the electronic device and each detection device, establishing a communication connection with each detection device, and obtaining the corresponding area range of each detection device, a comprehensive monitoring range around the protection area is formed, and radar echo data received by each detection device is obtained. Based on the radar echo data received by each detection device, the target is identified and the target information is obtained, and the pre-warning operation is performed according to the target information, so as to realize comprehensive outdoor monitoring. Moreover, since the target information is identified based on the radar echo data obtained by the millimeter wave radar, the millimeter wave radar has high resolution, good anti-interference ability, small size, light weight, and can work in harsh weather conditions, so as to improve the accuracy of the pre-warning and facilitate carrying.

[0044] In some embodiments, the establishment of the pairing relationship between the electronic device and each detection device includes:

[0045] For any of the detection devices, a pairing request sent by the detection device is acquired;

[0046] Based on the electronic device, a detection device identifier corresponding to the detection device is acquired according to the detection device identifier selection operation and a pairing confirmation operation of pairing with the detection device, and a confirmation pairing signal corresponding to the pairing confirmation operation and the detection device identifier corresponding to the detection device identifier selection operation are sent to the detection device;

[0047] A feedback signal of successful confirmation pairing sent by the detection device is acquired.

[0048] In the embodiment, the electronic device provides a detection device identifier control and a pairing confirmation control, the user can select a required detection device identifier by triggering the detection device identifier control, and can confirm entering a pairing state by triggering the pairing confirmation control. It can be understood that the type of the detection device identifier control and the pairing confirmation control can be one or a combination of multiple types of the following: virtual touch keys, physical keys, text boxes, drop-down boxes, check boxes, icons, combo boxes, and the like. When the detection device identifier control is triggered, a detection device identifier selection operation is acquired, and when the pairing confirmation control is triggered, a pairing confirmation operation is acquired and a pairing state is entered, so that the detection device identifier corresponding to the detection device identifier selection operation is sent to the requesting detection device, and the requesting detection device receives the detection device identifier and sends a feedback signal to the electronic device, thereby realizing the pairing relationship between the electronic device and the requesting detection device. For any detection device, pairing can be performed according to the above method.

[0049] In the above embodiment, the detection device sends a request, the detection device identifier corresponding to the detection device is set on the electronic device, and is sent to the requesting detection device, so as to realize the pairing setting between the electronic device and the detection device, thereby realizing the communication connection, and facilitating the subsequent configuration of the area range of the detection device, so as to facilitate the omnidirectional monitoring and protection of the area.

[0050] In an optional embodiment, based on the electronic device, a detection device identifier corresponding to the detection device is acquired according to the detection device identifier selection operation and a pairing confirmation operation of pairing with the detection device, and a confirmation pairing signal corresponding to the pairing confirmation operation and the detection device identifier corresponding to the detection device identifier selection operation are sent to the detection device, including:

[0051] When the detection device identifier selection operation is acquired, a prompt operation is performed on at least one indicator light on the electronic device to prompt that the detection device identifier has been selected;

[0052] When the pairing confirmation operation is acquired, a prompt operation is performed on at least one indicator light on the electronic device to confirm entering a pairing state of pairing with the detection device, and the detection device identifier is sent to the detection device.

[0053] The acquiring the feedback signal of confirming the successful pairing includes:

[0054] When the feedback signal is acquired, a prompt operation is performed on at least one indicator light on the electronic device to prompt the user that the pairing is successful.

[0055] In this embodiment, as shown in FIG. 2, when a detection device identification button is clicked, that is, a detection device identification selection operation is acquired, for example, if the number "2" is clicked, it indicates that the number "2" has been selected, then the detection device identification indicator light under the number "2" can be blinked to prompt the user that the number "2" has been selected. Then click the pairing button, and the electronic device can acquire the pairing confirmation operation, so that the pairing key indicator light can display yellow blinking to prompt the user that the pairing state of the requested detection device has been entered. After the feedback signal is acquired, the pairing key indicator light is prompted in a manner different from yellow blinking, that is, by displaying red and blinking to confirm the successful pairing.

[0056] In the above embodiment, in different task states, at least one indicator light is used to prompt the user that the different tasks have been entered, so that the user can more intuitively understand the pairing process, thereby realizing the communication connection, and facilitating the subsequent configuration of the area range of the detection device, so as to realize the omnidirectional monitoring and protection of the area.

[0057] In some embodiments, the acquiring the area range corresponding to each detection device includes:

[0058] For any detection device, when the confirmation selection operation of the detection device identification corresponding to the detection device is acquired and the area setting operation is acquired, it is confirmed that the area setting state of the detection device is entered.

[0059] Acquiring trajectory data of the user detected by the detection device, and determining the area range corresponding to the detection device according to the trajectory data.

[0060] In this embodiment, the confirmation selection operation is acquired by triggering the detection device identification control, and different operations are configured for the detection device identification control, for example, short pressing the detection device identification control to acquire the detection device identification selection operation, and long pressing the detection device identification control to acquire the area setting operation. Similar operations can be performed on other controls, that is, different triggering methods can be set to correspond to different operations, and the types of controls can also be diversified as in the above embodiment. The electronic device is also provided with an area setting control, and the electronic device can acquire the area setting operation after the user triggers the area setting control, and then the electronic device enters the area setting state. As shown in FIG. 2, the area setting control can be an area setting button as shown in FIG. 2.

[0061] The trajectory data represents a trajectory formed by the user from the start of the movement to the end of the movement. The shape of the trajectory includes, but is not limited to, any type of regular shape, or a combination of multiple regular shapes, and the like. As shown in FIG. 6, which is a schematic diagram of a range of a region set by a detection device in an embodiment; for example, after entering a region setting state, the user drives at a constant speed within the detection range of the detection device to form trajectory data, and after returning to the starting point of the movement, the region setting control can be triggered again, the electronic device obtains a trajectory setting end operation, and then determines the region range corresponding to the detection device according to the trajectory data. For other detection devices, the region range can be set according to the above steps in sequence.

[0062] In an optional embodiment, the obtaining of the trajectory data of the user detected by the detection device and the determination of the region range corresponding to the detection device according to the trajectory data include:

[0063] Obtaining a projection point of the detection device on a horizontal plane;

[0064] According to the trajectory data, extracting a horizontal maximum point in the horizontal direction, and extracting a vertical minimum point and a vertical maximum point in the vertical direction;

[0065] Based on the projection point, the horizontal maximum point, the vertical minimum point, and the vertical maximum point, determining the region range corresponding to the detection device, wherein the horizontal direction indicates the direction of the horizontal line established with the projection point of the detection device on the horizontal plane, and the vertical direction is the direction perpendicular to the horizontal direction.

[0066] In this embodiment, the horizontal maximum point, the vertical minimum point, and the vertical maximum point are boundary points, and connecting the projection point with these boundary points can form a range similar to a sector region, as shown in the region range in FIG. 5. The horizontal maximum point, the vertical minimum point, and the vertical maximum point are extracted according to the trajectory data and by using a feature extraction method, wherein the feature extraction method includes, but is not limited to, an edge extraction method.

[0067] In an optional embodiment, the obtaining of the trajectory data of the user detected by the detection device and the determination of the region range corresponding to the detection device according to the trajectory data include:

[0068] When the region range corresponding to the detection device is not obtained according to the trajectory data, performing a prompt operation by at least one indicator light on the electronic device to prompt that the region range setting of the detection device fails.

[0069] In the embodiment, after the electronic device acquires the track setting end operation, the case where the region range corresponding to the detection device is not acquired according to the track data includes but is not limited to that no edge point is extracted, that all boundary points are not extracted, and the like. When the region range corresponding to the detection device is not acquired, the region setting indicator light can be prompted to prompt that the region range setting of the detection device fails.

[0070] In the above embodiment, based on the confirmation selection operation and the acquired region setting operation of the detection device corresponding to the detection device identifier, the region setting state of the detection device is entered, then the track data of the user of each detection device is acquired, and the region range corresponding to the detection device is determined according to the track data, thereby facilitating accurate configuration of the region range of the detection device, realizing all-around monitoring of the protection region, and improving the early warning accuracy.

[0071] In some embodiments, based on the target and target information identified by each detection device through the radar echo data received by the millimeter wave radar sensor, and based on the target information, the early warning operation is performed, including at least one of the following:

[0072] When the target is detected based on the radar echo data received by the detection device, at least one indicator light is controlled to perform the early warning operation to prompt the user that there is a target close to the region range of the detection device;

[0073] When the target is detected based on the radar echo data received by the detection device, and the target category is detected, different early warning operations are performed according to the danger level of the target category, wherein the higher the danger level, the stronger the warning corresponding to the early warning operation;

[0074] When the target is detected based on the radar echo data received by the detection device, the region level where the target is located is determined according to the position of the target, and different early warning operations are performed at different region levels, wherein the higher the region level, the closer to the protection region, and the stronger the warning corresponding to the early warning operation.

[0075] In the embodiment, in an optional embodiment, when the target is detected in the area range of the detection device, a pre-warning operation is performed, for example, if the target is detected in the area range of the detection device A, the detection device identification indicator light of the detection device A can be controlled to prompt, for example, to flash to prompt the user that the target appears in the direction of the detection device A. In an optional embodiment, when the target is identified, the target category can also be identified, for example, the target category is identified by using a pre-trained target detection model, a training data set is formed by using sample targets of different categories, the target detection model is trained by using the training data set, and the danger degree of each target category is preset and configured, when the target category is identified, different warnings are given according to the danger degree corresponding to the target category, so that the user can clearly understand the dangerous state outside the protection area in the protection area, thereby improving the pre-warning accuracy. In an optional implementation, different monitoring areas can be divided with the protection area as the center point and different radius lengths from the center point, the closer to the center point, the stronger the area level, so that when the target gradually approaches the protection area, different intensity warnings are given to remind the user.

[0076] In the above embodiment, when the target is identified in the area range of the detection device, timely pre-warning is performed, or different warnings are given according to the danger degree of the target, or different warnings are given according to the distance of the target from the protection area, so that the user can understand the state of the target outside the protection area in the protection area range, and the pre-warning accuracy is provided, thereby improving the outdoor safety.

[0077] In some embodiments, the method further comprises:

[0078] For any of the detection devices, deleting the pairing relationship between the detection device and the electronic device;

[0079] The deleting the pairing relationship between the detection device and the electronic device comprises:

[0080] When the detection device identification selection operation is acquired, a prompt operation is performed by at least one indicator light on the electronic device to prompt that the detection device identification has been selected;

[0081] When the deletion confirmation operation is acquired, it is confirmed to enter a deletion state of deleting the pairing with the detection device, and a deletion signal corresponding to the deletion state is sent to the detection device;

[0082] After acquiring the signal of successful deletion feedback by the detection device, it is confirmed that the pairing relationship with the detection device is successfully deleted.

[0083] In the embodiment, when the user needs to delete the pairing relationship of a certain detection device, the detection device identifier selection operation can be obtained through the detection device identifier control, the deletion confirmation operation is obtained by triggering the pairing button, so that the electronic device enters the deletion state, and the pairing relationship deletion signal is sent to the detection device corresponding to the detection device identifier selection operation, so that the pairing relationship is deleted.

[0084] In the above embodiment, the pairing relationship between the detection device and the electronic device can be deleted according to the needs, so that the monitoring area around the protection area can be flexibly configured, and the user experience is improved.

[0085] In some embodiments, the target and target information are identified based on the radar echo data received by each detection device through the millimeter wave radar sensor, and a pre-warning operation is performed based on the target information, including

[0086] A virtual map is established based on the area range corresponding to each detection device, and the virtual map is displayed on the user interface;

[0087] When the target is detected based on the radar echo data received by the detection device, the moving track of the target is displayed in real time on the virtual map based on the radar echo data received in real time by the detection device;

[0088] When the moving track of the target indicates that the target is close to the protection area, a pre-warning operation is performed.

[0089] In the embodiment, since the detection device is built based on the protection area, according to the area range and installation direction of the detection device and the position of the protection area, a virtual map can be established, and the way of establishing the virtual map includes but is not limited to a simultaneous localization and mapping (SLAM) algorithm. The form of the virtual map includes but is not limited to a grid map and the like. After the virtual map is established, the virtual map can be visually displayed, as shown in FIG. 7, which is a display schematic diagram of the virtual map in an embodiment. The position of the protection area, the position of the target and the position of each detection device relative to the protection area can be displayed on the virtual map. The moving track of the target can be tracked by using the radar tracking algorithm based on the radar echo data received in real time, and the moving track of the target is displayed on the virtual map. In this way, the user can clearly know the trend of the target outside the protection area through the user interface, and the outdoor safety is improved. The target is predicted to be close to or away from the protection area according to the tracked moving track, and when the moving track of the target indicates that the target is close to the protection area, a pre-warning operation is performed, so that the pre-warning can be performed in advance. The prediction track method includes but is not limited to a Kalman filtering algorithm.

[0090] In the above embodiment, a virtual map can be established based on the area range corresponding to each of the detection devices, and the virtual map can be visualized, so that the movement of the target outside the protection area can be clearly known through the displayed virtual map, and outdoor safety is improved.

[0091] In another aspect of the present application, a computer program product is provided, which includes a computer program that, when executed by a processor, implements the millimeter wave radar-based outdoor safety monitoring method according to any of the embodiments of the present application.

[0092] In the computer program product, the optional implementation form of the program module architecture of the computer program implementing each step of the target identification method can be a millimeter wave radar-based outdoor safety monitoring device.

[0093] Referring to FIG. 8, one embodiment of the present application provides a millimeter wave radar-based outdoor safety monitoring device, which includes: an establishing module 81 configured to establish a pairing relationship between the electronic device and each detection device, and establish a communication connection with each of the detection devices, the detection device being one or more detection devices; an obtaining module 82 configured to obtain an area range corresponding to each of the detection devices, wherein each detection device includes a millimeter wave radar sensor, and the area range corresponding to one or more detection devices forms a monitoring range of a protection area; the obtaining module 82 is further configured to obtain radar echo data received by each of the detection devices through the millimeter wave radar sensor; and a pre-warning module 83 configured to identify a target and target information based on the radar echo data received by each of the detection devices through the millimeter wave radar sensor, and perform a pre-warning operation based on the target information.

[0094] Optionally, the establishing module 81 is further configured to:

[0095] For any of the detection devices, obtain a pairing request sent by the detection device;

[0096] based on the electronic device, select an operation of obtaining a detection device identifier corresponding to the detection device and a pairing confirmation operation of pairing with the detection device, and send a confirmation pairing signal corresponding to the pairing confirmation operation and the detection device identifier corresponding to the operation of selecting the detection device identifier to the detection device;

[0097] obtain a feedback signal sent by the detection device indicating that the pairing is successful.

[0098] Optionally, the establishing module 81 is further configured to:

[0099] When the operation of selecting the detection device identifier is obtained, perform a prompt operation through at least one indicator light on the electronic device to prompt that the detection device identifier has been selected;

[0100] When the pairing confirmation operation is acquired, a prompt operation is performed through at least one indicator light on the electronic device to confirm that a pairing state of pairing with the detection device is entered, and the detection device identifier is sent to the detection device.

[0101] The acquiring of the feedback signal confirming the successful pairing includes:

[0102] When the feedback signal is acquired, a prompt operation is performed through at least one indicator light on the electronic device to prompt the user that the pairing is successful.

[0103] Optionally, the acquisition module 82 is further configured to:

[0104] For any detection device, when the confirmation selection operation of the detection device identifier of the detection device and the area setting operation are acquired, it is confirmed that the area setting state of the detection device is entered.

[0105] Acquiring trajectory data of the user detected by the detection device, and determining the area range corresponding to the detection device according to the trajectory data.

[0106] Optionally, the acquisition module 82 is further configured to:

[0107] Acquiring a projection point of the detection device on a horizontal plane.

[0108] According to the trajectory data, a horizontal maximum point in the horizontal direction is extracted, and a vertical minimum point and a vertical maximum point in the vertical direction are extracted.

[0109] Based on the projection point, the horizontal maximum point, the vertical minimum point and the vertical maximum point, the area range corresponding to the detection device is determined, wherein the horizontal direction indicates the direction of the horizontal line established by the projection point of the detection device on the horizontal plane, and the vertical direction is perpendicular to the horizontal direction.

[0110] Optionally, the acquisition module 82 is further configured to:

[0111] When the area range corresponding to the detection device is not acquired according to the trajectory data, a prompt operation is performed through at least one indicator light on the electronic device to prompt that the area range setting of the detection device fails.

[0112] Optionally, the warning module 83 is further configured to:

[0113] When a target is detected based on the radar echo data received by the detection device, at least one indicator light is controlled to perform a warning operation to prompt the user that there is a target close to the area range of the detection device.

[0114] When a target is detected based on the radar echo data received by the detection device, a target category is detected, and different warning operations are performed according to the dangerous degree of the target category, wherein the higher the dangerous degree, the stronger the warning corresponding to the warning operation;

[0115] When a target is detected based on the radar echo data received by the detection device, the area level where the target is located is determined according to the position of the target, and different warning operations are performed at different area levels, wherein the higher the area level, the closer to the protection area, and the stronger the warning corresponding to the warning operation.

[0116] Optionally, the warning module 83 is further configured to:

[0117] For any detection device, the pairing relationship between the detection device and the electronic device is deleted;

[0118] The deletion of the pairing relationship between the detection device and the electronic device includes:

[0119] When the detection device identifier selection operation is obtained, a prompt operation is performed through at least one indicator light on the electronic device to prompt that the detection device identifier has been selected;

[0120] When the deletion confirmation operation is obtained, it is confirmed to enter a deletion state of pairing with the detection device, and a deletion signal corresponding to the deletion state is sent to the detection device;

[0121] After obtaining the signal of successful deletion feedback by the detection device, it is confirmed that the pairing relationship with the detection device is successfully deleted.

[0122] Optionally, the warning module 83 is further configured to:

[0123] A virtual map is established based on the area range corresponding to each detection device, and the virtual map is displayed on the user interface;

[0124] When a target is detected based on the radar echo data received by the detection device, the movement track of the target is displayed in real time on the virtual map based on the radar echo data received in real time by the detection device;

[0125] When the movement track of the target indicates that the target is close to the protection area, a warning operation is performed.

[0126] Those skilled in the art can understand that the structure of the outdoor safety monitoring device based on the millimeter wave radar in FIG. 8 does not constitute a limitation on the outdoor safety monitoring device based on the millimeter wave radar, and the various modules can be implemented in whole or in part by software, hardware, and a combination thereof. The above-mentioned modules can be embedded in or independent of the processor in the computer device in hardware form, or can be stored in the memory in the computer device in software form, so as to be called and executed by the processor to perform the operations corresponding to the above-mentioned modules. In other embodiments, more or fewer modules than those shown can be included in the outdoor safety monitoring device based on the millimeter wave radar.

[0127] Referring to FIG. 9, another aspect of the embodiments of the present application further provides an electronic device 10, including a processor 13 and a memory 14, the memory 14 storing a computer program, the computer program being executed by the processor to make the processor 13 perform the steps of the outdoor safety monitoring method based on the millimeter wave radar provided by any of the embodiments of the present application. The electronic device 10 can include a computing device (for example, a desktop computer, a laptop computer, a tablet computer, a handheld computer, a smart speaker, a server, etc.), a terminal device (for example, a mobile phone, etc.), a wearable device (for example, a pair of smart glasses or a smart watch), a handheld device, or the like.

[0128] The processor 13 is a control center, which connects various parts of the computer device through various interfaces and lines, and performs various functions of the computer device and processes data by running or executing software programs and / or modules stored in the memory 14 and calling data stored in the memory 14. Optionally, the processor 13 can include one or more processing cores; preferably, the processor 13 can integrate an application processor and a modem processor, wherein the application processor mainly processes the operating system, user pages, and application programs, etc., and the modem processor mainly processes wireless communication. It can be understood that the above-mentioned modem processor can also not be integrated into the processor 13.

[0129] The memory 14 can be used to store software programs and modules, and the processor 13 executes various function applications and data processing by running the software programs and modules stored in the memory 14. The memory 14 can mainly include a program storage area and a data storage area, wherein the program storage area can store the operating system, at least one application program required by the function (such as the sound playing function, the image playing function, etc.), etc.; the data storage area can store the data created according to the use of the computer device, etc. In addition, the memory 14 can include a high-speed random access memory, and can also include a non-volatile memory, for example, at least one magnetic disk storage device, a flash memory device, or other volatile solid-state storage device. Accordingly, the memory 14 can also include a memory processor to provide access of the processor 13 to the memory 14.

[0130] In another aspect, the embodiments of the present application further provide a non-transitory storage medium storing a computer program, which, when executed by a processor, causes the processor to perform the steps of the method for outdoor safety monitoring based on millimeter wave radar according to any of the embodiments of the present application.

[0131] In another aspect, the embodiments of the present application provide a system for outdoor safety monitoring based on millimeter wave radar, which comprises an electronic device according to any of the embodiments of the present application and at least one detection device. The electronic device can establish a pairing relationship with the detection device to establish a communication connection. The detection device comprises a millimeter wave radar sensor, which is used to detect a region corresponding to the detection device and obtain radar echo data.

[0132] Those skilled in the art can understand that all or part of the processes in the method provided by the above embodiments can be completed by a computer program instructing related hardware. The program can be stored in a non-transitory computer readable storage medium, and when executed, can include the processes of the above embodiments. Any reference to memory, storage, database or other medium in the embodiments of the present application can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. As an illustration but not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDR SDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

[0133] The above description is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art can easily think of changes or replacements within the technical scope disclosed by the present application, which should be covered by the protection scope of the present application. The protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A method for outdoor safety monitoring based on millimeter wave radar, characterized in that, Applied to an electronic device, comprising: establishing a pairing relationship between the electronic device and each detection device, and establishing a communication connection with each detection device, the detection device being one or more detection devices; obtaining the area range corresponding to each detection device, wherein each detection device includes a millimeter wave radar sensor, and the area range corresponding to one or more detection devices forms a monitoring range of a protection area; obtaining radar echo data received by the millimeter wave radar sensor of each detection device; based on the radar echo data received by the millimeter wave radar sensor of each detection device, identifying the target and target information, and based on the target information, performing a warning operation. 2.The millimeter wave radar-based outdoor safety monitoring method of claim 1, wherein, The establishment of the pairing relationship between the electronic device and each detection device includes: for any detection device, obtaining a pairing request sent by the detection device; based on the electronic device, obtaining a detection device identifier selection operation corresponding to the detection device, and a pairing confirmation operation of pairing with the detection device, sending a confirmation pairing signal corresponding to the pairing confirmation operation and a detection device identifier corresponding to the detection device identifier selection operation to the detection device; obtaining a feedback signal sent by the detection device to confirm the success of the pairing. 3.The millimeter wave radar-based outdoor safety monitoring method of claim 2, wherein, Based on the electronic device, obtaining a detection device identifier selection operation corresponding to the detection device, and a pairing confirmation operation of pairing with the detection device, sending a confirmation pairing signal corresponding to the pairing confirmation operation and a detection device identifier corresponding to the detection device identifier selection operation to the detection device, comprising: when the detection device identifier selection operation is obtained, prompting operation is performed through at least one indicator light on the electronic device to prompt that the detection device identifier has been selected; when the pairing confirmation operation is obtained, prompting operation is performed through at least one indicator light on the electronic device to confirm that the pairing state of pairing with the detection device is entered, and the detection device identifier is sent to the detection device; The acquisition of the feedback signal sent by the detection device to confirm the success of the pairing includes: when the feedback signal is obtained, prompting operation is performed through at least one indicator light on the electronic device to prompt the user that the pairing is successful. 4.The millimeter wave radar-based outdoor safety monitoring method of claim 1, wherein, The acquisition of the area range corresponding to each detection device includes: for any detection device, when the confirmation selection operation of obtaining the detection device identifier corresponding to the detection device and the area setting operation are obtained, it is confirmed that the area setting state of the detection device is entered; obtaining the trajectory data of the user detected by the detection device, and determining the area range corresponding to the detection device according to the trajectory data. 5.The outdoor safety monitoring method based on millimeter wave radar of claim 4, wherein, The acquisition of the trajectory data of the user detected by the detection device, and the determination of the area range corresponding to the detection device according to the trajectory data, includes: obtaining the projection point of the detection device on the horizontal plane; according to the trajectory data, extracting the horizontal maximum point in the horizontal direction, and extracting the vertical minimum point and the vertical maximum point in the vertical direction; Determine the region range corresponding to the detection device based on the projection point, the horizontal maximum point, the vertical minimum point and the vertical maximum point, wherein the horizontal direction indicates the direction of the horizontal line established by the projection point of the detection device on the horizontal plane, and the vertical direction is the direction perpendicular to the horizontal direction. 6.The outdoor safety monitoring method based on millimeter wave radar according to claim 4, wherein, The method further comprises: When the region range corresponding to the detection device is not obtained according to the trajectory data, perform a prompt operation through at least one indicator light on the electronic device to prompt that the region range setting of the detection device fails. 7.The millimeter wave radar-based outdoor safety monitoring method of claim 1, wherein, Based on the radar echo data received by each detection device through the millimeter wave radar sensor, identify the target and target information, and based on the target information, perform a pre-warning operation, including at least one of the following: When a target is detected based on the radar echo data received by the detection device, control at least one indicator light to perform a pre-warning operation to prompt the user that there is a target approaching in the region range of the detection device; When a target is detected based on the radar echo data received by the detection device, and the target category is detected, perform different pre-warning operations according to the danger level of the target category, wherein the higher the danger level, the stronger the warning corresponding to the pre-warning operation; When a target is detected based on the radar echo data received by the detection device, determine the region level where the target is located according to the position of the target, and perform different pre-warning operations in different region levels, wherein the higher the region level, the closer to the protection region, and the stronger the warning corresponding to the pre-warning operation. 8.The outdoor safety monitoring method based on millimeter wave radar of claim 1, wherein, The method further comprises: For any detection device, delete the pairing relationship between the detection device and the electronic device; The method further comprises: When the detection device identification selection operation is obtained, perform a prompt operation through at least one indicator light on the electronic device to prompt that the detection device identification has been selected; When the deletion confirmation operation is obtained, confirm to enter a deletion state of pairing deletion with the detection device, and send a deletion signal corresponding to the deletion state to the detection device; After obtaining the signal of successful deletion feedback by the detection device, confirm that the pairing relationship with the detection device is successfully deleted. 9.The millimeter wave radar-based outdoor safety monitoring method of claim 1, wherein, Based on the radar echo data received by each detection device through the millimeter wave radar sensor, identify the target and target information, and based on the target information, perform a pre-warning operation, including: Based on the region range corresponding to each detection device, establish a virtual map, and display the virtual map on the user interface; When a target is detected based on the radar echo data received by the detection device, display the moving track of the target on the virtual map in real time based on the radar echo data received by the detection device in real time; When the moving track of the target indicates that the target approaches the protection region, perform a pre-warning operation.

10. An electronic device, comprising: The outdoor safety monitoring method based on millimeter wave radar comprises a memory and a processor, the memory stores a computer program, and the computer program is executed by the processor to make the processor execute the outdoor safety monitoring method based on millimeter wave radar as claimed in any one of claims 1 to 9.

11. An electronic device, comprising: The method comprises establishing a module, an acquisition module and a warning module. The establishing module is configured to establish a pairing relationship between the electronic device and each detection device, and establish a communication connection with each detection device, wherein the detection device is one or more detection devices. The acquisition module is configured to acquire a corresponding area range of each detection device, wherein each detection device comprises a millimeter wave radar sensor, and the area range corresponding to one or more detection devices forms a monitoring range of a protection area. The acquisition module is further configured to acquire radar echo data received by each detection device through the millimeter wave radar sensor. The warning module is configured to identify a target and target information based on the radar echo data received by each detection device through the millimeter wave radar sensor, and perform a warning operation based on the target information.

12. An outdoor safety monitoring system based on millimeter wave radar, characterized by, The method comprises an electronic device and at least one detection device, the electronic device can establish a pairing relationship with the detection device to establish a communication connection, the detection device comprises a millimeter wave radar sensor, and the millimeter wave radar sensor is used for detection in a corresponding area range of the detection device and acquisition of radar echo data.

13. A computer program product, characterised in that, The computer program is executed by the processor to realize the outdoor safety monitoring method based on millimeter wave radar as claimed in any one of claims 1 to 9.

14. A non-volatile storage medium, comprising: The computer program is executed by the processor to make the processor execute the outdoor safety monitoring method based on millimeter wave radar as claimed in any one of claims 1 to 9.

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