CN112472051A - Millimeter wave radar device, method and system for monitoring vital signs - Google Patents
Millimeter wave radar device, method and system for monitoring vital signs Download PDFInfo
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- A61B5/02—Detecting, measuring or recording pulse, heart rate, blood pressure or blood flow; Combined pulse/heart-rate/blood pressure determination; Evaluating a cardiovascular condition not otherwise provided for, e.g. using combinations of techniques provided for in this group with electrocardiography or electroauscultation; Heart catheters for measuring blood pressure
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- A61B5/02—Detecting, measuring or recording pulse, heart rate, blood pressure or blood flow; Combined pulse/heart-rate/blood pressure determination; Evaluating a cardiovascular condition not otherwise provided for, e.g. using combinations of techniques provided for in this group with electrocardiography or electroauscultation; Heart catheters for measuring blood pressure
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- A—HUMAN NECESSITIES
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- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
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Abstract
The invention discloses a millimeter wave radar device, a method and a system for monitoring vital signs, wherein the millimeter wave radar device, the method and the system comprise the following steps: the millimeter wave radar sensing module and the data processing module are connected with the data processing module; the millimeter wave radar sensor module sends a radar signal to the surface of the chest cavity of the target human body and receives a returned echo signal; the data processing module calculates the distance information of the surface fluctuation of the thoracic cavity in unit time according to the echo signals, extracts the respiratory signals and the heartbeat signals according to the phase difference signals in the distance information, and obtains respiratory frequency and heartbeat frequency according to the respiratory signals and the heartbeat signals. Based on an FMCW radar system, radar echoes reflected by the surface of a human body are obtained, the electrocardiosignal of the human body is detected by calculating the distance information of a target point in unit time and the change of the micromotion information of the surface of the human body, the respiration and the heart rate of the human body are accurately monitored in a non-contact and non-inductive manner, and the method can be applied to the related fields of medical treatment, nursing and the like.
Description
Technical Field
The invention relates to the technical field of auxiliary medical equipment, in particular to a millimeter wave radar device, a method and a system for monitoring vital signs.
Background
The statements in this section merely provide background information related to the present disclosure and may not necessarily constitute prior art.
With the continuous strengthening of personal health consciousness and health care consciousness, the aging process of population is accelerated, the burden of traditional medical institutions is increased, and the real-time vital sign monitoring of human bodies is needed to ensure the life health of the human bodies. At present, various vital sign monitoring technologies are applied to the fields of medical treatment, nursing of old people and infants and the like; in hospital-oriented medical testing, polysomnography is capable of monitoring physiological signals of a plurality of channels including electrocardiogram, electromyogram, oculogram, and the like, in addition to electroencephalogram; however, the analyzer needs to be operated by special medical staff, not only is the cost high, but also the analyzer cannot be used for diagnosing a few patients with serious illness conditions, and the universality is poor.
Or, in the health monitoring for the family, the elderly or the infants can be remotely observed by installing monitoring equipment such as a camera, but the acquired video image information cannot intelligently detect physiological signals such as human breath and the like, and cannot correctly judge the vital sign conditions.
In addition, the traditional continuous wave radar system is sensitive to the speed information detection of the target and insensitive to the distance information of the target, and the continuous emission of electromagnetic waves causes difficult isolation between emission and reception, so that the anti-interference capability and the target information extraction capability cannot be greatly improved; and the continuous wave radar is easy to generate signal leakage, the transmitting signal of the transmitter and the noise thereof are directly leaked to the receiver, and the difficulty in extracting the target characteristic information is increased.
Disclosure of Invention
In order to solve the problems, the invention provides a millimeter wave radar device, a method and a system for monitoring vital signs.
In order to achieve the purpose, the invention adopts the following technical scheme:
in a first aspect, the present invention provides a millimeter wave radar apparatus for monitoring vital signs, including: the millimeter wave radar sensing module and the data processing module are connected with the data processing module; the millimeter wave radar sensor module sends a radar signal to the surface of the chest cavity of the target human body and receives a returned echo signal; the data processing module calculates the distance information of the surface fluctuation of the thoracic cavity in unit time according to the echo signals, extracts the respiratory signals and the heartbeat signals according to the phase difference signals in the distance information, and obtains respiratory frequency and heartbeat frequency according to the respiratory signals and the heartbeat signals.
In a second aspect, the present invention provides a vital signs monitoring method, comprising:
controlling to send radar signals to the surface of the chest cavity of the target human body and receiving returned echo signals;
calculating the distance information of the fluctuation of the surface of the thoracic cavity in unit time according to the echo signals;
extracting a respiration signal and a heartbeat signal according to the phase difference signal in the distance information;
and respectively obtaining the respiratory frequency and the heartbeat frequency according to the respiratory signal and the heartbeat signal.
In a third aspect, the present invention provides a vital sign monitoring system, including the millimeter wave radar apparatus of the first aspect and a cloud server, where the millimeter wave radar apparatus communicates with the cloud server through a wireless communication module.
Compared with the prior art, the invention has the beneficial effects that:
the invention is based on FMCW radar system, obtain the radar echo reflected by human organism surface, through calculating target point distance information and organism surface micromotion information change in unit time, realize the detection to the Electrocardiosignal (ECG) of the human body, can realize the non-contact non-sense monitors human breathing, heart rate accurately, can apply to the medical treatment, relative field of nursing.
The millimeter wave radar sensing module has the advantages of small output power, no harm to human bodies, no influence of environmental factors such as temperature, illumination, dust and the like, and high sensitivity.
The WIFI data transmission unit is designed by adopting an ESP8266 module, the module is small in size and low in power consumption, supports a standard IEEE802.11 b/g/n protocol, is internally provided with a complete TCP/IP protocol stack, and meets the requirement of adding a networking function to a millimeter wave radar device; meanwhile, a network distribution by one key of Smart Config is supported, and the network distribution operation of the mobile terminal to the equipment can be realized.
The non-contact vital sign signal detection technology based on the millimeter wave radar can realize household-oriented monitoring and monitoring, hospital-oriented medical detection, disaster relief-oriented vital sign detection and the like, and can realize real-time non-contact feedback of breathing and heartbeat information on disabled old people and infants under the condition of minimum interference in household-oriented health monitoring;
the medical detection facing the hospital can effectively reduce the discomfort of the patient caused by wearing the detection equipment for a long time, and avoid secondary damage to special patients;
the life sign detection method for disaster rescue finds the signs of life in the post-disaster complex environment, helps rescue workers to find survival targets, improves search and rescue efficiency, and reduces casualties of people suffering from disasters.
Advantages of additional aspects of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate exemplary embodiments of the invention and together with the description serve to explain the invention and not to limit the invention.
Fig. 1 is a simplified block diagram of a main rf component of an FMCW radar provided in embodiment 2 of the present invention;
fig. 2 is a flowchart of a vital sign monitoring method according to embodiment 2 of the present invention;
fig. 3 is a flowchart of a vital sign monitoring method according to embodiment 2 of the present invention;
fig. 4 is a block diagram of a vital signs monitoring system according to embodiment 3 of the present invention;
fig. 5 is a flowchart of a WIFI intelligent distribution network provided in embodiment 3 of the present invention;
fig. 6 is a flowchart of a working method of the vital sign monitoring system according to embodiment 3 of the present invention.
The specific implementation mode is as follows:
the invention is further described with reference to the following figures and examples.
It is to be understood that the following detailed description is exemplary and is intended to provide further explanation of the invention as claimed. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the invention. As used herein, the singular forms "a", "an", and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise, and it should be understood that the terms "comprises" and "comprising", and any variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
The embodiments and features of the embodiments of the present invention may be combined with each other without conflict.
Example 1
In the embodiment, based on an FMCW radar system, the detection of an Electrocardiosignal (ECG) of a human body is realized, so that parameters of respiration and heart rate of vital signs of the human body are obtained, wherein a millimeter wave radar is a radar working in a millimeter wave frequency band, the millimeter wave refers to an electromagnetic wave with the length of 1-10mm, and the corresponding frequency range is 30-300 GHz; the working frequency of the millimeter wave radar device is 77-81GHZ, the maximum bandwidth which can be achieved is 4GHz, centimeter-level distance resolution can be provided, and the higher the frequency is, the shorter the wavelength is, the higher the resolution and the higher the accuracy is; the radar transmitting power conforms to the FCC regulation, the maximum EIRP transmitting power is 21dBm, and the generated radiation does not cause harm to human bodies.
This embodiment provides a vital sign monitoring's millimeter wave radar equipment, includes: the device comprises a power supply module, a millimeter wave radar sensor module, a data processing module and a wireless communication module. The data processing module is respectively connected with the millimeter wave radar sensor module and the wireless communication module, and the power supply module supplies power to the millimeter wave radar sensor module, the data processing module and the wireless communication module.
The wireless communication module adopts a WIFI module and an ESP8266 module, the module is small in size and low in power consumption, supports a standard IEEE802.11 b/g/n protocol, is internally provided with a complete TCP/IP protocol stack, and meets the requirement of adding a networking function to the millimeter wave radar device; meanwhile, the ESP8266 module supports a Smart Config one-key distribution network, and the distribution network operation of the equipment by the mobile terminal can be realized.
The data processing module adopts STM32 microprocessor, and this microprocessor is based on ARM architecture design, and the low power dissipation, it is mainly responsible for doing data processing analysis, with work such as WIFI module communication to breathing, heart rate parameter.
The millimeter wave radar sensor module is fixed on the bottom plate through a copper stud and a screw and works through a 5V power supply provided by the bottom plate; the millimeter wave radar sensor module includes: the device comprises a millimeter wave radar receiving and transmitting unit, a digital-to-analog conversion unit (ADC module), a signal processing unit, a power supply voltage stabilizer and a storage unit; wherein:
the millimeter wave radar sensor module is IWR1642, the output power of the sensor unit is small, the sensor unit does not harm human bodies, and is not influenced by environmental factors such as temperature, illumination, dust and the like, and the sensitivity is high;
the power supply voltage stabilizer adopts an LDO chip TPS7A 88;
the millimeter wave radar receiving and transmitting unit adopts a CAN (controller area network) transceiver, and the CAN transceiver selects tcan1042 hgv;
the storage unit is a Flash storage chip MX25V1635 FZNQ.
Example 2
This embodiment provides a vital sign monitoring method based on the millimeter wave radar apparatus for vital sign monitoring described in embodiment 1, which obtains a radar echo reflected by a body surface of a human body through an FMCW radar system, and implements detection of an ECG signal of the human body through calculation of distance information of a target point in unit time and a change of micromotion information of the body surface.
In the FMCW radar system, an FMCW radar system transmits a chirp signal and captures a signal reflected by an object in a transmission path thereof, as shown in fig. 1, which is a simplified block diagram of a main rf component of the FMCW radar, and the radar operates according to the following principle:
(1) the synthesizer generates a linear frequency modulation pulse;
(2) the chirp is transmitted by a transmit antenna (TX antenna);
(3) the reflection of the chirp by the object generates a reflected chirp that is captured by a receiving antenna (RX antenna);
(4) the "mixer" combines the RX and TX signals to generate an Intermediate Frequency (IF) signal.
At the mixer, an electronic component combines the two signals together to generate a new signal having a new frequency; for two sinusoidal inputs x1And x2：
Output xoutIs equal to the difference between the instantaneous frequencies of the two input sine functions; output xoutIs equal to the difference between the phases of the two input signals:
based on this, as shown in fig. 2-3, the vital sign monitoring method specifically includes:
s1: the data processing module controls the millimeter wave radar sensor module to send radar signals to the surface of the chest cavity of the target human body, and echo signals received by the millimeter wave radar sensor module are obtained;
specifically, a millimeter wave radar transceiver unit of the millimeter wave radar sensor module is controlled to send radar signals and receive echo signals, the echo signals are amplified through an intermediate frequency amplifying circuit of the millimeter wave radar transceiver unit, and then AD sampling is performed through a digital-to-analog conversion unit, so that a plurality of intermediate frequency signals are obtained.
S2: calculating the distance information of the fluctuation of the surface of the thoracic cavity in unit time according to the echo signals; the distance information can reflect the fluctuation rule of the target human chest surface; the method specifically comprises the following steps:
s2.1: carrying out Range-FFT on a plurality of intermediate frequency signals obtained after echo signals are subjected to signal processing to obtain distance signals between the intermediate frequency signals and the chest surface of a target human body;
in this embodiment, the front end of the radar of the millimeter wave radar sensor module emits electromagnetic waves to irradiate the chest cavity of a target human body and then return an echo signal, the echo signal is amplified and mixed, and is subjected to AD sampling again to obtain I, Q two paths of intermediate frequency signals for Range-FFT, the data subjected to AD sampling is stored in an ADC buffer, and the data in the ADC buffer is transmitted to a hardware accelerator by an EDMA, is subjected to FFT, and is transmitted to an L3 memory in an ARM again.
Preferably, the specific parameters of the FFT in the hardware accelerator can be set by the API provided by the TI company.
Preferably, the present embodiment sets the sampling rate of the ADC to 2MHz, and the number of sampling points per sawtooth wave is 100.
Preferably, in the present embodiment, the Range-FFT is set as a complex FFT with 100 points, and the obtained result includes 100 Range units, that is, the obtained Range resolution is 3.15 cm, and the distance from the target to the radar is about 0.5 m.
S2.2: extracting a phase difference signal in the distance information; specifically, the method comprises the following steps:
and storing the result of the radar intermediate frequency signal after passing through the range FFT in a memory in a real part and imaginary part mode, firstly, calculating the amplitude of the range FFT, then extracting the maximum amplitude and calculating the phase of the range FFT, wherein the point with the maximum amplitude is the distance unit where the detected target is located, and subtracting the phase calculated by the last sawtooth wave from the obtained phase to obtain the phase difference.
S3: extracting a respiration signal and a heartbeat signal by a band-pass filter according to the obtained phase difference signal;
preferably, a band-pass filter of 0.1-0.9Hz is used to extract the respiration signal;
preferably, a band-pass filter of 0.9-2Hz is adopted to extract the heartbeat signal;
preferably, the specific parameters of the band-pass filter are derived from the model of the filter, and are selected according to the different frequencies of breathing and heartbeat.
S4: carrying out FFT on the respiratory signal and the heartbeat signal to respectively obtain respiratory frequency and heartbeat frequency; specifically, the method comprises the following steps: and respectively sending the signals processed by the filter to a respiration cycle cache region and a heartbeat cycle cache region, and respectively carrying out FFT (fast Fourier transform) on the data of the respiration cycle cache region and the heartbeat cycle cache region by means of a hardware accelerator to obtain the respiration frequency and the heartbeat frequency.
Example 3
The embodiment provides a vital sign monitoring system, which comprises a millimeter wave radar device and a cloud server, wherein the millimeter wave radar device is communicated with the cloud server through a wireless communication module; as shown in figure 4 of the drawings,
this implementation adopts to remove the end and joins in marriage the net for carrying out WIFI, as shown in fig. 5, the main work flow that WIFI joined in marriage the net includes:
(1) the device enters an initialization state and listens to nearby WiFi data packets;
(2) after the WiFi name and the password are set by the mobile terminal, sending a UDP broadcast packet;
(3) the device acquires configuration information through a UDP packet (length), switches a network mode, connects a WiFi network and completes configuration.
After the millimeter wave radar device successfully communicates with the cloud server, as shown in fig. 6, the work flow specifically includes:
the first step is as follows: and initializing the millimeter wave radar device, wherein the initialization comprises the initialization of the millimeter wave radar sensor module, the initialization of the data processing module and the initialization of the wireless communication module, and the initialization is carried out in the second step if the initialization is passed.
The second step is that: and the mobile terminal APP performs distribution network and related parameter configuration on the device, and the third step is performed when the distribution network and the parameter configuration are successful.
The third step: the millimeter wave radar sensor module operates to extract respiration and heart rate data and push the data to the data processing module.
The fourth step: the data processing module analyzes and processes the respiration and heart rate parameters, and pushes data to the wireless communication module after edge calculation.
The fifth step: the wireless communication module transmits the acquired data to the cloud server in real time through an MQTT protocol.
And a sixth step: the cloud server performs data processing such as big data analysis and the like, and pushes the data to the mobile terminal APP; and if the physical sign is abnormal, pushing alarm information to the mobile terminal APP.
Wherein the big data analysis comprises: big data comparison analysis is carried out on the data and the normal breath and heartbeat data range in the database, and whether the breath and heartbeat data are abnormal or not is analyzed; the database contains the normal breathing and heartbeat ranges of infants, children, adults and the elderly.
The millimeter wave radar device, the method and the system for monitoring vital signs provided by the embodiment have the main application scenes of hospital wards, nursing homes and the like, the respiration and the heartbeat can be extracted as long as a human body reaches the measurement range of the radar, and if the human body is over against the chest, the data can be more accurate; compared with a contact detection method, the non-contact vital sign monitoring technology does not need electrodes or sensors to be attached to the skin surface of a measured person, and provides a convenient and fast means for monitoring vital signals in some scenes.
Such as home-oriented health monitoring: the non-contact vital sign signal detection technology based on the millimeter wave radar can realize real-time non-contact feedback of breathing and heartbeat information of disabled old people and infants under the condition of minimum interference, and can feed the abnormal information back to a guardian in time when abnormality occurs.
Such as hospital-oriented medical testing: for a patient needing to observe physiological changes for a long time, discomfort can be brought to the patient by wearing the contact type detection equipment for a long time, and the discomfort caused by wearing the detection equipment for a long time by the patient can be effectively reduced by using the non-contact type life signal detection technology based on the millimeter wave radar. For some special patients (serious burns, scalds and the like), the contact type monitoring method can bring secondary damage to the patients, and the non-contact type detection is convenient and can avoid the secondary damage to the special patients.
For disaster relief: after a disaster occurs, the non-contact life signal detection technology can find the signs of life in a complex environment after the disaster, help rescue workers to find survival targets, improve search and rescue efficiency and reduce casualties of people suffering from the disaster.
The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and various modifications and changes will occur to those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Although the embodiments of the present invention have been described with reference to the accompanying drawings, it is not intended to limit the scope of the present invention, and it should be understood by those skilled in the art that various modifications and variations can be made without inventive efforts by those skilled in the art based on the technical solution of the present invention.
Claims (10)
1. A millimeter wave radar apparatus for vital sign monitoring, comprising: the millimeter wave radar sensing module and the data processing module are connected with the data processing module; the millimeter wave radar sensor module sends a radar signal to the surface of the chest cavity of the target human body and receives a returned echo signal; the data processing module calculates the distance information of the surface fluctuation of the thoracic cavity in unit time according to the echo signals, extracts the respiratory signals and the heartbeat signals according to the phase difference signals in the distance information, and obtains respiratory frequency and heartbeat frequency according to the respiratory signals and the heartbeat signals.
2. The millimeter-wave radar device for monitoring vital signs according to claim 1, wherein the millimeter-wave radar sensing module comprises a millimeter-wave radar transceiver unit, a signal processing unit, and a digital-to-analog conversion unit;
the millimeter wave radar transceiver unit is used for sending radar signals and receiving returned echo signals;
the signal processing unit is used for amplifying and mixing the echo signal through an intermediate frequency amplifying circuit;
and the digital-to-analog conversion unit performs AD sampling on the processed echo signals to obtain a plurality of intermediate frequency signals.
3. A vital sign monitoring method, comprising:
controlling to send radar signals to the surface of the chest cavity of the target human body and receiving returned echo signals;
calculating the distance information of the fluctuation of the surface of the thoracic cavity in unit time according to the echo signals;
extracting a respiration signal and a heartbeat signal according to the phase difference signal in the distance information;
and respectively obtaining the respiratory frequency and the heartbeat frequency according to the respiratory signal and the heartbeat signal.
4. A method for vital sign monitoring according to claim 3, wherein the echo signals are amplified and mixed by an if amplifier circuit and then AD sampled to obtain a plurality of if signals.
5. A method for vital sign monitoring as claimed in claim 4, wherein a Range-FFT is performed on the intermediate frequency signal to obtain distance information of the surface relief of the chest cavity per unit time.
6. The vital sign monitoring method of claim 3, wherein the amplitude of the distance information is obtained, the maximum amplitude is extracted and the corresponding phase is obtained, and the phase difference signal is obtained according to the current phase and the phase of the previous sawtooth wave.
7. A method for vital sign monitoring as claimed in claim 3, wherein the breathing signal is extracted using a 0.1-0.9Hz band pass filter based on the phase difference signal; and extracting the heartbeat signal by adopting a 0.9-2Hz band-pass filter according to the phase difference signal.
8. A method for vital sign monitoring according to claim 3, wherein the respiration and heartbeat signals are FFT-ed to obtain the respiration and heartbeat frequencies, respectively.
9. A vital signs monitoring system, comprising the millimeter wave radar apparatus of any one of claims 1 to 2 and a cloud server, wherein the millimeter wave radar apparatus communicates with the cloud server via a wireless communication module.
10. The vital sign monitoring system of claim 9, wherein the millimeter wave radar device transmits the obtained respiratory frequency and heartbeat frequency to the cloud server via MQTT protocol;
the cloud server performs big data comparison analysis on the respiratory frequency and the heartbeat frequency, and pushes an analysis result to the mobile terminal.
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113116342A (en) * | 2021-04-26 | 2021-07-16 | 上海交通大学 | Life signal monitoring method based on millimeter wave radar |
| CN113288080A (en) * | 2021-04-28 | 2021-08-24 | 郑州大学 | Non-contact vital sign detection system based on phase comparison |
| CN113288058A (en) * | 2021-05-27 | 2021-08-24 | 北京清雷科技有限公司 | Signal processing method and device |
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| CN116831540A (en) * | 2023-07-10 | 2023-10-03 | 康力元(天津)医疗科技有限公司 | Millimeter wave-based non-contact vital sign monitoring method and system |
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