CN113885015B - Intelligent toilet system based on millimeter wave radar - Google Patents
Intelligent toilet system based on millimeter wave radar Download PDFInfo
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- CN113885015B CN113885015B CN202111139635.6A CN202111139635A CN113885015B CN 113885015 B CN113885015 B CN 113885015B CN 202111139635 A CN202111139635 A CN 202111139635A CN 113885015 B CN113885015 B CN 113885015B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/04—Systems determining presence of a target
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- E—FIXED CONSTRUCTIONS
- E03—WATER SUPPLY; SEWERAGE
- E03D—WATER-CLOSETS OR URINALS WITH FLUSHING DEVICES; FLUSHING VALVES THEREFOR
- E03D9/00—Sanitary or other accessories for lavatories ; Devices for cleaning or disinfecting the toilet room or the toilet bowl; Devices for eliminating smells
-
- E—FIXED CONSTRUCTIONS
- E03—WATER SUPPLY; SEWERAGE
- E03D—WATER-CLOSETS OR URINALS WITH FLUSHING DEVICES; FLUSHING VALVES THEREFOR
- E03D9/00—Sanitary or other accessories for lavatories ; Devices for cleaning or disinfecting the toilet room or the toilet bowl; Devices for eliminating smells
- E03D9/04—Special arrangement or operation of ventilating devices
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/06—Systems determining position data of a target
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/50—Systems of measurement based on relative movement of target
- G01S13/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/41—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/41—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
- G01S7/415—Identification of targets based on measurements of movement associated with the target
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Public Health (AREA)
- Health & Medical Sciences (AREA)
- Epidemiology (AREA)
- Life Sciences & Earth Sciences (AREA)
- Hydrology & Water Resources (AREA)
- Water Supply & Treatment (AREA)
- Electromagnetism (AREA)
- Radar Systems Or Details Thereof (AREA)
Abstract
The invention discloses an intelligent toilet system based on a millimeter wave radar, which is used for monitoring the use condition of a toilet by using the millimeter wave radar and realizing intelligent application of intelligent cleaning, automatic lamp switching, ground ponding alarm, automatic ventilation, toilet use condition display, flow statistics and the like of the toilet by monitoring the use condition of the toilet by using the millimeter wave radar; the intelligent cleaning system comprises a millimeter wave radar hung on the wall surface of a toilet, and an intelligent cleaning system, an automatic ventilation device, an automatic light-turning device and an intelligent statistical display device which are controlled according to the data processing result of the millimeter wave radar. The method is suitable for the field of smart cities.
Description
Technical Field
The invention relates to the technical field of smart cities, in particular to an intelligent toilet system based on a millimeter wave radar.
Background
The small toilet, big civilian, though the lavatory is little, refracts the civilian. The toilet is an important mark for measuring civilization, and the improvement of the sanitary condition of the toilet is directly related to the health and environmental conditions of people in the countries. With the improvement of living standard and health level, the environmental sanitation of public toilets can better reflect the construction level of a city, and the toilet condition of a country can better reflect the culture of the country and the civilization degree of the country. In this sense, the improvement of public toilet facilities, the formation of behaviors such as sanitary toilet access and the like, and the establishment of healthy toilet culture are not only private matters of individuals and families, but also big matters of countries and nationalities.
At present, the urban public toilet has the following problems:
1 with the development of urbanization, more and more people are concentrated in cities. The problem of toilet shortage often exists in places where urban people gather, such as shopping malls, office buildings and the like.
2 the cleaning and maintenance of the toilet often consume a great deal of manpower. Due to lack of understanding about the use of the toilet, sanitation workers need to frequently check and clean the toilet positions.
3 because the water consumption of the toilet is high, the ground always has the problem of water accumulation, people can easily slide down, and the water needs to be treated in time.
4 lavatory because public area lacks the person in charge, and lavatory light and exhaust fan often operate 24 hours and shine and become a large amount of energy waste.
Conventional cameras cannot be used in a toilet environment due to privacy concerns associated with the toilet. The infrared and laser application range of no privacy problem is limited, need install in the top of every lavatory position, and the accuracy is low and the construction degree of difficulty is big, and laser and the similar camera of infrared camera lens easily lets the people worry. The millimeter wave radar can monitor the position and the movement condition of personnel and the condition of surface water accumulation, and can perfectly solve the problems. Meanwhile, the millimeter wave radar has high detection accuracy, and people can realize accurate detection whether being static, micro-moving or moving; no privacy and sensitivity problems and no lens design; the power consumption is ultra-low, the radiation quantity is only one tenth of that of Bluetooth, and the safety and the harmlessness to human bodies are realized; the detection distance is long, and the device is suitable for various installation heights; the detection range can be freely set, and the method is suitable for space areas with different sizes and shapes; the device is not influenced by environmental obstacles such as smoke, dirt shielding, low illumination, heat sources and the like, and does not need any maintenance; beautiful appearance, and can be hidden behind non-metallic materials such as wood or plastic ceilings, etc.
Disclosure of Invention
The invention aims to provide an intelligent toilet system based on a millimeter wave radar so as to overcome the defects in the prior art.
In order to achieve the purpose, the invention provides the following technical scheme:
the application discloses intelligence lavatory system based on millimeter wave radar, including millimeter wave radar, radar signal processing module and intelligent application terminal, millimeter wave radar and radar signal processing module are installed on lavatory wall, the millimeter wave radar is connected with radar signal processing module, radar signal processing module is connected with intelligent application terminal, control method includes following step:
s1, sensing the toilet environment by the millimeter wave radar through transmitting electromagnetic waves, reflecting the electromagnetic waves after encountering a target to form radar echoes, and receiving and demodulating the radar echoes by the millimeter wave radar;
s2, the radar signal processing module performs fast Fourier transform of distance dimension on the demodulated radar echo to extract echo frequency to obtain corresponding distance dimension information, and then performs fast Fourier transform on the distance dimension information to perform speed extraction to obtain speed dimension information;
s3, judging whether a person enters the toilet or not by using a CFAR algorithm according to the speed dimension information; if the personnel exist, the next step is carried out; otherwise, go back to step S1;
s4, determining whether the toilet is used or not by monitoring the position and the speed of a person in the toilet through the millimeter wave radar, judging the specific position of the used toilet, and counting the use condition and the use time of the used toilet;
and S5, the millimeter wave radar judges the purpose of the person entering the toilet position by monitoring whether the person turns and squats in the toilet position.
Preferably, the step S4 specifically includes the following sub-steps:
s41, estimating an arrival angle according to radar echoes of personnel entering the toilet to obtain azimuth information;
s42, determining the number of the toilet entering position according to the distance dimension information and the direction information of the person entering the toilet;
s43, marking the using state information of the toilet seat;
and S44, counting the use frequency of the toilet seat.
Preferably, the step S5 specifically includes the following sub-steps:
s51, extracting turn probability according to intensity of point cloud data of radar echoes of personnel in the toilet and horizontal micro Doppler change conformity; the value of the turn-around probability is more than or equal to 0 and less than or equal to 1;
s52, extracting the squatting probability according to the up-and-down change of the radar echo point cloud of the personnel in the toilet and the micro Doppler change of the vertical direction; the squatting probability value is greater than or equal to 0 and less than or equal to 1;
s53, judging the purpose of the personnel in the toilet according to the turning probability and the squatting probability;
preferably, the specific determination process in step S53 is as follows: calculating the sum of the turning probability and the squatting probability, and if the sum of the turning probability and the squatting probability is less than or equal to 1, judging that the cleaning is sanitary; and if the sum of the turning probability and the squatting probability is more than 1, judging that the toilet is used.
Preferably, the intelligent application terminal comprises a ground water accumulation alarm device, and the control method further comprises the step S6 of judging whether water accumulation exists on the toilet ground by the millimeter wave radar according to the intensity of the radar echo; the specific operation is as follows:
s61, training and testing radar echo data of toilet grounds with different texture materials to obtain corresponding radar intensity threshold values;
s62, when the intensity of the radar echo on the toilet ground is lower than a radar intensity threshold value, judging that water is accumulated on the toilet ground; otherwise, judging that no accumulated water exists on the toilet ground;
s63, when the water accumulation on the toilet ground is judged, the ground water accumulation alarm device calls for cleaning to clean.
Preferably, the intelligent application terminal includes an automatic light switch and an automatic exhaust fan, and the automatic light switch and the automatic exhaust fan are turned on after a person enters the toilet in the step S3.
The invention has the beneficial effects that:
the invention can realize the monitoring and intelligent management of the using condition of the toilet on the premise of not invading the privacy. The system can improve the queuing problem of the toilet in the dense area, reduce the working content of cleaning personnel, improve the cleaning effect of the toilet and reduce the energy waste caused by turning off the lamp and the exhaust fan in the toilet;
the features and advantages of the present invention will be described in detail by embodiments in conjunction with the accompanying drawings.
Drawings
FIG. 1 is a schematic plan view of an intelligent toilet system based on millimeter wave radar according to the present invention;
FIG. 2 is a control flow chart of an intelligent toilet system based on millimeter wave radar according to the present invention;
FIG. 3 is a distance-time diagram of a radar demodulation echo after one FFT;
fig. 4 is a distance-velocity diagram obtained after radar demodulation echo is subjected to secondary FFT.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to the accompanying drawings and examples. It should be understood, however, that the description herein of specific embodiments is only intended to illustrate the invention and not to limit the scope of the invention. Moreover, in the following description, descriptions of well-known structures and techniques are omitted so as to not unnecessarily obscure the concepts of the present invention.
Referring to fig. 1, the invention provides an intelligent toilet system based on millimeter wave radar, which can be installed on a toilet wall to realize intelligent management and control of the use condition of the toilet, and comprises a millimeter wave radar, a radar signal processing digital circuit, a wireless internet of things module, an intelligent wireless control bulb, an intelligent exhaust fan, a wireless loudspeaker and an intelligent mobile terminal with the functions of intelligent cleaning, toilet use condition display, flow statistics and the like; wherein, millimeter wave radar and radar signal processing digital circuit are located lavatory top wall, detect different positions personnel motion condition, the surface ponding condition.
Referring to fig. 2, the invention relates to a control method of an intelligent toilet system based on a millimeter wave radar, which comprises the following steps:
the millimeter wave radar is arranged on the wall surface of the toilet and faces the toilet, and senses the environment by transmitting linear frequency modulation electromagnetic waves of 30GHz-300 GHz. The electromagnetic wave that encounters the target is reflected back to be received, multiplied by the transmitted echo and low pass filtered to obtain demodulated echo information, the frequency of which corresponds to the range information of the target. Referring to fig. 3, Fast Fourier Transform (FFT) of the distance dimension is performed on the demodulated radar echo to extract the echo frequency (corresponding distance information), referring to fig. 4, and then, speed extraction is performed on the data FFT of each distance dimension, wherein a black square represents that the unit echo energy is stronger, according to the result of the speed dimension, whether a person enters a toilet seat is judged by using a CFAR (constant false alarm detection) algorithm, and the position of the person entering the toilet seat is determined according to the distance dimension information and the azimuth information, and the information is recorded; the CFAR is not limited to mean CFAR, statistical order CFAR, and other algorithms. The azimuth information estimation algorithm is not limited to the arrival angle estimation algorithm such as Beam Forming (BF), multiple signal classification (MUSIC), and the like;
judging whether a user entering the toilet has squatting and turning behaviors according to the radar echo, if so, judging to use the toilet, and if not, judging to clean the toilet; due to Doppler effect, the squatting and turning movements of the radar irradiating the target can cause the echo of the radar to have corresponding speed change, while the echo of a static object has the speed of 0, and the motion state of the object can be estimated according to the speed change of the target. In the specific radar echo judgment process, the turning and squatting behavior probability is judged by combining the point cloud and the micro Doppler data. Judging whether turning behavior exists or not by using the change of the point cloud data, and extracting turning probability Pz (Pz is more than or equal to 0 and less than or equal to 1) according to the intensity of the point cloud data and the horizontal micro-Doppler change conformity. And extracting squat probability Pd (Pd is more than or equal to 0 and less than or equal to 1) by analyzing the up-and-down change of the radar target echo point cloud and the dimensional Doppler change of the vertical direction. Defining the sum of the probabilities of Pd + Pz (0 & ltPd & lt 2 & gt) as Pu & lt 1, judging the toilet to be clean when Pu & lt 1, and judging the toilet to be used when Pu & gt 1. (ii) a
The texture and material of the reflector determine the intensity distribution of the reflected echo received by the radar. Under the normal condition without water accumulation, radar echoes with certain intensity exist in a 0 Doppler area on an RD image of the radar echoes. When water is accumulated on the ground, the echo intensity of the millimeter wave radar in the ground direction is weakened, the situation that water is accumulated on the ground can be judged, cleaning personnel are pushed to remind cleaning, and a user is reminded of accumulating water carefully; in the judging process, according to the texture and the material of the toilet ground, the optimal strength judging threshold value is obtained through experimental tests in the actual process.
Automatically controlling toilet light and a toilet exhaust fan according to the obtained toilet use condition;
according to the using conditions of the toilets obtained in the steps, the using conditions of all the toilets are counted, so that cleaning personnel can reduce cleaning for the toilet which is not used by people for a long time, the number of times of invalid checking by the cleaning personnel is reduced, and dynamic intelligent efficient cleaning of more toilets by fewer cleaning personnel is realized;
according to the obtained using condition of the toilet, cleaning personnel is reminded to clean the toilet with a certain number of toilet positions and add paper. The frequency setting in practical application can be adjusted correspondingly according to the condition of cleaning personnel, cost and the like.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents or improvements made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (4)
1. An intelligent toilet system based on a millimeter wave radar is characterized by comprising a millimeter wave radar, a radar signal processing module and an intelligent application terminal, wherein the millimeter wave radar and the radar signal processing module are installed on the wall surface of a toilet, the millimeter wave radar is connected with the radar signal processing module, and the radar signal processing module is connected with the intelligent application terminal; the control method of the intelligent toilet system comprises the following steps:
s1, sensing the toilet environment by the millimeter wave radar through transmitting electromagnetic waves, reflecting the electromagnetic waves after encountering a target to form radar echoes, and receiving and demodulating the radar echoes by the millimeter wave radar;
s2, the radar signal processing module performs fast Fourier transform of distance dimension on the demodulated radar echo to extract echo frequency to obtain corresponding distance dimension information, and then performs fast Fourier transform on the distance dimension information to perform speed extraction to obtain speed dimension information;
s3, judging whether a person enters the toilet or not by using a CFAR algorithm according to the speed dimension information; if the personnel exist, the next step is carried out; otherwise, go back to step S1;
s4, determining whether the toilet is used or not by monitoring the position and the speed of a person in the toilet through the millimeter wave radar, judging the specific position of the used toilet, and counting the use condition and the use time of the used toilet;
s5, the millimeter wave radar judges the purpose of the person entering the toilet position by monitoring whether the person turns and squats in the toilet position; if squatting and turning actions exist simultaneously, the toilet is judged to be used; otherwise, judging that the toilet is clean;
s51, extracting turn probability according to intensity of point cloud data of radar echoes of personnel in the toilet and horizontal micro Doppler change conformity; the value of the turn-around probability is more than or equal to 0 and less than or equal to 1;
s52, extracting the squatting probability according to the up-and-down change of the radar echo point cloud of the personnel in the toilet and the micro Doppler change of the vertical direction; the squatting probability value is greater than or equal to 0 and less than or equal to 1;
s53, judging the purpose of the personnel in the toilet according to the turning probability and the squatting probability; calculating the sum of the turning probability and the squatting probability, and if the sum of the turning probability and the squatting probability is less than or equal to 1, judging that the cleaning is sanitary; and if the sum of the turning probability and the squatting probability is more than 1, judging that the toilet is used.
2. The intelligent toilet system based on millimeter wave radar as claimed in claim 1, wherein the step S4 comprises the following sub-steps:
s41, estimating an arrival angle according to radar echoes of personnel entering the toilet to obtain azimuth information;
s42, determining the number of the toilet entering position according to the distance dimension information and the direction information of the person entering the toilet;
s43, marking the using state information of the toilet seat;
and S44, counting the use frequency of the toilet seat.
3. The intelligent toilet system based on millimeter wave radar as claimed in claim 1, wherein the intelligent application terminal comprises a surface water accumulation alarm device, the control method further comprises step S6, the millimeter wave radar judges whether water accumulation exists on the toilet surface according to the intensity of the radar echo; the specific operation is as follows:
s61, training and testing radar echo data of toilet grounds with different texture materials to obtain corresponding radar intensity threshold values;
s62, when the intensity of the radar echo on the toilet ground is lower than a radar intensity threshold value, judging that water is accumulated on the toilet ground; otherwise, judging that no accumulated water exists on the toilet ground;
s63, when the water accumulation on the toilet ground is judged, the ground water accumulation alarm device calls for cleaning to clean.
4. The millimeter-wave radar-based intelligent toilet system according to claim 1, wherein the intelligent application terminal comprises an automatic light switch and an automatic exhaust fan, and the automatic light switch and the automatic exhaust fan are turned on when a person enters the toilet in the step S3.
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