CN111474537A - Radar personnel monitoring and measuring system and method - Google Patents
Radar personnel monitoring and measuring system and method Download PDFInfo
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- CN111474537A CN111474537A CN202010314598.7A CN202010314598A CN111474537A CN 111474537 A CN111474537 A CN 111474537A CN 202010314598 A CN202010314598 A CN 202010314598A CN 111474537 A CN111474537 A CN 111474537A
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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
- G01S13/66—Radar-tracking systems; Analogous systems
- G01S13/72—Radar-tracking systems; Analogous systems for two-dimensional tracking, e.g. combination of angle and range tracking, track-while-scan radar
- G01S13/723—Radar-tracking systems; Analogous systems for two-dimensional tracking, e.g. combination of angle and range tracking, track-while-scan radar by using numerical data
- G01S13/726—Multiple target tracking
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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
- G01S13/06—Systems determining position data of a target
- G01S13/42—Simultaneous measurement of distance and other co-ordinates
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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
- 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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Abstract
The invention discloses a radar personnel monitoring and measuring system and a method, wherein the system comprises a millimeter wave radar which transmits radio waves through an antenna, reflects by using an obstacle and receives returned reflected waves through the antenna; a signal separation module for separating a plurality of persons from the reflected wave; the DSP processor is used for carrying out Fourier transformation, fast Fourier transformation and smoothing on each separated personnel signal to obtain the number of personnel, the position coordinate of each personnel, the speed on the position coordinate and the acceleration data on the position coordinate; uploading the number of the personnel, the position coordinates of each personnel, the speed on the position coordinates and the acceleration data on the position coordinates to a 4G wireless module of a network; and monitoring the terminals of the personnel in the display area in real time according to the number of the personnel in the network, the position coordinate of each personnel, the speed on the position coordinate and the acceleration data on the position coordinate. The invention can monitor personnel in the area, pre-judge prevention and control in advance and protect privacy.
Description
Technical Field
The invention relates to the technical field of building automation and personnel monitoring, in particular to a radar personnel monitoring and measuring system and method.
Background
At present, with the progress of society and the development of science and technology, various products tend to be intelligentized, and the life of people is more convenient and faster due to the intelligentization. For example, a building can be truly intelligent, will it bring about changes in how to flip over the ground for our life? Trying to know the location, direction and safety of people in a commercial building, the building system may be completely changed accordingly.
Sensing technologies in the field of building automation today include Passive Infrared (PIR), video camera, and active infrared (lidar), which all face challenges in terms of accuracy, privacy, environmental robustness, and system complexity, making it ineffective for truly intelligent requirements.
This application radar personnel monitoring measurement system can use the intelligent sensor in the building automatic adjustment system to raise the efficiency and travelling comfort and reduce extravagantly. Monitoring the location of people and tracking their activities indoors and outdoors is a key sensing function, which can increase the intelligence level of the system and create future intelligent, efficient and automated buildings.
Disclosure of Invention
The invention provides a radar personnel monitoring and measuring system and method, which can monitor the number of personnel in an area, the trend of each personnel and the density of the personnel and protect privacy.
The invention adopts the following technical scheme:
a radar personnel monitoring and measuring system is characterized by comprising
The millimeter wave radar is used for transmitting radio waves through the antenna, reflecting the radio waves by using the obstacle and receiving the returned reflected waves through the antenna;
a signal separation module for performing a plurality of personnel separations on the reflected wave;
the DSP is used for carrying out Fourier transformation, fast Fourier transformation and smoothing on each separated personnel signal to obtain the number of personnel, the position coordinate of each personnel, the speed on the position coordinate and the acceleration data on the position coordinate;
the wireless module is used for uploading the number of the personnel, the position coordinate of each personnel, the speed on the position coordinate and the acceleration data on the position coordinate to the network;
and the terminal is used for monitoring the personnel in the display area in real time according to the number of the personnel in the network, the position coordinate of each personnel, the speed on the position coordinate and the acceleration data on the position coordinate.
As an improvement of the above scheme, the antenna is a rectangular array antenna integrating transmitting and receiving.
As an improvement of the above scheme, the radar personnel monitoring and measuring system further comprises an MCU processor, an input end of the MCU processor is connected to an output end of the DSP processor, and an output end of the MCU processor is connected to the wireless module, and the MCU processor is configured to process, convert, and store the received data of each personnel into a corresponding data format.
Preferably, the MCU processor is connected to the DSP processor and the wireless module via serial RS 232.
Further, the terminal is a computer client and/or a mobile phone APP.
The invention also provides a radar personnel monitoring and measuring method, which comprises the following steps:
transmitting radio waves, reflecting by using the obstacle, and receiving the returned reflected waves;
performing a plurality of person separation on the reflected wave;
fourier transformation, fast Fourier transformation and smoothing are carried out on each separated personnel signal to obtain the number of personnel, the position coordinate of each personnel, the speed on the position coordinate and the acceleration data on the position coordinate;
uploading the number of the personnel, the position coordinates of each personnel, the speed on the position coordinates and the acceleration data on the position coordinates to a network;
and monitoring the personnel in the display area in real time by using a terminal according to the number of the personnel in the network, the position coordinate of each personnel, the speed on the position coordinate and the acceleration data on the position coordinate.
As an improvement of the scheme, the radar personnel monitoring and measuring method further comprises the following steps:
setting an upper limit threshold value of the number of the persons;
and when the real-time monitored personnel data exceed the upper limit threshold value, sending out a prompt and/or an alarm.
Advantageous effects
According to the invention, through the antenna, the millimeter wave radar can detect the number of persons at millimeter level, the position of each member and the moving speed and acceleration (namely the walking motion track of the person) of each member, and provides point cloud of object position and speed information in a sensing range. Because this technique uses high radio frequency, therefore the sensing function is still steady to various challenging outdoor conditions such as highlight, dark, fog, smog and precipitation, still can see through plastics and drywall to sense, compares the camera, and the privacy is strong.
The signal separation module can separate the position information of each member from the moving speed and the moving acceleration of each person. The DSP processor processes the separated data of each person and uploads the data to the network, and the terminal acquires the number, position and motion trail of each person in the monitoring area from the network in real time and displays the number, position and motion trail of each person in the monitoring area so as to judge whether corresponding accidents occur or not in advance through data for relevant departments, and the accidents can be prevented by taking the accidents as reference, and people can be evacuated in time if the monitored people are dense in flow.
The invention can also be applied to the aspect of security protection, because the invention is not influenced by the severe weather environment, the invention can accurately sense the dynamic state of some abnormal personnel or objects, thereby effectively and accurately giving an alarm, and can also directly inform related departments of the intrusion of illegal personnel and the like.
The monitoring and measuring system has very low power consumption and high resolution, can be used together with the camera, and can greatly prolong the service life of the camera so as to reduce the power consumption and the memory capacity and greatly improve the stability and the accuracy of the monitoring system by starting the camera when people or abnormal phenomena occur.
Drawings
Fig. 1 is a schematic structural diagram of a radar personnel monitoring and measuring system provided in embodiment 1 of the present invention;
fig. 2 is a schematic flow chart of a radar person monitoring and measuring method provided in embodiment 2 of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.
Referring to fig. 1, which is a schematic structural diagram of a radar personnel monitoring and measuring system provided in embodiment 1 of the present invention, the system includes a transmitting antenna 101, a receiving antenna 102, a millimeter wave radar, an MCU processor 106, a 4G wireless module 107, a network server 108, a computer client 109, and a mobile phone APP 110. Millimeter-wave radar 103, signal separation module 104 and DSP 105 are integrated inside the millimeter-wave radar, and the three are connected in sequence. The output of DSP treater 105 passes through serial ports RS232 and connects the input of MCU treater 106, and the input of 4G wireless module 107 is connected through serial ports RS232 to the output of MCU treater 106, and network server 108 is connected to the first output of 4G wireless module 107, and computer client 109 is connected to the second output of 4G wireless module 107, and cell-phone APP110 is connected to the third output of 4G wireless module 107.
The front end of the millimeter wave radar 103 is connected to the transmitting antenna 101 and the receiving antenna 102, and transmits radio waves through the transmitting antenna 101, reflects the waves with an obstacle, and receives the reflected waves returned through the receiving antenna 102. The millimeter wave radar 103 can transmit the detected reflected wave signals to a signal separation module 104 at the rear end for signal separation, and the signal separation module 104 transmits a plurality of separated personnel monitoring signals to a DSP (digital signal processor) 105 for processing and operation; calculating the moving distance S of the personnel through the time difference T between the transmitting signal and the receiving signal, wherein the formula is as follows: s is c.T/2; and c is the speed of light. The formula for measuring the moving speed of the person is as follows: v ═ λ · f/2; f is the Doppler frequency and λ is the wavelength of the transmitted electromagnetic wave. Formula for measuring angular velocity: ω 2 pi · Ad/λ; Δ d is the distance difference between two received signals, and ω ═ 2 π d · sin θ/λ, the angle is finally calculated as:
the angle is used for positioning the position of the personnel, and a plurality of personnel are judged according to the angle between the current position of the personnel and the last position.
The DSP 105 performs Fourier transform processing on the real-time signals of the position, the speed and the angle of each member for multiple times of FFT and smoothing processing through a mature algorithm to obtain X-axis and Y-axis position data, X-axis and Y-axis moving speed data and X-axis and Y-axis moving acceleration data of each person; then, the data are sent to the MCU processor 106 through the serial port RS232, the MCU processor 106 processes and converts the data, and the data are exchanged with the 4G wireless module 107 through another serial port RS232 by a self-defined communication protocol; the 4G wireless module 107 uploads the received data to a network server 108, a computer client 109 or a mobile phone APP 110; the computer client 109 or the mobile phone APP110 can acquire data of each person from the network server 108, so that the position of each indoor member and the walking movement track of each member and the intensity of the persons can be monitored in real time, the data monitored in real time is continuously compared with the preset value of the computer client 109 or the mobile phone APP110, when the preset upper limit threshold value of the number of the persons is exceeded, the system can prompt an alarm to notify relevant workers, and therefore accidents are prevented in advance, potential safety hazards existing in intensive flow of people are avoided, and judgment in the aspect of security and protection is achieved. In another building equipment application scene, under the monitoring of the system, the camera only needs to automatically control to start the recording function when the number of people reaches a certain threshold value, privacy is not involved, and the lighting, heating, ventilation and air conditioning (HVAC) system can automatically adjust the switch of the control equipment according to the actual use condition of the number of people so as to enable the control equipment to work more efficiently. In another elevator application scenario, under the monitoring of the system, when the number of people in the elevator is too many and exceeds the preset upper limit threshold of the number of people, the elevator can skip the pause of a specific floor, so that the energy consumption is reduced, and the building is more automatic. In another security application scene, abnormal personnel can be monitored at night, and an alarm can be given immediately. The system has the advantages of simple structure, low power consumption, perfect functions, high precision, compactness and convenient installation, and does not relate to the privacy of people.
The principle of the millimeter wave radar is to send out radio waves, then receive echoes, determine the distance to an obstacle by using the time difference of the reflected waves of the obstacle, and determine the relative speed by using the frequency shift of the reflected waves. The millimeter wave radar is developed based on a 60GHz/77GHz millimeter wave radar chip, adopts technologies such as FMCW and MIMO, has the advantages of high distance precision, high speed precision, high angular resolution, low false alarm rate and the like, can realize accurate detection, accurate positioning and stable tracking of personnel under indoor conditions, counts the number of the personnel in the room, and stably outputs the information of the personnel such as distance, speed, angle and the like. The chip eliminates static objects such as tables, chairs and walls, can accurately detect, accurately position and stably track a plurality of persons at the same time, solves the problem of false targets caused by indoor multipath by applying key algorithms such as a static object elimination algorithm, a multipath interference elimination algorithm, a group target tracking algorithm, a person and non-person classification algorithm and the like, effectively classifies people and other objects, and realizes the function of multi-target tracking and positioning in an indoor environment.
The algorithm for eliminating the static objects is mainly used for eliminating the static objects (such as walls, tables, chairs and the like) in the indoor environment, and relates to a signal processing module and a data processing module, the static objects can be filtered by eliminating a zero Doppler channel target, and the interference of the static objects on a moving target is avoided.
The multipath interference elimination algorithm is mainly used for eliminating false detection points caused by target motion in an indoor scene and avoiding the problem of false alarm caused by the fact that the false detection points are mistakenly considered by a millimeter wave radar as targets to be tracked and output.
The embodiment 2 of the invention also provides a flow schematic diagram of a radar personnel monitoring and measuring method, and the equipment system adopted by the method is referred to the embodiment 1. The radar personnel monitoring and measuring method comprises the following steps:
s201: radio waves are transmitted, reflected by the obstacle, and the returned reflected waves are received.
S202: the reflected wave is subjected to a plurality of person separations.
In the step, the millimeter wave radar can transmit the detected reflected wave signals to a signal separation module at the rear end for signal separation, and the signal separation module transmits a plurality of separated personnel monitoring signals to a DSP (digital signal processor) for processing and operation.
S203: and carrying out Fourier transformation, fast Fourier transformation and smoothing treatment on each separated personnel signal to obtain the quantity of personnel, the position coordinate of each personnel, the speed on the position coordinate and the acceleration data on the position coordinate.
In the step, the DSP processor performs Fourier transform processing on real-time signals of the position, the speed and the angle of each member for multiple times of FFT and smoothing processing through a mature algorithm to obtain position data of an X axis and a Y axis, moving speed data of the X axis and the Y axis and moving acceleration data of the X axis and the Y axis of each person; and then the data is sent to the MCU processor through the serial port RS232, the MCU processor processes and converts the data, and the data is exchanged with the 4G wireless module through another serial port RS232 by a self-defined communication protocol.
S204: and uploading the number of the personnel, the position coordinate of each personnel, the speed on the position coordinate and the acceleration data on the position coordinate to a network.
In the step, the 4G wireless module uploads the received data to a network server, a computer client or a mobile phone APP; the computer client or the mobile phone APP can acquire data of each person from the network server, so that the position of each indoor member, the walking motion track of each member and the density of the persons can be monitored in real time.
S205: and monitoring the personnel in the display area in real time by using a terminal according to the number of the personnel in the network, the position coordinate of each personnel, the speed on the position coordinate and the acceleration data on the position coordinate.
S206: an upper threshold for the number of people is set.
In this step, real-time monitoring's data constantly make the comparison with the upper limit threshold value of the personnel's quantity of predetermineeing of computer customer end or cell-phone APP, judge in advance whether intensive, the potential safety hazard whether exists with this mode.
S207: and when the real-time monitored personnel data exceed the upper limit threshold value, sending out a prompt and/or an alarm.
The application scenario of this step is referred to in embodiment 1, and is not described herein again.
The radar personnel monitoring and measuring method can monitor personnel in the area, pre-judge prevention and control in advance and protect privacy.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by a computer program, which can be stored in a computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. The storage medium may be a magnetic disk, an optical disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), or the like.
While the foregoing is directed to the preferred embodiment of the present invention, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention.
Claims (7)
1. A radar personnel monitoring and measuring system is characterized by comprising
The millimeter wave radar is used for transmitting radio waves through the antenna, reflecting the radio waves by using the obstacle and receiving the returned reflected waves through the antenna;
a signal separation module for performing a plurality of personnel separations on the reflected wave;
the DSP is used for carrying out Fourier transformation, fast Fourier transformation and smoothing on each separated personnel signal to obtain the number of personnel, the position coordinate of each personnel, the speed on the position coordinate and the acceleration data on the position coordinate;
the wireless module is used for uploading the number of the personnel, the position coordinate of each personnel, the speed on the position coordinate and the acceleration data on the position coordinate to the network;
and the terminal is used for monitoring the personnel in the display area in real time according to the number of the personnel in the network, the position coordinate of each personnel, the speed on the position coordinate and the acceleration data on the position coordinate.
2. The radar people monitoring measurement system of claim 1, wherein the antenna is a transmit-receive integrated rectangular array antenna.
3. The radar personnel monitoring measurement system of claim 1 further comprising an MCU processor having an input connected to an output of said DSP processor and an output connected to said wireless module for processing, converting and storing received data for each of said personnel into a corresponding data format.
4. The radar personnel monitoring measurement system of claim 3, wherein said MCU processor is connected to said DSP processor and said wireless module via serial RS232, respectively.
5. The radar personnel monitoring measurement system of claim 1, wherein said terminal is a computer client and/or a cell phone APP.
6. A radar personnel monitoring and measuring method is characterized by comprising the following steps:
transmitting radio waves, reflecting by using the obstacle, and receiving the returned reflected waves;
performing a plurality of person separation on the reflected wave;
fourier transformation, fast Fourier transformation and smoothing are carried out on each separated personnel signal to obtain the number of personnel, the position coordinate of each personnel, the speed on the position coordinate and the acceleration data on the position coordinate;
uploading the number of the personnel, the position coordinates of each personnel, the speed on the position coordinates and the acceleration data on the position coordinates to a network;
and monitoring the personnel in the display area in real time by using a terminal according to the number of the personnel in the network, the position coordinate of each personnel, the speed on the position coordinate and the acceleration data on the position coordinate.
7. The radar personnel monitoring measurement method of claim 1 further comprising the steps of:
setting an upper limit threshold value of the number of the persons;
and when the real-time monitored personnel data exceed the upper limit threshold value, sending out a prompt and/or an alarm.
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| CN111981658A (en) * | 2020-08-10 | 2020-11-24 | 海尔(深圳)研发有限责任公司 | Air conditioner and method and device for controlling air conditioner |
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| CN112731332A (en) * | 2021-01-13 | 2021-04-30 | 路晟悠拜(重庆)科技有限公司 | Millimeter wave-based static target existence identification method and system |
| CN112835036A (en) * | 2020-12-29 | 2021-05-25 | 湖南时变通讯科技有限公司 | Method, device and equipment for generating mobile distribution diagram and storage medium |
| CN113587406A (en) * | 2021-08-09 | 2021-11-02 | 珠海格力电器股份有限公司 | Temperature control method, device and system, computer equipment and storage medium |
| CN113759357A (en) * | 2021-09-07 | 2021-12-07 | 四川启睿克科技有限公司 | Method and system for accurately positioning positions of people in smart home |
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| CN113759357A (en) * | 2021-09-07 | 2021-12-07 | 四川启睿克科技有限公司 | Method and system for accurately positioning positions of people in smart home |
| CN113759357B (en) * | 2021-09-07 | 2023-11-21 | 四川启睿克科技有限公司 | Method and system for accurately positioning personnel in smart home |
| CN117368842A (en) * | 2023-12-07 | 2024-01-09 | 广东云下汇金科技有限公司 | Personnel intelligent positioning system based on data center and control method thereof |
| CN117368842B (en) * | 2023-12-07 | 2024-04-12 | 广东云下汇金科技有限公司 | Personnel intelligent positioning system based on data center and control method thereof |
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