CN111722215A - Obstacle detection early warning method and device, portable equipment and storage medium - Google Patents
Obstacle detection early warning method and device, portable equipment and storage medium Download PDFInfo
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- CN111722215A CN111722215A CN201910213287.9A CN201910213287A CN111722215A CN 111722215 A CN111722215 A CN 111722215A CN 201910213287 A CN201910213287 A CN 201910213287A CN 111722215 A CN111722215 A CN 111722215A
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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
- G01S13/88—Radar or analogous systems specially adapted for specific applications
Abstract
According to the obstacle detection early warning method, the obstacle detection early warning device, the portable equipment and the storage medium, detection matrixes are respectively defined in the detection range of the environment detection device at different intervals from the environment detection device; setting corresponding early warning prompts when the obstacles are detected corresponding to the detection matrixes; wherein, the closer the distance between the detection matrix and the environment detection device, the higher the early warning prompt emergency degree. The technical scheme of this application realizes providing more accurate radar detection early warning mechanism according to the purpose of the accurate early warning of different barrier distances.
Description
Technical Field
The application relates to the technical field of Internet of things equipment, in particular to an obstacle detection early warning method and device, portable equipment and a storage medium.
Background
The existing radar equipment is generally applied to vehicles such as vehicles and ships. The existing radar equipment adopts a high-precision millimeter wave radar, and can accurately measure the obstacles.
In addition, the prior art applies the millimeter wave radar to the blind guiding device to realize accurate blind guiding for the blind. However, the existing radar equipment mainly judges obstacles, and is lack of accurate obstacle early warning, which is inconvenient for the blind.
Disclosure of Invention
In view of the above-mentioned shortcomings of the prior art, it is an object of the present application to provide an obstacle detection warning method, apparatus, portable device and storage medium, which solve the problems of the prior art.
In order to achieve the above and other related objects, the present application provides an obstacle detection early warning method applied to an environment detection device, the method comprising: in the detection range of the environment detection device, respectively defining detection matrixes at different intervals from the environment detection device; setting corresponding early warning prompts when the obstacles are detected corresponding to the detection matrixes; wherein, the closer the distance between the detection matrix and the environment detection device, the higher the early warning prompt emergency degree.
In one embodiment, each of the detection matrices is located in a facade.
In one embodiment, the urgency level is represented by an urgency class.
In one embodiment, the detection matrices have at least three levels, and the urgency levels include at least three corresponding levels.
In one embodiment, the at least three levels of urgency include: corresponding to the attention, danger and stoppage of at least three detection matrixes with the small and large spacing.
To achieve the above and other related objects, the present application provides an environment detecting device, including: a radar section for detecting an external environment; wherein each detection matrix is defined in a detection plane in which the radar component is configured to be at a different distance from the radar component in its detection range; the processing component is coupled with the radar component and is used for setting corresponding early warning prompts when the obstacles are detected corresponding to the detection matrixes; wherein, the closer the distance between the detection matrix and the environment detection device, the higher the early warning prompt emergency degree.
In one embodiment, the radar component is a millimeter wave radar.
To achieve the above and other related objects, the present application provides a portable device including the environment detecting apparatus.
In one embodiment, the portable device includes: one or more combinations of a belt, eyeglasses, crutches, clothing, accessories, and mouth.
In an embodiment, the portable device is a blind guiding device.
To achieve the above and other related objects, the present application provides a computer-readable storage medium storing a computer program, which is executed by a computer program for an obstacle detection warning method.
As described above, the obstacle detection early warning method, apparatus, portable device, and storage medium according to the present application define each detection matrix in the detection range of the environment detection apparatus at a different distance from the environment detection apparatus; setting corresponding early warning prompts when the obstacles are detected corresponding to the detection matrixes; wherein, the closer the distance between the detection matrix and the environment detection device, the higher the early warning prompt emergency degree. The technical scheme of this application realizes providing more accurate radar detection early warning mechanism according to the purpose of the accurate early warning of different barrier distances.
Drawings
Fig. 1 is a schematic diagram illustrating the principle of detecting coordinates of an obstacle by a radar apparatus according to an embodiment of the present invention.
Fig. 2 is a waveform diagram of an RX signal received corresponding to a TX signal in the embodiment of the present application.
Fig. 3 is a waveform diagram illustrating RX signals of a plurality of different objects received corresponding to one TX signal in the embodiment of the present application.
Fig. 4 is a schematic plan view illustrating an angle formed between a radar apparatus and an obstacle according to an embodiment of the present invention.
Fig. 5 is a schematic diagram illustrating a principle of calculating an included angle between a radar apparatus and an obstacle according to an embodiment of the present invention.
Fig. 6 is a schematic structural diagram illustrating the formation of a detection matrix in the embodiment of the present application.
Fig. 7 is a schematic circuit diagram of an environment detecting device according to an embodiment of the present disclosure.
Fig. 8 is a flowchart illustrating an obstacle detection warning method according to an embodiment of the present application.
Detailed Description
The following description of the embodiments of the present application is provided by way of specific examples, and other advantages and effects of the present application will be readily apparent to those skilled in the art from the disclosure herein. The application is capable of other and different embodiments and its several details are capable of modifications and variations in various respects, all without departing from the spirit of the application. It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict.
The embodiment disclosed in the application provides the relevant improvement technical scheme of radar detection device, realizes the early warning of different grades through setting for the barrier that corresponds different distances, solves prior art's problem.
In the embodiment of the present application, the radar device used may be a millimeter wave radar. Millimeter wave radars are radars that operate in the millimeter wave band (millimeter wave) for detection. Usually, the millimeter wave is in the frequency domain of 30 to 300GHz (with a wavelength of 1 to 10 mm). Millimeter-wave radar has some of the advantages of both microwave and photoelectric radar because the wavelength of millimeter-wave waves is intermediate between microwave and centimeter waves.
Compared with the centimeter wave seeker, the millimeter wave seeker has the characteristics of small volume, light weight and high spatial resolution. Compared with optical probes such as infrared, laser and television, the millimeter wave probe has strong capability of penetrating fog, smoke and dust and has the characteristics of all weather (except heavy rainy days) all day long. In addition, the anti-interference and anti-stealth capabilities of the millimeter wave seeker are also superior to those of other microwave seekers. The millimeter wave radar can distinguish and identify very small targets and can identify a plurality of targets simultaneously; the imaging device has the advantages of imaging capability, small volume, and good maneuverability and concealment.
Since it is necessary to implement early warning of different levels corresponding to obstacles at different distances, the principle of radar detection of obstacles is described below.
As shown in fig. 1, a schematic diagram of the principle of detecting coordinates of an obstacle 102 with respect to a radar apparatus 101 in the embodiment is shown.
As shown in the figure, in a three-dimensional coordinate system established with the vertical direction as the Z axis and the axis X, Y as the horizontal plane, the three-dimensional coordinates of the obstacle 102 are obtained by detecting the azimuth and the distance of the obstacle 102 by the radar device 101.
In this embodiment, let L be the distance from the radar device 201 to the obstacle 202, let L be in the same vertical plane as the Y-axis, let α be the vertical height of the obstacle 202, and let β be the horizontal angle, let L be located at the origin of the three-dimensional coordinate system. Therefore, by geometric calculation, when the coordinates (x, y, z) of the obstacle 202 are set, z ═ lssin α, y ═ Lcos α sin β, and z ═ Lcos α scos β can be obtained.
Fig. 2 and 3 are combined for explaining the principle of detecting the distance between the radar apparatus and the obstacle.
The radar device has at least one transmitting antenna and a plurality of receiving antennas.
Fig. 2 shows a waveform diagram of an RX signal received corresponding to a TX signal in the embodiment.
Wherein the received signal RX is delayed with respect to the transmitted signal TX and the IF signal (intermediate frequency suppressed signal) is marked only at the overlap of TX and RX signal chirps.
The distance d between the radar device and the obstacle can be obtained by calculating the time delay tau of the TX signal and the RX signal:
τ is 2d/c, and c is the electromagnetic wave transmission speed.
Further, as shown in fig. 3, a waveform diagram of RX signals of a plurality of different objects received corresponding to one TX signal in the embodiment is shown.
The delay t of each RX signal is different and is proportional to the distance from the obstacle. The different RX signals are converted into IF signals composed of a plurality of tone signals, each of which has a constant frequency. The lower half of fig. 4 contains multiple tone signals that can be processed by fourier transform to separate the different tones. The fourier transform process will produce a spectrum with distinct separate peaks, each peak indicating the presence of an object at a particular distance.
As further shown in fig. 4 and 5, the principle of detecting the angle of deviation of the radar device 401 from the obstacle 405 will be described.
As shown in fig. 4, when the plane is a horizontal plane, an angle θ is formed between the normal direction of the radar device 401 and the horizontal direction of the obstacle 405.
The horizontal plane is used to estimate the horizontal angle θ of the RX signal reflected by the obstacle 405. Specifically, when the distance between the radar apparatus 401 and the obstacle 405 changes little, the angle θ can be estimated by using an algorithm of a distance fast fourier transform FFT, or a doppler FFT phase peak.
According to fig. 5, a radar apparatus 401 requires at least one transmitting antenna 402 and two receiving antennas 403, 404 to perform the measurement of the angle θ.
Let d be the distance d between the first receiving antenna 403 and the obstacle 405, and d + Δ d be the distance d between the second receiving antenna 404 and the obstacle 405.
Accordingly, the horizontal direction angle θ between the obstacle 405 and the radar can be easily calculated by the following equation:
Δp＝2πΔd；
where Δ p represents a phase difference between RX signals received by the first receiving antenna 403 and the second receiving antenna 404;
and since Δ d ═ sin θ; substituting the formula into the formula, and calculating to obtain:
θ＝arcsin(λΔp/2πl)；
where l is the distance between the first receiving antenna 403 and the second receiving antenna 404.
According to the embodiments of fig. 4 and 5, it can be deduced in the same way that the angle measurement is performed in a vertical plane.
According to the above embodiments, the radar apparatus 401 may comprise an antenna array including at least one transmitting antenna 402 and a plurality of receiving antennas arranged above, below, and/or left and right of the transmitting antenna 402 for measuring the distance and angle between the radar apparatus 401 and the obstacle 405.
Based on the principle of detecting obstacles by the radar, as shown in fig. 6, a schematic structural diagram of a plurality of detection matrices for detecting obstacles in an embodiment of the present application is shown.
In the present embodiment, it is shown that the detection range 602 of the radar apparatus 601 utilizes the difference of the time (i.e. corresponding distance) and angle of the echo reflection to define several virtual "detection matrices" at different positions spaced from the radar apparatus 601. Optionally, each of the detection matrices 603, 604, 605 is located in a facade.
Each "detection matrix" may be preset to be associated with an early warning prompt, and the detection matrix closer to the radar apparatus 601 may be associated with an early warning prompt having a higher urgency, which may be represented by an urgency level, and each urgency level may be represented by an acoustic or optical signal with different output parameters.
For blind guiding, the voice signals are mainly used for indicating the emergency degree through different voice signals. In some embodiments, for example, the speech "stop", "danger", "caution", etc. may be output separately from high to low in the urgency level, or different frequencies of beeps may be output separately from high to low in the urgency level, with higher levels of beep frequencies.
In fig. 6, a detection range 602 is shown, in which detection range 602 3 detection matrices are taken. In this implementation, for example, the detection range 602 of the radar is formed by 70 degrees vertically and 25 degrees horizontally, for example.
In addition, the radar apparatus 601 may be worn on various body parts such as the waist, legs, and wrists of the user 600, assuming that the ground position of the radar apparatus 601 is 0.8 m, the distance between the first detection matrices 603 closest to the radar apparatus 601 is 1.5 m, the height thereof is 1.85 m, and the width thereof is 0.6 m; the third detection matrix 605 furthest from the radar apparatus 601 has a spacing of 3.5 meters, a height of 3.25 meters and a width of 1.55 meters; the second matrix, located between the first detection matrix 603 and the third detection matrix 605, has a spacing of 2.5 meters, a height of 2.25 meters, and a width of 1.1 meters.
It should be noted that the values of the parameters of the detection range 602 and the detection matrix are only examples, and may be changed in practical situations, for example, the vertical angle of the detection range 602 is selected from 65 to 70 degrees or 70 to 75 degrees, and the horizontal angle is selected from 20 to 25 degrees or 25 to 30 degrees; for example, the first detection matrixes 603 may have a pitch of 1-1.5 m, a height of 1.8-1.85 or 1.85-1.9, and a width of 0.4-0.5, 0.5-0.6, 0.6-0.7 or 0.7-0.8; the distance between the third detection matrixes 605 can be 3-3.5 meters, the height is 3-3.25, 3.25-3.5, 3.5-3.75 or 3.75-4 meters, and the width is 1.4-1.5, 1.5-1.55 or 1.55-1.6 meters; the pitch of the second detection matrix 604 may be between 2 to 2.5 and 2.5 to 3 meters, the height may be between 2 to 2.1, 2.1 to 2.2, 2.25 to 2.3, or 2.3 to 2.4 meters, and the width may be between 1 to 1.1 or 1.1 to 1.2 meters, etc., which are not limited to the illustrated embodiment.
Of course, the above ranges are all examples, and the range can be changed in practical situations, and is not limited thereto.
Fig. 7 is a schematic circuit diagram of an environment detecting apparatus according to an embodiment of the present invention.
The environment detection device can be used for realizing the radar device.
In this embodiment, the environment detection apparatus includes: the device comprises a radio frequency circuit part, an analog circuit part, an attitude sensor and a digital circuit part.
In this embodiment, the radio frequency circuit may be configured to implement the radar apparatus, and includes: a transmit antenna 701, a receive antenna 702, a combiner 703, and a mixer 704.
The transmitting antenna 701 and the receiving antenna 702 are connected to the mixer 704, and the mixer 704 is configured to mix the transmitting signal and the receiving signal to obtain an IF signal, i.e. an intermediate frequency signal, and the waveform thereof can be shown in the lower half of fig. 3 and 4, for example.
The synthesizer 703 is configured to generate a chirp signal TX and transmit the chirp signal TX to the transmitting antenna 701 as a transmitting signal.
In this embodiment, the analog circuit section includes: a filter 705 and an analog-to-digital converter 706 (ADC).
The mixer 704 is connected to the filter 705, and is configured to output an intermediate frequency signal to the filter 705.
The filter 705 is connected to the analog-to-digital converter 706, and is configured to output a filtered signal to the analog-to-digital converter 706.
The analog-to-digital converter 706 is configured to convert the filtered signal into a digital signal.
In this embodiment, the digital circuit portion may be used to implement the aforementioned processing component, which includes: an FFT signal processing circuit 707 and a signal processor 708. The signal processor 708 is, for example, an MCU, an SOC, an FPGA, a CPLD, or a DSP.
The FFT signal processing circuit 707 is connected to the analog-to-digital converter 706, and is configured to obtain the digital signal and perform fast fourier transform to extract the amplitude of each frequency RX signal.
And the signal processor 708 is connected with the FFT signal processing circuit 707, and embeds an algorithm therein, and is used for inquiring and generating an early warning prompt pre-associated with each detection matrix when the detection matrix detects an obstacle.
Further, the signal processor 708 may be coupled to a speaker or a buzzer, and the output warning prompt may be converted into a corresponding audio analog signal, and the audio analog signal is prompted by the speaker or the buzzer for warning.
It should be noted that the circuit structure in the embodiment of fig. 7 is only an example, and those skilled in the art can change the circuit structure according to the teachings of the present application and the prior art, and the present embodiment is not limited thereto.
In some embodiments, the environment detection device may be mounted on a ship or a vehicle to detect the surrounding environment; preferably, the environment detection apparatus may also be small and portable, integrated on a portable device, for example for the blind to wear or carry.
For example, the portable device may be one or more combinations of a belt, eyeglasses, crutches, clothing, accessories, and a mouthpiece. Particularly, when the portable device is a belt, most of body actions of the blind, such as squatting, tilting and the like, can be detected; therefore, the environment detection device of the present application is preferably provided on a belt for blind guide use.
In some embodiments, optionally, the environment detection device may further integrate an attitude sensor, coupled to the signal processor 708; the attitude sensor is used to detect a motion attitude signal of, for example, a blind person, and transmit the motion attitude signal to the signal processor 708, and the signal processor 708 can adjust the beam direction of the antenna according to the motion attitude signal.
Optionally, the attitude sensor may include one or more combinations of auxiliary motion sensors such as a three-axis gyroscope, a three-axis accelerometer (i.e., IMU), and a three-axis electronic compass, and outputs one or more of a calibrated angular velocity, an acceleration, and a magnetic signal through an embedded low-power-consumption ARM processor.
Fig. 8 is a schematic flow chart illustrating an obstacle detection warning method in an embodiment of the present application.
The method may be implemented in a signal processor, for example in fig. 7, by running a stored computer program. The technical details of the specific implementation thereof have been described in the foregoing embodiments, and are not repeated herein.
The method comprises the following steps:
step S801: in the detection range of the environment detection device, detection matrixes are respectively defined at different intervals from the environment detection device.
Step S802: setting corresponding early warning prompts when the obstacles are detected corresponding to the detection matrixes; wherein, the closer the distance between the detection matrix and the environment detection device, the higher the early warning prompt emergency degree.
It can be understood that when an obstacle is detected by one of the detection matrixes, the corresponding early warning prompt can be inquired and an early warning prompt action can be performed according to the early warning prompt, such as a speaker voice prompt or a buzzer prompt.
In one embodiment, each of the detection matrices is located in a facade.
In one embodiment, the urgency level is represented by an urgency class.
In one embodiment, the detection matrices have at least three levels, and the urgency levels include at least three corresponding levels.
In one embodiment, the at least three levels of urgency include: corresponding to the attention, danger and stoppage of at least three detection matrixes with the small and large spacing.
In some embodiments, if the portable device is a smart device, such as smart glasses, smart watches, smart wristbands, etc., with certain processing capabilities, and may have access to WiFi and/or mobile communication networks (e.g., 2G/3G/4G/5G) to enable network communication and/or cellular phone communication to perform tasks, the portable device may be used as a "home sensing" device to measure vital signs of a user by taking the portable device off at a predetermined location while the person is at rest or asleep.
In one example, when the user is not outside, he or she may place the portable device indoors, detect periodic body motion with breathing via the radar component, and thereby capture various vital sign signal waveforms emanating from the body, including heartbeat, breathing, and body motion conditions.
Further, for example, according to the data of the radar signal, the heartbeat interval, the respiration data and the like can be calculated, and the interval and the strength of respiration can be analyzed. Therefore, the system can monitor the human body characteristics of different age groups under different background environments.
Thus, a system for monitoring body signs in a light environment can be provided for a user.
For the elderly and infirm, people feel nervous and troublesome when the physical sign measurement is carried out by using the sensor arranged on the body; the millimeter wave or centimeter wave radar part adopted by the portable equipment can capture various physical sign signal waveforms sent by the body, including heartbeat, respiration and body motion conditions.
For example, in a user sleep scenario, the user may position the portable device at a suitable distance from the bed height and adjust the radar beam direction of the portable device to be directed at the bed. In use, during the period that the user is in bed, if the heartbeat is slow to be below a set value or stops, or if the breathing is weak to be below the set value or stops, the device alarms outside through the accessed communication network, for example, dials an emergency call, an alarm call or a preset telephone number (such as relatives, guardians and the like), or sends an SMS message, or sends an alarm message (such as a preset QQ, a wechat account, a public number, a microblog or any other account in social software) to a preset social object through the internet; of course, in some examples, a local alarm may also be performed, such as the aforementioned voice alarm through a speaker or a beep alarm through a buzzer, etc.
Additionally, various computer programs involved in the foregoing method embodiments (e.g., the method embodiment of fig. 8) may be loaded onto a computer-readable storage medium, which may include, but is not limited to, floppy diskettes, optical disks, CD-ROMs (compact disc-read only memory), magneto-optical disks, ROMs (read only memory), RAMs (random access memory), EPROMs (erasable programmable read only memory), EEPROMs (electrically erasable programmable read only memory), magnetic or optical cards, flash memory, or other type of media/machine-readable medium suitable for storing machine-executable instructions. The computer readable storage medium may be a product that is not accessed by the computer device or may be a component that is used by an accessed computer device.
In particular implementations, the computer programs are routines, programs, objects, components, data structures, etc. that perform particular tasks or implement particular abstract data types.
As described above, the obstacle detection early warning method, apparatus, portable device, and storage medium according to the present application define each detection matrix in the detection range of the environment detection apparatus at a different distance from the environment detection apparatus; setting corresponding early warning prompts when the obstacles are detected corresponding to the detection matrixes; wherein, the closer the distance between the detection matrix and the environment detection device, the higher the early warning prompt emergency degree. The technical scheme of this application realizes providing more accurate radar detection early warning mechanism according to the purpose of the accurate early warning of different barrier distances.
The above embodiments are merely illustrative of the principles and utilities of the present application and are not intended to limit the application. Any person skilled in the art can modify or change the above-described embodiments without departing from the spirit and scope of the present application. Accordingly, it is intended that all equivalent modifications or changes which can be made by those skilled in the art without departing from the spirit and technical concepts disclosed in the present application shall be covered by the claims of the present application.
Claims (11)
1. An obstacle detection early warning method, which is applied to an environment detection device, the method comprises the following steps:
in the detection range of the environment detection device, respectively defining detection matrixes at different intervals from the environment detection device;
setting corresponding early warning prompts when the obstacles are detected corresponding to the detection matrixes; wherein, the closer the distance between the detection matrix and the environment detection device, the higher the early warning prompt emergency degree.
2. The method of claim 1, wherein each of the detection matrices is located in a facade.
3. The method of claim 1, wherein the urgency is represented by an urgency class.
4. The method of claim 3, wherein the sounding matrix has at least three, and wherein the urgency classes include at least three corresponding classes.
5. The method of claim 4, wherein the at least three levels of urgency comprise: corresponding to the attention, danger and stoppage of at least three detection matrixes with the small and large spacing.
6. An environment detection device, comprising:
a radar section for detecting an external environment; wherein each detection matrix is defined in a detection plane in which the radar component is configured to be at a different distance from the radar component in its detection range;
the processing component is coupled with the radar component and is used for setting corresponding early warning prompts when the obstacles are detected corresponding to the detection matrixes; wherein, the closer the distance between the detection matrix and the environment detection device, the higher the early warning prompt emergency degree.
7. The apparatus of claim 6, wherein the radar component is a millimeter wave radar.
8. A portable device comprising an environment detection apparatus as claimed in claim 6 or 7.
9. The portable device according to claim 8, characterized in that the portable device comprises: one or more combinations of a belt, eyeglasses, crutches, clothing, accessories, and mouth.
10. The portable device of claim 8, wherein the portable device is a blind guide device.
11. A computer-readable storage medium, in which a computer program is stored which, when executed, performs the method of any one of claims 1 to 5.
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