CN111887861A - Millimeter wave radar-based integrated monitoring method for indoor personnel safety - Google Patents
Millimeter wave radar-based integrated monitoring method for indoor personnel safety Download PDFInfo
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- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
- A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb
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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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- A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
- A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb
- A61B5/1116—Determining posture transitions
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- A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb
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- A61B5/746—Alarms related to a physiological condition, e.g. details of setting alarm thresholds or avoiding false alarms
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- 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
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Abstract
The invention discloses an integrated monitoring method for the safety of indoor personnel based on a millimeter wave radar, which utilizes the millimeter wave radar technology to realize the life and behavior posture monitoring of the indoor solitary personnel, only needs the millimeter wave radar which is a non-contact monitoring technology in the whole monitoring process to realize the health and safety monitoring of the personnel in a room and timely judge and alarm the dangerous behaviors, and the monitoring method does not relate to any sound, image and video information in the process, thereby avoiding the problem that the privacy of a user is possibly leaked, and providing an excellent choice for the user paying attention to the privacy protection.
Description
Technical Field
The invention belongs to the technical field of millimeter wave radar application, and particularly relates to an indoor personnel safety integrated monitoring method based on a millimeter wave radar.
Background
With the increasing aging problem of the Chinese population, the old-aged people have more and more social concerns for the monitoring of the aging safety. In the current system for monitoring the indoor old-age care safety, the main detection methods include 3 methods:
(1) the first is that the motion monitoring bracelet of wearing formula is worn on one's body at the user, and the monitoring mode is that touch user's suggestion circuit and time-recorder with timing circuit output trigger signal, and the old man is awake can make both reset through shaking hands, if be in the stupor state, can send alarm information to the surveillance center after the time-recorder reaches the estimated duration.
(2) The second is to monitor the safety and health of the user by using sensors, wherein one type is to use a plurality of sensors to combine, for example, a heart rate sensor, a temperature sensor and the like are used for measuring data of heart rate questioning and breathing lamps reflecting vital signs, the other type is to judge whether old people have falling behavior through a pressure sensor at the sole and an acceleration sensor at the waist, and finally, alarm information is sent to a terminal when data are abnormal;
(2) the third is to use a camera to monitor, directly process image video information to obtain the behavior state of the old people, and send alarm information to a terminal once an abnormal behavior state occurs.
In the method (1), the judgment mode needs to be worn and interacted by a user, the timing system needs to be closed during sleeping, the equipment is started to monitor when the user is awake in the morning, the safe and healthy state of the user in the sleeping time period cannot be judged, and all-weather monitoring for 24 hours cannot be met; in the method (2), various sensors are required to measure different characteristic data, and the wearable monitoring decoration is adopted; the wearable devices in both methods (1) and (2) may therefore affect the user experience; the monitoring mode in the method (3) is related to sensitive information such as images and videos, and therefore the risk of privacy disclosure is easy to occur.
Disclosure of Invention
Aiming at the defects in the prior art, the millimeter wave radar-based indoor safety integrated monitoring method provided by the invention solves the problems that the existing safety monitoring system is a vital sign monitoring system mainly formed by combining multiple sensors of temperature and heart rate sensors or a camera and a recording device are used, the occupied space of the equipment is large, and the privacy is possibly leaked.
In order to achieve the purpose of the invention, the invention adopts the technical scheme that: an indoor personnel safety integrated monitoring method based on a millimeter wave radar comprises the following steps:
s1, installing the attitude monitoring millimeter wave radar in a room to be monitored, and ensuring that the monitoring range of the attitude monitoring millimeter wave radar covers the whole room; meanwhile, the physical sign monitoring millimeter wave radar is arranged in the bed area of a bedroom;
s2, scanning the room in real time by using the attitude monitoring millimeter wave radar, and preprocessing the scanning data to obtain the position information of the user in the room;
s3, judging whether the user is in the bed area or not based on the position information of the user in the room;
if yes, go to step S4;
if not, go to step S5;
s4, recognizing the user state based on the user scanning data acquired by the attitude detection millimeter wave radar and the user vital sign data acquired by the sign detection millimeter wave radar, and judging whether to start a super-threshold danger warning mechanism;
if yes, go to step S6;
if not, returning to the step S3;
s5, recognizing the gesture of the user based on the user scanning data acquired by the gesture monitoring millimeter wave radar, and judging whether to start a super-threshold warning mechanism;
if yes, go to step S6;
if not, returning to the step S3;
s6, starting a threshold-exceeding danger warning mechanism, and determining whether to send alarm information or not according to the judgment result of the threshold-exceeding danger warning mechanism;
if yes, go to step S7;
if not, returning to the step S3;
and S7, sending alarm information to a monitoring mechanism to realize integrated monitoring of indoor personnel safety.
Further, in step S1, the installation method of the attitude monitoring millimeter wave radar specifically includes: installing a posture monitoring millimeter wave radar at one corner of the roof of each room, wherein the posture monitoring millimeter wave radar is inclined downwards by 30 degrees and keeps an included angle of 45 degrees with the adjacent left and right walls;
the sign detection millimeter wave radar is installed on the ceiling of a bedroom or inside the bed with a non-metal structure, and the detection antenna of the sign detection millimeter wave radar installed on the ceiling is right opposite to the bed.
Further, the step S2 is specifically:
s21, obtaining three-dimensional point cloud information of the user in the room through the attitude detection millimeter wave radar
And the position of the attitude detection millimeter wave radar in the current room in the internal coordinate system
；
S22 in postureDetecting bits of millimeter-wave radar
To construct a horizontal ground coordinate system under an actual scene
；
S23, obtaining a horizontal ground coordinate system through the coordinate mapping relation
And radar internal coordinate system
Coordinate transformation matrix therebetween
；
Wherein, the coordinate mapping relation is as follows:
in the formula (I), the compound is shown in the specification,
the coordinates of the user in the horizontal ground coordinate system of the actual scene,
processing the three-dimensional point cloud data of the user to obtain the coordinates of the position of the user;
the coordinate transformation matrix
Comprises the following steps:
in the formula, coordinate system
To a coordinate system
The angle of rotation of (a);
s24, using coordinate transformation matrix
Three-dimensional point cloud information of user
Converting the coordinate into the coordinate of the user in the actual scene, namely obtaining the position information of the user in the room;
wherein the coordinates of the user in the actual scene
Comprises the following steps:
further, the step S3 is specifically:
coordinates of a user in an actual scene
Comparing with stored bed position coordinates
If the user is within the couch position coordinate range, the user is in the couch region and the process proceeds to step S4, otherwise, the user is not in the couch region and the process proceeds to step S5.
Further, the step S4 is specifically:
s41, collecting vital sign data of a user through a sign detection millimeter wave radar;
s42, judging whether the collected vital sign data of the user is lower than a set threshold value;
if yes, go to step S43;
if not, returning to the step S41;
s43, determining the position information of the user based on the user scanning data acquired by the attitude detection millimeter wave radar, and judging whether the user scanning data is still in the region of the couch;
if yes, the vital signs of the user are abnormal, a super-threshold danger warning mechanism is started, and the step S6 is executed;
if not, go to step S44;
s44, judging whether the current user height is larger than a set falling-bed threshold value or not based on user scanning data acquired by the attitude millimeter wave radar;
if yes, the user is in a safe state, and the step S41 is returned;
if not, the user takes a falling-down action and the process goes to step S7.
Further, in step S41, the method for acquiring the vital sign data of the user by the sign detection millimeter wave radar specifically includes:
heartbeat and respiration data acquisition is carried out on the user through the sign detection millimeter wave radar, DSP processing is carried out on the acquired data, and data containing the heart rate of the user is obtained
And respiratory data
Vital sign data of (1).
Further, the step S5 is specifically:
s51, acquiring three-dimensional point cloud data of a user entering a current room through a posture detection millimeter wave radar;
s52, detecting the maximum value of the height information in the three-dimensional point cloud data of the user obtained by the millimeter wave radar according to the posture each time
Constructing a user gesture array
Determining the arithmetic mean value of all data in the user posture array as the initial value of the height of the user;
wherein Z is the total times of acquiring the three-dimensional point cloud information of the user,
the maximum value of the height information is obtained for the Z-th time when the three-dimensional point cloud information of the user is obtained;
s53, detecting the actual installation height of the millimeter wave radar according to the attitude
And obtaining the height value of the user from the initial value of the height of the user
Comprises the following steps:
s54, recording the current height information of the user in real time based on the three-dimensional point cloud data of the user acquired by the attitude detection millimeter wave radar
And according to the height value of the user
Calculating the current height variation value
And rate of change of altitude
；
S55, judging the height change value
Whether the height is larger than a set tumbling height threshold value;
if yes, go to step S57;
if not, go to step S56;
s56, judging whether the height change value is larger than a set sitting posture height threshold value and smaller than a set falling height threshold value;
if yes, the user gesture recognition result is sitting, and the step S54 is returned to;
if not, the user gesture recognition result is station, and the step returns to the step S54;
s57, judging whether the altitude change rate Speed is greater than a set rate or the current attitude accumulated duration is greater than a time threshold;
if yes, starting a super-threshold danger warning mechanism if the user gesture recognition result indicates that the user has fallen, and entering step S6;
if not, the user is in a safe posture and the process returns to step S54.
Further, the step S6 is specifically:
s61, initializing a danger count value t;
s62, acquiring the recognition result of the current posture of the user and the vital sign data of the user, and judging whether the current posture of the user falls down,
Less than a set threshold H or
Whether or not less than a set threshold B is established
If yes, go to step S63;
if not, the user is in a safe state, and the step S61 is returned;
wherein the content of the first and second substances,
in order to provide the user with heart rate data,
respiratory data for the user;
s63, entering an early warning state, gradually accumulating the danger counting times t according to the set time, and entering the step S64;
s64, judging whether the accumulated danger counting times t are larger than a set threshold value or not;
if yes, go to step S7;
if not, the process returns to step S3.
The invention has the beneficial effects that:
the invention provides a 24-hour uninterrupted indoor personnel safety monitoring method, which uses a millimeter wave radar technology to realize the monitoring and judgment of heartbeat respiration and behavior posture, provides all-weather safety guarantee for users in a room, and is mainly embodied in the following points:
1. the millimeter wave radar technology is combined, the integrated all-weather monitoring on the safety of indoor personnel is realized through the acquired three-dimensional point cloud data processing and vital sign detection, the safety of users is well guaranteed, no sound, image or video information is involved in the using process, the literature that the privacy of the users is possibly leaked is avoided, and an excellent choice is provided for the users paying attention to the privacy protection;
2. the installation position and the method of the millimeter wave radar equipment are considered, and the detection range can cover all concerned areas.
3. The posture detection algorithm and the coordinate positioning based on the millimeter wave radar are provided, three behaviors of standing, sitting and falling are judged, the falling detection accuracy is improved by adding early warning and falling judgment conditions, and a foundation is provided for realizing integrated monitoring.
4. The millimeter wave radar technology is utilized to realize a safety data monitoring and falling-bed detection algorithm, and an over-threshold alarm mechanism is provided, so that the alarm is quickly given out when danger occurs, and the misjudgment rate is reduced.
Drawings
Fig. 1 is a flowchart of an indoor personnel safety monitoring integrated method based on a millimeter wave radar provided by the invention.
Fig. 2 is a schematic view of installation of the attitude detection millimeter wave radar and the sign detection millimeter wave radar provided by the invention.
Fig. 3 is a flowchart of a method for monitoring the safety of a bed area according to the present invention.
Fig. 4 is a flowchart of a non-bed area safety monitoring method provided by the present invention.
FIG. 5 is a flowchart of a method for initiating a super-threshold warning mechanism according to the present invention.
Detailed Description
The following description of the embodiments of the present invention is provided to facilitate the understanding of the present invention by those skilled in the art, but it should be understood that the present invention is not limited to the scope of the embodiments, and it will be apparent to those skilled in the art that various changes may be made without departing from the spirit and scope of the invention as defined and defined in the appended claims, and all matters produced by the invention using the inventive concept are protected.
As shown in fig. 1, an integrated monitoring method for indoor personnel safety based on millimeter wave radar includes the following steps:
s1, installing the attitude monitoring millimeter wave radar in a room to be monitored, and ensuring that the monitoring range of the attitude monitoring millimeter wave radar covers the whole room; meanwhile, the physical sign monitoring millimeter wave radar is arranged in the bed area of a bedroom;
s2, scanning the room in real time by using the attitude monitoring millimeter wave radar, and preprocessing the scanning data to obtain the position information of the user in the room;
s3, judging whether the user is in the bed area or not based on the position information of the user in the room;
if yes, go to step S4;
if not, go to step S5;
s4, recognizing the user state based on the user scanning data acquired by the attitude detection millimeter wave radar and the user vital sign data acquired by the sign detection millimeter wave radar, and judging whether to start a super-threshold danger warning mechanism;
if yes, go to step S6;
if not, returning to the step S3;
s5, recognizing the gesture of the user based on the user scanning data acquired by the gesture monitoring millimeter wave radar, and judging whether to start a super-threshold warning mechanism;
if yes, go to step S6;
if not, returning to the step S3;
s6, starting a threshold-exceeding danger warning mechanism, and determining whether to send alarm information or not according to the judgment result of the threshold-exceeding danger warning mechanism;
if yes, go to step S7;
if not, returning to the step S3;
and S7, sending alarm information to a monitoring mechanism to realize integrated monitoring of indoor personnel safety.
In step S1, due to the limitation of the detection angle of the millimeter wave radar itself, in order to ensure that the monitoring range of the monitoring device can completely cover a large room such as a living room, the millimeter wave radar antenna emits a detection effective angle of 120 ° and emits a detection beam outward in a conical shape, and therefore, in a room with a size not exceeding 4 mx 8m, as shown in fig. 2, the installation method of the attitude monitoring millimeter wave radar specifically includes: installing a posture monitoring millimeter wave radar at one corner of the roof of each room, wherein the posture monitoring millimeter wave radar is inclined downwards by 30 degrees and keeps an included angle of 45 degrees with the adjacent left and right walls; the device can be ensured to carry out all-dimensional coverage detection indoors under the installation angle;
as shown in fig. 2, the sign detection millimeter wave radar is installed in a bedroom or a bathroom, the sign detection millimeter wave radar is installed on the ceiling of the bedroom or inside the bed with a non-metal structure, and the detection antenna of the sign detection millimeter wave radar installed on the ceiling is right opposite to the bed; the heartbeat respiration and vital signs of a user who is in rest in a bedroom are detected through the sign detection millimeter wave radar, the installation angle, the position and the method of the detection are consistent with those in a living room, and the optimal installation angle is used.
After the attitude/sign detection radar is completely deployed according to the method, the installation height, the installation angle, the bed position coordinates and other numbers need to be stored so as to accurately position the user position and distinguish the area where the user is located by a subsequent algorithm, and different detection methods are selected according to whether the user is in the bed area or not for safety monitoring.
Step S2 of this embodiment specifically includes:
s21, obtaining three-dimensional point cloud information of the user in the room through the attitude detection millimeter wave radar
And the position of the attitude detection millimeter wave radar in the current room in the internal coordinate system
；
S22, detecting the position of the millimeter wave radar in attitude
To construct a horizontal ground coordinate system under an actual scene
；
S23, obtaining a horizontal ground coordinate system through the coordinate mapping relation
And radar internal coordinate system
Coordinate transformation matrix therebetween
；
Wherein, the coordinate mapping relation is as follows:
in the formula (I), the compound is shown in the specification,
the coordinates of the user in the horizontal ground coordinate system of the actual scene,
processing the three-dimensional point cloud data of the user to obtain the coordinates of the position of the user;
as shown in fig. 2, a coordinate system
Corresponding to a coordinate system
Is rotated by an angle of rotation of
The value, so that the transformation matrix is substantially a function of trigonometric features
Of the matrix of (a). Will be selected from
In the XY plane of the user coordinate values obtained in (1)
、
Performing coordinate rotation mapping to obtain
And
the relation of (A) is as follows:
converting the equation set into a 2-order matrix form to obtain a coordinate conversion matrix
Comprises the following steps:
in the formula, coordinate system
To a coordinate system
The rotation angle of (2) needs to be confirmed according to the field installation position;
s24, using coordinate transformation matrix
Three-dimensional point cloud information of user
Converting the coordinate into the coordinate of the user in the actual scene, namely obtaining the position information of the user in the room;
wherein the coordinates of the user in the actual scene
Comprises the following steps:
in the embodiment, the coordinate system is established by taking the position of the millimeter wave radar as the origin of the coordinate system, and the position of a user in a room is positioned by constructing the conversion relation between the real scene coordinate system and the image coordinate system.
Step S3 of this embodiment specifically includes:
coordinates of a user in an actual scene
Bed with storageThe coordinates of the positions of the tiles are compared, and when the coordinates are matched
If the user is within the couch position coordinate range, the user is in the couch region and the process proceeds to step S4, otherwise, the user is not in the couch region and the process proceeds to step S5.
In step S4 of this embodiment, when the user takes a rest on the bed, the user may move left and right, and if the user is in an unconscious state such as sleeping, a dangerous situation may occur in which the user falls off the bed, and the user is more dangerous than falling down, and needs to respond quickly, so the method for detecting falling down from the bed based on the millimeter wave radar for posture and physical sign detection provided in this embodiment specifically includes the following steps as shown in fig. 3:
s41, collecting vital sign data of a user through a sign detection millimeter wave radar;
s42, judging whether the collected vital sign data of the user is lower than a set threshold value;
if yes, go to step S43;
if not, returning to the step S41;
s43, determining the position information of the user based on the user scanning data acquired by the attitude detection millimeter wave radar, and judging whether the user scanning data is still in the region of the couch;
if yes, the vital signs of the user are abnormal, a super-threshold danger warning mechanism is started, and the step S6 is executed;
if not, go to step S44;
s44, judging whether the current user height is larger than a set falling-bed threshold value or not based on user scanning data acquired by the attitude millimeter wave radar;
if yes, the user is in a safe state, and the step S41 is returned;
if not, the user takes a falling-down action and the process goes to step S7.
In above-mentioned step S41, vital sign monitoring mainly used cooperates the gesture to detect, judges user 'S safety through detecting heartbeat breath data in the time quantum that can't carry out the gesture and detects, and the design that utilizes millimeter wave radar to realize heartbeat breath detection and be comparatively ripe technique, and in order to guarantee the accuracy of monitoring data, the method of gathering user vital sign data through sign detection millimeter wave radar in this embodiment specifically is:
heartbeat and respiration data acquisition is carried out on the user through the sign detection millimeter wave radar, DSP processing is carried out on the acquired data, and data containing the heart rate of the user is obtained
And respiratory data
Vital sign data of (a); and then, judging whether the user is safe according to the set heart rate and respiration data threshold, wherein the threshold needs to be set according to the specific user condition.
In the present embodiment, when the user gesture is recognized in step S5, the user gesture is mainly determined by the monitored height change of the user, as shown in fig. 4, the step S5 specifically includes:
s51, acquiring three-dimensional point cloud data of a user entering a current room through a posture detection millimeter wave radar;
s52, detecting the maximum value of the height information in the three-dimensional point cloud data of the user obtained by the millimeter wave radar according to the posture each time
Constructing a user gesture array
Determining the arithmetic mean value of all data in the user posture array as the initial value of the height of the user;
wherein Z is the total times of acquiring the three-dimensional point cloud information of the user,
the maximum value of the height information is obtained for the Z-th time when the three-dimensional point cloud information of the user is obtained;
s53, detecting the reality of the millimeter wave radar according to the attitudeHeight of installation
And obtaining the height value of the user from the initial value of the height of the user
Comprises the following steps:
wherein the default initial installation height is 1 meter;
s54, recording the current height information of the user in real time based on the three-dimensional point cloud data of the user acquired by the attitude detection millimeter wave radar
And according to the height value of the user
Calculating the current height variation value
And rate of change of altitude
；
In particular, in order to calculate the value of the user altitude rate of change, it is necessary to record the value of the user altitude during the previous period of time, delete the value of the altitude that is the farthest away each time a new value of the altitude rate of change is detected, add the new value of the altitude to the array, where the value of the altitude that has been saved the last 5 times (about 1 second) is stored in the array, i.e. the value of the altitude rate of change is stored for the last 5 times (about 1 second)
Whereby a high rate of change of
；
S55, judging the height change value
Whether the height is larger than a set tumbling height threshold value;
if yes, go to step S57;
if not, go to step S56;
s56, judging whether the height change value is larger than a set sitting posture height threshold value and smaller than a set falling height threshold value;
if yes, the user gesture recognition result is sitting, and the step S54 is returned to;
if not, the user gesture recognition result is station, and the step returns to the step S54;
s57, judging the height change rate
Whether the rate is greater than the set rate or the current attitude accumulated duration is greater than a time threshold;
if yes, starting a super-threshold danger warning mechanism if the user gesture recognition result indicates that the user has fallen, and entering step S6;
if not, the user is in a safe posture and the process returns to step S54.
In step S6 of this embodiment, when obtaining the safety index data, it needs to perform a judgment according to the obtained result, and in order to reduce unnecessary confusion to the user due to system misjudgment while helping the user who is in danger, this embodiment proposes an over-threshold danger warning mechanism, as shown in fig. 5, the process specifically includes:
s61, initializing a danger count value t;
s62, acquiring the recognition result of the current posture of the user and the vital sign data of the user, and judging whether the current posture of the user falls down,
Less than a set threshold
Or
Whether or not less than a set threshold B is established
If yes, go to step S63;
if not, the user is in a safe state, and the step S61 is returned;
wherein the content of the first and second substances,
in order to provide the user with heart rate data,
respiratory data for the user;
s63, entering an early warning state, gradually accumulating the danger counting times t according to the set time, and entering the step S64;
s64, judging whether the accumulated danger counting times t are larger than a set threshold value or not;
if yes, go to step S7;
if not, the process returns to step S3.
In this embodiment, the threshold of the dangerous counting number is set to 10, and when the dangerous counting number is used for 10 frames (about 2 seconds) in a dangerous state, alarm information is immediately sent to a monitoring organization.
Claims (8)
1. An indoor personnel safety integrated monitoring method based on a millimeter wave radar is characterized by comprising the following steps:
s1, installing the attitude monitoring millimeter wave radar in a room to be monitored, and ensuring that the monitoring range of the attitude monitoring millimeter wave radar covers the whole room; meanwhile, the physical sign monitoring millimeter wave radar is arranged in the bed area of a bedroom;
s2, scanning the room in real time by using the attitude monitoring millimeter wave radar, and preprocessing the scanning data to obtain the position information of the user in the room;
s3, judging whether the user is in the bed area or not based on the position information of the user in the room;
if yes, go to step S4;
if not, go to step S5;
s4, recognizing the user state based on the user scanning data acquired by the attitude detection millimeter wave radar and the user vital sign data acquired by the sign detection millimeter wave radar, and judging whether to start a super-threshold danger warning mechanism;
if yes, go to step S6;
if not, returning to the step S3;
s5, recognizing the gesture of the user based on the user scanning data acquired by the gesture monitoring millimeter wave radar, and judging whether to start a super-threshold warning mechanism;
if yes, go to step S6;
if not, returning to the step S3;
s6, starting a threshold-exceeding danger warning mechanism, and determining whether to send alarm information or not according to the judgment result of the threshold-exceeding danger warning mechanism;
if yes, go to step S7;
if not, returning to the step S3;
and S7, sending alarm information to a monitoring mechanism to realize integrated monitoring of indoor personnel safety.
2. The integrated monitoring method for indoor personnel safety based on millimeter wave radar as claimed in claim 1, wherein in step S1, the installation method of the attitude monitoring millimeter wave radar specifically comprises: installing a posture monitoring millimeter wave radar at one corner of the roof of each room, wherein the posture monitoring millimeter wave radar is inclined downwards by 30 degrees and keeps an included angle of 45 degrees with the adjacent left and right walls;
the sign detection millimeter wave radar is installed on the ceiling of a bedroom or inside the bed with a non-metal structure, and the detection antenna of the sign detection millimeter wave radar installed on the ceiling is right opposite to the bed.
3. The integrated monitoring method for indoor personnel safety based on millimeter wave radar according to claim 1, wherein the step S2 specifically comprises:
s21, acquiring the three-dimensional of the user in the room through the attitude detection millimeter wave radarPoint cloud information
And the position of the attitude detection millimeter wave radar in the current room in the internal coordinate system
；
S22, detecting the position of the millimeter wave radar in attitude
To construct a horizontal ground coordinate system under an actual scene
；
S23, obtaining a horizontal ground coordinate system through the coordinate mapping relation
And radar internal coordinate system
Coordinate transformation matrix therebetween
；
Wherein, the coordinate mapping relation is as follows:
in the formula (I), the compound is shown in the specification,
the coordinates of the user in the horizontal ground coordinate system of the actual scene,
for three-dimensional points of the userObtaining the coordinates of the user position after cloud data processing;
the coordinate transformation matrix
Comprises the following steps:
in the formula, coordinate system
To a coordinate system
The angle of rotation of (a);
s24, using coordinate transformation matrix
Three-dimensional point cloud information of user
Converting the coordinate into the coordinate of the user in the actual scene, namely obtaining the position information of the user in the room;
wherein the coordinates of the user in the actual scene
Comprises the following steps:
4. the integrated monitoring method for indoor personnel safety based on millimeter wave radar according to claim 1, wherein the step S3 specifically comprises:
coordinates of a user in an actual scene
Comparing with stored bed position coordinates
If the user is within the couch position coordinate range, the user is in the couch region and the process proceeds to step S4, otherwise, the user is not in the couch region and the process proceeds to step S5.
5. The integrated monitoring method for indoor personnel safety based on millimeter wave radar according to claim 1, wherein the step S4 specifically comprises:
s41, collecting vital sign data of a user through a sign detection millimeter wave radar;
s42, judging whether the collected vital sign data of the user is lower than a set threshold value;
if yes, go to step S43;
if not, returning to the step S41;
s43, determining the position information of the user based on the user scanning data acquired by the attitude detection millimeter wave radar, and judging whether the user scanning data is still in the region of the couch;
if yes, the vital signs of the user are abnormal, a super-threshold danger warning mechanism is started, and the step S6 is executed;
if not, go to step S44;
s44, judging whether the current user height is larger than a set falling-bed threshold value or not based on user scanning data acquired by the attitude millimeter wave radar;
if yes, the user is in a safe state, and the step S41 is returned;
if not, the user takes a falling-down action and the process goes to step S7.
6. The integrated monitoring method for indoor personnel safety based on millimeter wave radar as claimed in claim 5, wherein in step S41, the method for collecting the vital sign data of the user by the millimeter wave radar for sign detection specifically comprises:
by sign detectionThe millimeter wave radar acquires heartbeat and respiration data of the user, and performs DSP processing on the acquired data to obtain data containing the heart rate of the user
And respiratory data
Vital sign data of (1).
7. The integrated monitoring method for indoor personnel safety based on millimeter wave radar according to claim 1, wherein the step S5 specifically comprises:
s51, acquiring three-dimensional point cloud data of a user entering a current room through a posture detection millimeter wave radar;
s52, detecting the maximum value of the height information in the three-dimensional point cloud data of the user obtained by the millimeter wave radar according to the posture each time
Constructing a user gesture array
Determining the arithmetic mean value of all data in the user posture array as the initial value of the height of the user;
wherein Z is the total times of acquiring the three-dimensional point cloud information of the user,
the maximum value of the height information is obtained for the Z-th time when the three-dimensional point cloud information of the user is obtained;
s53, detecting the actual installation height of the millimeter wave radar according to the attitude
And obtaining the height value of the user from the initial value of the height of the user
Comprises the following steps:
s54, recording the current height information of the user in real time based on the three-dimensional point cloud data of the user acquired by the attitude detection millimeter wave radar
And according to the height value of the user
Calculating the current height variation value
And rate of change of altitude
；
S55, judging the height change value
Whether the height is larger than a set tumbling height threshold value;
if yes, go to step S57;
if not, go to step S56;
s56, judging whether the height change value is larger than a set sitting posture height threshold value and smaller than a set falling height threshold value;
if yes, the user gesture recognition result is sitting, and the step S54 is returned to;
if not, the user gesture recognition result is station, and the step returns to the step S54;
s57, judging the height change rate
Whether the rate is greater than the set rate or the current attitude accumulated duration is greater than a time threshold;
if yes, starting a super-threshold danger warning mechanism if the user gesture recognition result indicates that the user has fallen, and entering step S6;
if not, the user is in a safe posture and the process returns to step S54.
8. The integrated monitoring method for indoor safety based on millimeter wave radar according to claim 7, wherein the step S6 specifically comprises:
s61, initializing a danger count value t;
s62, acquiring the recognition result of the current posture of the user and the vital sign data of the user, and judging whether the current posture of the user falls down,
Less than a set threshold
Or
Whether or not less than a set threshold B is established
If yes, go to step S63;
if not, the user is in a safe state, and the step S61 is returned;
wherein the content of the first and second substances,
in order to provide the user with heart rate data,
respiratory data for the user;
s63, entering an early warning state, gradually accumulating the danger counting times t according to the set time, and entering the step S64;
s64, judging whether the accumulated danger counting times t are larger than a set threshold value or not;
if yes, go to step S7;
if not, the process returns to step S3.
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