CN112415498B - Safety protection method and system - Google Patents

Safety protection method and system Download PDF

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Publication number
CN112415498B
CN112415498B CN202011204425.6A CN202011204425A CN112415498B CN 112415498 B CN112415498 B CN 112415498B CN 202011204425 A CN202011204425 A CN 202011204425A CN 112415498 B CN112415498 B CN 112415498B
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signal data
signal
millimeter wave
energy
threshold value
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CN112415498A (en
Inventor
程毅
彭诚诚
赵洛伟
何文彦
刘志贤
陈红伟
成云丽
刘子华
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Whst Co Ltd
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Whst Co Ltd
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/04—Systems determining presence of a target
    • 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
    • G01S13/08—Systems for measuring distance only
    • 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
    • G01S7/418—Theoretical aspects
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N17/00—Diagnosis, testing or measuring for television systems or their details
    • H04N17/04—Diagnosis, testing or measuring for television systems or their details for receivers

Abstract

The invention provides a safety protection method and a system, wherein the method comprises the following steps: acquiring millimeter wave signal data; determining the average signal energy of the millimeter wave signal data under a first threshold value, and controlling to close the target laser television if the average signal energy is greater than a preset energy value; if the average signal energy is not greater than the preset energy value, determining the number of effective detection points of the millimeter wave radar, the signal-to-noise ratio corresponding to each effective detection point and the detection distance based on the millimeter wave signal data; if the number of the effective detection points is larger than a preset threshold value, extracting the detection points with the maximum signal-to-noise ratio from the effective detection points; and if the detection distance corresponding to the detection point with the maximum signal-to-noise ratio is greater than the second threshold value, controlling to reduce the laser energy of the target laser television. The safety protection method and the safety protection system provided by the invention can better avoid the interference of the external environment and realize effective safety protection.

Description

Safety protection method and system
Technical Field
The invention belongs to the technical field of laser radars, and particularly relates to a safety protection method and a safety protection system.
Background
Laser television is a new television category that has emerged in recent years that employs a laser transmitter to project laser light onto a particular type of surface to produce an image. Because the passive light-emitting mode of reflective imaging is adopted, the eye-protecting mask has obvious eye-protecting effect and is popular with various crowds. However, the laser light emitted from the laser emitter has high energy and there is no protection device in the optical path of the laser light. If the laser is accidentally directly irradiated into the eyes, the eyes are damaged greatly, and the serious people can cause blindness. Therefore, a human body sensing device needs to be equipped for the laser radar transmitter, when a person approaches the laser transmitter for a certain distance, the laser transmitter receives a signal of the sensor and controls the energy of the transmitted laser, or the transmitter is actively closed, so that eyes of the person are protected from being damaged by the laser.
At present, most laser televisions adopt pyroelectric sensors as human body sensors. However, pyroelectric sensors have several disadvantages:
1. since the pyroelectric sensor mainly detects a change in heat, it cannot detect constant infrared radiation. Therefore, the mobile human body detection effect is better, and the condition of missing detection is easy to occur to the human body which is static for a period of time and does not move.
2. The pyroelectric sensor is greatly influenced by temperature change and is not suitable for being installed at a place close to an object with obvious temperature change, such as an air conditioner, a refrigerator, a heater and the like, so that the application range and the effect of the pyroelectric sensor are greatly limited.
3. The pyroelectric sensor can only output the information of people or no people in the measurement range, and cannot output the distance and the angle of the people relative to the sensor. This limits the control strategy of the laser transmitter.
Therefore, how to avoid the interference of the external environment and achieve effective safety protection becomes a problem that needs to be solved by those skilled in the art.
Disclosure of Invention
The invention aims to provide a safety protection method and a safety protection system so as to avoid the interference of the external environment and realize effective safety protection.
In a first aspect of the embodiments of the present invention, a safety protection method is provided, including:
acquiring millimeter wave signal data, wherein the millimeter wave signal data are reflected signals received by a millimeter wave radar arranged on a target laser television;
determining the average signal energy of the millimeter wave signal data under a first threshold value, and controlling to close the target laser television if the average signal energy is larger than a preset energy value;
if the average signal energy is not greater than a preset energy value, determining the number of effective detection points of the millimeter wave radar, the signal-to-noise ratio corresponding to each effective detection point and a detection distance based on the millimeter wave signal data; if the number of the effective detection points is larger than a preset threshold value, extracting the detection points with the maximum signal-to-noise ratio from the effective detection points; and if the detection distance corresponding to the detection point with the maximum signal-to-noise ratio is greater than a second threshold value, controlling to reduce the laser energy of the target laser television.
Optionally, the millimeter wave signal data includes first signal data and second signal data;
the first signal data is a reflected signal received by a first receiving module of a millimeter-wave radar arranged on a target laser television, and the second signal data is a reflected signal received by a second receiving module of the millimeter-wave radar arranged on the target laser television.
Optionally, before determining the average signal energy of the millimeter wave signal data under the first threshold, the method further includes a step of performing one-dimensional FFT processing on the millimeter wave signal data;
the step of performing one-dimensional FFT processing on the millimeter wave signal data includes:
every N of each column of the first signal data1DFFTPerforming FFT calculation on the points to obtain first signal data after one-dimensional FFT processing; every N of each column of the second signal data1DFFTPerforming FFT calculation on the points to obtain second signal data after one-dimensional FFT processing;
wherein N is1DFFTIs a preset value.
Optionally, the determining the average signal energy of the millimeter wave signal data under the first threshold includes:
calculating the average signal energy of the first signal data after the one-dimensional FFT processing under a first threshold value to obtain a first energy value;
calculating the average signal energy of the one-dimensional FFT-processed second signal data under the first threshold value to obtain a second energy value;
and taking the maximum value of the first energy value and the second energy value as the average signal energy of the millimeter wave signal data under a first threshold value.
Optionally, the determining, based on the millimeter wave signal data, the number of effective detection points of the millimeter wave radar, the signal-to-noise ratio and the detection distance corresponding to each effective detection point includes:
performing two-dimensional FFT processing on the first signal data and the second signal data to obtain two-dimensional FFT processed first signal data and two-dimensional FFT processed second signal data;
performing two-dimensional constant false alarm detection on the two-dimensional FFT-processed first signal data and the two-dimensional FFT-processed second signal data to obtain candidate detection points corresponding to the first signal data and candidate detection points corresponding to the second signal data, and signal-to-noise ratios and detection distances corresponding to the candidate detection points;
and determining effective detection points of the millimeter wave radar based on the candidate detection points corresponding to the first signal data and the candidate detection points corresponding to the second signal data, and determining the number of the effective detection points, the signal-to-noise ratio corresponding to each effective detection point and the detection distance.
Optionally, the determining the valid detection point of the millimeter wave radar based on the candidate detection point corresponding to the first signal data and the candidate detection point corresponding to the second signal data includes:
and taking a repeated detection point in the candidate detection points corresponding to the first signal data and the candidate detection points corresponding to the second signal data as an effective detection point of the millimeter wave radar.
Optionally, the method for performing two-dimensional FFT processing on the first signal data includes:
every N of each column of the first signal data1DFFTPerforming FFT calculation on the points to obtain first signal data after one-dimensional FFT processing;
every N of each line of the one-dimensional FFT processed first signal data2DFFTPerforming FFT calculation on the points to obtain first signal data after two-dimensional FFT processing; wherein N is1DFFT、N2DFFTAre all preset values.
Optionally, the method for determining the first energy value includes:
Figure BDA0002756577780000041
where amp1 is the first energy value, S _ FFT1(n,1) is the value of the 1 st column of the nth row of the first signal data after one-dimensional FFT processing;
wherein the content of the first and second substances,
Figure BDA0002756577780000042
wherein r is1Is a first threshold value, B is a signal bandwidth corresponding to the first signal data, NsThe number of lines of the first signal data before the one-dimensional FFT processing, and c the speed of light.
Optionally, the safety protection method further includes:
if the average signal energy is larger than a preset energy value, generating first alarm information;
and if the detection distance corresponding to the detection point with the maximum signal-to-noise ratio is greater than a second threshold value, generating second alarm information.
In a second aspect of the embodiments of the present invention, there is provided a safety protection system, including:
the millimeter wave radar module and the signal processing module;
the millimeter wave radar module is used for transmitting and receiving millimeter waves;
the signal processing module is used for executing the following steps:
acquiring millimeter wave signal data from the millimeter wave radar;
determining the average signal energy of the millimeter wave signal data under a first threshold value, and controlling to close the target laser television if the average signal energy is larger than a preset energy value;
if the average signal energy is not greater than a preset energy value, determining the number of effective detection points of the millimeter wave radar, the signal-to-noise ratio corresponding to each effective detection point and a detection distance based on the millimeter wave signal data; if the number of the effective detection points is larger than a preset threshold value, extracting the detection points with the maximum signal-to-noise ratio from the effective detection points; and if the detection distance corresponding to the detection point with the maximum signal-to-noise ratio is greater than a second threshold value, controlling to reduce the laser energy of the target laser television.
The safety protection method and the safety protection system provided by the embodiment of the invention have the beneficial effects that:
1) the millimeter wave radar can detect the distance information of the target at the same time without being influenced by external environments such as temperature and humidity, so that more information can be obtained based on the millimeter wave signal data to realize more control modes.
2) The invention also provides a processing method of millimeter wave signal data, and the invention can realize target detection and control of the target laser television based on the processing method, thereby realizing effective safety protection.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed for the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
Fig. 1 is a schematic flow chart of a security protection method according to an embodiment of the present invention;
fig. 2 is a block diagram of a safety protection system according to an embodiment of the present invention.
Detailed Description
In order to make the technical problems, technical solutions and advantageous effects to be solved by the present invention more clearly apparent, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Referring to fig. 1, fig. 1 is a schematic flow chart of a security protection method according to an embodiment of the present invention, the method including:
s101: and acquiring millimeter wave signal data, wherein the millimeter wave signal data are reflected signals received by a millimeter wave radar arranged on a target laser television.
In this embodiment, the transmitting module of the millimeter-wave radar disposed on the target laser television transmits the millimeter-wave signal, and the corresponding receiving module of the millimeter-wave radar receives the millimeter-wave signal, so that the millimeter-wave signal data can be obtained from the millimeter-wave radar.
S102: and determining the average signal energy of the millimeter wave signal data under the first threshold value, and controlling to close the target laser television if the average signal energy is greater than a preset energy value.
In this embodiment, if the average signal energy is greater than the preset energy value, it indicates that a target exists at a close distance from the target laser television, and at this time, a control signal may be generated and sent to the control end of the target laser television, so as to control the target laser television to be turned off.
S103: and if the average signal energy is not greater than the preset energy value, determining the number of effective detection points of the millimeter wave radar, the signal-to-noise ratio corresponding to each effective detection point and the detection distance based on the millimeter wave signal data. And if the number of the effective detection points is larger than a preset threshold value, extracting the detection points with the maximum signal-to-noise ratio from the effective detection points. And if the detection distance corresponding to the detection point with the maximum signal-to-noise ratio is greater than the second threshold value, controlling to reduce the laser energy of the target laser television.
In this embodiment, if the average signal energy is not greater than the predetermined energy value, it indicates that there is no target in the short distance of the target laser television. If the detection distance corresponding to the detection point with the largest signal-to-noise ratio is larger than the second threshold value, it is indicated that a target exists at a long distance of the target laser television, and at this time, a control signal can be generated and sent to a control end of the target laser television, so that the laser energy of the target laser television is controlled to be reduced. If the detection distance corresponding to the detection point with the maximum signal-to-noise ratio is not larger than the second threshold value, it is indicated that no target exists at the long distance of the target laser television, and at this time, control processing is not needed.
The millimeter wave radar can detect the distance information of the target at the same time, and therefore more information can be obtained based on the millimeter wave signal data to realize more control modes. In addition, the invention also provides a processing method of millimeter wave signal data, and the invention can realize target detection and control of the target laser television based on the processing method, thereby realizing effective safety protection.
Optionally, as a specific implementation manner of the safety protection method provided in the embodiment of the present invention, the millimeter wave signal data includes first signal data and second signal data.
The first signal data is a reflected signal received by a first receiving module of the millimeter-wave radar arranged on the target laser television, and the second signal data is a reflected signal received by a second receiving module of the millimeter-wave radar arranged on the target laser television.
In this embodiment, the millimeter wave radar may include a transmitting antenna and two receiving antennas (corresponding to the first receiving module and the second receiving module), and after the transmitting antenna transmits the millimeter wave signal, the two receiving antennas receive the millimeter wave signal, and perform frequency mixing, filtering, and ADC sampling on the millimeter wave signal, so as to obtain two sets of signal data, that is, the first signal data and the second signal data.
Optionally, as a specific implementation manner of the safety protection method provided in the embodiment of the present invention, before determining the average signal energy of the millimeter wave signal data under the first threshold, the method further includes a step of performing one-dimensional FFT on the millimeter wave signal data.
The step of performing one-dimensional FFT processing on millimeter wave signal data includes:
for every N of each column of the first signal data1DFFTAnd performing FFT calculation on the points to obtain first signal data after one-dimensional FFT processing. Every N for each column of the second signal data1DFFTAnd performing FFT calculation on the points to obtain second signal data after one-dimensional FFT processing.
Wherein N is1DFFTThe FFT represents a fast fourier transform for a preset value.
Optionally, as a specific implementation manner of the safety protection method provided in the embodiment of the present invention, determining an average signal energy of millimeter wave signal data under a first threshold includes:
and calculating the average signal energy of the first signal data after the one-dimensional FFT processing under the first threshold value to obtain a first energy value.
And calculating the average signal energy of the one-dimensional FFT-processed second signal data under the first threshold value to obtain a second energy value.
And taking the maximum value of the first energy value and the second energy value as the average signal energy of the millimeter wave signal data under the first threshold value.
Optionally, as a specific implementation manner of the safety protection method provided in the embodiment of the present invention, determining the number of effective detection points of the millimeter wave radar, a signal-to-noise ratio corresponding to each effective detection point, and a detection distance based on millimeter wave signal data includes:
and performing two-dimensional FFT processing on the first signal data and the second signal data to obtain the first signal data after the two-dimensional FFT processing and the second signal data after the two-dimensional FFT processing.
And performing two-dimensional constant false alarm detection on the two-dimensional FFT-processed first signal data and the two-dimensional FFT-processed second signal data to obtain candidate detection points corresponding to the first signal data, candidate detection points corresponding to the second signal data, and signal-to-noise ratios and detection distances corresponding to the candidate detection points.
And determining effective detection points of the millimeter wave radar based on the candidate detection points corresponding to the first signal data and the candidate detection points corresponding to the second signal data, and determining the number of the effective detection points, the signal-to-noise ratio corresponding to each effective detection point and the detection distance.
In this embodiment, after determining that a candidate detection point is an effective detection point, the snr and the detection distance corresponding to the candidate detection point are also the snr and the detection distance corresponding to the effective detection point.
In the present embodiment, the detection distance refers to a distance from the detection point to the millimeter wave radar (i.e., the target laser television).
In this embodiment, after performing two-dimensional constant false alarm detection, the angle of each candidate detection point may be obtained by comparing the angle, and the angle may be used for generating alarm information.
Optionally, as a specific implementation manner of the safety protection method provided in the embodiment of the present invention, determining an effective detection point of a millimeter wave radar based on a candidate detection point corresponding to first signal data and a candidate detection point corresponding to second signal data includes:
and taking a repeated detection point in the candidate detection points corresponding to the first signal data and the candidate detection points corresponding to the second signal data as an effective detection point of the millimeter wave radar.
In this embodiment, if a certain detection point is located in the candidate detection points corresponding to the first signal data and the candidate detection points corresponding to the second signal data, the certain detection point is a valid detection point.
Optionally, as a specific implementation manner of the safety protection method provided in the embodiment of the present invention, the method for performing two-dimensional FFT on the first signal data includes:
for every N of each column of the first signal data1DFFTAnd performing FFT calculation on the points to obtain first signal data after one-dimensional FFT processing.
For one dimensionEvery N of each line of the first signal data after FFT processing2DFFTAnd performing FFT calculation on the points to obtain first signal data after two-dimensional FFT processing. Wherein N is1DFFT、N2DFFTAre all preset values.
That is, the first signal data is first subjected to column processing and then subjected to line processing to realize two-dimensional FFT processing of the first signal data. The two-dimensional FFT processing method of the second signal data is the same as that of the first signal data, and is not described herein again.
Optionally, as a specific implementation manner of the safety protection method provided in the embodiment of the present invention, the method for determining the first energy value is:
Figure BDA0002756577780000091
where amp1 is the first energy value, S _ FFT1(n,1) is a value of the first signal data after one-dimensional FFT processing in the n-th row and 1-th column.
Wherein the content of the first and second substances,
Figure BDA0002756577780000092
wherein r is1Is a first threshold value, B is a signal bandwidth corresponding to the first signal data, NsThe number of lines of the first signal data before the one-dimensional FFT processing, and c the speed of light.
Similarly, the method for determining the second energy value comprises the following steps:
Figure BDA0002756577780000093
where amp2 is the second energy value, S _ FFT2(n,1) is a value of the second signal data after one-dimensional FFT processing in the n-th row and 1-th column.
Optionally, as a specific implementation manner of the safety protection method provided in the embodiment of the present invention, the safety protection method further includes:
and if the average signal energy is larger than the preset energy value, generating first alarm information.
And if the detection distance corresponding to the detection point with the maximum signal-to-noise ratio is greater than the second threshold value, generating second alarm information.
In this embodiment, corresponding alarm information may be generated according to the detected target state.
For example, if a target is detected to exist at a short distance of the target laser television, a first alarm message may be formed: [1000]. Wherein, the first element represents whether a target exists in a close range (the existence is 1, and the nonexistence is 0); if there is a person, the next three elements (respectively indicating whether there is a target at a long distance, the distance of the target, and the angle of the target) are set to 0.
And if the target does not exist at the short distance of the target laser television, detecting whether the target exists at the long distance of the target laser television.
If the target is detected to exist at the remote position of the target laser television, second alarm information can be formed:
[ 01 tarRng tarAzi ], wherein the first element represents whether a target exists in a short distance (existence is 1, nonexistence is 0), the second element represents whether a target exists in a long distance (existence is 1, nonexistence is 0), and the latter two elements respectively represent the distance of the target and the angle of the target.
Wherein, if it is detected that the target does not exist at the far distance of the target laser television, the above possible information is represented as [ 0000 ].
Fig. 2 is a block diagram of a safety protection system according to an embodiment of the present invention, which corresponds to the safety protection method of the foregoing embodiment. For convenience of explanation, only portions related to the embodiments of the present invention are shown. Referring to fig. 2, safety shield system 20 includes: a millimeter wave radar module 21 and a signal processing module 22.
The millimeter wave radar module 21 is configured to transmit and receive millimeter waves.
The signal processing module 22 is configured to perform the following steps:
and acquiring millimeter wave signal data from the millimeter wave radar.
And determining the average signal energy of the millimeter wave signal data under the first threshold value, and controlling to close the target laser television if the average signal energy is greater than a preset energy value.
And if the average signal energy is not greater than the preset energy value, determining the number of effective detection points of the millimeter wave radar, the signal-to-noise ratio corresponding to each effective detection point and the detection distance based on the millimeter wave signal data. And if the number of the effective detection points is larger than a preset threshold value, extracting the detection points with the maximum signal-to-noise ratio from the effective detection points. And if the detection distance corresponding to the detection point with the maximum signal-to-noise ratio is greater than the second threshold value, controlling to reduce the laser energy of the target laser television.
Optionally, as a specific implementation manner of the safety protection system provided in the embodiment of the present invention, optionally, the millimeter wave signal data includes first signal data and second signal data.
The first signal data is a reflected signal received by a first receiving module of the millimeter-wave radar arranged on the target laser television, and the second signal data is a reflected signal received by a second receiving module of the millimeter-wave radar arranged on the target laser television.
Optionally, as a specific implementation manner of the safety protection system provided in the embodiment of the present invention, the signal processing module 22 is further configured to perform a step of performing one-dimensional FFT on millimeter wave signal data.
The step of performing one-dimensional FFT processing on millimeter wave signal data includes:
for every N of each column of the first signal data1DFFTAnd performing FFT calculation on the points to obtain first signal data after one-dimensional FFT processing. Every N for each column of the second signal data1DFFTAnd performing FFT calculation on the points to obtain second signal data after one-dimensional FFT processing.
Wherein N is1DFFTIs a preset value.
Optionally, as a specific implementation manner of the safety protection system provided in the embodiment of the present invention, determining an average signal energy of millimeter wave signal data under a first threshold includes:
and calculating the average signal energy of the first signal data after the one-dimensional FFT processing under the first threshold value to obtain a first energy value.
And calculating the average signal energy of the one-dimensional FFT-processed second signal data under the first threshold value to obtain a second energy value.
And taking the maximum value of the first energy value and the second energy value as the average signal energy of the millimeter wave signal data under the first threshold value.
Optionally, as a specific implementation manner of the safety protection system provided in the embodiment of the present invention, determining the number of effective detection points of the millimeter wave radar, a signal-to-noise ratio corresponding to each effective detection point, and a detection distance based on millimeter wave signal data includes:
and performing two-dimensional FFT processing on the first signal data and the second signal data to obtain the first signal data after the two-dimensional FFT processing and the second signal data after the two-dimensional FFT processing.
And performing two-dimensional constant false alarm detection on the two-dimensional FFT-processed first signal data and the two-dimensional FFT-processed second signal data to obtain candidate detection points corresponding to the first signal data, candidate detection points corresponding to the second signal data, and signal-to-noise ratios and detection distances corresponding to the candidate detection points.
And determining effective detection points of the millimeter wave radar based on the candidate detection points corresponding to the first signal data and the candidate detection points corresponding to the second signal data, and determining the number of the effective detection points, the signal-to-noise ratio corresponding to each effective detection point and the detection distance.
Optionally, as a specific implementation manner of the safety protection system provided in the embodiment of the present invention, determining an effective detection point of the millimeter wave radar based on a candidate detection point corresponding to the first signal data and a candidate detection point corresponding to the second signal data includes:
and taking a repeated detection point in the candidate detection points corresponding to the first signal data and the candidate detection points corresponding to the second signal data as an effective detection point of the millimeter wave radar.
Optionally, as a specific implementation manner of the safety protection system provided in the embodiment of the present invention, the method for performing two-dimensional FFT processing on the first signal data includes:
for every N of each column of the first signal data1DFFTAnd performing FFT calculation on the points to obtain first signal data after one-dimensional FFT processing.
Every N of each line of the first signal data after one-dimensional FFT processing2DFFTAnd performing FFT calculation on the points to obtain first signal data after two-dimensional FFT processing. Wherein N is1DFFT、N2DFFTAre all preset values.
Optionally, as a specific implementation manner of the safety protection system provided in the embodiment of the present invention, the method for determining the first energy value includes:
Figure BDA0002756577780000121
where amp1 is the first energy value, S _ FFT1(n,1) is a value of the first signal data after one-dimensional FFT processing in the n-th row and 1-th column.
Wherein the content of the first and second substances,
Figure BDA0002756577780000122
wherein r is1Is a first threshold value, B is a signal bandwidth corresponding to the first signal data, NsThe number of lines of the first signal data before the one-dimensional FFT processing, and c the speed of light.
Optionally, as a specific implementation manner of the safety protection system provided in the embodiment of the present invention, the signal processing module 22 is further configured to execute the following steps:
and if the average signal energy is larger than the preset energy value, generating first alarm information.
And if the detection distance corresponding to the detection point with the maximum signal-to-noise ratio is greater than the second threshold value, generating second alarm information.
While the invention has been described with reference to specific embodiments, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims (10)

1. A method of safety protection, comprising:
acquiring millimeter wave signal data, wherein the millimeter wave signal data are reflected signals received by a millimeter wave radar arranged on a target laser television;
determining the average signal energy of the millimeter wave signal data under a first threshold value, and controlling to close the target laser television if the average signal energy is larger than a preset energy value;
if the average signal energy is not greater than a preset energy value, determining the number of effective detection points of the millimeter wave radar, the signal-to-noise ratio corresponding to each effective detection point and a detection distance based on the millimeter wave signal data; if the number of the effective detection points is larger than a preset threshold value, extracting the detection points with the maximum signal-to-noise ratio from the effective detection points; and if the detection distance corresponding to the detection point with the maximum signal-to-noise ratio is greater than a second threshold value, controlling to reduce the laser energy of the target laser television.
2. The security protection method of claim 1, wherein the millimeter wave signal data includes first signal data and second signal data;
the first signal data is a reflected signal received by a first receiving module of a millimeter-wave radar arranged on a target laser television, and the second signal data is a reflected signal received by a second receiving module of the millimeter-wave radar arranged on the target laser television.
3. The security protection method of claim 2, further comprising the step of performing a one-dimensional FFT on the millimeter wave signal data before determining the average signal energy of the millimeter wave signal data at the first threshold value;
the step of performing one-dimensional FFT processing on the millimeter wave signal data includes:
every N of each column of the first signal data1DFFTPerforming FFT calculation on the points to obtain first signal data after one-dimensional FFT processing; every N of each column of the second signal data1DFFTPerforming FFT calculation on the points to obtain second signal data after one-dimensional FFT processing;
wherein N is1DFFTIs a preset value.
4. The security protection method of claim 3, wherein said determining the average signal energy of said millimeter-wave signal data at a first threshold value comprises:
calculating the average signal energy of the first signal data after the one-dimensional FFT processing under a first threshold value to obtain a first energy value;
calculating the average signal energy of the one-dimensional FFT-processed second signal data under the first threshold value to obtain a second energy value;
and taking the maximum value of the first energy value and the second energy value as the average signal energy of the millimeter wave signal data under a first threshold value.
5. The security protection method of claim 2, wherein the determining the number of millimeter wave radar valid detection points, the signal-to-noise ratio corresponding to each valid detection point, and the detection distance based on the millimeter wave signal data comprises:
performing two-dimensional FFT processing on the first signal data and the second signal data to obtain two-dimensional FFT processed first signal data and two-dimensional FFT processed second signal data;
performing two-dimensional constant false alarm detection on the two-dimensional FFT-processed first signal data and the two-dimensional FFT-processed second signal data to obtain candidate detection points corresponding to the first signal data and candidate detection points corresponding to the second signal data, and signal-to-noise ratios and detection distances corresponding to the candidate detection points;
and determining effective detection points of the millimeter wave radar based on the candidate detection points corresponding to the first signal data and the candidate detection points corresponding to the second signal data, and determining the number of the effective detection points, the signal-to-noise ratio corresponding to each effective detection point and the detection distance.
6. The security protection method of claim 5, wherein determining the valid detection point of the millimeter wave radar based on the candidate detection point corresponding to the first signal data and the candidate detection point corresponding to the second signal data comprises:
and taking a repeated detection point in the candidate detection points corresponding to the first signal data and the candidate detection points corresponding to the second signal data as an effective detection point of the millimeter wave radar.
7. The security protection method of claim 5, wherein the two-dimensional FFT processing of the first signal data is performed by:
every N of each column of the first signal data1DFFTPerforming FFT calculation on the points to obtain first signal data after one-dimensional FFT processing;
every N of each line of the one-dimensional FFT processed first signal data2DFFTPerforming FFT calculation on the points to obtain first signal data after two-dimensional FFT processing; wherein N is1DFFT、N2DFFTAre all preset values.
8. A method of safeguarding as claimed in claim 4, wherein the first energy value is determined by:
Figure FDA0002756577770000031
where amp1 is the first energy value, S _ FFT1(n,1) is the value of the 1 st column of the nth row of the first signal data after one-dimensional FFT processing;
wherein the content of the first and second substances,
Figure FDA0002756577770000032
wherein r is1Is a first threshold value, B is a signal bandwidth corresponding to the first signal data, NsThe number of lines of the first signal data before the one-dimensional FFT processing, and c the speed of light.
9. The method of safeguarding as claimed in claim 1, further comprising:
if the average signal energy is larger than a preset energy value, generating first alarm information;
and if the detection distance corresponding to the detection point with the maximum signal-to-noise ratio is greater than a second threshold value, generating second alarm information.
10. A safety shield system, comprising:
the millimeter wave radar module and the signal processing module;
the millimeter wave radar module is used for transmitting and receiving millimeter waves;
the signal processing module is used for executing the following steps:
acquiring millimeter wave signal data from the millimeter wave radar;
determining the average signal energy of the millimeter wave signal data under a first threshold value, and controlling to close the target laser television if the average signal energy is larger than a preset energy value;
if the average signal energy is not greater than a preset energy value, determining the number of effective detection points of the millimeter wave radar, the signal-to-noise ratio corresponding to each effective detection point and a detection distance based on the millimeter wave signal data; if the number of the effective detection points is larger than a preset threshold value, extracting the detection points with the maximum signal-to-noise ratio from the effective detection points; and if the detection distance corresponding to the detection point with the maximum signal-to-noise ratio is greater than a second threshold value, controlling to reduce the laser energy of the target laser television.
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