WO2020103888A1 - Procédé de détection de corps vivant, ainsi que procédé et dispositif d'invite sur la présence d'un corps vivant à bord d'un véhicule - Google Patents

Procédé de détection de corps vivant, ainsi que procédé et dispositif d'invite sur la présence d'un corps vivant à bord d'un véhicule

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Publication number
WO2020103888A1
WO2020103888A1 PCT/CN2019/119854 CN2019119854W WO2020103888A1 WO 2020103888 A1 WO2020103888 A1 WO 2020103888A1 CN 2019119854 W CN2019119854 W CN 2019119854W WO 2020103888 A1 WO2020103888 A1 WO 2020103888A1
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WO
WIPO (PCT)
Prior art keywords
living body
vehicle
signal
detected
wave signal
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Application number
PCT/CN2019/119854
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English (en)
Chinese (zh)
Inventor
陈智
陈志勇
水建忠
于东亮
苏伟
吕灿
王丽
Original Assignee
中科传启（苏州）科技有限公司
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Application filed by 中科传启（苏州）科技有限公司 filed Critical 中科传启（苏州）科技有限公司
Publication of WO2020103888A1 publication Critical patent/WO2020103888A1/fr

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60H—ARRANGEMENTS OF HEATING, COOLING, VENTILATING OR OTHER AIR-TREATING DEVICES SPECIALLY ADAPTED FOR PASSENGER OR GOODS SPACES OF VEHICLES
    • B60H1/00—Heating, cooling or ventilating [HVAC] devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
    • B60R21/01—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents
    • B60R21/015—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting the presence or position of passengers, passenger seats or child seats, and the related safety parameters therefor, e.g. speed or timing of airbag inflation in relation to occupant position or seat belt use
    • 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
    • G—PHYSICS
    • G08—SIGNALLING
    • G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
    • G08B21/00—Alarms responsive to a single specified undesired or abnormal condition and not otherwise provided for
    • G08B21/02—Alarms for ensuring the safety of persons

Definitions

  • the present application relates to the field of ultrasonic technology, and specifically relates to a method for detecting a living body, a method and a device for reminding a living body in a vehicle.
  • infrared detection is the use of infrared thermal effect and photoelectric effect, that is, the incident infrared radiation signal is converted into an electrical signal output, and then the output electrical signal is used to detect living organisms; video detection is through real-time collection of video images in the detection area, Then use the collected video images to detect living bodies; radar detection is to use electromagnetic waves to detect, that is, to find living bodies and determine their spatial positions by radio methods.
  • the viewing angle is limited by its installation position, and there is a certain dead angle; and when the ambient temperature exceeds the body temperature of the living body, it may also be impossible to judge or misjudge; Video capture devices also have monitoring dead angles, resulting in low detection accuracy; radar detection is mostly used to detect moving living bodies. When the living body is at rest, it may fail to detect.
  • the embodiments of the present application provide a method and device for detecting a living body to solve the problem of low detection accuracy of the existing living body.
  • an embodiment of the present application provides a method for detecting a living body, including:
  • the method for detecting a living body provided by an embodiment of the present application, wherein, if there is a living body in the target to be detected, the vital signs of the living body (for example, pulse, heartbeat, or breathing, etc.) modulate the detection wave signal.
  • the reflected wave signal that is reflected back will carry the vital sign signals of the living body, and then use the detected wave signal to perform signal processing on the reflected wave signal and estimate the target position.
  • the obtained spatial position information includes vital sign signals.
  • the position information can detect whether there is a living body in the target to be detected.
  • This method uses the modulation of the vital signs to the detection wave signal to detect the existence of a living body, as long as the living body in the target to be detected can be detected by this method, without being affected by the specific body of the living body in the target to be detected
  • the limitation of position or motion state greatly improves the accuracy of detection.
  • the performing signal processing on each of the reflected wave signals based on the detection wave signal to obtain a target signal includes:
  • the received reflected wave signal will be delayed, and the phase of the reflected wave signal is being killed Modulated by the periodic movement of the sign signal. Therefore, by multiplying the reflected wave signal by the detection wave signal, this phase modulation can be demodulated, so that the target signal can be used to facilitate the subsequent detection of the living body using the target signal.
  • the target orientation estimation is performed on all the target signals to obtain spatial orientation information, including:
  • Beam synthesis is performed based on the time difference and the target signal to obtain the spatial orientation information.
  • the received reflected wave signal will be delayed, and will reach each transducer in the device The distances are different, so using the calculated time difference between each reflected wave signal and the first transmitted wave signal during beam synthesis can ensure the accuracy of beam synthesis and provide a basis for subsequent detection of living organisms.
  • the time difference is calculated using the following formula:
  • i 1, 2, ..., N;
  • t i is the time difference between the i-th reflected wave signal and the first said reflected wave signal
  • N is the number of said reflected wave signals
  • d is the spacing of the array that reflects the detected wave signals
  • q is the glancing angle of the reflected wave signal received by the array
  • c is the propagation speed of the detection wave signal.
  • P (q, r) is the beam output power
  • s i (t) is the target signal corresponding to the ith reflected wave signal
  • r 0 is the preset distance
  • x (t) is the vital sign signal.
  • the method for detecting a living body carries a vital sign signal x (t) in the change of the target azimuth beam output power with time, and can detect whether there is a living body using spatial azimuth information and beam output power.
  • the detecting whether the living body exists in the target space to be detected based on the spatial orientation information includes:
  • the beam output power is less than the first threshold, it is determined that the living body does not exist in the target space to be detected.
  • the detecting whether the living body exists in the target space to be detected based on the spatial orientation information includes: :
  • the method for detecting a living body improves the accuracy of detection by tracking the position where a living body may exist when the beam output power is greater than or equal to a first threshold, and using the tracking signal .
  • the detecting the living body based on the tracking signal includes:
  • the method for detecting a vital body provided in the embodiment of the present application can recover the vital sign signal by filtering the tracking signal and performing power spectrum analysis, and then extract the frequency of the vital sign signal and compare it with the second threshold value. Determine whether there is a living body.
  • the detection wave signal is an ultrasonic signal.
  • an embodiment of the present application also provides a method for reminding a living body in a vehicle, including:
  • the vehicle component When receiving a control instruction fed back by the preset person based on the reminder information, the vehicle component is controlled to perform a corresponding action.
  • the method for reminding a living body in a vehicle provided by an embodiment of the present application, when detecting the existence of a living body in a vehicle, sends a reminder message to a preset person, and then receives a feedback control command to control a vehicle component to perform a corresponding action; that is, By sending a reminder message to the preset person to remind the preset person that there are living bodies in the vehicle, to ensure that the vehicle components can perform corresponding actions according to the preset person's control instructions, and improve the safety of the living body in the vehicle.
  • the method before the step of sending reminder information to a preset person, the method further includes:
  • the reminder information also includes the environmental data.
  • the method for reminding the living body in the vehicle detects the environmental data in the vehicle when detecting the existence of the living body in the vehicle, and sends the environmental data together to the preset person, so that the preset person can conveniently send the control instruction Being able to refer to the environmental data improves the accuracy of the subsequent feedback control commands, and thus improves the safety of life bodies in the car.
  • the second embodiment of the second aspect further includes:
  • the vehicle component When the environmental data exceeds a preset value, the vehicle component is controlled to perform a preset action.
  • the vehicle component automatically performs a preset action.
  • This method can prevent the preset person from noticing the reminder information for a long time, and automatically execute the preset action when the environmental data exceeds the preset value, which has high reliability, and at the same time can take into account the safety of the living body in the car.
  • the method before the step of sending reminder information to a preset person, the method further includes:
  • the reminder information further includes the image information.
  • the method for reminding a living body in a vehicle obtains image information in a vehicle when a living body is detected in a vehicle, and the reminder information sent to a preset person includes the image information, and then receives feedback control When instructed, control the vehicle components to perform the corresponding actions; that is, send reminders to the preset personnel to remind the preset people that there are living bodies in the vehicle, and send photos in the vehicle to facilitate the preset personnel to verify and ensure that the vehicle components can be in accordance with
  • the preset personnel control instructions perform corresponding actions, which improves the safety of life bodies in the car.
  • the acquiring image information in the vehicle includes: controlling an image acquisition device to capture images in the vehicle; wherein, the image information Is the captured image.
  • the method for reminding a living body in a vehicle controls the image acquisition device to capture images in the vehicle when a living body is detected in the vehicle, on the one hand, it can prevent the image acquisition device from frequently shooting images in the vehicle, on the other hand
  • the image acquisition device can be used for other functions, expanding the application scenario of the image acquisition device.
  • an embodiment of the present application further provides a device for detecting a living body, including:
  • a transmitting device configured to transmit at least one detection wave signal to the target space to be detected
  • the receiving device is used to receive multiple reflected wave signals reflected back;
  • a first memory and a first processor, the first memory, the first processor, and the receiving device are communicatively connected to each other, and the first processor is used to reflect each of the reflections based on the detection wave signal
  • the wave signal is subjected to signal processing; target orientation estimation is performed on all the target signals to obtain spatial orientation information; and whether the living body exists in the target space to be detected is detected based on the spatial orientation information.
  • the vital signs of the living body for example, pulse, heartbeat, or breathing, etc.
  • the reflected wave signal will carry the vital signs of the living body, and then use the detected wave signal to process the reflected wave signal and estimate the target position.
  • the obtained spatial position information includes the vital sign signal. Through the spatial position information It can detect whether there is a living body in the target to be detected.
  • the device can detect whether there is a living body by using the vital sign signal to modulate the detection wave signal. As long as the living body in the target to be detected can be detected by this method, it is not affected by the specific body of the living body in the target to be detected.
  • the limitation of position or motion state greatly improves the accuracy of detection.
  • the transmitting device includes an ultrasound transducer array; and / or, the receiving device includes an ultrasound transducer array.
  • an embodiment of the present application also provides a reminder device for life objects in a vehicle, including:
  • the third aspect of the present application or the living body detection device, the second memory, and the second processor described in the first embodiment of the third aspect; the second memory, the second processor, and the living body detection The devices communicate with each other;
  • the living body detection device is used to detect whether there is a living body in the vehicle when it is detected that the vehicle is in a stopped state and the door is closed.
  • the second processor is used to send reminder information to a preset person when there is a living body in the vehicle; when receiving a control command fed back by the preset person based on the reminder information, control the vehicle component to execute the corresponding action.
  • the device further includes:
  • the environment detection device is used for detecting environment data in the vehicle when there is a living body in the vehicle; the reminder information includes the environment data.
  • the apparatus further includes:
  • An image acquisition device, the image acquisition device and the second memory, the second processor, and the living body detection device are communicatively connected to each other;
  • the image acquisition device is used to acquire image information in the vehicle; the reminder information includes the image information.
  • an embodiment of the present application further provides a driving recorder including the living body detection device according to any one of the third aspect of the present application, or the vehicle according to any one of the fourth aspect of the present application Internal life reminder.
  • the image acquisition device in the in-vehicle life reminder is the camera of the driving recorder.
  • the driving recorder includes a first camera and a second camera; wherein, the first camera is the image acquisition device.
  • FIG. 1 is a flowchart of a method for detecting a living body according to an embodiment of the present application
  • FIG. 2 is a flowchart of a method for detecting a living body according to an embodiment of the present application
  • FIG. 3 is a flowchart of a method for detecting a living body according to an embodiment of the present application
  • FIG. 4 is a schematic diagram of a beam synthesis result when there is no living body according to an embodiment of the present application.
  • FIG. 5 is a schematic diagram of a beam synthesis result when there is a living body according to an embodiment of the present application.
  • FIG. 6 is a flowchart of a method for reminding a living body in a vehicle according to an embodiment of the present application
  • FIG. 7 is a flowchart of a method for reminding a living body in a vehicle according to an embodiment of the present application.
  • FIG. 8 is a flowchart of a method for reminding a living body in a vehicle according to an embodiment of the present application
  • FIG. 9 is a flowchart of a method for reminding a living body in a vehicle according to an embodiment of the present application.
  • FIG. 10 is a schematic diagram of a hardware structure of an apparatus for detecting a living body provided by an embodiment of the present application.
  • FIG. 11 is a schematic diagram of a hardware structure of a life body reminding device provided in an embodiment of the present application.
  • FIG. 12 is a schematic diagram of a hardware structure of a life body reminding device provided in an embodiment of the present application.
  • FIG. 13 is a schematic diagram of a hardware structure of a life body reminding device provided in an embodiment of the present application.
  • the device for detecting a living body in the embodiment of the present application includes: a transmitting device, a receiving device, a first memory, and a first processor, and the first memory, the first processor, and the receiving device are communicatively connected to each other.
  • the transmitting device is used to transmit at least one detection wave signal to the target to be detected; the receiving device is used to receive multiple reflected wave signals reflected back; and the first processor is used to multiple reflected wave signals received by the receiving device Process to detect whether there is a living body; the memory is used to store application programs.
  • the target to be detected may be a vehicle, an indoor or other target that needs to be detected by a living body, and so on.
  • the detection method of the living body may be the detection of the living body in the confined space, that is, the detection of the life left in the car, the detection of the elderly living alone in the room, the detection of the life left in the washing machine, and so on.
  • the detection device of the living body may perform real-time detection on whether the target to be detected exists in a living body, or may perform detection according to requirements, and so on.
  • the life body detection device provided in the embodiments of the present application may be installed in a vehicle, and may detect life bodies left in the vehicle when the vehicle is stopped and the door is closed to prevent accidents.
  • an embodiment of a method for detecting a living body is provided. It should be noted that although the logic sequence is shown in the flowchart, in some cases, it may be executed in an order different from here The steps shown or described.
  • FIG. 1 is a flowchart of a method for detecting a living body according to an embodiment of the present application. As shown in FIG. 1, the process It includes the following steps:
  • S11 Transmit at least one detection wave signal to the target space to be detected.
  • the transmitting device transmits at least one detection wave signal to the target space to be detected.
  • the detection wave signal may be an ultrasonic signal or other types of detection wave signals.
  • each detection wave signal transmitted by the transmitting device is a single frequency wave.
  • Each detection wave signal is reflected back to the receiving device after contacting a living body or other objects, that is, the receiving device receives a plurality of reflected wave signals reflected back.
  • the transmitting device and the receiving device can be integrated (that is, the same device can both emit a detection wave signal and can receive the reflected wave signal reflected back), or can be set separately (that is, the transmitting device and the receiving device are independent Set up to achieve the corresponding functions respectively).
  • S13 Perform signal processing on each reflected wave signal based on the detected wave signal to obtain a target signal.
  • the signal processing may be demodulation or Hilbert transform.
  • Demodulation is the process of recovering a message from a modulated signal that carries a message. Since the vital sign signal modulates the detection wave signal so that the reflected wave signal carries the vital sign signal, the vital sign signal can be decomposed by using the detection wave signal to demodulate the reflected wave signal.
  • S14 Perform target orientation estimation on all target signals to obtain spatial orientation information.
  • the processor performs target orientation estimation on all target signals (where each reflected wave signal corresponds to a target signal), that is, synthesizes all target signals into one spatial orientation information. Since each target signal corresponds to the reflected wave signal modulated by the vital sign signal, the spatial orientation information obtained by estimating the target orientation of the target signal can greatly reflect the detected vital sign signal.
  • S15 Detect whether a living body exists in the target space to be detected based on the spatial orientation information.
  • the processor After the processor obtains the spatial orientation information, it can use the power of the spatial orientation information to detect the vital body, or it can extract the frequency of the vital signs reflected by the power change of the spatial orientation information to detect the vital signs, or a combination of the above (Eg, power, frequency), etc. Regardless of the synthesis method, the vital position signals are carried in the spatial orientation information, so the spatial orientation information can be used to detect the vital body.
  • the method for detecting a living body provided in this embodiment, wherein, if there is a living body in the target to be detected, the vital signs of the living body (for example, pulse, heartbeat, breathing, etc.) modulate the detection wave signal and reflect The returned reflected wave signal will carry the vital signs of the living body, and then use the detected wave signal to process the reflected wave signal and estimate the target position.
  • the obtained spatial position information includes the vital sign signal. Information can detect whether there is a living body in the target space to be detected.
  • This method uses the modulation of the vital signs to the detection wave signal to detect the existence of a living body, as long as the living body in the target to be detected can be detected by this method, without being affected by the specific body of the living body in the target to be detected
  • the limitation of position or motion state greatly improves the accuracy of detection.
  • FIG. 2 is a flowchart of a method for detecting a living body according to an embodiment of the present application. As shown in FIG. 2, The process includes the following steps:
  • At least one detection wave signal transmitted by the transmitting device to the target space to be detected is a single frequency wave.
  • Each detection wave signal can be expressed by the following formula:
  • f c is the frequency of the detected wave signal.
  • x (t) can be used to represent the vital signs of a living body.
  • the distance between the transmitting device and the living body is r 0 , then each detection wave signal is transmitted from the transmitting device, modulated by the vital sign signal, and reflected back to the receiving device.
  • the distance traveled from one transmission to the received signal wave is expressed by the following formula:
  • i-th reflected wave signal R i (t) can be expressed by the following formula:
  • a is the amplitude of the reflected wave signal
  • c is the propagation speed of the detection wave signal.
  • the time difference can be calculated by recording the reception time of each reflected wave signal, and the recorded time can also be used to calculate the time difference; the time difference can also be calculated by other methods and so on.
  • the transmitting device and the receiving device are arrays formed by a plurality of elements, each element emits a detection wave signal and receives a detection wave signal; since each detection wave signal may exist between the transmission and the reflection back to the array element Time difference, therefore, taking the time when the array element receives the first reflected wave signal as the starting point, the meaning of the time difference is described as follows:
  • t 2 is the time difference between the second reflected wave signal received by the array element and the first reflected wave signal received
  • t 3 is the time difference between the third reflected wave signal received by the array element and the first reflected wave signal received
  • t N is the time difference between the Nth reflected wave signal received by the array element and the 1st reflected wave signal received.
  • S23 Perform signal processing on each reflected wave signal based on the detected wave signal to obtain a target signal.
  • the signal processing in this embodiment is demodulation. It can be seen from equation (3) that the reflected wave signal is very similar to the detected wave signal. Since there may be a certain distance between the living body and the transmitting device, the received reflected wave signal will be delayed, and the phase of the reflected wave signal is modulated by the periodic motion of the vital sign signal. Therefore, using the detected wave signal for IQ demodulation on the basis of the reflected wave signal, this phase modulation can be demodulated. Specifically, it includes the following steps:
  • S231 Multiply the detected wave signal and the reflected wave signal to obtain a product signal.
  • the processor After the processor obtains the product signal, after low-pass filtering the product signal to remove some high-frequency component signals, the in-phase component I i (t) in the target signal can be obtained.
  • the reflected wave signal with a 90 ° phase shift is multiplied by the detection wave signal, and low-pass filtering, to obtain the target quadrature component signals Q i (t).
  • I i (t) and Q i (t) signal composed of complex to form the target signal s i (t).
  • the target signal corresponding to each reflected wave signal R i (t) can be expressed as s i (t), that is, s i (t) is the target signal corresponding to the i-th reflected wave signal R i (t), which can be adopted as follows The formula says:
  • low-pass filtering may be performed again to obtain a zero-IF signal. Since only low-frequency signals are included after IQ demodulation, subsequent downsampling can be performed during beam synthesis to reduce the amount of calculation.
  • S24 Perform target orientation estimation on all target signals to obtain spatial orientation information.
  • the processor performs target orientation estimation on all target signals (where each reflected wave signal corresponds to a target signal), that is, synthesizes all target signals into one spatial orientation information.
  • the target position estimation in this embodiment is beam synthesis. It includes the following steps:
  • the transmitting device and the receiving device are arrays of elements formed by multiple elements, and the distance between each element is equal to d; before calculating the time difference, the reflected wave signal received by each element can be traversed
  • the glancing angle q is used for subsequent calculations; it can also be considered that the reflected wave signal received by each array element is approximately parallel, so the glancing angle q of the reflected wave signal received by each array element in the array is equal.
  • the time difference between the receiving device receiving each reflected wave signal and receiving the first reflected wave signal can be calculated using the following formula:
  • i 1, 2, ..., N; (6)
  • t i is the time difference between the i-th reflected wave signal and the first reflected wave signal
  • N is the number of the reflected wave signal
  • d is the spacing of the array that emits the detection wave signal
  • q is the array The glancing angle of the received reflected wave signal
  • c is the propagation speed of the detected wave signal.
  • S242 Perform beam synthesis based on the time difference and the target signal to obtain spatial orientation information.
  • the processor uses the time difference and the target signal to calculate the beam output power (also referred to as the output power of the spatial azimuth information), and can use the following formula for beam synthesis:
  • P (q, r) is the beam output power
  • s i (t) is the target signal corresponding to the ith reflected wave signal
  • r 0 is the preset distance
  • x (t) is the vital sign signal.
  • S25 Detect whether a living body exists in the target space to be detected based on the spatial orientation information.
  • the processor uses the beam output power to compare with the first threshold, and when the beam output power is less than the first threshold, detects that there is no living body in the target space to be detected.
  • the beam output power is greater than or equal to the first threshold, it can be considered that there is a living body in the target space to be detected; the detection of the living body can also be performed again to improve the accuracy of the detection.
  • the method for detecting a living body provided in this embodiment may have a certain distance between the living body and the device receiving the transmitted wave signal, and the received reflected wave signal may be delayed and The distance to each transducer is different. Therefore, when performing beam synthesis, the calculated time difference between each reflected wave signal and the first transmitted wave signal can ensure the accuracy of beam synthesis.
  • FIG. 3 is a flowchart of a method for detecting a living body according to an embodiment of the present application. As shown in FIG. 3, the process includes the following steps:
  • the detection wave signal is an ultrasonic signal.
  • the transmitting device is an ultrasound transducer array
  • the receiving device is an ultrasound transducer array. Due to the radial movement of vital signs (breathing, heartbeat, etc.) of the living body relative to the detection wave signal, the reflected wave signal reflected back will have a frequency shift (also called micro-Doppler phenomenon, the frequency generated The shift is called the Doppler frequency), and then beam synthesis is used to detect the living body.
  • the i-th reflected wave signal R i (t) reflected back can be expressed by the following formula:
  • S33 Perform signal processing on each reflected wave signal based on the detected wave signal to obtain a target signal.
  • the processor samples ADC of the reflected wave signal before demodulating.
  • Demodulation can include the following steps:
  • S331 Multiply the detected wave signal and the reflected wave signal to obtain a product signal.
  • S231 in the embodiment shown in FIG. 2, which will not be repeated here.
  • S332 Perform low-pass filtering on the product signal to obtain the target signal. For details, please refer to S232 in the embodiment shown in FIG. 2, which will not be repeated here.
  • S34 Perform target orientation estimation on all target signals to obtain spatial orientation information. For details, please refer to S24 in the embodiment shown in FIG. 2, which will not be repeated here.
  • S35 Detect whether a living body exists in the target space to be detected based on the spatial orientation information.
  • S351 Determine whether the beam output power is less than the first threshold.
  • the processor uses the beam output power to compare with the first threshold, and when the beam output power is less than the first threshold, executes S352; otherwise, executes S353.
  • the processor uses the beam output power P (q, r) to determine the spatial position (q 0 , r 0 ) of the living body, including spatial orientation information and spatial distance.
  • FIG. 4 shows a schematic diagram of spatial orientation information when there is no living body
  • FIG. 5 shows a schematic diagram of spatial orientation information when there is a living body.
  • the change A (t) of the beam output power P (q 0 , r 0 ) with time at this position is tracked.
  • the change of the beam output power at time A (t) at that time is the tracking signal.
  • S355 Detect whether a living body exists in the target space to be detected based on the tracking signal.
  • the processor After the processor obtains the tracking signal, it performs power spectrum analysis on the tracking signal to extract the vital signs signal. Specifically, it includes the following steps:
  • the power spectrum represents the relationship between the power of the filtered signal and the frequency, and the vital signs can be obtained by performing power spectrum analysis on the filtered signal.
  • the processor can detect whether there is a vital body by comparing whether the frequency of the vital sign signal is greater than the second threshold.
  • the detection method for the living body detects that there may be a living body in the target space to be detected; Tracking, extracting vital signs signals to detect the vital body again, improving the accuracy of detection; in addition, this embodiment uses the frequency shift caused by the micro-Doppler effect generated by the micro-motion of the human body (breathing, heartbeat) to perform beamforming , The amplitude of the beam formation is related to the frequency of breathing and heartbeat, so as to carry out vital body detection, ensuring the accuracy of the detection.
  • an embodiment of a method for reminding a living body in a vehicle is provided. It should be noted that although the logic sequence is shown in the flowchart, in some cases, the sequence may be different from the sequence here Perform the steps shown or described.
  • FIG. 6 is a flowchart of a life reminding device in a vehicle according to an embodiment of the present application, as shown in FIG. 6 , The process includes the following steps:
  • the processor can detect whether the vehicle is stalled to determine whether the vehicle is in a stopped state. In addition, when the doors and windows are closed, it can detect whether there is a living body in the vehicle. Among them, the life body detection in the vehicle may use the life body detection method of the embodiments shown in FIGS. 1 to 5 to detect the presence or absence of life bodies in the vehicle.
  • a reminder message is sent to the preset personnel.
  • the preset person may be the owner of the vehicle, or a person associated with the detected vehicle, etc.
  • the purpose of the reminder message sent is to remind the preset person that there is a living body in the vehicle, and the reminder is here
  • the sending form of the information is not limited (for example, it can be SMS, WeChat, QQ, etc.), and the location information of the vehicle can also be included in the reminder information.
  • the preset personnel can determine whether they can rush back based on the reminder information, or need to send a control command to the vehicle, and so on.
  • the processor receives the control instruction fed back by the preset personnel based on the reminder information, the processor controls the vehicle component to perform the corresponding action according to the control instruction.
  • the control command may be to open the air conditioner, lower the window, and so on.
  • the method for reminding a living body in a vehicle provided by this embodiment, when a living body is detected in a vehicle, sends a reminder message to a preset person, and then receives a feedback control command to control a vehicle component to perform a corresponding action; that is, by Send reminder information to the preset personnel to remind the preset personnel that there are living bodies in the vehicle, to ensure that the vehicle components can perform corresponding actions according to the preset personnel's control instructions, and improve the safety of the living bodies in the vehicle.
  • detecting whether there is a living body in the vehicle may be after the vehicle is turned off and the doors and windows are closed for a preset time (for example, 5 minutes). If it is detected that there is no living body in the vehicle, the next detection is started; if no living body is detected within a certain time (for example, 10 minutes), the life body reminder device in the vehicle is in the sleep mode, and every other thereafter Carry out the test every hour, and after multiple (for example, 6) tests, the life reminder in the vehicle can completely stop working to avoid the parking power consumption caused by long-time standby.
  • a preset time for example, 5 minutes
  • FIG. 7 is a flowchart of a life reminding device in a vehicle according to an embodiment of the present application, as shown in FIG. 7 The process includes the following steps:
  • the environmental data in the vehicle may be the temperature, CO 2 concentration, O 2 concentration, etc. in the vehicle; the specific environmental data that needs to be detected can be specifically detected according to the actual situation.
  • the reminder information sent by the processor to the preset personnel also includes the detected environmental data; for the rest, please refer to S42 in the embodiment shown in FIG. 6, which will not be repeated here.
  • S54 Determine whether a control command fed back by the preset personnel based on the reminder information is received.
  • the processor may determine whether a control instruction fed back by the preset person based on the alert information is received after a period of time after sending the alert information to the preset person, and if a control command fed back by the preset person based on the alert information is received, execute S55 ; Otherwise, execute S56.
  • the processor determines that the environmental data exceeds the preset value, it controls the vehicle component to perform a preset action, such as an alarm to the alarm platform, flashing of the car lights, honking of the horn, turning on the air conditioning system in the car, and so on.
  • a preset action such as an alarm to the alarm platform, flashing of the car lights, honking of the horn, turning on the air conditioning system in the car, and so on.
  • the preset actions performed specifically can be set according to the actual situation, and no limitation is made here.
  • the in-vehicle life body reminding method does not receive a control instruction fed back by a preset person and the vehicle environment data exceeds a preset value, the vehicle component automatically performs a Set action.
  • This method can prevent the preset person from noticing the reminder information for a long time, and automatically execute the preset action when the environmental data exceeds the preset value, which has high reliability, and at the same time can take into account the safety of the living body in the car.
  • an embodiment of a method for reminding a living body in a vehicle is provided. It should be noted that although the logic sequence is shown in the flowchart, in some cases, the sequence may be different from the sequence here Perform the steps shown or described.
  • FIG. 8 is a flowchart of an in-vehicle life reminder device according to an embodiment of the present application. As shown in FIG. 8, the process includes the following steps:
  • the processor acquires image information in the vehicle.
  • the image information can be acquired by using an image acquisition setting installed in the vehicle, or by using an existing device in the vehicle with an image acquisition function (for example, a driving recorder).
  • a reminder message including image information is sent to the preset person.
  • the preset person may be the owner of the vehicle, or a person associated with the detected vehicle, etc.
  • the purpose of the reminder message sent is to remind the preset person that there is a living body in the vehicle, and the reminder is here
  • the sending form of the information is not limited (for example, it may be SMS, WeChat, QQ, etc.), and the reminder information may also include the location information of the vehicle, etc.
  • the preset personnel can verify whether there is a living body in the vehicle based on the image information in the reminder information, determine whether they can rush back when determining the existence of the living body, or need to send a control command to the vehicle, etc. .
  • the processor receives the control instruction fed back by the preset personnel based on the reminder information, the processor controls the vehicle component to perform the corresponding action according to the control instruction.
  • the control command may be to open the air conditioner, lower the window, and so on.
  • the method for reminding a living body in a vehicle obtains image information in a vehicle when a living body is detected in the vehicle, and the reminder information sent to a preset person includes the image information, and then receives a feedback control instruction Control the vehicle parts to perform the corresponding actions; that is, by sending reminders to the preset personnel to remind the preset people that there are living bodies in the vehicle, and sending photos in the car to facilitate the preset personnel to verify, to ensure that the vehicle components can be
  • the control instructions of the personnel perform corresponding actions, which improves the safety of the living body in the car.
  • FIG. 9 is a flowchart of a life reminding device in a vehicle according to an embodiment of the present application, as shown in FIG. 9 The process includes the following steps:
  • the processor sends an instruction to the image collection device to control the image collection device to capture the image in the vehicle.
  • the image acquisition device may be a camera of a driving recorder.
  • the camera of the driving recorder turns to the front to record the front of the vehicle; when the vehicle is turned off and the vehicle is detected as a living body, the camera of the driving recorder turns to the vehicle and takes an image of the vehicle; It may also be a camera additionally provided in the driving recorder, that is, two cameras are provided in the driving recorder, one for recording the front of the vehicle and one for collecting images in the vehicle.
  • the environmental data in the vehicle may be the temperature, CO 2 concentration, O 2 concentration, etc. in the vehicle; the specific environmental data that needs to be detected can be specifically detected according to the actual situation.
  • the reminder information sent by the processor to the preset personnel also includes the detected environmental data; for the rest, please refer to S42 in the embodiment shown in FIG. 6, which will not be repeated here.
  • S75 Determine whether a control command fed back by the preset personnel based on the reminder information is received.
  • the processor may determine whether a control instruction fed back by the preset personnel based on the reminder information is received after a period of time after sending the reminder information to the preset personnel, and if a control instruction fed back by the preset personnel based on the reminder information is received, execute S76 ; Otherwise, execute S77.
  • the processor determines that the environmental data exceeds the preset value, it controls the vehicle component to perform a preset action, such as an alarm to the alarm platform, flashing of the car lights, honking of the horn, turning on the air conditioning system in the car, and so on.
  • a preset action such as an alarm to the alarm platform, flashing of the car lights, honking of the horn, turning on the air conditioning system in the car, and so on.
  • the preset actions performed specifically can be set according to the actual situation, and no limitation is made here.
  • the method for reminding the living body in the vehicle provided by this embodiment, when no control command fed back by the preset personnel is received and the environment data in the vehicle exceeds the preset value, the vehicle component will automatically execute Set action.
  • the method can prevent the preset person from noticing the reminder information for a long time, and automatically execute the preset action when the environmental data exceeds the preset value, which has high reliability, and at the same time can take into account the safety of the living body in the vehicle.
  • the living body detection device may include a transmitting device 81, a receiving device 82, a first processor 83, and a first memory 84; the first The memory 84, the first processor 83, and the receiving device 82 are communicatively connected to each other.
  • the foregoing may be that the first memory 84, the first processor 83, the receiving device 82, and the transmitting device 81 are connected by a bus or in other ways, and FIG. 10 takes the connection by a bus as an example.
  • the transmitting device 81 is used to transmit at least one detection wave signal to the target space to be detected; the receiving device 82 is used to receive a plurality of reflected wave signals reflected back; the first processor 83 is used based on the detection wave
  • the signal performs signal processing on each of the reflected wave signals to obtain a target signal; performs target orientation estimation on all the target signals to obtain spatial orientation information; and detects whether the life exists in the target space to be detected based on the spatial orientation information body.
  • the transmitting device 81 includes an ultrasound transducer array
  • the receiving device 82 includes an ultrasound transducer array.
  • the arrangement of the array elements in the ultrasonic transducer array can be specifically set according to the actual situation, which is not limited herein.
  • the transmitting device 81 and the receiving device 82 are integrated, that is, the same ultrasonic transducer array is used to transmit multiple detection wave signals and receive multiple reflected wave signals reflected back; or, transmit one detection wave signal and receive Multiple reflected wave signals reflected back.
  • the first memory 84 may be a high-speed RAM memory (Random Access Memory, volatile random access memory), or may be a non-volatile memory (non-volatile memory), such as at least one disk memory.
  • the first memory 84 may optionally be at least one storage device located away from the foregoing first processor 83.
  • the first memory 84 stores an application program, and the first processor 83 calls the program code stored in the first memory 84 for performing the following operations:
  • the product signal is low-pass filtered to obtain the target signal.
  • the first processor 83 calls the program code in the first memory 84 and is also used to perform the following operations:
  • Beam synthesis is performed based on the time difference and the target signal to obtain the spatial orientation information.
  • the first processor 83 calls the program code in the first memory 84 and is also used to perform the following operations:
  • i 1, 2, ..., N;
  • t i is the time difference between the i-th reflected wave signal and the first said reflected wave signal
  • N is the number of said reflected wave signals
  • d is the spacing of the array that reflects the detected wave signals
  • q is the glancing angle of the reflected wave signal received by the array
  • c is the propagation speed of the detection wave signal.
  • the first processor 83 calls the program code in the first memory 84 and is also used to perform the following operations:
  • P (q, r) is the beam output power
  • s i (t) is the target signal corresponding to the ith reflected wave signal
  • r 0 is the preset distance
  • x (t) is the vital sign signal.
  • the first processor 83 calls the program code in the first memory 84 and is also used to perform the following operations:
  • the beam output power is less than the first threshold, it is determined that there is no living body in the target space to be detected.
  • the first processor 83 calls the program code in the first memory 84 and is also used to perform the following operations:
  • the beam output power is used to determine the position of the living body
  • the first processor 83 calls the program code in the first memory 84 and is also used to perform the following operations:
  • the frequency of the vital sign signal is greater than the second threshold, it is determined that there is a vital body in the target space to be detected.
  • the first memory 84 may include volatile memory (English: volatile memory), such as random access memory (English: random-access memory, abbreviation: RAM); the memory may also include non-volatile memory (English: non-volatile memory) -volatile memory), such as flash memory (English: flash memory), hard disk (English: hard disk drive, abbreviation: HDD) or solid-state hard disk (English: solid-state drive, abbreviation: SSD); the first memory 84 can also Includes a combination of the aforementioned types of memory.
  • the first processor 83 may be a central processor (English: central processing unit, abbreviation: CPU), a network processor (English: network processor, abbreviation: NP), or a combination of CPU and NP.
  • CPU central processing unit
  • NP network processor
  • the first processor 83 may further include a hardware chip.
  • the hardware chip may be an application-specific integrated circuit (English: application-specific integrated circuit, abbreviation: ASIC), a programmable logic device (English: programmable logic device, abbreviation: PLD), or a combination thereof.
  • the PLD may be a complex programmable logic device (English: complex programmable logic device, abbreviation: CPLD), field programmable logic gate array (English: field-programmable gate array, abbreviation: FPGA), general array logic (English: generic array) logic, abbreviation: GAL) or any combination thereof.
  • the life body detection device may include a life body detection device 91, a second processor 92, and a second memory 93; the second The processor 92 and the second memory 93 are communicatively connected to each other.
  • the above-mentioned second processor 92 and second memory 93 may be connected through a bus or in other ways. In FIG. 11, the connection through a bus is used as an example.
  • the living body detection device 91 is used to detect whether there is a living body in the vehicle when it is detected that the vehicle is in a stopped state and the door is in a closed state.
  • the second memory 93 may be a high-speed RAM memory (Random Access Memory, volatile random access memory), or a non-volatile memory (non-volatile memory), such as at least one disk memory.
  • the second memory 93 may optionally be at least one storage device located away from the foregoing second processor 92.
  • the second memory 93 stores an application program, and the second processor 92 calls the program code stored in the second memory 93 for performing the following operations:
  • a reminder message is sent to a preset person; when a control command fed back by the preset person based on the reminder message is received, the vehicle component is controlled to perform a corresponding action.
  • the in-vehicle vitality reminder device further includes an environment detection device 94 for detecting environmental data in the vehicle when there is a vital body in the vehicle.
  • the second processor 92 calls the program code stored in the second memory 93 for executing S42-S43 in the embodiment shown in FIG. 6; or, executes S52 to S57 in the embodiment shown in FIG. .
  • the in-vehicle living body detection device further includes an image acquisition device 95, and the image acquisition device 95 is used to acquire image information in the vehicle.
  • the second memory 94 may be a high-speed RAM memory (Random Access Memory, volatile random access memory), or may be a non-volatile memory (non-volatile memory), such as at least one disk memory.
  • the second memory 94 may optionally be at least one storage device located away from the foregoing second processor 93.
  • the second memory 94 stores an application program, and the second processor 93 calls the program code stored in the second memory 94 to perform the following operations:
  • the vehicle components When there is a living body in the vehicle, obtain image information in the vehicle; send reminder information to a preset person; wherein, the reminder information includes the image information; when the preset person is received based on the reminder information
  • the vehicle components When the control command is fed back, the vehicle components are controlled to perform corresponding actions.
  • An embodiment of the present application further provides a driving recorder, which includes the in-vehicle life reminder device in the embodiments shown in FIGS. 11-13.
  • the image acquisition device is a camera of a driving recorder.
  • the driving recorder includes two cameras, the first camera is the image acquisition device, and the second camera is used to record the front of the vehicle; that is, the first camera is used to capture images in the vehicle, the second The camera is used to record the front of the vehicle.
  • the driving recorder provided in this embodiment organically combines the driving recorder and the living body detection module through the camera of the driving recorder, which greatly improves the application scenario of the driving recorder.
  • the driving recorder includes a living body detection device, a camera, an environment detection device, a GPS positioning device, a memory, and a processor.
  • the working process of the driving recorder is described as follows: When the vehicle is traveling, the camera in the driving recorder turns to the front of the vehicle to Record in front; when the vehicle is turned off, the life detection device detects whether there is life in the vehicle.
  • the processor controls the camera to turn into the vehicle to capture the image in the vehicle and activate the environment detection device Detect the environmental data in the vehicle; the processor obtains the image information, sends reminder information (including the acquired image information) to the preset personnel, and determines whether the control command fed back by the preset personnel is received within the preset time; When the control command is received, the vehicle component is controlled to perform the corresponding action; when the control command is not received, it is determined whether the environmental data in the vehicle exceeds the standard; when the environmental data exceeds the standard, the vehicle component is controlled to perform the preset action; When exceeding the standard, return to the step of continuing to detect the environmental data in the vehicle.
  • the storage medium may be a magnetic disk, an optical disk, a read-only memory (Read-Only Memory, ROM), a random storage memory (Random Access Memory, RAM), a flash memory (Flash), a hard disk (Hard) Disk, Drive, abbreviation: HDD) or Solid-State Drive (SSD), etc .; the storage medium may also include a combination of the aforementioned types of memory.

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Abstract

La présente invention concerne un procédé de détection d'un corps vivant, ainsi qu'un procédé et un dispositif d'invite sur la présence d'un corps vivant à bord d'un véhicule, le procédé comprenant les étapes consistant à : transmettre au moins un signal d'onde de détection à un objet à détecter (S11) ; recevoir une pluralité de signaux d'onde réfléchis qui sont réfléchis (S12) ; effectuer un traitement de signal sur chaque signal d'onde réfléchi sur la base du signal d'onde de détection de façon à obtenir des signaux d'objet (S13) ; effectuer une estimation d'orientation d'objet sur tous les signaux d'objet de façon à obtenir des informations d'orientation spatiale (S14) ; et détecter un corps vivant sur la base des informations d'orientation spatiale (S15). S'il existe un corps vivant dans l'objet à détecter, un signe vital (par exemple, un pouls, un battement de cœur ou une respiration, etc.) du corps vivant module le signal d'onde de détection, et un signal de signe vital du corps vivant est transporté dans les signaux d'onde réfléchis qui sont réfléchis. Tant qu'il y a un corps vivant dans l'objet à détecter, le corps vivant peut être détecté au moyen du présent procédé sans être limité par la position ou l'état de mouvement spécifique du corps vivant dans l'objet à détecter, ce qui améliore considérablement la précision de détection.
PCT/CN2019/119854 2018-11-23 2019-11-21 Procédé de détection de corps vivant, ainsi que procédé et dispositif d'invite sur la présence d'un corps vivant à bord d'un véhicule WO2020103888A1 (fr)

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