SYSTEMS AND METHODS FOR HIGH RESOLUTION DISTANCE SENSING AND APPLICATIONS

• US 20150223733A1
• Filed: 10/03/2013
• Published: 08/13/2015
• Est. Priority Date: 10/05/2012
• Status: Active Grant

• Current Assignee: Transrobotics, Inc.
• Original Assignee: Transrobotics, Inc.
• Inventors: Al-Alusi, Sayf
• Granted Patent: US 10,206,610 B2
• Time in Patent Office: Days
• US Class Current: 1/1
• CPC Class Codes: A61B 2562/0233 Special features of optical sensors or probes classified in A61B5/00
• CPC Class Codes: A61B 2576/00 Medical imaging apparatus involving image processing or analysis A61B1/00009, A61B6/52 and A61B8/52 take precedence; image processing per se G06T; details of algorithms for analysing medical images G06T7/0012
• CPC Class Codes: A61B 5/0035 adapted for acquisition of images from more than one imaging mode, e.g. combining MRI and optical tomography
• CPC Class Codes: A61B 5/0205 Simultaneously evaluating both cardiovascular conditions and different types of body conditions, e.g. heart and respiratory condition
• CPC Class Codes: A61B 5/024 Detecting, measuring or recording pulse rate or heart rate A61B5/0205, A61B5/021 take precedence
• CPC Class Codes: A61B 5/02416 using photoplethysmograph signals, e.g. generated by infrared radiation A61B5/14552 takes precedence
• CPC Class Codes: A61B 5/05 Detecting, measuring or recording for diagnosis by means of electric currents or magnetic fields; Measuring using microwaves or radio waves impedance plethysmography A61B5/0295; measuring movement of the entire body or parts thereof A61B5/11; detecting, measuring or recording bioelectric or biomagnetic signals of the body or parts thereof A61B5/24
• CPC Class Codes: A61B 5/0507 using microwaves or terahertz waves
• CPC Class Codes: A61B 5/0816 Measuring devices for examining respiratory frequency measuring frequency of electric signals G01R23/00
• CPC Class Codes: A61B 5/11 Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb for measuring pulse A61B5/02 ;A61B5/1038 takes precedence; motion detection to correct for motion artifacts in physiological signals A61B5/721
• CPC Class Codes: A61B 5/1112 Global tracking of patients, e.g. by using GPS
• CPC Class Codes: A61B 5/1114 Tracking parts of the body
• CPC Class Codes: A61B 5/1117 Fall detection
• CPC Class Codes: A61B 5/1118 Determining activity level
• CPC Class Codes: A61B 5/1128 using image analysis A61B5/1127 takes precedence
• CPC Class Codes: A61B 5/113 occurring during breathing
• CPC Class Codes: A61B 5/1135 by monitoring thoracic expansion
• CPC Class Codes: A61B 5/14551 for measuring blood gases
• CPC Class Codes: A61B 5/14552 Details of sensors specially adapted therefor
• CPC Class Codes: A61B 5/7246 using correlation, e.g. template matching or determination of similarity
• CPC Class Codes: A61B 5/7278 : Artificial waveform generation or derivation, e.g. synthesising signals from measured signals A61B5/327 takes precedence
• CPC Class Codes: G01S 13/325 : using transmission of coded signals, e.g. P.S.K. signals
• CPC Class Codes: G01S 13/50 : Systems of measurement based on relative movement of target
• CPC Class Codes: G01S 13/87 : Combinations of radar systems, e.g. primary radar and secondary radar
• CPC Class Codes: G01S 13/88 : Radar or analogous systems specially adapted for specific applications electromagnetic prospecting or detecting of objects, e.g. near-field detection, G01V3/00
• CPC Class Codes: G01S 7/358 : using I/Q processing
• CPC Class Codes: G01S 7/415 : Identification of targets based on measurements of movement associated with the target

Abstract

A sensing system (11) includes a first radar sensing assembly (10; 3104, 3106; 4100, 4200) and an analysis system (18). The first radar sensing assembly (10; 3104, 3106; 4100, 4200) measures plural distances (12; 22, 30; 42, 50, 60, 70, 80; 4102, 4202) to a first target location (16) at different times using radar. The analysis system (18) receives the plural distances (12; 22, 30; 42, 50, 60, 70, 80; 4102, 4202) from the first radar sensing assembly (10; 3104, 3106; 4100, 4200) and quantifies movements of a target object (14) at the first target location (16) at the different times by calculating differences in the plural distances (10; 3104, 3106; 4100, 4200) measured by the first radar sensing assembly (10; 3104, 3106; 4100, 4200). The analysis system (18) generates one or more first quantified activity level values indicative of the movements of the target object (14) at the first target location (16) using the differences in the plural distances (12; 22, 30; 42, 50, 60, 70, 80; 4102, 4202) that are calculated.

Claims

1. A sensing system (11) comprising:

a first radar sensing assembly (10;

3104, 3106;

4100, 4200) measuring plural distances (12;

22, 30;

42, 50, 60, 70, 80;

4102, 4202) to a first target location (16) at different times using radar; and

an analysis system (18) receiving the plural distances (12;

22, 30;

42, 50, 60, 70, 80;

4102, 4202) from the first radar sensing assembly (10;

3104, 3106;

4100, 4200), the analysis system (18) also quantifying movements of a target object (14) at the first target location (16) at the different times by calculating differences in the plural distances (10;

3104, 3106;

4100, 4200) measured by the first radar sensing assembly (10;

3104, 3106;

4100, 4200), wherein the analysis system (18) generates one or more first quantified activity level values indicative of the movements of the target object (14) at the first target location (16) using the differences in the plural distances (10;

3104, 3106;

4100, 4200) that are calculated.

2. The sensing system (11) of claim 1, wherein the analysis system (18) determines a posture of a human being using at least one of the plural distances (12;

22, 30;

42, 50, 60, 70, 80;

4102, 4202) or the differences in the plural distances (12;

22, 30;

42, 50, 60, 70, 80;

4102, 4202) that are measured by the radar sensing assembly (10;

3104, 3106;

4100, 4200), the posture including the human at least one of standing, sitting, or lying on a surface (20).

3. The sensing system (11) of claim 1, wherein the analysis system (18) determines a presence of the target object (14) at the common target location (16) using at least one of the plural distances (12;

22, 30;

42, 50, 60, 70, 80;

4102, 4202) or the differences in the plural distances (12;

22, 30;

42, 50, 60, 70, 80;

4102, 4202) that are calculated.

4. The sensing system (11) of claim 1, further comprising a second radar sensing assembly (10;

3104, 3106;

4100, 4200) measuring plural distances (12;

22, 30;

42, 50, 60, 70, 80;

4102, 4202) to a second target location (16) at different times using radar, the second target location (16) being different than the first target location (16), wherein the analysis system (18) also quantifies movements of the target object (14) at the second target location (16) by calculating the differences in the plural distances (12;

22, 30;

42, 50, 60, 70, 80;

4102, 4202) measured by the second radar sensing assembly (10;

3104, 3106;

4100, 4200) and generates one or more quantified second activity level values indicative of the movements of the target object (14) at the second target location (16).

5. The sensing system (11) of claim 4, wherein the first quantified activity level values represent the movements of a first body part (3100, 3102) of a human being and the second quantified activity level values represent the movements of a different, second body part (3100, 3102) of the same human being.

6. The sensing system (11) of claim 1, wherein the analysis system (18) detects a human being falling using the first quantified activity levels.

7. The sensing system (11) of claim 1, wherein the first radar sensing assembly (10;

3104, 3106;

4100, 4200) measures the plural distances (12;

22, 30;

42, 50, 60, 70, 80;

4102, 4202) to the first target location (16) located on at least one of a front, side, or back of a chest of a human being and the analysis system (18) determines a breathing pattern signal (6304) from the differences in the plural distances (12;

22, 30;

42, 50, 60, 70, 80;

4102, 4202) as the first quantified activity level values, the analysis system (18) also monitoring respiration of the human being using the breathing pattern signal (6304).

8. The sensing system (11) of claim 7, wherein the analysis system (18) extracts a cardiac signal (6310) from the breathing pattern signal (6304) as second quantified activity level values, the cardiac signal (6310) representing cardiac cycles of the human being, and optionally wherein the analysis system (18) extracts the cardiac signal (6310) as the health signal directly from the raw data signal (6300) and without extracting the cardiac signal (6310) from another signal that is previously extracted from the raw data signal (6300).

9. The sensing system (11) of claim 1, wherein the target object (14) is moving relative to the first radar sensing assembly (10;

3104, 3106;

4100, 4200), and further comprising a second radar sensing assembly (10;

3104, 3106;

4100, 4200) measuring plural distances (12;

22, 30;

42, 50, 60, 70, 80;

4102, 4202) to the same first target location (16) using radar, wherein the analysis system (18) tracks a movement path (4104) of the target object (14) using the distances (12;

22, 30;

42, 50, 60, 70, 80;

4102, 4202) measured by the first radar sensing assembly (10;

3104, 3106;

4100, 4200) and the second radar sensing assembly (10;

3104, 3106;

4100, 4200).

10. The sensing assembly (10;

3104, 3106;

4100, 4200) of claim 1, wherein the analysis system (18) at least one of stores or has access to a set of predetermined movement patterns associated with movements of plural different human beings, and the analysis system (18) identifies a first human being as the target object (14) based on the first quantified activity level values more closely matching a first predetermined movement pattern associated with the first human being than one or more other predetermined movement patterns in the set of the predetermined movement patterns.

11. The sensing assembly (10;

3104, 3106;

4100, 4200) of claim 1, further comprising one or more laser light sources (7002, 7004) generating laser light toward the first target location (16) and one or more optical receivers (7002, 7004) detecting reflection of the laser light off the first target location (16), wherein the analysis system (18) correlates the first quantified activity level values with the reflection of the laser light in order to determine an oxygenation level of blood of the target object (14).

12. A sensing method comprising:

transmitting first electromagnetic waves toward a first target location (16) from a first radar sensing assembly (10;

3104, 3106;

4100, 4200) at different times;

receiving first echoes of the electromagnetic waves that are reflected off the first target location (16) using the first radar sensing assembly (10;

3104, 3106;

4100, 4200);

measuring plural distances (12;

22, 30;

42, 50, 60, 70, 80;

4102, 4202) to the first target location (16) using the first echoes of the electromagnetic waves;

quantifying movements of a target object (14) at the first target location (16) at the different times by calculating differences in the plural distances (12;

22, 30;

42, 50, 60, 70, 80;

4102, 4202) measured by the first radar sensing assembly (10;

3104, 3106;

4100, 4200); and

generating one or more first quantified activity level values indicative of the movements of the target object (14) at the first target location (16) using the differences in the plural distances (12;

22, 30;

42, 50, 60, 70, 80;

4102, 4202) that are calculated.

13. The sensing method of claim 12, further comprising determining a posture of a human being using at least one of the plural distances (12;

22, 30;

42, 50, 60, 70, 80;

4102, 4202) or the differences in the plural distances (12;

22, 30;

42, 50, 60, 70, 80;

4102, 4202) that are measured by the radar sensing assembly (10;

3104, 3106;

4100, 4200), the posture including the human at least one of standing, sitting, or lying on a surface (20).

14. The sensing method of claim 12, further comprising determining a presence of the target object (14) at the common target location (16) using at least one of the plural distances (12;

22, 30;

42, 50, 60, 70, 80;

4102, 4202) or the differences in the plural distances (12;

22, 30;

42, 50, 60, 70, 80;

4102, 4202) that are calculated.

15. The sensing method of claim 12, further comprising:

transmitting second electromagnetic waves toward a second target location (16) from a second radar sensing assembly (10;

3104, 3106;

4100, 4200), the second target location (16) being different than the first target location (16);

receiving second echoes of the second electromagnetic waves that are reflected off the second target location (16) using the second radar sensing assembly (10;

3104, 3106;

4100, 4200);

measuring plural distances (12;

22, 30;

42, 50, 60, 70, 80;

4102, 4202) to the second target location (16) using the second echoes of the electromagnetic waves;

quantifying movements of the target object (14) at the second target location (16) at the different times by calculating differences in the plural distances (12;

22, 30;

42, 50, 60, 70, 80;

4102, 4202) measured by the second radar sensing assembly (10;

3104, 3106;

4100, 4200);

quantifying movements of the target object (14) at the second target location (16) by calculating the differences in the plural distances (12;

22, 30;

42, 50, 60, 70, 80;

4102, 4202) measured by the second radar sensing assembly (10;

3104, 3106;

4100, 4200); and

generating one or more quantified second activity level values indicative of the movements of the target object (14) at the second target location (16).

16. The sensing method of claim 15, wherein the first quantified activity level values represent the movements of a first body part (3100) of a human being and the second quantified activity level values represent the movements of a different, second body part (3102) of the same human being.

17. The sensing method of claim 12, further comprising detecting a human being falling using at least one of the first quantified activity levels or by tracking positions of one or more target locations on the target object over time.

18. The sensing method of claim 12, wherein the first radar sensing assembly (10;

3104, 3106;

4100, 4200) measures the plural distances (12;

22, 30;

42, 50, 60, 70, 80;

4102, 4202) to the first target location (16) located on a chest of a human being, and further comprising;

determining a breathing pattern signal (6304) from the differences in the plural distances (12;

22, 30;

42, 50, 60, 70, 80;

4102, 4202) as the first quantified activity level values; and

monitoring respiration of the human being using the breathing pattern signal (6304).

19. The sensing method of claim 18, further comprising extracting a cardiac signal (6310) from the breathing pattern signal (6304) as second quantified activity level values, the cardiac signal (6310) representing cardiac cycles of the human being.

20. The sensing method of claim 18, further comprising extracting a health signal (6312) from the raw data signal (6300), wherein the health signal (6312) includes at least one of a cardiac signal (6310) representative of cardiac cycles of the human being or another health signal.

21. The sensing method of claim 12, wherein the target object (14) is moving relative to the first radar sensing assembly (10;

3104, 3106;

4100, 4200), and further comprising

transmitting second electromagnetic waves toward the same first target location (16) from a second radar sensing assembly (10;

3104, 3106;

4100, 4200);

receiving second echoes of the second electromagnetic waves that are reflected off the first target location (16) using the second radar sensing assembly (10;

3104, 3106;

4100, 4200);

measuring plural distances (12;

22, 30;

42, 50, 60, 70, 80;

4102, 4202) to the first target location (16) using the second echoes of the electromagnetic waves; and

tracking a movement path of the target object (14) using the distances (12;

22, 30;

42, 50, 60, 70, 80;

4102, 4202) measured by the first radar sensing assembly (10;

3104, 3106;

4100, 4200) and the second radar sensing assembly (10;

3104, 3106;

4100, 4200).

22. The sensing method of claim 12, further comprising:

accessing a memory device (7002) that stores a set of predetermined movement patterns associated with movements of plural different human beings; and

identifying a first human being as the target object (14) based on the first quantified activity level values more closely matching a first predetermined movement pattern associated with the first human being than one or more other predetermined movement patterns in the set of the predetermined movement patterns.

23. The sensing method of claim 12, further comprising:

generating laser light toward the first target location (16) from one or more laser light sources;

detecting a quantified amount of reflection of the laser light off the first target location (16); and

correcting the quantified amount of the reflection of the laser light using one or more of the plural distances (12;

22, 30;

42, 50, 60, 70, 80;

4102, 4202) that are measured in order to calculate an oxygenation level of blood in the target object (14).

24. The sensing method of claim 12, further comprising:

generating laser light toward the first target location (16) from one or more laser light sources;

detecting reflection of the laser light off the first target location (16); and

correlating the first quantified activity level values with the reflection of the laser light in order to determine an oxygenation level of blood of the target object (14).