阅读说明：本技术 运动体检测装置 (Moving body detection device ) 是由 佐藤宁 于 2020-03-06 设计创作，主要内容包括：本发明提供一种运动体检测装置,根据红外线传感器和多普勒传感器双方的检测结果来检测运动体的移动。该运动体检测装置具备检测温度变化的红外线传感器(110)、检测对象物的移动的多普勒传感器(111)、根据红外线传感器(110)以及多普勒传感器(111)的检测结果来检测运动体的移动的检测部(12),检测部(12)在通过红外线传感器(110)检测到的信号和通过多普勒传感器(111)检测到的信号之间有相关性时判断为检测到运动体的移动。(The invention provides a moving body detection device, which detects the movement of a moving body according to the detection results of an infrared sensor and a Doppler sensor. The moving body detection device is provided with an infrared sensor (110) for detecting temperature changes, a Doppler sensor (111) for detecting the movement of an object, and a detection unit (12) for detecting the movement of a moving body according to the detection results of the infrared sensor (110) and the Doppler sensor (111), wherein the detection unit (12) judges that the movement of the moving body is detected when there is a correlation between a signal detected by the infrared sensor (110) and a signal detected by the Doppler sensor (111).)

1. A moving body detecting device is characterized in that,

the moving body detection device is provided with:

an infrared sensor that detects a change in temperature;

a doppler sensor that detects movement of an object; and

and a detection unit that detects movement of the moving object based on detection results of the infrared sensor and the doppler sensor.

2. The moving body detecting device according to claim 1,

the detection unit determines that the moving object is detected when there is a correlation between the signal detected by the infrared sensor and the signal detected by the doppler sensor.

3. The moving body detecting device according to claim 2,

the detection unit determines that the movement of the moving object is detected when a multiplication result between the signal detected by the infrared sensor and the signal detected by the doppler sensor satisfies a predetermined threshold.

4. The moving body detecting device according to any one of claims 1 to 3,

the detection unit is an adaptive filter.

5. The moving body detecting apparatus according to any one of claims 1 to 4,

the moving body detecting device is provided with an optical sensor for detecting state change in a predetermined range,

the detection unit detects movement of the moving object within the predetermined range based on detection results of the infrared sensor, the doppler sensor, and the optical sensor.

6. The moving body detecting device according to any one of claims 1 to 5,

the detection unit outputs each detection information detected by each sensor and/or all detection information detected by each sensor at the same time.

Technical Field

The present invention relates to a moving body detection device in which an infrared sensor and a doppler sensor are combined.

Background

An infrared sensor (IR sensor) is widely used in a security system provided in an office. The infrared sensor receives infrared rays from a subject to be detected, converts the infrared rays into an electric signal, and detects a temperature change caused by entrance of a person or the like in an office at late night, thereby being used as a human sensor for security. Particularly in the case of a human sensor, a pyroelectric infrared sensor that detects a change in infrared energy is effective, and utilizes a pyroelectric effect in which the polarization of a dielectric changes according to a change in temperature. A pyroelectric body does not generally observe polarization by ions adsorbed on a surface, but by applying a temperature change, polarization changes, and the change can be detected as a voltage. That is, a temperature change can be detected.

However, although the infrared sensor is an inexpensive and very convenient sensor, it is also capable of detecting a temperature change due to heat emitted when cooling the copying machine, for example, and therefore, when a cooling process of the copying machine is performed in an office where no person is present at night, there is a problem that the security system is responded to by erroneously detecting the entry of a person.

On the other hand, for example, patent documents 1 to 3 disclose techniques for improving detection accuracy by combining a plurality of sensors. The technique disclosed in patent document 1 includes a plurality of imaging devices, for example, 2 imaging devices, each of which includes a human body detection unit that detects the presence or absence of a human body in the vicinity, stores and holds information based on the human body detection result detected by the human body detection unit, and manages the movement of a human body in the vicinity of the imaging device based on the stored and held information. Further, it is disclosed that the human body detection unit is configured by any one or a combination of a plurality of image input means, a temperature sensor, an infrared sensor, an ultrasonic sensor, a laser doppler sensor, a voice collecting microphone, a pressure sensor, a touch sensor of an operation panel, an authentication device, an electronic tag carried by a user, and near field communication using a mobile terminal.

The management system in the technique disclosed in patent document 2 includes a personal identification sensor that detects an identifier transmitted from an ID tag in a management area, a camera that captures an image of the management area, and a server that is connected to the personal identification sensor and the camera via a network, and the server includes: a storage unit that stores a body (master) in which the registered personal name and the identifier are connected; a communication unit that acquires the identifier from the individual specifying sensor and acquires the image data from the camera; and a processing unit that specifies a personal name connected to the acquired identifier from the main body, and associates the specified personal name with the acquired image data. The system further includes an auxiliary sensor for detecting that a person or a person enters the management area, wherein the auxiliary sensor is one or more sensors selected from the group consisting of a motion sensor, an infrared sensor, a sound sensor, a door switch sensor, an illuminance sensor, a carbon dioxide sensor, a doppler sensor, a face recognition sensor, a human body recognition sensor, and a carpet sensor (matsensor).

Patent document 3 describes that whether or not an infrared sensor is covered by a person is detected by using a microwave doppler sensor.

However, patent documents 1 and 2 disclose a case where a plurality of sensors including an infrared sensor and a doppler sensor are used in combination, and specifically only a combination is described, but there is no description about the correlation and processing between the respective sensors.

Patent document 3 describes a case where whether or not the infrared sensor is covered is accurately determined using the doppler sensor, but does not describe a process of detecting the moving state of the moving body from the measurement results of both the infrared sensor and the doppler sensor.

Patent document

Patent document 1: japanese patent laid-open publication No. 2018-144424

Patent document 2: japanese laid-open patent publication No. 2018-133709

Patent document 3: japanese patent laid-open publication No. 2002-540410

Disclosure of Invention

The invention provides a moving body detection device which detects the movement of a moving body according to the detection results of an infrared sensor and a Doppler sensor using the Doppler effect based on radio waves.

The moving body detection device of the present invention includes an infrared sensor that detects a temperature change, a doppler sensor that detects movement of an object, and a detection unit that detects movement of a moving body based on detection results of the infrared sensor and the doppler sensor.

As described above, the moving body detection device of the present invention includes the infrared sensor for detecting a temperature change, the doppler sensor for detecting the movement of the object, and the detection means for detecting the movement of the moving body based on the detection results of the infrared sensor and the doppler sensor, and therefore, for example, when a person moves, the infrared sensor detects a temperature change accompanying the movement, and the doppler sensor also detects the movement of the person. That is, in the case of heat dissipation in a copying machine or the like, even if the infrared sensor detects a temperature change, the doppler sensor does not detect the movement of a person, and thus an effect of eliminating erroneous detection is obtained. On the other hand, since the doppler sensor uses radio waves, there are cases where a signal passes through a wall to detect the movement of a moving body irrelevant to the outside, but the infrared sensor does not detect the temperature change inside, and therefore, it is possible to eliminate erroneous detection even in this case.

In the moving object detection device according to the present invention, the detection means determines that the movement of the moving object is detected when there is a correlation between a signal detected by the infrared sensor and a signal detected by the doppler sensor.

In this way, in the moving body detecting device according to the present invention, since the detecting means determines that the movement of the moving body is detected when there is a correlation between the signal detected by the infrared sensor and the signal detected by the doppler sensor, it is possible to obtain an effect that each sensor detects a common movement state accompanying the movement of a person and can realize accurate sensing.

In the moving object detection device according to the present invention, the detection means determines that the movement of the moving object is detected when a multiplication result between the signal detected by the infrared sensor and the signal detected by the doppler sensor satisfies a predetermined threshold condition.

As described above, in the moving body detecting device according to the present invention, since the detecting means determines that the movement of the moving body is detected when the multiplication result between the signal detected by the infrared sensor and the signal detected by the doppler sensor satisfies the condition of the predetermined threshold, the following effects are achieved: the detection can be performed only when the two sensors detect the signals, and thus erroneous detection can be eliminated and accurate sensing can be performed.

The moving body detection device of the present invention sets the detection unit as an adaptive filter.

In this way, in the moving object detection device according to the present invention, since the detection means is an adaptive filter, even when a timing deviation of detection occurs between the infrared sensor and the doppler sensor, an effect is obtained that accurate sensing can be achieved by synchronizing the respective detection signals with the adaptive filter. That is, although the detection timing is more likely to vary due to the difference in the signal transmission rate between the sensor position and the detection target as the distance between the sensor position and the detection target increases, the detection process can be performed with the variation corrected by using the adaptive filter.

The moving body detection device of the present invention includes an optical sensor that detects a state change within a predetermined range, and the detection means detects the presence or absence of a person within the predetermined range based on detection results of the infrared sensor, the doppler sensor, and the optical sensor.

As described above, the moving body detection device according to the present invention includes the optical sensor that detects a state change within a predetermined range, and the detection means detects the presence or absence of a person within the predetermined range based on the detection results of the infrared sensor, the doppler sensor, and the optical sensor, and therefore, by setting the detection range of the optical sensor within a necessary range, a state change outside the range is not erroneously detected, and an effect of being able to detect a moving body with high accuracy is achieved.

In the moving body detecting device according to the present invention, the detecting unit outputs the respective pieces of detection information detected by the respective sensors and/or all pieces of detection information simultaneously detected by the respective sensors.

In this way, in the moving object detection device according to the present invention, since the detection means outputs the respective pieces of detection information detected by the respective sensors and/or all pieces of detection information simultaneously detected by the respective sensors, it is possible to achieve the effect of detecting the moving object with high accuracy as described above and also estimating and grasping what state change is caused in the range to be detected from the measurement results of the respective sensors.

Drawings

Fig. 1 is a functional block diagram showing a configuration of a moving object detection device according to a first embodiment.

Fig. 2 is a circuit block diagram of the moving body detecting device of the first embodiment.

Fig. 3 shows an example of a waveform of the infrared sensor according to the first embodiment.

Fig. 4 shows an example of a waveform of the doppler sensor according to the first embodiment.

Fig. 5 shows waveforms of detection processing results according to the first embodiment.

Fig. 6 is a circuit block diagram of a moving body detecting device of the second embodiment.

Fig. 7 is a functional block diagram showing the configuration of the moving body detection device according to the third embodiment.

Fig. 8 is a first diagram showing a circuit configuration of a moving object detection device according to a third embodiment.

Fig. 9 is a second diagram showing a circuit configuration of a moving object detection device according to a third embodiment.

Description of reference numerals

1: moving body detection device, 10: temperature change detection unit, 11: movement detection unit, 12: detection unit, 13: output control unit, 71: first movement detection unit, 72: second movement detection unit, 73: optical sensor, 91: FIR filter, 110: infrared sensor, 111: doppler sensor, 112: an adaptive filter.

Detailed Description

(first embodiment of the invention)

The moving object detection device according to the present embodiment will be described with reference to fig. 1 to 5. The moving body detection device according to the present embodiment is used for security, for example, and can detect with high accuracy whether or not there is a suspicious person in an office or a building at night.

Fig. 1 is a functional block diagram showing the configuration of a moving object detection device according to the present embodiment. The moving body detection device 1 includes a temperature change detection unit 10 that detects in response to a temperature change of an object, a movement detection unit 11 that detects movement of the object, a detection unit 12 that detects movement of a moving body based on detection results of the temperature change detection unit 10 and the movement detection unit 11, and an output control unit 13 that outputs a detection result of the detection unit 12.

The temperature change detection unit 10 can use, for example, an infrared sensor (for example, a pyroelectric infrared sensor such as an IR sensor) that responds to a temperature change of an object. The pyroelectric infrared sensor polarizes a crystal according to a change in temperature, and detects an electric current between electrodes generated by the polarization. That is, infrared rays from the object can be detected to measure the temperature change. The infrared sensor 110 of the present embodiment includes, for example, 2 temperature elements, and detects a temperature change by detecting a difference between the temperature elements.

The movement detection unit 11 is, for example, a doppler sensor 111 using the doppler effect based on radio waves, and detects the movement of the object from the difference between the frequency of the transmitted signal and the frequency of the received signal. The wavelength of the signal used here can use millimeter waves or microwaves.

Fig. 2 is a circuit block diagram of the moving body detection device of the present embodiment. Here, the circuit block diagram shows a case where there is no deviation in the detection speed (timing) between the infrared sensor 110 for detecting a temperature change and the doppler sensor 111 for detecting the movement of the object, and the detection can be performed at substantially the same timing. More specifically, for example, when the moving speed of the object is slow or when the object moves at a position close to each sensor, the object can be detected with very high performance.

In fig. 2, the circuit configuration is such that the detection results of the infrared sensor 110 and the doppler sensor 111 are multiplied, and only when the result exceeds a predetermined threshold value, a moving body is detected. The following describes in detail with reference to fig. 3 to 5. Fig. 3 shows an example of a waveform of the infrared sensor 110. Fig. 4 shows an example of a waveform of the doppler sensor 111. Fig. 5 shows waveforms of detection processing by the detection unit 12. Here, the detection results of the respective sensors are schematically shown and described assuming that the hand is slowly swung left and right. In fig. 3 (a), when the hand swings left and right, the temperature element of the infrared sensor 110 can obtain a waveform shown in fig. 3 (B). That is, at the moment of detecting the hand, the temperature becomes high due to the body temperature, and the temperature is slightly lowered by the air flow as the hand approaches the sensor, and the temperature rapidly becomes lower as the hand is separated. In the present embodiment, since the infrared sensor 110 has a configuration including 2 temperature elements as described above, only a change (differential) between the temperature elements is detected. That is, the waveform shown in fig. 3 (C) is detected as the temperature changes.

In fig. 4, when the hand is swung slowly from side to side as in the case of fig. 3, a change in accordance with the movement of the hand in fig. 4 (a) is detected as shown in fig. 4 (B). Here, since the doppler sensor 111 detects the differential, the change between the moment when the motion starts and the moment when the motion stops is detected as shown in fig. 4 (B).

As shown in fig. 2, the detection waveform of the infrared sensor 110 ((C) of fig. 3) and the detection waveform of the doppler sensor 111 ((B) of fig. 4) are multiplied by each other and compared with a threshold value. That is, the waveform obtained by multiplication shown in fig. 5 is compared with a threshold value, and when a value larger than the threshold value is detected, the movement of the moving body is detected.

The detected result is outputted (for example, video, character, sound, light, or a combination thereof) by the output control unit 13 and notified to the monitor. The monitoring person suspects the possibility of entry of the suspicious person based on the output result and can immediately confirm it.

Although not shown in fig. 1 to 5, a learning means is provided for storing and learning the information when an error is detected regardless of whether the multiplication result between the infrared sensor 110 and the doppler sensor 111 exceeds a predetermined threshold. That is, in the initial stage of setting the moving body detecting device of the present embodiment, the detection range is set to be expanded including the error detection, and the detection range is narrowed in accordance with the storage of the information to improve the accuracy. Alternatively, the information may be provided in a state in which some degree of learning is performed before the setting.

The output control device 13 may output the detection result only when the multiplication result between the infrared sensor 110 and the doppler sensor 111 exceeds a predetermined threshold value, or may output the detection result for each sensor at all times. In this case, if a signal exceeding the threshold is detected, information with high urgency is output as warning information, and when only one sensor is detected, the information may be recorded in an internal memory or a hard disk or output to a display or an external memory as detection information. The present invention is useful for a case where authentication is performed after the day, and the like, because the information is recorded or output even when only one sensor detects the information, the situation inside or outside the office can be grasped to some extent.

Further, the waveforms shown in fig. 3 to 5 are schematically illustrated for easy understanding, and are different from actual waveforms.

As described above, in the moving body detection device of the present embodiment, for example, when a person is moving, the infrared sensor 110 can detect a temperature change and the doppler sensor can detect movement of the person, and when a copying machine or the like radiates heat, the doppler sensor does not detect movement of the person even if the infrared sensor 110 detects a temperature change, and thus erroneous detection can be eliminated.

(second embodiment of the invention)

The moving object detection device according to the present embodiment will be described with reference to fig. 6. The moving object detection device of the present embodiment expands the functions of the moving object detection device of the first embodiment described above, and detects the movement of a moving object based on the correlation between the infrared sensor 110 and the doppler sensor 111 even when the detection timings of the sensors do not match. In the present embodiment, redundant description with the first embodiment is omitted.

In fig. 2 to 5 of the first embodiment, a case where the hand is slowly swung, that is, a case where the sensors detect the temperature change and the movement of the moving object almost simultaneously is described as a specific example, but when the moving speed of the moving object is extremely high and a target moving object is present at a position away from the sensors, the reaction of the infrared sensor 110 may be slow due to the influence of heat remaining in the air, the signal transmission speed being slow, or the like. In this case, even when the multiplication shown in fig. 2 is performed, the timing may be greatly deviated, and the object may not be detected. Therefore, in the present embodiment, by using the adaptive filter shown in fig. 6, even if the infrared sensor 110 and the doppler sensor 111 are not completely synchronized, if there is a correlation, the infrared sensor and the doppler sensor are detected as a moving object.

Fig. 6 is a circuit block diagram of the moving body detection device of the present embodiment. In the present embodiment, even when there is a deviation in the actual detection timing of the infrared sensor 110 and the doppler sensor 111, if there is a correlation, the correlation is detected as synchronous information, and the detection result of the doppler sensor 111 is adjusted by an adaptive filter so as to be synchronized with the infrared sensor 110 and then compared with a threshold value. As shown in fig. 6, the difference between the detection signal detected by the infrared sensor 110 and the detection signal of the doppler sensor 111 passed through the adaptive filter 112 (e.g., LMS filter) is fed back to the adaptive filter 112, and the coefficient of the adaptive filter is calculated. Then, the detection signal of the infrared sensor 110 and the detection signal of the doppler sensor 111 having passed through the adaptive filter 112 are multiplied to compare a predetermined threshold value.

By appropriately calculating the coefficients of the adaptive filter, the adaptive filter 112 functions as a delay circuit that delays the detection signal of the doppler sensor 111, and can completely synchronize when there is correlation between the detection signals of the sensors. After synchronization, the object can be detected by multiplying the signals by a threshold value and comparing the result with the threshold value, as in the case of the first embodiment.

In addition to the adaptive filter, the correlation between the detection signals of the infrared sensor 110 and the doppler sensor 111 may be calculated using, for example, a Fast Fourier Transform (FFT) and an inverse fourier transform (inverse FFT).

In this way, in the moving object detection device of the present embodiment, since the detection process is performed using the adaptive filter, even when there is a deviation in the timing of detection between the infrared sensor 110 and the doppler sensor 111, accurate sensing can be achieved by synchronizing the detection signals with each other by the adaptive filter 112. Specifically, although the detection timing is deviated by the difference in the signal transmission speed of each sensor as the distance between the position of the sensor and the object increases, the detection process can be performed with the deviation corrected by using the adaptive filter 112.

(third embodiment of the invention)

The moving object detection device according to the present embodiment will be described with reference to fig. 7 to 9. The moving object detection device of the present embodiment expands the functions of the moving object detection devices of the above-described embodiments, and includes an optical sensor in addition to the infrared sensor 110 and the doppler sensor 111, thereby defining a detection area. In the present embodiment, redundant description with the first embodiment is omitted.

Fig. 7 is a functional block diagram showing the configuration of the moving body detection device according to the present embodiment. In fig. 7, unlike fig. 1 of the first embodiment, the movement detection unit 11 (in fig. 7, the first movement detection unit 71 is referred to by a name for distinction) is provided, and a second movement detection unit 72 is further provided. The first movement detection unit 71 is constituted by the doppler sensor 111, and the second movement detection unit 72 is constituted by the optical sensor 73, as in the first embodiment. Since the optical sensor 73 has very strong directivity, it is possible to detect an object by narrowing a predetermined range.

Specifically, for example, when only a specific area in an office is to be monitored, when only a moving object having a height equal to or higher than a predetermined height is to be detected (for example, when only a moving object having a height at which a person stands is detected without detecting a small moving object such as an animal), when only a moving object having a height equal to or lower than a predetermined height is to be detected, when only a surrounding moving object approaching a valuable article in an art gallery or the like is to be detected, or the like, the detection can be performed in a narrow range.

Fig. 8 and 9 are diagrams showing a circuit configuration of the moving object detection device according to the present embodiment, fig. 8 is a diagram showing a configuration in which an optical sensor is added to the configuration of fig. 2 of the first embodiment, and fig. 9 is a diagram showing a configuration in which an optical sensor is added to the configuration of fig. 6 of the second embodiment. In fig. 8, in addition to the detection signals of the infrared sensor 110 and the doppler sensor 111, the detection signal of the optical sensor 73 is multiplied and compared with a threshold value, whereby the detection range of the optical sensor 73 can be narrowed to detect a moving object.

In fig. 9, the calculation of the infrared sensor 110 and the doppler sensor 111 is the same as that in fig. 6 of the second embodiment, but the detection signal of the optical sensor 73 passed through the FIR filter 91 is added and multiplied, and the multiplication result is compared with the threshold value. Since the signal speeds of the doppler sensor 111 and the optical sensor 73 using radio waves are the same, detection signals for the same object are synchronized. That is, by setting the coefficient calculated by the adaptive filter 112 to the FIR filter 91, the detection signal of the optical sensor 73 and the detection signal of the infrared sensor 110 can be synchronized, and the object can be accurately detected even when the detection timing of the infrared sensor 110 is shifted from the doppler sensor 111 or the optical sensor 73. In addition, the FIR filter 91 may be replaced with an adaptive filter.

As described above, in the moving object detection device according to the present embodiment, since the detection area can be limited by using the optical sensor, it is possible to detect a person who is excessively close to an expensive article such as an art article, for example, and to realize detection of a moving object corresponding to an environment in a case where a person visiting a surrounding distance does not respond.

In addition, when there are a plurality of detection target regions required in all detectable ranges, the optical sensors are provided so as to correspond to the detection target regions, respectively, and the infrared sensor 110 and the doppler sensor 111 are disposed in common in all ranges, respectively. That is, the entire detectable range is detected by the infrared sensor 110 and the doppler sensor 111, and the entire detectable range is narrowed down to the detection target region by the optical sensor.

In the above embodiments, the movement of the moving body is detected by the infrared sensor 110 and the doppler sensor 111, but the breathing of the living body may be sensed and detected. That is, by detecting a temperature change accompanying respiration (a temperature change by exhalation and a temperature change by inhalation) by the infrared sensor 110 and detecting a motion of the chest and abdomen accompanying respiration by the doppler sensor 111, a living body which breathes can be detected when these have a correlation. Further, the emergency condition of, for example, an inpatient can be monitored by sensing breathing.