Human detection system

Abstract

The present disclosure addresses the problem of improving human detection accuracy. A human detection system (100) is provided with a scattering point calculation unit (221), a processing unit (222), a position output unit (223), a body movement detection unit (224), a biological signal detection unit (225), and a presence / absence determination unit (226). A scattering point calculation unit (221) calculates a plurality of scattering points at which radio waves have been reflected. The processing unit (222) outputs point group data obtained by clustering the plurality of scattering points and the center-of-gravity position of the point group data. The position output unit (223) outputs the center-of-gravity position as the presence position of the person when the center-of-gravity position is included in the predetermined region. The body movement detection unit (224) detects the magnitude of the body movement of the person when the position output unit (223) outputs the presence position of the person. A biological signal detection unit (225) detects a biological signal of the person when the position output unit (223) outputs the presence position of the person. The presence / absence determination unit (226) determines that a person is present in the predetermined region when the magnitude of the body movement of the person is greater than a threshold value set for the magnitude of the body movement of the person and / or the biological signal is greater than a threshold value set for the biological signal.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to a person detection system, and more particularly to a person detection system that detects a person by a reflected wave of an electric wave. BACKGROUND

[0002] Patent Literature 1 discloses a seated person detection system that detects a person using point group data obtained from a reflected wave of an electric wave.

[0003] In a seated person detection system as described in Patent Literature 1, it is desirable to improve the detection accuracy of a person.

[0004] PRIOR ART DOCUMENTS

[0005] PATENT LITERATURE

[0006] Patent Literature 1: Japanese Patent Application Publication No. 2022-026109 SUMMARY

[0007] The present disclosure was completed in view of the above-described reasons, and an object thereof is to provide a person detection system capable of improving the detection accuracy of a person.

[0008] A person detection system according to one embodiment of the present disclosure includes a scattering point calculation section, a processing section, a position output section, a body motion detection section, a living body signal detection section, and a presence / absence determination section. The scattering point calculation section calculates a plurality of scattering points that have reflected an electric wave within an object region including a prescribed region, on the basis of information obtained from a plurality of reception waves received by an electric wave sensor that transmits the electric wave to the object region and receives the electric wave reflected within the object region as the plurality of reception waves. The processing section outputs point group data obtained by clustering the plurality of scattering points and a center-of-gravity position of the point group data. The position output section outputs the center-of-gravity position as a presence position of a person within the prescribed region in a case where the center-of-gravity position is included within the prescribed region. The body motion detection section detects a size of a body motion of the person on the basis of the point group data in a case where the presence position of the person is output by the position output section. The living body signal detection section detects a living body signal of the person in a case where the presence position of the person is output by the position output section. The presence / absence determination section determines that the person is present within the prescribed region in a case where at least one of the size of the body motion is larger than a threshold value set for the size of the body motion and the living body signal is larger than a threshold value set for the living body signal. BRIEF DESCRIPTION OF DRAWINGS

[0009] Figure 1 is a block diagram that shows the structure of a person detection system according to one embodiment of the present disclosure.

[0010] Figure 2 This is an explanatory diagram illustrating the human detection actions performed by the aforementioned human detection system.

[0011] Figure 3 This is a block diagram illustrating the structure of the radio wave sensor in the aforementioned human detection system.

[0012] Figure 4 This is an illustrative diagram used to explain the clustering of multiple scattering points performed by the aforementioned human detection system.

[0013] Figure 5 This is a flowchart illustrating the human detection actions performed by the aforementioned human detection system.

[0014] Figure 6 This is a graph showing the time variation of the data acquired by the aforementioned human detection system.

[0015] Figure 7 This is a diagram showing the judgment image displayed on the display unit by the aforementioned human detection system.

[0016] Figure 8 This is a block diagram showing the structure of the human detection system in Modified Example 1.

[0017] Figure 9 This is a flowchart illustrating the setting actions performed by the aforementioned human detection system in a specific area.

[0018] Figure 10 This is an explanatory diagram illustrating the setting actions of the aforementioned human detection system in a specific area.

[0019] Figure 11 This is an explanatory diagram illustrating the setting actions of the aforementioned human detection system in a specific area.

[0020] Figure 12 This is a flowchart illustrating the human detection actions performed by the aforementioned human detection system.

[0021] Figure 13 This is an explanatory diagram illustrating the detection of human body movement levels performed by the human detection system of Modified Example 2. Detailed Implementation

[0022] The human detection system 100 according to embodiments of the present disclosure will be described in detail with reference to the accompanying drawings. Furthermore, the figures described in the following embodiments are schematic, and the size and thickness ratios of the constituent elements in the figures may not reflect actual size ratios. Additionally, the arrows in the drawings indicating the "X-axis direction," "Y-axis direction," and "Z-axis direction" are merely illustrative markings and do not represent actual dimensions.

[0023] The embodiments and modifications described below are merely examples of this disclosure, and this disclosure is not limited to these embodiments and modifications. Besides these embodiments and modifications, various changes can be made according to design, etc., as long as they do not depart from the technical concept of this disclosure. Furthermore, the following embodiments (including modifications) can also be appropriately combined to achieve the desired results.

[0024] (1) Summary

[0025] First, refer to Figures 1-4 as well as Figure 6 An overview of the human detection system 100 according to this embodiment will be described.

[0026] like Figure 1 As shown, the human detection system 100 includes a scattering point calculation unit 221, a processing unit 222, a position output unit 223, a body motion detection unit 224, a biological signal detection unit 225, and an presence / absence determination unit 226.

[0027] like Figure 1 and Figure 3 As shown, the scattering point calculation unit 221 calculates the scattering point in the target region E10 (refer to the image) based on information obtained from multiple received waves W2 received by the radio wave sensor 1. Figure 2 Multiple scattering points Ps (reference) that reflect the electromagnetic wave (transmitted wave W1 from electromagnetic wave sensor 1) within the sensor. Figure 4 The radio wave sensor 1 transmits a transmitted wave W1 to an object region E10, which includes a defined region E0, and receives the transmitted wave W1 reflected within the object region E10 as multiple received waves W2.

[0028] like Figure 4 As shown, the processing unit 222 outputs point group data CL and the centroid position Pc of the point group data CL obtained by clustering multiple scattering points Ps.

[0029] When the center of gravity position Pc is included within the specified area E0, the position output unit 223 sets the center of gravity position Pc as the location Pe of the person 5 within the specified area E0 (see reference). Figure 6 The output is then performed. Furthermore, in this disclosure, "Pei, the location where person 5 exists" represents a location where person 5 may exist.

[0030] When the position output unit 223 outputs the presence position Pe of person 5, the body motion detection unit 224 detects the magnitude of person 5's body motion based on the point group data CL.

[0031] When the position output unit 223 outputs the presence position Pe of the person 5, the biosignal detection unit 225 detects the biosignal of the person 5.

[0032] If at least one of the following conditions is met: the size of the body movement of person 5 is greater than a threshold set for the size of the body movement of person 5, or the biological signal of person 5 is greater than a threshold set for the biological signal of person 5, the presence determination unit 226 determines that person 5 exists in the specified area E0.

[0033] Based on this structure, the human detection system 100 determines whether the human 5 exists within the specified area E0 based on the location Pe of the human 5, the size of the human 5's body movements, and the human 5's biological signals, thus improving the detection accuracy of the human 5.

[0034] (2) Structure

[0035] In this embodiment, such as Figure 1 As shown, the human detection system 100 includes a signal processing system 2 and a display terminal 3. Additionally, the human detection system 100 also includes an electromagnetic wave sensor 1.

[0036] For example, such as Figure 2 As shown, the human detection system 100 determines whether a person is in at least one (four in this embodiment) designated area E0 (first designated area E1 to fourth designated area E4) included in the target area E10. That is, in this embodiment, the target area E10 includes multiple designated areas E0.

[0037] In this embodiment, the target area E10 is the area encompassed by an office where a person (worker) performs their work. Alternatively, the target area E10 can also be an area encompassed by a living room, classroom, or hospital ward. For example, if the target area E10 is a living room, the person detected by the human detection system 100 is, for example, a resident of the living room, and at least one designated area E0 is, for example, a sleeping area for the resident. Similarly, if the target area E10 is a classroom, the person detected by the human detection system 100 is, for example, a learner studying in a classroom, and at least one designated area E0 is, for example, a learning area for the learner. Furthermore, if the target area E10 is a hospital ward, the person detected by the human detection system 100 is, for example, a hospitalized patient in a hospital ward, and at least one designated area E0 is, for example, a resting area for the hospitalized patient.

[0038] like Figure 2 As shown, the object region E10 is, for example, a circular region. However, the object region E10 is not limited to a circular region; it can also be a quadrilateral or the like.

[0039] Furthermore, the first designated areas E1 to the fourth designated areas E4 are the areas where a person (worker) is located when working at desks D1 to D4 set up in an office. The first designated areas E1 to the fourth designated areas E4 are, for example, quadrilateral areas. However, the first designated areas E1 to the fourth designated areas E4 are not limited to quadrilateral areas; they can also be circular, etc.

[0040] The first designated area E1 to the fourth designated area E4 are preset by the administrator of the object area E10 and stored in the storage unit 23 (see reference). Figure 1 ).

[0041] The arrangement of tables D1 to D4 and the radio wave sensor 1 in the object area E10 of this embodiment will be described below. Furthermore, in the following description, the vertical direction in the object area E10 is defined as the Z-axis direction in a three-dimensional orthogonal coordinate system. Additionally, the direction above the vertical direction is defined as the positive direction of the Z-axis, and the direction below the vertical direction is defined as the negative direction of the Z-axis.

[0042] Tables D1 through D4 are each rectangular in shape with a long side and a short side. Furthermore, in this embodiment, tables D1 through D4 are designed to have the same shape.

[0043] Tables D1 to D4 are set on the floor of object area E10. Within object area E10, as follows... Figure 2 As shown, the entirety of one long side of table D1 and the entirety of one long side of table D2 are in contact along the X-axis in a three-dimensional orthogonal coordinate system. The entirety of one long side of table D3 and the entirety of one long side of table D4 are in contact along the X-axis in a three-dimensional orthogonal coordinate system. Additionally, the entirety of one short side of table D1 and the entirety of one short side of table D3 are in contact along the Y-axis in a three-dimensional orthogonal coordinate system. The entirety of one short side of table D2 and the entirety of one short side of table D4 are in contact along the Y-axis in a three-dimensional orthogonal coordinate system.

[0044] In addition, the radio wave sensor 1 is, for example, in the shape of a disc. When viewed from above, the radio wave sensor 1 is set on the ceiling of the object area E10 such that the center point of the disc shape is the center of the configuration position of the table D1~D4.

[0045] In this embodiment, the three-dimensional orthogonal coordinate system (X,Y,Z) is a coordinate system with the center point of the electromagnetic wave sensor 1 on the ceiling, i.e., the reference point P0, set as the origin (0,0,0).

[0046] (2.1) Radio wave sensor

[0047] Radio wave sensor 1 is capable of detecting object 4 (refer to...) Figure 3The radio wave sensor 1 is a frequency-modulated continuous wave (FMCW) type radio wave sensor. The radio wave sensor 1 includes at least one (one in this embodiment) transmitting antenna 11, a plurality of (three in this embodiment) receiving antennas 12 (121-123) and a transmitting receiver 13.

[0048] The transmitter / receiver 13 causes the transmitter antenna 11 to transmit a transmitted wave W1 at a predetermined period, the frequency of which varies with time. Here, the transmitted wave W1 is preferably a microwave. However, the transmitted wave W1 is not limited to microwaves and can also be a millimeter wave. Furthermore, the predetermined period for the transmitter antenna 11 to transmit the transmitted wave W1 is, for example, a few milliseconds to tens of milliseconds.

[0049] The transmitter and receiver 13 causes the receiving antennas 121-123 to receive the transmitted wave W1 reflected by the object 4 (e.g., a person 5, which is the object of detection in the human detection system 100), respectively, as received waves W21-W23 whose frequency (receiving frequency) changes over time.

[0050] Then, the transmitter receiver 13 generates a sensor signal Sg1 containing information obtained from the received waves W21~W23 (in this embodiment, information on the phase difference between the received waves W21~W23, and information on the frequency difference between the transmitted wave W1 and the received wave W21, the frequency difference between the transmitted wave W1 and the received wave W22, and the frequency difference between the transmitted wave W1 and the received wave W23) and sends it to the signal processing system 2.

[0051] (2.2) Signal Processing System

[0052] The signal processing system 2 is implemented by, for example, one or more server devices. In this embodiment, it is envisioned that the signal processing system 2 is composed of one server device, but the signal processing system 2 can also be composed of two or more server devices, and such server devices can, for example, be used to build a cloud (cloud computing). In addition, when the signal processing system 2 is composed of two or more server devices, the multiple functions of the signal processing system 2 can be distributed across the two or more server devices.

[0053] The signal processing system 2 includes a receiving unit 21, a control unit 22, and a transmitting unit 24. Additionally, the signal processing system 2 also includes a storage unit 23.

[0054] The receiving unit 21 receives the sensor signal Sg1 transmitted from the radio wave sensor 1 via wireless communication methods based on standards such as Wi-Fi (registered trademark), Bluetooth (registered trademark), ZigBee (registered trademark), or unlicensed low-power wireless (specific low-power wireless). Alternatively, the receiving unit 21 can also receive the sensor signal Sg1 transmitted from the radio wave sensor 1 via wired communication.

[0055] The control unit 22 is primarily structured as a computer system with one or more processors and memory. The processor of the computer system executes the program recorded in the computer system's memory, thereby realizing the functions of the control unit 22. The program can be recorded in memory, provided via electrical communication lines such as the Internet, or provided via non-transitory recording media such as memory cards.

[0056] The control unit 22 includes a scattering point calculation unit 221, a processing unit 222, a position output unit 223, a body motion detection unit 224, a biological signal detection unit 225, an presence / absence determination unit 226, an image generation unit 227, and an output unit 228. Furthermore, the scattering point calculation unit 221, processing unit 222, position output unit 223, body motion detection unit 224, biological signal detection unit 225, presence / absence determination unit 226, image generation unit 227, and output unit 228 merely illustrate the functions implemented by the control unit 22 and do not necessarily represent a specific structure of the entity.

[0057] The scattering point calculation unit 221 calculates multiple scattering points Ps in the object 4 based on the sensor signal Sg1 received by the receiving unit 21 (refer to...). Figure 4 Here, the multiple scattering points Ps are multiple points of the reflected wave W1 emitted by object 4. Furthermore, the scattering point calculation unit 221 calculates the multiple scattering points Ps based on the sensor signal Sg1 transmitted multiple times from the radio wave sensor 1 within a specified period (e.g., 200 ms). That is, the number of multiple scattering points Ps calculated by the scattering point calculation unit 221 is the sum of the number of scattering points Ps calculated multiple times by the scattering point calculation unit 221 within the specified period.

[0058] More specifically, the scattering point calculation unit 221 calculates the directions of multiple scattering points Ps as observed from the reference point P0, and the distances from the reference point P0 to the multiple scattering points Ps, based on the information contained in the sensor signal Sg1. The information contained in the sensor signal Sg1 includes the phase difference between the received waves W21 to W23, the frequency difference between the transmitted wave W1 and the received wave W21, the frequency difference between the transmitted wave W1 and the received wave W22, and the frequency difference between the transmitted wave W1 and the received wave W23.

[0059] In this embodiment, the scattering point calculation unit 221 calculates the positions of the plurality of scattering points Ps based on the directions of the plurality of scattering points Ps relative to the reference point P0 and the distances from the reference point P0 to the plurality of scattering points Ps. Furthermore, the positions of the plurality of scattering points Ps are calculated as coordinates in a three-dimensional orthogonal coordinate system (X, Y, Z) with the reference point P0 as the origin.

[0060] When deriving the directions of multiple scattering points Ps relative to the reference point P0 from the scattering point calculation unit 221, for example, an angle of arrival estimation method based on the phase difference between the received waves W21~W23 can be used. Examples of angle of arrival estimation methods include the Fourier method (FFT), or the Capon method, MUSIC (Multiple Signal Classification), and ESPRIT (Estimation of Signal Parameters via Rotational Invariance Techniques) as methods to obtain high resolution.

[0061] like Figure 4 As shown, the processing unit 222 uses a clustering algorithm such as DBSCAN (Density-Based Spatial Clustering of Applications with Noise) to cluster multiple scattering points Ps and generate point cluster data CL. Here, DBSCAN is a density-based clustering algorithm for data points. Specifically, in DBSCAN, a data point (core point) is selected from multiple data points (multiple scattering points Ps in this embodiment), and the core point and a predetermined number of data points within a predetermined radius centered on the core point are grouped into a cluster (a point cluster data CL in this embodiment). Then, the predetermined number of data points within the predetermined radius from the core point are each set as a new core point, and the same processing as described above is continued to grow a cluster. Furthermore, if there are no predetermined number of data points within the predetermined radius centered on the core point, the growth of a cluster centered on that core point stops.

[0062] Furthermore, the processing unit 222 calculates the centroid position Pc of the point group data CL. Here, the centroid position Pc of the point group data CL is the centroid position of the multiple scattering points Ps contained in the point group data CL. In this embodiment, the processing unit 222 calculates the centroid position Pc of the point group data CL as coordinates in a three-dimensional orthogonal coordinate system (X, Y, Z) with the reference point P0 as the origin.

[0063] The processing unit 222 generates point group data CL and calculates the centroid position Pc of the point group data CL based on multiple scattering points Ps calculated by the scattering point calculation unit 221 within a specified period. In other words, the processing unit 222 generates point group data CL and calculates the centroid position Pc of the point group data CL at specified intervals. The storage unit 23 stores the point group data CL and the centroid position Pc of the point group data CL in time sequence.

[0064] When the center of gravity Pc is included within the defined region E0, the position output unit 223 outputs the center of gravity Pc as the location Pe of the person 5 within the defined region E0. Here, the defined region E0 is defined as the coordinate range in the X-axis and Y-axis directions of a three-dimensional orthogonal coordinate system with the reference point P0 as the origin. That is, when the center of gravity Pc is included within the coordinate range of the defined region E0, the position output unit 223 outputs the center of gravity Pc as the location Pe of the person 5 within the defined region E0. Furthermore, the defined region E0 can also be defined as the coordinate range in the X-axis, Y-axis, and Z-axis directions of a three-dimensional orthogonal coordinate system.

[0065] The operation of the position output unit 223 is explained in detail in “(3) Action Example”.

[0066] When the position output unit 223 outputs the location Pe of the person 5, the body motion detection unit 224 detects the magnitude of the person 5's body motion based on the point group data CL. Specifically, when the position output unit 223 outputs the location Pe of the person 5, the body motion detection unit 224 detects the number of multiple scattering points Ps contained in the point group data CL as the magnitude of the person 5's body motion. Here, as described above, the number of multiple scattering points Ps calculated by the scattering point calculation unit 221 is obtained by accumulating the number of scattering points Ps calculated multiple times within a specified period. Therefore, when the person 5 performs an action within the specified period, the number of multiple scattering points Ps contained in the point group data CL increases compared to when the person 5 remains stationary within the specified period. Therefore, the number of multiple scattering points Ps contained in the point group data CL represents the magnitude of the person 5's body motion within the specified period.

[0067] When the position output unit 223 outputs the center of gravity position Pc as the position Pe of the person 5, the biosignal detection unit 225 detects the biosignal of the person 5 based on the sensor signal Sg1 received by the receiving unit 21. Here, the biosignal is a signal expressed by the activities of the organism, such as breathing, heartbeat, and pulse.

[0068] More specifically, the biosignal detection unit 225 extracts information related to the radio waves (specific radio waves) from the location Pe of the human 5 from the information contained in the sensor signal Sg1, and detects the biosignal of the human 5 based on the frequency of the specific radio waves. More specifically, the biosignal detection unit 225 detects the biosignal of the human 5 based on the difference between the frequency of the specific radio waves and the frequency of the transmitted wave W1. The operation of the biosignal detection unit 225 is explained in detail in “(3) Operation Example”.

[0069] If at least one of the following conditions is met: the magnitude of the body movement of person 5 detected by body movement detection unit 224 is greater than a threshold set for the magnitude of the body movement, or the biosignal of person 5 detected by biosignal detection unit 225 is greater than a threshold set for the biosignal, then presence determination unit 226 determines that person 5 exists within the specified area E0. In other words, if at least one of the following conditions is met: the magnitude of the body movement of person 5 is greater than a threshold set for the magnitude of the body movement, or the biosignal of person 5 is greater than a threshold set for the biosignal, then presence determination unit 226 determines that person 5 exists at the location where person 5 may exist, i.e., the presence location Pe within the specified area E0.

[0070] Image generation unit 227 generates a determination image G1 (referencing) that represents the determination result of presence / absence determination unit 226. Figure 7 ).

[0071] The output unit 228 controls the transmission unit 24 (described later) to output the determination image G1 generated by the image generation unit 227 to the display terminal 3.

[0072] The storage unit 23 includes, for example, a rewritable non-volatile memory such as an EEPROM (Electrically Erasable and Programmable Read-Only Memory). The storage unit 23 pre-stores the coordinate range in a three-dimensional orthogonal coordinate system representing a predetermined region E0. Furthermore, the storage unit 23 stores point group data CL generated by the processing unit 222 at predetermined intervals, and the centroid position Pc of the point group data CL calculated at predetermined intervals.

[0073] The transmitting unit 24 transmits the determination image G1 to the display terminal 3 via wireless communication methods based on standards such as Wi-Fi (registered trademark), Bluetooth (registered trademark), ZigBee (registered trademark), or unlicensed low-power wireless (specific low-power wireless). Alternatively, the transmitting unit 24 can also transmit the determination image G1 to the display terminal 3 via wired communication.

[0074] As an example, the determination of image G1 is as follows: Figure 7As shown, it includes icons G21-G24 representing everyday utensils for tables D1-D4, and icons G31-G34 representing designated areas E1-E4. In the determination image G1, the designated area E0 (in which the presence determination unit 226 determines the presence of person 5) is determined to be... Figure 7 The first designated area (E1) is displayed in a different manner than the other designated areas (E0). The "display manner" referred to here includes color, brightness, pattern, etc.

[0075] (2.3) Display terminal

[0076] Display terminal 3 is a communication terminal used by administrators of object area E10, etc. Specifically, display terminal 3 includes communication terminals such as smartphones, tablets, wearable devices, personal computers, and digital signage.

[0077] like Figure 1 As shown, the display terminal 3 has a display unit 31 and a communication unit 32.

[0078] The communication unit 32 is configured to communicate with the signal processing system 2. The communication unit 32 receives the determination image G1 sent from the signal processing system 2.

[0079] The display unit 31 is a display device such as a liquid crystal display (LCD) capable of displaying the determination image G1 acquired by the communication unit 32 from the signal processing system 2. In other words, the display unit 31 displays the determination result of the presence / absence determination unit 226.

[0080] (3) Example of an action

[0081] The following is for reference Figure 5 The operation of the human detection system 100 will be explained using examples. Figure 5 The flowchart shown is merely an example of the operation of the human detection system 100 according to this embodiment. The order of processing can be changed appropriately, and processing can be added or omitted appropriately.

[0082] First, when the receiving unit 21 receives the sensor signal Sg1 sent from the radio wave sensor 1, it associates the information contained in the sensor signal Sg1 with the time of receiving the sensor signal Sg1 and stores it in the storage unit 23.

[0083] When the information of sensor signal Sg1 transmitted multiple times from radio wave sensor 1 within a specified period is stored in storage unit 23, scattering point calculation unit 221 calculates the positions of multiple scattering points Ps based on the information of sensor signal Sg1 within the specified period.

[0084] The processing unit 222 clusters multiple scattering points Ps and generates point cluster data CL. As an example, such as... Figure 4As shown, the processing unit 222 clusters multiple scattering points Ps and generates, for example, two point group data CLs (CL1, CL2). Here, any scattering point Ps among the multiple scattering points Ps calculated by the scattering point calculation unit 221 that is not clustered into point group data CL1 and CL2 is considered noise.

[0085] In this case, the processing unit 222 calculates the centroid positions Pc(Pc1) of the multiple scattering points Ps contained in the point group data CL1, and the centroid positions Pc(Pc2) of the multiple scattering points Ps contained in the point group data CL2. Furthermore, the coordinates of the centroid position Pc1 are represented as (X1, Y1, Z1), and the coordinates of the centroid position Pc2 are represented as (X2, Y2, Z2). Additionally, the centroid positions Pc1 and Pc2 can be smoothed using moving averages, Kalman filtering, etc., and the defects can be interpolated.

[0086] Next, the position output unit 223 determines whether the center of gravity positions Pc1 and Pc2 are included within the first specified region E1 to the fourth specified region E4. The determination operation performed by the position output unit 223 will be described in detail below.

[0087] like Figure 2 As shown, the first defined region E1 is a quadrilateral region with vertices P11 to P14. The second defined region E2 is a quadrilateral region with vertices P21 to P24. The third defined region E3 is a quadrilateral region with vertices P31 to P34. The fourth defined region E4 is a quadrilateral region with vertices P41 to P44.

[0088] Here, points P11-P14, P21-P24, P31-P34, and P41-P44 are points defined by two-dimensional orthogonal coordinates (XY coordinates). In this embodiment, the coordinates of point P11 are set to (a1, d1), the coordinates of point P12 are set to (b1, d1), the coordinates of point P13 are set to (b1, c1), and the coordinates of point P14 are set to (a1, c1). Additionally, the coordinates of point P21 are set to (a2, d1), the coordinates of point P22 are set to (b2, d1), the coordinates of point P23 are set to (b2, c1), and the coordinates of point P24 are set to (a2, c1). Additionally, let the coordinates of point P31 be (a1, d2), the coordinates of point P32 be (b1, d2), the coordinates of point P33 be (b1, c2), and the coordinates of point P34 be (a1, c2). Also, let the coordinates of point P41 be (a2, d2), the coordinates of point P42 be (b2, d2), the coordinates of point P43 be (b2, c2), and the coordinates of point P44 be (a2, c2).

[0089] That is, the coordinate range of the first specified region E1 to the fourth specified region E4 is defined as shown in Table 1.

[0090] [Table 1]

[0091]

[0092] The position output unit 223 determines whether the center of gravity position Pc1 is included within the first defined region E1 (step S1). Here, we assume the following situation: the X-axis component (X1) of the coordinates (X1, Y1, Z1) of the center of gravity position Pc1 satisfies a1≤X1≤b1, and the Y-axis component (Y1) of the coordinates (X1, Y1, Z1) satisfies c1≤Y1≤d1. In this case, the position output unit 223 determines that the center of gravity position Pc1 is included within the first defined region E1 (step S1: "Yes").

[0093] Furthermore, the position output unit 223 determines whether the center of gravity position Pc2 is included within the first defined region E1 (step S1). Here, the position output unit 223 assumes the following situation: the X-axis component (X2) of the coordinates (X2, Y2, Z2) of the center of gravity position Pc2 does not satisfy a1≤X2≤b1, and the Y-axis component (Y2) of the coordinates (X2, Y2, Z2) does not satisfy c1≤Y2≤d1. In this case, the position output unit 223 determines that the center of gravity position Pc2 is not included within the first defined region E1 (step S1: "No"). In addition, the position output unit 223 also determines that the center of gravity position Pc2 is not included within the first defined region E1 if the X-axis component (X2) satisfies a1≤X2≤b1 and the Y-axis component (Y2) of the coordinates (X2, Y2, Z2) does not satisfy c1≤Y2≤d1. Furthermore, if the component (X2) in the X-axis direction of the position output unit 223 does not satisfy a1≤X2≤b1 and the component (Y2) in the Y-axis direction of the coordinate (X2, Y2, Z2) satisfies c1≤Y2≤d1, it is also determined that the center of gravity position Pc2 is not included in the first specified area E1.

[0094] The position output unit 223 outputs the centroid position Pc1 (coordinates (X1, Y1, Z1)) included in the first defined area E1 as the location Pe of person 5 within the first defined area E1 (step S2). Furthermore, if neither centroid position Pc1 nor Pc2 is included in the first defined area E1, the position output unit 223 does not output data as the location Pe of person 5. If the position output unit 223 does not output data as the location Pe of person 5, the existence determination unit 226 determines that person 5 does not exist within the first defined area E1 (step S7).

[0095] When the position output unit 223 outputs the center of gravity position Pc1 as the position Pe of the person 5 within the first defined area E1, the body motion detection unit 224 uses the number of multiple scattering points Ps contained in the detection point group data CL1 as the magnitude of the person 5's body motion.

[0096] The body motion detection unit 224 will take the maximum value of the size of the body motion detected within the first predetermined area E1 within a specific period (30s in this embodiment) as the body motion level LV1 (refer to...). Figure 6 The output is performed (step S3). The specific period is a longer period than the predetermined period during which the scattering point calculation unit 221 accumulates the scattering points Ps. In addition, the body motion detection unit 224 may also output the average value of the size of the body motion detected within the first predetermined area E1 within the specific period as the body motion level LV1. Alternatively, the body motion detection unit 224 may output the size of the detected body motion as the body motion level LV1 each time.

[0097] Here, Figure 6 It is a graph representing the coordinates (X0, Y0, Z0) of the location Pe of person 5 in the first defined area E1, the body movement level LV1, the biological signal level LV2, and the time change of the existence determination data F1 showing the existence determination result of person 5.

[0098] In this embodiment, as described above, the processing unit 222 generates point group data CL and calculates the centroid position Pc of the point group data CL every predetermined period (200ms). That is, the generation of point group data CL and the calculation of the centroid position Pc of the point group data CL are performed 150 times within a specific period (30s). Therefore, the centroid position Pc included in the first predetermined region E1 among the centroid positions Pc that are output 150 times within the specific period is output as the presence position Pe of the person 5 within the first predetermined region E1. That is, the presence position Pe of the person 5 within the first predetermined region E1 is output at most 150 times, therefore, the size of the body movement of the person 5 within the first predetermined region E1 is detected at most 150 times.

[0099] In this embodiment, the body motion detection unit 224 outputs the maximum value of the size of the body motion of the person 5 in the first specified area E1, which is detected up to 150 times within a specific period, as the body motion level LV1.

[0100] Furthermore, when the position output unit 223 outputs the center of gravity position Pc1 as the location Pe of the person 5 within the first defined area E1, the biosignal detection unit 225 selectively extracts the time-varying intensity of the radio wave (specific radio wave) from the location Pe of the person 5 from the information contained in the sensor signal Sg1.

[0101] The biosignal detection unit 225 detects the intensity of a specific frequency exhibited by the activities of a living organism (human 5) (such as breathing, heartbeat, pulse, etc.) based on the change in the intensity of a specific radio wave over time, and uses this intensity as the biosignal of the human 5. That is, the biosignal detection unit 225 detects the biosignal based on the frequency of a specific radio wave from the location Pe.

[0102] The biological signal detection unit 225 is implemented by a filter (e.g., a digital filter) that allows signals of a specific frequency to pass through while attenuating signals of other frequencies.

[0103] The biosignal detection unit 225, for example, takes the maximum value of the intensity of the biosignal of the human 5 detected within the first predetermined area E1 during a specific period (30s in this embodiment) as the biosignal level LV2 (see reference). Figure 6 The biological signal detection unit 225 may output the average intensity of the biological signal detected within the first predetermined region E1 during a specific period as the biological signal level LV2. Alternatively, the biological signal detection unit 225 may output the intensity of the detected biological signal as the biological signal level LV2 each time.

[0104] In this embodiment, as described above, the processing unit 222 generates point group data CL and calculates the centroid position Pc of the point group data CL every predetermined period (200ms). That is, the generation of point group data CL and the calculation of the centroid position Pc of the point group data CL are performed 150 times within a specific period (30s). Therefore, the centroid position Pc included in the first predetermined region E1 among the centroid positions Pc that have been output 150 times within the specific period is output as the presence position Pe of the person 5 within the first predetermined region E1. That is, since the presence position Pe of the person 5 within the first predetermined region E1 is output at most 150 times, the biological signal of the person 5 within the first predetermined region E1 is detected at most 150 times.

[0105] In this embodiment, the biosignal detection unit 225 outputs the maximum value of the intensity of the biosignal of the person 5 in the first specified area E1, which is detected up to 150 times within a specific period, as the biosignal level LV2.

[0106] The presence / absence determination unit 226 determines whether a person 5 exists in the first designated area E1 during a specific period based on the maximum value of the size of the body movements of the person 5 detected within a specific period, i.e., body movement level LV1, and the maximum value of the intensity of the biosignal of the person 5 detected within a specific period, i.e., biosignal level LV2. In other words, the presence / absence determination unit 226 determines whether a person 5 exists in the first designated area E1 every specific period (30s).

[0107] like Figure 6 As shown, the presence / absence determination unit 226 generates presence / absence determination data F1 indicating the determination result 1 ("present" or "absent").

[0108] More specifically, if at least one of the following conditions is met (step S5: "Yes"), the presence / absence determination unit 226 determines that a person 5 exists in the first designated area E1 (step S6). Here, as... Figure 6 As shown, the threshold set for body movement level LV1 is set as threshold Th1, and the threshold set for biological signal level LV2 is set as threshold Th2. Thresholds Th1 and Th2 are values ​​greater than 0.

[0109] Furthermore, as described above, the presence / absence determination unit 226 determines that person 5 does not exist in the first specified area E1 if the position output unit 223 does not output data as the presence location Pe of person 5.

[0110] The human detection system 100 also performs steps S1 to S7 on the second designated area E2 to the fourth designated area E4.

[0111] Here, we will explain an example of the operation of the existence determination unit 226 determining whether the person 5 exists in the specified area E0. Here, as an example, we will assume that the specified area E0 is the first specified area E1.

[0112] For example, in Figure 6 At time point t1, the coordinates (X0, Y0, Z0) of the location Pe are output. Furthermore, since the body action level LV1 exceeds the threshold Th1 and the biological signal level LV2 exceeds the threshold Th2, the presence determination unit 226 determines that a person 5 exists in the first specified area E1.

[0113] At time t2, the coordinates (X0, Y0, Z0) of the location Pe were output. Furthermore, although the body movement level LV1 was below the threshold Th1, the presence / absence determination unit 226 determined that a person 5 existed in the first defined area E1 because the biological signal level LV2 exceeded the threshold Th2.

[0114] At time point t3, no value of coordinates (X0, Y0, Z0) of the location Pe is output, so the existence determination unit 226 determines that no person 5 exists in the first specified area E1.

[0115] Furthermore, if the coordinates of the location Pe are output, the body movement level LV1 exceeds the threshold Th1, and the biological signal level LV2 is below the threshold Th2, the presence / absence determination unit 226 determines that a person 5 exists in the first designated area E1. Alternatively, if the coordinates of the location Pe are output, the body movement level LV1 exceeds the threshold Th1, and the biological signal level LV2 is below the threshold Th2, the presence / absence determination unit 226 determines that a moving object other than a person 5 (such as a cleaning robot) exists in the first designated area E1, and thus determines that a person 5 does not exist in the first designated area E1.

[0116] (4) Variations

[0117] The above-described embodiments are merely one of the various embodiments of this disclosure. Any embodiment described herein can be modified according to design and other factors as long as it achieves the purpose of this disclosure. Furthermore, the same functions as the human detection system can also be implemented using human detection methods, computer programs, or non-transitory recording media containing programs.

[0118] Hereinafter, variations of the above-described embodiments are listed. The variations described below can be appropriately combined and applied.

[0119] (4.1) Variation Example 1

[0120] like Figure 8 As shown, the human detection system 100 (100A) in Modified Example 1 differs from the above embodiment in that the control unit 22 also includes a layout information generation unit 229. Furthermore, the layout information generation unit 229 merely illustrates the functions implemented by the control unit 22 and does not necessarily show a physical structure.

[0121] The human detection system 100A includes a first operating mode as an operating mode of the above-described embodiment, and a second operating mode as an operating mode different from the first operating mode, which serve as the operating modes of the control unit 22 (hereinafter simply referred to as operating modes). The operating mode of the human detection system 100A is switched, for example, by the manager of the target area E10 to the first operating mode and the second operating mode.

[0122] The following is for reference Figures 9-12 An example of the operation in the second operation mode of the human detection system 100A will be described here. Figure 9 and Figure 12 The flowchart shown is merely an example of the operation of the human detection system 100A. The order of processing can be appropriately changed, and processes can be added or omitted as appropriate. Furthermore, in the following description, for components that are functionally identical to those of the human detection system 100 in the embodiment, the same reference numerals are used as those for the components of the human detection system 100 in the embodiment, and descriptions are omitted as appropriate.

[0123] The second action mode has a layout information generation mode and an existence / non-existence determination mode.

[0124] First, refer to Figure 9 This explains the operation mode of the human detection system 100A under the condition of layout information generation mode.

[0125] When the receiving unit 21 receives the sensor signal Sg1 sent from the radio wave sensor 1, it associates the information contained in the sensor signal Sg1 with the time of receiving the sensor signal Sg1 and stores it in the storage unit 23.

[0126] When the information of sensor signal Sg1 transmitted multiple times from radio wave sensor 1 within a specified period is stored in storage unit 23, scattering point calculation unit 221 calculates multiple scattering points Ps based on the information of sensor signal Sg1 within the specified period.

[0127] The processing unit 222 outputs point cluster data CL and the centroid position Pc of the point cluster data CL obtained by clustering multiple scattering points Ps.

[0128] In layout information generation mode, the position output unit 223 does not determine whether the center of gravity position Pc is included within the specified area E0. The position output unit 223 directly outputs the center of gravity position Pc output by the processing unit 222 (step S11). Furthermore, in the following description, in layout information generation mode, the center of gravity position Pc output by the position output unit 223 is recorded as the center of gravity position PcA.

[0129] When the position output unit 223 outputs the center of gravity position PcA, the body motion detection unit 224 detects the magnitude of the body motion (the number of multiple scattering points Ps contained in the point group data CL) based on the point group data CL. The body motion detection unit 224 outputs the magnitude of the body motion as the body motion level LV1 (step S12).

[0130] When the position output unit 223 outputs the center of gravity position PcA, the biosignal detection unit 225 detects the biosignal based on the frequency of a specific radio wave from the center of gravity position PcA. The biosignal detection unit 225 outputs the intensity of the biosignal as the biosignal level LV2 (step S13).

[0131] If at least one of the following conditions is met (step S14: "Yes"), the presence / absence determination unit 226 stores the center of gravity position PcA in the storage unit 23 (step S15). Alternatively, if the position output unit 223 outputs the center of gravity position PcA, the presence / absence determination unit 226 stores the center of gravity position PcA in the storage unit 23 regardless of whether the body movement level LV1 or the biosignal level LV2 is greater than the threshold set for body movement level LV1. In this case, the body movement detection unit 224 may not output the body movement level LV1, and the biosignal detection unit 225 may not output the biosignal level LV2.

[0132] When a predetermined number of center-of-gravity positions PcA are stored in the storage unit 23 (step S16), the layout information generation unit 229 sets a specific region Es0 using a setting method different from the predetermined region E0 pre-set by the manager of the object region E10, etc. (step S17). Based on the predetermined number of center-of-gravity positions PcA stored in the storage unit 23, the layout information generation unit 229 sets the specific region Es0 within the object region E10.

[0133] Similar to the specified region E0, a specific region Es0 is defined, for example, as the range of coordinates in the X-axis and Y-axis directions in a three-dimensional orthogonal coordinate system with reference point P0 as the origin.

[0134] Furthermore, the storage of a predetermined number of center-of-gravity positions PcA in the layout information generation mode can be performed either continuously or intermittently. That is, the human detection system 100A can continuously repeat steps S11 to S15 until the predetermined number of center-of-gravity positions PcA are stored, or it can store the center-of-gravity positions PcA in the storage unit 23 in step S15 and then operate in the first operation mode (the operation mode of the human detection system 100 in the above embodiment), and repeat steps S11 to S15 again at predetermined times.

[0135] The following describes in detail the setting operation of the specific area Es0 performed by the layout information generation unit 229.

[0136] like Figure 10 As shown, the layout information generation unit 229 uses a clustering algorithm such as DBSCAN to cluster a specified number of centroid positions PcA into, for example, four point group data CL11~CL14.

[0137] The layout information generation unit 229 calculates the centroid positions of the four point group data CL11~CL14, namely the centroid positions Pc11~Pc14.

[0138] like Figure 11 As shown, the layout information generation unit 229 configures the template area in such a way that the center of gravity of the template area is aligned with the center of gravity positions Pc11 to Pc14 respectively. This template area is a pre-defined area, such as a quadrilateral area. The layout information generation unit 229 sets the template area configured in such a way that the center of gravity is aligned with the center of gravity positions Pc11 to Pc14 as four specific areas Es0 (first specific area Es1 to fourth specific area Es4). In addition, the template area is not limited to a quadrilateral area, and may also be a circle or the like.

[0139] Next, refer to Figure 12 This explains the operation of the human detection system 100A in the presence / absence determination mode. Furthermore, when the layout information generation unit 229 completes the setting of specific areas Es1 to Es4, the operation mode of the human detection system 100A switches from the layout information generation mode to the presence / absence determination mode.

[0140] When the receiving unit 21 receives the sensor signal Sg1 sent from the radio wave sensor 1, it associates the information contained in the sensor signal Sg1 with the time of receiving the sensor signal Sg1 and stores it in the storage unit 23.

[0141] When the information of sensor signal Sg1 transmitted multiple times from radio wave sensor 1 within a specified period is stored in storage unit 23, scattering point calculation unit 221 calculates multiple scattering points Ps based on the information of sensor signal Sg1 within the specified period.

[0142] The processing unit 222 outputs point cluster data CL and the centroid position Pc of the point cluster data CL obtained by clustering multiple scattering points Ps.

[0143] The position output unit 223 determines whether the center of gravity position Pc is included in the first specific region Es1 (step S21).

[0144] When the position output unit 223 determines that the center of gravity position Pc is included within the first specific region Es1 (step S21: "Yes"), it outputs the center of gravity position Pc as the location Pe of the person 5 within the first specific region Es1 (step S22). Conversely, if the position output unit 223 does not output data as the location Pe of the person 5 (step S21: "No"), the presence / absence determination unit 226 determines that the person 5 does not exist within the first specific region Es1 (step S27).

[0145] When the position output unit 223 outputs the presence position Pe of the person 5, the body motion detection unit 224 outputs the maximum value of the size of the body motion detected in the first specific area Es1 within a specific period as the body motion level LV1 (step S23).

[0146] When the position output unit 223 outputs the location Pe of the presence of the person 5, the biosignal detection unit 225 outputs the maximum value of the intensity of the biosignal of the person 5 detected in the first specific area Es1 within a specific period as the biosignal level LV2 (step S24).

[0147] If at least one of the following conditions is met (step S25: "Yes"), the presence determination unit 226 determines that a person 5 exists in the first specific region Es1 (step S26).

[0148] The human detection system 100A also performs steps S21 to S27 on the second specific region Es2 to the fourth specific region Es4.

[0149] Furthermore, if the storage unit 23 stores information related to the configuration of tables D1 to D4 within the target area E10, the human detection system 100A can also associate the first specific area Es1 to the fourth specific area Es4 with the information regarding the configuration of tables D1 to D4. That is, the human detection system 100A can also set the first specific area Es1 to the fourth specific area Es4 as areas corresponding to tables D1 to D4 respectively.

[0150] (4.2) Variation Example 2

[0151] In the above embodiment, the body motion detection unit 224 detects the number of multiple scattering points Ps contained in the point group data CL as the magnitude of the body motion of the person 5 when the position output unit 223 outputs the presence position Pe of the person 5. In contrast, the body motion detection unit 224 in Modified Example 2 can also detect the magnitude of the distribution of the multiple scattering points Ps contained in the point group data CL as the magnitude of the body motion. Hereinafter, refer to... Figure 13 This describes the detection action performed by the body motion detection unit 224 on the magnitude of the distribution of multiple scattering points Ps contained in the point group data CL.

[0152] First, the body motion detection unit 224 transforms the coordinates of the multiple scattering points Ps in a three-dimensional orthogonal coordinate system into coordinates projected onto a plane PL1. The plane PL1 is, for example, a plane perpendicular to a line passing through a reference point P0 and the centroid position Pc of the multiple scattering points Ps. The plane PL1 is divided into multiple partitioned regions R0 arranged in a grid pattern. More specifically, the multiple partitioned regions R0 are arranged along mutually orthogonal first axes Ax and second axes Ay. Furthermore, Figure 13 This is a visualization provided to illustrate plane PL1. Furthermore, in this modified example, it is envisioned that multiple scattering points Ps each have an error region parallel to plane PL1. Figure 13 The multiple scattering points Ps are depicted as circles.

[0153] The body motion detection unit 224 detects the segmented region R0 containing multiple scattering points Ps within multiple segmented regions R0, i.e., segmented region R1 (in Figure 13 The value obtained by accumulating the area of ​​the shaded region R0 is used as the magnitude of the distribution of multiple scattering points Ps.

[0154] In addition, the body motion detection unit 224 can also detect the product of the distance between the two ends of the multiple scattering points Ps in the first axis Ax direction and the distance between the two ends of the scattering points Ps in the second axis Ay direction, and use it as the magnitude of the distribution of the multiple scattering points Ps.

[0155] (4.3) Other variations

[0156] The human detection system 100 of this disclosure includes a computer system, for example, in the control unit 22 of the signal processing system 2. The computer system is primarily structured with a processor and memory as hardware. The processor executes a program recorded in the computer system's memory, thereby fulfilling the function of the control unit 22 in this disclosure. The program can be pre-recorded in the computer system's memory, provided via an electrical communication line, or recorded on a non-transitory recording medium such as a memory card, optical disc, or hard disk drive that can be read by the computer system. The processor of the computer system is composed of one or more electronic circuits, including semiconductor integrated circuits (ICs) or large-scale integrated circuits (LSIs). The terminology used for integrated circuits such as ICs or LSIs varies depending on the degree of integration, including integrated circuits referred to as system LSIs, VLSIs (Very Large Scale Integration), or ULSIs (Ultra Large Scale Integration). Furthermore, FPGAs (Field-Programmable Gate Arrays) programmed after LSI manufacturing, or logic devices capable of reconfiguring the internal bonding relationships or circuit partitioning of LSIs, can also be used as processors. Multiple electronic circuits can be integrated onto a single chip or distributed across multiple chips. Multiple chips can be integrated into a single device or distributed across multiple devices. The computer system described herein includes microcontrollers having one or more processors and one or more memories. Therefore, microcontrollers also consist of one or more electronic circuits, including semiconductor integrated circuits or large-scale integrated circuits.

[0157] The radio wave sensor 1 can be any radio wave sensor capable of measuring the distance to the object 4, and can be any sensor other than an FMCW type radio wave sensor. For example, the radio wave sensor 1 can also be a dual-frequency FSK (Frequency Shift Keying) type radio wave sensor.

[0158] The processing unit 222 can also use data obtained by weighting the coordinate positions of multiple scattering points Ps by using the intensity of the radio waves reflected by multiple scattering points Ps as weights to calculate the centroid position Pc of the point group data CL.

[0159] (5) Summary

[0160] As described above, the human detection system (100) according to the first method includes a scattering point calculation unit (221), a processing unit (222), a position output unit (223), a body motion detection unit (224), a biological signal detection unit (225), and an presence / absence determination unit (226). The scattering point calculation unit (221) calculates multiple scattering points (Ps) that reflect radio waves within an object region (E10) including a specified region (E0) based on information obtained from multiple received waves (W21~W23) received by the radio wave sensor (1), wherein the radio wave sensor (1) transmits radio waves to the object region (E10) and receives the radio waves reflected within the object region (E10) as multiple received waves (W21~W23). The processing unit (222) outputs point cluster data (CL) obtained by clustering the multiple scattering points (Ps) and the centroid position (Pc) of the point cluster data (CL). The position output unit (223) outputs the center of gravity position (Pc) as the presence position (Pe) of the person (5) within the specified area (E0) if the center of gravity position (Pc) is included within the specified area (E0). The body motion detection unit (224) detects the size of the person's (5) body motion based on point group data (CL) if the position output unit (223) outputs the presence position (Pe) of the person (5). The biosignal detection unit (225) detects the biosignal of the person (5) if the position output unit (223) outputs the presence position (Pe) of the person (5). If at least one of the following conditions is met: the size of the person's (5) body motion is greater than a threshold set for the size of the person's (5) body motion, or the biosignal of the person (5) is greater than a threshold set for the biosignal of the person (5), the presence determination unit (226) determines that the person (5) exists within the specified area (E0).

[0161] According to this method, the human detection system (100) determines whether the human (5) exists in the specified area (E0) based on the location (Pe) of the human (5), the size of the human (5)'s body movements, and the human (5)'s biological signals, thus improving the detection accuracy of the human (5).

[0162] Regarding the human detection system (100) involved in the second approach, in the first approach, the target area (E10) includes multiple defined areas (E0).

[0163] According to this method, the human detection system (100) can detect people (5) in multiple specified areas (E0), thus improving the versatility of the human detection system (100).

[0164] Regarding the human detection system (100) involved in the third method, in the first or second method, the number of multiple scattering points (Ps) contained in the detection point group data (CL) of the body motion detection unit (224) is used as the magnitude of the body motion of the person (5).

[0165] According to this method, the accuracy of the body motion detection unit (224) in detecting the magnitude of the body motion of a person (5) can be improved.

[0166] Regarding the human detection system (100) involved in the fourth method, in any of the first to third methods, the size of the distribution of multiple scattering points (Ps) contained in the detection point group data (CL) of the body motion detection unit (224) is used as the size of the human (5)'s body motion.

[0167] According to this method, the accuracy of the body motion detection unit (224) in detecting the magnitude of the body motion of a person (5) can be improved.

[0168] Regarding the human detection system (100) involved in the fifth method, in any of the first to fourth methods, the biosignal detection unit (225) detects the biosignal of the human (5) based on the frequency of the radio waves from the location of presence (Pe).

[0169] According to this method, the detection accuracy of the biological signals of the human (5) by the biological signal detection unit (225) can be improved.

[0170] Regarding the human detection system (100) involved in the sixth method, in any of the first to fifth methods, it further includes: a storage unit (23); and a layout information generation unit (229), which sets a specific area (Es0) within the object area (E10) using a setting method different from that of the specified area (E0). The human detection system (100) has a layout information generation mode and an presence / absence determination mode as its action modes. When the action mode of the human detection system (100) is the layout information generation mode, the position output unit (223) outputs the center of gravity position (Pc). When the position output unit (223) outputs the center of gravity position (Pc), the body movement detection unit (224) detects the magnitude of the human (5)'s body movement based on point group data (CL). When the position output unit (223) outputs the center of gravity position (Pc), the biosignal detection unit (225) detects the human (5)'s biosignal. If at least one of the following conditions is met: the size of the person's (5) body movement is greater than a threshold set for the size of the person's (5) body movement, or the biosignal of the person (5) is greater than a threshold set for the biosignal of the person (5), the presence / absence determination unit (226) stores the center of gravity position (Pc) in the storage unit (23). The layout information generation unit (229) sets a specific region (Es0) within the object region (E10) based on a predetermined number of center of gravity positions (Pc) stored in the storage unit (23). If the action mode of the human detection system (100) is the presence / absence determination mode, the position output unit (223) outputs the center of gravity position (Pc) as the presence position (Pe) of the person (5) within the specific region (Es0) if the center of gravity position (Pc) is included within the specific region (Es0). The body movement detection unit (224) detects the size of the person's (5) body movement based on point group data (CL) if the position output unit (223) outputs the presence position (Pe) of the person (5). The biosignal detection unit (225) detects the biosignal of the person (5) when the position output unit (223) outputs the presence position (Pe) of the person (5). If at least one of the following conditions is met: the size of the person's (5) body movement is greater than a threshold set for the size of the person's (5) body movement, or the biosignal of the person (5) is greater than a threshold set for the biosignal of the person (5), the presence determination unit (226) determines that the person (5) exists in a specific area (Es0).

[0171] According to this method, a specific area (Es0) for determining the presence or absence of a person (5) is set based on the historical existence of a person (5) within the object area (E10), thus enabling flexible responses to layout changes within the object area (E10).

[0172] Regarding the human detection system (100) involved in the seventh method, in any of the first to sixth methods, it also includes a display unit (31) that displays the determination result of the presence or absence determination unit (226).

[0173] According to this method, the administrator of the object area (E10) can easily confirm the determination result of the existence determination unit (226).

[0174] Regarding the human detection system (100) involved in the eighth method, in any of the first to seventh methods, it also includes an electromagnetic wave sensor (1).

[0175] According to this method, the human detection system (100) determines whether the human (5) exists in the specified area (E0) based on the location (Pe) of the human (5), the size of the human (5)'s body movements, and the human (5)'s biological signals, thus improving the detection accuracy of the human (5).

[0176] Explanation of reference numerals in the attached figures

[0177] 1: Radio wave sensor

[0178] 5: People

[0179] 23: Storage Department

[0180] 31: Display Section

[0181] 100: Human Detection System

[0182] 221: Scattering Point Calculation Unit

[0183] 222: Processing Department

[0184] 223: Position Output Unit

[0185] 224: Body Movement Detection Department

[0186] 225: Biosignal Detection Department

[0187] 226: Existence / Existence Determination Section

[0188] 229: Layout Information Generation Department

[0189] CL: Point Group Data

[0190] E0: Specified area

[0191] E10: Object Region

[0192] Es0: Specific area

[0193] Pc: Center of gravity position

[0194] Pe: Location of Existence

[0195] Ps: Scattering point

[0196] W21: Receive wave

[0197] W22: Receive wave

[0198] W23: Received wave.

Claims

1. A person detection system comprising: an electric wave sensor that transmits an electric wave to an object region and receives the electric wave reflected in the object region as a plurality of reception waves; a processing section that outputs a cluster of the plurality of scattering points and a center-of-gravity position of the cluster; a position output section that outputs the center-of-gravity position as a position of a person present in a prescribed region when the center-of-gravity position is included in the prescribed region; a body motion detection section that detects a size of a body motion of the person based on the cluster when the position output section outputs the position of the person present; a living body signal detection section that detects a living body signal of the person when the position output section outputs the position of the person present; and a presence / absence determination section that determines that the person is present in the prescribed region when at least one of the size of the body motion is larger than a threshold value set for the size of the body motion and the living body signal is larger than a threshold value set for the living body signal. a scattering point calculation section which calculates a plurality of scattering points that reflect the electric wave within an object region including a prescribed region, on the basis of information obtained from a plurality of received waves received by the electric wave sensor, wherein 2. The person detection system according to claim 1, wherein the object region includes a plurality of the prescribed regions.

3. The person detection system according to claim 1 or 2, wherein the body motion detection section detects a number of the plurality of scattering points included in the cluster as the size of the body motion.

4. The person detection system according to any one of claims 1 to 3, wherein the body motion detection section detects a size of a distribution of the plurality of scattering points included in the cluster as the size of the body motion.

5. The person detection system according to any one of claims 1 to 4, wherein the living body signal detection section detects the living body signal based on a frequency of the electric wave from the position of the person present. further comprising: a storage section; and a layout information generation section that sets a specific region in the object region by a setting method different from the prescribed region, the person detection system has a layout information generation mode and a presence / absence determination mode as an operation mode, in a case where the operation mode of the person detection system is the layout information generation mode, the position output section outputs the center-of-gravity position, the body motion detection section detects the size of the body motion based on the cluster when the position output section outputs the center-of-gravity position, the living body signal detection section detects the living body signal when the position output section outputs the center-of-gravity position, and the presence / absence determination section stores the center-of-gravity position in the storage section when at least one of the size of the body motion is larger than a threshold value set for the size of the body motion and the living body signal is larger than a threshold value set for the living body signal, the layout information generation section sets the specific region in the object region based on a prescribed number of the center-of-gravity positions stored in the storage section. ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ 6. The people detection system of any one of claims 1-5, wherein, ​ ​ ​ ​ ​ In a case where the action mode of the person detection system is the presence / absence determination mode, the position output section outputs the center-of-gravity position as the presence position of the person in the specific region in a case where the center-of-gravity position is included in the specific region, the body motion detection section detects the size of the body motion based on the point group data in a case where the position output section outputs the presence position of the person, the living body signal detection section detects the living body signal in a case where the position output section outputs the presence position of the person, and the presence / absence determination section determines that the person is present in the specific region in a case where at least one of the size of the body motion is larger than a threshold value set for the size of the body motion and the living body signal is larger than a threshold value set for the living body signal.

7. The person detection system according to any one of claims 1 to 6, wherein Further provided is a display section that displays a determination result of the presence / absence determination section.

8. The person detection system according to any one of claims 1 to 7, wherein Further provided is the electric wave sensor.

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