Motion detection system, radio wave sensor system, equipment control system, equipment system, and wiring tool

Abstract

To provide a motion detection system capable of improving the accuracy of counting the number of people within a designated area while reducing the number of radio-frequency sensors deployed.SOLUTION: A motion detection system 1 includes a detection unit 113 and an increment / decrement unit 114. The detection unit 113 performs a series of detection processing to detect a moving object that crosses a boundary of a designated area and has a height exceeding a predetermined value based on the received signal from a radio-frequency 101. The increasing / decreasing unit 114 performs a series of increment / decrement processing to increase or decrease the counter value corresponding to the count result of the number of people present within the designated area in response to the detection of the moving object by the detection processing. The detection processing is a series of processing for determining whether the height of the object moving across the boundary is above a predetermined value based on the received signal, and when it is determined that the height is above a predetermined value, detecting the object as a moving target.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present disclosure relates to a moving object detection system, a radio wave sensor system, an equipment control system, an equipment system, and a wiring device, and more particularly to a moving object detection system, a radio wave sensor system, an equipment control system, an equipment system, and a wiring device that detect moving objects. [Background technology]

[0002] Patent Document 1 describes an intrusion detection device that receives a reflected wave of a transmitted radio wave reflected by an object and detects an intrusion into a detection area based on the strength of the received reflected wave (received wave strength). This intrusion detection device detects a moving object (moving body), such as an intruder who is moving in some way, based on changes over time in the received wave strength. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2002-236171 Summary of the Invention [Problem to be solved by the invention]

[0004] It is conceivable to use the intruder detection device of Patent Document 1 to detect people present within an area (inside a region) and count the number of people. However, to count the number of people accurately, it is necessary to arrange radio wave sensors so that radio waves reach the entire region evenly. Therefore, when using the intruder detection device of Patent Document 1 to count the number of people present within a region, the larger the region, the more radio wave sensors are required.

[0005] The object of the present disclosure is to provide a moving object detection system, a radio wave sensor system, an equipment control system, an equipment system, and a wiring device that can improve the accuracy of counting the number of people present within an area while reducing the number of radio wave sensors to be placed. [Means for solving the problem]

[0006] A moving object detection system according to one aspect of the present disclosure includes a detection unit and an increment / decrement unit. The detection unit executes a detection process to detect a moving object having a height equal to or greater than a predetermined value that moves across a boundary of an area based on a received signal from a radio wave sensor. The increment / decrement unit executes an increment / decrement process to increment / decrement a count value corresponding to a count result of counting the number of people present within the area in response to the detection of the moving object by the detection process. The detection process determines, based on the received signal, whether the height of the object moving across the boundary is equal to or greater than the predetermined value, and detects the object as the moving object if it is determined that the height is equal to or greater than the predetermined value.

[0007] A radio wave sensor system according to one aspect of the present disclosure includes the moving object detection system and the radio wave sensor.

[0008] A radio wave sensor system according to one aspect of the present disclosure includes the moving object detection system and the radio wave sensors, which are a first radio wave sensor and a second radio wave sensor.

[0009] A device control system according to an aspect of the present disclosure includes the moving object detection system and a control unit, wherein the control unit controls a device based on the count value.

[0010] A device system according to an aspect of the present disclosure includes the moving object detection system, a device, and a control unit, wherein the control unit controls the device based on the count value.

[0011] According to one aspect of the present disclosure, there is provided a wiring device to which a device is connected, the wiring device including the motion detection system, the radio wave sensor, and a control unit, and the control unit controls the device based on the count value. [Effects of the Invention]

[0012] The moving object detection system, radio wave sensor system, equipment control system, equipment system, and wiring device disclosed herein have the advantage of being able to improve the accuracy of counting the number of people present within an area while reducing the number of radio wave sensors to be placed. [Brief explanation of the drawings]

[0013] [Figure 1] FIG. 1 is a block diagram of a radio wave sensor system including a moving object detection system (device control system) according to an embodiment of the present disclosure. [Figure 2] FIG. 2 is a flowchart illustrating the operation of the moving object detection system. [Figure 3] FIG. 3 is a conceptual diagram illustrating an area (room) in which the moving object detection system is used, and how the moving object is detected at the boundary (entrance / exit) of the area and the presence / absence of a human body in the area. [Figure 4] FIG. 4 is a conceptual diagram illustrating the detection of a moving object (entrant) moving from the outside to the inside of the area across the boundary, and a moving object (contestant) moving from the inside to the outside of the area. [Figure 5] FIG. 5 is a conceptual diagram illustrating the distinction between moving objects (entrants) and objects other than moving objects (baggage) at the boundary in the same manner. [Figure 6] FIG. 6 is a conceptual diagram illustrating the details of determining whether or not a human body is present in the above-mentioned area. [Figure 7] FIG. 7 is a graph showing changes in frequency of radio waves (transmitted waves and reflected waves) transmitted and received by the radio wave sensor constituting the radio wave sensor system. [Figure 8] FIG. 8 is a waveform diagram for explaining the inter-frame difference. [Figure 9] FIG. 9A is a frequency spectrum diagram showing the FFT results for the current frame Fr0, FIG. 9B is a frequency spectrum diagram showing the FFT results for the subsequent frame Fr1, and FIG. 9C is a frequency spectrum diagram showing the difference between the FFT results. [Figure 10]FIG. 10A is a distribution diagram showing an example of cluster distribution when the human body is in an upright position, FIG. 10B is a distribution diagram showing an example of cluster distribution when the human body is in a sitting position, and FIG. 10C is a distribution diagram showing an example of cluster distribution when the human body is in a lying position. [Figure 11] Figure 11A is a conceptual diagram showing a three-dimensional figure surrounding a cluster group in a standing position, Figure 11B is a conceptual diagram showing a three-dimensional figure surrounding a cluster group in a sitting position, and Figure 11C is a conceptual diagram showing a three-dimensional figure surrounding a cluster group in a lying position. [Figure 12] FIG. 12A is a distribution map showing an example of a cluster distribution corresponding to a cleaning robot, and FIG. 12B is a distribution map showing an example of a cluster distribution corresponding to an electric fan. [Figure 13] FIG. 13 is a block diagram of a radio wave sensor system including a wiring fixture equipped with the above moving object detection system (device control system). DETAILED DESCRIPTION OF THE INVENTION

[0014] (1) Overview First, an overview of a moving object detection system 1 according to an embodiment of the present disclosure will be described with reference to FIGS. 1, 3 to 5, 10A, and 11A.

[0015] As shown in FIG. 1, the moving object detection system 1 includes a detection unit 113 and an increase / decrease unit 114.

[0016] (1-1) Detection unit and detection processing The detection unit 113 executes a detection process, which is a process for detecting moving objects 201, 202 having a height equal to or greater than a predetermined value H1 and moving across a boundary B1 of an area R1, based on a signal received by the radio wave sensor 101, as shown in FIGS.

[0017] The detection process is a process that determines, based on the received signal, whether the height of the object 200a moving across the boundary B1 is equal to or greater than a predetermined value H1, and if it is determined that the height is equal to or greater than the predetermined value H1, detects the object 200a as a moving object 201, 202. If it is determined that the height is not equal to or greater than the predetermined value H1 (i.e., the height is less than the predetermined value H1), the detection process does not detect the object 200a as a moving object 201, 202.

[0018] (1-1-1) area Region R1 is an area where people can enter and exit. The interior R11 of region R1 is, for example, the interior of the room shown in Figure 3. The interior is a space surrounded by a ceiling, floor, and side walls. The exterior R12 of region R1 is, for example, a corridor or an adjacent room.

[0019] In this embodiment, the area R1 is a room (e.g., an exhibition hall) within an exhibition hall. With respect to such an area R1, the moving objects 201, 202 detected by the detection process are basically human bodies (e.g., human body 200H present inside R11 of the area R1). However, human bodies whose height is less than a predetermined value H1 (e.g., preschool children and infants) are not detected as moving objects 201, 202. On the other hand, baggage whose height is equal to or greater than the predetermined value H1 may be detected as moving objects 201, 202.

[0020] (1-1-2) Boundaries and entrances As shown in FIG. 3, the boundary B1 is a plane that runs along the entrance R1d to the interior R11 (room) of the region R1.

[0021] In this embodiment, the entrance R1d is provided on a side wall of the room. As shown in FIG. 3, the boundary B1 is a plane parallel to the entrance R1d provided on the side wall. The boundary B1 is set at a position outside the region R1, a predetermined distance away from the entrance R1d. The predetermined distance is, for example, 50 cm, but the predetermined distance can be any value.

[0022] (1-1-3) Boundary crossing Movement across the boundary B1 is movement (entry) from the outside R12 (outdoors) of the area R1 to the inside R11 (indoors) of the area R1, or movement (exit) from the inside R11 of the area R1 to the outside R12.

[0023] (1-1-4) Object and specified value 4 and 5, the predetermined value H1 is a value for classifying one or more objects 200a moving across the boundary B1 into moving objects 201, 202 (e.g., human body 200H) and objects 200a (e.g., baggage) other than the moving objects 201, 202. The predetermined value H1 is, for example, a value corresponding to the height of a child who is able to walk alone and is the youngest age group to be included in the counting results.

[0024] The predetermined value H1 in this embodiment is 80 cm, which corresponds to the height of a toddler (3 years old) who can walk alone, and children other than infants who have difficulty walking alone and adults are included in the counting results.

[0025] (1-1-5) Moving Objects The detected moving objects 201, 202 (see FIG. 4) are initially regarded as human bodies 200H (people entering and exiting the interior R11 of the region R: see FIG. 3), and are reflected in the count value. However, even if an object 200a moving across the boundary B1 is detected, if its height is less than a predetermined value H1 (for example, baggage: see FIG. 5), it is not detected as a moving object 201, 202. In this embodiment, an object 200a with a height less than the predetermined value H1 may be, for example, an infant or a preschool child, but it is not detected as a moving object 201, 202 and is not reflected in the count value.

[0026] (1-1-6) Height The height is the distance between the upper end and the lower end of the object 200a. Generally, the lower end of the object 200a is in contact with the floor, so the height may be the distance from the floor to the upper end of the object 200a.

[0027] In this embodiment, the height (e.g., the height of a person) is the distance between the bottom end (second cluster CL2) and the top end (first cluster CL1) of the point cloud 501 corresponding to the human body 200H as shown in Fig. 10A. The height may also be the height H of a three-dimensional figure 502 surrounding the point cloud 501 as shown in Fig. 11A.

[0028] (1-1-7) Radio wave sensor The radio wave sensor 101 is placed so that radio waves Tr (transmission waves) from the radio wave sensor 101 reach the boundary B1 and its vicinity. These are transmission waves transmitted from the radio wave sensor 101. The radio wave sensor 101 is preferably placed above the entrance / exit R1d. The radio wave sensor 101 transmits radio waves in a first direction Dr1, which is a direction along a plane passing through the entrance / exit R1d (i.e., the opening plane of the side wall of the room).

[0029] Even if the radio wave sensor 101 is placed to the side of the entrance / exit R1d (see "Variations in Radio Wave Sensor Placement"), the radio waves Tr reach the boundary B1 and its vicinity. However, placing the sensor 101 above is preferable in terms of improving the accuracy of the counting value, because the object 200a is less likely to be hidden behind another object 200a when viewed from the radio wave sensor 101.

[0030] Generally, there is a wall above the entrance / exit R1d, making it difficult to place the radio wave sensor 101 directly above the entrance / exit R1d, so the radio wave sensor 101 in this embodiment is provided directly above the boundary B1, as shown in Figures 3 to 5. The radio wave sensor 101 transmits radio waves Tr in a first direction Dr1 along the boundary B1.

[0031] The radio wave sensor 101 has, for example, one transmitting antenna and three or more receiving antennas. In the radio wave sensor 101, radio waves Tr are transmitted from the transmitting antenna, and each of the three or more receiving antennas receives a reflected wave Re of the radio waves Tr reflected by an object 200a or the like. As a result, three or more receiving signals corresponding to the three or more receiving antennas are output from the radio wave sensor 101.

[0032] (1-1-8) Received signal The received signal is a signal based on the reflected wave Re received by the radio wave sensor 101. The received signal includes information according to the distance from the radio wave sensor 101 to the target object 200a. The information according to the distance is the time difference, the intensity difference, the frequency difference, the phase difference, etc. The time difference is the difference between the transmission time of the radio wave Tr and the reception time of the reflected wave Re. The intensity difference is the difference between the transmission intensity of the radio wave Tr and the reception intensity of the reflected wave Re. The frequency difference is the difference between the frequency of the radio wave Tr and the frequency of the reflected wave Re. The phase difference is the difference between the phase of the radio wave Tr and the phase of the reflected wave Re.

[0033] By taking the time difference (described later) between the received signals, it is possible to obtain information about the movement (change in position, speed, height, etc.) of the object 200a.

[0034] (1-1-9) Location information, points and point clouds Three-dimensional position information (hereinafter simply referred to as "position information") regarding the position of the object 200a is acquired based on three or more received signals output from the radio wave sensor 101. The position information may be, for example, coordinates (x, y, z) of a point in a three-dimensional space 500 shown in FIG. 10A. The point in the three-dimensional space 500 corresponds to one of a plurality of parts (for example, the head, legs, etc. of the human body 200H detected as the moving object 201) that make up the object 200a (for example, the moving object 201) shown in FIGS. 3 to 5.

[0035] Position information is repeatedly acquired based on the output of the radio wave sensor 101, and a plurality of points are arranged in a three-dimensional space 500, thereby forming a point cloud 501 corresponding to the human body 200H, as shown in Fig. 10A, for example. The point cloud 501 includes a first cluster CL1 corresponding to the head and a second cluster CL2 corresponding to the legs.

[0036] (1-1-10) One or more point clouds If one or more moving objects 201, 202 are present at or near the boundary B1, in other words, within the reach W1 (see Figures 3 to 5) of the radio waves Tr transmitted from the radio wave sensor 101, one or more point groups corresponding to the one or more moving objects 201, 202 are arranged in the three-dimensional space 500.

[0037] (1-2) Increment / Decrement Unit and Increment / Decrement Processing The increment / decrement unit 114 executes increment / decrement processing, which is processing for incrementing / decrementing the count value in response to the detection of the moving objects 201 and 202 by the detection processing.

[0038] (1-2-1) Count values The count value is a value corresponding to the count result of counting the number of people present inside R11 of region R1. The count value is a variable stored in a memory included in the moving object detection system 1.

[0039] The count value in this embodiment is the result of subtracting the number of people leaving from the number of people entering. The count value is, for example, a counter value (count value) that is incremented as people enter the area R1 from the outside R12 to the inside R11, and decremented as people exit the area R1 from the inside R11 to the outside R12.

[0040] (1-3) Signal processing for detection (1-3-1) Signal processing unit and signal processing As shown in FIG. 1, the moving object detection system 1 further includes a signal processing unit 111. The signal processing unit 111 repeatedly performs signal processing based on the time difference of the received signals. The time difference of the received signals is the difference between the received signal at a first time and the received signal at a second time that is a predetermined time T after the first time. The time difference of the received signals includes information about the movement of the object 200a. The information about the movement is information indicating, for example, a change in position (displacement), speed, direction, or height.

[0041] Signal processing is a process of acquiring multiple pieces of position information corresponding to multiple parts that make up the object 200a for each of one or more objects 200a that exist within the range W1 of the radio waves transmitted from the radio wave sensor 101, which range includes the boundary B1.

[0042] The signal processing may further include processing for arranging, for each of the one or more objects 200a, point clouds 501 (see FIG. 10A) corresponding to the plurality of pieces of acquired position information in three-dimensional space 500. As a result, one or more point clouds 501 are arranged in three-dimensional space 500. Note that an image of three-dimensional space 500 in which one or more point clouds 501 are arranged may be displayed on a display via output unit 13, which will be described later.

[0043] The signal processing may further include processing to acquire point cloud information for each of one or more objects 200a. The point cloud information is information related to the point cloud 501. The point cloud information may include, for example, a point cloud identifier that identifies the point cloud 501, and representative position information that is position information corresponding to a representative point (e.g., a central point) among one or more points that make up the point cloud 501. For example, if the point cloud 501 is made up of multiple points, the central point is a point that corresponds to the center of gravity of the multiple points. The coordinates of the point that corresponds to the center of gravity of the multiple points are acquired by calculating the average of multiple coordinates corresponding to the multiple points.

[0044] (1-3-2) Detection process based on the results of signal processing Specifically, the above-mentioned detection process is a process for acquiring height information and trajectory information for each of one or more objects 200a based on time-series data of multiple pieces of position information acquired by repeatedly executing signal processing. The time-series data of multiple pieces of position information is data in which multiple pieces of position information corresponding to multiple parts that make up the object 200a are arranged in time series. The time-series data of multiple pieces of position information may be a set of pairs of multiple pieces of position information and time information.

[0045] The height information is information relating to the height of the object 200a. As described above, the height is the distance between the bottom and top of the distribution of the point cloud 501. The trajectory information is information relating to the movement trajectory of the object 200a. The movement trajectory may be, for example, the trajectory of movement of a representative point in the point cloud 501. The time information is information indicating the current time. The time information is obtained, for example, from an internal clock of the processor (described later).

[0046] In addition, the detection process is a process of detecting the object 200a as a moving object 201, 202 when it is determined based on the height information and trajectory information that the object 200a has a height equal to or greater than a predetermined value H1 and has moved across the boundary B1.

[0047] Specifically, in the detection process, it is determined based on the height information whether the object 200a has a height equal to or greater than a predetermined value H1. Also, in the detection process, it is determined based on the trajectory information whether the object 200a has moved across the boundary B1. Then, in the detection process, if the object 200a has a height equal to or greater than the predetermined value H1 and is determined to have moved across the boundary B1, the object 200a is detected as a moving object 201, 202.

[0048] (1-3-3) Advantages According to the above configuration, the radio wave sensor 101 is positioned so that radio waves Tr reach the boundary B1 and its vicinity (reaching range W1), and moving objects 201, 202 of a predetermined height or higher that move across the boundary B1 are detected, and the counting value is increased or decreased, thereby improving the accuracy of counting the number of people present inside R11 of the area R1 while reducing the number of radio wave sensors 101.

[0049] In particular, by installing the radio wave sensor 101 above the entrance / exit R1d (for example, directly above the boundary B1) and transmitting radio waves Tr in a first direction Dr1 along the entrance / exit R1d (for example, parallel to the boundary B1), it is possible to improve the detection accuracy of moving objects 201, 202 entering and exiting the interior R11 of the area R1, and ultimately improve the counting accuracy of the number of people present in the room.

[0050] Specifically, when the height indicated by the height information (for example, height H of the three-dimensional figure 502 shown in FIG. 11A) is equal to or greater than a predetermined value H1 and the movement trajectory indicated by the trajectory information intersects with boundary B1, the object 200a is detected as a moving object 201, 202. When the height indicated by the height information is less than the predetermined value H1 or the movement trajectory indicated by the trajectory information does not intersect with boundary B1, the object 200a is not detected as a moving object 201, 202 (it may be detected as an object 200a other than the moving objects 201, 202, such as baggage).

[0051] Furthermore, by performing detection processing based on time-series data obtained by repeatedly executing signal processing, it is possible to improve the accuracy of detecting the moving objects 201 and 202, and in turn improve the accuracy of counting the number of people.

[0052] (2)Details Next, details of the moving object detection system 1 will be explained using Figures 1, 3 to 5, 7, 8, 9A to 9C, 10A to 10C, and 11A to 11C. Note that in the following, explanations of matters already mentioned will be omitted or simplified.

[0053] In the following description, the above-mentioned radio wave sensor 101 is referred to as the first radio wave sensor 101. In the following description, the above-mentioned received signal is referred to as the first received signal from the first radio wave sensor 101. The above-mentioned detection unit 113 executes the above-mentioned detection process based on the first received signal from the first radio wave sensor 101.

[0054] (2-1) First radio wave sensor and second radio wave sensor 1, the first radio wave sensor 101 is provided above the entrance / exit R1d of the area R1 and outside R12 of the area R1, and transmits a first radio wave in a first direction Dr1 along a plane passing through the boundary B1. The first radio wave sensor 101 receives a first reflected wave Re that is a reflected wave Re of the first radio wave Tr, and outputs a first received signal based on the first reflected wave Re.

[0055] Additionally, a second radio wave sensor 102 is provided inside R11 of area R1, facing the entrance / exit R1d. The second radio wave sensor 102 transmits a second radio wave in a second direction Dr2 that intersects with a plane passing through the boundary B1, receives a second reflected wave Re that is a reflected wave Re of the second radio wave Tr, and outputs a second received signal based on the second reflected wave Re.

[0056] According to this configuration, the first radio wave sensor 101 is provided above the entrance / exit R1d and transmits a first radio wave in a direction along the entrance / exit R1d, and the second radio wave sensor 102 is provided opposite the entrance / exit R1d and transmits a second radio wave in a second direction Dr2 that intersects with the entrance / exit R1d, thereby improving the accuracy of detecting moving objects 201, 202 entering and exiting the room, improving the accuracy of determining whether a human body 200H is present in the room, and ultimately improving the accuracy of counting the number of people present in the room.

[0057] (2-2) Determining the presence or absence of a human body and correcting the count value The moving object detection system 1 further includes a determination unit 115 and a correction unit .

[0058] (2-2-1) Judgment section The determination unit 115 executes a determination process. The determination process is a process of determining whether or not a human body 200H is present inside R11 based on a second received signal from the second radio wave sensor 102. The second radio wave sensor 102 is a radio wave sensor different from the first radio wave sensor 101.

[0059] (2-2-2) Correction section The correction unit 116 executes a correction process, which is a process for correcting a count value when the number of people indicated by the count value contradicts the determination result of the determination process.

[0060] (2-2-3) Advantages of Existence Determination and Amendment The accuracy of counting the number of people can be further improved by increasing / decreasing and correcting the count value using a first radio wave sensor 101 for detecting moving bodies 201, 202 and a second radio wave sensor 102 for determining the presence or absence of a human body 200H.

[0061] (2-2-4) Details of detection process The detection process includes a first detection process and a second detection process. The first detection process is a process for detecting a first moving object 201 that moves from outside R12 to inside R11 of region R1 across boundary B1. The second detection process is a process for detecting a second moving object 202 that moves from inside R11 to outside R12 across boundary B1.

[0062] (2-2-5) Details of increase / decrease processing The increase / decrease process includes an increase process and a decrease process. The increase process is a process of increasing the count value in response to the detection of a first moving object 201 by the first detection process. The decrease process is a process of decreasing the count value in response to the detection of a second moving object 202 by the second detection process.

[0063] (2-2-6) Details of correction process The correction process includes a first correction process and a second correction process. The first correction process is a process of correcting the count value to one or more people when the count value indicates zero or less people and the determination result indicates the presence of a human body 200H in the interior R11. The second correction process is a process of correcting the count value to zero people when the count value indicates one or more people and the determination result indicates the absence of a human body 200H in the interior R11.

[0064] (2-2-7) Advantages of detection processing, increase / decrease processing, and correction processing In the moving object detection system 1, the count value can be increased / decreased and corrected easily and accurately by performing the detection process, the increase / decrease process and the correction process.

[0065] (2-3) Details of signal processing The above-mentioned signal processing unit 111 is the first signal processing unit 111. In addition to the first signal processing unit 111, the moving object detection system 1 further includes a second signal processing unit 112.

[0066] (2-3-1) First signal processing unit The first signal processing unit 111 iteratively performs first signal processing based on the time difference of the first received signal, which includes information about the movement of the first object 200a.

[0067] The first signal processing is a process of acquiring, for each of one or more first objects 200a located in the vicinity of the entrance / exit R1d, i.e., the range including the boundary B1, within the reach W1 of the radio waves Tr transmitted from the first radio wave sensor 101, multiple pieces of first position information corresponding to multiple first parts (in the case of a human body 200H, multiple parts such as the head, legs, etc.) constituting the first object 200a, as shown in Figures 3 to 5.

[0068] The first signal processing may further include processing for arranging a first point group (information similar to point group 501 in FIG. 10A) corresponding to the acquired multiple first position information for each of one or more first objects 200a in three-dimensional space 500.

[0069] The first signal processing may further include a process of acquiring first point cloud information about a first point cloud for each of the one or more first objects 200 a. The first point cloud information is information similar to the point cloud information described above.

[0070] (2-3-2) Second signal processing section The second signal processing unit 112 iteratively performs second signal processing based on the time difference of the second received signal, which includes information about the movement of the second object 200b.

[0071] The second signal processing is a process of acquiring, for each of one or more second objects 200b present in the interior R11, as shown in Figure 3, multiple pieces of second position information corresponding to multiple second parts constituting the second object 200b (in the case of a human body 200H, multiple parts such as the head, legs, etc.).

[0072] The second signal processing may further include processing for arranging a second point cloud (information similar to point cloud 501 in FIG. 10A) corresponding to the acquired multiple second position information for each of one or more second objects 200b in three-dimensional space 500.

[0073] The second signal processing may further include a process of acquiring second point cloud information about a second point cloud for each of the one or more second objects 200b. The second point cloud information is information similar to the point cloud information described above.

[0074] The second object 200b may be the same object as the first object 200a. Specifically, an object located inside R11 of the region R1 (i.e., the second reachable range W2 of the radio waves Tr from the second radio wave sensor 102: see FIG. 3) and near the boundary B1 (i.e., the reachable range W1 of the radio waves Tr from the first radio wave sensor 101) may be detected as the first object 200a by the first radio wave sensor 101 and as the second object 200b by the second radio wave sensor 102.

[0075] (2-3-3) Details of detection process The detection process includes a process of acquiring first height information and trajectory information for each of one or more first objects 200a (see FIGS. 3 to 5) present in the reachable range W1, based on the first time-series data.

[0076] (2-3-3a) First time series data The first time-series data is time-series data of a plurality of pieces of first position information, and is acquired by repeatedly executing the first signal processing.

[0077] (2-3-3b) First altitude information and trajectory information The first height information is information relating to the height of the first object 200a (for example, height H of the three-dimensional figure 502 shown in FIGS. 11A to 11C). The first height information is information indicating a first distance between the upper end (first cluster CL1) and the lower end (second cluster CL2) in the distribution of the first point cloud (the same information as the point cloud 501: see FIG. 10A). The first distance is, for example, the distance between a point located at the lower end of the second cluster CL2 (the point with the smallest Z coordinate) and a point located at the upper end of the first cluster CL1 (the point with the largest Z coordinate), but it may also be the distance between a representative point of the second cluster CL2 and a representative point of the first cluster CL1.

[0078] The trajectory information is information relating to the movement trajectory of the first object 200a. The trajectory information may be the trajectory of the movement of the first representative point in the first point cloud.

[0079] (2-3-3c) First, detection of moving objects based on height information and trajectory information The detection process further includes a process of detecting the first object 200a as a moving object 201, 202 when it is determined based on the first height information and trajectory information that the first object 200a has a height equal to or greater than a predetermined value H1 and has moved across the boundary B1.

[0080] Specifically, in the detection process, it is determined whether the first object 200a has a height equal to or greater than a predetermined value H1 based on the first height information. Also, in the detection process, it is determined whether the first object 200a has moved across the boundary B1 based on the trajectory information. Then, if it is determined that the first object 200a has a height equal to or greater than the predetermined value H1 and has moved across the boundary B1, the detection process detects the first object 200a as a moving object 201, 202.

[0081] (2-3-4) Details of the judgment process The determination process includes a process of acquiring second height information and height change information for each of one or more second objects 200b present in the reachable range W2, based on the second time-series data.

[0082] (2-3-4a) Second time series data The second time series data is time series data of a plurality of pieces of second position information, and is acquired by repeatedly executing the second signal processing.

[0083] (2-3-4b) Second height information The second height information is information relating to the height of the second object 200b (for example, the height H of the three-dimensional figure 502 shown in FIGS. 11A to 11C). The second height information is information indicating a second distance (height H) between the upper end (first cluster CL1) and the lower end (second cluster CL2) in the distribution of the second point cloud (the same information as the point cloud 501: see FIG. 10A).

[0084] The second distance may be used to determine whether the second object 200b is a human body 200H. Specifically, the second object 200b whose second distance is equal to or greater than a predetermined value H1 may be determined to be a human body 200H, and the second object 200b whose second distance is less than the predetermined value H1 may be determined not to be a human body 200H.

[0085] However, the determination of whether or not the object is a human body 200H based on the comparison between the second distance and the predetermined value H1 generally applies to a human body 200H in a standing position (standing position) as shown in Fig. 10A, but does not apply to a human body 200H in a sitting position (sitting position) as shown in Fig. 10B, or a human body 200H in a lying position (supine position) as shown in Fig. 10C. In other words, when only the second distance is used, it can be determined that neither the human body 200H in a sitting position nor the human body 200H in a supine position is the human body 200H.

[0086] Furthermore, the determination of whether or not the object is a human body 200H based on a comparison between the second distance and the predetermined value H1 does not hold for a second object 200b other than a human body 200H, such as the electric fan shown in Figure 12B, where the second distance is greater than or equal to the predetermined value H1.

[0087] Therefore, for example, as shown in Figure 6, in addition to a human body 200H in a standing position (see Figure 10A), a cleaning robot (see Figure 12A) that is a second object 200b other than the human body 200H and whose second distance is less than the predetermined value H1, and a fan (see Figure 12B) that is a second object 200b other than the human body 200H and whose second distance is greater than or equal to the predetermined value H1 are present inside R11 of region R1, if a presence / absence determination is performed using only the second distance, the fan will be mistakenly determined to be a person, but the presence / absence determination will determine that a person is present inside R11, and a correct determination result will be obtained.

[0088] Furthermore, in the state of Figure 6, if the position of human body 200H changes from standing to sitting (see Figure 10B) or lying down (see Figure 10C), a presence / absence determination using only the second distance will erroneously determine that human body 200H is not a person, but since the fan is also erroneously determined to be a person, the two erroneous determinations will overlap to result in a correct determination.

[0089] However, in the state of Figure 6, when the human body 200H moves from the inside R11 of the region R1 to the outside R12, the presence / absence determination using only the second distance continues to determine that a person is present, even though there is no person inside R11, because the fan is mistakenly determined to be a person, and a correct determination result cannot be obtained.

[0090] Furthermore, in the state of Figure 6, if the fan is smaller than that shown in the figure and the second distance of the fan is below the predetermined value H1, when the human body 200H changes from a standing position to a sitting position or a lying position, a presence / absence determination using only the second distance will determine that no person is present, and an accurate determination result will not be obtained.

[0091] (2-3-4c) Height change information The height change information is information related to a change in the height of the second object 200b. The height change information in this embodiment is information indicating a change in the second distance. The change in the second distance is a decrease or increase in height. The change in the second distance occurs due to a person's movement (e.g., a change in the body position of the human body 200H), such as a person who has been standing sitting down (a change from the standing position shown in FIG. 10A to the sitting position shown in FIG. 10B) or a person who has been sitting lying down (a change from the sitting position shown in FIG. 10B to the lying position shown in FIG. 10C). The change in the second distance due to a change in the body position of the human body 200H, as shown in FIGS. 10A to 10C, is, for example, a decrease or increase of 60 cm or more.

[0092] In contrast, when the second object 200b is a second object 200b other than a human body 200H, such as a cleaning robot as shown in FIG. 12A or an electric fan as shown in FIG. 12B, changes in height, i.e., second distance, generally do not occur or rarely occur.

[0093] Therefore, by using the height change information, it is possible to accurately determine whether the second object 200b is a human body 200H, and therefore whether a person is present inside R11 of region R1. Specifically, for example, the amount of change in height indicated by the height change information may be compared with a threshold, and if the amount of change is equal to or greater than the threshold, it may be determined that the second object 200b is a human body 200H, and if the amount of change is less than the threshold, it may be determined that the second object 200b is not a human body 200H.

[0094] In this embodiment, the threshold is, for example, 60 cm. However, the threshold may be a value other than 60 cm, such as 40 cm (see "(5-6-2) Modified Examples Regarding Combinations of Regions, Predetermined Values, and Threshold Values").

[0095] As a result, even if, for example, as shown in Figure 6, human bodies 200H and second objects 200b of various heights other than human bodies 200H are mixed in the interior R11 of region R1, it is possible to accurately determine whether each of the multiple second objects 200b is a human body 200H based on multiple height change information corresponding to the multiple second objects 200b present in the interior R11, and ultimately to accurately determine whether a person is present in the interior R11.

[0096] (2-3-4d) Determining whether a person is present or not based on the second height information and height change information The determination process in this embodiment is a process of determining that a human body 200H is present in the interior R11 when, for at least one second object 200b out of one or more second objects 200b, it is determined based on the second height information and height change information that the second object 200b has a height greater than or equal to a predetermined value H1 and the change in height is greater than or equal to a threshold value.

[0097] Specifically, in the determination process, it is determined whether the second object 200b has a height equal to or greater than a predetermined value H1 based on the second height information. Also, in the determination process, it is determined whether the change in height of the second object 200b is equal to or greater than a threshold based on the height change information. Then, if it is determined that the second object 200b has a height equal to or greater than the predetermined value H1 and the change in height is equal to or greater than the threshold, it is determined in the determination process that a human body 200H is present in the interior R11.

[0098] Furthermore, if it is determined that any of the one or more second objects 200b does not have a height greater than or equal to a predetermined value H1, or if it is determined that the change in height is not greater than or equal to a threshold value, the determination process determines that no human body 200H is present in the interior R11.

[0099] In this way, by using both the second height information and the height change information, the presence or absence of a person can be determined with high accuracy even in an environment where the interior R11 of the region R1 contains, in addition to the human body 200H, a mixture of second objects 200b (such as the electric fan in Figure 6) having a height equal to or greater than a predetermined value H1 and second objects 200b whose height changes (for example, a pet such as a cat).

[0100] This configuration improves the accuracy of determining whether or not the human body 200H is present, and therefore improves the accuracy of counting the number of people.

[0101] (2-3-5) Details of the first detection process The first detection process is a process of detecting, as a first moving object 201, one or more first objects 200a that, based on height information and trajectory information, have a height equal to or greater than a predetermined value H1 and are determined to have moved from the outside R12 to the inside R11 across the boundary B1.

[0102] More specifically, in the first detection process, for each of one or more first objects 200a, it is determined based on the height information whether the first object 200a has a height equal to or greater than a predetermined value H1, and it is also determined based on the trajectory information whether the first object 200a has moved from outside R12 to inside R11 across the boundary B1. Then, among the one or more first objects 200a, a first object 200a that is determined to have a height equal to or greater than the predetermined value H1 and that is determined to have moved from outside R12 to inside R11 across the boundary B1 is detected as a first moving object 201 in the first detection process.

[0103] (2-3-6) Details of the second detection process The second detection process is a process of detecting, as a second moving object 202, one or more first objects 200a that, based on height information and trajectory information, have a height equal to or greater than a predetermined value H1 and are determined to have moved from inside R11 to outside R12 across the boundary B1.

[0104] More specifically, in the second detection process, for each of one or more first objects 200a, it is determined based on the height information whether the first object 200a has a height equal to or greater than a predetermined value H1, and it is also determined based on the trajectory information whether the first object 200a has moved from outside R12 to inside R11 across the boundary B1. Then, the first detection process detects, as a second moving object 202, a first object 200a determined to have a height equal to or greater than the predetermined value H1 and to have moved from outside R12 to inside R11 across the boundary B1, among the one or more first objects 200a.

[0105] (2-3-7) Determination of Orientation Crossing Boundary B1 in First Detection Process and Second Detection Process In the first detection process and the second detection process, the direction in which the first object 200a crosses the boundary B1 may be determined based on the direction in which the movement trajectory extends immediately before intersecting with the boundary B1. That is, if the movement trajectory indicated by the trajectory information extends from the outside R12 toward the inside R11 and intersects with the boundary B1, the first object 200a is determined to have crossed the boundary B1 in the direction from the outside R12 to the inside R11, and is detected as the first moving object 201. On the other hand, if the movement trajectory indicated by the trajectory information extends from the inside R11 toward the outside R12 and intersects with the boundary B1, the object 200a is determined to have crossed the boundary B1 from the inside R11 to the outside R12, and is detected as the second moving object 202.

[0106] This configuration can improve the accuracy of detecting the first moving object 201 and the second moving object 202, and therefore improve the accuracy of counting the number of people.

[0107] (3) Specific examples Next, a specific example of the moving object detection system 1 will be described with reference to Figures 1, 7, 8, and 9A to 12B. Note that in the following, the description of the previously mentioned items will be omitted or simplified.

[0108] (3-1) Configuration example 1, the moving object detection system 1 of this example includes a processing unit 11, a receiving unit 12, and an output unit 13. The processing unit 11 includes a first signal processing unit 111, a second signal processing unit 112, a detection unit 113, an increase / decrease unit 114, a determination unit 115, a correction unit 116, and a control unit 117.

[0109] The processing unit 11 performs various types of processing. The various types of processing include, for example, first signal processing by the first signal processing unit 111, second signal processing by the second signal processing unit 112, detection processing by the detection unit 113, increase / decrease processing (increase processing and decrease processing) by the increase / decrease unit 114, judgment processing by the judgment unit 115, and control processing by the control unit 117. The processing unit 11 also performs various judgments that will be explained using flowcharts.

[0110] The reception unit 12 receives various types of information. The various types of information include, for example, a first reception signal from the first radio wave sensor 101 and a second reception signal from the second radio wave sensor 102. Note that the reception unit 12 may also receive, for example, operation information for the device 103.

[0111] The output unit 13 outputs various types of information. The various types of information are, for example, control information (e.g., a remote control signal) to the device 103, and output is, for example, transmission to the device 103. The various types of information may also be, for example, an image of a three-dimensional space 500 (see FIG. 10A ) in which one or more point clouds 501 are arranged, and output may be display on a display. However, the type of information, the output mode (transmission, display, writing to a storage medium, etc.), and the output destination (device 103, display, storage device, etc.) are not limited.

[0112] The device 103 is, for example, a lighting fixture, an air conditioner, or the like, but the type of the device 103 is not important.

[0113] The control unit 117 turns off the device 103 when the count value changes from "one or more people" to "zero people", and turns on the device 103 when the count value changes from "zero people" to "one or more people".

[0114] The timing to turn off the device 103 may be after a certain period of time has elapsed since the count value changed from "one or more people" to "zero people." The certain period of time may be, for example, 5 minutes, 3 minutes, 10 minutes, or the like, but is not limited to these.

[0115] More specifically, if the device 103 is currently in an on state and the count value changes from "one or more people" to "zero people," the control unit 117 starts timing in response to the change in the count value from "one or more people" to "zero people." Then, when the timing result reaches a certain time, the control unit 117 transmits control information to the device 103 via the output unit 13 to turn off the device 103. The device 103 receives the control information from the moving object detection system 1 and transitions from the on state to the off state. Note that the device 103 can receive control information even in the off state.

[0116] Thereafter, if the count value changes from "0 people" to "1 or more people," the control unit 117 transmits control information for turning on the device 103 to the device 103 via the output unit 13 in response to the change in the count value from "0 people" to "1 or more people." The device 103 receives the control information from the moving object detection system 1 and transitions from an off state to an on state.

[0117] (3-2) Means of realization The moving object detection system 1 includes a processor, a memory, and a communication module.

[0118] (3-2-1) Means for realizing the processing unit, the reception unit, and the output unit Programs and various information are stored in the memory, and the processor operates based on the programs and the like in the memory, and further cooperates with the communication module to realize the functions of the processing unit 11. The reception unit 12 is realized by utilizing the reception function of the communication module, and the output unit 13 is realized by utilizing the transmission function of the communication module.

[0119] (3-2-2) Means for realizing the first radio wave sensor and the second radio wave sensor In this embodiment, each of the first radio wave sensor 101 and the second radio wave sensor 102 is realized by a radio wave sensor using the FMCW (Frequency Modulated Continuous Wave) method. The transmission waves Tr (each of the first radio wave and second radio wave described above) transmitted from each of the first radio wave sensor 101 and the second radio wave sensor 102 are radio waves modulated using the FMCW method. Note that, although millimeter waves are preferable as the radio waves, radio waves with wavelengths other than millimeter waves may also be used.

[0120] The first received signal output from the first radio wave sensor 101 and the second received signal output from the second radio wave sensor 102 each correspond to an "FFT result group" in the following description. Furthermore, the "time difference of the first received signal" in the first signal processing and the "time difference of the second received signal" in the second signal processing each correspond to an "inter-frame difference" in the following description.

[0121] The first radio wave sensor 101 and the second radio wave sensor 102 have the same configuration and perform the same operation, except for their positions, so the configuration and operation corresponding to the first radio wave sensor 101 will be described below.

[0122] The positions of the one transmitting antenna and three or more receiving antennas included in the first radio wave sensor 101 are known, and four or more pieces of position information (hereinafter referred to as "antenna position information group") corresponding to the four or more antennas are pre-stored, for example, in the memory of the moving object detection system 1.

[0123] (3-2-3)FMCW method The FMCW method is a method in which the frequency f of a transmission wave Tr (transmission signal) having a predetermined time length (chirp length Tc of the chirp signal) is linearly increased (or decreased) from a starting frequency f0 at a predetermined slope S as time t passes, as shown in Figure 7.

[0124] In this embodiment, a predetermined time T (for example, T=200 ms) is defined as one frame (described later), and transmission and reception operations are performed N times (N is a natural number, for example, 10 times) per frame. The predetermined cycle is, for example, once every 20 ms, and in this embodiment, one frame is 200 ms, so the frequency is 10 times per frame (N=10). However, the predetermined cycle may also be, for example, 20 times per frame (N=20), or 5 times per frame (N=5).

[0125] (3-2-4) IF signal, FFT result, and FFT result group Each time the first radio wave sensor 101 performs a transmission / reception operation, it generates an IF signal for each of three or more receiving antennas, performs an FFT (Fast Fourier Transform) on the IF signal to obtain an FFT result, and outputs a group of FFT results. That is, each time a transmission / reception operation is performed, the radio wave sensor 101 outputs a group of FFT results consisting of three or more FFT results corresponding to the three or more receiving antennas. However, a Fourier transform other than FFT may be performed on the IF signal, in which case the radio wave sensor 101 outputs a group of Fourier transform results consisting of three or more Fourier transform results corresponding to the three or more receiving antennas.

[0126] The IF signal is a signal that indicates the frequency difference Δf between the transmitted wave Tr and the reflected wave Re, as shown in Fig. 7. The IF signal is a signal that indicates the difference between the frequency of the transmitted wave Tr and the frequency f of the reflected wave Re at time t, and is a function Δf(t) of time t, but indicates a constant value when the object 200a is stationary.

[0127] The IF signal is generated by mixing the transmitted wave Tr and the reflected wave Re. The IF signal is generated over the period during which the transmitted wave Tr is being transmitted and the reflected wave Re is being received (i.e., the period from the start of reception of the reflected wave Re to the end of transmission of the transmitted wave Tr).

[0128] The FFT result is the result of performing FFT on the IF signal. The FFT result is information indicating a frequency spectrum (the relationship between frequency f and reflection intensity amp) as shown in, for example, Figures 9A and 9B.

[0129] The FFT result group is information composed of three or more FFT results corresponding to three or more receiving antennas, acquired for one transmission / reception operation. The three-dimensional position of the object 200a can be identified using such an FFT result group. Furthermore, by calculating the difference between multiple FFT result groups, frequency components corresponding to stationary objects are removed, and only frequency components corresponding to moving objects 200a, such as moving objects 201 and 202, are acquired (see FIGS. 9A to 9C). Based on the frequency components acquired in this manner, information regarding the three-dimensional position and movement of the moving objects 200a, such as moving objects 201 and 202, can be acquired.

[0130] (3-2-5) First signal processing based on FFT results A plurality of FFT result groups corresponding to a series of a plurality of transmission and reception operations are output from the first radio wave sensor 101, and the output plurality of FFT result groups are stored in chronological order in the memory of the moving object detection system 1. Meanwhile, the memory stores the antenna position information group as described above.

[0131] The first signal processing unit 111 calculates the time difference (the time difference between the FFT results for each of the three receiving antennas) between multiple FFT result groups (for example, two adjacent FFT result groups) stored in chronological order in the memory, and acquires a ranging result group (three ranging results corresponding to the three receiving antennas) based on the calculated difference. The first signal processing unit 111 performs three-point positioning using the ranging result group acquired in this way and a group of antenna position information stored in advance. This makes it possible to acquire position information that identifies the three-dimensional position of the target object 200a, for example, to calculate three-dimensional coordinates.

[0132] (3-2-6) Frames and inter-frame differences A frame is a unit of time for repeatedly performing operations for detecting moving objects 201 and 202. The above-described transmission and reception operations are performed N times (N is an integer equal to or greater than 1) per frame, with a predetermined time T being one frame. In this embodiment, the predetermined time T is 200 ms, and N=10.

[0133] The memory stores N sets of FFT results for each frame across multiple frames. Specifically, the radio wave sensor 101 performs, for example, 10 transmission and reception operations per frame, and the memory stores 10 sets of FFT results for each frame across at least two frames. The first signal processing unit 111 obtains inter-frame differences between the multiple frames stored in the memory.

[0134] The inter-frame difference is the difference between a group of FFT results belonging to one frame (e.g., the reference frame Fr0 shown in FIG. 8) and a group of FFT results belonging to another frame (e.g., the subsequent frame Fr1, etc. shown in FIG. 8).

[0135] (3-2-7) Representative value of each frame when calculating the interframe difference Each of the two FFT result groups corresponding to the two frames from which the difference is to be obtained (e.g., the FFT result group belonging to the reference frame Fr0 and the FFT result group belonging to the subsequent frame Fr1) is a representative value among the N (e.g., 10) FFT result groups in the frame to which it belongs.

[0136] The representative value is, for example, the average value of N FFT result groups (specifically, information consisting of the average value of 10 FFT results corresponding to the first receiving antenna, the average value of 10 FFT results corresponding to the second receiving antenna, the average value of 10 FFT results corresponding to the third receiving antenna, etc.) In this case, the inter-frame difference is the difference between the average value of 10 FFT result groups belonging to the reference frame Fr0 and the average value of 10 FFT result groups belonging to the subsequent frame Fr1.

[0137] The first signal processing unit 111 executes distance measurement processing based on the group of FFT results, thereby acquiring, for each of one or more objects 200a, a plurality of pieces of position information corresponding to a plurality of parts constituting the object 200a.

[0138] (3-2-8) Point arrangement The first signal processing unit 111 arranges at least one point corresponding to the acquired plurality of pieces of position information in the three-dimensional space 500, for example, as shown in Fig. 10A. Note that the number of points arranged corresponding to the plurality of pieces of position information is preferably two or more (multi-point arrangement), but may be one (single-point arrangement).

[0139] The three-dimensional space 500 is a virtual space corresponding to the interior R11 of the region R1 (see FIG. 3). Arrangement in the three-dimensional space 500 may be a virtual action or an action of simply storing three-dimensional coordinates.

[0140] (3-2-9) Clustering and cluster distribution The first signal processing unit 111, for example, performs clustering on the point cloud 501 to obtain a cluster group, which is a set of one or more clusters. The cluster group may be, for example, a first cluster CL1 corresponding to the head and a second cluster CL2 corresponding to the legs of a human body in a standing position (200H: see FIG. 10A) as shown in FIG. 11A. Alternatively, the cluster group may be, for example, a first cluster CL1 corresponding to the head and a second cluster CL2 corresponding to the legs of a human body in a sitting position (200H: see FIG. 10B) as shown in FIG. 11B. Alternatively, the cluster group may be, for example, a single cluster CL corresponding to the entire body (head and legs) of a human body in a recumbent position (200H: see FIG. 10C) as shown in FIG. 11C.

[0141] It is expected that as the number of points constituting the point cloud 501 increases, the cluster group will have a resolution sufficient to distinguish the outline (silhouette) of the human body 200H, and in turn, each part constituting the human body 200H.

[0142] (3-2-10) Calculating height based on distribution of point clouds or clusters The first signal processing unit 111 calculates a first height of the first object 200a based on the distribution (hereinafter simply referred to as "distribution") in the three-dimensional space 500 of the first point group 501 thus arranged in the three-dimensional space 500, or the cluster group acquired by clustering the first point group 501. The first height is, for example, a first distance between the upper end and the lower end of the point group 501, or a first distance between the first cluster CL1 and the second cluster CL2.

[0143] By performing the above-described processing by the first signal processing unit 111, first height information of the first object 200a is acquired based on the time difference of the first received signal (FFT result group) from the first radio wave sensor 101.

[0144] Furthermore, by the second signal processing unit 112 performing the same processing as above, second height information of the second object 200b is further acquired based on the second received signal (FFT result group) from the second radio wave sensor 102.

[0145] (3-2-11) Calculation of movement trajectory The first signal processing unit 111 calculates the movement trajectory of the first object 200a based on the positional change of the first point cloud 501 in the three-dimensional space 500. The movement trajectory is, for example, the movement trajectory of the first representative point in the first point cloud 501 as shown in FIGS.

[0146] 10A and 10B, the first representative point is, for example, the midpoint of a line segment connecting a representative point in the first cluster CL1 and a representative point in the second cluster CL2. Alternatively, the first representative point may be either a representative point in the first cluster CL1 or a representative point in the second cluster CL2. In the example of FIG. 10C, the first representative point is a representative point of the cluster CL.

[0147] (3-2-12) Calculation of height change The second signal processing unit 112 calculates a change in the height of the second object 200b based on a change in the distribution of the first point cloud 501 in the three-dimensional space 500, as shown in Figures 10A to 10C. The change in distribution is, for example, a change in the body position from a standing position as shown in Figure 10A to a sitting position as shown in Figure 10B or a lying position as shown in Figure 10C, in which the upper end (first cluster CL1) and the lower end (second cluster CL2) of the first point cloud 501 move closer to each other.

[0148] Alternatively, the change in distribution may be, for example, the upper end (first cluster CL1) and the lower end (second cluster CL2) in the first point group 501 moving away from each other in response to a change in body position from a sitting position as shown in FIG. 10B or a lying position as shown in FIG. 10C to an upright position as shown in FIG. 10A.

[0149] The change in height of the second object 200b is calculated as, for example, a change in the second distance between the upper end (first cluster CL1) and the lower end (second cluster CL2) in the first point cloud 501.

[0150] (3-3) Advantages of specific examples According to a specific example, the detection accuracy of the first object 200a and the second object 200b is improved by using FMCW radio wave sensors as the first radio wave sensor 101 and the second radio wave sensor 102. As a result, it becomes possible to accurately determine whether the first object 200a is a moving object 201, 202 or not, and whether the second object 200b is a human body 200H or not, thereby improving the accuracy of determining whether a person is present or not.

[0151] (4) Example of operation Next, an example of the operation of the moving object detection system 1 will be described mainly with reference to Fig. 2. Note that the description of the previously mentioned matters will be omitted or simplified below. The processing of the flowchart in Fig. 2 starts when the moving object detection system 1 is started and ends when the operation is stopped.

[0152] First, the processing unit 11 determines whether or not the receiving unit 12 has received a first reception signal from the first radio wave sensor 101 (step S1). If it is determined that the receiving unit 12 has not received the first reception signal (No in step S1), the processing proceeds to step S7.

[0153] If it is determined in step S1 that the accepting unit 12 has accepted the first received signal (Yes), the first signal processing unit 111 executes first signal processing (step S2). The result of the first signal processing is stored in memory, first time-series data is constructed by repeating the first signal processing, and first height information and trajectory information are acquired based on the first time-series data.

[0154] Next, the detection unit 113 executes a first detection process for the first moving object 201 based on the results of the first signal processing (first time-series data, first height information, and trajectory information), and the processing unit 11 determines whether the detection unit 113 has detected the first moving object 201 (step S3). If it is determined that the detection unit 113 has not detected the first moving object 201 (No in step S3), the processing proceeds to step S5.

[0155] If it is determined in step S3 that the detection unit 113 has detected the first moving object 201 (Yes), the increment / decrement unit 114 performs an increment process on the count value in the memory, i.e., the value corresponding to the result of counting the number of people present inside R11 of the region R1 (hereinafter referred to as "number of people") (step S4).

[0156] Next, the processing unit 11 determines whether the detection unit 113 has detected the second moving object 202 based on the result of the first signal processing (step S5). If it is determined that the detection unit 113 has not detected the second moving object 202 (No in step S5), the processing returns to step S1.

[0157] If it is determined in step S5 that the detection unit 113 has detected the second moving object 202 (Yes), the increase / decrease unit 114 performs processing to decrease the number of people (step S6), after which the processing returns to step S1.

[0158] In step S7, the processing unit 11 determines whether or not the receiving unit 12 has received a second received signal from the second radio wave sensor 102. If it is determined that the receiving unit 12 has not received a second received signal (No in step S7), the processing returns to step S1.

[0159] If it is determined in step S7 that the accepting unit 12 has accepted the second received signal (Yes), the second signal processing unit 112 executes second signal processing (step S8). The result of the second signal processing is stored in memory, second time-series data is constructed by repeating the second signal processing, and second height information and height change information are acquired based on the second time-series data.

[0160] Next, the determination unit 115 determines whether or not the human body 200H is present in the interior R11 of the region R1 by performing a determination process based on the results of the second signal processing (the second time-series data, the second height information, and the height change information) (step S9). If it is determined that the human body 200H is not present in the interior R11 (No in step S9), the process proceeds to step S12.

[0161] If it is determined in step S9 that a human body 200H exists in the interior R11 (Yes), the correction unit 116 determines whether the number of people (counted value in memory) is 0 or less (step S10). If it is determined that the number of people is not 0 or less (i.e., 1 or more: No in step S10), the process returns to step S1.

[0162] If it is determined in step S10 that the number of people is 0 or less (Yes), the correction unit 116 corrects the number of people to 1 (step S11). After that, the process returns to step S1.

[0163] In step S12, the correction unit 116 determines whether the number of people is 1 or more. If it is determined that the number of people is not 1 or more (that is, 0 or less: No in step S12), the process returns to step S1.

[0164] If it is determined in step S12 that the number of people is one or more (Yes), the correcting unit 116 corrects the number of people to 0 (step S13). After that, the process returns to step S1.

[0165] (5) Variations (5-1) First Modification of the Moving Object Detection System The first modified example of the moving object detection system 1 is a radio wave sensor system 10 that includes the moving object detection system 1 described in "(1) Overview" and a radio wave sensor 101. This radio wave sensor system 10 has a configuration in which the second radio wave sensor 102, the second signal processing unit 112, the increase / decrease unit 114, and the correction unit 116 are excluded from the radio wave sensor system 10 shown in FIG.

[0166] According to this modified example, the radio wave sensor 101 is positioned so that radio waves reach the boundary B1 and its vicinity, and moving objects 201, 202 of a predetermined height or higher that move across the boundary B1 are detected, and the counting value is increased or decreased, thereby improving the accuracy of counting the number of people present inside R11 of the area R1 while reducing the number of radio wave sensors.

[0167] (5-2) Second Modification of the Moving Object Detection System The second variant of the moving object detection system 1 is a radio wave sensor system 10 (see Figure 1) that includes the moving object detection system 1 described in "(2) Details" to "(4) Operation Example," a first radio wave sensor 101, and a second radio wave sensor 102.

[0168] According to this modified example, the accuracy of counting the number of people can be further improved by increasing / decreasing and correcting the counting value using a first radio wave sensor 101 for detecting moving bodies 201, 202 and a second radio wave sensor 102 for determining the presence or absence of a human body 200H.

[0169] (5-3) Third Modification of the Moving Object Detection System The third variant of the moving object detection system 1 is an equipment control system 1A (see Figure 1 or Figure 13) that includes the moving object detection system 1 described in "(1) Overview" or "(2) Details" to "(4) Operation Example" and a control unit 117.

[0170] According to this modification, by detecting moving objects 201, 202 that are above a predetermined height and move across the boundary B1 and increasing or decreasing the count value, it is possible to improve the accuracy of counting the number of people present inside R11 of the region R1 while suppressing the number of radio wave sensors. Also, by using the highly accurate count value, it is possible to improve the accuracy of device control.

[0171] (5-4) Modified Example of Motion Detection System The fourth variant of the moving object detection system 1 is an equipment system 100 (see Figure 1 or Figure 13) that includes the moving object detection system 1 described in "(1) Overview" or "(2) Details" to "(4) Operation Example", an equipment 103, and a control unit 117.

[0172] According to this modification, by detecting moving objects 201, 202 that are above a predetermined height and move across the boundary B1 and increasing or decreasing the count value, it is possible to improve the accuracy of counting the number of people present inside R11 of the region R1 while reducing the number of radio wave sensors. Also, by using highly accurate count values, it is possible to improve the accuracy of device operation.

[0173] (5-5) Fifth Modification of the Motion Detection System A fifth modified example of the moving object detection system 1 is a wiring apparatus 10A (see FIG. 13 ) such as an electrical outlet to which a device 103 such as a lighting fixture is connected. The wiring apparatus 10A includes the moving object detection system 1 described in “(1) Overview” or “(2) Details” to “(4) Operation Example”, a radio wave sensor (first radio wave sensor) 101, and a control unit 117.

[0174] The second radio wave sensor 102 may be omitted from the equipment system 100 of Fig. 13. In that case, the wiring device 10A may have a configuration similar to that of the wiring device 10A of Fig. 13 except that the second signal processing unit 112, the increase / decrease unit 114, and the correction unit 116 are omitted.

[0175] 13 , the wiring apparatus 10A further includes a power supply unit 14 that supplies power to the device 103. The control unit 117 of this modification does not necessarily control (turn on and off) the device 103 through communication, and may, for example, turn off the device 103 by stopping the supply of power from the power supply unit 14 to the device 103. Alternatively, the control unit 117 may, for example, turn on the device 103 by starting the supply of power from the power supply unit 14 to the device 103.

[0176] According to this modification, by positioning wiring apparatus 10A so that radio waves reach boundary B1 and its vicinity, detecting moving objects 201, 202 of a predetermined height or higher that move across boundary B1, and increasing or decreasing the count value, it is possible to improve the accuracy of counting the number of people present inside area R11 of region R1 while reducing the number of radio wave sensors. Furthermore, by using the highly accurate count value, it is possible to improve the accuracy of device control by wiring apparatus 10A to which device 103 is connected.

[0177] (5-6) Other variations (5-6-1) Variations related to the area The area R1 in this modification is, for example, an outdoor facility such as a park surrounded by a fence or wall. Note that the area R1 does not need to be separated by a wall, fence, or other partition as long as a boundary B1 between the inside R11 and the outside R12 is defined.

[0178] (5-6-2) Modifications regarding the combination of regions, predetermined values, and threshold values In this modified example, the area R1 is a room in a house (e.g., a living room, a bedroom, etc.). In addition to children and adults who are 80 cm or taller, it is expected that infants and toddlers who are less than 80 cm tall, and even pets such as cats, will enter and exit the rooms in a house. Therefore, the predetermined value H1 in this modified example is set to a value smaller than 80 cm in the embodiment, for example, 60 cm. Furthermore, the threshold value for the amount of change in the height of the second object 200b in this modified example is set to a value smaller than 60 cm in the embodiment, for example, 40 cm. This allows infants and toddlers to be determined as people, while pets are not determined as people.

[0179] (5-6-3) Modifications of the positional relationship between the boundary and the entrance The boundary B1 is not necessarily set outside R12 of the region R1 as shown in Fig. 3, but may be set inside R11 of the region R1. Furthermore, the boundary B1 is not necessarily set at a position away from the entrance R1d, but may be set at the entrance R1d itself, that is, an opening provided in a wall surface.

[0180] Furthermore, the boundary B1 is not limited to a plane parallel to the entrance R1d of the region R1, but may be a plane tilted relative to the entrance R1d. Furthermore, the boundary B1 is not limited to a plane, but may be a curved surface. In short, the boundary B1 may be any surface that follows the entrance R1d.

[0181] (5-6-4) First Modification of the Arrangement of the Radio Wave Sensor (First Radio Wave Sensor): Lateral Arrangement In this modified example, a radio wave sensor (first radio wave sensor) 101 is provided on the side of the boundary B1.

[0182] By transmitting radio waves Tr from the first radio wave sensor 101 installed on the side of the boundary B1 in a first direction along the entrance / exit R1d (for example, parallel to the boundary B1), it is possible to detect moving objects 201, 202 entering and exiting the interior R11 of the area R1, and ultimately to count the number of people present inside R11.

[0183] (5-6-5) Second Modification of the Location of the Radio Wave Sensor (First Radio Wave Sensor): Location at Each Entrance / Exit A single region R1 (e.g., a side wall of a room) may be provided with a plurality of entrances R1d, including the aforementioned entrance R1d. In this case, the boundary B1 is each of a plurality of planes along the plurality of entrances R1d. A first radio wave sensor 101 is disposed at each of the plurality of entrances R1d. A radio wave Tr is transmitted from each of the plurality of first radio wave sensors 101.

[0184] The first signal processing unit 111 executes first signal processing based on the first received signal for each of the multiple first radio wave sensors 101. The detection unit 113 executes detection processing based on the processing results of the first signal processing for each of the multiple radio wave sensors 101. The increment / decrement unit 114 executes increment / decrement processing on one count value corresponding to region R1 based on each detection result of multiple detection processing corresponding to the multiple radio wave sensors 101.

[0185] In this way, each of the multiple detection results (people entering and exiting at each of the multiple entrances and exits) corresponding to the multiple detection processes is reflected in one count value (the number of people in the room) corresponding to one area R1. This allows for highly accurate count values ​​to be obtained even when multiple entrances and exits R1d are provided in area T1.

[0186] (5-6-6) Entrance and Exit Variations: Entrance and Exit When multiple boundaries B1 exist for one region R1, some of the boundaries B1 may be entrances and some may be exits. Then, only the first moving object 201 may be detected for the entrances, and only the second moving object 202 may be detected for the exits.

[0187] (5-6-7) Modification of the arrangement of the second radio wave sensor: Arrangement facing one of the entrances If there are multiple entrances R1d, the second radio wave sensor 102 may be provided corresponding to any one of the entrances R1d (for example, the central entrance R1d).

[0188] (5-6-8) Modified method of obtaining count values The count value may be the difference (= first count value - second count value) between the value of a first counter (first count value) that counts the number of people entering the inside R11 of the area R1 from the outside R12 and the value of a second counter (second count value) that counts the number of people leaving the inside R11 of the area R1 to the outside R12.

[0189] (5-6-9) Modification of the specified value If infants (ages 3 and under) and preschool children (ages 4 to 6) are not included in the counting results, the predetermined value H1 may be, for example, 120 cm, which corresponds to the height of a 6-7 year old child (first grade of elementary school). Alternatively, if infants are not included in the counting results but preschool children are, the predetermined value H1 may be, for example, 100 cm, which corresponds to the height of a 4 year old child.

[0190] (5-6-10) Variation of the person presence determination The determination of the presence or absence of a person may be made based on either the second height information or the height change information.

[0191] For example, if the interior R11 of region R1 is an environment in which, other than the human body 200H, there is no second object 200b (such as the electric fan shown in Figures 6 and 12) with a height greater than or equal to a predetermined value H1, the presence or absence of a person may be determined using the second height information without using the height change information.

[0192] Alternatively, if the interior R11 of region R1 is an environment in which there is no second object 200b (e.g., a pet such as a cat) whose height changes other than the human body 200H, the presence or absence of a person may be determined using height change information rather than the second height information.

[0193] However, as described in the embodiment, by using both the second height information and the height change information, the presence or absence of a person can be determined with high accuracy even in an environment where the interior R11 of the region R1 contains, in addition to the human body 200H, a second object 200b (such as an electric fan shown in Figures 6 and 12) having a height equal to or greater than a predetermined value H1 and a second object 200b whose height changes (for example, a pet such as a cat).

[0194] (5-6-11) Modifications to the use of judgment results The determination result of the determination process by the determination unit 115 (information indicating the presence or absence of a person) may be stored in memory in association with time information. Time-series information on the determination result configured in the memory by repeating the determination process may be output to a storage device via the output unit 13 and stored in an external storage medium.

[0195] The time information may be associated with the determination result and the count value, and time-series information relating to the set of the determination result and the count value may be stored in an external storage medium.

[0196] (5-6-12) Modification of the first and second radio wave sensors Each of the first radio wave sensor 101 and the second radio wave sensor 102 is not limited to an FMCW radio wave sensor, and may be realized, for example, by a pulse modulation radio wave sensor, a Doppler radio wave sensor, etc. The first radio wave sensor 101 may be a radio wave sensor of any type as long as it can acquire first height information and trajectory information as a result. Each of the second radio wave sensors 102 may be a radio wave sensor of any type as long as it can acquire second height information and height change information as a result.

[0197] (6) Summary The moving object detection system (1) according to the first aspect includes a detection unit (113) and an increment / decrement unit (114). The detection unit (113) executes a detection process. The detection process is a process of detecting moving objects (201, 202) having a height equal to or greater than a predetermined value (H1) that move across a boundary (B1) of an area (R1) based on a signal received by a radio wave sensor (101). The increment / decrement unit (114) executes an increment / decrement process. The increment / decrement process is a process of incrementing or decrementing a count value corresponding to a count result of counting the number of people present inside (R11) of an area (R1) in response to the detection of moving objects (201, 202) by the detection process. The detection process is a process in which, based on the received signal, it is determined whether the height of the object (200a) moving across the boundary (B1) is equal to or greater than a predetermined value (H1), and if it is determined that the height is equal to or greater than the predetermined value (H1), the object (200a) is detected as a moving object (201, 202).

[0198] According to this aspect, by arranging the radio wave sensor (101) so that radio waves (Tr) reach the boundary (B1) and its vicinity, and detecting moving objects (201, 202) of a predetermined height or higher that move across the boundary (B1), and increasing or decreasing the counting value, it is possible to improve the accuracy of counting the number of people present inside (R11) of the area (R1) while reducing the number of radio wave sensors (101).

[0199] The moving object detection system (1) according to the second aspect is the same as that according to the first aspect, but further includes a signal processing unit (111). The signal processing unit (111) repeatedly executes signal processing. The signal processing is a process of acquiring, based on a time difference between received signals, a plurality of pieces of position information corresponding to a plurality of parts constituting the object (200a) for each of one or more objects (200a) present in a range including the boundary (B1) and within the reach (W1) of the radio waves (Tr) transmitted from the radio wave sensor (101). The detection process is a process of acquiring, for each of the one or more objects (200a), height information relating to the height of the object (200a) and trajectory information relating to the movement trajectory of the object (200a) based on time-series data of the plurality of pieces of position information acquired by repeatedly executing the signal processing. In addition, the detection process is a process of detecting the object (200a) as a moving object (201, 202) when it is determined based on the height information and trajectory information that the object (200a) has a height equal to or greater than a predetermined value (H1) and has moved across the boundary (B1).

[0200] According to this aspect, it is possible to improve the accuracy of detecting moving objects (201, 202), and therefore the accuracy of counting the number of people.

[0201] In a moving object detection system (1) according to a third aspect, in the first or second aspect, the detection unit (113) executes a detection process based on a first reception signal of a first radio wave sensor (101) that is a radio wave sensor (101). The moving object detection system (1) further includes a determination unit (115) and a correction unit (116). The determination unit (115) executes a determination process. The determination process is a process for determining the presence or absence of a human body (200H) inside (R11) based on a second reception signal of a second radio wave sensor (102). The second radio wave sensor (102) is a radio wave sensor different from the first radio wave sensor (101). The correction unit (116) executes a correction process for correcting the count value when the number of people indicated by the count value contradicts the determination result of the determination process.

[0202] According to this aspect, the accuracy of counting the number of people can be further improved by increasing / decreasing and correcting the count value using the first radio wave sensor (101) for detecting moving objects (201, 202) and the second radio wave sensor (102) for determining the presence or absence of a human body (200H).

[0203] In the moving object detection system (1) according to the fourth aspect, in the third aspect, the detection process includes a first detection process and a second detection process. The first detection process is a process for detecting a first moving object (201) moving from the outside (R12) to the inside (R11) of the region (R1) across the boundary (B1). The second detection process is a process for detecting a second moving object (202) moving from the inside (R11) to the outside (R12) across the boundary (B1). The increase / decrease process includes an increase process and a decrease process. The increase process is a process for increasing the count value in response to the detection of the first moving object (201) by the first detection process. The decrease process is a process for decreasing the count value in response to the detection of the second moving object (202) by the second detection process. The correction process includes a first correction process and a second correction process. The first correction process is a process of correcting the count value to one or more people when the count value indicates zero people and the judgment result indicates the presence of a human body (200H) inside (R11). The second correction process is a process of correcting the count value to zero people when the count value indicates one or more people and the judgment result indicates the absence of a human body (200H) inside (R11).

[0204] According to this aspect, the count value can be increased, decreased, and corrected easily and accurately.

[0205] The moving object detection system (1) according to the fifth aspect is the fourth aspect, further comprising a first signal processing unit (111) and a second signal processing unit (112). The first signal processing unit (111) repeatedly executes first signal processing. The first signal processing is processing for acquiring, based on a time difference of the first received signal, a plurality of pieces of first position information corresponding to a plurality of first portions constituting the first object (200a) for each of one or more first objects (200a) present in a range including the boundary (B1) and within a reach (W1) of the radio waves (Tr) transmitted from the first radio wave sensor (101). The second signal processing unit (112) repeatedly executes second signal processing. The second signal processing is processing for acquiring, based on a time difference of the second received signal, a plurality of pieces of second position information corresponding to a plurality of second portions constituting the second object (200b) for each of one or more second objects (200b) present in the interior (R11). The detection process is a process of acquiring, for each of one or more first objects (200a), first height information relating to the height of the first object (200a) and trajectory information relating to the movement trajectory of the first object (200a), based on first time-series data of a plurality of pieces of first position information acquired by repeatedly executing the first signal processing. The detection process is a process of detecting the first object (200a) as a moving object (201, 202) when it is determined, based on the first height information and the trajectory information, that the first object (200a) has a height equal to or greater than a predetermined value (H1) and has moved across a boundary (B1). The determination process is a process of acquiring, for each of one or more second objects (200b), second height information relating to the height of the second object (200b) and height change information relating to a change in the height of the second object (200b), based on second time-series data of a plurality of pieces of second position information acquired by repeatedly executing the second signal processing. The determination process is a process of determining that a human body (200H) is present inside (R11) when, for at least one second object (200b) among one or more second objects (200b), it is determined based on the second height information and height change information that the second object (200b) has a height equal to or greater than a predetermined value (H1) and the change in height is equal to or greater than a threshold value.In addition, the determination process is a process of determining that no human body (200H) is present inside (R11) when, for any of the one or more second objects (200b), it is determined based on the second height information and height change information that the second object (200b) does not have a height greater than or equal to a predetermined value (H1) or the change in height is not greater than or equal to a threshold value.

[0206] According to this aspect, it is possible to improve the accuracy of detecting moving objects (201, 202) and the accuracy of determining whether or not a human body (200H) is present, and therefore to improve the accuracy of counting the number of people.

[0207] In the moving object detection system (1) according to the sixth aspect, in the fifth aspect, the first detection process is a process of detecting, as a first moving object (201), a first object (200a) among one or more first objects (200a) that is determined, based on the first height information and trajectory information, to have a height equal to or greater than a predetermined value (H1) and to have moved from the inside (R12) to the inside (R11) across the boundary (B1). The second detection process is a process of detecting, as a second moving object (202), a first object (200a) among one or more first objects (200a) that is determined, based on the first height information and trajectory information, to have a height equal to or greater than a predetermined value (H1) and to have moved from the inside (R11) to the outside (R12) across the boundary (B1).

[0208] According to this aspect, it is possible to improve the accuracy of detecting the first moving object (201) and the second moving object (202), and therefore improve the accuracy of counting the number of people.

[0209] A radio wave sensor system (10) according to a seventh aspect includes the moving object detection system (1) according to the first or second aspect and a radio wave sensor (101).

[0210] According to this aspect, by arranging the radio wave sensor (101) so that radio waves (Tr) reach the boundary (B1) and its vicinity, and detecting moving objects (201, 202) of a predetermined height or higher that move across the boundary (B1), and increasing or decreasing the counting value, it is possible to improve the accuracy of counting the number of people present inside (R11) of the area (R1) while reducing the number of radio wave sensors (101).

[0211] In a radio wave sensor system (10) according to an eighth aspect, in the seventh aspect, the radio wave sensor (101) transmits a radio wave (Tr) in a direction (Dr1) along the boundary (B1) and receives a reflected wave (Re) of the radio wave (Tr). The received signal is a signal based on the reflected wave (Re) received by the radio wave sensor (101).

[0212] According to this aspect, by transmitting the radio wave (Tr) in the direction (Dr1) along the boundary (B1), it is possible to improve the accuracy of detecting moving objects (201, 202), and further improve the accuracy of counting the number of people.

[0213] In the radio wave sensor system (10) according to the ninth aspect, in the eighth aspect, the interior (R11) is a room, and the boundary (B1) is a plane along an entrance / exit (R1d) to the room. The radio wave sensor (101) is provided above or to the side of the entrance / exit (R1d) and transmits radio waves (Tr) in a direction (Dr1) along the plane.

[0214] According to this embodiment, by installing the radio wave sensor (101) above or to the side of the entrance / exit (R1d) and transmitting radio waves (Tr) in a direction (Dr1) along the entrance / exit (R1d), it is possible to improve the accuracy of detecting moving objects (201, 202) entering and exiting the room, and ultimately improve the accuracy of counting the number of people present in the room.

[0215] A radio wave sensor system (10) according to a tenth aspect includes the moving object detection system (1) according to any one of the third to sixth aspects, a first radio wave sensor (101), and a second radio wave sensor (102).

[0216] According to this aspect, the accuracy of counting the number of people can be further improved by increasing / decreasing and correcting the count value using the first radio wave sensor (101) for detecting moving objects (201, 202) and the second radio wave sensor (102) for determining the presence or absence of a human body (200H).

[0217] In a radio wave sensor system (10) according to an eleventh aspect, in the tenth aspect, a first radio wave sensor (101) transmits a first radio wave (Tr) in a first direction (Dr1) along a boundary (B1) and receives a first reflected wave (Re) that is a reflected wave (Re) of the first radio wave (Tr). A second radio wave sensor (102) transmits a second radio wave (Tr) in a second direction (Dr2) that intersects with the boundary (B1) and receives a second reflected wave (Re) of the second radio wave (Tr). The first received signal is a signal based on the first reflected wave (Re) received by the first radio wave sensor (101). The second received signal is a signal based on the second reflected wave (Re) received by the second radio wave sensor (102).

[0218] According to this aspect, by transmitting a first radio wave (Tr) in a first direction (Dr1) along the boundary (B1) and a second radio wave (Tr) in a second direction (Dr2) intersecting the boundary (B1), it is possible to improve the accuracy of detecting moving objects (201, 202) and the accuracy of determining whether or not a human body (200H) is present, and ultimately to further improve the accuracy of counting the number of people.

[0219] In a radio wave sensor system (10) according to a twelfth aspect, in the eleventh aspect, the interior (R11) is a room. The boundary (B1) is a plane along an entrance / exit (R1d) to the room. The first radio wave sensor (101) is provided above or to the side of the entrance / exit (R1d) and transmits a first radio wave (Tr) in a direction along the plane. The second radio wave sensor (102) is provided opposite the entrance / exit (R1d) and transmits a second radio wave (Tr) in a direction intersecting the plane.

[0220] According to this aspect, the first radio wave sensor (101) is provided above or to the side of the entrance / exit (R1d) and transmits a first radio wave (Tr) in a direction along the entrance / exit (R1d), and the second radio wave sensor (102) is provided opposite the entrance / exit (R1d) and transmits a second radio wave (Tr) in a direction intersecting the entrance / exit (R1d). This improves the accuracy of detecting moving objects (201, 202) entering and exiting the room, improves the accuracy of determining whether or not a human body (200H) is present in the room, and ultimately improves the accuracy of counting the number of people present in the room.

[0221] A device control system (1A) according to a thirteenth aspect includes the moving object detection system (1) according to any one of the first to sixth aspects and a control unit (117). The control unit (117) controls the device (103) based on the count value.

[0222] According to this aspect, by arranging the radio wave sensors (101) so that radio waves (Tr) reach the boundary (B1) and its vicinity, detecting moving objects (201, 202) of a predetermined height or higher that move across the boundary (B1), and increasing or decreasing the count value, it is possible to improve the accuracy of counting the number of people present inside (R11) of the region (R1) while suppressing the number of radio wave sensors (101). Furthermore, by using the highly accurate count value, it is possible to improve the accuracy of device control.

[0223] A device system (100) according to a fourteenth aspect includes the moving object detection system (1) according to any one of the first to sixth aspects, a device (103), and a control unit (117). The control unit (117) controls the device (103) based on the count value.

[0224] According to this aspect, by arranging the radio wave sensors (101) so that radio waves (Tr) reach the boundary (B1) and its vicinity, detecting moving objects (201, 202) of a predetermined height or higher that move across the boundary (B1), and increasing or decreasing the count value, it is possible to improve the accuracy of counting the number of people present inside (R11) of the region (R1) while suppressing the number of radio wave sensors (101). Furthermore, by using the highly accurate count value, it is possible to improve the accuracy of device operation.

[0225] A wiring device (10A) according to a fifteenth aspect is a wiring device (10A) to which a device (103) is connected. The wiring device (10A) includes a moving object detection system (1) according to any one of the first to sixth aspects, a radio wave sensor (101), and a control unit (117). The control unit (117) controls the device (103) based on the count value.

[0226] According to this aspect, by arranging the radio wave sensors 101 so that radio waves (Tr) reach the boundary (B1) and its vicinity, detecting moving objects (201, 202) of a predetermined height or higher that move across the boundary (B1), and increasing or decreasing the count value, it is possible to improve the accuracy of counting the number of people present inside (R11) of the region (R1) while reducing the number of radio wave sensors 101. Furthermore, by using the highly accurate count value, it is possible to improve the accuracy of device control by the wiring device 10A to which the device 103 is connected. [Explanation of symbols]

[0227] 100 Equipment Systems 10 Radio wave sensor system 101 Radio wave sensor (first radio wave sensor) 102 Second Radio Wave Sensor 103 Equipment 10A wiring device 1. Motion detection system 1A Equipment Control System 111 signal processing unit (first signal processing unit) 112 Second signal processing section 113 Detection unit 114 Increase / Decrease Section 115 Judgment section 116 Correction unit 117 Control Unit R1 area R11 internal R12 External Tr radio wave (first radio wave, second radio wave) (transmitted wave) Re reflected wave (1st reflected wave, 2nd reflected wave) W1 First radio wave coverage W2 Second radio wave coverage 200a Object (First Object) 200b Second Object 201 Moving Object (1st Moving Object) 202 Second Movement 200H human body

Claims

1. a detection unit that executes a detection process to detect a moving object having a height equal to or greater than a predetermined value that moves across a boundary of an area based on a signal received by a radio wave sensor; an increment / decrement unit that executes an increment / decrement process to increment / decrement a count value corresponding to a count result of counting the number of people present within the area in response to detection of the moving object by the detection process, The detection process is a process of determining whether a height of an object moving across the boundary is equal to or greater than the predetermined value based on the received signal, and detecting the object as the moving object when it is determined that the height is equal to or greater than the predetermined value. Motion detection system.

2. a signal processing unit that repeatedly executes signal processing to acquire, for each of one or more objects that are present within a range including the boundary and that is reached by radio waves transmitted from the radio wave sensor, a plurality of pieces of position information corresponding to a plurality of parts that make up the object, based on a time difference between the received signals; The detection process includes, for each of the one or more objects: acquiring height information relating to a height of the object and trajectory information relating to a movement trajectory of the object based on the time series data of the plurality of pieces of position information acquired by repeatedly executing the signal processing; a process of detecting the object as the moving object when it is determined that the object has a height equal to or greater than the predetermined value and has moved across the boundary based on the height information and the trajectory information; The moving object detection system according to claim 1 .

3. the detection unit executes the detection process based on a first received signal of a first radio wave sensor that is the radio wave sensor; a determination unit that executes a determination process to determine whether or not a human body is present inside the vehicle based on a second received signal from a second radio wave sensor different from the first radio wave sensor; a correction unit that executes a correction process to correct the count value when the number of people indicated by the count value contradicts the determination result of the determination process, The moving object detection system according to claim 1 .

4. The detection process includes: a first detection process for detecting a first moving object moving from outside the region to inside the region across the boundary; a second detection process of detecting a second moving object moving from the inside to the outside across the boundary, The increase / decrease process is an increasing process of increasing the count value in response to detection of the first moving object by the first detection process; a decrease process of decreasing the count value in response to detection of the second moving object by the second detection process, The correction process includes: a first correction process for correcting the count value to one or more people when the count value indicates zero people and the determination result indicates the presence of a human body inside the interior; and a second correction process for correcting the count to zero when the count indicates one or more people and the determination result indicates the absence of a human body inside the body. The moving object detection system according to claim 3 .

5. a first signal processing unit that repeatedly executes first signal processing to acquire, for each of one or more first objects that are present in a range including the boundary and within a reach of radio waves transmitted from the first radio wave sensor, a plurality of pieces of first position information that respectively correspond to a plurality of first portions that constitute the first object, based on a time difference of the first received signals; a second signal processing unit that repeatedly executes second signal processing to acquire, for each of one or more second objects present inside the vehicle, a plurality of pieces of second position information corresponding to a plurality of second portions constituting the second object, based on a time difference of the second received signals; The detection process includes, for each of the one or more first objects: acquiring first height information relating to a height of the first object and trajectory information relating to a movement trajectory of the first object based on first time-series data of the plurality of pieces of first position information acquired by repeatedly executing the first signal processing; detecting the first object as the moving object when it is determined based on the first height information and the trajectory information that the first object has a height equal to or greater than the predetermined value and has moved across the boundary; The determination process includes: acquiring, for each of the one or more second objects, second height information relating to a height of the second object and height change information relating to a change in height of the second object based on second time series data of the plurality of second position information acquired by repeatedly executing the second signal processing; determining that a human body is present inside at least one second object among the one or more second objects when it is determined, based on the second height information and the height change information, that the second object has a height equal to or greater than the predetermined value and the change in height is equal to or greater than a threshold value; determining that no human body is present inside any of the one or more second objects when it is determined, based on the second height information and the height change information, that the second object does not have a height equal to or greater than the predetermined value or the change in height is not equal to or greater than the threshold value; The moving object detection system according to claim 4 .

6. the first detection process is a process of detecting, as the first moving object, a first object that has a height equal to or greater than the predetermined value and is determined to have moved from the outside to the inside across the boundary based on the first height information and the trajectory information, among the one or more first objects; The second detection process is a process of detecting, as the second moving object, a first object that has a height equal to or greater than the predetermined value and is determined to have moved from the inside to the outside across the boundary based on the first height information and the trajectory information, among the one or more first objects. The moving object detection system according to claim 5 .

7. The moving object detection system according to claim 1 or 2; The radio wave sensor, Radio wave sensor system.

8. the radio wave sensor transmits radio waves in a direction along the boundary and receives reflected waves of the radio waves; the received signal is a signal based on the reflected wave received by the radio wave sensor; The radio wave sensor system according to claim 7 .

9. The interior is a room, The boundary is a plane along an entrance to the room, The radio wave sensor is provided above or to the side of the entrance and transmits the radio waves in a direction along the plane. The radio wave sensor system according to claim 8 .

10. A moving object detection system according to any one of claims 3 to 6; the first radio wave sensor; The second radio wave sensor is provided. Radio wave sensor system.

11. the first radio wave sensor transmits a first radio wave in a first direction along the boundary and receives a first reflected wave that is a wave reflected from the first radio wave; the second radio wave sensor transmits a second radio wave in a second direction intersecting the boundary and receives a second reflected wave of the second radio wave; the first received signal is a signal based on the first reflected wave received by the first radio wave sensor, the second received signal is a signal based on the second reflected wave received by the second radio wave sensor; The radio wave sensor system according to claim 10.

12. The interior is a room, The boundary is a plane along an entrance to the room, The first radio wave sensor is provided above or to the side of the entrance and transmits the first radio wave in a direction along the plane, The second radio wave sensor is provided opposite the entrance and transmits the second radio wave in a direction intersecting the plane. The radio wave sensor system according to claim 11.

13. A moving object detection system according to any one of claims 1 to 6; a control unit that controls the device based on the count value, Equipment control system.

14. A moving object detection system according to any one of claims 1 to 6; Equipment and a control unit that controls the device based on the count value, Equipment systems.

15. A wiring device to which a device is connected, A moving object detection system according to any one of claims 1 to 6; The radio wave sensor; a control unit that controls the device based on the count value, Wiring equipment.

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