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

Abstract

To provide a motion detection system capable of improving the accuracy of determining whether a detected moving object is a human or not.SOLUTION: A motion detection system 1 includes a detection unit 113 and a determination unit 115. The detection unit 113 performs a series of detection processing to identify a moving object within the target area based on the received signals from a radio wave sensor 101. The determination unit 115 performs a series of processing to determine whether the moving object is a human body when it is determined that the height of the moving object has decreased by more than a certain threshold value based on the time difference of the received signals.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, a wiring device, and a lighting fixture, and more particularly to a moving object detection system, a radio wave sensor system, an equipment control system, an equipment system, a wiring device, and a lighting fixture 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] With the immersion object detection device described in Patent Document 1, it is not easy to determine with high accuracy whether a detected moving object is a human body or not.

[0005] An 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, a wiring device, and a lighting device that can improve the accuracy of determining whether a detected moving object is a human body. [Means for solving the problem]

[0006] A moving object detection system according to one aspect of the present disclosure includes a detection unit and a determination unit. The detection unit executes a detection process to detect a moving object present within an area based on received signals from a radio wave sensor. The determination unit executes a determination process to determine that the moving object is a human body when it is determined that the height of the moving object has decreased by more than a threshold based on a time difference between the received signals.

[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, and the radio wave sensor is provided above the area.

[0008] 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 a determination result of the determination process.

[0009] 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 determination result of the determination process.

[0010] 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, the control unit controlling the device based on a determination result of the determination process.

[0011] A lighting device according to one aspect of the present disclosure includes a light source unit, the lighting device including the moving object detection system, the radio wave sensor, and a control unit, and the control unit controls the light source unit based on the determination result of the determination process. [Effects of the Invention]

[0012] The moving object detection system, radio wave sensor system, equipment control system, wiring device, and lighting device disclosed herein have the advantage of being able to improve the accuracy of determining whether a detected moving object is a human body. [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 above moving object detection system is used, and the detection of a moving object within the area (room) and the determination of whether it is a human body (human body determination). [Figure 4] FIG. 4 is a graph showing changes in frequency of radio waves (transmitted waves and reflected waves) transmitted and received by a radio wave sensor constituting the radio wave sensor system. [Figure 5] FIG. 5 is a waveform diagram for explaining the inter-frame difference. [Figure 6] FIG. 6A is a frequency spectrum diagram showing the FFT results for the current frame Fr0, FIG. 6B is a frequency spectrum diagram showing the FFT results for the subsequent frame Fr1, and FIG. 6C is a frequency spectrum diagram showing the difference between the FFT results. [Figure 7] FIG. 7A is a distribution diagram showing an example of cluster distribution when the human body is in an upright position, FIG. 7B is a distribution diagram showing an example of cluster distribution when the human body is in a sitting position, and FIG. 7C is a distribution diagram showing an example of cluster distribution when the human body is in a recumbent position. [Figure 8] Figure 8A is a conceptual diagram showing a three-dimensional figure surrounding a cluster group in a standing position, Figure 8B is a conceptual diagram showing a three-dimensional figure surrounding a cluster group in a sitting position, and Figure 8C is a conceptual diagram showing a three-dimensional figure surrounding a cluster group in a lying position. [Figure 9] FIG. 9A is a distribution map showing an example of a cluster distribution corresponding to a cleaning robot, and FIG. 9B is a distribution map showing an example of a cluster distribution corresponding to an electric fan. [Figure 10] FIG. 10 is a block diagram of an equipment system including a wiring fixture equipped with the above moving object detection system (equipment control system). [Figure 11] FIG. 11 is a block diagram of a lighting fixture equipped with the above moving object detection system (appliance 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, 7A to 7C, 8A, 9A, and 9B.

[0015] As shown in FIG. 1, the moving object detection system 1 includes a detection unit 113 and a determination unit 115.

[0016] (1-1) Detection unit and detection processing The detection unit 113 executes a detection process, which is a process for detecting a moving object 200b existing inside R11 of the region R1 based on a signal received by the radio wave sensor 101, as shown in FIG.

[0017] (1-1-1) Area and moving object Region R1 is an area where people can be present. The interior R11 of region R1 is, for example, the interior of a room as shown in FIG. 3. The room is a space surrounded by a ceiling, a floor, and side walls. The room in FIG. 3 is, for example, a workroom. Inside the workroom, an electric fan (corresponding to moving body 200b shown in FIG. 9B) is operating, and a cleaning robot (corresponding to moving body 200b shown in FIG. 9A) is self-propelled.

[0018] The moving object 200b is a moving object. The moving object is, for example, an object that moves, but may also be an object that moves without moving. Note that the moving object referred to here also includes a human body (for example, the human body 200H shown in FIGS. 7A to 7C).

[0019] 3, the moving body 200b may be, for example, a cleaning robot that moves while moving (rotating a brush, suction, etc.), an electric fan that moves without moving (rotating a fan or swinging a head, etc.), or a human body 200H. Alternatively, the moving body 200b may be baggage that is moved while being held by a human hand.

[0020] (1-2) Judgment unit and judgment processing In the detection process, not only the human body 200H but also other moving objects 200b such as an electric fan or a cleaning robot can be detected. Therefore, the determination unit 115 executes the determination process.

[0021] The determination process is a process of determining that the moving object 200b is a human body 200H when it is determined that the height of the moving object 200b has decreased by a threshold or more based on the time difference between the received signals.

[0022] When a plurality of moving objects 200b are detected by the detection process, the determination process is executed for each of the plurality of moving objects 200b.

[0023] (1-2-1) Height The height is the distance between the upper end and the lower end of the moving object 200b. Generally, the lower end of the moving object 200b is in contact with the floor, so the height may be the distance from the floor to the upper end of the moving object 200b.

[0024] 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. 7A. The height may also be the height H of a three-dimensional figure 502 surrounding the point cloud 501 as shown in Fig. 8A.

[0025] (1-2-2) Threshold The threshold is a type of value referenced in the determination process. When one or more moving objects 200b (e.g., a human body 200H in an upright position in FIG. 7A, a cleaning robot in FIG. 9A, and an electric fan in FIG. 9B) exist within an interior R11 of an area R1 as shown in FIG. 3, the threshold is a value for classifying the one or more moving objects 200b into a human body 200H and moving objects 200b other than the human body 200H.

[0026] The threshold value is, for example, a value smaller than the height difference between the standing position (see Figure 7A) and the sitting position (see Figure 7B) or lying position (see Figure 7C) of the human body 200H (for example, a height difference between the standing position and the sitting position of 80 cm, a height difference between the standing position and the lying position of 150 cm, etc.), and in this embodiment, is 60 cm.

[0027] However, the threshold value can be changed as appropriate depending on the environment of the interior R11 (for example, whether or not it is an environment where animals other than the human body 200H, such as pets, may be present) (see "(5-6-3) Variations regarding regions, and combinations of predetermined values ​​and threshold values").

[0028] By using a judgment process using a threshold value, even if, for example, as shown in Figure 3, a human body 200H (e.g., a human body 200H in an upright position in Figure 7A) and moving bodies 200b other than the human body 200H (e.g., an electric fan in Figure 9B and a cleaning robot in Figure 9A) are mixed within the interior R11 of the region R1, it is possible to accurately determine whether each of the multiple moving bodies 200b is a human body 200H.

[0029] (1-3) Radio wave sensor The radio wave sensor 101 is disposed so that radio waves Tr from the radio wave sensor 101 reach the interior R11 of the region R1. The radio waves Tr are transmission waves transmitted from the radio wave sensor 101. The radio wave sensor 101 is preferably disposed above the interior R11.

[0030] In this embodiment, as shown in FIG. 3, the radio wave sensor 101 is provided on the ceiling of the interior R11 (room). The radio wave sensor 101 transmits radio waves Tr in a first direction Dr1, which is a direction intersecting with the floor surface of the room, and receives reflected waves Re of the radio waves Tr. Here, the intersecting direction is, for example, perpendicular, and when the intersecting direction is perpendicular, the first direction Dr1 is vertically downward. However, the intersecting direction is not limited to being perpendicular, and the first direction Dr1 may be inclined with respect to the vertically downward direction. The inclination of the first direction Dr1 with respect to the vertically downward direction is, for example, 20 degrees or less, 30 degrees or less, etc., but the numerical range of the inclination is not limited.

[0031] Even if the radio wave sensor 101 is placed laterally relative to the interior R11 (see "(5-6-1) First variant of radio wave sensor placement"), the radio waves Tr reach the interior R11. However, placing it upward is preferable in terms of determination accuracy, as it is easier to obtain highly accurate height information and moving objects 200b are less likely to be hidden behind other moving objects 200b when viewed from the radio wave sensor 101.

[0032] 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 a moving object 200b 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.

[0033] (1-3-1) 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 moving object 200b. 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.

[0034] By taking the time difference (described later) between the received signals, it is possible to obtain information about the height and movement (change in position, speed, change in height, etc.) of the moving object 200b.

[0035] (1-3-2) Location information, points, point clouds and clusters Three-dimensional position information (hereinafter simply referred to as "position information") regarding the position of the moving object 200b 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 the three-dimensional space 500 shown in FIG. 7A. 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 200b) that make up the moving object 200b (for example, the human body 200H) shown in FIG. 3.

[0036] Position information is repeatedly acquired based on the output of the radio wave sensor 101, and a plurality of points are arranged in three-dimensional space 500, thereby forming a point cloud 501 corresponding to the human body 200H, as shown in Fig. 7A, for example. The point cloud 501 includes a first cluster CL1 corresponding to the head and a second cluster CL2 corresponding to the legs.

[0037] (1-3-3) One or more point clouds corresponding to one or more moving objects If one or more moving objects 200b are present inside R11 of region R1, in other words, within the reach W1 (see Figure 3) of radio waves Tr transmitted from radio wave sensor 101, one or more point clouds 501 corresponding to one or more moving objects 200b are arranged in three-dimensional space 500.

[0038] (1-4) Signal processing for detection and decision processing (1-4-1) Signal processing unit and signal processing 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.

[0039] (1-4-1a) Time difference of received signal The time difference of the received signal 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 signal includes information about the movement of the moving object 200b. The information about the movement is, for example, information indicating a change in position (position change or displacement), speed, direction, change in height, etc. The change is, for example, the change per predetermined time T (see FIG. 5).

[0040] (1-4-1b) Signal Processing Signal processing is a process of obtaining, based on the time difference of the received signal, multiple pieces of location information corresponding to each of the multiple parts that make up the moving body 200b for one or more moving bodies 200b that are present within the range W1 of the radio waves transmitted from the radio wave sensor 101.

[0041] The signal processing may further include processing for arranging, for each of one or more moving objects 200b, point clouds 501 (see FIG. 7A) 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.

[0042] The signal processing may further include processing to acquire point cloud information for each of one or more moving objects 200b. 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.

[0043] (1-4-2) Detection process based on the results of signal processing The above-mentioned detection process is a process of detecting one or more moving objects 200b present inside R11 of region R1 based on time series data of multiple position information obtained by repeatedly executing signal processing, and obtaining trajectory information for each of the one or more detected moving objects 200b.

[0044] (1-4-2a) Time series data 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 moving object 200b 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. The time information is information that indicates the current time. The time information is obtained, for example, from an internal clock of the processor (described below).

[0045] (1-4-2b) Trajectory information The trajectory information is information relating to the movement trajectory of the moving object 200b. The movement trajectory is, for example, the trajectory of the movement of a representative point in the point cloud 501. By acquiring the trajectory information for each of the one or more detected moving objects 200b, it is possible to track each of the one or more moving objects 200b even if the point cloud 501 temporarily disappears due to the moving object 200b temporarily coming to a standstill or the like.

[0046] (1-4-3) Decision processing based on the results of signal processing The aforementioned determination process is a process in which height information and height change information are obtained for each of one or more moving bodies 200b detected by the detection process based on time series data of multiple position information, and a moving body 200b whose height has decreased by more than a threshold value is determined to be a human body 200H.

[0047] (1-4-3a) Height information The height information is information relating to the height of the moving object 200b. As described above, the height is the distance between the bottom end (second cluster CL2) and the top end (first cluster CL1) of the distribution of the point cloud 501. The distance is, for example, the distance between the point located at the bottom of the second cluster CL2 (the point with the smallest Z coordinate) and the point located at the top of the first cluster CL1 (the point with the largest Z coordinate), but it may also be the distance between the representative point of the second cluster CL2 and the representative point of the first cluster CL1.

[0048] (1-4-3b) Height change information The height change information is information relating to a change in the height of the moving object 200b. The height change information in this embodiment is information indicating the amount of decrease in height indicated by the height information (for example, the amount of change in the distance between the lower end and the upper body position in the distribution of the point cloud 501).

[0049] (1-4-4) Advantages of detection and judgment processing based on the results of signal processing In the moving object detection system 1 of this embodiment, the accuracy of moving object detection and human body determination can be improved by performing a detection process to detect one or more moving objects 200b based on time series data of multiple position information, and a determination process to determine whether each of the one or more moving objects 200b is a human body 200H.

[0050] (1-5) Advantages According to the above configuration, by detecting a moving object 200b present inside R11 of region R1, and determining that the moving object 200b is a human body 200H when the height of the moving object 200b decreases by more than a threshold value, it is possible to improve the accuracy of determining whether the detected moving object 200b is a human body 200H (human body determination).

[0051] (2)Details Next, details of the moving object detection system 1 will be explained using Figures 1, 3 to 5, and 6A to 8C. Note that in the following, explanations of matters already mentioned will be omitted or simplified.

[0052] (2-1) Details of the judgment process The determination process in the following description is a process in which, when the height of the moving object 200b detected by the detection process has decreased by a threshold value or more from a height of a predetermined value H1 or more, the moving object 200b is determined to be a human body 200H.

[0053] (2-1-1) Predetermined value The predetermined value H1 is a type of value referenced in the determination process. When one or more moving objects 200b (e.g., a human body 200H in an upright position in FIG. 7A, a cleaning robot in FIG. 9A, and an electric fan in FIG. 9B) exist within an interior R11 of an area R1, as shown in FIG. 3, the predetermined value H1 is a value for classifying the one or more moving objects 200b into a human body 200H and moving objects 200b other than the human body 200H. The predetermined value H1 is used in conjunction with the threshold value described above.

[0054] The predetermined value H1 is, for example, a value corresponding to the height of a child of the smallest age who can walk alone. In this embodiment, the predetermined value H1 is 80 cm, which corresponds to the height of a toddler (3 years old).

[0055] (2-2) Details of the decision process based on the results of signal processing The determination process based on the results of signal processing is a process in which, for each of one or more moving bodies 200b, it is determined whether the height has decreased by more than a threshold value from a height of a predetermined value H1 or more, based on the height information and height change information obtained from the time series data, and a moving body whose height is determined to have decreased by more than the threshold value from a height of a predetermined value H1 or more is determined to be a human body 200H.

[0056] In this determination process, a moving object 200b whose height is less than a predetermined value H1 is determined not to be a human body 200H. Also, even if the height is the predetermined value H1, a moving object 200b whose decrease in height is less than a threshold value is determined not to be a human body 200H.

[0057] In this way, by using the predetermined value H1 in combination with a threshold value in the determination process, it is possible to improve the accuracy of determining whether or not the object is a human body 200H.

[0058] (2-3) Advantages of determination processing based on height information and height change information According to the determination process based on height information and height change information, even if, for example, as shown in Figure 3, a human body 200H and moving bodies 200b of various heights other than the human body 200H are mixed within the interior R11 of the region R1, it is possible to accurately determine whether or not the body is a human body 200H.

[0059] (2-4) Continuation of the determination that it is a human body In the determination process of this embodiment, even if the moving object 200b determined to be the human body 200H becomes stationary, if height information indicating a height equal to or greater than the predetermined value H1 is detected from the time-series data corresponding to the human body 200H within a specified time period after the moving object 200b becomes stationary, the determination that the moving object 200b is the human body 200H continues. The specified time period is 20 seconds in this embodiment, but may be, for example, 30 seconds, 15 seconds, 1 minute, or the like, and the value of the specified time period is not limited.

[0060] More specifically, in the determination process, for the moving object 200b determined to be the human body 200H, it is determined whether the moving object 200b has entered a stationary state based on time-series data, for example, the point cloud 501 acquired from the time-series data. A stationary state is a state in which movement has stopped.

[0061] The stopped state is detected, for example, when point cloud 501 disappears in three-dimensional space 500 (see FIG. 7A) or the number of points constituting point cloud 501 decreases to a predetermined number or less. When point cloud 501 disappears or the number of points decreases to a predetermined number or less, no height information is acquired, or only height information indicating a height less than a predetermined value H1 is acquired. Note that the stopped state may also be detected based on position change information (described later).

[0062] In the determination process, when it is determined that the human body 200H has come to a standstill, a timer starts timing. Then, until the timer reaches a specified time, a determination is repeatedly made as to whether height information indicating a height equal to or greater than a predetermined value H1 has been acquired based on the time-series data corresponding to the human body 200H. If a determination result is obtained that height information indicating a height equal to or greater than the predetermined value H1 has been acquired before the timer reaches the specified time, the determination that the moving object 200b is the human body 200H continues.

[0063] Even if the timer's timing result reaches the specified time, if it is not determined that height information indicating a height equal to or greater than the predetermined value H1 has been acquired, the determination that moving body 200b is human body 200H will not continue, and for example, the determination will change to one that moving body 200b is not human body 200H, or it will return to a state where it is unclear whether moving body 200b is human body 200H or not.

[0064] (3) Specific examples Next, specific examples of the moving object detection system 1 will be described with reference to Figures 1, 3 to 5, and 6A to 9B. Note that in the following, descriptions of previously mentioned matters will be omitted or simplified.

[0065] (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 signal processing unit 111, a detection unit 113, a determination unit 115, and a control unit 117.

[0066] The processing unit 11 performs various types of processing, such as signal processing by the signal processing unit 111, detection processing by the detection unit 113, determination processing by the determination unit 115, and control processing by the control unit 117. The processing unit 11 also performs various types of judgments that will be explained in the flowcharts.

[0067] The reception unit 12 receives various types of information. The various types of information include, for example, a received signal from the radio wave sensor 101. The reception unit 12 may also receive, for example, operation information for the device 103.

[0068] 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. 7A) 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.

[0069] 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.

[0070] The control unit 117 executes a first control process when the detection unit 113 detects the moving object 200b and the determination unit 115 determines that the detected moving object 200b is a human body 200H. The control unit 117 also executes a second control process when the detection unit 113 does not detect the moving object 200b and when the determination unit 115 determines that the detected moving object 200b is not a human body 200H. The first control process is, for example, a process of turning on the device 103, and the second control process is, for example, a process of turning off the device 103.

[0071] More specifically, when the device 103 is in the off state, if the detection unit 113 detects a moving object 200b and the determination unit 115 determines that the detected moving object 200b is a human body 200H, the control unit 117 transmits control information for turning on the device 103 to the device 103 via the output unit 13. The device 103 receives the control information from the moving object detection system 1 and transitions from the off state to the on state. Note that the device 103 can receive control information even in the off state.

[0072] Thereafter, when the detection unit 113 no longer detects the moving object 200b, or when the determination unit 115 determines that the detected moving object 200b is not a human body 200H, the control unit 117 transmits control information for turning off the device 103 to the device 103 via the output unit 13. The device 103 receives the control information from the moving object detection system 1 and transitions from the on state to the off state.

[0073] The timing at which the control unit 117 transmits the control information for turning off the device 103 may be after a certain time has elapsed since the detection unit 113 has stopped detecting the moving object 200b or the determination unit 115 has determined that the detected moving object 200b is not a human body 200H. The certain time may be, for example, 5 minutes, 3 minutes, 10 minutes, or the like, but is not limited to these.

[0074] (3-2) Means of realization The moving object detection system 1 includes a processor, a memory, and a communication module.

[0075] (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.

[0076] (3-2-2) Means of realizing radio wave sensors In this embodiment, the radio wave sensor 101 is realized by a radio wave sensor using the FMCW (Frequency Modulated Continuous Wave) method. The transmission wave Tr (the radio wave Tr described above) transmitted from the radio wave sensor 101 is a radio wave modulated by the FMCW method. Note that, although millimeter waves are preferable as the radio wave, radio waves with wavelengths other than millimeter waves may also be used.

[0077] The received signals output from the radio wave sensor 101 correspond to the "FFT result group" in the following description. Also, the "time difference of the received signals" in signal processing corresponds to the "inter-frame difference" in the following description.

[0078] The positions of one transmitting antenna and three or more receiving antennas included in the 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.

[0079] (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 4.

[0080] 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).

[0081] (3-2-4) IF signal, FFT result, and FFT result group Each time a transmission / reception operation is performed, the radio wave sensor 101 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. In other words, 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 the 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.

[0082] 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. 4. 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 in the case of a stationary object or when the moving object 200b is temporarily stationary.

[0083] 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).

[0084] 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 6A and 6B.

[0085] An 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 moving object 200b can be identified using such an FFT result group. Furthermore, by taking the difference between multiple FFT result groups, frequency components corresponding to stationary objects are removed, and only frequency components corresponding to the moving object 200b (frequency f at which amp exceeds the reference intensity, and the value of amp corresponding to that frequency f) are acquired (see FIGS. 6A to 6C). Based on the frequency components acquired in this way, it is possible to acquire information regarding the three-dimensional position and movement of the moving object 200b.

[0086] (3-2-5) 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 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.

[0087] The 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 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 moving object 200b, for example, to calculate three-dimensional coordinates.

[0088] (3-2-6) Frames and inter-frame differences A frame is a unit of time for repeatedly performing an operation for detecting a moving object 200b. The above-described transmission and reception operation is 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.

[0089] The memory stores N sets of FFT results per 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 per frame across at least two frames. The signal processing unit 111 obtains inter-frame differences between the multiple frames stored in the memory.

[0090] 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. 5) and a group of FFT results belonging to another frame (e.g., the subsequent frame Fr1, etc. shown in FIG. 5).

[0091] (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.

[0092] 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.

[0093] The signal processing unit 111 executes distance measurement processing based on the group of FFT results, thereby acquiring, for each of one or more moving objects 200b, a plurality of pieces of position information corresponding to a plurality of parts that make up the moving object 200b.

[0094] (3-2-8) Point arrangement The 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. 7A. 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).

[0095] 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.

[0096] (3-2-9) Clustering and cluster distribution The 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. 7A) as shown in FIG. 8A. 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. 7B) as shown in FIG. 8B. 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. 7C) as shown in FIG. 8C.

[0097] 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.

[0098] (3-2-10) Calculating height based on distribution of point clouds or clusters The signal processing unit 111 calculates the height of the moving object 200b based on the distribution in the three-dimensional space 500 of the point cloud 501 thus arranged in the three-dimensional space 500, or the cluster group acquired by clustering the point cloud 501 (hereinafter simply referred to as "distribution"). The height is, for example, the distance between the upper and lower ends of the point cloud 501, or the distance between the first cluster CL1 and the second cluster CL2.

[0099] By performing the above-described processing by the signal processing unit 111, height information of the moving object 200b is acquired based on the time difference of the signals received from the radio wave sensor 101 (group of FFT results).

[0100] (3-2-11) Calculation of movement trajectory The signal processing unit 111 calculates the movement trajectory of the moving object 200b based on the positional change of the point cloud 501 in the three-dimensional space 500. The movement trajectory is, for example, the movement trajectory of a representative point in the point cloud 501 as shown in Figures 7A to 7C.

[0101] 7A and 8B, the 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 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. 7C, the representative point is a representative point of cluster CL.

[0102] The movement distance of the moving object 200b (see "(5-6-5a) Position change information") is calculated as a value corresponding to the length of the movement trajectory, for example. Alternatively, the movement distance may be calculated as a value corresponding to the length (position change) of a line segment connecting the position of a first point corresponding to a first time and the position of a second point corresponding to a second time that is a predetermined time T after the first time on the movement trajectory.

[0103] The moving direction of the moving object 200b at the first time is calculated as the direction from the first point to the second point on the movement trajectory.

[0104] (3-2-12) Calculation of height change The signal processing unit 111 calculates a change in the height of the moving object 200b based on a change in the distribution of the point cloud 501 in the three-dimensional space 500, as shown in Figures 7A to 7C. The change in distribution is, for example, a change in the body position from an upright position as shown in Figure 7A to a sitting position as shown in Figure 7B or a lying position as shown in Figure 7C, in which the upper end (first cluster CL1) and the lower end (second cluster CL2) of the point cloud 501 move closer to each other.

[0105] Alternatively, the change in distribution may be, for example, the upper end (first cluster CL1) and the lower end (second cluster CL2) in the point cloud 501 moving away from each other in response to a change in body position from a sitting position as shown in FIG. 7B or a lying position as shown in FIG. 7C to an upright position as shown in FIG. 7A.

[0106] The change in height of the moving object 200b is calculated as, for example, the change in the distance between the upper end (first cluster CL1) and the lower end (second cluster CL2) of the point cloud 501.

[0107] (3-3) Advantages of specific examples According to a specific example, the detection accuracy of the moving object 200b is improved by using an FMCW radio wave sensor as the radio wave sensor 101. As a result, the accuracy of determining whether the moving object 200b is a human body 200H is improved.

[0108] (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.

[0109] First, the processing unit 11 determines whether or not the receiving unit 12 has received a reception signal from the radio wave sensor 101 (step S1). If it is determined that the receiving unit 12 has not received a reception signal (No in step S1), the processing returns to step S1.

[0110] If it is determined in step S1 that the receiving unit 12 has received the received signal (Yes), the signal processing unit 111 executes signal processing (step S2). The results of the signal processing are stored in memory, and time-series data is generated by repeating the signal processing, and height information, height change information, position change information, etc. are obtained based on the time-series data.

[0111] Next, the detection unit 113 executes detection processing of the moving object 200b based on the signal processing results (time series data, position change information, etc.), and the processing unit 11 determines whether the detection unit 113 has detected the moving object 200b (step S3). If it is determined that the detection unit 113 has not detected the moving object 200b (No in step S3), the processing proceeds to step S6.

[0112] If it is determined in step S3 that the detection unit 113 has detected the moving object 200b (Yes), the determination unit 115 executes a determination process based on the signal processing results (time-series data, second height information, height change information, etc.) to determine whether the moving object 200b detected in step S3 is a human body 200H (step S4). If it is determined that the moving object 200b is not a human body 200H (No in step S4), the process proceeds to step S6.

[0113] If it is determined in step S4 that the moving object 200b is the human body 200H (Yes), the control unit 117 executes a first control process (step S5). The first control process turns on the device 103, for example. Then, the process returns to step S1.

[0114] In step S6, the control unit 117 executes a second control process, which, for example, turns off the device 103. After that, the process returns to step S1.

[0115] (5) Variations Next, various modifications of the above embodiment will be described. Note that, in the following, the description of the previously mentioned items will be omitted or simplified, and only differences from the embodiment will be described.

[0116] (5-1) Second Modification of the Moving Object Detection System A first modified example of the moving object detection system 1 is a radio wave sensor system 10 (see FIG. 1, for example) that includes the moving object detection system 1 and a radio wave sensor 101.

[0117] According to this modification, it is possible to improve the accuracy of determining whether the detected moving object 200b is a human body 200H or not.

[0118] (5-2) Second Modification of the Moving Object Detection System A second modified example of the moving object detection system 1 is a device control system 1A (see FIG. 1, for example) that includes the moving object detection system 1 and a control unit 117.

[0119] In the embodiment, the moving object detection system 1 includes the control unit 117, but in this modification, the control unit 117 is not a component of the moving object detection system 1 but a component of the device control system 1A. However, in this modification, the control unit 117 may also be a component of the moving object detection system 1. In other words, the control unit 117 in this modification may or may not be a component of the moving object detection system 1. The fact that the control unit 117 may or may not be a component of the moving object detection system 1 also applies to the third to fifth modifications of the moving object detection system described below.

[0120] According to this modification, it is possible to improve the accuracy of human body determination for device control.

[0121] (5-3) Third Modification of the Moving Object Detection System The third modified example of the moving object detection system 1 is an equipment system 100 (see, for example, FIG. 1) that includes the moving object detection system 1, an equipment 103, and a control unit 117.

[0122] According to this modification, it is possible to improve the accuracy of human body determination for device control.

[0123] (5-4) Fourth Modification of the Moving Object Detection System A fourth modified example of the moving object detection system 1 is a wiring accessory 10A (see FIG. 10) to which a device 103 is connected. As shown in FIG. 10, the wiring accessory 10A includes the moving object detection system 1, a radio wave sensor 101, and a control unit 117.

[0124] 10 , 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. The control unit 117 may also turn on the device 103 by, for example, starting the supply of power from the power supply unit 14 to the device 103.

[0125] The wiring device 10A further includes a housing 10Ah (see FIG. 3) that can be attached to a ceiling, a side wall, or the like in a room. Elements of the wiring device 10A other than the housing 10Ah, namely, the moving object detection system 1, the radio wave sensor 101, the control unit 117, and the power supply unit 14, are housed in the housing 10Ah.

[0126] According to this modification, it is possible to improve the accuracy of human body determination for device control.

[0127] (5-5) Fifth Modification of the Moving Object Detection System The fourth modification of the moving object detection system 1 is a lighting fixture 10B (see FIG. 11) having a light source unit 14a. The lighting fixture 10B includes the moving object detection system 1, a radio wave sensor 101, and a control unit 117.

[0128] According to this modification, it is possible to improve the accuracy of human body determination for lighting control.

[0129] (5-6) Other variations (5-6-1) First Modification of Radio Wave Sensor Arrangement: Lateral Arrangement The radio wave sensor 101 may be provided on the side of the interior R11 of the region R1 (for example, on a side wall of a room). By transmitting the radio wave Tr in a direction intersecting the side wall, it is possible to detect the moving object 200b present in the interior R11 of the region R1 and further to determine whether the moving object 200b is a human body 200H.

[0130] (5-6-2) Second Modification of Radio Wave Sensor Arrangement: Multiple Arrangements A plurality of radio wave sensors 101 may be provided in one region R1. In this case, the signal processing unit 111 performs signal processing based on the received signal for each of the plurality of radio wave sensors 101. The detection unit 113 performs detection processing based on the signal processing results for each of the plurality of radio wave sensors 101. The determination unit 115 performs determination processing on each of the plurality of detection results corresponding to the plurality of detection processing.

[0131] (5-6-3) Modifications regarding the combination of regions, predetermined values, and threshold values In this modification, 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, may enter and exit the room. Therefore, the predetermined value H1 in this modification is set to a value smaller than 80 cm in the embodiment, e.g., 60 cm.

[0132] In addition, the threshold value of the amount of change (decreasing width) in the height of the moving object 200b in this modified example is preferably a value larger than the difference in height between a standing position and a sitting or lying position of a pet such as a cat. Therefore, the threshold value in this modified example is set to a value smaller than 60 cm in the embodiment, for example, 40 cm.

[0133] This allows infants to be determined as people, while pets can be prevented from being determined as people.

[0134] (5-6-4) First modified example of judgment process: If the height increases by more than the threshold, it is judged to be a human body In the determination process of this modification, even when it is determined that the height of the moving object 200b has increased by more than a threshold value based on the time difference between the received signals, the moving object 200b is determined to be a human body 200H.

[0135] In other words, the judgment process of this modified example judges that the moving body 200b is a human body 200H when it is determined that the height of the moving body 200b has decreased or increased by more than a threshold value (i.e., changed by more than a threshold value) based on the time difference of the received signals.

[0136] (5-6-5) Second Modification of Determination Process: Human Body Determination Based on Height, Height Change, and Position Change The determination process in this modified example is a process in which, for each of one or more moving bodies 200b detected by the detection process, position change information is further obtained based on time series data, and a moving body 200b whose height information indicates a height equal to or greater than a predetermined value H1, whose height change information indicates a decrease equal to or greater than a threshold value, and whose position change information indicates a position change equal to or greater than a reference value is determined to be a human body 200H.

[0137] (5-6-5a) Location change information The position change information is information relating to a change in the position of the moving object 200b. The position change is a change between the position of the moving object 200b at a first time and the position of the moving object 200b at a second time that is a predetermined time T after the first time. The position change may be, for example, information indicating the distance that the moving object 200b has moved in the predetermined time T (hereinafter referred to as "movement distance").

[0138] If the predetermined time T is taken as the unit time, the position change information is information indicating the moving speed of the moving object 200b. Furthermore, the direction from the position of the moving object 200b at the first time to the position of the moving object 200b at the second time is the moving direction of the moving object 200b.

[0139] (5-6-5b) Reference value The reference value is a type of value referenced in the determination process. For example, as shown in Fig. 3, when one or more moving objects 200b (e.g., a human body 200H in a standing position in Fig. 7A, a cleaning robot in Fig. 9A, and an electric fan in Fig. 9B) are present inside R11 of region R1, the reference value is a value for classifying the one or more moving objects 200b into human body 200H and moving objects 200b other than human body 200H. The reference value is used in conjunction with the threshold value and predetermined value H1 described above.

[0140] The reference value in this modification is a value based on the difference in speed between the human body 200H and the cleaning robot. Specifically, the reference value may be a value corresponding to a speed that is greater than the general moving speed of the cleaning robot and less than the walking speed of the human body 200H.

[0141] (5-6-5c) Determination process based on height information, height change information, and position change information In the determination process of this modification, for each of one or more moving bodies 200b, it is determined whether the height information indicates a height equal to or greater than a predetermined value H1, whether the height change information indicates a decrease equal to or greater than a threshold, and whether the position change information indicates a position change equal to or greater than a reference value. Then, of the one or more moving bodies 200b, the moving body 200b whose height information indicates a height equal to or greater than the predetermined value H1, whose height change information indicates a decrease equal to or greater than a threshold, and whose position change information indicates a position change equal to or greater than a reference value is determined to be a human body 200H.

[0142] In the judgment process of this modified example, a moving body 200b whose height indicated by the height information is less than a predetermined value H1, a moving body 200b whose height decrease indicated by the height change information is less than a threshold value, and a moving body 200b whose position change indicated by the position change information is less than a reference value are all determined to be not a human body 200H.

[0143] (5-6-6) Continuing to identify a human body using height and position changes In this modified example, the judgment process continues to determine that the moving body 200b is a human body 200H, even if it is determined that the moving body 200b, which has been determined to be a human body 200H, has come to a stop, if at least one of height information indicating a height greater than a predetermined value H1 and position change information indicating a position change greater than a reference value is detected within a specified time after it was determined to have come to a stop.

[0144] More specifically, in the determination process of this modified example, it is determined whether or not the moving object 200b determined to be the human body 200H has entered a stationary state based on the position change information. The stationary state may be detected when the position change indicated by the position change information changes from a state equal to or greater than a reference value to a state below the reference value.

[0145] When it is determined that the human body 200H has come to a standstill, a timer starts timing. Then, over a period until the timer reaches a predetermined time, it is repeatedly determined whether height information indicating a height equal to or greater than a predetermined value H1 has been acquired based on the time-series data corresponding to the human body 200H, and whether position change information indicating a position change equal to or greater than a reference value has been acquired.

[0146] If at least one of the following judgment results is obtained before the timer's timing reaches the specified time: height information indicating a height greater than or equal to a predetermined value H1 has been acquired, and position change information indicating a position change greater than or equal to a reference value has been acquired, the moving body 200b continues to be determined to be a human body 200H.

[0147] Even if the timer reaches a specified time, if neither a determination result that height information indicating a height equal to or greater than the predetermined value H1 has been obtained nor a determination result that position change information equal to or greater than the reference value has been obtained, the determination that the moving body 200b is the human body 200H is not continued. If the determination that the moving body 200b is the human body 200H is not continued, the result of the determination process changes, for example, to a determination that the moving body 200b is not the human body 200H, or returns to a state in which it is uncertain whether the moving body 200b is the human body 200H.

[0148] According to this modification, the accuracy of human body determination can be further improved by processing that utilizes position changes in addition to height and height changes.

[0149] (5-6-7) Variation of the determination unit: Determining whether a person is present or not The determination unit 115 may further perform presence / absence determination processing in addition to the detection processing and determination processing based on the result of signal processing. The presence / absence determination processing is processing for determining whether or not a person is present inside R11 of the region R1.

[0150] The presence / absence determination process is a process that determines that a human body 200H is present in the interior R11 (e.g., "a person is present") when the determination process determines that the change in height of at least one moving body 200b out of one or more moving bodies 200b detected by the detection process is greater than or equal to a threshold value based on the height change information.

[0151] In the presence / absence determination process, for any moving body 200b, if the determination process determines that the change in height of the moving body 200b does not meet the threshold based on the height change information, it is determined that no human body 200H is present in the interior R11 (for example, ``no person is present'').

[0152] (5-6-8) Modifications of the Execution Timing of the First Control Process and the Second Control Process The first control process may be executed in response to a change in the result of the presence / absence determination process from “no person present” to “person present.” The second control process may be executed in response to a change in the result of the presence / absence determination process from “person present” to “person absent,” or after a certain time has elapsed since the change from “person present” to “person absent.”

[0153] (5-6-9) Modified methods for using the judgment results The determination result of the determination process by the determination unit 115 (information indicating whether the moving object 200b detected in the detection process by the detection unit 113 is a human body 200H or not) 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 accumulated in an external storage medium.

[0154] (5-6-10) Modified example of realizing the radio wave sensor The radio wave sensor 101 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 radio wave sensor 101 may be a radio wave sensor of any type as long as it can acquire height change information, height information and position change information, etc.

[0155] (6) Summary The moving object detection system (1) according to the first aspect includes a detection unit (113) and a determination unit (115). The detection unit (113) executes a detection process. The detection process is a process of detecting a moving object (200b) present inside (R11) of a region (R1) based on a received signal from a radio wave sensor (101). The determination unit (115) executes a determination process. The determination process is a process of determining that the moving object (200b) is a human body (200H) when it is determined that the height of the moving object (200b) has decreased by more than a threshold based on the time difference between the received signals.

[0156] According to this aspect, it is possible to improve the accuracy of determining whether or not the detected moving object (200b) is a human body (200H) (human body determination).

[0157] In the moving object detection system (1) according to the second aspect, in the first aspect, the determination process is a process of determining that the moving object (200b) is a human body (200H) when the height of the moving object (200b) decreases by more than a threshold value from a height equal to or greater than a predetermined value (H1) based on the time difference.

[0158] According to this aspect, by excluding moving objects (200b) whose height is less than a predetermined value (H1) (for example, a value corresponding to the height of a child of an age that can walk alone) from the judgment process, the accuracy of human body judgment can be further improved.

[0159] The moving object detection system (1) according to the third 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, for each of one or more moving objects (200b), including a moving object (200b) present inside (R11), a plurality of pieces of position information corresponding to a plurality of parts constituting the moving object (200b), based on a time difference between received signals. The determination process is a process of acquiring, for each of the one or more moving objects (200b), height change information relating to a change in the height of the moving object (200b), based on time-series data of the plurality of pieces of position information acquired by repeatedly executing the signal processing, and determining, based on the height change information, that the moving object (200b) whose height is determined to have decreased by a threshold or more is a human body (200H).

[0160] According to this aspect, the processing utilizing the height change can reduce the amount of processing and improve the accuracy of human body determination.

[0161] The moving object detection system (1) according to the fourth aspect is the second aspect, and 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 time differences, a plurality of pieces of position information corresponding to a plurality of parts constituting the moving object (200b) for each of one or more moving objects (200b), including a moving object (200b) present in the interior (R11). The determination process is a process of acquiring, for each of the one or more moving objects (200b), height information relating to the height of the moving object (200b) and height change information relating to a change in the height of the moving object (200b) based on time-series data of the plurality of pieces of position information acquired by repeatedly executing the signal processing, and determining, based on the height information and the height change information, that the moving object (200b) whose height is determined to have decreased by a threshold or more from a height equal to or greater than a predetermined value (H1), is a human body (200H).

[0162] According to this aspect, the accuracy of human body determination can be further improved by processing using height and height change.

[0163] In the moving object detection system (1) according to the fifth aspect, in the third aspect, the determination process is a process in which, even if a moving object (200b) determined to be a human body (200H) becomes stationary, if height information indicating a height equal to or greater than a predetermined value (H1) is detected within a specified time after the moving object (200b) becomes stationary, the determination that the moving object (200b) is a human body (200H) continues.

[0164] According to this aspect, even if the moving object (200b) stops, it is possible to continue highly accurate human body determination.

[0165] In the moving object detection system (1) according to the sixth aspect, in the fourth aspect, the determination process is a process of acquiring position change information regarding the position change of each of one or more moving objects (200b) based on time series data, and determining that a moving object (200b) whose height information indicates a height equal to or greater than a predetermined value (H1), whose height change information indicates a decrease equal to or greater than a threshold value, and whose position change information indicates a position change equal to or greater than a reference value, is a human body (200H).

[0166] According to this aspect, the accuracy of human body determination can be further improved by processing that further utilizes position changes in addition to height and height changes.

[0167] In the moving object detection system (1) according to the seventh aspect, in the sixth aspect, the determination process is a process in which, even if a moving object (200b) determined to be a human body (200H) is determined to have come to a stop, if at least one of height information indicating a height equal to or greater than a predetermined value (H1) and position change information indicating a position change equal to or greater than a reference value is detected within a specified time after it was determined to have come to a stop, the moving object (200b) continues to be determined to be a human body (200H).

[0168] According to this aspect, even if the moving object (200b) stops, it is possible to continue to perform human body determination with higher accuracy.

[0169] A radio wave sensor system (10) according to an eighth aspect includes the moving object detection system (1) according to any one of the first to seventh aspects and a radio wave sensor (101). The radio wave sensor (101) is provided above the region (R1).

[0170] According to this aspect, it is possible to improve the accuracy of determining whether or not the detected moving object (200b) is a human body (200H) (human body determination).

[0171] In a radio wave sensor system (10) according to a ninth aspect, in the eighth aspect, the interior (R11) is a room (R11). The radio wave sensor (101) is provided on the ceiling of the room (R11), transmits radio waves (transmission waves Tr) in a direction intersecting with the floor of the room (R11), and receives reflected waves (Re) of the radio waves (Tr). The received signal is a signal based on the reflected waves (Re) received by the radio wave sensor (101).

[0172] According to this aspect, it is possible to improve the accuracy of determining whether or not the detected moving object (200b) is a human body (200H) (human body determination).

[0173] A device control system (1A) according to a tenth aspect includes the moving object detection system (1) according to any one of the first to seventh aspects and a control unit (117). The control unit (117) controls the device (103) based on the determination result of the determination process.

[0174] According to this aspect, it is possible to improve the accuracy of human body determination for device control.

[0175] An equipment system (100) according to an eleventh aspect includes the moving object detection system (1) according to any one of the first to seventh aspects, an equipment (103), and a control unit (117). The control unit (117) controls the equipment (103) based on the determination result of the determination process.

[0176] According to this aspect, it is possible to improve the accuracy of human body determination for device control.

[0177] A wiring device (10A) according to a twelfth 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 seventh aspects, a radio wave sensor (101), and a control unit (117). The control unit (117) controls the device (103) based on the determination result of the determination process.

[0178] According to this aspect, it is possible to improve the accuracy of human body determination for device control.

[0179] A lighting fixture (10B) according to a thirteenth aspect is a lighting fixture (10B) having a light source unit (14a). The lighting fixture (10B) includes the moving object detection system (1) according to any one of the first to seventh aspects, a radio wave sensor (101), and a control unit (117). The control unit (117) controls the light source unit (14a) based on the determination result of the determination process.

[0180] According to this aspect, it is possible to improve the accuracy of human body determination for lighting control. [Explanation of symbols]

[0181] 100 Equipment Systems 10 Radio wave sensor system 101 Radio wave sensor 103 Equipment 10A wiring device 10B Lighting equipment 1. Motion detection system 1A Equipment Control System 111 Signal processing section 113 Detector 115 Judgment section 117 Control Unit 14a Light source section R1 area R11 internal Tr Radio wave (transmitted wave) Re reflected wave 200b Moving object 200H human body

Claims

1. a detection unit that executes a detection process to detect a moving object present within the area based on a received signal from a radio wave sensor; a determination unit that executes a determination process to determine that the moving object is a human body when it is determined that the height of the moving object has decreased by a threshold or more based on the time difference of the received signals, Motion detection system.

2. the determination process is a process of determining that the moving object is a human body when the height of the moving object decreases by the threshold value or more from a height equal to or greater than a predetermined value based on the time difference. The moving object detection system according to claim 1 .

3. a signal processing unit that repeatedly executes signal processing to acquire, for each of one or more moving objects including the moving object present inside the vehicle, a plurality of pieces of position information corresponding to a plurality of parts constituting the moving object based on a time difference between the received signals; The determination process includes: acquiring height change information regarding a change in height of each of the one or more moving objects based on the time series data of the plurality of pieces of position information acquired by repeatedly executing the signal processing; determining that a moving object whose height is determined to have decreased by more than the threshold value based on the height change information is the human body; The moving object detection system according to claim 1 .

4. a signal processing unit that repeatedly executes signal processing to acquire, for each of one or more moving objects including the moving object present inside the vehicle, a plurality of pieces of position information corresponding to a plurality of parts constituting the moving object based on the time difference; The determination process includes, for each of the one or more moving objects: acquiring height information relating to a height of the moving object and height change information relating to a change in height of the moving object based on time series data of the plurality of pieces of position information acquired by repeatedly executing the signal processing; determining, based on the height information and the height change information, that a moving object whose height is determined to have decreased from a height equal to or greater than the predetermined value by equal to or greater than the threshold value is the human body; The moving object detection system according to claim 2 .

5. The determination process is a process of continuing to determine that the moving object is a human body even if the moving object determined to be the human body stops, if height information indicating a height equal to or greater than the predetermined value is detected within a specified time after the moving object stops. The moving object detection system according to claim 3 .

6. The determination process includes: acquiring, for each of the one or more moving objects, position change information relating to a position change of the moving object based on the time-series data; a process of determining that a moving object, the height information of which indicates a height equal to or greater than the predetermined value, the height change information of which indicates a decrease equal to or greater than the threshold value, and the position change information of which indicates a position change equal to or greater than a reference value, is the human body; The moving object detection system according to claim 4 .

7. The determination process includes: Even if it is determined that the moving object determined to be the human body has stopped, if at least one of the height information indicating a height equal to or greater than the predetermined value and the position change information indicating a position change equal to or greater than the reference value is detected within a specified time after it is determined that the moving object has stopped, the process continues to determine that the moving object is the human body. The moving object detection system according to claim 6 .

8. A moving object detection system according to any one of claims 1 to 7; The radio wave sensor, The radio wave sensor is provided above the area. Radio wave sensor system.

9. The interior is a room, The radio wave sensor includes: provided on the ceiling of the room, transmitting radio waves in a direction intersecting the floor surface of the room, and receiving 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 8 .

10. A moving object detection system according to any one of claims 1 to 7; a control unit that controls the device based on the determination result of the determination process, Equipment control system.

11. A moving object detection system according to any one of claims 1 to 7; Equipment and a control unit that controls the device based on a determination result of the determination process, Equipment systems.

12. A wiring device to which a device is connected, A moving object detection system according to any one of claims 1 to 7; The radio wave sensor; a control unit that controls the device based on a determination result of the determination process, Wiring equipment.

13. A lighting fixture having a light source unit, A moving object detection system according to any one of claims 1 to 7; The radio wave sensor; a control unit that controls the light source unit based on a determination result of the determination process, Lighting fixtures.

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