Mobile object detection system and mobile object detection method

Abstract

To improve the accuracy of detecting moving objects. [Solution] The moving object detection system comprises a plastic sheet 2 (vibration transmission member), a vibration sensor 1 that detects vibrations transmitted to the plastic sheet 2, and a control unit that detects a moving object based on the vibrations detected by the vibration sensor 1. The moving object detection system further comprises a vibration reinforcing member that contacts the plastic sheet 2. The control unit creates a learning model based on the vibrations detected by the vibration sensor 1, and detects a moving object based on the created learning model and the vibrations detected by the vibration sensor 1.

Description

Technical Field

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[0001] The present invention relates to a moving object detection system for detecting a moving object and a moving object detection method.

Background Art

[0002] The applicant has filed an invention for detecting a moving object such as a vehicle using a vibration sensor (see Patent Document 1). When detecting the number of vehicles using a vibration sensor as in the invention according to this patent application, for example, the vibration of the road (ground) caused by the vehicle is measured by the vibration sensor, peak detection is performed on the vibration data when the vehicle passes measured by the vibration sensor, and a learning model is created by learning the peak portion. Then, based on the created learning model and the vibration data, the number of vehicles is detected.

[0003] For example, when detecting a pedestrian as a moving object using a vibration sensor, since the vibration of the ground caused by the pedestrian is weak and the vibration sensor cannot accurately detect the vibration, there is a problem that the detection accuracy of the moving object is poor.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] As described above, in the conventional invention, there is a problem that the detection accuracy of the moving object is poor.

[0006] An object of the present invention is to improve the detection accuracy of a moving object.

Means for Solving the Problems

[0007] The moving object detection system of the first invention is characterized by comprising: a vibration transmission member; a vibration sensor for detecting vibrations transmitted to the vibration transmission member; and a control unit for detecting a moving object based on the vibrations detected by the vibration sensor.

[0008] In this invention, the vibration sensor detects vibrations transmitted to the vibration transmission member. As a result, vibrations are detected accurately by the vibration sensor, and therefore, according to this invention, the detection accuracy of moving objects is good.

[0009] The moving object detection system of the second invention is characterized in that, in the moving object detection system of the first invention, it further comprises a vibration-enhancing member that contacts the vibration transmission member.

[0010] The third invention's moving object detection system is characterized in that, in the moving object detection system of the first invention, the vibration transmission member is a sheet-like member.

[0011] The fourth invention is a moving object detection system, characterized in that the vibration transmission member is a plastic sheet, in the moving object detection system of the first invention.

[0012] The fifth invention is a moving object detection system, characterized in that it further comprises a mat, the fourth invention, which has fibers on one side and is placed on the vibration transmission member such that the other side is in contact with the vibration transmission member.

[0013] For example, if the moving object to be detected is a pedestrian, and the system detects pedestrians entering a store from outside, the store may become dirty due to dirt on the pedestrian's shoes. In this invention, a mat containing fibers, placed on the vibration transmission member, removes dirt from the pedestrian's shoes, thus preventing the store from becoming dirty. Furthermore, although the mat may reduce the vibration caused by the pedestrian, even if the vibration is reduced, the vibration sensor can still detect the vibration through vibration transmission by the vibration transmission member.

[0014] The sixth invention is a moving object detection system, which is the same as the moving object detection system of the second invention, wherein the vibration reinforcing member is sandpaper, and the processing surface is attached to the vibration transmission member.

[0015] The seventh invention is a moving object detection system of the second invention, characterized in that the vibration reinforcing member is a metal plate having legs of a predetermined height on one side, and is arranged on one side of the vibration transmission member.

[0016] The eighth invention is a moving object detection system, in which the vibration reinforcing member is a sandpaper that is folded with the workable surface facing inward and attached to the vibration transmission member.

[0017] The ninth invention is a moving object detection system, which is the same as the moving object detection system of the second invention, characterized in that the vibration reinforcing member is a spacer having a predetermined height and is arranged on one side of the vibration transmission member.

[0018] The tenth invention's moving object detection system is characterized by comprising: a vibration generating member that generates vibrations of a different frequency from ambient sound due to the movement of a moving object; a vibration sensor that detects vibrations; and a control unit that detects a moving object based on the vibrations detected by the vibration sensor.

[0019] In this invention, the vibration generating member generates vibrations of a different frequency from the ambient noise due to the movement of the moving object. As a result, even in cases where the ambient noise is loud, the vibration sensor can detect the vibrations caused by the movement of the moving object, thus enabling the detection of the moving object.

[0020] The eleventh invention's moving object detection system is characterized in that, in the tenth invention's moving object detection system, the vibration generating member has a metal member.

[0021] In the present invention, the vibration generating member has a metal member. Therefore, when the moving body moves, the metal member can generate vibrations with frequencies different from the ambient sound.

[0022] The moving body detection system according to the twelfth invention is the moving body detection system according to the eleventh invention, wherein the vibration generating member further has a sheet-like member, and the metal member is provided on one surface side of the sheet-like member.

[0023] The moving body detection system according to the thirteenth invention is the moving body detection system according to the first or tenth invention, wherein the control unit creates a learning model based on the vibrations detected by the vibration sensor.

[0024] The moving body detection system according to the fourteenth invention is the moving body detection system according to the first or tenth invention, wherein the control unit detects a moving body based on the learning model.

[0025] The moving body detection system according to the fifteenth invention is the moving body detection system according to the first or tenth invention, wherein the control unit counts the detected moving bodies.

[0026] The moving body detection method according to the sixteenth invention is characterized by detecting vibrations transmitted to the vibration transmission member and detecting a moving body based on the detected vibrations.

[0027] The moving body detection method according to the seventeenth invention is characterized by detecting vibrations generated by a vibration generating member that generates vibrations with frequencies different from the ambient sound due to the movement of the moving body, and detecting a moving body based on the detected vibrations.

Effects of the Invention

[0028] According to the present invention, the detection accuracy of the moving body is good.

Brief Description of the Drawings

[0029] [Figure 1]This is a diagram showing a vibration sensor. [Figure 2] This is a schematic diagram showing the interior of the dashed line A in Figure 1. [Figure 3] This diagram schematically shows vibration sensors, plastic sheets, mats, etc. [Figure 4] This figure shows vibration data detected by a vibration sensor. [Figure 5] (a) is a schematic diagram showing a sheet-like member. (b) is a schematic diagram showing a metal member. [Figure 6] This graph shows the spectrogram and time-domain waveform of vibration (sound) detected by a vibration sensor. [Figure 7] This graph shows the spectrogram of vibrations generated when a pedestrian moves over a vibration-generating component. [Figure 8] This graph shows the spectrogram of ambient noise and the spectrogram of vibrations generated when moving over a vibration-generating component. [Figure 9] (a) is a graph that combines the spectrogram and time-domain waveform of ambient sound with the spectrogram and time-domain waveform of vibration generated when moving on the vibration-generating member. (b) is a graph of Figure 9(a) with the 6000Hz range retained. [Modes for carrying out the invention]

[0030] Embodiments of the present invention will be described below. The moving object detection system according to the embodiment of the present invention detects, for example, pedestrians as moving objects and counts the number of detected pedestrians.

[0031] A moving object detection system consists of, for example, a vibration sensor and a personal computer (PC). The CPU (Central Processing Unit), which functions as the control unit of the PC, performs various processes according to a program for detecting moving objects. Note that the detection of moving objects based on vibration data measured by the vibration sensor may be performed by, for example, a (cloud) server. Furthermore, the processes described below are basically performed by the control unit, but in cases where a process is described as "the control unit does...", the phrase "the control unit does..." may be omitted. Also, it may be expressed as "the moving object detection system does...".

[0032] Figure 1 shows a vibration sensor 1. Figure 2 is a schematic diagram showing the inside of the dashed line A in Figure 1. The vibration sensor 1 is installed, for example, in a place where pedestrians walk. The vibration sensor 1 measures vibrations caused by pedestrians walking and outputs the measured vibrations as vibration data (measurement data) to a PC or the like.

[0033] As shown in Figure 2, a weight 14 and a piezoelectric element 13 are arranged inside the housing 12. The housing 12 is hollow and has a roughly cylindrical shape. A roughly conical projection 12a is provided on the lower surface (bottom surface) of the housing 12. The projection 12a is the part that contacts the object to be detected for vibration. The piezoelectric element 13 converts the force applied to the piezoelectric material into a voltage. The piezoelectric element 13 is, for example, a flat, roughly disc-shaped object. The piezoelectric element 13 is located at the very bottom inside the housing 12. The weight 14 is for generating a voltage in the piezoelectric element 13. The weight 14 is arranged next to the piezoelectric element 13. Specifically, the weight 14 is arranged on top of the piezoelectric element 13. The weight 14 is movable vertically (in the direction of gravity) along the inner wall of the housing 12.

[0034] In this embodiment, for example, vibrations generated when a pedestrian moves from outside the store to inside the store or from inside the store to outside the store are detected (measured), and a learning model is created based on the detected (measured) vibration data. Then, based on the created learning model and the detected vibration data, pedestrians are detected and counted.

[0035] (First Embodiment) In the first embodiment, a plastic (resin) sheet (vibration transmission member) is used to transmit vibrations caused by pedestrians. Figure 3 is a schematic diagram showing a vibration sensor, plastic sheet, mat, etc. In Figure 3, the vibration sensor 1, etc. are shown from above. The vibration sensor 1, plastic sheet 2, mat 3, etc. are installed, for example, in front of a store. First, the plastic sheet 2 is placed in front of the store, and then the mat 3 is placed over it.

[0036] The plastic sheet 2 is a thin, elongated sheet of plastic. A vibration-enhancing member 4 is provided at one end of the plastic sheet 2 to reinforce vibrations transmitted to the plastic sheet 2.

[0037] An example of a vibration-enhancing member 4 (Example 1) is sandpaper. The sandpaper is attached to the plastic sheet 2 so that the processing surface (filing surface) is in contact with the lower surface of the plastic sheet 2.

[0038] An example of the vibration-enhancing member 4 (Example 2) is an aluminum plate (metal plate) with rubber feet (legs, spacers) provided at the four corners (four places) on its underside (one side). The aluminum plate is attached (placed) to the plastic sheet 2 such that the side opposite the rubber feet is in contact with the underside (one side) of the plastic sheet 2. The plastic sheet 2 is suspended above the ground by the rubber feet of the aluminum plate.

[0039] An example of the vibration-enhancing member 4 (Example 3) is sandpaper. The sandpaper is folded with the processing surface (filament surface) facing inward and attached to the plastic sheet 2 so as to be in contact with the lower surface of the plastic sheet 2.

[0040] An example of the vibration-enhancing member 4 (Example 4) is a spacer having a predetermined height. The spacer is placed on the underside (one side) of the plastic sheet 2 and is positioned between the ground and the plastic sheet 2 when in use. The plastic sheet 2 is suspended above the ground by the spacer. Multiple spacers are provided. In this example, the gap between the plastic sheet 2 and the ground makes it easier for the vibration sensor 1 to detect vibrations. Of Examples 1 to 4, Example 4 is the most preferred example. A mat may also be provided on top of the plastic sheet 2.

[0041] Mat 3 is a roughly rectangular rubber mat with fibers on one side, and is a so-called doormat. Mat 3 is placed on top of the plastic sheet 2 with the side with the fibers facing upwards. It is preferable that the ground and the plastic sheet 2, and the plastic sheet 2 and the mat 3 are attached with double-sided tape to prevent slipping.

[0042] The vibration sensor 1 is positioned so that its protruding portion 12a contacts the other end of the plastic sheet 2.

[0043] When a pedestrian moves from inside the store to outside the store, or from outside the store to inside the store, if the pedestrian's foot steps on the mat 4, the vibration caused by stepping on the mat 4 is transmitted through the plastic sheet 2 and detected by the vibration sensor 2.

[0044] Figure 4 shows the vibration data detected by the vibration sensor 1. It illustrates the cases where the vibration-enhancing member 4 is one of the examples 1 to 4 described above. In each example, good sensitivity can be observed.

[0045] Before detecting pedestrians, a PC or other control unit creates a learning model based on vibration data detected by vibration sensors. Then, when detecting pedestrians, the PC or other control unit detects pedestrians based on the created learning model and the detected vibration data, and counts the detected pedestrians.

[0046] As described above, in this embodiment, the vibration sensor 1 detects vibrations transmitted to the plastic sheet 2 (vibration transmission member). As a result, the vibration sensor 1 accurately detects vibrations, and according to this embodiment, the detection accuracy of pedestrians (moving objects) is good.

[0047] For example, if the moving object to be detected is a pedestrian, and the system detects pedestrians entering a store from outside, the store may become dirty due to dirt on the pedestrian's shoes. In this embodiment, the mat 3, which has fibers and is placed on the plastic sheet 2 (vibration transmission member), removes the dirt from the pedestrian's shoes, thus preventing the store from becoming dirty. In addition, although the mat 3 may reduce the vibration caused by the pedestrian, even if the vibration is reduced, the vibration sensor 1 can still detect the vibration through vibration transmission by the plastic sheet 2 (vibration transmission member).

[0048] (Second Embodiment) In the first embodiment, vibrations of the plastic sheet 2 are detected by the vibration sensor 1. However, there are cases where it is not possible to install the vibration sensor on the plastic sheet.

[0049] In the second embodiment, a vibration generating member is used that generates vibrations of a different frequency from ambient sound due to the walking (movement) of a pedestrian (mobile body). The vibration generating member is composed of, for example, a sheet-like member and a metal member. Figure 5(a) is a schematic diagram showing the sheet-like member 5. Figure 5(b) is a schematic diagram showing the metal member 6. In the ring-shaped metal member 6 in Figure 5(b), a pivot point having a predetermined height is provided, although it is not shown. Furthermore, a spring-like member is provided on the opposite side of the pivot point, which is straddling the center of the ring-shaped metal member 6.

[0050] In Figure 5(b), the metal member 6 is ring-shaped, but is not limited to a ring shape. The metal member 6 is provided on either one side of the sheet-like member 5. It is preferable to provide multiple metal members 6. In addition, any member that generates vibrations at a different frequency from the ambient sound may be used instead of the metal member 6. The vibration generating member is placed in a desired location such that the side of the sheet-like member 5 on which the metal member 6 is provided is in contact with the ground. When a pedestrian steps on the vibration generating member (when the pedestrian's foot comes into contact with the vibration generating member) while walking, the metal member 6 generates vibrations at a different frequency from the ambient sound.

[0051] The vibration generating member may consist solely of the metal member 6. In this case, a mat may be provided on top of the metal member.

[0052] The detection of vibrations by the vibration sensor 1, the creation of a learning model, and the detection of pedestrians are the same as in the first embodiment.

[0053] Figure 6 is a graph showing the spectrogram and time-domain waveform of vibration (sound) detected by a vibration sensor. It shows vibrations detected near the station. Arrow A indicates vibration caused by the train. Arrow B indicates vibration caused by a suitcase. The spectrogram shows that the ambient noise includes vibrations from both the train and the suitcase.

[0054] Figure 7 is a graph showing the spectrogram of vibrations generated when a pedestrian moves over a vibration-generating member. Figure 8 is a graph showing the spectrogram of vibrations caused by ambient noise and vibrations generated when moving over a vibration-generating member. Comparing the left and right graphs in Figure 8, it can be seen that a characteristic spectrogram appears around 6000 Hz.

[0055] Figure 9(a) is a graph that combines the spectrogram and time-domain waveform of ambient sound with the spectrogram and time-domain waveform of vibration generated when moving on the vibration-generating member. Figure 9(b) is the same graph as in Figure 9(a), but with the 6000Hz range retained. As shown in Figure 9(b), vibration caused by the vibration-generating member is clearly visible in the time-domain waveform.

[0056] As described above, in this embodiment, the vibration generating member generates vibrations of a different frequency from the ambient noise due to the walking (movement) of a pedestrian (moving body). As a result, even in cases where ambient noise is loud, the vibration sensor 1 can detect vibrations caused by the movement of the moving body, thus enabling the detection of a pedestrian (moving body). Furthermore, even when it is not possible to install the vibration sensor on the plastic sheet used in the first embodiment, a pedestrian (moving body) can still be detected.

[0057] Furthermore, in this embodiment, the vibration generating member has a metal member 6. Therefore, when a pedestrian (moving object) walks (moves), the metal member 6 can generate vibrations with a different frequency from the ambient sound.

[0058] Although embodiments of the present invention have been described above, the embodiments to which the present invention can be applied are not limited to those described above, and modifications can be made as appropriate without departing from the spirit of the invention, as illustrated below.

[0059] In the first embodiment described above, vibrations transmitted to the plastic sheet 2 are detected by the vibration sensor 1. However, the system is not limited to this, and vibrations transmitted to the mat 3 may also be detected. In this case, it is preferable that the piezoelectric element removed from the vibration sensor 1 is directly attached to the mat 3. In this embodiment, the mat 3 becomes the vibration transmission member. Alternatively, the piezoelectric element removed from the vibration sensor 1 may be directly attached to the plastic sheet 2, and vibrations transmitted to the plastic sheet 2 may be detected. [Industrial applicability]

[0060] The present invention can be suitably used in a mobile object detection system and a mobile object detection method for detecting moving objects. [Explanation of symbols]

[0061] 1. Vibration sensor 2. Plastic sheet (vibration transmission member) 3 mats 4. Vibration-enhancing member 5 Sheet-like member 6 Metal components

Claims

1. Vibration transmission member and A vibration sensor for detecting vibrations transmitted to the vibration transmission member, A control unit that detects a moving object based on the vibration detected by the vibration sensor, A mobile object detection system characterized by comprising the following features.

2. The moving object detection system according to claim 1, further comprising a vibration-enhancing member that contacts the vibration transmission member.

3. The moving body detection system according to claim 1, characterized in that the vibration transmission member is a sheet-like member.

4. The moving object detection system according to claim 1, characterized in that the vibration transmission member is a plastic sheet.

5. The moving object detection system according to claim 4, further comprising a mat having fibers on one side and placed on the vibration transmission member such that the other side is in contact with the vibration transmission member.

6. The vibration-enhancing member is It is sandpaper, The moving body detection system according to claim 2, characterized in that the processing surface is attached to the vibration transmission member.

7. The vibration-enhancing member is It is a metal plate with legs of a predetermined height provided on one side. The moving object detection system according to claim 2, characterized in that it is arranged on one side of the vibration transmission member.

8. The vibration-enhancing member is It is sandpaper, The moving object detection system according to claim 2, characterized in that the processing surface is folded inward and attached to the vibration transmission member.

9. The vibration-enhancing member is a spacer having a predetermined height. The moving object detection system according to claim 2, characterized in that it is arranged on one side of the vibration transmission member.

10. A vibration generating member that generates vibrations of a different frequency from ambient sound due to the movement of a moving object, A vibration sensor that detects vibrations, A control unit that detects a moving object based on the vibration detected by the vibration sensor, A mobile object detection system characterized by comprising the following features.

11. The moving body detection system according to claim 10, characterized in that the vibration generating member has a metal member.

12. The vibration generating member further comprises a sheet-like member, The moving object detection system according to claim 11, characterized in that the metal member is provided on either one side of the sheet-like member.

13. The moving object detection system according to claim 1 or 10, characterized in that the control unit creates a learning model based on the vibration detected by the vibration sensor.

14. The moving object detection system according to claim 1 or 10, characterized in that the control unit detects a moving object based on a learned model.

15. The mobile object detection system according to claim 1 or 10, characterized in that the control unit counts the detected mobile objects.

16. Detect vibrations transmitted to the vibration transmission member, A method for detecting a moving object, characterized by detecting a moving object based on detected vibrations.

17. The vibrations generated by a vibration generating member, which generates vibrations of a different frequency from ambient sound due to the movement of a moving object, are detected. A method for detecting a moving object, characterized by detecting a moving object based on detected vibrations.

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