Control device, program, and individual room monitoring system

Abstract

To provide a control device, program, and private room monitoring system that can detect emergencies in private rooms while protecting privacy. [Solution] A control device 20 receives point cloud data output from a LiDAR device 10 that detects the state inside a private room 2. The control device detects multiple people M1 and M2 from the point cloud data, and outputs a predetermined signal when it detects that one of the multiple people M1 and M2 has fallen.

Description

Technical Field

[0001] The present invention relates to a control device, a program, and a private room monitoring system.

Background Art

[0002] Some private rooms in toilets are made with a relatively large area to accommodate assistants. In such private rooms, acts of violence and the like may occur. Also, in the living rooms of nursing facilities and the like, acts of violence and the like may occur, and there is a demand to detect such emergencies. There is also a demand to detect emergencies such as the cared-for person falling during assistance.

[0003] The following Patent Document 1 describes a monitoring system that uses an infrared camera to obtain the state of residents from the images obtained in a nursing facility. The state of residents includes acts of violence.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] Private rooms such as toilets and living rooms are often spaces where privacy should be protected, and it is necessary to consider the protection of privacy. However, since the monitoring system of Patent Document 1 uses an infrared camera, it lacks consideration for the protection of privacy.

[0006] Therefore, an object of the present invention is to provide a control device, a program, and a private room monitoring system that can detect emergencies in a private room while protecting privacy.

Means for Solving the Problems

[0007] To achieve the above objective, the present invention provides a control device that receives point cloud data output from a LiDAR (Light Detection And Ranging) device for detecting the state of a private room, and is characterized in that it detects multiple people from the point cloud data and outputs a predetermined signal when it detects that one of the multiple people has fallen.

[0008] Furthermore, the present invention is a program executed by a control device that receives point cloud data output from a LiDAR device for detecting the state of a private room, and is characterized by comprising the steps of: detecting a plurality of people from the point cloud data; detecting a fall of one of the plurality of people; and outputting a predetermined signal when the plurality of people are detected from the point cloud data and a fall of one of the plurality of people is detected.

[0009] Furthermore, the present invention is a private room monitoring system comprising a LiDAR device for detecting the state of a private room, and a control device that receives point cloud data from the LiDAR device, wherein the control device detects multiple people from the point cloud data and outputs a predetermined signal when it detects that one of the multiple people has fallen.

[0010] Point cloud data output from a LiDAR device can identify human movement and objects, but it cannot identify individuals. Therefore, detecting the state of a private room using a LiDAR device can protect privacy within the room. Furthermore, assistance and assault often involve multiple people. As described above, detecting a fall by one of these individuals can distinguish this from a situation where multiple people are simply in a private room for assistance, and thus detect an emergency. When such an emergency is detected, the control device outputs a predetermined signal, which can cause other devices to take action indicating that a person has fallen.

[0011] Furthermore, it is preferable that the control device receives an emergency signal from an emergency button provided in the private room, detects the multiple persons from the point cloud data, and outputs a predetermined signal if the emergency signal is not received for a predetermined period after detecting that one of the multiple persons has fallen.

[0012] If an emergency occurs and the emergency button is not pressed, it may indicate that an assault is taking place or that the caregiver is panicking. On the other hand, if the emergency button is pressed, the control device should prioritize the emergency call or other notification. Therefore, by outputting a predetermined signal when no emergency signal is received for a predetermined period, it is possible to appropriately output the predetermined signal in the event of an emergency and suppress the output of unnecessary signals when the parties involved are responding to the emergency.

[0013] Furthermore, it is preferable that the private room is a toilet stall, the control device receives a locking signal from a lock detection device that detects the locking of the private room, and a seating signal from a seating detection device that detects someone sitting on the toilet seat inside the private room, and that the control device receives the locking signal, does not receive the seating signal, detects the multiple people from the point cloud data, and outputs the predetermined signal when it detects that one of the multiple people has fallen.

[0014] In a toilet assisted by a caregiver, if the user is seated with the door locked, it is generally not considered an emergency. Therefore, the above configuration can suppress false alarms of emergencies.

[0015] Furthermore, it is preferable that the control device does not detect objects located above the toilet seat in the point cloud data and in the region that overlaps with the toilet seat in the vertical direction.

[0016] In this case, the upper body of a seated person may not be detected from the point cloud data, thus better protecting the privacy of the seated person.

[0017] Preferably, the point cloud data does not include information about objects located above the toilet seat and overlapping with the toilet seat in the vertical direction.

[0018] In this case, information indicating the person sitting on the point cloud data may not be generally included, and the privacy of the sitting person can be better protected.

Advantages of the Invention

[0019] As described above, according to the present invention, there are provided a control device, a program, and an individual room monitoring system that can detect an emergency situation in an individual room while protecting privacy.

Brief Description of the Drawings

[0020] [Figure 1] FIG. 1 is a schematic diagram showing an individual room monitoring system according to an embodiment of the present invention. [Figure 2] FIG. 2 is a conceptual diagram showing a LiDAR device or the like. [Figure 3] FIG. 3 is a flowchart showing the operation of the control device in the embodiment.

Modes for Carrying Out the Invention

[0021] Hereinafter, preferred embodiments of the control device, program, and individual room monitoring system according to the present invention will be described in detail with reference to the drawings. The embodiments illustrated below are for facilitating the understanding of the present invention and are not for limiting the interpretation of the present invention. The present invention can be changed and improved without departing from the gist thereof within the scope of the claims. Also, the present invention may appropriately combine the constituent elements in the embodiments illustrated below. In the drawings referred to below, for the sake of easy understanding, the dimensions of each member may be changed. Also, in the drawings, for the sake of easy viewing, reference numerals may be attached only to some of the similar constituent elements, and some reference numerals may be omitted.

[0022] Figure 1 is a schematic diagram showing the private room monitoring system according to the present embodiment. In the present embodiment, the private room 2 is a toilet private room. Specifically, it is a private room where a plurality of people who can assist the person to be assisted can enter. The private room 2 mainly includes a door 30 and a toilet 40. Further, the private room monitoring system 1 of the present embodiment mainly includes a LiDAR device 10, a control device 20, a memory 25, a locking detection device 35, an emergency button 38, a seating detection device 45, and a voice output device 50. In FIG. 1, a plurality of people M1 and M2 have entered the room, and the states of people M1 and M2 standing are shown by solid lines, and the states of person M1 sitting and falling are shown by broken lines respectively. In the present embodiment, person M2 is an assistant, and person M1 is the person to be assisted.

[0023] A key 31 is provided on the door 30, and the locking detection device 35 detects that the door is locked by the key 31. The locking detection device 35 is, for example, mechanically connected to a lever or the like of the key 31, and detects the locking by the key 31 based on the position of the lever or the like. Alternatively, the locking detection device 35 may be non-contact with the key 31 and detect the state of the key 31 optically or magnetically to detect the locking by the key 31. The configuration for the locking detection device 35 to detect that the door is locked is not limited to these examples. When the locking detection device 35 detects that the door is locked, it outputs a locking signal indicating the locked state. The locking signal may be, for example, a signal that can distinguish between a state where the door is not locked by the key 31 and a state where the door is locked by the key 31. Therefore, for example, the locking detection device 35 outputs a Lo signal when the door is not locked, and outputs a Hi signal when the door is locked. In this case, the Hi signal is the locking signal. Also, for example, the locking detection device 35 does not output a signal when the door is not locked, and outputs a predetermined signal when the door is locked. In this case, the predetermined signal is the locking signal.

[0024] The lock detection device 35 is connected to the control device 20 so that it can receive signals, and the lock signal is input to the control device 20. In this specification, when it is said that a device is connected so that it can receive signals, this includes cases where the device that outputs the signal and the device that receives the signal are electrically connected or wirelessly connected.

[0025] The emergency button 38 is located, for example, on the wall of private room 2. The emergency button 38 is connected to the control device 20 so that a signal can be input to it, and when the emergency button 38 is pressed, an emergency signal is input to the control device 20. The emergency signal can be any signal that can be used to determine that the emergency button 38 has been pressed, and its format is not particularly limited. For example, when the emergency button 38 is not pressed, a Lo signal is input to the control device 20, and when the emergency button 38 is pressed, a Hi signal is input to the control device 20. In this case, the Hi signal is the emergency signal. Alternatively, when the emergency button 38 is not pressed, no signal is input to the control device 20, and when the emergency button 38 is pressed, a predetermined signal is input to the control device 20. In this case, the predetermined signal is the emergency signal.

[0026] The toilet bowl 40 is equipped with a toilet seat 41, a toilet lid 42, and a seat detection device 45. With the toilet lid 42 open and the toilet seat 41 positioned on the toilet bowl 40, person M1 sits on the toilet seat 41. The seat detection device 45 detects that person M1 is seated on the toilet seat 41. The seat detection device 45 may be a load detection type that detects the load applied to the toilet seat 41 to detect person M1's seating, or an infrared detection type that detects person M1's seating using infrared rays. The configuration of the seat detection device 45 for detecting seating is not limited to these examples.

[0027] The seat detection device 45 outputs a seating signal when it detects that a person M1 is seated on the toilet seat 41. The seating signal should be a signal that can distinguish between a state where person M1 is not seated and a state where person M1 is seated. For example, the seat detection device 45 outputs a Lo signal when person M1 is not seated and a Hi signal when person M1 is seated. In this case, the Hi signal is the seating signal. Alternatively, the seat detection device 45 may not output a signal when person M1 is not seated and output a predetermined signal when person M1 is seated. In this case, the predetermined signal is the seating signal. The seat detection device 45 is connected to the control device 20 so that it can receive signals, and the seating signal is input to the control device 20.

[0028] The audio output device 50 is connected to allow input of signals from the control device 20. The audio output device 50 outputs audio corresponding to the signals input from the control device 20.

[0029] Next, the LiDAR device 10 will be described.

[0030] The LiDAR device 10 detects the state inside the private room 2, and detects objects within the monitoring area MA inside the private room 2 of the LiDAR device 10, and outputs point cloud data showing the state of the monitoring area MA. Through this detection, the LiDAR device 10 can detect objects related to the facility, such as walls and toilets 40, as well as people M1 and M2. In this embodiment, the monitoring area MA is an area higher than the toilet seat 41 and includes a first area MA1 that does not overlap with the toilet seat 41 in the vertical direction, a second area MA2 that is located above the toilet seat 41 and overlaps with the toilet seat 41 in the vertical direction, and a third area MA3 that is lower than the toilet seat 41.

[0031] The first region MA1 is where the upper bodies of people M1 and M2 are located when they are not seated. Therefore, when people M1 and M2 are not seated, two dynamic objects are located in the first region MA1. The second region MA2 is where the upper body of person M1 is located when person M1 is seated. Therefore, when person M1 is seated, a dynamic object is located in the second region MA2. Note that even when only person M1 enters private room 2 and person M1 is seated, a person's hand may be located in the first region MA1, so there may or may not be a dynamic object located in the first region MA1. Also, when people M1 and M2 enter private room 2 and person M1 is seated, the upper body of person M2 is located in the first region MA1. The third region MA3 is where person M1 is located when person M1 is lying down. In a state where person M1 is lying down, the object in the third region MA3 may be either dynamic or static.

[0032] Figure 2 shows a LiDAR device 10, etc. In this embodiment, for example, a raster scan type LiDAR device is used as the LiDAR device 10. The LiDAR device 10 in this embodiment includes a cover 19, a control unit 11, a laser light source 12, a drive mirror 13 for H-direction scanning, a drive mirror 14 for V-direction scanning, a light receiving element 15, and a point cloud data generation unit 16. In the example in Figure 2, the LiDAR device 10 is a mechanical type LiDAR device, but it may also be a phased array type LiDAR device that does not include a drive unit.

[0033] The cover 19 has a housing space for the control unit 11, laser light source 12, drive mirror 13 for H-direction scanning, drive mirror 14 for V-direction scanning, light receiving element 15, and point cloud data generation unit 16, and transmits the laser light Lb emitted from the laser light source 12 and the reflected light Lr that is reflected by objects in the monitoring area MA.

[0034] The control unit 11 is composed of, for example, multiple logic circuits and is electrically connected to the laser light source 12, the H-direction scanning drive mirror 13, and the V-direction scanning drive mirror 14, and controls them. In this embodiment, the control unit 11 is also connected to the control device 20 so that signals can be input and output, and the control signals from the control device 20 control each part of the LiDAR device 10.

[0035] The laser light source 12 emits laser light Lb of a predetermined wavelength. This laser light Lb is, for example, near-infrared light with wavelengths of 905 nm or 1550 nm. The timing of the laser light source 12's emission of laser light Lb is controlled by the control unit 11, which emits the laser light Lb based on a signal from the control unit 11. The control unit 11 is electrically connected to the point cloud data generation unit 16 and outputs data including the timing of the laser light emitted from the laser light source 12 to the point cloud data generation unit 16.

[0036] The H-direction scanning drive mirror 13 includes a mirror that reflects the laser light Lb emitted from the laser light source 12 and a drive unit (not shown) controlled by the control unit 11. When the H-direction scanning drive mirror 13 reflects the laser light Lb, the drive unit changes the reflection angle in the horizontal direction while reflecting the laser light Lb. This change in the reflection angle of the H-direction scanning drive mirror 13 allows the LiDAR device 10 to perform horizontal scanning.

[0037] The V-direction scanning drive mirror 14 includes a mirror that reflects the laser light Lb reflected by the H-direction scanning drive mirror 13, and a drive unit (not shown) controlled by the control unit 11. When the V-direction scanning drive mirror 14 reflects the laser light Lb, the drive unit changes the reflection angle in the vertical direction while reflecting the laser light Lb. This change in the reflection angle of the V-direction scanning drive mirror 14 changes the position of the horizontal scanning performed by the LiDAR device 10 in the vertical direction. The laser light reflected by the V-direction scanning drive mirror 14 passes through the cover 19 and is irradiated into the private room 2.

[0038] The H-direction scanning drive mirror 13 and the V-direction scanning drive mirror 14 are composed of, for example, polygon mirrors or galvanometer mirrors. Alternatively, the H-direction scanning drive mirror 13 and the V-direction scanning drive mirror 14 may each be composed of MEMS mirrors. Furthermore, the H-direction scanning drive mirror 13 and the V-direction scanning drive mirror 14 may be combined into one by a two-axis scanning type mirror, and the order in which the laser beam Lb is reflected by the H-direction scanning drive mirror 13 and the V-direction scanning drive mirror 14 may be reversed.

[0039] The light-receiving element 15 is an element that receives reflected light Lr that is reflected by an object within the monitoring area MA from the laser beam Lb. The reflected light Lr received by the light-receiving element 15 contains information about the object located within the monitoring area MA. The light-receiving element 15 is electrically connected to the point cloud data generation unit 16, and this information is input to the point cloud data generation unit 16 as an electrical signal.

[0040] The point cloud data generation unit 16 generates point data for each reflection position based on the direction of the reflection position where the laser beam Lb is reflected and the distance to the reflection position, using data related to the laser beam emission timing input from the control unit 11, information input from the photodetector 15, and timing data input from the photodetector 15. The point data includes the coordinates of the point. Therefore, the point cloud data generation unit 16 generates point cloud data, which is a collection of point data. The point cloud data generation unit 16 is connected to the control device 20 so that it can receive signals, and the point cloud data is input to the control device 20.

[0041] Furthermore, it is preferable that the point cloud data generation unit 16 does not generate information about objects in the second region MA2, which is located above the toilet seat 41 and overlaps with the toilet seat 41 in the vertical direction, within the monitoring region MA of Figure 1. In other words, it is preferable that the point cloud data output from the point cloud data generation unit 16 does not include information about objects in the second region MA2. Since the upper body of a person M1 sitting on the toilet seat 41 is usually located in the second region MA2, by not generating information about objects in the second region MA2, the point cloud data output from the point cloud data generation unit 16 will generally not include information indicating the upper body of the seated person M1. Therefore, the privacy of the seated person M1 can be better protected. The LiDAR device 10 may be configured so that the monitoring region MA does not include the above-mentioned second region MA2. Even in this case, the point cloud data output from the point cloud data generation unit 16 will not include information about objects in the second region MA2.

[0042] Next, the control device 20 and its operation will be described.

[0043] The control device 20 consists of, for example, an integrated circuit such as a microcontroller, IC (Integrated Circuit), LSI (Large-scale Integrated Circuit), or ASIC (Application Specific Integrated Circuit), or an NC (Numerical Control) device. Furthermore, the control device 20 may or may not use a machine learning machine.

[0044] The control device 20 controls the LiDAR device 10 and identifies the shape of objects in the monitoring region MA from the point cloud data input from the LiDAR device 10. The control device 20 also processes the point cloud data to extract people M1, M2, the toilet seat 41, etc., and defines the position of the toilet seat 41, the first region MA1, the second region MA2, and the third region MA3. The control device 20 may choose not to detect objects in the second region MA2 if the point cloud data of the monitoring region MA includes the second region MA2. In this case, the control device 20 generally does not process the point cloud data showing the upper body of the seated person M1, which can better protect the privacy of the seated person M1.

[0045] Furthermore, the control device 20 detects the input of a locking signal from the locking detection device 35, the input of an emergency signal from the emergency button 38, the input of a seating signal from the seating detection device 45, and so on.

[0046] Furthermore, in this embodiment, the control device 20 is connected to the control room CR, where a toilet manager or the like is stationed, enabling signal input and output.

[0047] The control device 20 is electrically connected to the memory 25. The memory 25 is configured to store information and to be readable. The memory 25 is, for example, a non-transitory recording medium, preferably a semiconductor recording medium such as RAM (Random Access Memory) or ROM (Read Only Memory), but it can include any type of recording medium such as an optical recording medium or a magnetic recording medium. Note that a "non-transitory" recording medium includes all computer-readable recording media except transient propagation signals, and does not exclude volatile recording media. The memory 25 and the control device 20 may be provided in a single package. The memory 25 stores various programs for controlling some of the configurations of the control device 20 and generating information, as well as data necessary for generating information. The control device 20 reads the programs and information stored in the memory 25. The memory 25 also stores information, etc., based on instructions from the control device 20.

[0048] Figure 3 is a flowchart showing the operation of the control device 20. The program that executes the operations in the flowchart is stored in memory 25. Therefore, the control device 20 executes the operations in the flowchart of Figure 3 by reading the program from memory 25. As shown in Figure 3, the operation of the control device 20 in this embodiment comprises steps S1 to S15.

[0049] In the flowchart in Figure 3, the start is when the power to the individual room monitoring system 1 is turned on and it is operating normally.

[0050] <Step S1> This step is for the control device 20 to determine whether or not a locking signal has been input from the lock detection device 35. When the lock detection device 35 detects that the lock has been opened with the key 31, a locking signal is input from the lock detection device 35 to the control device 20 as described above. If a locking signal is input, the control device 20 proceeds to step S2, and if no locking signal is input, this step is repeated.

[0051] <Step S2> This step is the step in which the control device 20 initiates the detection of the state inside the private room 2 by the LiDAR device 10. In this step, the control device 20 transmits a predetermined control signal to the control unit 11 of the LiDAR device 10. Upon receiving the control signal, the control unit 11 controls each part of the LiDAR device 10. Through this control, the LiDAR device 10 emits laser light Lb, scans inside the private room 2, and detects the state inside the private room 2. The LiDAR device 10 outputs point cloud data relating to the detected state inside the private room 2, and inputs this point cloud data to the control device 20. The LiDAR device 10 continues the detection and continues to output point cloud data to the control device 20 until the control device 20 terminates the detection in step S15. After this step, the control device 20 proceeds to step S3.

[0052] <Step S3> This step is for the control device 20 to determine whether or not multiple people have been detected. The control device 20 detects multiple people M1 and M2 by determining, for example, from the point cloud data whether or not multiple dynamic objects are located in the first region MA1. If multiple dynamic objects are located in the first region MA1, multiple people M1 and M2 are detected; if only one dynamic object is located in the first region MA1, multiple people are not detected. If multiple people M1 and M2 are detected, the control device 20 proceeds to step S4; if multiple people are not detected, it proceeds to step S15. Note that the method by which the control device 20 detects multiple people is not limited to the above. For example, people may be recognized using image recognition technology, and if there are multiple people, multiple people may be detected.

[0053] <Step S4> This step is for the control device 20 to determine whether or not a seating signal is input from the seating detection device 45. When the seating detection device 45 detects that person M1 is seated on the toilet seat 41, a seating signal is input from the seating detection device 45 to the control device 20 as described above. If no seating signal is input, the control device 20 proceeds to step S5, and if a seating signal is input, this step is repeated.

[0054] <Step S5> This step, similar to step S1, is a step in which the control device 20 determines whether or not a locking signal is input from the lock detection device 35. If no locking signal is input, the control device 20 proceeds to step S15; if a locking signal is input, it proceeds to step S6.

[0055] <Step S6> This step is for the control device 20 to determine whether or not it has detected a fall among the multiple people M1 and M2. The control device 20 detects a person's fall from the point cloud data as follows. Note that in this step, person M1 is not seated on the toilet seat 41. If the control device 20 detects a fall by person M1, it proceeds to step S7; otherwise, it returns to step S4. Note that the case in which the control device 20 detects a fall by person M1 includes not only cases in which the control device 20 recognizes a fall by person M1 from the point cloud data, but also cases in which the control device 20 extracts conditions from the point cloud data that satisfy predetermined conditions corresponding to a fall by person M1. The following shows an example of how the control device 20 detects a fall by person M1.

[0056] (First detection method) This method detects a person M1 falling over by having the control device 20 determine whether the same number of dynamic objects are located in the first region MA1 as the number of dynamic objects detected in step S3. If person M1 is seated on the toilet seat 41 inside the private room 2, then person M1 has not fallen over. Therefore, if person M1 is not seated on the toilet seat 41 and has not fallen over, the control device 20 can detect the same number of dynamic objects in the first region MA1 as the number of dynamic objects detected in step S3. Thus, in this step, the control device 20 determines whether the same number of dynamic objects are located in the first region MA1 as the number of dynamic objects detected in step S3. If the same number of dynamic objects are located in the first region MA1 as the number of dynamic objects detected in step S3, the control device 20 does not detect a person M1 falling over. If fewer dynamic objects are located in the first region MA1 than the number of dynamic objects detected in step S3, the control device 20 detects a person M1 falling over. According to this method, it is sufficient to detect the number of dynamic objects in the first region MA1, eliminating the need for human recognition M using machine learning or the like. Therefore, the load on the control device 20 can be reduced. In addition, objects in the third region MA3 may also be detected in this method.

[0057] (Second detection method) This method detects a person M1 falling by having the control device 20 determine whether the movement of the top of one of several dynamic objects moves downward at a predetermined speed or higher. When a person falls, their head moves downward at a relatively fast speed. Therefore, in this step, the control device 20 determines whether the movement of the top of one of the dynamic objects moves downward at a predetermined speed or higher. The predetermined speed is, for example, 0.3 m / s. The control device 20 detects a person M1 falling if the movement of the top of one of the dynamic objects moves downward at a predetermined speed or higher, and does not detect a person M1 falling if the movement of the top of one of the dynamic objects does not move downward at a predetermined speed or higher. In this case, a position for measuring the speed may be set. For example, the movement of the top of the dynamic object may be measured at any position from the toilet seat 41 up to 30 cm above, and it may be determined whether the top moved downward at a predetermined speed or higher in that section. People rarely lower their heads close to the toilet seat 41, and if the speed of downward movement of the head is fast, it is generally a fall. Therefore, by setting the position for measuring speed in this way, it is possible to detect a fall of person M1 more accurately.

[0058] Furthermore, in the second detection method, a fall of person M1 may be detected by determining whether the movement of the top of one dynamic object is at a predetermined speed or greater as described above, and whether the movement continues for a predetermined distance or longer. By detecting movement at a predetermined speed or greater for a predetermined distance or longer, it is possible to detect that person M1's head has moved downward over a long distance, and a fall of person M1 can be detected more accurately. The control device 20 detects a fall of person M1 if the movement of the top of one dynamic object is at a predetermined speed or greater for a predetermined distance or longer, and does not detect a fall of person M1 if the movement of the top of one dynamic object is not at a predetermined speed or greater for a predetermined distance or longer. As described above, there are few opportunities for a person to lower their head to the vicinity of the toilet seat 41, and the possibility of falling increases when the head moves at a predetermined speed or greater for a predetermined distance. Therefore, it is preferable that the section in which the movement of the top of one dynamic object is at a predetermined speed or greater as described above is, for example, a section that includes the height position of the toilet seat 41. Furthermore, it is preferable that the distance over which the top of a single dynamic object moves at a predetermined speed or higher, as described above, is 30 cm or more in the vertical direction.

[0059] Regardless of the method described above, it is not necessary to detect the movement of the dynamic object in the second region MA2. This is because, if a dynamic object is located in the second region MA2, it can generally be understood as being seated.

[0060] Furthermore, the detection method is not limited to the first and second detection methods described above, as long as the control device 20 can detect the fall of person M1. For example, the control device 20 may detect the fall of person M1 by using image recognition technology, machine learning technology, etc.

[0061] <Step S7> This step is the step in which the control device 20 starts measuring the period since the fall of person M1 was detected in step S6. In this step, the control device 20 advances the count using an internal counter to measure the period since the fall was detected. Once the count of the counter is advanced in this step, the counter continues to count unless the measurement is reset in steps S11 and S14 described later. After this step, the control device 20 proceeds to step S8.

[0062] <Step S8> This step is for the control device 20 to determine whether or not an emergency signal has been input. If person M1, who is not being cared for, falls and person M2, who is the caregiver, recognizes that it is an emergency, person M2 will generally press the emergency button 38. On the other hand, if person M1, who is not being cared for, falls and person M2, who is the caregiver, panics, person M2 may not press the emergency button 38. Also, if person M2 is the perpetrator and person M1 is the victim, even if person M1 falls, person M2 will not press the emergency button 38. In this step, if the emergency button 38 is pressed and an emergency signal is input to the control device 20, the control device 20 proceeds to step S12. On the other hand, if the emergency button 38 is not pressed and no emergency signal is input to the control device 20, the control device 20, which detects that no emergency signal has been input, proceeds to step S9.

[0063] <Step S9> This step determines whether a predetermined period has elapsed since the control device 20 detected the fall of person M1. The control device 20 refers to the information of the counter that started counting in step S7, and if the information of the counter indicates that the predetermined period has elapsed or more, it proceeds to step S12; if the information of the counter indicates that the predetermined period has elapsed or less, it proceeds to step S10. The predetermined period is, for example, 5 minutes.

[0064] <Step S10> This step is for the control device 20 to determine whether or not it has detected that person M1 is still in a fallen state. After person M1 falls, person M2 may help person M1 up, or person M1 may stand up on their own. Therefore, in this embodiment, within a predetermined period of time after the detection of person M1's fall, it is determined whether or not the fallen state is continuing. This detection is performed, for example, in a method similar to the first detection method in step S6, by which the control device 20 determines that the fallen state is continuing if the same number of dynamic objects as the multiple dynamic objects detected in step S3 are not located in the first region MA1, and that the fallen state is not continuing if the same number of dynamic objects as the multiple dynamic objects detected in step S3 are located in the first region MA1. Alternatively, the control device 20 extracts the shape of person M1 from the objects located in the third region MA3, and if such extraction is possible, it determines that the fallen state is continuing, and if such extraction is not possible, it determines that the fallen state is not continuing. The method for detecting the continuation of person M1's fallen state may be other methods. If the control device 20 detects that person M1 remains in a fallen state, it returns to step S8; otherwise, it proceeds to step S11.

[0065] <Step S11> This step is for the control device 20 to reset the measurement information for the period since it detected the fall of person M1, which began in step S7. Accordingly, the control device 20 stops counting with the counter and resets the counter. This step resets the operation of the control device 20 when a fall is detected. After this step, the control device 20 returns to step S4.

[0066] <Step S12> This step is in which the control device 20 outputs a predetermined signal. In this embodiment, the output signal is sent to the control room CR. In this step of this embodiment, it is detected that either person M1 has fallen and the emergency button 38 has been pressed, or that the person remains in the fallen state even after a predetermined time has elapsed without the emergency button 38 being pressed. Therefore, even if a predetermined signal is output, the output of the signal continues until a reset signal is input in the next step. In this step, the output of a predetermined signal can be used to call the toilet manager or other person stationed in the control room CR. After this step, the control device 20 proceeds to step S13.

[0067] In this step, the control device 20 may output point cloud data or image data based on the point cloud data to the control room CR along with a predetermined signal. The control device 20 may also output a predetermined signal to the audio output device 50. In this case, the predetermined signal may be an audio signal. The audio output device 50 may, for example, emit a voice prompting the person in the private room 2 to press the reset button (not shown) in the private room 2 if they have not fallen. The control room CR may also output a predetermined signal to the audio output device 50, for example, via the control device 20.

[0068] <Step S13> This step is for the control device 20 to determine whether or not a predetermined reset signal has been input to it. As described above, if a predetermined signal is output to the control room CR, the control room CR may output a reset signal. Alternatively, the reset signal may be output when a reset button (not shown) in the private room 2 is pressed. This button may be pressed by an attendant or by a caregiver, person M2, in the private room 2. Alternatively, the reset signal may be output from the lock detection device 35 when the lock detection device 35 detects that the lock has been released. If the control device 20 receives a reset signal, it proceeds to step S14; if it does not receive a reset signal, it repeats this step.

[0069] <Step S14> This step, like step S11, is a step in which the control device 20 resets the measurement information for the period since detecting the fall of person M1, which was started in step S7. The control device 20 stops counting by the counter and resets the counter, just as in step S11. After this step, the control device 20 proceeds to step S15.

[0070] <Step S15> This step terminates the detection of the state inside the private room 2 by the LiDAR device 10. In this step, the control device 20 outputs a predetermined control signal to the control unit 11 of the LiDAR device 10. Upon receiving this control signal, the control unit 11 controls various parts of the LiDAR device 10. This control causes the LiDAR device 10 to stop scanning inside the private room 2. This step resets all operations of the fall detection. After this step, the control device 20 returns to step S1.

[0071] As described above, the control device 20 of this embodiment detects multiple people M1 and M2 from point cloud data and outputs a predetermined signal when it detects that one of the multiple people M1 and M2 has fallen. The program executed by the control device 20 of this embodiment includes a step S3 for detecting multiple people from point cloud data, a step S6 for detecting that one of the multiple people has fallen, and a step S12 for detecting multiple people from point cloud data and outputting a predetermined signal when it detects that one of the multiple people has fallen. The private room monitoring system 1 of this embodiment includes a LiDAR device 10 and a control device 20 that receives point cloud data from the LiDAR device 10, and the control device 20 detects multiple people from point cloud data and outputs a predetermined signal when it detects that one of the multiple people has fallen.

[0072] The point cloud data output from the LiDAR device 10 can identify human movement and objects, but it cannot identify individuals. Therefore, by detecting the state inside the private room 2 using the LiDAR device 10, privacy inside the private room 2 can be protected. In addition, assistance and assault involve multiple people. As described above, by detecting the fall of one of them, it is possible to distinguish this from cases where multiple people are simply in the private room for assistance, etc., and to detect an emergency. When an emergency is detected in this way, the control device 20 outputs a predetermined signal, which can cause devices other than the control device 20 to take action indicating that a person has fallen.

[0073] Furthermore, in the above embodiment, the control device 20 receives an emergency signal from the emergency button 38 provided in the private room 2. The control device 20 detects multiple people M1 and M2 from the point cloud data, and after detecting a fall by one of the multiple people M1 and M2, outputs a predetermined signal if no emergency signal is received for a predetermined period of time. If an emergency occurs and the emergency button is not pressed, an assault may be taking place or the caregiver may be panicking. On the other hand, if the emergency button 38 is pressed, the control device can prioritize the notification made by the emergency button 38. Therefore, as in this embodiment, by outputting a predetermined signal when no emergency signal is received for a predetermined period of time, it is possible to appropriately output a predetermined signal in the event of an emergency and suppress the output of unnecessary signals when the parties involved are dealing with the emergency.

[0074] Furthermore, in the above embodiment, the individual room 2 is a toilet stall, and the control device 20 receives a locking signal from the lock detection device 35 which detects that the individual room 2 is locked, and a seating signal from the seating detection device 45 which detects that someone is seated on the toilet seat 41 inside the individual room 2. The control device 20 receives a locking signal, does not receive a seating signal, detects multiple people M1 and M2 from the point cloud data, and outputs a predetermined signal when it detects that one of the multiple people M1 and M2 has fallen. In a toilet where an assistant is present, if someone is seated with the door locked, it is generally not an emergency. Therefore, the configuration of this embodiment can suppress false detections of emergencies.

[0075] The present invention has been described above using the above embodiments as examples, but the present invention is not limited thereto. For example, in the above embodiments, a toilet was used as an example of private room 2. However, private room 2 to which the present invention applies is not limited to a toilet. For example, private room 2 could be a private room in a nursing care facility, a bathroom, etc. Therefore, the private room monitoring system 1 does not need to include at least one of the lock detection device 35 and the seat detection device 45. If the private room monitoring system 1 does not include the lock detection device 35, steps S1 and S5 in the flowchart of Figure 3 are unnecessary. If the flowchart does not include step S1, for example, the system may proceed to step S2 when the door is opened or closed, or the LiDAR device 10 may be kept running at all times. Also, if the flowchart does not include step S5, the system proceeds to step S6 instead of step S4. Furthermore, if the private room monitoring system 1 does not include the seat detection device 45, step S4 is unnecessary. In this case, the system proceeds to step S5 instead of step S3.

[0076] Furthermore, in the above embodiment, when a fall of person M1 is detected, the emergency button 38 is not pressed and a predetermined signal is output after a predetermined period has elapsed since the fall was detected. However, the control device 20 may output a predetermined signal without waiting for the predetermined period to elapse after detecting a fall of person M1. In this case, the control device 20 does not need to determine whether or not an emergency signal has been input. Therefore, in this case, steps S7 to S11 and S14 in the flowchart of Figure 3 are unnecessary. Accordingly, the control device 20 proceeds to step S12 if a fall of person M is detected in step S6, and proceeds to step S15 if a reset signal is input in step S13.

[0077] Furthermore, in the above embodiment, an emergency button 38 is provided in the private room 2, and when an emergency signal is input to the control device 20, the control device 20 outputs a predetermined signal. However, the private room monitoring system 1 does not need to be equipped with an emergency button 38. In this case, step S8 is unnecessary in the flowchart of Figure 3, and the control device 20 proceeds from step S7 to step S9. Also, in the above embodiment, when the emergency button 38 is pressed, the control device 20 outputs a predetermined signal. However, when the emergency button 38 is pressed, the control device 20 may output a signal different from the predetermined signal.

[0078] Furthermore, in the above embodiment, a predetermined signal output from the control device 20 was input to the control room CR. However, the predetermined signal from the control device 20 may be input to, for example, a monitoring device, or only the audio output device 50, or to other devices. The individual room monitoring system 1 does not need to be equipped with the audio output device 50. [Industrial applicability]

[0079] According to the present invention, a control device, program, and individual room monitoring system can be provided that can detect emergencies in individual rooms while protecting privacy, and are expected to be used in fields such as crisis management systems for toilets and the like. [Explanation of symbols]

[0080] 1. Private room surveillance system 2...Private Rooms 10...LiDAR device 20.. Control device 35. Lock detection device 45. Seating detection device MA...Monitoring area MA1...1st area MA2...Second area MA3...Third area

Claims

1. A control device that receives point cloud data output from a LiDAR device that detects the state of a private room, The system detects multiple people from the point cloud data, and outputs a predetermined signal when it detects that one of the multiple people has fallen. A control device characterized by the following features.

2. An emergency signal is received from the emergency button installed in the aforementioned private room. The system detects the multiple people from the point cloud data, and after detecting that one of the multiple people has fallen, outputs the predetermined signal if the emergency signal is not input for a predetermined period of time. The control device according to feature 1.

3. The aforementioned private room is a toilet stall. A locking signal from a lock detection device that detects the locking of the private room, and a seating signal from a seating detection device that detects someone sitting on the toilet seat inside the private room are input. The predetermined signal is output when the locking signal is input, the seating signal is not input, the multiple people are detected from the point cloud data, and one of the multiple people has fallen. The control device according to feature 1.

4. Objects located above the toilet seat in the point cloud data and overlapping with the toilet seat in the vertical direction are not detected. The control device according to claim 3.

5. A program executed by a control device that receives point cloud data output from a LiDAR device that detects the state of a private room, The steps include detecting multiple people from the aforementioned point cloud data, A step of detecting that one of the aforementioned multiple people has fallen, The steps include detecting multiple people from the point cloud data and outputting a predetermined signal when a fall is detected among the multiple people, Equipped with A program characterized by the following features.

6. A LiDAR device that detects the state inside the private room, A control device that receives point cloud data from the LiDAR device, Equipped with, The control device detects multiple people from the point cloud data and outputs a predetermined signal when it detects that one of the multiple people has fallen. A private room monitoring system characterized by the following features.

7. The aforementioned private room is further equipped with an emergency button that causes an emergency signal to be input to the control device, The control device detects the multiple persons from the point cloud data, and after detecting that one of the multiple persons has fallen, outputs the predetermined signal if the emergency signal is not input for a predetermined period of time. The private room monitoring system according to claim 6.

8. The aforementioned private room is a toilet stall. A lock detection device for detecting the locking of the aforementioned private room, A seating detection device that detects when a person sits on the toilet seat inside the private room, Furthermore, The control device outputs the predetermined signal when it receives a locking signal from the locking detection device, does not receive a seating signal from the seating detection device, detects the multiple people from the point cloud data, and detects that one of the multiple people has fallen. The private room monitoring system according to claim 6.

9. The control device de-detects objects located above the toilet seat in the point cloud data and in a region that overlaps with the toilet seat in the vertical direction. The private room monitoring system according to feature 8.

10. The point cloud data does not include information about objects located above the toilet seat and in the region that overlaps with the toilet seat in the vertical direction. The private room monitoring system according to feature 8.

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