Person detection system

Abstract

The present disclosure addresses the problem of improving detection accuracy of a person.　A person detection system (100) comprises: a scatter points calculation unit (221); a processing unit (222); a position output unit (223); a body movement detection unit (224); a biological signal detection unit (225); and a presence / absence determination unit (226). The scatter points calculation unit (221) calculates a plurality of scatter points reflecting radio waves. The processing unit (222) outputs point cloud data obtained by clustering the plurality of scatter points, and the centroid position of the point cloud data. When the centroid position is included in a particular area, the position output unit (223) outputs the centroid position as the position where a person is present. When the position output unit (223) outputs the position where a person is present, the body movement detection unit (224) detects the magnitude of body movement of the person. When the position output unit (223) outputs the position where a person is present, the biological signal detection unit (225) detects a biological signal of the person. The presence / absence determination unit (226) determines that a person is present in a particular area when at least either the magnitude of body movement or the biological signal of the person is greater than a respectively set threshold value.

Description

Human Detection System

[0001] The present disclosure relates to a human detection system, and more particularly to a human detection system that detects a human using reflected radio waves.

[0002] Patent Document 1 discloses an occupancy detection system that detects people using point cloud data obtained from reflected radio waves.

[0003] In the seat occupancy detection system described in Patent Document 1, there has been a demand for improvement in the accuracy of detecting people.

[0004] Japanese Patent Application Laid-Open No. 2022-026109

[0005] The present disclosure has been made in consideration of the above-mentioned circumstances, and aims to provide a human detection system that can improve the accuracy of human detection.

[0006] A human detection system according to one aspect of the present disclosure includes a scattering point calculation unit, a processing unit, a position output unit, a body movement detection unit, a biosignal detection unit, and a presence / absence determination unit. The scattering point calculation unit transmits radio waves to a target area including a predetermined area, and calculates a plurality of scattering points within the target area that reflect the radio waves based on information obtained from the plurality of received waves received by a radio wave sensor. The processing unit outputs point cloud data obtained by clustering the plurality of scattering points and a centroid position of the point cloud data. If the centroid position is included in the predetermined area, the position output unit outputs the centroid position as a presence position of a person within the predetermined area. If the position output unit outputs the presence position of the person, the body movement detection unit detects a magnitude of the body movement of the person based on the point cloud data. If the position output unit outputs the presence position of the person, the biosignal detection unit detects a biosignal of the person. The presence / absence determination unit determines that the person is present within the specified area when at least one of the magnitude of the body movement and the biological signal is greater than a threshold value set for each of the magnitude of the body movement and the biological signal.

[0007] FIG. 1 is a block diagram showing a configuration of a human detection system according to an embodiment of the present disclosure. FIG. 2 is an explanatory diagram for describing a human detection operation by the human detection system of the same. FIG. 3 is a block diagram showing a configuration of a radio wave sensor provided in the human detection system of the same. FIG. 4 is an explanatory diagram for describing clustering of multiple scattering points by the human detection system of the same. FIG. 5 is a flowchart for describing a human detection operation by the human detection system of the same. FIG. 6 is a graph showing changes over time in data acquired by the human detection system of the same. FIG. 7 is a diagram showing a determination image displayed on a display unit by the human detection system of the same. FIG. 8 is a block diagram showing a configuration of a human detection system of a first modified example. FIG. 9 is a flowchart for describing a specific area setting operation by the human detection system of the same. FIG. 10 is an explanatory diagram for describing a specific area setting operation by the human detection system of the same. FIG. 11 is an explanatory diagram for describing a specific area setting operation by the human detection system of the same. FIG. 12 is a flowchart for describing a human detection operation by the human detection system of the same. FIG. 13 is an explanatory diagram for describing a human body movement level detection operation by the human detection system of a second modified example.

[0008] A human detection system 100 according to an embodiment of the present disclosure will be described in detail with reference to the drawings. Note that the figures described in the following embodiments are schematic diagrams, and the ratios of the sizes and thicknesses of the components in the figures do not necessarily reflect the actual dimensional ratios. Furthermore, the arrows indicating the "X-axis direction," "Y-axis direction," and "Z-axis direction" in the figures are merely shown for explanatory purposes and do not have any substance.

[0009] The embodiments and modifications described below are merely examples of the present disclosure, and the present disclosure is not limited to the embodiments and modifications. Various modifications other than the embodiments and modifications are possible depending on the design, etc., as long as they do not deviate from the technical concept of the present disclosure. Furthermore, the following embodiments (including modifications) may be realized in appropriate combinations.

[0010] (1) Overview First, an overview of the human detection system 100 according to this embodiment will be described with reference to FIGS. 1 to 4 and 6. FIG.

[0011] As shown in FIG. 1, the human detection system 100 includes a scattering point calculation unit 221, a processing unit 222, a position output unit 223, a body movement detection unit 224, a biological signal detection unit 225, and a presence / absence determination unit 226.

[0012] 1 and 3, the scattering point calculation unit 221 calculates a plurality of scattering points Ps (see FIG. 4) that reflect radio waves (transmission waves W1 from the radio wave sensor 1) within a target area E10 (see FIG. 2) based on information obtained from a plurality of received waves W2 received by the radio wave sensor 1. The radio wave sensor 1 transmits a transmission wave W1 to a target area E10 that includes a predetermined area E0, and receives the transmission wave W1 reflected within the target area E10 as a plurality of received waves W2.

[0013] As shown in FIG. 4, the processing unit 222 outputs point cloud data CL obtained by clustering a plurality of scattering points Ps and the centroid position Pc of the point cloud data CL.

[0014] When the center of gravity position Pc is included in the predetermined area E0, the position output unit 223 outputs the center of gravity position Pc as the presence position Pe of the person 5 within the predetermined area E0 (see FIG. 6 ). Note that in the present disclosure, the "presence position Pe of the person 5" refers to a position where the person 5 may be present.

[0015] When the position output unit 223 outputs the position Pe of the person 5, the body movement detection unit 224 detects the magnitude of the body movement of the person 5 based on the point cloud data CL.

[0016] The biological signal detection unit 225 detects the biological signal of the person 5 when the position output unit 223 outputs the position Pe of the person 5 .

[0017] The presence / absence determination unit 226 determines that person 5 is present within the specified area E0 if at least one of the magnitude of person 5's body movement and person 5's biosignal is greater than a threshold value set for each of person 5's body movement and person 5's biosignal.

[0018] According to this configuration, the human detection system 100 determines whether or not a person 5 is present within a specified area E0 based on the location Pe of the person 5, the magnitude of the person's body movement, and the person's biological signals, thereby improving the detection accuracy of the person 5.

[0019] (2) Configuration In this embodiment, the human detection system 100 includes a signal processing system 2 and a display terminal 3, as shown in FIG.

[0020] 2, the human detection system 100 determines the presence or absence of a person in at least one (four in this embodiment) predetermined area E0 (first predetermined area E1 to fourth predetermined area E4) included in the target area E10. That is, in this embodiment, the target area E10 includes multiple predetermined areas E0.

[0021] In this embodiment, the target area E10 is an area included in an office where a person (worker) works. The target area E10 may also be an area included in a living room, a classroom, a hospital room, etc. For example, if the target area E10 is an area included in a living room, the person to be detected by the human detection system 100 may be, for example, a resident of the room, and at least one predetermined area E0 may be, for example, an area where the resident sleeps. If the target area E10 is an area included in a classroom, the person to be detected by the human detection system 100 may be, for example, a student studying in the classroom, and at least one predetermined area E0 may be, for example, an area where the student studies. If the target area E10 is an area included in a hospital room, the person to be detected by the human detection system 100 may be, for example, an inpatient hospitalized in the hospital room, and at least one predetermined area E0 may be, for example, an area where the inpatient rests.

[0022] The target area E10 is, for example, a circular area as shown in Fig. 2. Note that the target area E10 is not limited to a circular area, and may be a quadrilateral or the like.

[0023] The first to fourth predetermined areas E1 to E4 are areas where people (workers) are present when working at each of the desks D1 to D4 installed in the office. The first to fourth predetermined areas E1 to E4 are, for example, rectangular areas. Note that the first to fourth predetermined areas E1 to E4 are not limited to rectangular areas and may be circular or the like.

[0024] The first to fourth predetermined areas E1 to E4 are set in advance by a manager of the target area E10 or the like, and are stored in the storage unit 23 (see FIG. 1).

[0025] The following describes the arrangement of desks D1 to D4 and radio wave sensor 1 in target area E10 of this embodiment. In the following description, the vertical direction in target area E10 is defined as the Z-axis direction in a three-dimensional orthogonal coordinate system. The upward vertical direction is defined as the positive Z-axis direction, and the downward vertical direction is defined as the negative Z-axis direction.

[0026] Each of the desks D1 to D4 has a rectangular shape with long and short sides. In this embodiment, the desks D1 to D4 have the same shape.

[0027] Desks D1 to D4 are placed on the floor of target area E10. In target area E10, as shown in FIG. 2 , one entire long side of desk D1 and one entire long side of desk D2 are in contact with each other in the X-axis direction in a three-dimensional orthogonal coordinate system. One entire long side of desk D3 and one entire long side of desk D4 are in contact with each other in the X-axis direction in the three-dimensional orthogonal coordinate system. Furthermore, one entire short side of desk D1 and one entire short side of desk D3 are in contact with each other in the Y-axis direction in the three-dimensional orthogonal coordinate system. One entire short side of desk D2 and one entire short side of desk D4 are in contact with each other in the Y-axis direction in the three-dimensional orthogonal coordinate system.

[0028] The radio wave sensor 1 is, for example, disk-shaped and is installed on the ceiling of the target area E10 so that the center point of the disk shape is the center of the arrangement positions of the desks D1 to D4 when viewed from above.

[0029] Here, the three-dimensional orthogonal coordinate system (X, Y, Z) in this embodiment is a coordinate system in which the reference point P0, which is the center point of the radio wave sensor 1 on the ceiling, is set as the origin (0, 0, 0).

[0030] (2.1) Radio wave sensor The radio wave sensor 1 is a frequency-modulated continuous-wave (FMCW) type radio wave sensor that can measure the distance to an object 4 (see FIG. 3). The radio wave sensor 1 includes at least one transmitting antenna 11 (one in this embodiment), multiple receiving antennas 12 (121 to 123 in this embodiment), and a transceiver 13.

[0031] The transceiver 13 causes the transmitting antenna 11 to transmit a transmission wave W1, the frequency of which (transmission frequency) changes over time, at a predetermined cycle. Here, the transmission wave W1 is preferably a microwave. However, the transmission wave W1 is not limited to a microwave and may be a millimeter wave. The predetermined cycle at which the transmitting antenna 11 transmits the transmission wave W1 is, for example, several ms to several tens of ms.

[0032] The transmitter / receiver 13 receives the transmitted wave W1 reflected by an object 4 (for example, a person 5 that is the detection target of the human detection system 100) as received waves W21 to W23 whose frequencies (received frequencies) change over time, and causes the receiving antennas 121 to 123 to receive them, respectively.

[0033] Then, the transceiver 13 generates a sensor signal Sg1 including information obtained from the received waves W21 to W23 (in this embodiment, information on the phase difference between the received waves W21 to W23, the frequency difference between the transmitted wave W1 and the received wave W21, the frequency difference between the transmitted wave W1 and the received wave W22, and the frequency difference between the transmitted wave W1 and the received wave W23), and transmits it to the signal processing system 2.

[0034] (2.2) Signal Processing System The signal processing system 2 is realized by, for example, one or more server devices. In this embodiment, it is assumed that the signal processing system 2 is configured by one server device, but the signal processing system 2 may be configured by two or more server devices, and such server devices may form, for example, a cloud (cloud computing). Furthermore, when the signal processing system 2 is configured by two or more server devices, multiple functions of the signal processing system 2 may be provided in a distributed manner across the two or more server devices.

[0035] The signal processing system 2 includes a receiving unit 21, a control unit 22, and a transmitting unit 24. The signal processing system 2 further includes a storage unit 23.

[0036] The receiver 21 receives the sensor signal Sg1 transmitted from the radio wave sensor 1 by a wireless communication method conforming to standards such as Wi-Fi (registered trademark), Bluetooth (registered trademark), ZigBee (registered trademark), or low-power radio that does not require a license (specified low-power radio). Note that the receiver 21 may also receive the sensor signal Sg1 transmitted from the radio wave sensor 1 by a wired communication method.

[0037] The control unit 22 is mainly composed of a computer system having one or more processors and a memory. The functions of the control unit 22 are realized by the processor of the computer system executing a program recorded in the memory of the computer system. The program may be recorded in the memory, or may be provided via a telecommunications line such as the Internet, or may be recorded on a non-transitory recording medium such as a memory card and provided.

[0038] The control unit 22 includes a scattering point calculation unit 221, a processing unit 222, a position output unit 223, a body movement detection unit 224, a biological signal detection unit 225, a presence / absence determination unit 226, an image generation unit 227, and an output unit 228. Note that the scattering point calculation unit 221, the processing unit 222, the position output unit 223, the body movement detection unit 224, the biological signal detection unit 225, the presence / absence determination unit 226, the image generation unit 227, and the output unit 228 merely indicate functions realized by the control unit 22, and do not necessarily indicate actual configurations.

[0039] The scattering point calculation unit 221 calculates a plurality of scattering points Ps (see FIG. 4 ) on the object 4 based on the sensor signal Sg1 received by the receiving unit 21. Here, the plurality of scattering points Ps refers to a plurality of points on the object 4 that reflect the transmission wave W1. The scattering point calculation unit 221 calculates the plurality of scattering points Ps based on the sensor signal Sg1 transmitted multiple times from the radio wave sensor 1 during a predetermined period (e.g., 200 ms). In other words, the number of the plurality of scattering points Ps calculated by the scattering point calculation unit 221 is the sum of the numbers of scattering points Ps calculated multiple times by the scattering point calculation unit 221 during the predetermined period.

[0040] More specifically, the scattering point calculation unit 221 calculates, from the information included in the sensor signal Sg1, the directions of the multiple scattering points Ps as viewed from the reference point P0, and the distances from the reference point P0 to the multiple scattering points Ps. The information included in the sensor signal Sg1 is information on the phase differences between the received waves W21 to W23, the frequency difference between the transmitted wave W1 and the received wave W21, the frequency difference between the transmitted wave W1 and the received wave W22, and the frequency difference between the transmitted wave W1 and the received wave W23.

[0041] In this embodiment, the scattering point calculation unit 221 calculates the positions of the multiple scattering points Ps from the directions of the multiple scattering points Ps relative to the reference point P0 and the distances from the reference point P0 to the multiple scattering points Ps. The positions of the multiple scattering points Ps are calculated as coordinates in a three-dimensional Cartesian coordinate system (X, Y, Z) with the reference point P0 as the origin.

[0042] The scattering point calculation unit 221 derives the directions of the multiple scattering points Ps relative to the reference point P0 using, for example, an angle-of-arrival estimation method based on the phase differences between the received waves W21 to W23. Examples of angle-of-arrival estimation methods include the Fourier method (FFT (Fast Fourier Transform) method) and methods that provide high resolution, such as the Capon method, MUSIC (Multiple Signal Classification), and ESPRIT (Estimation of Signal Parameters via Rotational Invariance Techniques).

[0043] As shown in FIG. 4 , the processing unit 222 uses a clustering algorithm, such as DBSCAN (Density-Based Spatial Clustering of Applications with Noise), to cluster the multiple scattered points Ps and generate point cloud data CL. DBSCAN is a clustering algorithm based on the density of data points. Specifically, DBSCAN selects one data point (core point) from multiple data points (multiple scattered points Ps in this embodiment), and then groups the core point and a predetermined number of data points within a predetermined radius around the core point into one cluster (one point cloud data CL in this embodiment). Next, the same process as above is continued, with each of the predetermined number of data points within a predetermined radius around the core point as a new core point, to grow one cluster. Note that if the predetermined number of data points do not exist within the predetermined radius around the core point, the growth of the cluster centered around the core point stops.

[0044] The processing unit 222 also calculates the center of gravity Pc of the point cloud data CL. Here, the center of gravity Pc of the point cloud data CL is the center of gravity of the multiple scattered points Ps included in the point cloud data CL. In this embodiment, the processing unit 222 calculates the center of gravity Pc of the point cloud data CL as coordinates in a three-dimensional orthogonal coordinate system (X, Y, Z) with the reference point P0 as the origin.

[0045] The processing unit 222 generates point cloud data CL and calculates the center of gravity Pc of the point cloud data CL from the multiple scattering points Ps calculated by the scattering point calculation unit 221 over a predetermined period of time. In other words, the processing unit 222 generates the point cloud data CL and calculates the center of gravity Pc of the point cloud data CL every predetermined period of time. The storage unit 23 stores the point cloud data CL and the center of gravity Pc of the point cloud data CL in chronological order.

[0046] When the center of gravity position Pc is included in the predetermined area E0, the position output unit 223 outputs the center of gravity position Pc as the location position Pe of the person 5 within the predetermined area E0. Here, the predetermined area E0 is defined as a coordinate range in the X-axis direction and the Y-axis direction in a three-dimensional orthogonal coordinate system with the reference point P0 as the origin. In other words, when the center of gravity position Pc is included in the coordinate range of the predetermined area E0, the position output unit 223 outputs the center of gravity position Pc as the location position Pe of the person 5 within the predetermined area E0. Note that the predetermined area E0 may also be defined as a coordinate range in the X-axis direction, the Y-axis direction, and the Z-axis direction in the three-dimensional orthogonal coordinate system.

[0047] The operation of the position output unit 223 will be described in detail in "(3) Example of Operation."

[0048] When the position output unit 223 outputs the location Pe of the person 5, the body movement detection unit 224 detects the magnitude of the body movement of the person 5 based on the point cloud data CL. Specifically, when the position output unit 223 outputs the location Pe of the person 5, the body movement detection unit 224 detects the number of scattering points Ps included in the point cloud data CL as the magnitude of the body movement of the person 5. Here, as described above, the number of scattering points Ps calculated by the scattering point calculation unit 221 is the sum of the numbers of scattering points Ps calculated multiple times during a predetermined period. Therefore, when the person 5 moves during the predetermined period, the number of scattering points Ps included in the point cloud data CL increases compared to when the person 5 remains stationary during the predetermined period. Therefore, the number of scattering points Ps included in the point cloud data CL represents the magnitude of the body movement of the person 5 during the predetermined period.

[0049] When the position output unit 223 outputs the center of gravity position Pc as the presence position Pe of the person 5, the biological signal detection unit 225 detects the biological signal of the person 5 based on the sensor signal Sg1 received by the receiving unit 21. Here, the biological signal is a signal that appears due to biological activity such as breathing, heartbeat, pulse, etc.

[0050] More specifically, the biosignal detection unit 225 extracts information about radio waves (specific radio waves) arriving from the location Pe of the person 5 from the information included in the sensor signal Sg1, and detects the biosignal of the person 5 based on the frequency of the specific radio waves. More specifically, the biosignal detection unit 225 detects the biosignal of the person 5 based on the difference between the frequency of the specific radio waves and the frequency of the transmission wave W1. The operation of the biosignal detection unit 225 will be described in detail in "(3) Operation Example."

[0051] The presence / absence determination unit 226 determines that the person 5 is present within the predetermined area E0 when at least one of the magnitude of the body movement of the person 5 detected by the body movement detection unit 224 and the biosignal of the person 5 detected by the biosignal detection unit 225 is greater than a threshold value set for each of the magnitude of the body movement and the biosignal. In other words, the presence / absence determination unit 226 determines that the person 5 is present at a presence position Pe within the predetermined area E0, which is a position where the person 5 may be present, when at least one of the magnitude of the body movement of the person 5 and the biosignal of the person 5 is greater than a threshold value set for each of the magnitude of the body movement and the biosignal.

[0052] The image generating unit 227 generates a determination image G1 (see FIG. 7) that indicates the determination result of the presence / absence determining unit 226 .

[0053] The output unit 228 controls the transmission unit 24 (described later) to output the determination image G1 generated by the image generation unit 227 to the display terminal 3 .

[0054] The storage unit 23 includes a rewritable nonvolatile memory such as an EEPROM (Electrically Erasable and Programmable Read-Only Memory). A coordinate range in a three-dimensional orthogonal coordinate system indicating a predetermined area E0 is stored in advance in the storage unit 23. The storage unit 23 also stores the point cloud data CL generated by the processing unit 222 at predetermined intervals and the center of gravity position Pc of the point cloud data CL calculated at predetermined intervals.

[0055] The transmission unit 24 transmits the determination image G1 to the display terminal 3 by a wireless communication method that complies with standards such as Wi-Fi (registered trademark), Bluetooth (registered trademark), ZigBee (registered trademark), or low-power wireless communication that does not require a license (specified low-power wireless communication). Note that the transmission unit 24 may transmit the determination image G1 to the display terminal 3 by a wired communication method.

[0056] 7, the determination image G1 includes, for example, furniture icons G21 to G24 representing desks D1 to D4, respectively, and predetermined area icons G31 to G34 representing first predetermined area E1 to fourth predetermined area E4, respectively. In the determination image G1, the predetermined area E0 (first predetermined area E1 in FIG. 7) in which the presence / absence determination unit 226 determines that a person 5 is present is displayed in a display mode different from that of the other predetermined areas E0. The "display mode" referred to here refers to color, brightness, pattern, etc.

[0057] (2.3) Display Terminal The display terminal 3 is a communication terminal used by the administrator of the target area E10, etc. Specifically, the display terminal 3 includes communication terminals such as smartphones, tablet terminals, wearable terminals, personal computers, and digital signage.

[0058] As shown in FIG. 1 , the display terminal 3 includes a display unit 31 and a communication unit 32 .

[0059] The communication unit 32 is configured to be able to communicate with the signal processing system 2. The communication unit 32 receives the determination image G1 transmitted from the signal processing system 2.

[0060] The display unit 31 is a display device such as a liquid crystal display that can display the determination image G1 acquired by the communication unit 32 from the signal processing system 2. In other words, the display unit 31 displays the determination result by the presence / absence determination unit 226.

[0061] (3) Operation Example An operation example of the human detection system 100 will be described below with reference to Fig. 5 etc. Here, the flowchart shown in Fig. 5 merely shows an example of the operation of the human detection system 100 according to this embodiment, and the order of processing may be changed as appropriate, and processing may be added or omitted as appropriate.

[0062] First, when the receiver 21 receives the sensor signal Sg1 transmitted from the radio wave sensor 1, the receiver 21 stores the information included in the sensor signal Sg1 in the storage unit 23 in association with the time of reception of the sensor signal Sg1.

[0063] When information on the sensor signal Sg1 transmitted multiple times from the radio wave sensor 1 during a predetermined period is accumulated in the memory unit 23, the scattering point calculation unit 221 calculates multiple scattering points Ps (positions) from the information on the sensor signal Sg1 for the predetermined period.

[0064] The processing unit 222 clusters the multiple scattered points Ps and generates point cloud data CL. As an example, as shown in Fig. 4, the processing unit 222 clusters the multiple scattered points Ps and generates, for example, two point cloud data CL (CL1, CL2). Here, of the multiple scattered points Ps calculated by the scattered point calculation unit 221, scattered points Ps that are not clustered into either the point cloud data CL1 or CL2 are considered to be noise.

[0065] In this case, the processing unit 222 calculates the centroid position Pc (Pc1) of the multiple scattering points Ps included in the point cloud data CL1 and the centroid position Pc (Pc2) of the multiple scattering points Ps included in the point cloud data CL2. The coordinates of the centroid position Pc1 are expressed as (X1, Y1, Z1), and the coordinates of the centroid position Pc2 are expressed as (X2, Y2, Z2). The centroid positions Pc1 and Pc2 may be smoothed using a moving average, a Kalman filter, or the like, and defects may be interpolated.

[0066] Next, the position output unit 223 determines whether or not the center of gravity positions Pc1 and Pc2 are included in the first to fourth predetermined areas E1 to E4. The determination operation by the position output unit 223 will be specifically described below.

[0067] As shown in Figure 2, the first predetermined area E1 is a quadrangular area with vertices at points P11 to P14. The second predetermined area E2 is a quadrangular area with vertices at points P21 to P24. The third predetermined area E3 is a quadrangular area with vertices at points P31 to P34. The fourth predetermined area E4 is a quadrangular area with vertices at points P41 to P44.

[0068] Here, points P11 to P14, points P21 to P24, points P31 to P34, and points P41 to P44 are points defined by two-dimensional orthogonal coordinates (XY coordinates). In this embodiment, the coordinates of point P11 are (a1, d1), the coordinates of point P12 are (b1, d1), the coordinates of point P13 are (b1, c1), and the coordinates of point P14 are (a1, c1). The coordinates of point P21 are (a2, d1), the coordinates of point P22 are (b2, d1), the coordinates of point P23 are (b2, c1), and the coordinates of point P24 are (a2, c1). The coordinates of point P31 are (a1, d2), the coordinates of point P32 are (b1, d2), the coordinates of point P33 are (b1, c2), and the coordinates of point P34 are (a1, c2). Furthermore, the coordinates of point P41 are (a2, d2), the coordinates of point P42 are (b2, d2), the coordinates of point P43 are (b2, c2), and the coordinates of point P44 are (a2, c2).

[0069] That is, the coordinate ranges of the first predetermined area E1 to the fourth predetermined area E4 are defined as shown in Table 1.

[0070]

[0071] The position output unit 223 determines whether the center of gravity position Pc1 is included in the first predetermined area E1 (step S1). Here, it is assumed that the X-axis component (X1) of the coordinates (X1, Y1, Z1) of the center of gravity position Pc1 satisfies a1≦X1≦b1 and the Y-axis component (Y1) of the coordinates (X1, Y1, Z1) satisfies c1≦Y1≦d1. In this case, the position output unit 223 determines that the center of gravity position Pc1 is included in the first predetermined area E1 (step S1: Yes).

[0072] The position output unit 223 also determines whether the center of gravity position Pc2 is included within the first predetermined area E1 (step S1). Here, the position output unit 223 assumes a case where the X-axis component (X2) of the coordinates (X2, Y2, Z2) of the center of gravity position Pc2 does not satisfy a1≦X2≦b1, and the Y-axis component (Y2) of the coordinates (X2, Y2, Z2) does not satisfy c1≦Y2≦d1. In this case, the position output unit 223 determines that the center of gravity position Pc2 is not included within the first predetermined area E1 (step S1: No). The position output unit 223 also determines that the center of gravity position Pc2 is not included within the first predetermined area E1 if the X-axis component (X2) satisfies a1≦X2≦b1, and the Y-axis component (Y2) of the coordinates (X2, Y2, Z2) does not satisfy c1≦Y2≦d1. In addition, the position output unit 223 determines that the center of gravity position Pc2 is not included within the first specified area E1 even if the X-axis component (X2) does not satisfy a1≦X2≦b1 and the Y-axis component (Y2) of the coordinates (X2, Y2, Z2) satisfies c1≦Y2≦d1.

[0073] The position output unit 223 outputs the center of gravity position Pc1 (coordinates (X1, Y1, Z1)) included in the first predetermined area E1 as the presence position Pe of the person 5 within the first predetermined area E1 (step S2). Note that if neither the center of gravity position Pc1 nor Pc2 is included in the first predetermined area E1, the position output unit 223 does not output data as the presence position Pe of the person 5. If the position output unit 223 does not output data as the presence position Pe of the person 5, the presence / absence determination unit 226 determines that the person 5 is not present within the first predetermined area E1 (step S7).

[0074] When the position output unit 223 outputs the center of gravity position Pc1 as the location Pe of the person 5 within the first specified area E1, the body movement detection unit 224 detects the number of multiple scattering points Ps included in the point cloud data CL1 as the magnitude of the body movement of the person 5.

[0075] The body movement detector 224 outputs the maximum value of the magnitude of the body movement detected within the first predetermined area E1 during a specific period (30 seconds in this embodiment) as the body movement level LV1 (see FIG. 6 ) (step S3). The specific period is a period longer than the specific period over which the scattering point calculator 221 accumulates the scattering points Ps. The body movement detector 224 may also output the average value of the magnitude of the body movement detected within the first predetermined area E1 during the specific period as the body movement level LV1. Alternatively, the body movement detector 224 may output the magnitude of the detected body movement as the body movement level LV1 each time.

[0076] Here, Figure 6 is a graph showing the time changes in the coordinates (X0, Y0, Z0) of the presence position Pe of person 5 in the first specified area E1, body movement level LV1, vital sign level LV2, and presence / absence determination data F1 indicating the presence / absence determination result of person 5.

[0077] In this embodiment, as described above, the processing unit 222 generates the point cloud data CL and calculates the center of gravity Pc of the point cloud data CL every predetermined period (200 ms). That is, during a specific period (30 s), the generation of the point cloud data CL and the calculation of the center of gravity Pc of the point cloud data CL are executed 150 times. Therefore, of the center of gravity Pc output 150 times during the specific period, the center of gravity Pc included in the first predetermined area E1 is output as the presence position Pe of the person 5 within the first predetermined area E1. That is, since the presence position Pe of the person 5 within the first predetermined area E1 is output a maximum of 150 times, the magnitude of the body movement of the person 5 within the first predetermined area E1 is detected a maximum of 150 times.

[0078] In this embodiment, the body movement detector 224 outputs the maximum value of the magnitude of the body movement of the person 5 detected a maximum of 150 times within the first predetermined area E1 during a specific period as the body movement level LV1.

[0079] In addition, when the position output unit 223 outputs the center of gravity position Pc1 as the location Pe of the person 5 within the first specified area E1, the biological signal detection unit 225 selectively extracts the change over time in the intensity of the radio waves (specific radio waves) arriving from the location Pe of the person 5 from the information contained in the sensor signal Sg1.

[0080] The biological signal detection unit 225 detects, from the change over time in the intensity of the specific radio wave, the intensity of a specific frequency that appears due to the activity of the living body (person 5) (for example, breathing, heartbeat, pulse, etc. of the living body) as a biological signal of person 5. In other words, the biological signal detection unit 225 detects a biological signal based on the frequency of the specific radio wave arriving from the presence position Pe.

[0081] The biological signal detector 225 is realized by a filter (for example, a digital filter) that passes signals of a specific frequency and attenuates signals of other frequencies.

[0082] The biosignal detection unit 225 outputs, for example, the maximum value of the strength of the biosignal of the person 5 detected within the first predetermined area E1 during a specific period (30 seconds in this embodiment) as the biosignal level LV2 (see FIG. 6 ) (step S4). Note that the biosignal detection unit 225 may also output the average value of the strength of the biosignal detected within the first predetermined area E1 during the specific period as the biosignal level LV2. Alternatively, the biosignal detection unit 225 may output the strength of the detected biosignal each time as the biosignal level LV2.

[0083] In this embodiment, as described above, the processing unit 222 generates the point cloud data CL and calculates the center of gravity Pc of the point cloud data CL every predetermined period (200 ms). That is, during a specific period (30 s), the generation of the point cloud data CL and the calculation of the center of gravity Pc of the point cloud data CL are executed 150 times. Therefore, of the center of gravity Pc output 150 times during the specific period, the center of gravity Pc included in the first predetermined area E1 is output as the presence position Pe of the person 5 within the first predetermined area E1. That is, since the presence position Pe of the person 5 within the first predetermined area E1 is output a maximum of 150 times, the biological signal of the person 5 within the first predetermined area E1 is detected a maximum of 150 times.

[0084] In this embodiment, the biological signal detection unit 225 outputs the maximum value of the strength of the biological signal of the person 5 detected a maximum of 150 times within the first predetermined area E1 during a specific period as the biological signal level LV2.

[0085] The presence / absence determination unit 226 determines whether or not a person 5 is present in the first predetermined area E1 during a specific period based on a body movement level LV1, which is the maximum value of the magnitude of the body movement of the person 5 detected during the specific period, and a biosignal level LV2, which is the maximum value of the strength of the biosignal of the person 5 detected during the specific period. In other words, the presence / absence determination unit 226 determines whether or not a person 5 is present in the first predetermined area E1 every specific period (30 seconds).

[0086] As shown in FIG. 6, the presence / absence determining unit 226 generates presence / absence determination data F1 indicating a determination result 1 ("present" or "absent").

[0087] More specifically, if at least one of the body movement level LV1 and the vital sign level LV2 is greater than a threshold value set for each of the body movement level LV1 and the vital sign level LV2 (step S5: Yes), the presence / absence determination unit 226 determines that a person 5 is present in the first predetermined area E1 (step S6). Here, as shown in Fig. 6, the threshold value set for the body movement level LV1 is a threshold value Th1, and the threshold value set for the vital sign level LV2 is a threshold value Th2. The threshold values ​​Th1 and Th2 are greater than 0.

[0088] Furthermore, as described above, if the position output unit 223 does not output data as the position Pe of the person 5, the presence / absence determination unit 226 determines that the person 5 is not present within the first predetermined area E1.

[0089] The human detection system 100 also executes the processes of steps S1 to S7 for the second predetermined area E2 to the fourth predetermined area E4.

[0090] Here, an example of the operation of determining whether or not the person 5 is present in the predetermined area E0 by the presence / absence determining unit 226 will be described. Here, as an example, the description will be made assuming that the predetermined area E0 is the first predetermined area E1.

[0091] For example, at time t1 in Fig. 6, values ​​are output as the coordinates (X0, Y0, Z0) of the presence position Pe. Then, since the body movement level LV1 exceeds the threshold value Th1 and the vital sign level LV2 exceeds the threshold value Th2, the presence / absence determination unit 226 determines that a person 5 is present in the first predetermined area E1.

[0092] At time t2, values ​​are output as the coordinates (X0, Y0, Z0) of the presence position Pe. Furthermore, since the body movement level LV1 is equal to or less than the threshold value Th1, but the vital sign level LV2 is greater than the threshold value Th2, the presence / absence determination unit 226 determines that a person 5 is present in the first predetermined area E1.

[0093] At time t3, no values ​​are output as the coordinates (X0, Y0, Z0) of the presence position Pe, so the presence determination unit 226 determines that no person 5 is present in the first predetermined area E1.

[0094] Note that when values ​​are output as the coordinates of the presence position Pe, the body movement level LV1 exceeds the threshold value Th1, and the vital sign level LV2 is equal to or less than the threshold value Th2, the presence / absence determination unit 226 determines that a person 5 is present in the first predetermined area E1. Note that when values ​​are output as the coordinates of the presence position Pe, the body movement level LV1 exceeds the threshold value Th1, and the vital sign level LV2 is equal to or less than the threshold value Th2, the presence / absence determination unit 226 may determine that a moving object other than a person 5 (such as a cleaning robot) is present in the first predetermined area E1, and may instead determine that a person 5 is not present in the first predetermined area E1.

[0095] (4) Modifications The above embodiment is merely one of various embodiments of the present disclosure. The above embodiment can be modified in various ways depending on the design, etc., as long as the object of the present disclosure can be achieved. Furthermore, functions similar to those of the human detection system may be embodied in a human detection method, a computer program, a non-transitory recording medium on which a program is recorded, or the like.

[0096] Modifications of the above embodiment are listed below. The modifications described below can be applied in appropriate combinations.

[0097] (4.1) Modification 1 A human detection system 100 (100A) according to Modification 1 differs from the above embodiment in that the control unit 22 further includes a layout information generation unit 229, as shown in Fig. 8. Note that the layout information generation unit 229 merely indicates a function realized by the control unit 22, and does not necessarily indicate a substantial configuration.

[0098] The operation modes of the control unit 22 of the human detection system 100A (hereinafter simply referred to as the operation mode) include a first operation mode, which is the operation mode in the above embodiment, and a second operation mode, which is an operation mode different from the first operation mode. The operation mode of the human detection system 100A can be switched between the first operation mode and the second operation mode by, for example, an administrator of the target area E10.

[0099] An example of operation of the human detection system 100A in the second operation mode will be described below with reference to Figures 9 to 12. The flowcharts shown in Figures 9 and 12 merely illustrate an example of the operation of the human detection system 100A, and the order of processing may be changed as appropriate, and processing may be added or omitted as appropriate. In the following description, components that are functionally common to the human detection system 100 of the embodiment will be assigned the same reference numerals as the components of the human detection system 100 of the embodiment, and descriptions thereof will be omitted as appropriate.

[0100] The second operation mode includes a layout information generation mode and a presence / absence determination mode.

[0101] First, the operation of the human detection system 100A when the operation mode is the layout information generation mode will be described with reference to FIG.

[0102] When the receiver 21 receives the sensor signal Sg1 transmitted from the radio wave sensor 1, the receiver 21 stores the information included in the sensor signal Sg1 in the storage unit 23 in association with the time of reception of the sensor signal Sg1.

[0103] When information on the sensor signal Sg1 transmitted multiple times from the radio wave sensor 1 during a predetermined period is accumulated in the memory unit 23, the scattering point calculation unit 221 calculates multiple scattering points Ps from the information on the sensor signal Sg1 for the predetermined period.

[0104] The processing unit 222 outputs point cloud data CL obtained by clustering the plurality of scattering points Ps, and the centroid position Pc of the point cloud data CL.

[0105] In the layout information generation mode, the position output unit 223 does not determine whether the center of gravity position Pc is included in the predetermined area E0. The position output unit 223 outputs the center of gravity position Pc output by the processing unit 222 as is (step S11). In the following description, the center of gravity position Pc output by the position output unit 223 in the layout information generation mode will be referred to as center of gravity position PcA.

[0106] When the position output unit 223 outputs the center of gravity position PcA, the body movement detection unit 224 detects the magnitude of the body movement (the number of scattering points Ps included in the point cloud data CL) based on the point cloud data CL, and outputs the magnitude of the body movement as a body movement level LV1 (step S12).

[0107] When the position output unit 223 outputs the center of gravity position PcA, the biological signal detection unit 225 detects the biological signal based on the frequency of the specific radio wave arriving from the center of gravity position PcA. The biological signal detection unit 225 outputs the strength of the biological signal as a biological signal level LV2 (step S13).

[0108] If at least one of the body movement level LV1 and the vital signal level LV2 is greater than the threshold value set for each of the body movement level LV1 and the vital signal level LV2 (step S14: Yes), the presence / absence determination unit 226 stores the center of gravity position PcA in the storage unit 23 (step S15). Note that when the position output unit 223 outputs the center of gravity position PcA, the presence / absence determination unit 226 may store the center of gravity position PcA in the storage unit 23 regardless of whether at least one of the body movement level LV1 and the vital signal level LV2 is greater than the threshold value set for each of the body movement level LV1 and the vital signal detection unit 225. In this case, the body movement detection unit 224 may not output the body movement level LV1, and the vital signal detection unit 225 may not output the vital signal level LV2.

[0109] When the predetermined number of center-of-gravity positions PcA are stored in the storage unit 23 (step S16), the layout information generation unit 229 sets the specific area Es0 using a setting method different from the predetermined area E0 that is set in advance by the administrator of the target area E10, etc. (step S17). The layout information generation unit 229 sets the specific area Es0 within the target area E10 based on the predetermined number of center-of-gravity positions PcA stored in the storage unit 23.

[0110] Like the predetermined area E0, the specific area Es0 is defined as a coordinate range in the X-axis direction and the Y-axis direction in a three-dimensional orthogonal coordinate system with the reference point P0 as the origin, for example.

[0111] Note that the storage of the predetermined number of center-of-gravity positions PcA in the layout information generation mode may be performed continuously or intermittently. That is, the human detection system 100A may continuously repeat steps S11 to S15 until the storage of the predetermined number of center-of-gravity positions PcA is completed, or may operate in the first operation mode (the operation mode of the human detection system 100 in the above embodiment) after storing the center-of-gravity positions PcA in the storage unit 23 in step S15, and then perform steps S11 to S15 again at a predetermined timing.

[0112] The setting operation of the specific area Es0 by the layout information generating unit 229 will be specifically described below.

[0113] As shown in FIG. 10, the layout information generating unit 229 uses a clustering algorithm such as DBSCAN to cluster a predetermined number of center of gravity positions PcA into, for example, four point cloud data CL11 to CL14.

[0114] The layout information generating unit 229 calculates the center positions Pc11 to Pc14, which are the center positions of the four point cloud data CL11 to CL14, respectively.

[0115] 11, the layout information generation unit 229 arranges template areas, which are, for example, rectangular areas set in advance, so that the centers of gravity of the template areas coincide with each of the center-of-gravity positions Pc11 to Pc14. The layout information generation unit 229 sets the template areas arranged so that their centers of gravity coincide with each of the center-of-gravity positions Pc11 to Pc14 as four specific areas Es0 (first specific area Es1 to fourth specific area Es4). Note that the template areas are not limited to rectangular areas and may be circular, etc.

[0116] Next, the operation of the human detection system 100A when the operation mode is the presence / absence determination mode will be described with reference to Fig. 12. Note that the operation mode of the human detection system 100A is switched from the layout information generation mode to the presence / absence determination mode when the layout information generation unit 229 has completed setting the specific areas Es1 to Es4.

[0117] When the receiver 21 receives the sensor signal Sg1 transmitted from the radio wave sensor 1, the receiver 21 stores the information included in the sensor signal Sg1 in the storage unit 23 in association with the time of reception of the sensor signal Sg1.

[0118] When information on the sensor signal Sg1 transmitted multiple times from the radio wave sensor 1 during a predetermined period is accumulated in the memory unit 23, the scattering point calculation unit 221 calculates multiple scattering points Ps from the information on the sensor signal Sg1 for the predetermined period.

[0119] The processing unit 222 outputs point cloud data CL obtained by clustering the plurality of scattering points Ps, and the centroid position Pc of the point cloud data CL.

[0120] The position output unit 223 determines whether or not the center of gravity position Pc is included in the first specific area Es1 (step S21).

[0121] If the position output unit 223 determines that the center of gravity position Pc is included in the first specific area Es1 (step S21: Yes), it outputs the center of gravity position Pc as the presence position Pe of the person 5 within the first specific area Es1 (step S22). If the position output unit 223 does not output data as the presence position Pe of the person 5 (step S21: No), the presence / absence determination unit 226 determines that the person 5 is not present within the first specific area Es1 (step S27).

[0122] When the position output unit 223 outputs the location Pe of the person 5, the body movement detection unit 224 outputs the maximum value of the magnitude of the body movement detected within the first specific area Es1 during a specific period as the body movement level LV1 (step S23).

[0123] When the position output unit 223 outputs the location Pe of person 5, the biosignal detection unit 225 outputs the maximum value of the strength of the biosignal of person 5 detected within the first specific area Es1 during a specific period as the biosignal level LV2 (step S24).

[0124] If at least one of the body movement level LV1 and the biological signal level LV2 is greater than the threshold value set for each of the body movement level LV1 and the biological signal level LV2 (step S25: Yes), the presence / absence determination unit 226 determines that a person 5 is present within the first specific area Es1 (step S26).

[0125] The human detection system 100A also performs the processes of steps S21 to S27 for the second specific area Es2 to the fourth specific area Es4.

[0126] When information regarding the arrangement of desks D1 to D4 within target area E10 is stored in storage unit 23, human detection system 100A may associate first specific area Es1 to fourth specific area Es4 with the information regarding the arrangement of desks D1 to D4. That is, human detection system 100A may set first specific area Es1 to fourth specific area Es4 as areas corresponding to desks D1 to D4, respectively.

[0127] (4.2) Modification 2 In the above embodiment, when the position output unit 223 outputs the presence position Pe of the person 5, the body movement detection unit 224 detects the number of multiple scattering points Ps included in the point cloud data CL as the magnitude of the body movement of the person 5. In contrast to this, the body movement detection unit 224 of Modification 2 may detect the magnitude of the distribution of the multiple scattering points Ps included in the point cloud data CL as the magnitude of the body movement. Below, the operation of the body movement detection unit 224 to detect the magnitude of the distribution of the multiple scattering points Ps included in the point cloud data CL will be described with reference to FIG. 13 .

[0128] First, the body movement detection unit 224 converts the coordinates of the multiple scattering points Ps in a three-dimensional Cartesian coordinate system into coordinates projected onto a plane PL1. The plane PL1 is, for example, a plane perpendicular to a line passing through the reference point P0 and the center-of-gravity positions Pc of the multiple scattering points Ps. The plane PL1 is divided into multiple segmented regions R0 arranged in a grid pattern. More specifically, the multiple segmented regions R0 are arranged along a first axis Ax and a second axis Ay that are orthogonal to each other. For explanatory purposes, FIG. 13 visualizes the plane PL1. In this modification, it is assumed that each of the multiple scattering points Ps has an error region parallel to the plane PL1, and each of the multiple scattering points Ps is depicted as a circle in FIG. 13.

[0129] The body movement detection unit 224 detects the sum of the areas of the divided regions R1 (the divided region R0 hatched in Figure 13), which is the divided region R0 that contains the multiple scattering points Ps, as the size of the distribution of the multiple scattering points Ps.

[0130] In addition, the body movement detection unit 224 may detect the size of the distribution of the multiple scattering points Ps as the product of the distance between the scattering points Ps located at both ends in the direction of the first axis Ax and the distance between the scattering points Ps located at both ends in the direction of the second axis Ay.

[0131] (4.3) Other Modifications The human detection system 100 of the present disclosure includes a computer system, for example, in the control unit 22 of the signal processing system 2. The computer system is primarily composed of a processor and memory as hardware. The processor executes a program stored in the memory of the computer system to realize the functions of the control unit 22 of the present disclosure. The program may be pre-recorded in the memory of the computer system, provided via a telecommunications line, or provided by being recorded on a non-transitory recording medium readable by the computer system, such as a memory card, optical disk, or hard disk drive. The processor of the computer system is composed of one or more electronic circuits including a semiconductor integrated circuit (IC) or a large-scale integrated circuit (LSI). The integrated circuits, such as ICs and LSIs, are referred to by different names depending on the degree of integration, and include integrated circuits called system LSIs, very large-scale integration (VLSI), or ultra-large-scale integration (ULSI). Furthermore, a field-programmable gate array (FPGA), which is programmed after the LSI is manufactured, or a logic device capable of reconfiguring the connections within the LSI or the circuit partitions within the LSI, can also be employed as a processor. Multiple electronic circuits may be integrated into a single chip or distributed across multiple chips. Multiple chips may be integrated into a single device or distributed across multiple devices. The computer system referred to here includes a microcontroller having one or more processors and one or more memories. Therefore, the microcontroller is also composed of one or more electronic circuits, including a semiconductor integrated circuit or a large-scale integrated circuit.

[0132] The radio wave sensor 1 may be a radio wave sensor other than an FMCW type radio wave sensor as long as it is capable of measuring the distance to the object 4. The radio wave sensor 1 may be, for example, a two-frequency FSK (Frequency Shift Keying) type radio wave sensor.

[0133] The processing unit 222 may calculate the center of gravity position Pc of the point cloud data CL using data that is a weighted average of the coordinate positions of multiple scattering points Ps, with the intensity of the radio waves reflected by multiple scattering points Ps as the weight.

[0134] (5) Summary As described above, the human detection system (100) according to the first aspect includes a scattering point calculation unit (221), a processing unit (222), a position output unit (223), a body movement detection unit (224), a biological signal detection unit (225), and a presence / absence determination unit (226). The scattering point calculation unit (221) transmits radio waves to a target area (E10) including a predetermined area (E0), and calculates a plurality of scattering points (Ps) that reflect the radio waves within the target area (E10) based on information obtained from the plurality of received waves (W21 to W23) received by a radio wave sensor (1). The radio wave sensor (1) receives the radio waves reflected within the target area (E10) as a plurality of received waves (W21 to W23). The processing unit (222) outputs point cloud data (CL) obtained by clustering the plurality of scattering points (Ps) and a center of gravity position (Pc) of the point cloud data (CL). When the center of gravity position (Pc) is included within the predetermined area (E0), the position output unit (223) outputs the center of gravity position (Pc) as the presence position (Pe) of the person (5) within the predetermined area (E0). When the position output unit (223) outputs the presence position (Pe) of the person (5), the body movement detection unit (224) detects the magnitude of the body movement of the person (5) based on the point cloud data (CL). When the position output unit (223) outputs the presence position (Pe) of the person (5), the biosignal detection unit (225) detects the biosignal of the person (5). When the position output unit (223) outputs the presence position (Pe) of the person (5), the presence / absence determination unit (226) determines that the person (5) is present within the predetermined area (E0) when at least one of the magnitude of the body movement of the person (5) and the biosignal of the person (5) is greater than a threshold value set for each of the magnitude of the body movement of the person (5) and the biosignal of the person (5).

[0135] According to this aspect, the human detection system (100) determines whether or not a person (5) is present within a specified area (E0) based on the location (Pe) of the person (5), the magnitude of the person's (5) body movement, and the person's (5) biosignal, thereby improving the detection accuracy of the person (5).

[0136] In the human detection system (100) according to the second aspect, in the first aspect, the target area (E10) includes a plurality of predetermined areas (E0).

[0137] According to this aspect, the human detection system (100) can detect people (5) in multiple predetermined areas (E0), thereby improving the versatility of the human detection system (100).

[0138] In the human detection system (100) according to the third aspect, in the first or second aspect, the body movement detection unit (224) detects the number of multiple scattering points (Ps) included in the point cloud data (CL) as the magnitude of the body movement of the person (5).

[0139] According to this aspect, it is possible to improve the accuracy of the body movement detection unit (224) in detecting the magnitude of the body movement of the person (5).

[0140] In the human detection system (100) according to the fourth aspect, in any of the first to third aspects, the body movement detection unit (224) detects the magnitude of the distribution of the multiple scattering points (Ps) included in the point cloud data (CL) as the magnitude of the body movement of the person (5).

[0141] According to this aspect, it is possible to improve the accuracy of the body movement detection unit (224) in detecting the magnitude of the body movement of the person (5).

[0142] In the human detection system (100) according to the fifth aspect, in any of the first to fourth aspects, the biosignal detection unit (225) detects the biosignal of the person (5) based on the frequency of radio waves arriving from the location (Pe).

[0143] According to this aspect, it is possible to improve the accuracy of the detection of the biological signal of the person (5) by the biological signal detection unit (225).

[0144] A human detection system (100) according to a sixth aspect is any one of the first to fifth aspects, further comprising a storage unit (23) and a layout information generation unit (229) that sets a specific area (Es0) within a target area (E10) using a setting method different from that of the predetermined area (E0). The human detection system (100) has a layout information generation mode and a presence / absence determination mode as its operating modes. When the operating mode of the human detection system (100) is the layout information generation mode, the position output unit (223) outputs a center of gravity position (Pc). When the position output unit (223) outputs the center of gravity position (Pc), the body movement detection unit (224) detects the magnitude of the body movement of the person (5) based on the point cloud data (CL). When the position output unit (223) outputs the center of gravity position (Pc), the biosignal detection unit (225) detects a biosignal of the person (5). The presence / absence determination unit (226) stores the center of gravity position (Pc) in the storage unit (23) when at least one of the magnitude of the body movement of the person (5) and the biosignal of the person (5) is greater than a threshold value set for each of the magnitude of the body movement of the person (5) and the biosignal of the person (5). The layout information generation unit (229) sets a specific area (Es0) within the target area (E10) based on a predetermined number of center of gravity positions (Pc) stored in the storage unit (23). When the operation mode of the human detection system (100) is the presence / absence determination mode, the position output unit (223) outputs the center of gravity position (Pc) as the presence position (Pe) of the person (5) within the specific area (Es0) when the center of gravity position (Pc) is included within the specific area (Es0). When the position output unit (223) outputs the presence position (Pe) of the person (5), the body movement detection unit (224) detects the magnitude of the body movement of the person (5) based on the point cloud data (CL). When the position output unit (223) outputs the presence position (Pe) of the person (5), the biosignal detection unit (225) detects the biosignal of the person (5). When the position output unit (223) outputs the presence position (Pe) of the person (5), the presence / absence determination unit (226) determines that the person (5) is present in the specific area (Es0) when at least one of the magnitude of the body movement of the person (5) and the biosignal of the person (5) is greater than a threshold value set for each of the magnitude of the body movement of the person (5) and the biosignal of the person (5).

[0145] According to this aspect, a specific area (Es0) is set in which the presence or absence of a person (5) is determined based on the presence history of the person (5) within the target area (E10), thereby enabling flexible response to layout changes, etc. within the target area (E10).

[0146] The human detection system (100) according to the seventh aspect is any one of the first to sixth aspects, and further includes a display unit (31) that displays the determination result by the presence / absence determination unit (226).

[0147] According to this aspect, the manager of the target area (E10) or the like can easily check the determination result by the presence / absence determination unit (226).

[0148] The human detection system (100) according to an eighth aspect is any one of the first to seventh aspects, further comprising a radio wave sensor (1).

[0149] According to this aspect, the human detection system (100) determines whether or not a person (5) is present within a specified area (E0) based on the location (Pe) of the person (5), the magnitude of the person's (5) body movement, and the person's (5) biosignal, thereby improving the detection accuracy of the person (5).

[0150] 1 Radio wave sensor 5 Person 23 Memory unit 31 Display unit 100 Person detection system 221 Scattering point calculation unit 222 Processing unit 223 Position output unit 224 Body movement detection unit 225 Biological signal detection unit 226 Presence determination unit 229 Layout information generation unit CL Point cloud data E0 Predetermined area E10 Target area Es0 Specific area Pc Center of gravity position Pe Presence position Ps Scattering point W21 Received wave W22 Received wave W23 Received wave

Claims

1. A radio wave sensor transmits radio waves to a target area including a predetermined area, and receives the radio waves reflected within the target area as multiple received waves. Based on information obtained from the multiple received waves, a scattering point calculation unit calculates multiple scattering points where the radio waves were reflected within the target area. A point cloud data obtained by clustering the plurality of scattering points, and a processing unit that outputs the centroid position of the point cloud data, If the center of gravity position is included within the predetermined area, a position output unit outputs the center of gravity position as the location of a person within the predetermined area. When the position output unit outputs the location of the person, a motion detection unit detects the magnitude of the person's body movement based on the point cloud data, When the position output unit outputs the location of the person, a biosignal detection unit detects the person's biosignal, The system includes a presence determination unit that determines if at least one of the magnitude of the body movement and the biological signal is greater than a threshold set for each of the magnitude of the body movement and the biological signal, and determines that the person is present in the predetermined area. Human detection system.

2. The aforementioned target area includes multiple of the aforementioned predetermined areas. The human detection system according to claim 1.

3. The motion detection unit detects the number of the plurality of scattered points included in the point cloud data as the magnitude of the motion. The human detection system according to claim 1 or 2.

4. The motion detection unit detects the magnitude of the distribution of the plurality of scattered points included in the point cloud data as the magnitude of the motion. The human detection system according to claim 1 or 2.

5. The biosignal detection unit detects the biosignal based on the frequency of the radio waves arriving from the location where the biosignal is located. The human detection system according to claim 1 or 2.

6. Memory unit and, The system further comprises a layout information generation unit that sets a specific area within the target area using a setting method different from that of the predetermined area, The aforementioned human detection system has two operating modes: a layout information generation mode and a presence / absence determination mode. If the operating mode of the human detection system is the layout information generation mode, The position output unit outputs the center of gravity position, When the position output unit outputs the center of gravity position, the motion detection unit detects the magnitude of the motion based on the point cloud data. The biosignal detection unit detects the biosignal when the position output unit outputs the center of gravity position. The presence / absence determination unit, if at least one of the magnitude of the body movement and the biological signal is greater than a threshold set for each of the magnitude of the body movement and the biological signal, causes the center of gravity position to be stored in the storage unit. The layout information generation unit sets the specific area within the target area based on a predetermined number of centroid positions stored in the storage unit. If the operating mode of the person detection system is the presence / absence determination mode, The position output unit outputs the center of gravity position as the location of the person within the specified area if the center of gravity position is included within the specified area. When the position output unit outputs the location of the person, the motion detection unit detects the magnitude of the motion based on the point cloud data. The biosignal detection unit detects the biosignal when the position output unit outputs the location of the person, The presence / absence determination unit determines that a person is present in the specified area if at least one of the magnitude of the body movement and the biological signal is greater than a threshold set for each of the magnitude of the body movement and the biological signal. The human detection system according to claim 1 or 2.

7. The system further includes a display unit that displays the determination result from the presence / absence determination unit. The human detection system according to claim 1 or 2.

8. The aforementioned radio wave sensor is further provided, The human detection system according to claim 1 or 2.