Sensing system

Abstract

The present invention provides a sensing system capable of easily detecting approach of a detection subject to an indoor space.　In the sensing system, one sensor device among a plurality of sensor devices arranged in a distributed manner in an indoor space determines a first marker serving as a reference in a sensing field of view and reports the spatial coordinates of the first marker to another sensor device, and the other sensor device calibrates coordinate system information used by the other sensor device by using the reported spatial coordinates of the first marker.

Description

Sensing System

[0001] The present disclosure relates to sensing systems.

[0002] Patent document 1 discloses a device that places markers vertically below each of multiple cameras placed inside a building containing fixtures and other items, and calculates the posture of each camera in a world coordinate system from the markers vertically below itself and the markers vertically below other cameras that each camera captures.

[0003] JP 2013-92871 A

[0004] The present disclosure provides a sensing system that can be easily calibrated so that the coordinate systems of the sensing areas of multiple sensors coincide with each other, even in an indoor space where fixtures and other items can be placed in any position.

[0005] The sensing system disclosed herein includes a plurality of sensor devices that are distributed throughout an indoor space and perform detection using sensors. One of the plurality of sensor devices defines a first marker as a reference within its sensing field of view and notifies other sensor devices of the spatial coordinates of the first marker in a coordinate system representing the spatial position of the indoor space. A first other sensor device that has the first marker within its sensing field of view calibrates the coordinate system information used by the first other sensor device using the spatial coordinates of the first marker notified by the first sensor device. This specification is intended to include the entire contents of Japanese Patent Application No. 2024-055725, filed on March 29, 2024.

[0006] The sensing system disclosed herein can be easily calibrated so that the coordinate systems of the sensing areas of each sensor coincide with each other, even if the overlapping areas of the sensing areas of multiple sensors arranged in an indoor space change due to the placement of fixtures, etc.

[0007] FIG. 1 is a diagram showing a schematic configuration of a sensing system according to an embodiment. FIG. 2 is a block diagram showing an example of the configuration of each device in the sensing system. FIG. 3 is a diagram showing an example of a global coordinate system that represents spatial positions in an indoor space. FIG. 4 is a diagram showing examples of moving people and objects that can be defined as markers. FIG. 5 is a flowchart showing the procedure for calibration processing in the sensing system.

[0008] (Findings underlying the present disclosure) At the time the inventors conceived the present disclosure, there was a technology for aligning the coordinate systems of the fields of view of multiple cameras using markers fixedly placed within a building, etc. However, if fixed markers are placed in an indoor space and fixtures are subsequently placed in arbitrary positions or moved with some frequency, the fixtures may act as obstructions, reducing or changing the overlapping areas of the sensing areas of the sensors placed in the indoor space, making it difficult for each sensor to commonly detect the fixed marker. While it is possible to address this issue by changing the placement of the markers or the positions of the sensors to match the placement of the fixtures, doing so every time the fixtures are placed would be cumbersome and reduce convenience. The inventors discovered these issues and, in order to solve them, have come to constitute the subject matter of the present disclosure. Therefore, the present disclosure provides a sensing system that can be easily calibrated so that the coordinate systems of the sensing areas of multiple sensors are aligned with each other, even in an indoor space where fixtures may be placed in arbitrary positions.

[0009] Hereinafter, embodiments will be described in detail with reference to the drawings. However, more detailed description than necessary may be omitted. For example, detailed description of already well-known matters or redundant description of substantially the same configuration may be omitted. Note that the accompanying drawings and the following description are provided to enable those skilled in the art to fully understand the present disclosure, and are not intended to limit the subject matter described in the claims.

[0010] (Embodiment) [1. Configuration of Sensing System] FIG. 1 is a diagram showing the configuration of a sensing system 1. The sensing system 1 uses multiple sensors installed in a space to detect the position, size, shape, posture, state, etc. of a detection target present in the space. The space to which detection by the sensing system 1 is applied may be a closed space surrounded by walls and a ceiling, or may be an open space. The use of the space to which detection by the sensing system 1 is applied is not limited. For example, the sensing system 1 may be a residential space, a living space, a business space such as an office, a corridor, a public space, or a space used for other purposes. The detection target in this embodiment may include a moving actual object.

[0011] The sensing system 1 detects an object in an indoor space 9. An object detected by the sensing system 1 is called a detection target, and the detection target may be either a living or non-living object. For example, the detection target may include a person, an animal, an autonomously moving robot, or other moving real object. The sensing system 1 detects the position, size, shape, orientation, or other state of the detection target.

[0012] 1 is a space surrounded by a floor 91, a ceiling 92, and four walls 93, 94, 95, and 96. A door 97 is provided in the interior space 9, and when the door 97 is closed, the interior space 9 becomes a closed space.

[0013] A plurality of sensors constituting the sensing system 1 are arranged in the indoor space 9. These sensors can be installed on the floor 91, ceiling 92, and four walls 93, 94, 95, 96, etc. of the indoor space 9. In this embodiment, each of the plurality of sensors constituting the sensing system 1 is incorporated into electrical equipment installed in the indoor space 9.

[0014] The electrical equipment includes components, equipment, machinery, and devices that are connected to a commercial power source and fixedly installed in the indoor space 9. More specifically, the electrical equipment includes switches, outlets, and other power wiring components. The electrical equipment also includes ventilation fans, lighting fixtures, intercoms, and other devices that consume electricity. The electrical equipment also includes distribution boards, building energy management devices, and other power control devices.

[0015] 1 , a lighting device 10, a switch 20, and outlets 30A and 30B are installed as electrical equipment. The electrical equipment may also include a distribution board 50 installed inside or outside the indoor space 9.

[0016] Power lines 5A, 5B, and 5C are drawn into the indoor space 9 from a distribution board 50. The power lines 5A, 5B, and 5C are, for example, electric wires laid concealed within the walls of the indoor space 9, and are power cables such as VVF cables and CV cables. Hereinafter, when there is no need to distinguish between the power lines 5A, 5B, and 5C, they will be referred to as power lines 5.

[0017] The lighting device 10 is attached to a ceiling 92. A ceiling socket 112 is fixed to the ceiling 92, and the lighting device 10 is attached to the ceiling socket 112. The ceiling socket 112 is connected to a power line 5A, and the lighting device 10 is connected to the power line 5A by being attached to the ceiling socket 112. The ceiling socket 112 may be in a form called a lighting rosette. The ceiling socket 112 corresponds to an example of a fixing member.

[0018] The lighting device 10 includes a light source 11 (FIG. 2) described below and a cover 110 that diffuses light emitted from the light source 11. The light source 11 is provided in a circuit body 111 together with a driver 12 (FIG. 2) described below and the like, and is covered by the cover 110.

[0019] The lighting device 10 may be fixed directly to the ceiling 92, or may be attached to a lighting duct rail or the like that is fixed to the ceiling 92. The lighting device 10 may also be installed by being suspended from the ceiling 92.

[0020] The switch 20 has a switch body 21 connected to the power line 5A. The switch 20 connects and disconnects the power line 5A between the lighting device 10 and the distribution board 50, and when the switch 20 is on, power is supplied to the lighting device 10. When the switch 20 is off, the power supply to the lighting device 10 is cut off, and the lighting device 10 is turned off.

[0021] The outlets 30A and 30B are receptacles (also referred to as outlets) to which load devices that operate on commercial power can be connected. In the first embodiment, as an example, a configuration in which a single-phase 100 V load can be connected is shown. The outlet 30A is connected to the distribution board 50 by a power line 5B, and the outlet 30B is connected to the distribution board 50 by a power line 5C.

[0022] The distribution board 50 branches off a service line 58 connected to a commercial power source and connects it to the power line 5. The distribution board 50 is fixed to a wall surface in the indoor space 9 or in a space different from the indoor space 9.

[0023] A sensor is provided in each electrical equipment installed in the indoor space 9. The lighting device 10 includes a sensor 14. The sensor 14 is arranged so as to be exposed to the indoor space 9 from the cover 110. The sensor 14 is provided on the lighting device 10 facing downward so that the detection range is below the lighting device 10.

[0024] The sensor 14 is attached to the circuit body 111. When the lighting device 10 is attached to the ceiling socket 112, the circuit body 111 is connected to the power line 5A. Therefore, when the lighting device 10 is attached to the ceiling 92, the light source 11 and the sensor 14, which will be described later, are connected to the power line 5A.

[0025] The switch 20 includes a sensor 24. The sensor 24 is disposed on the switch 20 so as to face the interior space 9 from the wall 94.

[0026] Outlet 30A is equipped with sensor 34A, and outlet 30B is equipped with sensor 34B. Sensor 34A is arranged so as to face the interior space 9 from wall 93, and sensor 34B is arranged so as to face the interior space 9 from wall 95.

[0027] The sensors 14, 24, 34A, and 34B may be the same type of sensor or different types of sensors, such as a position detection sensor, an image output sensor, and a state detection sensor.

[0028] The position detection sensor outputs a detection result related to the position of the person P in the indoor space 9. Specifically, the position detection sensor is a PIR (Passive InfraRed) sensor, an ultrasonic ranging sensor, or a radar sensor. Since the sensors 14, 24, 34A, and 34B are fixed to the indoor space 9, if the sensors 14, 24, 34A, and 34B include a position detection sensor, information related to the position of the person P can be obtained based on the position of the position detection sensor and the detection result.

[0029] The image output sensor is a sensor that outputs an image as a detection result in the indoor space 9. The image output sensor performs, for example, two-dimensional or three-dimensional detection on the indoor space 9 and outputs an image as a detection result. Specifically, examples of the image output sensor include an infrared array sensor, an image sensor that captures images using light outside the visible range including infrared light, and a digital camera that captures images using visible light. The infrared array sensor has multiple infrared sensors arranged in a grid pattern, and outputs a thermal image of the detection range based on the detection values ​​of these multiple infrared sensors.

[0030] If a camera is used as the sensor 14, 24, 34B, the person P in the indoor space 9 may be made aware of the camera, which may cause psychological oppression. For this reason, if the indoor space 9 is a private space or if the comfort of the person P in the indoor space 9 is important, it is appropriate not to capture images using visible light or high-resolution images. For example, it is preferable to use an infrared array sensor as the sensor 14.

[0031] The state detection sensor is a sensor that detects the state of the indoor space 9. The state detection sensor outputs a detection value that detects the state in the indoor space 9. Examples of the state detection sensor include a human presence sensor, a microphone, a vibration sensor, a temperature sensor, a humidity sensor, and a pressure sensor that detects air pressure.

[0032] The sensors 14, 24, 34B are selected from the sensors described above. The types of the sensors 14, 24, 34A, 34B are selected depending on the locations in the indoor space 9 where the sensors 14, 24, 34B are installed.

[0033] In the indoor space 9, height H1 at which sensor 14 is installed is the highest point in the indoor space 9. Height H2 at which sensor 24 is installed is lower than height H1. Height H3 at which sensor 34A is installed and height H4 at which sensor 34B is installed may be the same height or different heights. Heights H3 and H4 are close to the bottom of the indoor space 9 and lower than heights H1 and H2.

[0034] [2. Configuration of Each Device] Fig. 2 is a block diagram showing an example configuration of each device in the sensing system 1, and shows the configuration of the lighting device 10, the switch 20, the outlets 30A and 30B, and the distribution board 50. Fig. 2 is a diagram that schematically shows the configuration of each device and does not limit the detailed circuit configuration. For example, each device in Fig. 2 may include a circuit that is not shown in Fig. 2.

[0035] <Lighting device 10> The lighting device 10 includes a light source 11 and a driver 12 that turns on the light source 11. The light emitted by the light source 11 is diffused by a cover 110 (FIG. 1) to illuminate the indoor space 9. The light source 11 is a solid-state light source such as an LED (Light Emitting Diode), or a lamp such as an incandescent lamp or a fluorescent lamp. The driver 12 is connected to the light source 11, and power is supplied from the driver 12 to the light source 11.

[0036] The driver 12 is connected to the power line 5A and receives commercial AC power via the power line 5A. The driver 12 includes a circuit that supplies the power required for the light source 11 to light up. For example, if the light source 11 is an LED, the driver 12 includes an inverter circuit that converts the commercial AC power to output a DC current of a predetermined voltage to the light source 11. The driver 12 may also have a function of adjusting the amount of light emitted by the light source 11. For example, the driver 12 may adjust the amount of light emitted by the LED that constitutes the light source 11 by PWM (Pulse Wave Modulation) control.

[0037] In this embodiment, sensor 14 is a state detection sensor that does not require information on the spatial position of a detection target within indoor space 9. Sensor 14, together with processing unit 15, communication unit 16, and power supply unit 17, is incorporated into circuit body 111 ( FIG. 1 ) of lighting device 10 as sensor unit 13. Power supply unit 17 is connected to power line 5A via ceiling socket 112, converts AC current supplied from power line 5A into DC current of a predetermined voltage, and outputs the converted DC current to sensor 14, processing unit 15, and communication unit 16.

[0038] The processing unit 15 includes a processor that processes data by executing a program. The processor is configured as an integrated circuit such as a CPU (Central Processing Unit) or an MPU (Micro-Processing Unit). The processing unit 15 may also include a storage device that stores programs and data in a non-volatile manner using a flash memory, a magnetic recording medium, an optical recording medium, or the like. The processing unit 15 may also be configured as an integrated circuit that integrates a processor and a storage device, or may also be configured as a SoC (System-on-a-chip) that further integrates the sensor 14.

[0039] The processing unit 15 operates the sensor 14 to perform detection of the indoor space 9. The processing unit 15 acquires the detection result of the sensor 14 and generates detection data. The processing unit 15 causes the communication unit 16 to transmit the detection data to the processing device 60.

[0040] The communication unit 16 is a transceiver for the processing unit 15 to communicate with other devices. The other devices include at least a processing device 60 provided in the distribution board 50.

[0041] The communication between the communication unit 16 and the other device may be performed using a wired communication method via the power line 5A or other cables, or using Wi-Fi (registered trademark), Bluetooth (registered trademark), or other wireless communication methods. In the present embodiment, the communication unit 16 performs, for example, power line communication (PLC) via the power line 5A. Similarly to the communication unit 16, each of the communication units 26, 36A, and 36B described below may also use either wired communication or wireless communication as a communication method. In the present embodiment, power line communication via the power line 5 is used as an example.

[0042] <Switch 20> The switch 20 includes a switch main body 21 and a sensor unit 23. Although Fig. 2 shows the switch main body 21 as a single-pole switch that disconnects only one of a pair of cables that make up the power line 5A, the switch main body 21 may also be a double-pole switch.

[0043] The sensor unit 23 includes a sensor 24, a processing unit 25, a communication unit 26, and a power supply unit 27. The power supply unit 27 is connected to the power line 5A at a position along the power line 5A closer to the processing device 60 than the switch main body 21. The power supply unit 27 converts the AC current supplied from the power line 5A into DC current of a predetermined voltage and outputs it to the sensor 24, the processing unit 25, and the communication unit 26.

[0044] The processing unit 25 includes a processor that processes data by executing a program. The processor is configured as an integrated circuit such as a CPU or MPU. The processing unit 25 may also include a storage device such as a memory that stores programs and data in a nonvolatile manner using a flash memory, a magnetic recording medium, an optical recording medium, or the like. The processing unit 25 may be configured as an integrated circuit that integrates a processor and a storage device, or may be configured as an SoC that further integrates the sensor 24.

[0045] In this embodiment, the sensor 24 is, for example, a position detection sensor. The processing unit 25 operates the sensor 24 to perform detection of the indoor space 9. The processing unit 25 acquires the detection result of the sensor 24 and generates detection data. The processing unit 25 causes the communication unit 26 to transmit the detection data to the processing device 60.

[0046] In the sensing system 1 of this embodiment, a global coordinate system is defined, which is a coordinate system that represents spatial positions within the indoor space 9. The global coordinate system is defined by, for example, an origin at at least one of eight corners formed by the floor 91, ceiling 92, and walls 93, 94, and 95 that partition the indoor space 9, a Z axis that points vertically upward, and X and Y axes that are perpendicular to the Z axis and perpendicular to each other.

[0047] FIG. 3 shows an example of a global coordinate system representing spatial positions within the indoor space 9 defined in the sensing system 1 according to the present embodiment. In the illustrated example, the origin of the global coordinate system is the position of corner CN1 on the floor 91 side of eight corners CN1, CN2, CN3, CN4, CN5, CN6, CN7, and CN8 of the indoor space 9. The global coordinate system shown in FIG. 3 is defined by a Z-axis extending vertically upward in the height direction of the indoor space 9, an X-axis extending along one side of the floor 91 perpendicular to the Z-axis, and a Y-axis perpendicular to the Z-axis and X-axis. Hereinafter, spatial coordinates in the global coordinate system are referred to as global coordinates. Hereinafter, when there is no need to distinguish between corners CN1, CN2, CN3, CN4, CN5, CN6, CN7, and CN8, they will be referred to as corners CN.

[0048] The processing unit 25 stores coordinate system information CS1 and global coordinates that indicate the placement position of the sensor 24 in the indoor space 9. The coordinate system information CS1 is information for converting coordinates of a local coordinate system that indicates the space that is the sensing area of ​​the sensor 24 into global coordinates. The coordinate system information CS1 and the global coordinates of the sensor 24 are saved in the processing unit 25 as initial data when the sensor unit 23 is placed on the switch 20.

[0049] The processing unit 25 uses the coordinate system information CS1 and the global coordinates of the sensor 24 to generate detection data that expresses the position of the detection target in the indoor space 9 in global coordinates from the detection results of the sensor 24, which is a position detection sensor.

[0050] Furthermore, the processing unit 25 executes a calibration process, which will be described later, to calibrate the coordinate system information CS1 that it holds, and / or provides information for other sensor units to calibrate their coordinate system information.

[0051] Communication unit 26 is a transceiver that enables processing unit 25 to communicate with other devices. These other devices may include processing device 60 provided in distribution board 50, sensor unit 13 of lighting device 10, sensor unit 33A of outlet 30A, and sensor unit 33B of outlet 30B. As described above, in the present embodiment, communication unit 26 performs power line communication via power line 5A.

[0052] <Outlet 30A> The outlet 30A includes an outlet body 31A and a sensor unit 33A. The outlet body 31A has a pair of terminals 32A that are connected to the power line 5B. A load device is connected to the terminals 32A. The terminals 32A correspond to an example of a power supply terminal. The load device is, for example, an electrical appliance used in the indoor space 9.

[0053] The sensor unit 33A includes a sensor 34A, a processing unit 35A, a communication unit 36A, and a power supply unit 37A. The power supply unit 37A is connected to the power line 5B, converts AC current supplied from the power line 5B into DC current of a predetermined voltage, and outputs the DC current to the sensor 34A, the processing unit 35A, and the communication unit 36A.

[0054] The processing unit 35A includes a processor that processes data by executing a program. The processor is configured as an integrated circuit such as a CPU or MPU. The processing unit 35A may also include a storage device that stores programs and data in a nonvolatile manner using a flash memory, a magnetic recording medium, an optical recording medium, or the like. The processing unit 35A may also be configured as an integrated circuit that integrates a processor and a storage device, or may also be configured as an SoC that further integrates the sensor 34A.

[0055] In this embodiment, the sensor 34A is, for example, a position detection sensor. The processing unit 35A operates the sensor 34A to perform detection in the indoor space 9. The processing unit 35A acquires the detection result of the sensor 34A and generates detection data. The processing unit 35A causes the communication unit 36A to transmit the detection data to the processing device 60.

[0056] The processing unit 35A stores coordinate system information CS2 and global coordinates that indicate the placement position of the sensor 34A in the indoor space 9. The coordinate system information CS2 is information for converting coordinates of a local coordinate system that indicates the space that is the sensing area of ​​the sensor 34A into global coordinates. The coordinate system information CS2 and the global coordinates of the sensor 34A are saved in the processing unit 35A as initial data when the sensor unit 33A is connected to the outlet 30A.

[0057] The processing unit 35A uses the coordinate system information CS2 and the global coordinates of the sensor 34A to generate detection data that expresses the position of the detection target within the indoor space 9 in global coordinates from the detection results of the sensor 34A, which is a position detection sensor.

[0058] The processing unit 35A also executes a calibration process, which will be described later, to calibrate the coordinate system information CS2 that it holds, and / or provides information for other sensor units to calibrate their coordinate system information.

[0059] The communication unit 36A is a transceiver that enables the processing unit 35B to communicate with other devices. These other devices may include the processing device 60 provided in the distribution board 50, the sensor unit 13 of the lighting device 10, the sensor unit 23 of the switch 20, and the sensor unit 33A of the outlet 30A. As described above, in the present embodiment, the communication unit 36B performs power line communication via the power line 5A.

[0060] <Outlet 30B> The outlet 30B includes an outlet body 31B and a sensor unit 33B. The outlet body 31B has a pair of terminals 32B that are connected to the power line 5B. The terminals 32B correspond to an example of a power supply terminal. A load device is connected to the terminals 32B.

[0061] The sensor unit 33B includes a sensor 34B, a processing unit 35B, a communication unit 36B, and a power supply unit 37B. The power supply unit 37B is connected to the power line 5C, converts AC current supplied from the power line 5C into DC current of a predetermined voltage, and outputs the DC current to the sensor 34B, the processing unit 35B, and the communication unit 36B.

[0062] The processing unit 35B includes a processor that processes data by executing a program. The processor is configured as an integrated circuit such as a CPU or MPU. The processing unit 35B may also include a storage device that stores programs and data in a nonvolatile manner using a flash memory, a magnetic recording medium, an optical recording medium, or the like. The processing unit 35B may also be configured as an integrated circuit that integrates a processor and a storage device, or may also be configured as an SoC that further integrates the sensor 34B.

[0063] In this embodiment, the sensor 34A is, for example, an image output sensor. The processing unit 35B operates the sensor 34B to perform detection of the indoor space 9. The processing unit 35B acquires the detection result of the sensor 34B and generates detection data. The processing unit 35B causes the communication unit 36B to transmit the detection data to the processing device 60.

[0064] The processing unit 35B stores coordinate system information CS3 and global coordinates that indicate the placement position of the sensor 34B in the indoor space 9. The coordinate system information CS3 is information that expresses the attitude of the sensor 34B, which is an image output sensor, in global coordinates (e.g., the direction of the lens optical axis used to acquire images). The coordinate system information CS3 and the global coordinates of the sensor 34B are saved in the processing unit 35B as initial data when the sensor unit 33B is placed in the outlet 30B.

[0065] The processing unit 35B uses the coordinate system information CS3 and the global coordinates of the sensor 34B to generate detection data in which each position in the captured image, which is the detection result of the sensor 34B, is associated with the global coordinates. The processing unit 35B also executes a calibration process, which will be described later, to calibrate the coordinate system information CS3 held by itself and / or provides information for other sensor units to calibrate their coordinate system information.

[0066] The communication unit 36B is a transceiver that enables the processing unit 35B to communicate with other devices. These other devices may include the processing device 60 provided in the distribution board 50, the sensor unit 13 of the lighting device 10, the sensor unit 23 of the switch 20, and the sensor unit 33A of the outlet 30A. As described above, in the present embodiment, the communication unit 36B performs power line communication via the power line 5A.

[0067] Here, the sensor units 13, 23, 33A, and 33B arranged in the lighting device 10, the switch 20, and the outlets 30A and 30B, respectively, correspond to the sensor devices in the present disclosure that perform detection using sensors.

[0068] 2 , a service line 58 is connected to the distribution board 50. The service line 58 is a power line drawn in from outside the building including the indoor space 9 or a main wiring of the building including the indoor space 9, and supplies commercial AC power to the distribution board 50.

[0069] The distribution board 50 includes a main breaker 51, branch wiring 52, and circuit breakers 53A, 53B, and 53C. The main breaker 51 is connected to a service line 58. The branch wiring 52 connects the main breaker 51 to each of the circuit breakers 53A, 53B, and 53C. In the first embodiment, a single-phase, three-wire, 200V AC power source is supplied to the distribution board 50. The branch wiring 52 includes branch wiring 52R, 52N, and 52T corresponding to the R phase, N phase, and T phase, respectively. The branch wiring 52R, 52N, and 52T are formed of metal members such as stranded wire, single-core wire, or bus bar. The distribution board 50 may also be provided with a ground terminal (not shown).

[0070] When the current flowing from the service line 58 to the branch wiring 52 exceeds a specified capacity, the main breaker 51 cuts off the service line 58 and the branch wiring 52. In addition to the main breaker 51, the distribution board 50 may also include a ground fault circuit interrupter and a neutral phase loss protection circuit (not shown).

[0071] Circuit breaker 53A is connected to branch wiring 52R and branch wiring 52N and supplies single-phase 100V AC current to power line 5A. Circuit breaker 53A disconnects power line 5A from branch wiring 52 when the current flowing through power line 5A exceeds a predetermined capacity. Circuit breaker 53B is connected to branch wiring 52N and branch wiring 52T and supplies single-phase 100V AC current to power line 5B. Circuit breaker 53C is connected to branch wiring 52N and branch wiring 52T and supplies single-phase 100V AC current to power line 5C. Circuit breaker 53B disconnects power line 5B from branch wiring 52 when the current flowing through power line 5B exceeds a predetermined capacity, and circuit breaker 53C disconnects power line 5C from branch wiring 52 when the current flowing through power line 5C exceeds a predetermined capacity.

[0072] The branch wiring 52 can be called secondary wiring relative to the main breaker 51. That is, the main breaker 51 functions as a circuit breaker that separates the commercial power supply from the secondary wiring. Also, the power line 5 can be called secondary wiring relative to the circuit breakers 53A, 53B, and 53C, and the circuit breakers 53A, 53B, and 53C function as circuit breakers that separate the commercial power supply from the secondary wiring.

[0073] The distribution board 50 is equipped with a processing device 60. The processing device 60 includes a processing unit 61, a memory unit 62, a communication unit 63, and a power supply unit 64. The power supply unit 64 is connected to the power line 5, and converts AC current supplied from the power line 5 into DC current of a predetermined voltage, and supplies the DC current to the processing unit 61, the memory unit 62, and the communication unit 63. The power line 5 to which the power supply unit 64 is connected may be any of the power lines 5A, 5B, and 5C. It is preferable that one of the circuit breakers 53A, 53B, and 53C is interposed between the power supply unit 64 and the branch wiring 52.

[0074] The processing unit 61 includes a processor that processes data by executing a program. The processor is configured as an integrated circuit such as a CPU or MPU. The processor may also be programmed hardware. The storage unit 62 includes a storage device that stores programs and data in a nonvolatile manner using a flash memory, a magnetic recording medium, an optical recording medium, or the like. The storage unit 62 may also be configured as an integrated circuit integrated with the processing unit 61.

[0075] The communication unit 63 communicates with each of the communication units 16, 26, 36A, and 36B under the control of the processing unit 61. The processing unit 61 acquires detection data including the detection results of the sensors 14, 24, 34A, and 34B by causing the communication unit 63 to execute communication. The processing unit 61 stores the acquired detection data in the storage unit 62, for example, in association with information indicating the date and time when the sensors 14, 24, 34A, and 34B performed detection. The processing unit 61 may also store the acquired detection data in the storage unit 62 in association with information identifying the sensor that performed the detection.

[0076] The processing unit 61 processes the detection data from the multiple sensors to generate new detection data regarding the person P in the indoor space 9 and stores the data in the memory unit 62.

[0077] For example, the processing unit 61 performs an integrated process on the detection data received from the sensor units 23, 33A, and 33B to generate and store three-dimensional detection data for the entire indoor space 9.

[0078] As described above, the processing device 60 disposed in the distribution board 50 integrates the detection data received from the sensor units 23, 33A, and 33B based on the coordinate positions of the indoor space 9, and generates and stores three-dimensional detection data for the entire indoor space 9. For the integration process, the detection data generated by the sensor units 23, 33A, and 33B needs to represent the same position in the indoor space 9 using the same coordinates.

[0079] The orientation of sensors 24, 34A, and 34B in switch 20 and outlets 30A, 30B, respectively, may change over time, and the sensing areas of sensors 24, 34A, and 34B may also change over time, which may require calibrating coordinate system information CS1, CS2, and CS3 of sensor units 23, 33A, and 33B in accordance with the changes in their sensing areas.

[0080] To perform the calibration, in this embodiment, particularly, one of the sensor units 23, 33A, and 33B determines a first marker as a reference within its own sensing field of view and notifies the other sensor units of the global coordinates of the first marker. Then, the first other sensor unit, which is one of the other sensor units and has the first marker within its sensing field of view, calibrates the coordinate system information used by the first other sensor unit using the notified global coordinates of the first marker.

[0081] Furthermore, when there is a second other sensor unit that does not have the first marker within its sensing field of view, the first other sensor unit determines a second marker as a reference within its sensing field of view and notifies the second other sensor unit of the global coordinates of the second marker, and the second other sensor unit then calibrates the coordinate system information used by the second other sensor unit using the notified global coordinates of the second marker.

[0082] In the following description, as an example, the one sensor unit is sensor unit 33A, and corner CN1 shown in Fig. 3 is defined as the first marker. As will be described later, sensor unit 23 will be the first other sensor unit, and sensor unit 33B will be the second other sensor unit.

[0083] 3, sensor unit 23 has corners CN1, CN2, CN5, and CN6 within the sensing field of sensor 24. Sensor unit 33A has corners CN1, CN4, CN5, and CN8 within the sensing field of sensor 34A. Sensor unit 33B has corners CN2, CN3, CN6, and CN7 within the sensing field of sensor 34B. Note that sensor units 13 that do not use coordinate system information are not shown in FIG.

[0084] In this embodiment, the timing for executing the calibration process of the coordinate system information is determined, for example, by the processing device 60 of the distribution board 50 and instructed to the sensor unit 33A. The processing device 60 can instruct the sensor unit 33A to execute the calibration process when it is determined that the global coordinates for the same spatial position in the detection data from multiple sensor units contain an error of a predetermined value or more between these detection data. The sensor unit 33A that has received the instruction to execute the calibration process starts the calibration process as a single sensor unit.

[0085] Alternatively, one sensor unit may be predetermined. For example, preset information indicating that the sensor unit 33A is one sensor unit may be stored in advance in the sensor unit 33A. In this case, the processing unit 35A of the one sensor unit, which is one sensor unit, may be provided with a timer and start a calibration process when a predetermined time has elapsed since the start of the first detection operation or when a predetermined time has elapsed since the end of the previous calibration process.

[0086] In the calibration process, first, the processing unit 35A of the sensor unit 33A, which is one of the sensor units, may select, for example, one of the positions of the feature points of the indoor space 9 and define the position of the selected feature point as a first marker. The feature points of the indoor space 9 may include, for example, eight corners CN of the indoor space 9. In addition, the feature points of the indoor space 9 may include four corners of a closed door 97 (not shown in FIG. 3 ) and, if the indoor space 9 has a window, four corners of a window frame, etc.

[0087] Specifically, the processing unit 35A acquires detection results from the sensor 34A, which is a position detection sensor, and generates three-dimensional spatial data of the sensing area of ​​the sensor 34A as detection data from the detection results of the sensor 34A using the coordinate system information CS2 and the global coordinates of the sensor 34A. From the generated three-dimensional spatial data, the processing unit 35A extracts feature points having corner shape characteristics (e.g., a shape characteristic where three planes intersect in a concave shape) or corner shape characteristics (e.g., a shape characteristic where two linear band-like convex portions formed by a door frame or window frame intersect). The processing unit 35A arbitrarily selects one feature point from the extracted feature points and defines the position of the selected feature point as a first marker. In the present embodiment, as an example, the processing unit 35A defines the position of a corner CN1, where the floor 91, the wall 93, and the wall 96 intersect, among the corners CN of the interior space 9 shown in FIG. 3, as the first marker.

[0088] The processing unit 35A calculates the global coordinates of the determined first marker from the three-dimensional spatial data generated as the detection data. Then, the processing unit 35A notifies all of the other sensor units 13, 23, and 33B arranged in the indoor space 9 of the calculated global coordinates of the first marker. The notification of the global coordinates of the first marker can be performed, for example, by the processing unit 35A broadcasting the global coordinates of the first marker to all of the other sensor units 13, 23, and 33B in the indoor space 9 via the communication unit 36A.

[0089] Of the sensor units that have received notification of the global coordinates of the first marker from sensor unit 33A (i.e., from processing unit 35A), those that have coordinate system information start calibration processing for that sensor unit, while those that do not have coordinate system information ignore the notification and do not perform calibration processing. In this embodiment, calibration processing is performed in sensor units 23 and 33B that have coordinate system information CS1 and CS3, respectively, and calibration processing is not performed in sensor unit 13 that does not have coordinate system information.

[0090] When another sensor unit, sensor unit 23, has a first marker within the sensing field of the sensor 24 that sensor unit 23 possesses, the coordinate system information CS1 used by sensor unit 23 is calibrated using the global coordinates of the first marker notified by sensor unit 33A.

[0091] Specifically, the processing unit 25 of the sensor unit 23 acquires a detection result from the sensor 24, which is a position detection sensor, and generates, as detection data, three-dimensional space data of the sensing area of ​​the sensor 24 from the detection result of the sensor 24, using the coordinate system information CS1 and the global coordinates of the sensor 24. The processing unit 25 determines whether the generated three-dimensional space data includes the global coordinate position of the first marker received from the sensor unit 33A.

[0092] In this embodiment, as described above, the processing unit 35A of the sensor unit 33A determines the position of the corner CN1 of the indoor space 9 as the first marker, and therefore the sensor unit 23 has the first marker within the sensing area (within the sensing field of view). That is, the sensor unit 23 is the first other sensor unit, and calibrates the coordinate system information CS1 of the sensor unit 23 as follows, using the global coordinates of the corner CN1, which is the first marker, notified from the sensor unit 33A.

[0093] First, the processing unit 25 uses the generated three-dimensional space data to search for a feature point corresponding to the first marker in the vicinity of the global coordinates of the received first marker within the sensing area of ​​the sensor 24. For example, the processing unit 25 searches for a feature point having a corner shape characteristic or a feature point having a corner shape characteristic in the vicinity of the global coordinates of the received first marker. When the processing unit 25 finds a feature point through the search, it acquires the global coordinates of the found feature point from the generated three-dimensional space data.

[0094] The three-dimensional space data generated by the processing unit 25 is calculated using the coordinate system information CS1, and therefore, if the attitude of the sensor 24 changes, the global coordinates calculated by the processing unit 25 may contain an error with respect to the global coordinates calculated by the sensor unit 33A, which is one of the sensor units. For this reason, the processing unit 25 calibrates the coordinate system information CS1 so that the global coordinates of the feature point corresponding to the first marker discovered by the search match the global coordinates of the first marker received from the sensor unit 33A.

[0095] Similarly, when another sensor unit, sensor unit 33B, has a first marker within the sensing field of sensor 34B that sensor unit 33B possesses, the coordinate system information CS3 used by sensor unit 33B is calibrated using the global coordinates of the first marker notified by sensor unit 23.

[0096] Specifically, the processing unit 35B of the sensor unit 33B acquires the detection result from the sensor 34B, which is an image output sensor, and generates detection data that associates each position in the captured image, which is the detection result of the sensor 34B, with the global coordinates, using the coordinate system information CS3 and the global coordinates of the sensor 34B. The processing unit 35B determines whether the detection data indicating the sensing area of ​​the sensor 34B includes a position corresponding to the global coordinates of the first marker received from the sensor unit 23.

[0097] In this embodiment, as described above, the processing unit 35A of the sensor unit 33A determines the position of the corner CN1 of the indoor space 9 as the first marker, and therefore the sensor unit 33B does not have the first marker within its sensing field of view. In other words, the sensor unit 33B is a second other sensor unit, and the coordinate system information CS3 of the sensor unit 33B cannot be calibrated using the global coordinates of the corner CN1, which is the first marker, notified by the sensor unit 33A.

[0098] Therefore, the processing unit 35B of the sensor unit 33B broadcasts a calibration impossible notification indicating that the calibration process cannot be performed to all other sensor units arranged in the indoor space 9.

[0099] Sensor unit 23, which is the first other sensor unit that receives a calibration inability notification from sensor unit 33B, defines a second marker as a reference within the sensing field of sensor 24 and transmits a notification of the global coordinates of the defined second marker to sensor unit 33B.

[0100] Specifically, the processing unit 25 of the sensor unit 23 can define the second marker in a manner similar to the manner in which the processing unit 35A of the sensor unit 33A defines the first marker. That is, the processing unit 25 of the sensor unit 23 can select one of the positions of the feature points in the indoor space 9 and define the position of the selected feature point as the second marker. For example, the processing unit 25 generates three-dimensional space data of the sensing area of ​​the sensor 24, extracts feature points having corner shape characteristics or angular shape characteristics from the generated three-dimensional space data, arbitrarily selects a feature point that is located at a position other than the global coordinate of the corner CN1 defined as the first marker from the extracted feature points, and defines the position of the selected feature point as the second marker.

[0101] The processing unit 25 acquires the global coordinates of the defined second marker from the generated three-dimensional spatial data of the sensing region of the sensor 24. Then, the processing unit 25 transmits a notification of the acquired global coordinates of the second marker to the sensor unit 33B that is the sender of the calibration impossible notification.

[0102] In this embodiment, as an example, the processing unit 25 determines the position of a corner CN2 on the floor 91 side of the corners CN of the indoor space 9 shown in FIG. 3 as the second marker.

[0103] When the sensor unit 33B receives notification of the global coordinates of the second marker from the processing unit 25 of the sensor unit 23 and the second marker is within the sensing field of the sensor 34B possessed by the sensor unit 33B, the sensor unit 33B calibrates the coordinate system information CS3 used by the sensor unit 33B using the global coordinates of the second marker notified by the sensor unit 23.

[0104] Specifically, the processing unit 35B of the sensor unit 33B acquires the detection result from the sensor 34B, which is an image output sensor, and generates detection data that associates each position in the two-dimensional image, which is the detection result of the sensor 34B, with the global coordinates, using the coordinate system information CS3 and the global coordinates of the sensor 34B. The processing unit 35B determines whether the detection data indicating the sensing area of ​​the sensor 34B includes a position corresponding to the global coordinates of the second marker received from the sensor unit 23.

[0105] When the detection data for the sensing area of ​​the sensor 34B includes a position corresponding to the global coordinates of the second marker received from the sensor unit 23, the coordinate system information CS3 is calibrated as follows.

[0106] First, the processing unit 35B searches for a feature point corresponding to the second marker in the two-dimensional image within the sensing area indicated by the generated detection data, from the vicinity of a position corresponding to the global coordinates of the received second marker. For example, the processing unit 35B searches for a feature point having a shape characteristic of an image of a corner or a feature point having a shape characteristic of an image of a corner, according to conventional technology. When the processing unit 35B finds a feature point through the search, it calibrates the coordinate system information CS3 so that the two-dimensional position coordinates of the found feature point in the generated detection data correspond to the position coordinates of the received global coordinates of the second marker.

[0107] [4. Operation Example of Sensing System] Next, an example of the procedure of operation in the sensing system 1 will be described. Fig. 5 is a flowchart showing the procedure of the calibration process in the sensing system 1. The calibration process is a process in which the sensor units that use or hold coordinate system information calibrate their respective coordinate information. In this embodiment, the process shown in Fig. 5 is performed, for example, by the processing units 25, 35A, and 35B, which are computers of the sensor units 23, 33A, and 33B that hold the coordinate system information CS1, CS2, and CS3, working together. Hereinafter, the sensor units will be referred to as sensor devices.

[0108] 5, first, one of the sensor devices distributed throughout the indoor space 9 determines whether or not it is time to perform a calibration process (step S11). In the above-described embodiment, the one sensor device is, for example, the sensor unit 33A. The timing to perform the calibration process may be, for example, when a predetermined time has elapsed since the one sensor device started operating or when a predetermined time has elapsed since the previous calibration process was performed. Alternatively, the timing to perform the calibration process may be when the one sensor device receives an instruction to perform a calibration process from another device, such as the processing device 60.

[0109] If the timing to perform the calibration process has not yet arrived (step S11; NO), the one sensor device returns to step S11 to repeat the process and waits for the timing to perform the calibration process to arrive.

[0110] On the other hand, when the timing for performing the calibration process arrives (step S11; YES), the first sensor device determines a first marker as a reference within the sensing field of view (step S12). The first sensor device notifies the other sensor devices of the spatial coordinates of the first marker in a coordinate system representing the spatial position in the indoor space 9 (step S13). In the above-described embodiment, the other sensor devices are, for example, sensor units 23 and 33B. In addition, in the above-described embodiment, the coordinate system and spatial coordinates representing the spatial position in the indoor space 9 are a global coordinate system and global coordinates.

[0111] Next, among the other sensor devices that have received the notification of the spatial coordinates of the first marker, a first other sensor device that has the first marker in its sensing field of view calibrates the coordinate system information used by the first other sensor device using the notified spatial coordinates of the first marker (step S14). In the above-mentioned embodiment, the first other sensor device is, for example, the sensor unit 23.

[0112] Next, the first other sensor device determines whether there is a second other sensor device that does not have the first marker in its sensing field of view (step S15). For example, the first other sensor device determines that there is a second other sensor device when it receives a calibration failure notification transmitted by a second other sensor device that does not have the first marker in its sensing field of view. In the above-described embodiment, the second other sensor device is, for example, sensor unit 33B.

[0113] If there is a second other sensor device that does not have the first marker in its sensing field of view (step S15; YES), the first other sensor device determines a second marker as a reference in its sensing field of view (step S16), and notifies the second other sensor device of the spatial coordinates of the second marker (step S17).

[0114] Next, the second other sensor device calibrates the coordinate system information used by the second other sensor device using the spatial coordinates of the notified second marker (S18), and the calibration process ends.

[0115] On the other hand, if there is no second other sensor device that does not have the first marker in its sensing field of view in step S5 (step S15; YES), the calibration process ends. For example, in the above-described embodiment, if all of sensor units 23 and 33B have the first marker in their respective sensing fields of view, sensor units 23 and 33B are first sensor devices, and the calibration process ends without determining a second marker.

[0116] In this way, in the sensing system 1, one sensor unit 33A determines a position selected from characteristic points in the indoor space 9 as a first marker, and therefore the sensor units 23, 33A, 33B distributed throughout the indoor space 9 can be easily calibrated so that their coordinate systems coincide with each other, even if no fixed markers have been placed in advance in the indoor space 9. Furthermore, according to this, even if an obstruction such as furniture is placed in the indoor space 9 after the sensor units 23, 33A, 33B are placed in the indoor space 9, the placement of the obstruction is not restricted by the fixed marker positions, and therefore integrated sensing by the multiple sensor units 23, 33A, 33B can be achieved with high accuracy without impairing the convenience of the indoor space 9.

[0117] Furthermore, with this configuration, when calibration of the coordinate system becomes necessary, the first marker and / or the second marker can be determined as a position that does not move for a short period of time until the calibration process is completed. For example, the first marker and / or the second marker is not limited to a part of a stationary object such as a corner CN of the indoor space 9, but may also be a part of a living thing that has temporarily stopped moving.

[0118] For example, the first marker and the second marker may be any feature points of a living thing present in the indoor space 9, such as human skeleton points that can be extracted according to conventional technology from an image of a person present in the indoor space 9. This allows the markers used to calibrate the coordinate system to be freely selected and set from various feature points present in the indoor space 9.

[0119] Furthermore, when the sensors 24, 34A, and 34B of the sensor units 23, 33A, and 33B are sensors capable of detecting infrared rays, the first marker and / or the second marker may be a part having characteristic temperature information (for example, a characteristic temperature distribution or a characteristic temperature value) of an object or a person present in the indoor space 9. This makes it possible to easily calibrate the coordinate system using characteristic points identified from infrared light, even in places with insufficient lighting.

[0120] 4, the first marker and / or the second marker may be a feature of a person P moving in the indoor space 9 or a moving object such as a robot vacuum cleaner RC. For example, the feature of the moving person P may be the head of the person P. For example, the feature of the moving object such as a vacuum cleaner RC may be a sheet on the surface of the object on which a QR code (registered trademark) is printed.

[0121] This makes it possible to easily calibrate the coordinate system information using the "movement" in the indoor space 9 as a clue.

[0122] For example, one sensor unit 33A can define the head of a moving person P as a first marker and transmit a series of global coordinates indicating the movement trajectory of the first marker to the other sensor units 23, 33B at predetermined time intervals. The other sensor unit 23 calculates a series of global coordinates indicating the movement trajectory of the head of the person P in three-dimensional space data generated from the detection results of the sensor 24. Then, the processing unit 25 can calibrate the coordinate system information CS1 so that the calculated series of global coordinates indicating the movement trajectory of the head of the person P matches the series of global coordinates indicating the movement trajectory of the head of the person P received from the sensor unit 33A.

[0123] Similarly, the processing unit 35B of the other sensor unit 33B calculates a series of two-dimensional coordinates associated with global coordinates of the movement trajectory of the head of the person P in the image data generated from the detection result of the sensor 34 B. Then, the processing unit 35B can calibrate the coordinate system information CS3 so that the calculated series of two-dimensional coordinates corresponds to the series of global coordinates indicating the movement trajectory of the head of the person P received from the sensor unit 33A.

[0124] Other Embodiments In the above-described embodiment, the coordinate system information CS2 of the sensor unit 33A that initially defines the first marker is not calibrated to coincide with the global coordinate system defined as in FIG. 3 even if the attitude of the sensor 34A is tilted. In order to calibrate the coordinate system information CS2 of the sensor unit 33A that initially defines the first marker, the global coordinates of each corner CN that the sensor unit 33A can select as the first marker may be determined in advance and stored in the memory of the processing unit 35A. Alternatively, the global coordinates of each corner CN may be provided by the processing device 60.

[0125] The processing unit 35A of the sensor unit 33A can be configured to calibrate the coordinate system information CS2 so that the global coordinates of the first marker determined from the three-dimensional spatial data of the sensor 34A coincide with the global coordinates of the pre-stored corner CN that is closest to the global coordinates of the first marker.

[0126] Furthermore, the first marker and / or the second marker may each be defined as a set of multiple markers. In this case, the notification of the global coordinates of the first marker and / or the notification of the global coordinates of the second marker may each be a set of global coordinates of the multiple markers. This improves the accuracy of calibration of the coordinate system information in each sensor unit.

[0127] In the above-described embodiment, an example has been described in which the sensing system 1 is configured to include multiple sensors installed in one indoor space 9. The space that the sensing system 1 detects is not limited to one space. For example, the sensing system 1 may be configured such that multiple sensors are installed in multiple spaces separated by walls, and these multiple sensors are connected to the processing device 60 via power lines 5. Furthermore, the sensing system 1 may include multiple processing devices 60, and these multiple processing devices 60 may communicate with each other.

[0128] The switch 20 and the outlets 30A and 30B are examples of electrical equipment in which sensors can be installed. Examples of electrical equipment in which sensors constituting the sensing system 1 can be installed include an outlet with two or more sockets, an outlet with a ground terminal, a switch with a pilot lamp, a switch with a timer, a switch with lighting, a ventilation fan, etc. Of course, sensors can also be installed in other electrical equipment.

[0129] 2 are merely examples, and the specific implementation form is not particularly limited. In other words, it is not necessary to implement hardware corresponding to each unit individually. For example, it is of course possible to configure the functions of each unit to be realized by a single integrated circuit. Furthermore, in the above-described embodiment, the functions of the processing units 15, 25, 35A, 35B, and the processing unit 61 may be realized by software or hardware.

[0130] It should be noted that the above-described embodiments are intended to illustrate the technology of the present disclosure, and various modifications, substitutions, additions, omissions, etc. may be made within the scope of the claims or their equivalents.

[0131] (Additional Notes) The above description of the embodiments discloses the following techniques.

[0132] (Technology 1) A sensing system comprising a plurality of sensor devices that are distributed throughout an indoor space and perform detection using sensors, wherein one of the plurality of sensor devices defines a first marker as a reference within its sensing field of view and notifies other sensor devices among the plurality of sensor devices of the spatial coordinates of the first marker in a coordinate system that represents the spatial position of the indoor space, and a first other sensor device that has the first marker within its sensing field of view calibrates coordinate system information used by the first other sensor device using the spatial coordinates of the first marker notified by the first sensor device. According to this, because one sensor device defines a feature point or the like within the indoor space as a marker, the sensor devices distributed throughout the indoor space can easily calibrate each other's coordinate system information even if markers have not been placed in the indoor space in advance. Furthermore, even if a sensor device is placed in an indoor space and then an obstruction such as furniture is placed, the placement is not restricted by the marker position, so integrated sensing can be achieved with high precision using multiple sensor devices without compromising the convenience of the indoor space.

[0133] (Technology 2) The sensing system according to Technology 1, wherein the first marker is any feature point of the indoor space, including any corner at which three surfaces among a ceiling surface, a plurality of wall surfaces, and a floor surface that partition the indoor space intersect, or any feature point of a living thing present in the indoor space, including a skeletal point of a person present in the indoor space. This allows the marker used to calibrate the coordinate system information to be freely selected and set from various feature points present in the indoor space that have stopped moving for a long period of time or temporarily.

[0134] (Technology 3) The sensing system according to Technology 1 or 2, wherein each of the plurality of sensor devices arranged in the indoor space includes an infrared sensor, and the first marker is a part of an object or person present in the indoor space that has characteristic temperature information. This makes it possible to easily calibrate coordinate system information using characteristic points identified from infrared light, even in places with insufficient lighting.

[0135] (Technology 4) The sensing system according to any one of Technologies 1 to 3, wherein the first marker is a feature point of a person or object moving in the indoor space, and the first other sensor device calibrates coordinate system information used by the first other sensor device using a series of spatial coordinates indicating a movement trajectory of the first marker notified from the one sensor device. This makes it possible to easily calibrate coordinate system information using "movement" in the indoor space as a clue.

[0136] (Technology 5) The sensing system according to any one of Technologies 1 to 4, wherein, when there is a second other sensor device among the plurality of sensor devices that does not have the first marker within its sensing field of view, the first other sensor device determines a second marker as a reference within its sensing field of view and notifies the second other sensor device of the spatial coordinates of the second marker in a coordinate system representing a spatial position of the indoor space, and the second other sensor device calibrates the coordinate system information used by the second other sensor device using the spatial coordinates of the second marker notified from the first other sensor device. According to this, even if there are many obstructions within the indoor space and three or more sensor devices cannot commonly capture the same position within the indoor space within their sensing fields of view, calibration of the coordinate system information between two sensor devices can be performed in a chain reaction, thereby making it possible to easily perform calibration so that the coordinate systems of the plurality of sensor devices as a whole coincide.

[0137] (Technology 6) The sensing system according to any one of Technologies 1 to 5, wherein the sensor device is provided on an electrical component installed in the indoor space. This eliminates the need to install additional equipment on the walls or ceiling of the indoor space, making it possible to easily install the sensor device. This makes it easy to realize a sensing system including multiple sensor devices that can easily calibrate coordinate system information between each other.

[0138] As described above, the sensing system according to the present disclosure can be used to detect objects such as people and animals in indoor spaces.

[0139] REFERENCE SIGNS LIST 1 Sensing system 5, 5A, 5B, 5C Power line (secondary wiring) 9 Indoor space 10 Lighting device 11 Light source 12 Driver 13 Sensor unit 14 Sensor 15 Processing unit 16 Communication unit 17 Power supply unit 20 Switch 21 Switch body 23 Sensor unit 24 Sensor 25 Processing unit 26 Communication unit 27 Power supply unit 30A, 30B Outlet 31A, 31B Outlet body 32A, 32B Terminal (power terminal) 33A, 33B Sensor unit 34A, 34B Sensor 35A, 35B Processing unit 36A, 36B Communication unit 37A, 37B Power supply unit 50 Distribution board 51 Main breaker (circuit breaker) 52, 52R, 52N, 52T Branch wiring (secondary wiring) 53A, 53B, 53C Circuit breaker 58 Lead-in line 60 Processing device 61 Processing unit 62 Memory unit 63 Communication unit 64 Power supply unit 110 Cover P Person (detection target)

Claims

1. A sensing system comprising a plurality of sensor devices that are dispersedly arranged in an indoor space and perform detection using sensors, wherein one of the plurality of sensor devices defines a first marker that serves as a reference within its sensing field of view and notifies other sensor devices of the spatial coordinates of the first marker in a coordinate system that represents the spatial position of the indoor space, and a first other sensor device that has the first marker within its sensing field of view calibrates coordinate system information used by the first other sensor device using the spatial coordinates of the first marker notified by the one sensor device.

2. The sensing system of claim 1, wherein the first marker is any feature point of the indoor space, including any corner where three surfaces intersect among the ceiling surface, multiple wall surfaces, and floor surface that define the indoor space, or any feature point of a living thing present in the indoor space, including the skeletal point of a person present in the indoor space.

3. The sensing system according to claim 1, wherein each of the plurality of sensor devices arranged in the indoor space is equipped with an infrared sensor, and the first marker is a part of an object or person present in the indoor space that has characteristic temperature information.

4. The sensing system of claim 1, wherein the first marker is a characteristic point of a person or object moving in the indoor space, and the first other sensor device calibrates coordinate system information used by the first other sensor device using a series of spatial coordinates indicating the movement trajectory of the first marker notified from the first sensor device.

5. The sensing system of claim 1, wherein, when there is a second other sensor device among the plurality of sensor devices that does not have the first marker within its sensing field of view, the first other sensor device determines a second marker as a reference within its sensing field of view and notifies the second other sensor device of the spatial coordinates of the second marker in a coordinate system representing the spatial position of the indoor space, and the second other sensor device calibrates the coordinate system information used by the second other sensor device using the spatial coordinates of the second marker notified by the first other sensor device.

6. A sensing system according to any one of claims 1 to 5, wherein the sensor device is provided on electrical material installed in the indoor space.

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