JP2018141764A - Detection device and control system - Google Patents

Abstract

An object of the present invention is to provide a detection device and a control system that can determine whether to output a control signal by distinguishing between crossing and approaching of an object. A detection device includes a sensor and a signal processing unit. The distance between the sensor 11 and the outer edge of the detection area changes according to the direction viewed from the sensor 11, and the outer edge of the detection area is divided into a plurality of sections. Then, based on a plurality of output conditions including a combination of a section in which the entry position exists and a specific movement state of the object, the determination unit 124 determines that the entry position and the movement state of the object If any one of the conditions is satisfied, the output of the control signal is permitted. [Selection diagram] Fig. 1

Description

  The present invention relates to a detection device and a control system.

  Conventionally, there is a detection device that detects an object (detection target) in a region near an entrance / exit (see, for example, Patent Document 1). The detection device includes a plurality of transducers (sensors) attached so as to be close to the doorway and a processor. In this detection device, at least one transducer is arranged to repeatedly transmit a signal to an area near the entrance / exit. Furthermore, in this sensing device, at least two transducers are arranged to repeatedly receive the return signal.

  The processor measures the position of the object based on one or more measured distances calculated from the time between transmission of the signal and reception of the corresponding return signal. The processor can also measure object motion based on Doppler shifts in signal transmission and return signal reception. As a result, the processor can detect approaching, leaving, and passing of an object in a region near the entrance / exit.

  Then, the processor instructs to open the door of the entrance when the object approaches the area near the entrance, and instructs to close the door of the entrance when the object moves away from the area near the entrance.

Japanese Patent No. 5396469

  As described above, the detection device of Patent Document 1 can control opening and closing of a door when an object (detection target) approaches and leaves in a detection region (region near an entrance / exit).

  However, the detection device of Patent Document 1 does not disclose device control (door opening / closing control) when an object crosses (passes) a detection region (region near an entrance / exit).

  An object of the present invention is to provide a detection device and a control system capable of determining whether or not a control signal can be output by distinguishing between crossing and approach of an object.

  A detection device according to one embodiment of the present invention includes a sensor and a signal processing unit. The sensor transmits a radio wave, receives a reflected wave reflected by the object, and outputs a sensor signal corresponding to the distance to the object. The signal processing unit receives the sensor signal and outputs a control signal. The sensor uses, as a detection area, an area where the detection sensitivity of the object is a certain level or higher on a moving plane on which the object moves. The distance between the sensor and the outer edge of the detection area changes according to the direction seen from the sensor. The signal processing unit includes a distance processing unit, an approach specifying unit, a determination unit, and an output unit. The distance processing unit obtains a distance to the object based on the sensor signal. The entry specifying unit specifies an entry position that is the position of the object at the outer edge of the detection region based on a distance from the outside of the detection region to the object that has reached the outer edge of the detection region. Whether the determination unit recognizes the movement state of the object in the detection region based on the distance to the object, and permits the output of the control signal based on the entry position and the movement state of the object; Determine. The output unit outputs the control signal when the determination unit permits the output of the control signal. The outer edge of the detection area is divided into a plurality of sections. And the said determination part is based on several output conditions consisting of the combination of the area where the said approach position exists among the said several areas, and the specific movement state of the said object, The movement state of the said approach position and the said object However, if any one of the plurality of output conditions is satisfied, the output of the control signal is permitted.

  The control system which concerns on 1 aspect of this invention is equipped with the above-mentioned detection apparatus and the automatic door apparatus which has a door which opens and closes a person's doorway. The control signal is a signal for opening the door. The automatic door device opens the door when receiving the control signal, and closes the door when the control signal is not received.

  In the present invention, there is an effect that it is possible to determine whether control signals can be output by distinguishing between crossing and approach of an object.

FIG. 1 is a block diagram illustrating a configuration of a control system in the embodiment. FIG. 2A is a cross-sectional view at the time of closing control when the installation space of the automatic door device is viewed from above. FIG. 2B is a sectional view at the time of opening control when the installation space of the automatic door device is viewed from above. FIG. 3 is a schematic diagram showing the positional relationship between the sensor and the human body of the above-described detection device. FIG. 4 is a plan view of the installation space of the detection device as seen from above. FIG. 5 is an explanatory diagram of the FMCW method used by the above-described detection apparatus. FIG. 6 is an explanatory diagram of a sensor signal in the frequency domain in the above-described detection apparatus. FIG. 7 is a flowchart showing the operation of the above-described detection apparatus. FIG. 8 is a diagram for explaining the tracking process in the above-described detection apparatus. FIG. 9 is a plan view showing a detection region in the above-described detection apparatus. FIG. 10A is a diagram for explaining crossing in the above-described detection device. FIG. 10B is a diagram for explaining a change in speed at the time of crossing. FIG. 11 is a flowchart showing the stop determination process of the above. FIG. 12 is a flowchart showing the operation of the detection device of the first modification. FIG. 13 is a plan view showing a detection region in the detection device of the second modified example. FIG. 14 is a flowchart showing the operation of the above-described detection apparatus.

  The present invention relates to a detection device and a control system. More specifically, the present invention relates to a detection device using a radio wave sensor and a control system.

  FIG. 1 shows a configuration of a control system 10 of the present embodiment. The control system 10 includes a detection device 1 and equipment 2. The detection device 1 is used in combination with the equipment 2. Examples of the equipment 2 combined with the detection device 1 include an automatic door, a lighting device, a monitoring camera, a digital signage, a vending machine, an elevator, an air conditioner, and an alarm device. In addition, the kind of equipment 2 combined with the detection apparatus 1 is not limited.

  The detection device 1 includes a sensor 11 and a signal processing unit 12.

  The sensor 11 is a radio wave sensor that transmits a radio wave, receives a radio wave reflected by a detection target (reflected wave), and outputs a sensor signal corresponding to the distance to the detection target. In the present embodiment, the human body 200 is illustrated as an object.

  And in the following description, the automatic door apparatus 21 is illustrated as the equipment 2. 2A and 2B are cross-sectional views of the installation space of the automatic door device 21 as viewed from above. The automatic door device 21 includes a pair of sliding doors 211 and 212 having a double opening structure, and a control device 213. 2A shows the slide doors 211 and 212 in the closed state, and FIG. 2B shows the slide doors 211 and 212 in the open state. A person entrance / exit 603 is formed in the partition wall 600 that separates the two spaces 601 and 602. The pair of slide doors 211 and 212 are attached so as to open and close the entrance / exit 603. The control device 213 controls the opening / closing operation of the pair of slide doors 211 and 212 by a control signal output from the detection device 1. The sensor 11 is arranged at the center (or near the center) of the upper side of the entrance / exit 603, and the space 601 side is set as the detection region 100.

  As shown in FIG. 3, the human body 200 is moving on the floor surface 400 (including the ground) of the space 601. And the sensor 11 installed above the entrance / exit 603 transmits an electromagnetic wave. A two-dimensional space in which the human body 200 moves is called a moving plane 300. The movement plane 300 may be set along the floor surface 400, or may be set virtually away from the floor surface 400 by a predetermined distance (for example, 0.8 (m) to 1 (m)). Good.

  2A and 2B, the detection area 100 represents an area in the moving plane 300 where the sensitivity (detection sensitivity) of the sensor 11 with respect to the human body 200 is equal to or higher than a certain level. In the present embodiment, the sensor 11 is configured such that the electric field strength (transmission strength) of a radio wave to be transmitted changes according to the transmission direction, and the detection sensitivity according to the transmission direction is set depending on the strength of the transmission strength. .

  As shown in FIG. 4, the detection region 100 is formed in a shape like one in which an ellipse is divided into two at a reference line 501 along the short axis in the moving plane 300. In plan view of the installation space of the sensor 11 (plan view of the moving plane 300), the installation point of the sensor 11 overlaps the center of the short axis. In this case, in the plan view, the direction of the reference line 502 along the long axis of the above ellipse becomes the reference direction passing through the sensor 11. The detection area 100 has a line-symmetric shape with respect to the reference line 502. The detection area 100 has a detection area 101 on one side with respect to the reference line 502 and a detection area 102 on the other side with respect to the reference line 502. The detection areas 101 and 102 are line symmetric with respect to the reference line 502.

  In the U-shaped outer edge 110 of the detection region 100, the distance to the sensor 11 changes continuously. Specifically, the outer edge 110 on the detection region 101 side is referred to as an outer edge 111. In this case, when moving on the outer edge 111 starting from the intersection 503 between the outer edge 110 and the reference line 502, the distance to the sensor 11 continuously decreases. The outer edge 110 on the detection region 102 side is referred to as an outer edge 112. In this case, when moving on the outer edge 112 starting from the intersection 503, the distance to the sensor 11 continuously decreases. That is, if the distance from one point on the outer edge 110 to the sensor 11 is determined, the position on the outer edge 111 and the position on the outer edge 112 corresponding to this distance are uniquely determined.

  Therefore, when the human body 200 arrives on the outer edge 110 from the outside of the detection region 100, the detection apparatus 1 knows the predetermined distance on the outer edge 111 corresponding to the distance to the human body 200 if the distance from the sensor 11 to the human body 200 is known. It can be determined that the human body 200 has reached a position or a predetermined position on the outer edge 112. Hereinafter, the position of the human body 200 that has reached the outer edge 110 from the outside of the detection region 100 is referred to as an entry position.

  The U-shaped outer edge 110 of the detection region 100 is a line in which the farthest point where the sensor 11 starts to detect the human body 200 is continued. Specifically, the electric field intensity of the radio wave transmitted by the sensor 11 has the same value on the outer edge 110. Therefore, the detection apparatus 1 determines that the human body 200 exists in the detection region 100 if the electric field intensity (reception intensity) of the received reflected wave is equal to or greater than a predetermined detection threshold. In this case, the detection threshold value is set to be equal to the reception intensity of the reflected wave reflected by the human body 200 existing on the outer edge 110. Therefore, when the detection apparatus 1 receives a reflected wave from the human body 200 existing on the outer edge 110, the approach position estimated on the outer edge 111, the outer edge 112 is determined based on the distance to the human body 200 obtained based on the reflected wave. Each approach position estimated above can be specified. Although the actual entry position is one of the outer edge 111 and the outer edge 112, it is difficult to determine which of the outer edge 111 and the outer edge 112 is the actual entry position. That is, since the detection area 101 (outer edge 111) and the detection area 102 (outer edge 112) are line-symmetric with each other, only the distance to the human body 200 existing on the outer edge 110 is used to determine the distance between the outer edge 111 and the outer edge 112. It is not possible to determine which is the actual entry position.

  Therefore, the detection apparatus 1 further obtains a movement locus of the human body 200 in the detection region 100 based on a change in the distance to the human body 200 with the entry position of the human body 200 on the outer edge 110 as a starting point. As a result, if the detection apparatus 1 determines the approach and separation of the human body 200 with respect to the sensor 11 and also the crossing of the human body 200 within the detection region 100, the detection apparatus 1 is provisionally placed on either the outer edge 111 or the outer edge 112. Thus, there is no problem in setting the approach position. That is, regardless of whether the actual entry position is on the outer edge 111 or on the outer edge 112, in the processing in the detection device 1, the approach position estimated on the outer edge 111 and the subsequent distance (or distance) to the human body 200. It is possible to determine the approach, separation, and crossing of the human body 200 within the detection region 100. Of course, the detection apparatus 1 can also use the approach position estimated on the outer edge 112 and the distance (or change in distance) to the human body 200 thereafter. In the present embodiment, the detection apparatus 1 uses the approach position estimated on the outer edge 111 and the distance to the human body 200 (or change in distance) thereafter.

  Hereinafter, the configuration and operation of the detection device 1 will be described in detail (see FIG. 1).

  The sensor 11 includes a transmission control unit 11a, a transmission unit 11b, a transmission antenna 11c, a reception antenna 11d, and a reception unit 11e.

  The transmission unit 11b transmits radio waves from the transmission antenna 11c. The transmission control unit 11a controls the frequency, transmission timing, and the like of the radio wave transmitted from the transmission antenna 11c. The radio wave transmitted by the transmission antenna 11c is preferably a quasi-millimeter wave of 10 GHz to 30 GHz. The radio wave transmitted by the transmission antenna 11c is not limited to the quasi-millimeter wave, but may be a millimeter wave or a microwave. Further, the value of the frequency of the radio wave transmitted by the transmission antenna 11c is not particularly limited.

  The transmission antenna 11c has directivity that forms the detection region 100 of FIG. 4, and changes the transmission intensity depending on the transmission direction of the radio wave. That is, the detection region 100 is formed by the directivity of the transmission antenna 11c.

  The receiving unit 11e receives a reflected wave reflected by an object such as the human body 200 in the detection region 100 via the receiving antenna 11d. The receiving antenna 11d is preferably non-directional. If the reception intensity of the reflected wave is equal to or greater than a predetermined detection threshold, the reception unit 11e determines that the human body 200 exists in the detection region 100 and outputs a sensor signal corresponding to the distance to the human body 200.

  Specifically, the sensor 11 outputs a sensor signal including information on the distance to the human body 200 by changing the frequency of the radio wave to be transmitted over time. For example, the sensor 11 uses an FMCW (Frequency-Modulated Continuous-Wave) method. As illustrated in FIG. 5, the transmission control unit 11 a repeats the sweep process of increasing and decreasing the frequency (transmission frequency) fs of the radio wave transmitted by the transmission unit 11 b. In the sweep process, the sweep frequency width Δfa and the sweep time T1 are determined.

If the distance between the sensor 11 and the human body 200 is L and the speed of light is C, the receiving unit 11e receives the reflected wave after Td = 2L / C (FIG. 5). The frequency (reception frequency) fr of the reflected wave changes with the sweep frequency width Δfa and the sweep time T1, similarly to the transmission frequency fs. Then, the reception unit 11e generates a beat signal having a frequency fb equal to the frequency difference between the transmission frequency fs and the reception frequency fr, and outputs the beat signal as a sensor signal. The frequency fb of the beat signal is fb = [(Δfa · 2L) / (C · T1)]. Therefore, the distance L to the human body 200 is expressed by equation (1).
L = (fb · C · T1) / (2 · Δfa) (1) Then, the signal processing unit 12 obtains the distance L to the human body 200 based on the equation (1). Furthermore, the signal processing unit 12 can determine the movement state of the human body 200 in the detection region 100 based on the information on the distance L. Note that the light speed C, the sweep time T1, and the sweep frequency width Δfa are known, and the signal processing unit 12 stores in advance each data of the light speed C, the sweep time T1, and the sweep frequency width Δfa.

  In FIG. 5, the sensor 11 alternately repeats a sweep time T1 for transmitting radio waves and a pause time T2 for not transmitting radio waves. In this case, assuming that the cycle of the sweep process is the processing cycle T0, the processing cycle T0 is the sum of the sweep time T1 and the pause time T2. The sensor 11 may repeat the sweep process every sweep time T1. In this case, the processing cycle T0 and the sweep time T1 are equal. The processing cycle T0 is preferably set within a range of 50 (ms) to 100 (ms), for example.

  The signal processing unit 12 has a function of performing signal processing on the sensor signal output from the sensor 11. The signal processing unit 12 includes an amplification unit 12a, an A / D conversion unit 12b, a frequency analysis unit 12c, a correction unit 12d, an output control unit 12e, a storage unit 12f, and an output unit 12g.

  The amplifying unit 12a amplifies the sensor signal output from the sensor 11. The amplifying unit 12a can be configured by an amplifier using an operational amplifier, for example. The A / D converter 12b converts the sensor signal amplified by the amplifier 12a into a digital sensor signal and outputs it.

  The frequency analysis unit 12c converts the sensor signal output from the A / D conversion unit 12b into a frequency domain sensor signal (frequency axis signal), and a filter bank in a group of filter banks 9a (see FIG. 6) having different frequency bands. It is extracted as a signal every 9a. The frequency analysis unit 12c sets a predetermined number (for example, 16) of filter banks 9a as a group of filter banks 9a, but the number of filter banks 9a is not particularly limited.

  The frequency analysis unit 12c performs discrete cosine transform (DCT) on the sensor signal output from the A / D conversion unit 12b to convert it into a frequency domain sensor signal. Further, as shown in FIG. 6, each filter bank 9a has a plurality (five in the illustrated example) of frequency bins 9b. The frequency bin 9b of the filter bank 9a using DCT is also called a DCT bin. The resolution of the filter bank 9a is determined by the width of the frequency bin 9b. The number of frequency bins 9b in each of the filter banks 9a is not particularly limited, and may be a plurality other than five or one. The orthogonal transform that converts the sensor signal output from the A / D converter 12b into a frequency-domain sensor signal is not limited to DCT, and may be, for example, fast Fourier transformation (FFT). Further, the method of converting the sensor signal output from the A / D converter 12b into a frequency domain sensor signal may be wavelet transform (WT).

  The correction unit 12d performs a sensor signal normalization process, a sensor signal smoothing process, and a background signal removal process for removing a background signal from the sensor signal.

  The correction unit 12d normalizes the sensor signal output from the frequency analysis unit 12c in the normalization process. The correction unit 12d normalizes the intensity of the sensor signal that has passed through each filter bank 9a by the sum of the signal intensities of all the filter banks 9a extracted by the frequency analysis unit 12c. Or the correction | amendment part 12d normalizes the intensity | strength of the sensor signal which passed each filter bank 9a with the sum total of each signal intensity | strength of the filter bank 9a of multiple (for example, four on the low frequency side).

  The correction unit 12d has at least one of the following two smoothing functions. The first smoothing function is a function of smoothing the signal intensity of the sensor signal in the frequency domain (frequency axis direction) in each of the filter banks 9a. The second smoothing function is a function of smoothing the signal intensity of the sensor signal in the time axis direction in each of the filter banks 9a. The signal processing unit 12 can reduce the influence of noise by these smoothing functions. If the correction unit 12d has both the first smoothing function and the second smoothing function, the influence of noise on the sensor signal can be further reduced.

  The signal processing unit 12 alternately switches between an estimation period for estimating the background signal and a determination period for performing the determination process. The correction unit 12d estimates the background signal during the estimation period, and outputs the sensor signal from which the background signal has been removed during the determination period to the output control unit 12e. The estimation period and the determination period are not limited to the same time length, and may be different time lengths.

  Specifically, the correction unit 12d estimates a background signal (noise or a signal component included in the sensor signal due to a factor other than the detection target (here, the human body 200)) included in each signal of the filter bank 9a. . The correction unit 12d estimates that the signal obtained for each filter bank 9a in the estimation period is a background signal for each filter bank 9a, and updates the data of the background signal as needed. The correction unit 12d removes the background signal from each signal of the filter bank 9a in the determination period.

  By the way, depending on the surrounding environment of the detection apparatus 1, the frequency bin 9b including a relatively large background signal may be known. For example, it is assumed that a device that is supplied with power from a commercial power source exists around the detection device 1. In this case, there is a high possibility that a relatively large background signal is included in the signal of the frequency bin 9b including the harmonic component (for example, 60 Hz, 120 Hz, etc.) of the commercial power supply frequency (for example, 60 Hz).

  Therefore, the correction unit 12d preferably uses the frequency bin 9b in which the background signal is constantly included as a specific frequency bin. Then, the correction unit 12d invalidates the signal of the specific frequency bin, and complements the signal of the specific frequency bin with a signal estimated from the signal intensities of the two frequency bins 9b on both sides of the specific frequency bin. Therefore, the correction unit 12d can reduce the background signal of the specific frequency that is constantly generated from the sensor signal.

  The correction unit 12d can also use an adaptive filter that removes the background signal by filtering the background signal in the frequency domain (on the frequency axis). As this type of adaptive filter, an adaptive filter using DCT (Adaptive filter using Discrete Cosine Transform) is preferable. In this case, an LMS (Least Mean Square) algorithm of DCT may be used as the adaptive algorithm of the adaptive filter. The adaptive filter may be an adaptive filter using FFT. In this case, an FFT LMS algorithm may be used as the adaptive algorithm of the adaptive filter.

  As described above, the sensor signal output from the frequency analysis unit 12c is normalized and smoothed by the correction unit 12d, and the background signal is further removed and input to the output control unit 12e.

  The output control unit 12e includes a distance processing unit 121, an approach specifying unit 122, a tracking unit 123, and a determination unit 124, and performs output control of the control signal based on the input sensor signal.

  Hereinafter, output control of the control signal by the output control unit 12e will be described.

  First, the output control unit 12e enters a non-detection state in which the human body 200 is not detected. When the reception unit 11e receives the first reflected wave having a reception intensity equal to or higher than the detection threshold (or within the range of the detection threshold + constant), a sensor signal is output from the reception unit 11e. The distance processing unit 121 obtains a distance L to the human body 200 based on the sensor signals that have been subjected to the processes performed by the amplification unit 12a, the A / D conversion unit 12b, the frequency analysis unit 12c, and the correction unit 12d. The “first reflected wave having a reception intensity equal to or higher than the detection threshold (or within the range of the detection threshold + constant)” has a reception intensity equal to or higher than the detection threshold (or within the range of the detection threshold + constant), and The tracking unit 123 means a “reflected wave that is not a target of the tracking process described later”. Hereinafter, “the first reflected wave having a reception intensity equal to or higher than the detection threshold (or within the range of the detection threshold + constant)” is abbreviated as “first reflected wave”.

  The storage unit 12f stores map data, outer edge data, and the like in advance.

  The map data is data indicating the positional relationship between the sensor 11 and the detection area 100 on the moving plane 300 as shown in FIG. The outer edge data is data indicating the correspondence between the coordinates on the outer edge 111 of the detection region 100 and the distance to each coordinate. The outer edge data represents, for example, the correspondence between the coordinates (Xa, Ya) on the outer edge 111 and the distance L1 from the sensor 11 to the coordinates (Xa, Ya) by a data table or a mathematical expression.

  Alternatively, the outer edge data may represent a correspondence relationship between the angle θ about the sensor 11 and the distance La from the sensor 11 to the outer edge 111 by a data table or a mathematical expression. For example, in the data table or mathematical expression of the outer edge data, the value of the distance La is associated with the value of the angle θ on a one-to-one basis.

  In FIG. 4, since the approach position is set on the outer edge 111, the maximum value of the angle θ in the outer edge data is 90 °. Depending on the shape of the detection region, the maximum value of the angle θ in the outer edge data can be 180 °.

  Further, the signal processing unit 12 can use the outer edge data by setting the maximum value of the angle θ in the outer edge data to 360 °. For example, in the case of the map data shown in FIG. 4, the human body 200 that has entered from the reference line 501 side is detected at a shorter distance than the human body 200 that has entered from the outer edge 110 side. Therefore, the signal processing unit 12 can detect not only the human body 200 entering from the outer edge 110 side but also the human body 200 entering from the reference line 501 side.

  The distance La is not a distance on the moving plane 300 but a distance in a three-dimensional space.

  When receiving the sensor signal based on the first reflected wave, the output control unit 12e starts the process shown in the flowchart of FIG.

  The distance processing unit 121 obtains the distance L to the human body 200 based on the sensor signal from the first reflected wave. Then, when the human body 200 enters the detection region 100, the distance processing unit 121 performs a distance measurement process that periodically obtains the distance L to the human body 200 based on the input sensor signal (S1). Since the sensor 11 repeats the frequency sweep process in the above-described processing cycle T0, the distance processing unit 121 can obtain the distance L for each processing cycle T0. The distance processing unit 121 stores the obtained distance L data (distance data L (n)) in the storage unit 12f. As a result, a plurality of distance data L (n) is stored in the storage unit 12f. The plurality of distance data L (n) is a history (distance history) of the distance L obtained by the distance processing unit 121 and represents a time series of the distance L for each processing cycle T0. Note that n is a number (an integer greater than or equal to 1) assigned to each of a plurality of distance data for each processing cycle T0, and the smaller n is the past distance data. That is, the distance measurement value by the distance processing unit 121 is represented by distance data L (n), and L (n) is the nth distance data.

  The distance L may vary even if the human body 200 is stopped. That is, when the stopped human body 200 has a slight motion such as breathing, or when a multipath occurs in at least one of the transmitted radio wave and reflected wave, the distance data obtained by the distance processing unit 121 is obtained. There may be fluctuations in L (n). In other words, the distance data L (n) obtained for the human body 200 may have a relatively large degree of variation. If the degree of variation of the distance data L (n) increases, the accuracy of determination processing by the determination unit 124 described later may be reduced.

  Therefore, the tracking unit 123 obtains the predicted distance data Le (n) by performing a tracking process. The predicted distance data Le (n) is data predicted so as to approach the true value of the distance L to the human body 200 while suppressing variations in the distance data based on the time series of the distance data.

  FIG. 8 shows a history of the distance data L (n) obtained by the distance processing unit 121. The tracking unit 123 performs tracking processing based on the distance data L (1) based on the sensor signal of the first reflected wave and the distance data L (2), L (3),. It is determined whether or not to start (S2).

  Specifically, the tracking unit 123 performs tracking if the most recent consecutive N1 distance data are within the upper range W1 set to a representative value or higher, or the lower range W2 set to a representative value or lower. It is determined that the process is started. In FIG. 8, N1 = 3, and the tracking unit 123 has three distance data L (1), L (2), L (3), and three distance data L (2), L (3), Judgment processing is performed for each of L (4), three distance data L (3), L (4), L (5),. The representative value is D (n-1) located in the center in time series among the three most recent distance data D (n-2), D (n-1), and D (n). When N1 is an even number, the average value of two distance data located in the center in time series is obtained. Further, the size of the upper range W1 and the size of the lower range W2 may be equal to each other or may be different from each other. The value of N1 may be other than 3, and is not limited to a specific value.

  And in FIG. 8, with respect to the three distance data L (4), L (5), L (6), the upper range W1 or the lower range W2 of the distance data L (5) which is a representative value, The remaining distance data L (4) and L (6) are stored. Therefore, the tracking unit 123 starts the tracking process after performing the determination process on the three distance data L (4), L (5), and L (6) (time t1 in FIG. 8).

  If the most recent N1 distance data are not within the upper range W1 of the representative value or the lower range W2 of the representative value, the processes of steps S1 and S2 are repeated.

The tracking unit 123 has an αβ filter function, and performs a tracking process using the αβ filter function. The function of the αβ filter included in the tracking unit 123 performs tracking while making the distance to the human body 200 close to a true value by using the following equations (2) to (5), for example. In other words, the tracking unit 123 can obtain predicted distance data Le (n) that is a predicted value of distance data. The predicted distance data Le (n) is data predicted so as to approach the true value of the distance L to the human body 200 while suppressing variations in the distance data based on the time series of the distance data. Ls (n) is a smooth value of the distance data L (n) and is referred to as smooth distance data Ls (n). Vs (n) is a smooth value of the speed data and is referred to as smooth speed data Vs (n). Er (n) is an error of the distance data L (n). T0 is a processing cycle of the sweep processing by the sensor 11. Α and β are empirically determined constants, and β is a function of α (β = f (α)).
Le (n) = Ls (n−1) −T0 · Vs (n−1) (2) Formula Er (n) = L (n) −Le (n) (3) Formula Ls ( n) = Ls (n−1) + α · Er (n) (4) Formula Vs (n) = Vs (n−1) + β · Er (n) / T0 (5) Formula In order to use the equations (2) to (5), an initial value related to the predicted distance data Le (n) and an initial value related to the smooth speed data Vs (n) are required. Here, the initial value for the predicted distance data Le (n) is substituted with the distance data L (1) (that is, Le (1) = L (1)). The initial value for the smoothing speed data Vs (n) employs the difference between the distance data L (2) and the distance data L (1) (that is, Vs (1) = L1 (1) −L (2). ).

  The tracking unit 123 obtains the error Er (n) of the distance data L (n) using the equation (3) every time the predicted distance data Le (n) is obtained using the equation (2). Then, the tracking unit 123 substitutes the error Er (n) into the equations (4) and (5) to obtain the smooth distance data Ls (n) and the smooth speed data Vs (n). Then, the tracking unit 123 substitutes the smooth distance data Ls (n) and the smooth speed data Vs (n) into the equation (2) to obtain the predicted distance data Le (n).

  The tracking unit 123 repeats the process using the above-described equations (2) to (5) to obtain the predicted distance data Le (n) for each processing cycle T0, and stores the predicted distance data Le (n). 12f. That is, the storage unit 12f stores a history of the predicted distance data Le (n) (a time series of the predicted distance data Le (n)).

  When the tracking process is started, the approach specifying unit 122 detects the approach position of the human body 200 based on the first distance data L (1). That is, based on the distance to the human body 200 obtained by the distance processing unit 121 when the human body 200 reaches the outer edge 110 from the outside of the detection region 100, the approach specifying unit 122 determines the human body 200 on the outer edge 111 in the map data. Identifies the entry position. (S3).

  Whether the determination unit 124 recognizes the moving state of the human body 200 in the detection area 100 based on the predicted distance data Le (n), and permits the output of the control signal based on the approach position and the moving state of the human body 200. Determine whether or not.

  Specifically, the determination unit 124 divides the outer edge 110 into a plurality of sections.

  The first section 71 is a section centered on the reference line 502, and in the first section 71, the angle θ centered on the sensor 11 ranges from θ1 (degrees) to θ2 (degrees). That is, the first section 71 corresponds to the front surface of the sensor 11.

  The pair of second sections 72 and 72 are set on both sides of the first section 71, respectively. One second section 72 is set on the outer edge 111 side, and the angle θ around the sensor 11 ranges from 0 (degrees) to θ1 (degrees). The other second section 72 is set on the outer edge 112 side, and the angle θ around the sensor 11 ranges from θ2 (degrees) to 180 (degrees). The second section 72 corresponds to a non-front surface of the sensor 11.

  And the determination part 124 determines whether the approach direction of the human body 200 is a front or a non-front (S4).

  If the approach position is in the first section 71, the determination unit 124 determines that the approach direction is the front. When the approach direction of the human body 200 is the front, the human body 200 is likely to approach the sensor 11, and the human body 200 is likely to move from the space 601 to the space 602 through the entrance / exit 603.

  Further, when the approach position is in the second section 72, the determination unit 124 determines that the approach direction is non-front (side). When the approach direction of the human body 200 is non-front, there is a high possibility that the human body 200 crosses the detection region 100, and the possibility that the human body 200 moves from the space 601 to the space 602 through the entrance / exit 603 is low.

  Furthermore, the determination unit 124 recognizes the moving state of the human body 200 in the detection area 100 based on the predicted distance data Le (n). Specifically, as illustrated in FIG. 9, the determination unit 124 sets a determination region 801 having a radius R <b> 1 centered on the sensor 11 in the detection region 100. The determination unit 124 recognizes that the human body 200 has entered the determination area 801 if the predicted distance data Le (n) is equal to or less than the threshold value R1. Further, the determination unit 124 recognizes that the human body 200 has not entered the determination region 801 if the predicted distance data Le (n) is larger than the threshold value R1. R1 is set to 2 (m) or less, for example.

  And the memory | storage part 12f has beforehand memorize | stored the some output condition which consists of a combination of the area where an approach position exists among the 1st area 71 and the 2nd area 72, and the specific movement state of the human body 200. FIG. The determination unit 124 permits the output of the control signal if the approach position and the moving state of the human body 200 satisfy any output condition. The determination unit 124 does not permit the output of the control signal unless the entry position and the moving state of the human body 200 satisfy any output condition (not permitted).

In the present embodiment, the first output condition and the second output condition are stored in the storage unit 12f. The first output condition and the second output condition are as follows.
First output condition: The approach position exists in the first section 71 (that is, the approach direction of the human body 200 is the front), and the predicted distance data Le (n) is equal to or less than the threshold value R1.
Second output condition: the approach position is in the second section 72 (that is, the approach direction of the human body 200 is non-front), the predicted distance data Le (n) is less than or equal to the threshold value R1, and the human body 200 is It is in a stopped state.

  Therefore, when the approach direction of the human body 200 is the front, the determination unit 124 determines whether the predicted distance data Le (n) is equal to or less than the threshold value R1 (S5). If the predicted distance data Le (n) is equal to or less than the threshold value R1, the determination unit 124 allows the output of the control signal, assuming that the first output condition is satisfied (S6).

  When the approach direction of the human body 200 is the front, the determination unit 124 returns to step S5 without permitting the output of the control signal if the predicted distance data Le (n) is larger than the threshold value R1, and performs the above-described processing. repeat.

  Further, when the approach direction of the human body 200 is non-front, the determination unit 124 determines whether or not the predicted distance data Le (n) is equal to or less than the threshold value R1 (S7). If the predicted distance data Le (n) is equal to or less than the threshold value R1, the determining unit 124 determines whether the human body 200 is stopped based on the predicted distance data Le (n) (S8). When the human body 200 is stopped, the determination unit 124 allows the output of the control signal, assuming that the second output condition is satisfied (S9).

  If the approach direction of the human body 200 is non-front, the determination unit 124 does not allow the output of the control signal and returns to step S5 if the predicted distance data Le (n) is larger than the threshold value R1, and performs the above-described processing. repeat. Further, when the approach direction of the human body 200 is non-front, the determination unit 124 returns to step S5 and repeats the above-described process without permitting the output of the control signal if the human body is not stopped.

  The output unit 12g outputs a control signal only while the determination result of the determination unit 124 is permitted. The control signal output from the output unit 12g is a signal for controlling the automatic door device 21 to a specific state. In this case, the control signal is an open control signal for controlling the automatic door device 21 to open so that the slide doors 211 and 212 are opened. If the control device 213 has not received the open control signal, the control device 213 controls the slide doors 211 and 212 to the closed state, and controls the slide doors 211 and 212 to the open state only during the period in which the open control signal is received.

  In general, when the automatic door device 21 is controlled to open, the sliding doors 211 and 212 are opened, and the air conditioning environments of the spaces 601 and 602 may fluctuate. For example, when the space 601 is outdoors and the space 602 is indoors, the air conditioning of the space 602 is adjusted by an air conditioner or the like. However, when the automatic door device 21 is controlled to open, the outside air in the space 601 flows into the space 602, and the air conditioning environment of the space 602 deteriorates.

  Therefore, in this embodiment, when the human body 200 enters the detection region 100 from the front, it is considered that the human body 200 approaches the sensor 11 and the human body 200 is likely to pass through the entrance / exit 603. When the human body 200 enters the detection region 100 from the front, the detection device 1 outputs an open control signal to the automatic door device 21 when the human body 200 enters the determination region 801. Open control.

  On the other hand, when the human body 200 enters the detection area 100 from a non-front side, it is considered that the human body 200 is likely to cross the detection area 100. Therefore, when the human body 200 enters the detection region 100 from a non-front side, the detection device 1 basically maintains the closing control of the automatic door device 21 without outputting an open control signal to the automatic door device 21. This prevents the air conditioning environment from deteriorating.

  However, even when the human body 200 enters the detection area 100 from the front, if the human body 200 stops within the determination area 801, it is considered that the human body 200 is likely to pass through the entrance / exit 603. Therefore, even when the human body 200 enters the detection region 100 from a non-front side, the detection device 1 outputs an open control signal to the automatic door device 21 when the human body 200 stops within the determination region 801, and the automatic door The device 21 is controlled to open.

  As a result, the detection device 1 can suppress the opening control of the automatic door device 21 with respect to the human body 200 that crosses the detection region 100, so that unnecessary opening control can be reduced. Moreover, if the human body 200 that has entered from a non-front surface stops near the slide doors 211 and 212, the detection device 1 controls the automatic door device 21 to open. Therefore, when the human body 200 entering from a non-front side passes through the entrance / exit 603, the automatic door device 21 is controlled to open, so that the convenience for the user is not impaired.

  Thus, the detection apparatus 1 can achieve both suppression of unnecessary opening control and improvement of user convenience.

  Next, the stop determination process for the human body 200 by the determination unit 124 will be described with reference to FIGS. 10A, 10B, and 11. FIG.

  In general, when the human body 200 is stopped, the speed of the human body 200 becomes zero. Therefore, if the speed of the human body 200 falls within a predetermined range including zero, it can be determined that the human body 200 is stopped. However, as shown in FIG. 10A, when the human body 200 crosses the detection region 100, there is a possibility that the stop state of the human body 200 is erroneously detected.

  When the human body 200 crosses the detection region 100, as shown in FIG. 10A, the movement trajectory of the human body 200 can be divided into movement trajectories Y1, Y2, and Y3. The movement locus Y1 is a locus when the human body 200 enters the detection region 100 and approaches the sensor 11. A movement locus Y2 following the movement locus Y1 is a locus through which the human body 200 passes near the sensor 11. A movement trajectory Y3 following the movement trajectory Y2 is a trajectory when the human body 200 leaves the detection area 100 away from the sensor 11.

  The determination unit 124 obtains the difference [Le (n−1) −Le (n)] of the predicted distance data for each processing cycle T0 as the speed data of the human body 200. The speed data becomes a positive value when the human body 200 approaches the sensor 11 and becomes a negative value when the human body 200 moves away from the sensor 11. If the distance data difference [Le (n−1) −Le (n)] decreases, the speed data also decreases. Therefore, even if the human body 200 crosses the detection region 100 at a constant speed, the speed data of the human body 200 in each of the movement trajectories Y1, Y2, and Y3 changes as shown in FIG. 10B. That is, in the movement locus Y1 in which the human body 200 approaches the sensor 11, the speed data becomes a positive value, and the magnitude of the speed data gradually decreases. In the movement locus Y2 where the human body 200 approaches the sensor 11, the magnitude of the speed data becomes almost zero. In the movement locus Y3 in which the human body 200 moves away from the sensor 11, the speed data becomes a negative value, and the magnitude of the speed data gradually increases. The magnitude of the speed data corresponding to the movement locus Y2 is almost zero, and there is a high possibility that it is erroneously determined that the human body 200 is stopped with respect to the movement locus Y2.

  Therefore, the determination unit 124 performs a stop determination process shown in the flowchart of FIG.

  The determination unit 124 presets a stop range for the speed data. The stop range is a range of speed data including 0, and is set to a range where the human body 200 can be regarded as stopped. That is, if the speed data is within the stop range, the magnitude of the speed of the human body 200 is reduced to a predetermined value or less that can be regarded as a stop state. The determination unit 124 generates speed data for each processing cycle T0, and determines whether or not the speed data within the stop range continues Na times (S11). If the speed data within the stop range does not continue Na times, the determination unit 124 repeats the process of step S31. In addition, it is preferable to set Na in the range of 3 to 10 times, for example.

  When the speed data within the stop range continues for Na times, the determination unit 124 starts a time counting process for the stop determination time Ta (S12). Then, the determination unit 124 determines whether or not the stop determination time Ta has elapsed (S13). If the stop determination time Ta has not elapsed, the determination unit 124 determines whether or not negative speed data outside the stop range has continued Nb times (S14). The stop determination time Ta is a fixed time during which the stop state of the human body 200 can be determined, and is preferably set to about 0.5 (seconds) to 2 (seconds), for example.

  The determination unit 124 determines that the human body 200 is moving away from the sensor 11 if negative velocity data outside the stop range continues Nb times, returns to step S11, and repeats the above-described processes. . If the negative speed data outside the stop range is not consecutive Nb times, the determination unit 124 returns to step S13 and repeats the above-described processes. Note that Nb is preferably set in a range of 3 to 10 times, for example.

  The determination unit 124 determines that the human body 200 has stopped if negative speed data outside the stop range does not continue Nb times before the stop determination time Ta elapses (S15).

  As described above, the determination unit 124 can suppress erroneous detection of the stop state of the human body 200 when the human body 200 crosses the detection region 100.

  When the human body 200 leaves the detection area 100, no sensor signal is output from the sensor 11, and the distance data becomes zero. Therefore, the tracking unit 123 stops the tracking process when each difference between the nearest consecutive N2 distance data and the predicted distance data corresponding to each of the N2 distance data is equal to or greater than a predetermined value. In FIG. 8, N2 = 3, the difference W (12) between the distance data L (12) and the predicted distance data Le (12), and the difference W between the distance data L (13) and the predicted distance data Le (13). (13) The difference W (14) between the distance data L (14) and the predicted distance data Le (14) is spread to a predetermined value Wa or more. The tracking unit 123 performs a determination process on the distance data L (12), L (13), L (14) and the predicted distance data Le (12), Le (13), Le (14), and then performs a tracking process. Is stopped (time t2 in FIG. 8). The value of N2 may be other than 3, and is not limited to a specific value.

  When the tracking process is stopped, the determination unit 124 does not permit the output of the open control signal. That is, if the output of the open control signal is permitted when the tracking process is stopped, the determination unit 124 switches the determination result from permitted to not permitted. If the output of the open control signal is not permitted when the tracking process is stopped, the determination unit 124 continues the determination result of disapproval.

  Further, the determination unit 124 may recognize the movement state of the human body 200 in the detection region 100 based on the distance data L (n) instead of the predicted distance data Le (n).

[First Modification]
Next, a first modification of the detection device 1 will be described.

Also in the first modification, the determination unit 124 recognizes the moving state of the human body 200 in the detection region 100 based on the predicted distance data Le (n). Then, after the second output condition is satisfied and the output of the control signal is permitted, the determination unit 124 switches the output of the control signal to not permitted when the holding time Tb elapses. In the first modification, in addition to the first output condition and the second output condition described above, the third output condition is also stored in the storage unit 12f. The third output condition is as follows.
Third output condition: The approach position exists in the second section 72 (that is, the approach direction of the human body 200 is non-front), and the predicted distance data Le (n) is equal to or less than the threshold value R1, and the human body 200 stops. The human body 200 moves again in the detection region 100 after the holding time Tb has elapsed since the state was reached.

  The operation of the first modification will be described with reference to the flowchart of FIG. In addition, the same code | symbol is attached | subjected to the process similar to FIG. 7, and description is abbreviate | omitted.

  In the first modification, assuming that the second output condition is satisfied in step S9 and the determination unit 124 permits the output of the control signal, the determination unit 124 starts measuring the holding time Tb (S21). The holding time Tb is a time for maintaining the opening control of the automatic door device 21. That is, the automatic door device 21 is kept open until the holding time Tb elapses after the opening is controlled by the human body 200 that has entered from the front.

  Then, when the determination of the holding time Tb is completed, the determination unit 124 switches the determination result from permitted to not permitted (S22). Accordingly, the output unit 12g stops the output of the opening control signal, so that the automatic door device 21 is controlled to be closed.

  Thereafter, the determination unit 124 determines whether or not the human body 200 has moved based on the predicted distance data Le (n) (S23). The determination unit 124 determines that the human body 200 has moved if the difference between the predicted distance data Le (n−1) and the predicted distance data Le (n) is equal to or greater than a predetermined value. After determining that the human body 200 has moved, the determination unit 124 determines whether or not the predicted distance data Le (n) is equal to or less than the threshold value R1 (S24). If the predicted distance data Le (n) is equal to or less than the threshold value R1, the determination unit 124 returns to step S9 to permit the output of the control signal and repeats each process described above, assuming that the third output condition is satisfied. . If the predicted distance data Le (n) is larger than the threshold value R1, the determination unit 124 returns to step S7 and repeats the above-described processes.

  As described above, in the first modified example, when the human body 200 enters the detection area 100 from the front, if the human body 200 stops within the determination area 801, the automatic door device 21 is opened during the holding time Tb. Control. Further, in the first modified example, when the holding time Tb elapses, the automatic door device 21 is controlled to be closed. Therefore, in the first modification, it is possible to further suppress the deterioration of the air conditioning environment of the space 602 by limiting the time during which the automatic door device 21 is controlled to be opened. Further, when the human body 200 in the detection area 100 resumes movement, the automatic door device 21 is controlled to open, so that convenience for the user is not impaired.

[Second Modification]
Next, a second modification of the detection device 1 will be described.

  Also in the second modification, the determination unit 124 recognizes the moving state of the human body 200 in the detection region 100 based on the predicted distance data Le (n). Specifically, as illustrated in FIG. 13, the determination unit 124 includes a determination region 801 having a radius R1 centered on the sensor 11 and a determination region 802 having a radius R2 centered on the sensor 11 in the detection region 100. It is set. The radius R2 of the determination area 802 is shorter than the radius R1 of the determination area 801. R1 is set to 2 (m) or less, for example. R2 is set to 0.5 (m), for example.

  The determination unit 124 recognizes that the human body 200 has entered the determination area 801 if the predicted distance data Le (n) is equal to or less than the threshold value R1. Further, the determination unit 124 recognizes that the human body 200 has not entered the determination region 802 if the predicted distance data Le (n) is larger than the threshold value R1.

  Further, the determination unit 124 recognizes that the human body 200 has entered the determination region 802 if the predicted distance data Le (n) is equal to or less than the threshold value R2. Further, the determination unit 124 recognizes that the human body 200 has not entered the determination region 802 if the predicted distance data Le (n) is larger than the threshold value R2.

The storage unit 12f stores the following first output condition and second output condition.
First output condition: The approach direction of the human body 200 is the front, and the predicted distance data Le (n) is equal to or less than the threshold value R1.
Second output condition: the approach direction of the human body 200 is non-front and the predicted distance data Le (n) is equal to or less than the threshold value R2.

  The operation of the second modification will be described using the flowchart of FIG. In addition, the same code | symbol is attached | subjected to the process similar to FIG. 7, and description is abbreviate | omitted.

  When the approach direction of the human body 200 is the front, the determination unit 124 performs the same process as in FIG. 7 (S4-S6).

  When the approach direction of the human body 200 is non-front, the determination unit 124 determines whether the predicted distance data Le (n) is equal to or less than the threshold value R2 (S31). If the predicted distance data Le (n) is equal to or less than the threshold value R2, the determination unit 124 permits the output of the control signal, assuming that the second output condition is satisfied (S6).

  When the approach direction of the human body 200 is non-front, the determination unit 124 repeats the process of step S31 without permitting the output of the control signal if the predicted distance data Le (n) is larger than the threshold value R2.

  As described above, in the second modification, when the human body 200 enters the detection region 100 from the front, it is considered that the human body 200 approaches the sensor 11 and the human body 200 is likely to pass through the entrance / exit 603. When the human body 200 enters the detection area 100 from the front, the detection apparatus 1 outputs an opening control signal to the automatic door device 21 if the human body 200 enters the determination area 801 wider than the determination area 802. The automatic door device 21 is controlled to open.

  On the other hand, when the human body 200 enters the detection area 100 from a non-front side, it is considered that the human body 200 is likely to cross the detection area 100. Therefore, when the human body 200 enters the detection region 100 from a non-front side, the detection device 1 basically maintains the closing control of the automatic door device 21 without outputting an open control signal to the automatic door device 21. As a result, the deterioration of the air conditioning environment of the space 602 is suppressed.

  However, even when the human body 200 enters the detection area 100 from a non-front side, if the human body 200 enters the determination area 802 near the slide doors 211 and 212, the human body 200 is likely to pass through the entrance / exit 603. I reckon. Therefore, even when the human body 200 enters the detection region 100 from the front, the detection device 1 outputs an open control signal to the automatic door device 21 when the human body 200 enters the determination region 802, and the automatic door device 21 is controlled to open.

  As a result, the detection device 1 can suppress the opening control of the automatic door device 21 with respect to the human body 200 that crosses the detection region 100, so that unnecessary opening control can be reduced. Moreover, if the human body 200 that has entered from a non-front enters the determination area 802 in the vicinity of the slide doors 211 and 212, the detection device 1 controls the automatic door device 21 to open. Therefore, when the human body 200 entering from a non-front side passes through the entrance / exit 603, the automatic door device 21 is controlled to open, so that the convenience for the user is not impaired.

  As described above, the detection device 1 according to the second modified example can achieve both suppression of unnecessary opening control and improvement of user convenience.

  Moreover, in the above-mentioned embodiment and modification, when the equipment 2 is a lighting device, the output unit 12g can output a lighting control signal that instructs the lighting device to perform lighting control. For example, when the lighting device is an entrance lamp, the output unit 12g outputs a lamp control signal if the determination result of the determination unit 124 is permitted. And the output part 12g will stop the output of a lighting control signal, if the determination result of the determination part 124 is disapproved.

  In this case, the detection apparatus 1 can achieve both suppression of unnecessary lighting control and improvement of user convenience.

  In addition, the kind and control content of the equipment 2 are not limited to specific equipment 2 and control content.

  The sensor 11 may be configured such that the reception gain of the reflected wave changes according to the reception direction. Specifically, the transmission antenna 11c is omnidirectional, and the reception antenna 11d is directional. In this case, the reception antenna 11d has directivity that forms the detection region 100 of FIG. 4, and the gain is changed depending on the reception direction of the reflected wave. That is, the detection area 100 is formed by the directivity of the receiving antenna 11d.

  Further, both the transmission antenna 11c and the reception antenna 11d may have directivity. In this case, both the transmission antenna 11c and the reception antenna 11d have directivity that forms the detection region 100 of FIG.

  Further, the transmission antenna 11c and the reception antenna 11d may have individual directivities, and a dielectric lens may be provided on at least one of or both of the transmission surface of the transmission antenna 11c and the reception surface of the reception antenna 11d. . In this case, the detection region 100 is formed by the directivity of the transmission antenna 11c and the reception antenna 11d and the dielectric lens. That is, the detection region 100 is formed as a result of the combination of the directivity of each antenna and the characteristics of the dielectric lens. At this time, if the dielectric lens is used for both the transmission surface of the transmission antenna 11c and the reception surface of the reception antenna 11d, the dielectric lens is respectively provided on the transmission surface of the transmission antenna 11c and the reception surface of the reception antenna 11d. It may be a separate part or an integral part.

  The sensor 11 may include a dielectric lens on the transmission surface of the transmission antenna 11c. In this case, the transmission antenna 11c and the reception antenna 11d are omnidirectional antennas. The radio wave emitted from the transmission antenna 11c is refracted by the dielectric lens, and the transmission intensity is changed depending on the transmission direction of the radio wave. That is, the detection region 100 is formed by the dielectric lens.

  The sensor 11 may include a dielectric lens on the reception surface of the reception antenna 11d. In this case, the transmission antenna 11c and the reception antenna 11d are omnidirectional antennas. The reflected wave is refracted by the dielectric lens, and the gain changes depending on the direction of reception of the reflected wave. That is, the detection region 100 is formed by the dielectric lens.

  The shape of the detection region 100 shown in FIG. 4 is a shape like one obtained by dividing an ellipse into two by a reference line 501 along the short axis. However, the shape of the detection region 100 may be a shape obtained by dividing an ellipse into two along the major axis. In this case, the distance between the sensor 11 and the outer edge 110 of the detection region 100 continuously increases as the direction viewed from the sensor 11 in the plan view of the moving plane 300 deviates from the reference line 502. Further, the detection region 100 may be asymmetric with respect to the reference line 502.

  Further, the determination unit 124 may divide the outer edge 110 into three or more sections. In this case, output conditions are set individually for each of the three or more sections. That is, the storage unit 12f stores in advance three or more output conditions including combinations of a section where the approach position exists and a specific movement state of the human body 200 among the three or more sections. The determination unit 124 permits the output of the control signal if the approach position and the moving state of the human body 200 satisfy any output condition.

  For example, when the outer edge 110 is divided into a first section-fourth section (four sections), the first output condition-fourth output condition is stored in the storage unit 12f. The first output condition corresponds to the case where the approach position exists in the first section, the second output condition corresponds to the case where the approach position exists in the second section, and the third output condition corresponds to the case where the approach position is the first section. The fourth output condition corresponds to the case where the approach position exists in the fourth section.

  The detection device 1 described above includes a sensor 11 and a signal processing unit 12. The sensor 11 transmits a radio wave, receives a reflected wave reflected by the object (human body 200), and outputs a sensor signal corresponding to the distance to the object. The signal processing unit 12 receives the sensor signal and outputs a control signal (open control signal). In the sensor 11, an area where the detection sensitivity of the object is a certain level or higher on the moving plane 300 on which the object moves is defined as a detection area 100, and the distance between the sensor 11 and the outer edge 110 of the detection area 100 is a direction viewed from the sensor 11. It changes according to. The signal processing unit 12 includes a distance processing unit 121, an approach specifying unit 122, a determination unit 124, and an output unit 12g. The distance processing unit 121 obtains the distance to the object based on the sensor signal. Based on the distance from the outside of the detection area 100 to the object that has reached the outer edge 110 of the detection area 100, the entry specifying unit 122 specifies an entry position that is the position of the object at the outer edge 110 of the detection area 100. The determination unit 124 recognizes the moving state of the object in the detection region 100 based on the distance to the object, and determines whether to permit the output of the control signal based on the approach position and the moving state of the object. The output unit 12g outputs a control signal if the determination unit 124 permits the output of the control signal. The outer edge 110 of the detection region 100 is divided into a plurality of sections 71 and 72. Then, the determination unit 124 determines whether the approach position and the moving state of the object are based on a plurality of output conditions including a combination of a section where the approach position exists among the plurality of sections 71 and 72 and a specific moving state of the object. If any output condition among the plurality of output conditions is satisfied, the output of the control signal is permitted.

  In other words, the detection device 1 uses an output condition according to an intrusion position of an object such as the human body 200 from a plurality of output conditions. Therefore, the detection apparatus 1 can determine whether or not the control signal can be output according to each time the object crosses and the object approaches. As a result, the detection apparatus 1 can determine whether or not the control signal can be output by distinguishing between crossing and approaching the object, and can suppress unnecessary control and improve the convenience of the user.

  In addition, the detection device 1 changes the distance between the sensor 11 and the outer edge 110 of the detection region 100 according to the direction viewed from the sensor 11. As a result, the detection device 1 can determine the entry position of the object based on the distance to the object such as the human body 200 that has reached the outer edge 110 of the detection region 100. And the detection apparatus 1 can perform the tracking process which produces | generates the movement locus | trajectory of the object from the approach position based on the distance history after the object for which the approach position was determined. Therefore, the detection apparatus 1 can detect the approach, crossing, separation, etc. of an object in the detection region 100 using one radio wave type sensor 11.

  Further, when an optical sensor is used, there is a possibility that erroneous detection due to light such as sunlight, vehicle headlights, and lighting may occur. However, the detection device 1 includes the radio wave type sensor 11, thereby suppressing erroneous detection due to light such as sunlight, vehicle headlights, and illumination.

  Moreover, in the detection device 1 of the second aspect according to the embodiment, in the first aspect, the plurality of sections 71 and 72 preferably include the first section 71 and a pair of second sections 72 and 72. . In the first section 71, the angle θ viewed from the sensor 11 is a predetermined angle range θ1 to θ2 on the moving plane 300. The pair of second sections 72 and 72 are provided on both sides of the first section 71, respectively.

  Therefore, the detection apparatus 1 sets the first section 71 as the front face of the detection area 100 and the second section 72 as the non-front face of the detection area 100, so that the approach from the front of the object and the approach from the non-front of the object are performed. Can be distinguished.

  Further, in the detection device 1 of the third aspect according to the embodiment, in the second aspect, the first output condition among the plurality of output conditions is that the approach position is in the first section 71 and the object is It is preferable that the distance is equal to or less than the threshold value R1. Of the plurality of output conditions, the second output condition is preferably that the approach position is in the second section 72, the distance to the object is equal to or less than the threshold value R1, and the object is stopped. .

  In the detection apparatus 1 described above, when an object enters the detection area 100 from the front, it is considered that the object is likely to approach the sensor 11. Therefore, when the object enters the detection area 100 from the front, the detection device 1 outputs a control signal if the distance to the object is equal to or less than the threshold value R1. On the other hand, when an object enters the detection area 100 from a non-front side, it is considered that the possibility that the object crosses the detection area 100 is high. However, even when an object enters the detection area 100 from a non-front side, if the distance to the object is equal to or less than the threshold value R1 and the object stops, it is considered that the object is likely to approach the sensor 11. Therefore, even when the object enters the detection area 100 from a non-front side, the detection device 1 outputs a control signal when the distance to the object becomes equal to or less than the threshold value R1 and the object stops. Therefore, the above-described detection device 1 does not impair user convenience.

  In the detection device 1 of the fourth aspect according to the embodiment, in the second aspect, the determination unit 124 determines that the state in which the magnitude of the speed of the object is equal to or less than a predetermined value is equal to or longer than a certain time (stop determination time Ta) When continuing, it is preferable to determine that the object is stopped.

  The above-described detection device 1 can suppress erroneous detection of the stop state of the object when the object crosses the detection region 100.

  Further, in the detection device 1 of the fifth aspect according to the embodiment, in the second aspect, the first output condition among the plurality of output conditions is that the approach position is in the first section 71 and the object is The distance is preferably equal to or less than the first threshold value R1. Of the plurality of output conditions, the second output condition is preferably that the approach position exists in the second section 72 and the distance to the object is equal to or smaller than the second threshold R2 that is smaller than the first threshold R1. .

  In the detection apparatus 1 described above, when an object enters the detection area 100 from the front, it is considered that the object is likely to approach the sensor 11. Therefore, when the object enters the detection area 100 from the front, the detection device 1 outputs a control signal if the distance to the object is equal to or less than the threshold value R1. On the other hand, when an object enters the detection area 100 from a non-front side, it is considered that the possibility that the object crosses the detection area 100 is high. However, even when an object enters the detection area 100 from a non-front side, if the distance to the object is equal to or less than the threshold value R2, it is considered that the object is likely to approach the sensor 11. Therefore, even when the object enters the detection region 100 from the front, the detection device 1 outputs a control signal if the distance to the object becomes equal to or less than the threshold value R2 and approaches the sensor 11. Therefore, the above-described detection device 1 does not impair user convenience.

  In the detection device 1 of the sixth aspect according to the embodiment, in any one of the first to fifth aspects, the distance processing unit 121 receives a sensor signal and receives a predetermined period (processing period T0). A plurality of distance data L (n) representing each distance is generated. Based on the time series of the distance data L (n), the determination unit 124 obtains predicted distance data Le (n) that is predicted to approach the true value of the distance to the object while suppressing variation in the distance data. The predicted distance data L (n) is preferably used as the distance to the object.

  In general, when a stationary object has a slight movement, or when a multipath occurs in at least one of a transmitted radio wave and a reflected wave, the distance data L (n) obtained by the distance processing unit 121 is obtained. May cause fluctuations. Therefore, in the detection device 1 described above, by using the predicted distance data Le (n) that is predicted to approach the true value of the distance to the object while suppressing variation in the distance data, the accuracy of the determination process of the determination unit is increased. improves.

  In addition, in the detection device 1 according to the seventh aspect according to the embodiment, in any one of the first to sixth aspects, the sensor 11 includes a transmission antenna 11c that transmits radio waves and a reception antenna that receives reflected waves. 11d. The detection region 100 is preferably determined by the directivity of at least one of the transmission antenna 11c and the reception antenna 11d.

  The above-described detection device 1 can easily set the shape of the detection region 100 according to the directivity of the antenna.

  In the detection device 1 according to the eighth aspect according to the embodiment, in any one of the first to sixth aspects, the sensor 11 includes at least a radio wave transmitted by the sensor 11 and a reflected wave received by the sensor. A dielectric lens that transmits one of them is provided. In this case, it is preferable that the detection region 100 is determined by the directivity of the dielectric lens.

  The above-described detection device 1 can easily set the shape of the detection region 100 by the radio wave refraction characteristics of the dielectric lens.

  In the detection device 1 of the ninth aspect according to the embodiment, in any one of the first to eighth aspects, the sensor 11 is in a reference direction (reference line 502) passing through the sensor 11 in plan view. It is preferable to set the detection region 100 in a line-symmetric shape. In the detection region 100, the distance between the sensor 11 and the outer edge 110 of the detection region 100 continues as the direction viewed from the sensor 11 in plan view deviates from the reference direction on each of one side and the other side with respect to the reference direction. Increase or decrease.

  Since the detection device 1 described above can simplify the shape of the detection region 100, the accuracy of the size and shape of the detection region 100 is improved.

  In the detection device 1 according to the tenth aspect according to the embodiment, in any one of the first to ninth aspects, the sensor 11 intermittently transmits a radio wave whose frequency changes with time. The sensor signal preferably includes information on the frequency difference between the transmitted radio wave and the reflected wave.

  Therefore, the detection apparatus 1 includes the FMCW sensor 11 and can measure the distance to the object in the detection region 100.

  In addition, the control system 10 of the eleventh aspect according to the embodiment includes the detection device 1 according to any one of the first to tenth aspects and an automatic door device 21. The automatic door device 21 has doors (sliding doors 211 and 212) that open and close a person entrance 603. The control signal is a signal for opening the door. The automatic door device 21 controls the opening of the door when it receives a control signal (open control signal), and closes the door if it does not receive a control signal (open control signal).

  Therefore, the control system 10 can achieve both suppression of unnecessary control and improvement of user convenience. Furthermore, the control system 10 can detect the approach, crossing, separation, etc. of an object in the detection region 100 using one radio wave type sensor 11.

  Moreover, the detection apparatus 1 is equipped with a computer composed of a microcomputer or the like. And it is preferable that each function of the frequency analysis part 12c, the correction | amendment part 12d, the output control part 12e, and the output part 12g is implement | achieved when this computer runs a program. The computer mounted on the detection apparatus 1 includes a processor and an interface that operate according to a program as main hardware configurations. Such processors include a DSP (Digital Signal Processor), a CPU (Central Processing Unit), an MPU (Micro-Processing Unit), and the like. And if a processor can implement | achieve each function of the frequency analysis part 12c correction | amendment part 12d, the output control part 12e, and the output part 12g, the kind will not be ask | required.

  As a program providing form, a computer-readable ROM (Read Only Memory), a form stored in advance in a recording medium such as an optical disc, or the like is supplied to the recording medium via a wide area communication network including the Internet. There are forms.

  That is, the program preferably causes the computer to function as each of the frequency analysis unit 12c, the correction unit 12d, the output control unit 12e, and the output unit 12g.

  The above-described embodiment is an example of the present invention. For this reason, the present invention is not limited to the above-described embodiment, and various modifications can be made depending on the design and the like as long as the technical idea according to the present invention is not deviated from this embodiment. Of course, it is possible to change.

DESCRIPTION OF SYMBOLS 1 Detection apparatus 11 Sensor 11c Transmission antenna 11d Reception antenna 12 Signal processing part 12e Output control part 121 Distance processing part 122 Approaching identification part 123 Tracking part 124 Judgment part 12g Output part 2 Equipment (equipment)
21 Automatic door device 211, 212 Sliding door (door)
71 First Section 72 Second Section 100 Detection Area 110 Outer Edge 200 Human Body (Object)
300 Moving plane 502 Reference line (reference direction)
603 Entrance / exit L (n) Distance data Le (n) Predicted distance data R1 1st threshold R2 2nd threshold θ angle T0 Processing cycle (cycle)

Claims (11)

A sensor that transmits a radio wave, receives a reflected wave reflected by the object, and outputs a sensor signal corresponding to a distance to the object;
A signal processing unit that receives the sensor signal and outputs a control signal;
The sensor has, as a detection region, a region where the detection sensitivity of the object is a certain level or more on a moving plane on which the object moves, and a distance between the sensor and an outer edge of the detection region is in a direction seen from the sensor. Changing accordingly,
The signal processing unit
A distance processing unit for obtaining a distance to the object based on the sensor signal;
Based on the distance from the outside of the detection area to the object that has reached the outer edge of the detection area, an entry specifying unit that specifies an entry position that is the position of the object at the outer edge of the detection area;
A determination unit that recognizes the movement state of the object in the detection area based on the distance to the object and determines whether to permit the output of the control signal based on the entry position and the movement state of the object. When,
If the determination unit permits the output of the control signal, it has an output unit that outputs the control signal,
The outer edge of the detection area is divided into a plurality of sections,
The determination unit
Based on a plurality of output conditions consisting of a combination of a section where the entry position exists and the specific movement state of the object among the plurality of sections, the entry position and the movement state of the object are the plurality of output conditions. If any one of the output conditions is satisfied, output of the control signal is permitted.   The plurality of sections include a first section in which an angle viewed from the sensor is within a predetermined angle range on the moving plane, and a pair of second sections provided on both sides of the first section. The detection device according to claim 1, characterized in that: Among the plurality of output conditions,
The first output condition is that the approach position exists in the first section, and the distance to the object is equal to or less than a threshold value.
The second output condition is that the approach position exists in the second section, the distance to the object is equal to or less than the threshold value, and the object is stopped. Detection device.   The detection device according to claim 3, wherein the determination unit determines that the object is stopped when a state in which the magnitude of the speed of the object is equal to or less than a predetermined value continues for a predetermined time or more. Among the plurality of output conditions,
The first output condition is that the approach position exists in the first section, and the distance to the object is equal to or less than a first threshold value,
3. The detection according to claim 2, wherein the second output condition is that the approach position exists in the second section, and a distance to the object is equal to or smaller than a second threshold smaller than the first threshold. apparatus. The distance processing unit
The sensor signal is input, and a plurality of distance data representing the distance for each predetermined cycle is generated,
The determination unit obtains predicted distance data predicted to approach the true value of the distance to the object while suppressing variation in the distance data based on the time series of the distance data, and as the distance to the object The detection apparatus according to claim 1, wherein the predicted distance data is used.   The sensor includes a transmission antenna that transmits the radio wave and a reception antenna that receives the reflected wave, and the detection region is determined by directivity of at least one of the transmission antenna and the reception antenna. The detection device according to any one of claims 1 to 6.   The sensor includes a dielectric lens that transmits at least one of the radio wave transmitted by the sensor and the reflected wave received by the sensor, and the detection region is determined by directivity of the dielectric lens. The detection device according to claim 1, wherein the detection device is a device. The sensor sets the detection region in a line-symmetric shape with respect to a reference direction passing through the sensor in plan view,
The detection area has a distance between the sensor and the outer edge of the detection area as the direction viewed from the sensor in a plan view is shifted from the reference direction for each of one side and the other side with respect to the reference direction. The detection device according to claim 1, wherein the detection device continuously increases or decreases. The sensor intermittently transmits the radio wave whose frequency changes over time,
The detection device according to any one of claims 1 to 9, wherein the sensor signal includes information on a frequency difference between the transmitted radio wave and the reflected wave. A detection device according to any one of claims 1 to 10, and an automatic door device having a door for opening and closing a person's doorway,
The control signal is a signal for opening the door,
The automatic door device controls the opening of the door when it receives the control signal, and closes the door if it does not receive the control signal.

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