JP2016217992A - Positioning device, speed detection device, and state event discrimination device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To highly accurately discriminate a target state in various environments from an event relating to the target without a loss of privacy protection.SOLUTION: A positioning device comprises a state detection unit 5 that, of coverage areas of a plurality of P pieces of FMCW radars 1to 1, identifies a location of a monitored person 10 serving a target as a point or area respectively apart from locations Lto Lof the plurality of P pieces of FMCW radars 1to 1over distances dto dindividually measured by the plurality of P pieces of FMCW radars 1to 1for the monitored person 10 as the target located in a common area.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a positioning device and a speed detection device for obtaining the position and speed of a target located in common in the coverage area of these FMCW radars in cooperation with a plurality of FMCW radars, a predetermined number of FMCW radars, The present invention relates to a state event identification device that recognizes a state or event related to the target based on a feature amount obtained by linking.

  In the fields of health care, nursing care, nursing, etc., caregivers and nurses need to observe the posture and movements of bedridden caregivers and patients, for example, and monitor for abnormal or abnormal behavior. is there. However, it may be difficult for the caregiver or nurse to continue to monitor the condition of the cared person or patient, or the events related to the patient at a short distance. Therefore, it is required to be able to monitor the status of a cared person or patient or an event related to the patient even from a remote place.

  In view of such demand, conventionally, a technique is known in which a person to be monitored such as an elderly person is captured by an infrared camera or the like, and the sleep state of the person to be monitored is monitored based on the state of the captured image (for example, , See Patent Document 1).

JP, 2014-151120, A

  However, in the invention described in Patent Document 1, by detecting an abnormality based on the analysis of the captured image, the abnormality can be detected only with a large movement that can be recognized by human eyes. Abnormalities cannot be detected based on minute behavior such as the state of the body and fine movement of the body. Moreover, since the invention described in Patent Document 1 captures an image of a monitored person such as an elderly person, there is a problem that it involves a risk of infringing on the privacy of the monitored person.

  The present invention has been made in view of the above problems, and a positioning device and a vector velocity calculation device that can accurately identify the state of a target in various environments and an event related to the target without impairing the protection of privacy. An object is to provide a state event identification device.

In order to solve such a problem, the invention according to claim 1 is the distance d measured individually by the plurality of FMCW radars for a target located in a common area among the coverage areas of the plurality of P FMCW radars. ₁ to d over _P, as respective spaced points or regions from the position L ₁ ~L _P of the FMCW radar of the plurality P, and comprising the position specifying means for specifying a position of said target.

That is, the target position is specified as a point or region corresponding to “relative positions L _{1 to} L _{P with} respect to these FMCW radars” individually measured by a plurality of P FMCW radars. Moreover, any of these FMCW radars can provide various information used for radar signal processing capable of detecting the state of the target or an event related to the target.

In the invention according to claim 2, the speed calculation means is a range bin in which targets located in a common area among the coverage areas of the plurality of P FMCW radars are individually detected in the order of sweeping by the plurality of FMCW radars. as the rate of change of the phase phi ₁ to [phi] _P of R ₁ to R _P, determining the single speed _v 1 to v _P for FMCW radar of the plurality P. The vector speed calculation means obtains the target speed as a vector sum of the speeds v _{1 to} v _P with respect to the positions of the plurality of P FMCW radars.

That is, the target speed is obtained as a vector sum of “relative speeds v _{1 to} v _P for these FMCW radars” individually measured by a plurality of P FMCW radars. Moreover, any of these FMCW radars can provide various information used for radar signal processing capable of detecting the state of the target or an event related to the target.

According to the third aspect of the present invention, a target located in a predetermined area out of the coverage area of the predetermined number N (≧ 1) of FMCW radars is individually detected in the order of sweeping by the predetermined number N of FMCW radars. K (≧ 1) number of range bins _{(R 11, ..., R 1K} ) ~ (R N1, ..., R NK) each phase _{(φ 11, ..., φ 1K} ) ~ (φ N1, ..., φ NK) As a feature of both or any one of the combination history and the history of the combination, a state event recognition means for recognizing the state of the target or an event relating to the target is provided.

  That is, the state of the target and the events related to the target are pattern-recognized based on the combination of phases for each range bin observed by a predetermined number N of FMCW radars in the order of sweep, or the history characteristics of these combinations. . Moreover, such pattern recognition is essentially different from image processing, and is realized as radar signal processing that can detect minute movement and displacement of a target.

The invention according to claim 4 is a state event identification device for identifying a state of a target located in a coverage area of a predetermined number N (≧ 1) of FMCW radars or an event related to the target, and includes the following (1) A state event identification means for identifying the state or the event is provided based on the characteristics of both or any one of the combination consisting of all or part of the matters shown in (6) and the history of the combination. It is characterized by that.
(1) The target is calculated as a position separated from positions L _{1 to} L _{N of} the predetermined number N of FMCW radars over distances d _{1 to} d _N detected by the predetermined number N of FMCW radars. position
(2) For the target, the size or the presence or absence of power of the power range bin R ₁ to R _N which is detected in the order of sweeping individually by FMCW radar of the predetermined number N
(3) the range bin _R 1 to R _N of the phase phi ₁ to [phi] _N
(4) the relative velocity with respect to the FMCW radar of a predetermined number N of the target given as the rate of change of φ ₁ ~φ _{N v 1} ~v _N
(5) Electric power W _{1 to} W _M individually consumed in a predetermined number M of regions where the target can be located
Time zone T in the predetermined number M of regions
(6) Target attribute A
These items (1) to (6) include items that can be used for various types of pattern recognition of the state of the target and the events related to the target.

  According to the present invention, it is possible to include the position of a target as an item of a state or event related to a desired target under the use of an FMCW radar.

  Further, according to the present invention, the state of the target and the event occurring in the target can be achieved with high accuracy and high accuracy without losing the protection of privacy.

  Furthermore, according to the present invention, monitoring and watching various targets can be realized as information processing and radar signal processing by utilizing FMCW radar, which is an existing hardware resource, or in cooperation with a predetermined number of FMCW radars. The

It is a functional block diagram which shows the whole structure of the state event identification device which concerns on this embodiment. It is a figure which shows typically an example of the positional relationship of a state event identification device same as the above, and a measuring object. It is a figure which shows typically the principle of the ranging by FMCW radar used in a state event identification device same as the above. It is a figure which shows typically the Doppler component accompanying the movement of the to-be-monitored person of FMCW radar used in a state event identification device same as the above. It is a figure which shows typically the principle of detection of micro displacements, such as a body surface, by the FMCW radar used in a state event identification device same as the above. It is a figure which shows typically the principle of the synchronous operation of the some FMCW radar used in a state event identification device same as the above. It is a figure which shows typically the example of the pattern matching used in a state event identification device same as the above. It is a figure which shows typically the example of the pattern matching used in a state event identification device same as the above. It is a flowchart which shows the process sequence of a state event identification device same as the above.

Embodiment 1 of the Invention
[Basic configuration]
1 to 9 show an embodiment of the present invention.

  FIG. 1 is a functional block diagram showing the overall configuration of a state / event identification apparatus 1A according to this embodiment. This state event identification device 1A functions as a “positioning device”, “speed calculation device”, and “state event identification device” according to the present invention.

  As shown in FIG. 1, the state event identification device 1A is used to detect and monitor various states of the monitored person 10 as “targets” or various events related to the monitored person 10. is there. The “state” and “event” will be described with specific examples in the section “Example of detection of“ state ”and“ event ”in the state event identification device” described later.

  The monitored person 10 is a person who needs to be monitored by another person, such as a hospitalized patient in a hospital, a carefree person such as a handicapped person, an elderly person living alone, etc. It exists in a room 11 such as a house. However, it may be a normal person such as a prisoner, a subject of a specific experiment, or a spectator at a concert gathered in a hall, but a person who is monitored by others. In FIG. 1, the monitored person 10 is described as one person, but the monitored person 10 is not limited to one person and may be a plurality of persons.

The state event identification device 1A includes a plurality of, ie, P (P> 1) FMCW radars 1 ₁ ,... 1 _P , an information mixing unit 4, a state detection unit 5, a history information recording unit 6, and an abnormality report. Part 7.

FMCW radar ₁ 1, ..., _{1 P} includes wave transmitting unit ₂ 1, ..., and _{2 P,} the radio receiver ₃ 1, and ... _{3 P.} Here, the radio wave transmitters 2 ₁ ,..., 2 _P and the radio wave receivers 3 ₁ ,..., 3 _P are configured separately, but the same device is connected to the radio wave transmitters 2 ₁ ,. ·, _{2 P} and the radio receiver ₃ 1, ..., may be configured in combination as _{3 P.}

The FMCW radars 1 ₁ ,..., 1 _P transmit while changing the frequency of the transmission wave, and have a function of detecting the distance to the target (monitored person 10) based on the frequency difference between the transmission wave and the reception wave. In addition, the FMCW radar 1 ₁ ,..., 1 _P detects the slight change in the monitored person 10 or the event, or the speed of the change, by detecting the phase or phase difference between the transmitted wave and the received wave. Can be detected.

The radio wave transmitters 2 ₁ ,..., 2 _P function as transmitters of the FMCW radars 1 ₁ ,..., 1 _P , respectively, and transmit radio waves whose frequencies change over time as transmission waves. .

Radio receiver ₃ 1, · · ·, _{3 P,} respectively FMCW radar ₁ 1, functions as receiver · · · _{1 P,} wave transmitting unit ₂ 1, · · ·, _{2 P} sends, The radio wave reflected by the monitored person 10 or the like is received as a received wave, and the position of the monitored person 10 is specified (details will be described later). In addition, each of the radio wave receiving units 3 ₁ ,..., 3 _P is linked to the corresponding radio wave transmitting unit 2 ₁ ,..., 2 _P (that is, the transmission wave received as a received wave by itself). In addition, it has a function of detecting the difference (beat signal) between the transmission wave and the reception wave, and the difference (beat frequency) between the frequency of the reception wave and the frequency of the transmission wave when the reception wave is received. Further, the radio wave receivers 3 ₁ ,..., 3 _P have a frequency analysis function, separate the beat signal into received signal components for each frequency (distance) component, and the amplitude and phase of each received signal component, And their time changes are detected. As a result, the state or event change of the monitored person 10 or the speed of the change is detected (details will be described later).

The information mixing unit 4 has functions as “position specifying means” and “speed calculating means”. That is, the information mixing unit 4, the radio wave transmitting unit ₂ 1, ..., the transmission wave and _{the 2 P} sends, each radio receiver ₃ 1, ..., _{3 P} is a plurality based on the received waves received Information is mixed based on a predetermined calculation to detect the position of the monitored person 10 and the direction and speed of the movement of the moving monitored person 10 (details will be described later).

  The state detector 5 functions as “state event recognition means” and “state event identification means”. The state detection unit 5 detects the state of the monitored person 10 or an event related to the monitored person 10 based on the result detected by the information mixing unit 4 (details will be described later). Specifically, the monitored result is obtained by pattern matching (described later) with the detection result and the state of the monitored person 10 or a value or a set of values characterizing various events related to the monitored person 10. The state of the person 10 or an event related to the person 10 to be monitored is detected. In addition, the state detection unit 5 detects whether the detected state of the monitored person 10 or an event related to the monitored person 10 is abnormal.

The history information recording unit 6 is a variety of data storage devices and records history information such as past received waves of the radio wave receiving units 3 ₁ , 3 ₂ ,... 3 _P and detection results of the state detection unit 5. ing. Further, “pattern data” used for pattern matching (described later) in the state detection unit 5 is also recorded.

  In this embodiment, the “pattern data” recorded in the history information recording unit 6 indicates that the state of the monitored person 10 or the event related to the monitored person 10 is abnormal. For example, “pattern data (see the speed change graph 36c in FIG. 8C)” indicating “fall” has a configuration for causing the abnormality reporting unit 7 to report an abnormality, for example, attribute information of this “pattern data” "Abnormal information (not shown)" is recorded as "function information" and functions as state recognition information indicating an abnormal state of "pattern data".

  The abnormality reporting unit 7 is a function for reporting an abnormality to a supervisor (not shown) when it is detected that the state of the monitored person 10 or an event related to the monitored person 10 is a predetermined abnormal state. Have Specifically, for example, a screen (not shown) for notifying an abnormality on a display (not shown) of a supervisor terminal (not shown) connected to the state event identification device 1A via various networks (not shown). It has a configuration for displaying or sounding an alarm by remotely turning on an alarm device (not shown) provided in a room where a supervisor (not shown) resides.

FIG. 2 is a diagram schematically illustrating an example of the positional relationship between the state event identification device 1A and the monitored person 10 according to this embodiment. As shown in the figure, the state event identification device 1A has a plurality of FMCW radars 1 ₁ , 1 ₂ ,... 1 _P (P = 4 in FIG. 2) at the four corners of a room 11 where the monitored person 10 is located. It is disposed and surrounds the monitored person 10.

As shown in FIG. 2, FMCW radar ₁ 1 of this embodiment, ... _{1 P} a particular position _L 1 of the room 11 where the monitored person 10 is present, ..., it is installed in _{L P} . In FIG. 1, the distances from the positions L ₁ ,..., L _{P where} the FMCW radars 1 ₁ ,..., 1 _P are installed to the position of the monitored person 10 are the distances d ₁ ,. a _P, FMCW radar ₁ 1, ..., each range bin _R 1 of _{1 P,} ..., illustrates a situation in which the monitored person 10 is present in the _{R P.}

Incidentally, FIG. 2 is FMCW radar _{1 1,} 1 2, an example of positional states of · · · _{1 P,} FMCW radar _{1 1,} 1 2, the number of · · · _{1 P} may be the number , FMCW radar _{1 1,} 1 2, radio transmission section ₂ 1 constituting the · · · _{1 P,} 2 2, the number and the radio receiver ₃ 1 · · · _{2 P,} 3 2, · · · _{3 P} is the same It does not need to be arranged at the position. However, a plurality of FMCW radars 1 ₁ , 1 ₂ ,... 1 _P are configured to accurately detect the state of the monitored person 10 or an event related to the monitored person 10 without creating a blind spot. a plurality of radio transmitting unit _{2 1,} 2 2, respectively or · · · _{2 P,} a plurality of radio receiver _{3 1,} 3 2, respectively · · · _{3 P} is an angle Ya respect the monitored person 10 It is desirable that the distances be arranged at different positions, and the irradiation direction and irradiation distance of the transmission wave, the reception direction and reception distance of the reception wave, and the like are different from each other.

In the following description, unless otherwise there is a need for distinction, FMCW radar _{1 1, 1 2, ··· 1} P, wave transmitting unit _{2 1, 2 2, ··· 2} P, the radio receiver 3 ₁ , 3 ₂ ,... 3 _P are referred to as FMCW radar 1, radio wave transmission unit 2, and radio wave reception unit 3, respectively.

[Principle of FMCW Radar 1 Detection of the State of the Monitored Person or an Event Related to the Monitored Person 10]
3 to 5 show the principle of detection of the state of the monitored person 10 by the FMCW radar 1 of this embodiment or an event related to the monitored person 10. FIG.

  In the state event identification device 1A of this embodiment, the radio wave transmitters 2 constituting the respective FMCW radars 1 transmit transmission waves while continuously modulating the frequency.

  Specifically, as shown in FIG. 3, the radio wave transmission unit 2 transmits a transmission wave 22 while continuously increasing (decreasing) the transmission frequency every predetermined time period Ts21. After the transmission wave 22 is reflected on the monitored person 10, the distance from the radio wave transmitting unit 2 to the monitored person 10 is measured by the delay time Δt 24 until the received wave 23 is received by the radio wave receiving unit 3. The delay time Δt24 is obtained by detecting a beat frequency fb25 that is a frequency difference between the transmission wave 22 and the reception wave 23. The beat frequency fb25 is calculated by synthesizing the transmission wave 22 and the reception wave 23 in the radio wave receiving unit 3, and calculating the difference between the transmission wave 22 and the reception wave 23 by a low-pass filter (not shown).

  In this method, the distance between the monitored person 10 and the FMCW radar 1 can be calculated. It is also possible to detect the positions of a plurality of monitored persons 10 by this method.

  On the other hand, consider the detection of the moving speed when the monitored person 10 is moving. In response to this, the FM-CW radar 1 repeats the sweep at an interval at which the influence of the Doppler frequency 26 shown in FIG. 4 can be ignored, and accumulates while the monitored person 10 is in the same range bin. A speed component is detected by detecting a minute distance variation from the time series of the phase of the range bin (frequency) component, and further analyzing the frequency of the time series of the phase of the range bin (frequency) component of each sweep. Thereby, the moving speed of the monitored person 10 can be detected.

  Further, when the monitored person 10 stays in one place but performs a slight movement of the body due to breathing or the like, the radio wave receiving unit 3 obtains a beat signal as a difference between the transmission wave 22 and the reception wave 23. After that, the beat signal is frequency-separated, and the amplitude and phase of the frequency component corresponding to the distance of the monitored person 10 are confirmed systematically. Thereby, the minute operation | movement of the to-be-monitored person 10, the speed of operation, etc. are detected.

In this embodiment, in this embodiment, beat signals generated by transmission / reception of the transmission wave 22 and reception wave 23 to the monitored person 10 are frequency-separated, and a system of amplitude and phase of frequency components corresponding to the distance from the radar to the monitored person 10 is shown in FIG. It is a figure which shows a time change typically by IQ plane. Here, when the monitored person 10 does not breathe and is completely stationary, when only a stationary object such as a wall or floor is present, both the amplitude 28 and the phase 29 are unchanged as shown in FIG. . However, for example, when the body surface of the person to be monitored 10 moves slightly due to breathing or the like, the amplitude and phase of the frequency component of the beat signal corresponding to the distance from the radar to the body surface are as shown in FIG. Each sweep changes (for example, the specific point 27 _{1 for} the first sweep, the specific point 27 _{2 for the} second sweep 27 ₂ , and the specific point 27 _{3 for the} third sweep shown in FIG. 5B).

Thus, when the monitored person 10 moves, the distance displacement is reflected in the phase change between sweeps. For example, the fine distance change due to respiration of the monitored person 10 from the radar for the stationary component 27 ₀ appears as a phase change in an origin (1 specific point 27 ₁ sweep th phase 29 _{1, 2} sweep th Phase 29 ₂ ) for a particular point 27 ₂ . For this reason, it is possible to detect a minute distance displacement and speed per sweep interval of the monitored person 10 from a phase change centering on a stationary object component for each sweep. The amplitude where the stationary component 27 ₀ as the origin represents the intensity of the reflected radio wave, changes the attitude of the positional relationship and the monitored person 10 of the radar and the monitored person 10, by the portion of that fine variations body To do.

  In this way, by detecting changes in the amplitude 28 and the phase 29 of the reception signal component of the specific frequency obtained from the beat signal, it is possible to detect the state of the monitored person 10 or an event related to the monitored person 10. it can.

  Based on the principle described above, the state event identification apparatus 1A of this embodiment can detect and monitor the state of the monitored person 10 or an event related to the monitored person 10.

In this embodiment, it is desirable that these processes be performed for each distance width (range) from the FMCW radar 1. For example, as shown in FIG. 3, the width of this distance is a minute time zone such as a time zone t01, a time zone t02,... (Depending on this time zone, the FMCW radar 1 and the monitored person 10 distance width between, i.e. range bin R ₁ described _above, · · ·, R P _(see FIG. 2) is formed.) by performing the processing in units of it can be realized distance processing for each width . 3 or a minute frequency band such as the frequency band f01, the frequency band f02,... (Depending on this frequency band, the width of the distance between the FMCW radar 1 and the monitored person 10, that is, range bin R ₁ described _above, ..., also by performing the processing.) that R _P is formed as a unit, the distance processing for each width can be realized.

[Detection by multiple FMCW radars 1]
Based on FIG.2 and FIG.6, the detection method of the state of the to-be-monitored person 10 by the some FMCW radar 1 in this embodiment or the event concerning the to-be-monitored person 10 is demonstrated.

  In this embodiment, each of the plurality of FMCW radars 1 performs transmission of the transmission wave 22 and reception of the reception wave 23 in order.

Specifically, for example, in the state shown in FIG. 2, when assumed that FMCW radar _{1 1,} 1 _2, 1 3, ₁ order in the process of ₄ is performed, the following (steps 01) and (Step 02) It is conceivable that the processing is repeated.
(Step 01) First, the radio wave transmitting portion _{2 1} of the FMCW radar _{1 1} transmits a transmission wave 22, the radio receiver _{3 1} receives a reception wave 23. Next, the reception of the FMCW radar _{1 3} of the radio wave transmission unit _{2 2} receives wave 23 by transmitting a radio wave receiving section _{3 second} transmission wave 22 by, then the transmitted wave 22 by the radio wave transmission section _{2 3} of FMCW radar _{1 3} reception of the received wave 23 by transmitting a radio wave receiving section _{3 3,} then receives the FMCW radar _{1 4} of the radio wave transmission section _{2 4} received wave 23 by transmitting a radio wave receiver _{3 4} of the transmission wave 22 by, and, in the radio Transmission / reception is performed in order. In this case, as shown in (a) of FIG. 6, the time interval t1 the radio receiver 3 _1, the next time interval t2 radio receiver 3 _2, time slot t3 follows in the radio receiver 3 ₃ , ... and receiving waves are received, the time period t5 to After round by radio receiver _35, the next time slot t2 at the radio receiver 3 _6, receives the reception wave 23 ... and order Is done.
(Step 02) All FMCW radar _{1 1,} 1 _2, 1 3, _{1 4} after the transmission and reception of radio waves has been completed one round by all FMCW radar _{1 1,} 1 _2, 1 3, _{1 4} of the radio receiver 3 ₁ , 3 ₂ , 3 ₃ , 3 ₄ generate a beat signal from the difference between the transmission wave 22 and the reception wave 23, separate it into reception signal components for each frequency, and receive signal components at the frequency of the position of the monitored person 10. The amplitude and phase are detected, and the amplitude and phase signals are sent to the information mixing unit 4.

  Thus, when the state of the monitored person 10 or the event related to the monitored person 10 is detected by the plurality of radio wave transmitting units 2 and the plurality of radio wave receiving units 3, the collision between the radio waves of each other is detected. The state of the monitored person 10 or the event related to the monitored person 10 can be detected based on the transmission / reception result of each radio wave while suppressing the interference. In addition, a blind spot occurs in the detection of the state of the monitored person 10 or an event related to the monitored person 10, and a specific state of the monitored person 10 or a specific event related to the monitored person 10 cannot be detected. Can be suppressed.

Instead of the process (Step 01), as shown in (b) of FIG. 6, FMCW radar _{1 1,} 1 _2, 1 3, _{1 4,} the received wave and the transmission of the transmission wave 22 for each frequency 23 can also be received. Specifically, for example, as shown in (b) of FIG. 6, a radio wave transmission unit _{2 1} and the radio receiver _{3 1} of FMCW radar _{1 1} first frequency band f1, radio transmission of FMCW radar _{1 2} part _{2 2} and the radio receiver _{3 2} in a first frequency band f2, a radio wave transmission unit _{2 3} and the radio receiver _{3 3} of FMCW radar _{1 3} is a first frequency band f3, the transmission of each transmitted wave 22 Control is performed to receive the reception wave 23. By doing so, at the same time parallel FMCW radar _{1 1,} 1 _2, 1 3, _{1 4,} and in succession, it is possible to perform the reception of the received wave 23 and transmission of the transmitted wave 22.

[Example of detection of “state” and “event” in the information mixing unit 4]
The information mixing unit 4 detects, for example, the state of the monitored person 10 shown in the following [Example 1] and [Example 2] or an event related to the monitored person 10 by a predetermined calculation.

[Example 1: Location]
The state event identification device 1A functions as a “positioning device” according to the present invention. In this case, the information mixing unit 4 transmits the transmission waves transmitted from the respective FMCW radars 1 ₁ ,..., 1 _P (the radio wave transmission units 2 ₁ ,..., 2 _P ) and the (radio wave reception units 3 _1. , 3 ₂ ,... 3 _P ) The grid on which the monitored person 10 is located is specified in three dimensions according to the direction of the received wave and the reflection distance.

Information mixing unit 4, FMCW radar ₁ of a plurality _P, 1 2, of the Coverage of ... _{1 P,} FMCW radar ₁ of a plurality P for the target located in the common _area, 1 2, ... , the distance _d 1 which is measured separately by _{1 P, d 2, ···,} d P over (see FIG. 2), the position _L 1 of the FMCW radar of multiple _P, L 2, · · ·, _{L P} The position of the monitored person 10 is specified as a point or a region separated from each other (see FIG. 2).

[Example 2: Speed calculation]
The state event identification device 1A functions as a “speed calculation device” according to the present invention. In this case, the information mixing unit 4 detects the phase and phase variation of the transmitted wave and the received wave in the line-of-sight direction of each FMCW radar 1 ₁ ,... 1 _P , and converts this to the phase and phase variation in the XYZ directions. By doing so, the state or event change of the monitored person 10 or the speed of the change is detected.

Specifically, information mixing unit 4 first, FMCW radar ₁ of a plurality _P, 1 2, · · ·, among Coverage of _{1 P,} the target located in the common area, FMCW radar plurality P 1 _{1, 1} 2, ..., the phase phi ₁ the range bin _R 1 sensed sequentially sweep individually by _{1 P,} R 2, ..., _{R P} (see FIG. 1), phi _2, ... as the rate of change of phi _P (not shown), FMCW radar plurality _{P 1 1, 1 2, ···} , separate velocity _v for _{1 P 1, v 2, ···} , v P ( not shown ) Then, the state detection unit 5, FMCW radar plurality _{P 1 1, 1 2, ···} , as a vector sum of the velocity _v 1 to v _P with respect to the position of the _{1 P} (not shown), the speed of the monitored person 10 Ask for.

In performing the processes of [Example 1] and [Example 2], the information mixing unit 4 has, for example, a three-dimensional grid having a predetermined size in the room 11 (for example, the X direction, the Y direction, and the Z direction are both large). It is desirable to perform processing based on this grid. Specifically, by specifying in which grid the monitored person 10 exists, it is possible to specify in which position in the room 11 the monitored person 10 exists, or to correspond to the grid in which the monitored person 10 is located. After weighting the values of the received signal components supplied from the respective radio wave receivers 3 ₁ , 3 ₂ , 3 ₃ , 3 ₄ , the sum of the respective amplitudes and phases is obtained, and the average value is obtained. Etc., and the value of the amplitude, phase, and their time change are calculated as the feature quantity.

[Example of detection of “state” and “event” in the state detection unit 5]
The state detection unit 5 uses the detection results of the FMCW radar 1 and the information mixing unit 4 as described above by a predetermined calculation, for example, the state of the monitored person 10 such as [Example 3] and [Example 4] below, Alternatively, an event related to the monitored person 10 is detected.

[Example 3: Recognition of status or event (1)]
The state event identification device 1A functions as a “state event identification device” according to the present invention. In this case, the state event identification apparatus 1A uses one or a plurality of detection results of FMCW radars 1 ₁ , 1 ₂ ,..., 1 _N , that is, a predetermined number N (N ≧ 1). For convenience of explanation, FMCW radar _{1 1,} 1 2 of P (P> 1) shown in FIG. 1 and the like, · · ·, FMCW radar ₁ 1 is at least one of _{1 P, 1} 2, · · Example 3 will be described assuming that 1 _N is used.

In Example 3, the state detection unit 5 of the state event identification device 1A functions as “state event recognition means”. Specifically, the state detection unit 5, FMCW radar _{1 1,} 1 2 of the predetermined number N (≧ 1), · · ·, among Coverage of _{1 N,} the target located in the predetermined area, a predetermined number N FMCW radars 1 ₁ , 1 ₂ ,..., 1 _N individually detected in order of sweep (K ≧≧ 1) range bins (R ₁₁ ,..., R _1K ) to (R _{N1 ,. NK} ) (not shown) and / or a combination history of each phase (φ ₁₁ ,..., Φ _1K ) to (φ _N1 ,..., Φ _NK ) (not shown). As a feature, the state of the monitored person 10 or an event related to the monitored person 10 is recognized.

[Example 4: Recognition of state or event (2)]
The state event identification device 1A functions as a “state event identification device” according to the present invention. In this case, the state event identification apparatus 1A uses one or a plurality of detection results of FMCW radars 1 ₁ , 1 ₂ ,..., 1 _N , that is, a predetermined number N (N ≧ 1). For convenience of explanation, FMCW radar _{1 1,} 1 2 of P (P> 1) shown in FIG. 1 and the like, · · ·, FMCW radar ₁ 1 is at least one of _{1 P, 1} 2, · · Example 4 will be described assuming that 1 _N is used.

In Example 4, the state detection unit 5 of the state event identification device 1A functions as “state event identification means”. Specifically, the state detection unit 5 is configured to monitor at least one of the following (Requirement 1) to (Requirement 7) and / or (Requirement 1) to (Requirement 7) for the monitored person 10. The state of the monitored person 10 or the event is identified based on at least one of the histories.
(Requirement 1) FMCW radar ₁ 1 of a predetermined number N, ... ₁ distance _d 1 is detected by _N, ..., _{d N} (distance _d 1 shown in FIG. 1, corresponding ..., the distance _{d P} ) to over, FMCW radar ₁ 1 of a predetermined number N, ..., the position _L 1 of _{1 N,} ..., _{L N} (position _L 1 shown in FIG. 1, ..., corresponding to the position _{L P)} position of the monitored person 10 calculated as a position spaced from each for (requirement 2) a monitored person 10, FMCW radar 1 ₁ of a predetermined number _N, · · ·, range bin sensed sequentially sweep individually by 1 _N R ₁ to R _{N (R} 1 shown in FIG. 1, ..., corresponding to _{R P)} power _Z 1, ..., a _{Z P} size or power _Z 1 of,., the presence or absence of _{Z P} ( the power _Z 1, · · ·, _{Z P,} each FMCW radar ₁ 1, transmitted in · · · _{1 N} or Indicating the strength of the signal electric wave.)
(Requirement 3) of range bin _R 1 to R _N phase phi ₁ to [phi] _N
(Requirement 4) the phase phi ₁ to [phi] _N is given as a rate of change (not shown), FMCW radar ₁ 1 of a predetermined number N, · · ·, the relative velocity _v 1 of the monitored person 10 for _{1 N} to v _N (Not shown)
(Requirement 5) Electric power W _{1 to} W _M individually consumed in a predetermined number M of areas where the monitored person 10 can be located (not shown. The electric power W _{1 to} W _M is, for example, “night”, “ ("Morning", "○ month x day", etc., indicating the range of time that will be the basis of the life of the monitored person 10)
(Requirement 6) Time zone T in a predetermined number M of regions (not shown. This time zone T is a standard for the life of the monitored person 10 such as “night”, “morning”, “○ month × day”). Show the range of time.)
(Requirement 7) Attribute A of the monitored person 10 (not shown. This attribute A is information about the condition of the monitored person 10 such as the disease of the monitored person 10 and the degree and form of the symptom thereof, or the monitored person. (Information related to events related to the person 10 is shown.)

[Pattern matching]
The state detection unit 5 of the state event identification device 1A detects the state of the monitored person 10 or an event related to the monitored person 10 by pattern matching. This pattern matching is particularly effective in the processes shown in the above [Example 3] and [Example 4].

  Note that this pattern matching can also be used for the processing in [Example 1] and [Example 2]. Specifically, the state detection unit 5 specifies the position shown in [Example 1] and calculates the speed shown in [Example 2] using pattern matching for the calculation result of the information mixing unit 4. In this case, the information mixing unit 4 and the state detection unit 5 function as a “positioning device” or a “speed calculation device” according to the present invention.

  Specifically, the history information recording unit 6 includes a specific state based on past actual measurement data and statistical data, or the state of the received wave 23 and the state of the beat signal in a specific event related to the monitored person 10. Pattern data such as a change state of the transmission wave 22 and the reception wave 23, a change state of the beat signal, a phase state, a phase change rate, and the like are recorded. The state detection unit 5 evaluates the similarity between the feature amount obtained by the information mixing unit 4 and the pattern data, and detects that the monitored person 10 is the operation information of the pattern data. (A linear discriminator is used for similarity evaluation.)

  7 and 8 schematically show pattern data. FIG. 7 is a diagram schematically showing the phase history diagram 31 of the beat signal. The figure shows the systematic change of the beat signal obtained by receiving the transmission wave 22 from the radio wave transmission unit 2 and the reception wave 23 by the radio wave reception unit 3 with the monitored person 10 in the room 11, The vertical axis represents phase, and the horizontal axis represents time. A history line 32 as “pattern data” existing in the history chart 31 shows a systematic phase variation due to breathing and fine movement of the monitored person 10 as a curve.

  When phase and time information as shown in the history line 32 is converted into amplitude characteristics by Fourier transform or the like, amplitude distribution graphs 34a to 34f as "pattern data" as schematically shown in amplitude distribution diagrams 33a to 33f. Form. In the figure, the vertical axis represents the intensity of the received wave 23 received by the radio wave receiver 3, and the horizontal axis represents the beat frequency (that is, the beat frequency increases toward the right (that is, the indoor radio wave receiver 3 is provided). It is a position far from the ceiling. As shown in the same amplitude distribution graphs 34a to 34f, the amplitude distribution graphs 34a and 34b, the amplitude distribution, even if the posture is the same (for example, standing, squatting, sleeping) Patterns such as graphs 34c and 34d are substantially equal. That is, graphs such as the amplitude distribution graphs 34a to 34f are useful for detecting the posture of the monitored person 10.

  On the other hand, (a) to (c) of FIG. 8 schematically show beat signal change speed characteristic diagrams. In the speed change characteristic diagrams 35a to 35c, the vertical axis indicates the speed of phase change (information indicating the difference between the phase of a specific beat signal and the phase angle of the beat signal immediately before), and the horizontal axis indicates time. The speed change graphs 36a to 36c as "pattern data" consisting of are shown. As shown in the figure, the speed change graphs 36a to 36c differ greatly depending on the type of operation. And if operation | movement of the to-be-monitored person 10 is collated with this speed change graph 36a-36c, operation | movement of the to-be-monitored person 10 can be identified. If attribute information (not shown) as “abnormal information” is recorded in “pattern data” indicating an abnormal state such as “falling” in the speed change graph 36c, the speed change graph 36c is displayed. It can be made to function as state recognition information for reporting the abnormality of the monitored person 10.

  In order to reduce the amount of calculation in pattern matching, the feature values obtained by the “pattern data” and the information mixing unit 4 are not the waveform data itself, but statistics (average, variance, kurtosis) representing their period and shape. May be stored as numerical data.

[Processing procedure]
FIG. 9 shows a processing procedure of the state event identification apparatus 1A of this embodiment.

First, the state event identification device 1A transmits a radio wave transmission unit 2 (a radio wave shown in FIG. 1) of a plurality of P FMCW radars 1 (FMCW radars 1 ₁ ,..., 1 _P shown in FIG. 1) to a monitored person 10. the transmission unit ₂ 1, ..., ₂ transmits a transmission wave 22 from _P) in order, the radio receiver 3 of the reflected reception waves 23 each FMCW radar 1 (radio receiver ₃ 1 shown in FIG. 1, & .., 3 _P ) (step S1).

Each radio wave receiving unit 3 detects the amount of fluctuation of each transmission wave 22 and each reception wave 23, generates beat signal and beat frequency information, separates it into reception signal components for each frequency component, and receives each signal The amplitude and phase for each frequency of the signal component are detected (step S2). Each FMCW radar 1 has a distance (distance d ₁ ,..., Distance d _P shown in FIG. 1) and direction from the installed position (position L ₁ ,... Position L _P shown in FIG. 1). The position of the monitored person 10 is detected. Further, each of the FMCW radar 1, individually as a change of the phase phi ₁ to [phi] _P range bin _R 1 to R _P sensed in the order of sweeping, the velocity _v 1 to v _P motion of the monitored person 10, respectively Detect.

The amplitude and phase of each received signal component detected by each FMCW radar 1 are supplied to the information mixing unit 4. Information mixing unit 4, the position _L 1 of each of the FMCW radar 1, bearing and distance _d 1 from ... position _{L P,} based on ... distance _{d P,} corresponding to the three-dimensional grid of a room 11 In addition, the position of the monitored person 10 is specified. Further, the information mixing unit 4 is a vector sum of the direction of motion of the monitored person 10 and the speeds v ₁ ,..., Speed v _P (not shown) of the monitored person 10 individually detected by each FMCW radar 1. Then, the position of the monitored person 10 for obtaining the speed of the monitored person 10 is specified, and the direction and speed of the movement of the monitored person 10 are calculated (step S3).

  Next, signals and data generated by the information mixing unit 4 are supplied to the state detection unit 5. The state detection unit 5 performs pattern matching on the acquired signals and data with “pattern data” acquired from the history information recording unit 6 such as the history line 32, the amplitude distribution graphs 34a to 34f, and the speed change graphs 36a to 36c. (Step S4). As a result of pattern matching, when it is detected that the data matches the specific “pattern data” (“Yes” in step S4), the state detection unit 5 indicates that the monitored person 10 is in the state indicated by “pattern data”. Alternatively, the event relating to the monitored person 10 is treated as a specific event shown in the “pattern data”. As a result of the matching, if the signal or data acquired by the state detection unit 5 from the information mixing unit 4 does not match any “pattern data”, the monitored person 10 may be in a specific state or The process is repeated from step S1 without treating that a specific event relating to the monitor 10 has occurred ("No" in step S4).

  On the other hand, when “abnormal information” is recorded as attribute information in the matched “pattern data” in step S4 and corresponds to an abnormal state (“Yes” in step S6), the abnormality notifying unit 7 displays a monitor (not shown). The abnormality (not shown) is notified to the supervisor (not shown) by displaying a screen (not shown) notifying the abnormality on the display (not shown) of the supervisor terminal (not shown) of the terminal (step S7). . In addition, when “abnormal information” is not recorded as attribute information in the matched “pattern data” in step S4 (“No” in step S6), an abnormality is not reported to a monitor (not shown). The procedure is repeated from step S1.

[Present states and events to be detected]
As the state of the monitored person 10 that can be detected by the state event identification device 1A of this embodiment, or the event related to the monitored person 10, for example, the monitored person 10 is turned over (detected by the frequency and speed of movement on the bed) ), Moving to a predetermined position in the room 11 (for example, a toilet) (detected at the destination), falling or falling, and a specific monitored person 10 among a plurality of monitored persons 10 (for example, individual family members) Identification (for example, identification based on height or living position in the room 11), collision in the room 11 (detected by a sudden change or stop in the moving direction), sitting (detected by a sudden drop in height or moving speed), cough, asthma, etc. Seizures (detected by characteristic movements of the body, especially the upper body), bathing conditions (detected by presence or absence in the bathroom or sudden drop in height in the bathtub, etc.), slip (detected by sudden drop in height), no entry Intrusion into area (detected by location information), standing Outgoing (detected by sudden decrease in moving speed, etc.), collision with falling objects (detected by sudden decrease in height, etc.), movement of each part of body (detected by fluctuation of phase information), location (detected by position information) , A movement route (detected by a history of position information), a state different from normal or an event related to the state (detected by collation with history, etc.), and the like.

[Application example]
In addition to the above configuration and procedure, the state event identification device 1A according to the present embodiment is realized by adding at least one of the configurations of <Application Example 1> and <Application Example 2> shown below. You can also.

<Application example 1>
The state detection unit 5 determines the state of the monitored person 10 based on the frequency, amplitude, phase, etc. acquired based on the transmission wave 22 and the reception wave 23 and the “abnormal information” as the accompanying information. Although an event relating to the monitoring person 10 is detected, the state detection unit 5 further detects information on the surrounding environment of the monitored person 10, information on a predetermined influence factor that affects the surrounding environment of the monitoring person 10, The predetermined attribute information of the monitoring person 10 can be acquired and function as the state recognition information of the monitoring person 10. Specifically, for example, as information on the surrounding environment, a time zone corresponding to each width (range) of the distance from the FMCW radar 1 detected in the order of sweep (see time zone t01 in FIG. 3). The amount of power consumed by each electrical device (for example, an electric light), the time zone in which the monitored person 10 is placed (for example, the time zone of the day such as morning or night, the season of spring, summer, etc.) It is done. The attribute information includes the age, sex, hobby, occupation, disease, etc. of the monitored person 10. Such information is recorded in, for example, the history information recording unit 6 and information for detecting whether the state of the monitored person 10 or the event related to the monitored person 10 is abnormal (for example, in an operation for recognizing whether it is abnormal) , Information giving weights to various values). In addition, for the monitored person 10, history information about the surrounding environment information and attribute information, and other state recognition information is recorded in, for example, the history information recording unit 6, and this history information is stored in the monitored person 10. It can also be used as information for detecting whether the state or the event related to the monitored person 10 is abnormal. By doing in this way, the precision which detects whether it is abnormal can be improved more in the form according to the characteristic of each person 10 to be monitored.

<Application example 2>
When it is necessary to detect the state of the monitored person 10 or an event related to the monitored person 10, the state detecting unit 5 depends on the distance and position of the monitored person 10 relative to the FMCW radar 1 and the moving speed. The occupied bandwidth (the size of “B” shown in FIG. 3) of at least some of the transmission waves 22 among the plurality of FMCW radars 1 can be adjusted. For example, when the monitored person 10 is at a position far from the FMCW radar 1, the state detection unit 5 performs control to make the occupied bandwidth of the FMCW radar 1 larger than normal. The state detection unit 5 also sweeps at least some of the transmission waves 22 of the plurality of FMCW radars 1 depending on the distance, position, and moving speed of the monitored person 10 with respect to the FMCW radars 1 (FIG. 3). The size of “Ts” shown in FIG. For example, when the monitored person 10 is at a position far from the FMCW radar 1, the state detection unit 5 performs control to make the sweep cycle of the FMCW radar 1 larger than normal. Thereby, the width (range) of the distance from the FMCW radar 1 can be finely divided, or the minute vibration and movement of the monitored person 10 can be easily detected, so that the detection accuracy can be improved.

  As described above, in this embodiment, it is possible to include the position of a target as an item of a state or event related to a desired target under the use of the FMCW radar 1.

  Further, in this embodiment, the state of the target and the event that has occurred in the target are achieved with high accuracy and high accuracy without losing the protection of privacy.

  Further, in this embodiment, various targets are monitored and watched over by using the existing hardware resource FMCW radar 1 or in cooperation with a predetermined number of FMCW radars 1 for information processing and radar signal processing. As realized.

In the above-described embodiment, the state event identification device 1A includes a plurality of P (P> 1) FMCW radars 1 ₁ , 1 ₂ ,..., 1 _P. The configuration may include N (N ≧ 1) FMCW radars 1 ₁ , 1 ₂ ,..., 1 _N.

  In the above embodiment, the “target” is the monitored person 10, but is not limited thereto, and may be an animal other than a human being, a plant, various machines, or the like.

  The above embodiment is an exemplification of the present invention, and it is needless to say that the present invention is not limited to the above embodiment.

1A: State event identification device (positioning device, speed calculation device, state event identification device)
1, 1 ₁ , 1 ₂ ,... 1 _P ... FMCW radar 2, 2 ₁ , 2 ₂ ,... 2 _P ... Radio wave transmission unit (radio wave transmission means)
3, 3 ₁ , 3 ₂ ,... 3 _P ... Radio wave receiver (radio wave receiver)
4. Information mixing unit (position specifying means, speed calculating means)
5 ... Status detection unit (status event recognition means, status event identification means)
6 ... History information recording unit (abnormal state recognition means)
7: Abnormality reporting unit (abnormal state recognition means)
10 ... Monitored person (target)
29 ... phase _{d 1,} ···, d P ··· distance _{L 1,} ···, L P ··· position _{R 1,} ···, R P ··· range bin

Claims (4)

The position L ₁ of the multiple P FMCW radars over the distances d _{1 to} d _P individually measured by the multiple P FMCW radars for targets located in a common area among the coverage areas of the multiple P FMCW radars. as a point or region spaced from each ~L _P, positioning device characterized by comprising a position specifying means for specifying a position of said target. Of Coverage of the FMCW radar of the plurality P, the target located in the common area, the change in the phase phi ₁ to [phi] _P range bin _R 1 to R _P sensed in the order of sweeping individually by FMCW radar of the plurality P as a percentage, a speed calculating means for determining the individual velocity _v 1 to v _P for FMCW radar of the plurality P,
A speed calculation device comprising: vector speed calculation means for obtaining the target speed as a vector sum of the speeds v _{1 to} v _P with respect to the positions of the plurality of P FMCW radars. Among the coverage areas of the predetermined number N (≧ 1) of the FMCW radars, K (≧ 1) range bins (in the order of sweeping individually detected by the predetermined number N of FMCW radars) for the targets located in the predetermined area ( _{R 11, ..., R 1K)} ~ (R N1, ..., each phase of the _{R NK) (φ 11, ...} , φ 1K) ~ (φ N1, ..., and the combination of phi _NK), and history of the combination A state event identification device characterized by comprising state event recognition means for recognizing the state of the target or an event related to the target as a feature of both or any one of the above. A state event identification device for identifying a state of a target located in a coverage area of a predetermined number N (≧ 1) of FMCW radar or an event related to the target,
A position calculated with respect to the target as positions separated from the positions L _{1 to} L _{N of} the predetermined number N of FMCW radars over the distances d _{1 to} d _N detected by the predetermined number N of FMCW radars;
For the target, and the presence or absence of power _Z 1 to Z _P size or said power _Z 1 to Z _P range bin _R 1 to R _N which is detected in the order of sweeping individually by FMCW radar of the predetermined number N,
And phase phi ₁ to [phi] _N of the range bin _R 1 to R _N,
And the relative velocity _v 1 to v _N for the FMCW radar of a predetermined number N of the target given as the rate of change of the phi ₁ to [phi] _N,
Powers W _{1 to} W _M individually consumed in a predetermined number M of regions where the target may be located;
A time zone T in the predetermined number M of regions;
State event identification means for identifying the state or the event based on the characteristics of both or any one of the combination consisting of all or part of the target attribute A and the history of the combination A state event identification device characterized by the above.