JP2020109390A - Estimation method and estimation device - Google Patents

Abstract

To provide an estimation method, etc., with which it is possible to efficiently identify a living body.SOLUTION: The estimation method includes: transmitting a transmit signal using M transmit antenna elements, receiving a receive signal received by each of N receive antenna elements, and calculating a first matrix composed of each complex transfer function that indicates propagation characteristic between each transmit antenna element and each receive antenna element from each receive signal having been received (S21); estimating the position and direction of a living body relative to an estimation device 10 using the first matrix (S22); when the estimated position lies in a first identification area and the estimated direction lies within a prescribed range from a first direction, identifying a first living body on the basis of the time waveform of the receive signal and a first teacher signal that corresponds to a previously acquired living body in the first identification area (S24); and adding a new identification area based on the estimated position of the identified first living body as an identification area for identifying the identified first living body (S28).SELECTED DRAWING: Figure 7

Description

The present disclosure relates to an estimation method and an estimation device that irradiate a living body with a wireless signal and receive a reflection signal thereof to identify the living body.

A technique is known in which a living body is irradiated with a wireless signal and the reflected signal is received to identify the living body (for example, Patent Document 1). Patent Document 1 discloses a device for identifying an individual driver by irradiating a driver of an automobile with electromagnetic waves and using the reflected waves to extract heartbeat and heart sound signals. Further, Non-Patent Document 2 discloses a method of identifying a living body by installing an antenna around a subject using a wireless signal. In addition, Patent Documents 2 to 5 disclose methods of irradiating a living body with a wireless signal to estimate the position, orientation, and behavior of the living body.

Further, for example, Patent Document 6 discloses a method of performing personal identification using a radar. Further, for example, Patent Document 7 discloses a method of performing vital data acquisition and position tracking using a radar. Further, Non-Patent Document 1 discloses a method for estimating the orientation of a person using a wireless signal, and Non-Patent Document 2 discloses a method for identifying a living body of a person using a wireless signal.

JP, 2017-144132, A JP, 2018-8021, A JP, 2018-112540, A Special table 2017-508149 gazette JP, 2018-29671, A JP, 2008-75406, A JP, 2005-85065, A JP 2002-256644 A

Nobuyuki Shiraki, Zhixiong Chen, Dai Sasakawa, Naoki Honma, Takeshi Nakayama, and Shoichi Iizuka, “Method of Estimating Human Orientation Using Array Antenna”, URL: https://www.mdpi.com/2079-9292/7/6/ 92 Dai Sasakawa, Naoki Honma, Takeshi Nakayama, and Shoichi Iizuka, “Human Identification Using MIMO Array”, IEEE SENSORS JOURNAL, VOL. 18, NO. 8, APRIL 15, 2018, URL: https://ieeexplore.ieee.org/ document/8283708

By the way, in biometric identification using electromagnetic waves, biometric identification is often performed in a state where the subject and the antenna are relatively close to each other as disclosed in Patent Document 1 or Non-Patent Document 2.

However, when personal identification is performed in a small area such as the driver's seat or a private room, the constraint that the distance between the subject and the antenna is short is not a problem, but there is a problem that it is difficult to use in situations such as daily life.

The present disclosure has been made in view of the above circumstances, and provides an estimation device and an estimation method that can perform living body identification using electromagnetic waves even in a state where a subject and an antenna are apart from each other, such as indoors. The purpose is to

In order to achieve the above object, an estimation method according to an aspect of the present disclosure includes M (M is a natural number of 2 or more) transmitting antenna elements and N (N is a natural number of 2 or more) receiving antenna elements. An estimation method using an estimation device including an antenna section and a memory, wherein a transmission signal is transmitted to a region to be measured using the M transmission antenna elements and received by each of the N reception antenna elements. A received signal including a reflected signal in which the transmitted signal transmitted from each of the M transmitting antenna elements is reflected by the first living body, and is received by each of the N receiving antenna elements. From each of the N received signals received in a predetermined period, a component of each complex transfer function indicating a propagation characteristic between each of the M transmit antenna elements and each of the N receive antenna elements is added. And calculating a first matrix of M×N, and using the calculated first matrix, the N sets of the positions of the first living body and the orientations of the first living body with respect to the estimation device. Of the received signals are sequentially estimated in the order in which the received signals are received, and for each of the plurality of sequentially estimated groups, (i) the position of the first living body of the group is the measurement target region, The identification area is within the first identification area prestored in the memory, and (ii) the orientation of the first living body of the set is within a predetermined range based on the direction prestored in the memory. It is determined whether the orientation, the position of the estimated first living body of the set is within the first identification region, and the orientation of the estimated first living body of the set is within the predetermined range. If the orientation, the first waveform is identified based on the time waveform of the received signal and the first teacher signal corresponding to the second living body, which is acquired in advance in the first identification area, and is estimated. A new identification area based on information indicating the next position of the completed first living body is added as the identification area for identifying the identified first living body.

An estimation method according to another embodiment of the present disclosure includes an antenna unit including M (M is 3 or more) transmitting antenna elements and N (N is 3 or more) receiving antenna elements, and a memory. An estimation method by an estimation device, wherein the memory includes a vertical position, which is a position in a vertical direction in which the first living body exists with respect to the estimation device, and a temporal change in an RCS (Rader cross-section) value, and the first position. Information that indicates a correspondence relationship with one living body is stored, and at least three transmitting antenna elements of the M transmitting antenna elements are arranged at different positions in the vertical direction and the horizontal direction, respectively. At least three receiving antenna elements of the N receiving antenna elements are arranged at different positions in the vertical direction and the horizontal direction, respectively, and in the estimation method, the M transmitting antenna elements are used in the measurement target region. A signal received by each of the N receiving antenna elements, the transmitting signal being transmitted by each of the M transmitting antenna elements is reflected by the first living body. A reception signal including a signal is received, and each of the M transmission antenna elements and the N transmission antenna elements is received from each of the N reception signals received in a predetermined period in each of the N reception antenna elements. A first matrix of M×N having each complex transfer function indicating a propagation characteristic with each of the receiving antenna elements as a component is calculated, and the first matrix calculated is used to calculate the first matrix for the estimation device. A three-dimensional position in which one living body is present, and a set of a three-dimensional position including the vertical position and a direction of the first living body is sequentially estimated in a time series that is the order in which the N received signals are received, For each of the plurality of three-dimensional positions that are sequentially estimated, the RCS value for the first living body is sequentially calculated based on the three-dimensional position, the position of the transmitting antenna element, and the position of the receiving antenna element. Then, using the plurality of three-dimensional positions that are sequentially estimated, the temporal change of the sequentially calculated RCS value, and the information indicating the correspondence relationship stored in the memory, the plurality of groups First, the posture of the first living body in each of the above is sequentially estimated, and in the estimated set, the three-dimensional position of the set is stored in advance in the memory as an identification region of the measurement target region. Based on the first direction that is in the identification area and the orientation of the first living body of the set is previously stored in the memory. It is determined whether or not the orientation of the first living body in the set matches the first orientation stored in advance in the memory, and the estimated first The three-dimensional position of the living body is within the first identification area, the orientation of the first living body of the set is within the predetermined range, and the posture of the first living body in the set is the first orientation. If it matches the posture, the temporal waveform of the received signal, and previously acquired in the first identification region, the first living body is identified based on the first teacher signal corresponding to the second living body, and estimated. A new identification area based on information indicating the next position of the identified first biological body is added as the identification area for identifying the identified first biological body.

Note that these general or specific aspects may be realized by a recording medium such as a system, a device, an integrated circuit, a computer program or a computer-readable CD-ROM, and the system, the device, the integrated circuit, the computer. It may be realized by any combination of the program and the recording medium.

According to the estimation method and the estimation device according to the present disclosure, it is possible to perform living body identification using electromagnetic waves even in a state where the distance between the subject and the antenna is large, such as indoors.

FIG. 1 is a configuration diagram showing an example of the configuration of the estimation device according to the first embodiment. FIG. 2 is a configuration diagram showing an example of a detailed configuration of the circuit shown in FIG. FIG. 3 is a diagram showing an example of the movement of the subject in the first embodiment. FIG. 4 is a diagram showing an example of teacher data stored in the memory according to the first embodiment. FIG. 5 is a diagram showing an example of the teacher signal shown in FIG. FIG. 6 is a flowchart showing an example of the initial operation of the estimation device in the first embodiment. FIG. 7 is a flowchart showing an example of the operation of the estimation device in the first embodiment. FIG. 8 is a diagram showing an example of the propagation channel calculated from the received signal. FIG. 9 is a configuration diagram showing an example of the configuration of the estimation device in the second embodiment. FIG. 10 is a configuration diagram showing an example of a detailed configuration of the circuit shown in FIG. FIG. 11 is a diagram showing an example of teacher data stored in the memory according to the second embodiment. FIG. 12 is a flowchart showing an example of the operation of the estimation device according to the second embodiment.

(Findings that form the basis of this disclosure)
In Patent Document 1, a person sitting in a driver's seat of an automobile is irradiated with an electromagnetic wave, and a reflected wave from the person is measured. Then, heartbeats or heart sounds are measured by performing arithmetic processing on the measured results, and biometric identification is realized by acquiring the time correlation of the measured heartbeats or heart sounds. However, as described above, the method of Patent Document 1 has a problem that it can be operated only in a limited environment where the positions of the subject and the antenna can be specified in a narrow space such as a driver's seat. Therefore, in situations such as indoor daily life, it is required to perform personal identification in an environment in which the antenna and the subject are separated from each other and the positional relationship between the antenna and the subject is flexible.

As a result of repeated research on this problem, the inventors have found out the following in order to perform biometric identification using electromagnetic waves even when the distance between the subject and the antenna is large, such as indoors. That is, by installing an antenna element around the room where the identification target is active, transmitting transmitted waves from various directions, and receiving reflected waves and scattered waves in various directions, more characteristics of the living body can be obtained. Acquire the supplemented received signal. Since the received signal changes a little depending on the distance between the living body and the antenna, the direction and the posture of the living body, the teacher data is acquired while estimating the position, orientation and posture of the living body from the received signal in order to identify the living body. Then, the position, orientation, and posture of the living body are stored as an identification position. Then, by calculating the correlation with the teacher data when the subject has the same orientation and posture at the identification position, it is possible to determine whether or not there is a living body to be measured in the teacher data even in a region such as a living space. We have found that they can be accurately identified.

More specifically, in order to achieve the above object, an estimation method according to an aspect of the present disclosure includes M (M is a natural number of 2 or more) transmission antenna elements and N (N is a natural number of 2 or more). Is an estimation method using an estimation device including an antenna unit including the receiving antenna elements and a memory, wherein the M transmitting antenna elements are used to transmit a transmission signal to a region to be measured, and the N receiving antennas are used. A signal received by each of the elements, wherein the transmitted signal transmitted from each of the M transmit antenna elements receives a received signal including a reflected signal reflected by a first living body, Shows a propagation characteristic between each of the M transmission antenna elements and each of the N reception antenna elements from each of the N reception signals received by each of the reception antenna elements in a predetermined period. A first matrix of M×N having each complex transfer function as a component is calculated, and using the calculated first matrix, the position where the first living body exists with respect to the estimation device and the orientation of the first living body. Is sequentially estimated in a time series in the order in which the N received signals are received, and (i) the position of the first living body of the set is measured for each of the plurality of sequentially estimated sets. Of the target areas, the orientation is within the first identification area prestored in the memory as the identification area, and (ii) the orientation of the first living body of the set is based on the direction prestored in the memory. It is determined whether or not the orientation is within a predetermined range, and the position of the first living body of the estimated set is within the first identification region, and the orientation of the estimated first living body of the set is determined. Is in the predetermined range, the first living body is identified based on the time waveform of the received signal and the first teacher signal corresponding to the second living body, which is acquired in advance in the first identification area. A new identification region based on the estimated information indicating the next position of the identified first living body is added as the identification region for identifying the identified first living body.

According to this, after the living body is identified in the position in the first identification area already stored in the memory and in the orientation within the predetermined range, the identified living body is outside the first identification area. When moving to the position of, the new identification region based on the position of the movement destination is added as an identification region for identifying the identified first living body. Therefore, when the living body is identified next time, the first living body can be identified even in a new identification area other than the first identification area, so that the first living body can be efficiently identified.

In addition, in the addition of the identification area, (i) the position of the first living body after the identification is continuously tracked at a predetermined time interval based on the estimation result by the estimation, and (ii) the first identification area When stationary for a predetermined time or more in a second identification region different from, the received signal at the predetermined time, the position of the first living body estimated using the received signal, and based on the orientation of the first living body, Generating a second teacher signal in the second identification area, (iii) adding the generated second teacher signal as a teacher signal for identifying the identified first living body in the second identification area, In the identification of the first living body, the first living body in the first identification area is identified using the first teacher signal, and the first living body in the second identification area is identified using the second teaching signal. May be.

According to this, in the second identification area, the first living body in the second identification area can be identified by using the second teacher signal, so that the first living body is defined as both the first identification area and the second identification area. Can be identified by. Therefore, next, when identifying the first living body, the first living body can be efficiently identified.

Further, further, based on the estimation result, when it is estimated that the first living body is stationary for the predetermined time or more in the first identification region or the second identification region, a time waveform of the received signal, The first living body may be identified based on the first teacher signal and the second teacher signal corresponding to the second living body, which are acquired in advance in the first identifying area or the second identifying area.

An estimation method according to another aspect of the present disclosure includes an antenna unit including M (M is 3 or more) transmitting antenna elements and N (N is 3 or more) receiving antenna elements, and a memory. An estimation method by an estimation device, wherein the memory includes a vertical position, which is a position in a vertical direction in which the first living body exists with respect to the estimation device, and a temporal change in an RCS (Rader cross-section) value, and the first position. Information that indicates a correspondence relationship with one living body is stored, and at least three transmitting antenna elements of the M transmitting antenna elements are arranged at different positions in the vertical direction and the horizontal direction, respectively. At least three receiving antenna elements of the N receiving antenna elements are arranged at different positions in the vertical direction and the horizontal direction, respectively, and in the estimation method, the M transmitting antenna elements are used in the measurement target region. A signal received by each of the N receiving antenna elements, the transmitting signal being transmitted by each of the M transmitting antenna elements is reflected by the first living body. A reception signal including a signal is received, and each of the M transmission antenna elements and the N transmission antenna elements is received from each of the N reception signals received in a predetermined period in each of the N reception antenna elements. A first matrix of M×N having each complex transfer function indicating a propagation characteristic with each of the receiving antenna elements as a component is calculated, and the first matrix calculated is used to calculate the first matrix for the estimation device. A three-dimensional position in which one living body is present, and a set of a three-dimensional position including the vertical position and a direction of the first living body is sequentially estimated in a time series that is the order in which the N received signals are received, For each of the plurality of three-dimensional positions that are sequentially estimated, the RCS value for the first living body is sequentially calculated based on the three-dimensional position, the position of the transmitting antenna element, and the position of the receiving antenna element. Then, using the plurality of three-dimensional positions that are sequentially estimated, the temporal change of the sequentially calculated RCS value, and the information indicating the correspondence relationship stored in the memory, the plurality of groups First, the posture of the first living body in each of the above is sequentially estimated, and in the estimated set, the three-dimensional position of the set is stored in advance in the memory as an identification region of the measurement target region. Based on the first direction that is in the identification area and the orientation of the first living body of the set is previously stored in the memory. It is determined whether or not the orientation of the first living body in the set matches the first orientation stored in advance in the memory, and the estimated first The three-dimensional position of the living body is within the first identification area, the orientation of the first living body of the set is within the predetermined range, and the posture of the first living body in the set is the first orientation. If it matches the posture, the temporal waveform of the received signal, and previously acquired in the first identification region, the first living body is identified based on the first teacher signal corresponding to the second living body, and estimated. A new identification area based on information indicating the next position of the identified first biological body is added as the identification area for identifying the identified first biological body.

According to this, after the living body is identified in the position in the first identification region already stored in the memory, the orientation within the predetermined range, and the first posture, the identified living body is When moving to a position outside the first identification region, a new identification region based on the position of the movement destination is added as an identification region for identifying the identified first living body. Therefore, when the living body is identified next time, the first living body can be identified even in the new identification area other than the first identification area, and the first living body can be efficiently identified.

In addition, in the addition of the identification area, (i) the position of the first living body after the identification is continuously tracked at a predetermined time interval based on the estimation result by the estimation, and (ii) the first identification area And the three-dimensional position of the first living body estimated using the received signal at the predetermined time, and the orientation of the first living body when the stationary body is stationary for a predetermined time or more in one or more second identification regions different from , And a second teacher signal in the second identification area based on the posture of the first living body, and (iii) the generated second teacher signal in the second identification area. It is stored in the memory as a teacher signal for identifying a living body, and in the identification of the first living body, the first living body in the first identification area is identified using the first teaching signal, and the second teaching signal is stored. May be used to identify the first living body in the second identification area.

According to this, in the second identification area, the first living body in the second identification area can be identified by using the second teacher signal, so that the first living body is identified as the first identification area and the second identification area Can be identified by. Therefore, next, when identifying the first living body, the first living body can be efficiently identified.

Furthermore, based on the estimation result, when the first living body is stationary in the first identification area or the second identification area for the predetermined time or more, the time waveform of the received signal and the first identification The first living body may be identified based on the first teacher signal and the second teacher signal corresponding to the second living body, which are acquired in advance in the area or the second identification area.

Note that these general or specific aspects may be realized by a recording medium such as a system, a device, an integrated circuit, a computer program or a computer-readable CD-ROM, and the system, the method, the integrated circuit, the computer. It may be realized by any combination of the program and the recording medium.

Hereinafter, embodiments of the present disclosure will be described in detail with reference to the drawings. It should be noted that each of the embodiments described below shows a preferred specific example of the present disclosure. Numerical values, shapes, materials, constituent elements, arrangement positions and connection forms of constituent elements, steps, order of steps, and the like shown in the following embodiments are examples, and are not intended to limit the present disclosure. Further, among the constituent elements in the following embodiments, constituent elements that are not described in the independent claims showing the highest concept of the present disclosure will be described as arbitrary constituent elements that constitute a more preferable form. In this specification and the drawings, constituent elements having substantially the same functional configuration are designated by the same reference numerals, and a duplicate description will be omitted.

(Embodiment)
[Configuration of estimation device 10]
FIG. 1 is a configuration diagram illustrating an example of the configuration of the estimation device 10 according to the embodiment. FIG. 2 is a configuration diagram showing an example of a detailed configuration of the circuit 40 shown in FIG.

The estimation device 10 according to the present disclosure includes transmission/reception units 30A to 30H each having antenna elements 31A to 31H, a circuit 40, and a memory 41. In the transceivers 30A to 30H, the total number of transmitting antenna elements is M (M is a natural number of 2 or more), and the total number of receiving antenna elements is N (N is a natural number of 2 or more).

The transmitting/receiving sections 30A to 30H are arranged at two or more locations (eight locations in this embodiment). In the present embodiment, the transmitting/receiving sections 30A to 30H each have, for example, four corners of the predetermined area A1 and the center of four sides when a square room 6 m long×6 m wide in plan view is defined as the predetermined area A1. It is arranged in 8 places. Each of the transceivers 30A to 30H has an array antenna composed of four antenna elements arranged in the horizontal direction. As a result, 32 transmitting antenna elements and 32 receiving antenna elements are arranged around the predetermined area A1. The above is an example of the arrangement of the array antennas, and the array antennas may be arranged only at the four corners of the predetermined area A1, may be arranged only at the four sides, or may be arranged at the four sides. It may be arranged at any of the sides and the corners at both ends thereof. The transmitting antenna element and the receiving antenna element may be arranged at the same position or different positions. That is, the array antenna may be arranged in any manner as long as it is arranged in two or more different places so as to surround the periphery of the predetermined area A1.

The M transmission antenna elements transmit the transmission signal to the predetermined area A1 including the living body 50. The transmission signal is a high-frequency signal such as a microwave generated by a transmitter or the like. The living body 50 is a human being or the like. The living body 50 is an identification target of the estimation device 10 and is a living body for which biometric authentication is performed. The predetermined area A1 is a space having a predetermined range and including the living body 50. The predetermined area A1 is an area to be measured for identifying the living body 50.

The M transmission antenna elements transmit the first transmission signal to the predetermined area A1 including the first living body, which is the living body 50 to be measured, for example. Further, the M transmission antenna elements transmit the second transmission signal to the predetermined area A1 including the second living body which is the known living body 50 as the teacher data.

The transmission/reception units 30A to 30H receive signals that are signals received by each of the N receiving antenna elements and that include a reflected signal that is a transmission signal transmitted from each of the M transmitting antenna elements and reflected by the living body 50. A signal is received in a predetermined period. For example, the transmission/reception units 30A to 30H receive the first reception signal including the reflection signal obtained by reflecting the first transmission signal by the first living body for a predetermined period by using the reception antenna elements included in the transmission/reception units. In addition, for example, the transmission/reception units 30A to 30H use the reception antenna elements included in the transmission/reception units 30A to 30H for the predetermined period of the first teacher signal, which is the second reception signal including the reflection signal obtained by reflecting the second transmission signal by the second living body. It is received for a period of K times (K is 2 or more).

In this embodiment, the estimation device 10 includes, for example, eight transceivers 30A to 30H, a circuit 40, and a memory 41, as shown in FIG. That is, the M transmitting antenna elements and the N receiving antenna elements may be configured by the antenna elements 31A to 31H included in the eight transmitting/receiving units 30A to 30H. The number of transmitting/receiving units is not limited to eight.

[Transmitting/receiving unit 30A to 30H]
In the present embodiment, the eight transmission/reception units 30A to 30H are arranged at positions around the predetermined area A1, and transmit the transmission signal to the predetermined area A1 including the living body 50 such as a human, so that the living body 50 is transmitted. The received signal including the reflected signal reflected by is received. For example, the eight transmission/reception units 30A to 30H may be arranged in a circle at equal intervals, or may be arranged in the corners or the centers of the sides of the predetermined area A1.

As shown in FIG. 1, the transmission/reception units 30A to 30H have four antenna elements 31A to 31H, respectively. The transmission/reception units 30A to 30H use the antenna elements 31A to 31H to transmit the transmission signal to the predetermined area A1. More specifically, the transmission/reception units 30A to 30H emit microwaves as transmission signals to the living body 50 such as a human using the antenna elements 31A to 31H. The transmitting/receiving sections 30A to 30H may use the antenna elements 31A to 31H to transmit unmodulated transmission signals or may transmit modulated transmission signals. When transmitting the transmission signal subjected to the modulation processing, the transmission/reception units 30A to 30H may further include a circuit for performing the modulation processing.

In addition, the transmission/reception units 30A to 30H use the antenna elements 31A to 31H to receive a reception signal including a reflection signal, which is a signal in which the transmission signal is reflected by the living body 50, for a predetermined period. The transceivers 30A to 30H output the received signals received to the circuit 40. Each of the transmission/reception units 30A to 30H may include a circuit for processing a received signal. In this case, each of the transmission/reception units 30A to 30H may frequency-convert the received signal received and convert it into a low-frequency signal. Further, each of the transmission/reception units 30A to 30H may perform demodulation processing on the received signal. Then, each of the transmission/reception units 30A to 30H outputs a signal obtained by performing frequency conversion and/or demodulation processing to the circuit 40.

In the example shown in FIG. 1, the transmission unit and the reception unit are expressed as being composed of eight transmission/reception units 30A to 30H each having four antenna elements common for transmission and reception, respectively. , But not limited to this. The eight transceivers 30A to 30H are not limited to eight, and may be composed of two or more transceivers. Further, the transmitting unit having the transmitting antenna element and the receiving unit having the receiving antenna element may be separately provided. Further, one transmission/reception unit has four antenna elements that share four transmissions/receptions, but may have four transmission antenna elements and four reception antenna elements. Further, each transmission/reception unit has four antenna elements, but the number of antenna elements is not limited to four and may be any number of antenna elements as long as it has two or more antenna elements.

In addition, in FIG. 1, the estimation apparatus 10 exemplifies a configuration including eight transceivers 30A to 30H and one circuit 40, but the present invention is not limited to this, and one transceiver is provided for each transceiver. The configuration may include the individual circuits 40, and in the case of the configuration including the plurality of circuits 40 as described above, the post-stage processing by the circuits 40 may be distributed.

[Circuit 40]
The circuit 40 executes various processes for operating the estimation device 10. The circuit 40 includes, for example, a processor that executes a control program and a volatile storage area (main storage device) used as a work area used when the control program is executed. This storage area is, for example, a RAM (Random Access Memory).

The circuit 40 temporarily stores the first reception signal acquired from each of the N reception antenna elements in the storage area for a predetermined period. The circuit 40 may temporarily store the phase and amplitude of the first reception signal in the storage area for a predetermined period. In the present embodiment, the circuit 40 temporarily stores the reception signals acquired from each of the transmission/reception units 30A to 30H in the storage area for a predetermined period.

The circuit 40 may be configured by a dedicated circuit for performing various processes for operating the estimation device 10. That is, the circuit 40 may be a circuit that performs software processing or a circuit that performs hardware processing. Further, the circuit 40 may have a non-volatile storage area.

Subsequently, the functional configuration of the circuit 40 will be described.

As shown in FIG. 2, the circuit 40 includes a first matrix calculation unit 410, an estimation unit 411, a determination unit 412, a biometric identification unit 413, and an addition unit 414.

<First matrix calculation unit 410>
The first matrix calculation unit 410 transmits a known signal for measuring a complex transfer function using M transmitting antenna elements. Then, the first matrix calculation unit 410 estimates by dividing the received signal received by each of the N receiving antennas by the known signal.

More specifically, first, the first matrix calculation unit 410 calculates each first matrix H(t) using the received signal and the known signal stored in the memory 41.

Here, a first array obtained when a MIMO (Multiple-Input and Multiple-Output) array antenna including M _r receiving antenna elements and M _t transmitting antenna elements is arranged around a predetermined area A1. The matrix H(t) is represented by the following (Formula 1).

In (Equation 1), h _ij indicates the complex channel response from the j-th transmitter to the i-th receiver, and t indicates the observation time.

As described above, the first matrix calculation unit 410 receives each of the M transmission antenna elements and each of the N reception signals from each of the N reception signals received in the predetermined period in each of the N reception antenna elements. An M×N first matrix having each complex transfer function indicating the propagation characteristic between each antenna element as a component is calculated. That is, the first matrix calculation unit 410 uses the N received signals observed in the transmission/reception units 30A to 30H for a predetermined period, and the M transmission antenna elements and the N reception antenna elements are in one-to-one correspondence. For each of M×N combinations, which are all possible combinations when combined, a complex transfer function representing the propagation characteristics between the transmitting antenna element and the receiving antenna element in the combination is calculated to obtain M×N. Compute the N complex transfer function matrix as the M×N first matrix.

<Estimation unit 411>
The estimation unit 411 sequentially estimates the set of the position where the living body exists and the orientation of the living body with respect to the estimation device 10 in time series, which is the order in which the N received signals are received, using the calculated first matrix. The estimation unit 411 refers to the calculated first matrix and estimates the position and orientation of the living body existing in the predetermined area A1 by using the method described in Patent Document 2 or Non-Patent Document 1, for example.

<Determination unit 412>
The determination unit 412, for each of the plurality of sets that are sequentially estimated, the position of the living body of the set is within the first identification region that is stored in advance in the memory 41 as the identification region of the predetermined region A1, and It is determined whether or not the orientation of the living body of the set is within a predetermined range based on the orientation stored in the memory 41 in advance. Specifically, the determination unit 412 refers to the identification area of the teacher data 42 stored in the memory 41, and determines the first teacher position of the living body linked to the first teacher area in the referenced identification area, Also, refer to the direction for the first teacher. Here, the first identification region of the identification regions is a first teacher signal, a first teacher position that is the position of the living body when the first teacher signal is received, and a first teacher orientation that is the direction of the living body. And the identification information (living body ID) for identifying the living body are associated with each other. The identification information is, for example, an identification number or a character string that uniquely identifies the living body. For example, the determination unit 412 first determines that the position is within a range of ±25 cm of the reference first teacher position, and that the direction is within a range of ±20 degrees of the reference first teacher position. As a condition of the identification region, the estimated position of the living body existing in the predetermined region A1 obtained by the estimation unit 411 and the estimated orientation are the first determination region condition over the first determination time or more, for example, 5 seconds or more. It is determined whether or not the condition is satisfied.

Here, the first determination time is not limited to 5 seconds or more, and may be set to a long time of more than 5 seconds if further reliability is desired, or if the determination is performed in a short time. It may be set to a short time of less than 5 seconds. Further, the position range of the first identification area is not limited to the range of ±25 cm of the reference position, and the orientation range of the first identification area is not limited to the range of ±20 degrees of the reference direction. .. It goes without saying that the time, position range, or direction range may be increased or decreased according to the requirements of the application destination.

<Biometric identification unit 413>
When the determination unit 412 determines that the living body satisfies the condition of the first identification region, the living body identification unit 413 includes a time waveform of the received signal and a first teacher corresponding to the living body previously acquired in the first identification region. Based on the signal, biometric identification is performed using, for example, the method described in Non-Patent Document 2. Specifically, the biometric identification unit 413 calculates a plurality of correlation coefficients from the teacher signal and the M×N received signals obtained by receiving the received signals, and the calculated plurality of correlation coefficients. Is used to determine whether the first living body and the second living body are the same, thereby identifying the first living body. The biometric identifying unit 413 identifies the biometric identification information associated with the first teacher signal in the first identification area stored in the memory 41, and outputs or stores the biometric identification result in the memory 41.

When the teacher data stored in the memory 41 already includes a plurality of teacher signals corresponding to a plurality of second living bodies in the same first teacher position and first teacher orientation, The biometric identification may be performed for each of the plurality of teacher signals. In this case, the living body identification unit 413 identifies the first living body as the second living body determined to be the same as the first living body among the plurality of second living bodies.

<Additional part 414>
The adding unit 414 adds a new identification area based on the next position as an identification area for identifying the identified living body, based on the information indicating the next position of the living body where the identified living body is estimated next. To do. As a result, in the teacher data 42 of the memory 41, a new second identification area is added to the first identification area for identifying the first living body. Specifically, when the living body is already identified by the living body identifying unit 413, the adding unit 414 uses a plurality of estimation results periodically obtained by the estimating unit 411, such as at intervals of 0.5 seconds. Then, the living body is continuously tracked. The adding unit 414 may follow the living body, for example, by generating a movement trajectory of the living body based on a plurality of estimation results.

Further, the addition unit 414 is the received signal at the second determination time and the position of the living body estimated by using the received signal when the stationary unit remains stationary in the second identification region different from the first identification region for the second determination time or longer. A second teacher signal in the second identification area is generated based on the second teacher position and the second teacher orientation that is the orientation of the living body. The second teacher signal has a different waveform than the first teacher signal. Specifically, the adding unit 414 makes a second determination at a position and an orientation in which the living body does not match any one of the first teacher position and the first teacher orientation that are the criteria for the condition of the first identification region. The process is performed using the determination result of the determination unit 412, which indicates whether or not the device has been stationary for a time or more, for example, 5 seconds or more. The second determination time may be the same as or different from the first determination time. Then, when the determining unit 412 determines that the living body whose living body has been identified has stopped at the position and the orientation for the second determination time or longer, the adding unit 414 sets the position as the second teacher position and sets the orientation. The second teacher data is generated by linking the second teacher position and the second teacher direction with the second teacher signal, which is the received signal obtained at the second determination time, as the second teacher direction. The second determination time is not limited to 5 seconds and may be 10 seconds, 15 seconds, or the like.

After that, the adding unit 414 stores the generated second teacher data in the memory 41 as the second identification area. That is, the adding unit 414 adds the generated second teacher signal to the identification area of the memory 41 as a teacher signal for identifying the living body that has been identified in the second identification area.

Thereby, when identifying the first living body at the next timing, the living body identifying unit 413 causes the first living body to remain stationary in the first identifying area or the second identifying area for a predetermined time or more based on the estimation result by the estimating unit 411. If it is estimated that the first teacher signal and the second teacher signal corresponding to the second living body previously acquired in the first identification region or the second identification region, One living body can be identified.

A specific example will be described with reference to FIG. FIG. 3 is a diagram showing the environment used for the identification test by the estimation device 10 in the embodiment. The details of the identification test will be described later.

The estimation device 10 first performs the living body identification when the living body in FIG. 3 exists at the position 50A. Then, when the living body moves to the position 50B next and remains stationary at the position 50B for the second determination time or longer, the adding unit 414 follows the movement trajectory of the living body from the position 50A to the position 50B, and identifies the tracked living body as the living body. Recognize that it is a living body. Then, since the position 50B at which the living body is stationary for the second determination time or longer does not match the condition of the first identification region, the addition unit 414 of the estimation device 10 is at the position 50B and the position 50B at the time when the living body is stationary for the second determination time or longer. The orientation of the living body and the teacher signal obtained during the second determination time after standing still at the position 50B are stored in the memory 41 as teacher data together with the identification information of the living body that has already been identified. When the living body moves from the position 50B to the position 50C and is stationary at the position 50C for the second determination time or longer, the addition unit 414 of the estimation device 10 performs the same process as when the living body is stationary at the position 50B for the second determination time or longer.

[Memory 41]
The memory 41 is an auxiliary storage device having a non-volatile storage area, and is, for example, a ROM (Read Only Memory), a flash memory, a HDD (Hard Disk Drive), or the like. The memory 41 stores, for example, information used for various processes for operating the estimation device 10.

The memory 41 stores teacher data 42 as shown in FIG. The teacher data 42 is a signal waveform of a reception signal acquired in advance for a known living body 50 that is stationary at an arbitrary position and orientation within the predetermined area A1. Specifically, as shown in FIG. 4, the teacher data 42 includes identification information for identifying each living body, an identification area, and a teacher signal, and the identification information, the identification area, and the teacher signal are linked to each other. Information. Note that FIG. 4 is a diagram showing an example of the teacher data stored in the memory 41.

The identification area includes a teacher position and a teacher orientation. The identification area may include a predetermined range area based on the teacher position and a predetermined range direction based on the teacher direction. The identification area is specified with reference to each of the teacher position and the teacher orientation, and is used to determine the conditions for the determination by the determination unit 412.

The teacher signal is a signal waveform of the received signal acquired when the position and orientation of the living body satisfy the condition specified by the corresponding identification region for the first determination time or the second determination time or longer. If any one of the living body, the position of the living body, and the orientation of the living body is different, a received signal having a different signal waveform can be obtained. Therefore, the teacher signal has a different signal waveform when any one of the living body, the position of the living body, and the orientation of the living body is different. Therefore, if the position of the first living body, the orientation of the first living body, and the received signal match the identification area and the teacher signal in the teacher data, the estimation device 10 links the first living body to the matched identification area and the teacher signal. It can be estimated that it is the same as the second living body indicated by the attached identification information.

In addition, the teacher signal is a second reception signal including a reflection signal obtained by reflecting the second transmission signal transmitted from the M transmission antenna elements to the second living body to the N reception antenna elements. It is M×N second reception signals obtained by receiving in advance. Here, the teacher signal is M×N second reception signals obtained by the N reception units previously receiving the second reception signals for a period K times (K is 2 or more) the predetermined period. It may be.

In the present embodiment, the M transmitting antenna elements and the N receiving antenna elements are composed of eight transmitting/receiving sections 30A to 30H as shown in FIG. An example of the teacher signal in this case will be described with reference to FIG. FIG. 5 is a diagram showing an example of the teacher signal shown in FIG. The teacher signal 43 shown in FIG. 5 is an example of a reception signal received by one transmission/reception unit during the measurement period.

The teacher signal 43 illustrated in FIG. 5 is a transmission signal transmitted from the antenna elements 31A to 31H to a known living body 50 (second living body) that is stationary at an arbitrary position and orientation in the predetermined area A1. It is a time response waveform of a plurality of reception signals obtained by receiving the reception signals including the reflection signals reflected by the surface of the living body 50 in advance by the transmission/reception units 30A to 30H, and estimates the position and orientation at the time of measurement. Stored with results. That is, the teacher signal 43 shown in FIG. 5 is a plurality of reception signals obtained by the reception units 30A to 30H receiving reception signals including reflected signals in advance during the measurement period. Here, the measurement period is a period K times (K is 2 or more) the predetermined period. The measurement period is, for example, 120 [s], but is not limited to this. It may be 3 [s], 10 [s], or 30 [s], as long as it is equal to or longer than the human heartbeat cycle.

In this way, the estimation device 10 can identify the living body 50 by processing the reception signals received by the transmission/reception units 30A to 30H in the circuit 40.

[Operation of the estimation device 10]
Next, the operation of the estimating apparatus 10 configured as above will be described. FIG. 6 is a flowchart showing an example of the initial setting operation of the estimation device 10 according to the exemplary embodiment. FIG. 7 is a flowchart showing an example of the operation of the estimation device 10 according to the exemplary embodiment.

First, the estimation apparatus 10 records the teacher signal as an initial setting as shown in the flowchart of FIG. More specifically, the estimation apparatus 10 uses M transmission antenna elements to transmit the first transmission signal to the predetermined area A1 including the first living body. Then, the estimation apparatus 10 receives each of the N reception antenna elements for a predetermined period of time the first reception signal including the reflection signal obtained by reflecting the first transmission signal by the first living body (S11). For example, the transceivers 30A to 30H cause the antenna elements 31A to 31H to transmit the transmission signal to the predetermined area A1.

Next, the user who is a living body is instructed to stand still at a predetermined position in a predetermined direction (S12). For example, as shown in FIG. 3, the user is instructed to stand still while facing the TV 70 at the center position 50A of the predetermined range A1.

As a result, the estimation device 10 transmits the first transmission signal while the user is stationary at the predetermined position, and receives the first reception signal including the reflection signal obtained by reflecting the first transmission signal by the user for a predetermined period. be able to. The order of steps S11 and S12 is not limited to the above, and step S12 may be performed before step S11, or steps S11 and S12 may be performed in parallel.

Then, the transmission/reception units 30A to 30H use the antenna elements 31A to 31H to receive the first reception signal including the reflection signal obtained by reflecting the first transmission signal by the first living body for a predetermined period such as 60 seconds, and the circuit 40. Stores the first received signal in the memory 41 as a teacher signal by dividing the first received signal by the known signal (S13). Further, the circuit 40 stores the living body ID (identification information) as an ID for identifying the living body together with the position (teacher position) and direction (teacher direction) of the living body in the memory 41 and the teacher signal.

Here, the position and the direction to be initially specified for acquiring the teacher signal may be manually set by the user in advance. Further, the teacher position and teacher orientation for acquiring the teacher signal do not have to be specified by the estimation device 10, and the position and orientation estimated by estimating the position and orientation of the living body by the estimation unit 411 of the estimation device 10. May be stored in the memory 41 as a teacher position and a teacher orientation, respectively.

Next, the operation during actual operation after acquiring the teacher data will be described with reference to FIG.

First, the estimation apparatus 10 transmits M transmission signals and receives N reception signals. More specifically, the estimation apparatus 10 uses M transmission antenna elements to transmit the first transmission signal to the predetermined area A1 including the second living body. Then, in the estimation device 10, each of the N reception antenna elements receives the second reception signal including the reflection signal in which the first transmission signal is reflected by the second living body, for a predetermined period. In the present embodiment, the transmission/reception units 30A to 30H cause the antenna elements 31A to 31H to transmit the transmission signal to the predetermined area A1 with the second living body, which is the living body 50 to be identified, being arranged in the predetermined area A1. .. Then, the transmission/reception units 30A to 30H use the antenna elements 31A to 31H to receive the second reception signal including the reflection signal in which the first transmission signal is reflected by the first living body for a predetermined period, and the first matrix of the circuit 40. The calculation unit 410 calculates the first matrix by dividing by the known signal (S21).

FIG. 8 is a diagram showing an example of the propagation channel calculated from the received signal received.

In the identification test shown in FIG. 3, for example, a square room 6 m long×6 m wide in a plan view is set as the predetermined area A1 and eight transceivers corresponding to the transmission/reception units 30A to 30H are set in the predetermined area A1 as described above. It is placed around. The eight transceivers are arranged at the four corners and the center of the four sides of the predetermined area A1, respectively. The living body that is the subject corresponds to the living body 50 to be identified in the identification test, that is, the first living body. Further, one of the receiving antenna elements and the transmitting antenna elements corresponding to the antenna elements 31A to 31H is a square patch antenna, and is an array antenna including, for example, four antenna elements arranged in the horizontal direction. More specifically, each of the 32 receiving antenna elements included in the 8 transceivers is a square patch antenna, and is installed at a height of 0.9 m from the floor surface. The 32 transmitting antenna elements of the eight transceivers are arranged directly above the corresponding receiving antenna element for one wavelength of the microwave of the corresponding receiving antenna element.

As shown in FIG. 8, the components of the propagation channel h _{1_1} and component h _{3_3} is shows a periodic and large variations in comparison with the other components, it is understood that the same waveform. Ingredient h _{1_1}
And _{h3_3} are the channel responses of the receiving antenna elements in front of the subject 50a.

The other component is the channel response of the receiving antenna element on the back or side of subject 50a. That is, it can be seen that the fluctuations on the back and side surfaces of the living body are small. This is considered to be because the fluctuation due to the biological activity occurs in the front chest and/or the abdomen of the living body.

Next, the estimation unit 411 of the circuit 40 of the estimation device 10 estimates the position and orientation of the living body using the first matrix calculated by the first matrix calculation unit 410 (S22). More specifically, the estimation unit 411 estimates the position and orientation of the living body by estimation using the MUSIC method described in Patent Document 2, estimation using the feature amount of the first matrix described in Non-Patent Document 1, and the like.

Next, the determination unit 412 of the circuit 40 refers to the teacher signal, the teacher position, the teacher orientation, and the identification information (living body ID) from the teaching data 42 stored in the memory 41, and estimates the living body position and It is determined whether the estimated orientation matches the condition of the identification area (S23).

Next, when it is determined in step S23 that the living body matches the condition of the identification region (Yes in S23), the living body identification unit 413 uses the method described in Non-Patent Document 2 and the teacher signal and the first signal. The biometric identification is determined by performing one matrix correlation calculation (S24). As a result of the biometric identification of the biometric, the biometric identification unit 413 determines that the position data indicating the estimated position of the biometric is associated with the teacher when the biometric ID is determined to match the biometric ID in the teacher data 42 (Yes in S24). A biometric ID associated with the signal is given.

Next, as a result of the biometric identification of the biometric body, when it is determined that the biometric ID is included in the teacher data 42 (Yes in S24), the first matrix is calculated and the biometric body is periodically calculated, for example, for 0.5 seconds. Continue to estimate the position and orientation of. Specifically, step S25 and step S26 corresponding to step S21 and step S22, respectively, are performed. As a result, the position where the identified living body is newly estimated is obtained in step S24, and the specified living body ID is given to the position data indicating the newly estimated position. In this way, the identified living body is tracked.

Then, the determination unit 412 uses the position data obtained in steps S25 and S26 to determine that the living body has the second determination time or more, for example, under the condition that does not match the condition of the identification region already stored in the memory 41, for example, It is determined whether or not to stand still for 5 seconds or more (S27).

When it is determined in step S27 that the living body matches the condition of the identification region or is not stationary for the second determination time or longer (No in S27), the process returns to step S25. For example, the step S27 to be performed next may be performed 0.5 seconds after the previous step S27 is performed. As a result, when No is determined in step S27, steps S25 to S27 are periodically performed.

In addition, you may repeat step S25 and step S26 regularly, and you may determine whether a living body stands still for 5 seconds or more in step S27 using the some positional data obtained by this.

Then, when it is determined in step S27 that the living body is stationary for 5 seconds or longer under the condition that does not match the condition of the identification area (Yes in S27), the position of the living body when stationary for 5 seconds or more, Teacher data is generated by associating the orientation of the living body and the first matrix obtained from the received signal acquired during rest, and the generated teacher data is added to the memory 41 as a new identification area (S28). ..

The living body that is the subject is in a state in which the living body is not identified at the time of entering the predetermined area A1 from an absent state, but the living body is identified when the living body is stationary in a state that matches the conditions of the identification area. In the biometric identification, when the correlation coefficient between the teacher signal and the first matrix is high and it is determined that the biometric ID is the same as the biometric ID associated with the teacher signal, the biometric subject is periodically estimated in position thereafter. Tracking is performed by linking the biometric ID to the position. Further, after the living body identification, when the identified living body is stationary in a state where it does not match the condition of the identification region stored in the memory 41, the received signal obtained at the stationary position and orientation is the position and orientation. At the same time, it is added to the teacher data in the memory 41 as a new identification area. As described above, by adding the identification region to the already-identified living body after the living body identification, it is possible to increase the number of identification regions in which the living body can be identified. For this reason, it is possible to facilitate the biometric identification of the living body when the living body that has already been identified during the activity in the predetermined area A1 once exits from the predetermined area A1 and then re-enters the predetermined area A1.

[Effects, etc.]
According to the estimation device 10 according to the present embodiment, the transmission wave is transmitted from each of the transceivers installed at, for example, eight locations around the predetermined area A1, and the reception signal is received. Then, the estimation device 10 periodically estimates the position and orientation of the living body that has entered the predetermined area A1, and continues to determine whether or not the condition of the identification area matches. Then, the estimation apparatus 10 performs biometric identification when the estimated position and orientation of the biometric object satisfy the conditions of the identification region, and as a result of the biometric identification, whether the second biometric object included in the teacher data 42 matches. Determine whether. Then, the estimation device 10 follows the first living body by estimating the position and orientation of the first living body that is determined to match the second living body in living body identification, and matches the condition of the identification region in the teacher data 42. When the first living body is stationary under the condition not to perform, the stationary position and the orientation are set as the teacher position and the teacher orientation, respectively, and the first matrix calculated from the received signal obtained at this time is newly recorded. Thereby, a new identification area can be added, and the area for identifying the first living body can be increased in the area already recorded in the teacher data 42. Therefore, even if the region to be measured is a relatively large space, the first living body can be efficiently identified when the first living body is newly identified in the region to be measured.

In this biometric identification, it was also found that the identification success rate improves as the number of installed antenna elements increases.

(Embodiment 2)
In the second embodiment, an estimation device 10A that estimates the height or posture in addition to the position and orientation of the living body by arraying the transmission antenna array and the reception antenna array in the vertical direction and the estimation method thereof will be described. To do.

[Configuration of estimation device 10A]
FIG. 9 is a block diagram showing an example of the configuration of the estimation device 10A according to the second embodiment. FIG. 10 is a configuration diagram showing an example of a detailed configuration of the circuit shown in FIG. 9 and 10, the same elements as those in FIGS. 1 and 2 are designated by the same reference numerals, and detailed description thereof will be omitted. In the second embodiment, unless otherwise stated, the same elements as those in the first embodiment have similar operations and variations, and duplicate explanations are omitted.

Estimating apparatus 10A in the second embodiment includes transmitting/receiving units 30A to 30H each having antenna elements 61A to 61H, a circuit 40A, and a memory 41.

[Antenna elements 61A to 61H]
The transceivers 30A to 30H have M antenna elements 61A to 61H (M is a natural number of 2 or more). The array antenna is configured by arranging M antenna elements 61A to 61H side by side in a first predetermined direction on a horizontal plane and a second predetermined direction on a vertical plane. In this embodiment, since the transmitter and the receiver are integrated into the transmitter and receiver, the antenna element is also shared by the transmitter antenna element and the receiver antenna element, but the transmitter antenna element and the receiver antenna element are separately arranged. You may.

In this way, at least three transmission antenna elements of the M transmission antenna elements are arranged at different positions in the vertical direction and the horizontal direction, respectively. In addition, at least three receiving antenna elements of the N receiving antenna elements are arranged at different positions in the vertical direction and the horizontal direction, respectively.

[Circuit 40A]
The circuit 40A has a hardware configuration similar to that of the circuit 40, and therefore description thereof will be omitted. The circuit 40A has a different functional configuration from the circuit 40. Specifically, the circuit 40A has a three-dimensional estimation unit 411A, a determination unit 412A, and an addition unit 414A instead of the estimation unit 411, the determination unit 412, and the addition unit 414, respectively. The first matrix calculation unit 410 and the biometric identification unit 413 are the same as those in the circuit 40, so description thereof will be omitted.

<3D estimation unit 411A>
By adopting the antenna elements 61A to 61H as the transmitting antenna and the receiving antenna, the three-dimensional estimation unit 411A uses the method disclosed in Patent Document 2 to estimate the position and orientation of the living body, and The position in the height direction and the posture of the living body are estimated.

Specifically, the three-dimensional estimation unit 411A uses the calculated first matrix to calculate N received signals of a set of the three-dimensional position of the first living body with respect to the estimation device and the orientation of the first living body. Sequentially estimates the time series in the order in which was received. The three-dimensional position includes a vertical position, which is the position of the first living body in the vertical direction, in addition to the two-dimensional position in plan view.

In addition, the three-dimensional estimation unit 411A, for each of the plurality of three-dimensional positions that are sequentially estimated, with respect to the first living body based on the three-dimensional position, the position of the transmitting antenna element, and the position of the receiving antenna element. The RCS value is sequentially calculated. Then, the three-dimensional estimation unit 411A uses the plurality of three-dimensional positions that are sequentially estimated, the temporal change of the RCS value that is sequentially calculated, and the information indicating the correspondence relationship stored in the memory 41. , The posture of the first living body in each of the plurality of groups is sequentially estimated.

The information indicating the correspondence is associated with the vertical position, which is the position in the vertical direction in which the first living body exists with respect to the estimation device 10A, and the temporal change in the RCS value, and the action of the first living body. Information. The information indicating the correspondence is information indicating a range of RCS values and a range of heights that are associated in advance with the respective postures of supine, crossed seat, chair seat, and upright. For example, supine is associated with the first RCS range and the first height range, crossed legs is associated with the second RCS range and the second height range, and the seat is the third RCS range and the third RCS range. It is associated with the height range, and the upright is associated with the fourth RCS range and the fourth height range. The first RCS range to the fourth RCS range are ranges of different RCS values. The first height range to the fourth height range are ranges of different heights.

<Determination unit 412A>
The determination unit 412A determines that, in the estimated set, the three-dimensional position of the set is within the first identification area, which is stored in advance in the memory 41 as the identification area, of the predetermined area A1, and the first position of the set is determined. A first posture in which the orientation of one living body is within a predetermined range based on the first direction stored in advance in the memory 41, and the posture of the first living body in the set is stored in advance in the memory 41. It is determined whether or not Specifically, the determination unit 412A refers to the identification area of the teacher data 42A stored in the memory 41, and determines the first teacher position of the living body associated with the first teacher signal in the referenced identification area, Refer to First Teacher Orientation and First Teacher Attitude. Here, the first identification area of the identification areas is a first teacher signal, a first teacher position that is the position of the living body when the first teacher signal is received, and a first teacher orientation that is the direction of the living body. The first teacher posture that is the posture of the living body is associated with the identification information that identifies the living body. As shown in FIG. 11, the teacher data 42A stored in the memory 41 differs from the teacher data 42 according to the first embodiment in that the identification area includes a teacher attitude in addition to the teacher position and the teacher orientation. Note that FIG. 11 is a diagram showing an example of teacher data stored in the memory according to the second embodiment.

As described above, the determination unit 412A adds the estimated posture to the estimated position and the estimated orientation as the determination conditions based on the estimation result of the three-dimensional estimation unit 411A, and determines whether the conditions match the conditions of the identification region. More specifically, the determination unit 412A determines whether or not the posture of the living body, such as the standing position, sitting position, and lying position, matches the conditions for acquiring the teacher data, in addition to the position of the living body and the condition of the living body. judge.

<Biometric identification unit 413>
The biometric identification unit 413, like the biometric identification unit 413 of the first embodiment, when the determination unit 412A determines that the biometric condition of the first identification region is satisfied, the time waveform of the received signal and the first identification Based on the first teacher signal corresponding to the living body acquired in advance in the region, the living body identification is performed using the method described in Non-Patent Document 2, for example. The condition of the first identification area is that the estimated three-dimensional position of the first living body is within the first identification area, and the orientation of the first living body of the pair is within a predetermined range, and That is, the posture of the first living body in the set matches the first posture.

<Additional unit 414A>
The adding unit 414A has the posture of the living body added as a determination condition to the function of the adding unit 414 of the first embodiment. The adding unit 414A identifies a new identification region based on the next position based on the information indicating the next position of the first living body where the identified first living body is estimated next, and identifies the identified first living body. As an identification area for As a result, in the teacher data 42A of the memory 41, a new second identification area is added to the first identification area for identifying the first living body. More specifically, when the living body is already identified by the living body identifying unit 413, the adding unit 414A performs a plurality of estimations that are periodically obtained by the three-dimensional estimating unit 411A such as at intervals of 0.5 seconds. Based on the result, it continues to follow the living body.

Further, the addition unit 414A is the received signal at the second determination time and the position of the living body estimated by using the received signal when the second determination area different from the first identification area is stationary for the second determination time or longer. A second teacher signal in the second identification area is generated based on the second teacher position, the second teacher orientation that is the orientation of the living body, and the second teacher orientation that is the orientation of the living body. The second teacher signal has a different waveform than the first teacher signal. The addition unit 414A is, specifically, a position where the living body does not match any one of the first teacher position, the first teacher orientation, and the first teacher posture, which are the criteria of the condition of the first identification region. , The orientation and the posture, the process is performed using the determination result by the determination unit 412A that indicates whether or not the second determination time or more, for example, 5 seconds or more has been stationary. Then, the adding unit 414A determines that the position is the second teacher position and the orientation is the second teacher position when the living body whose living body has been identified is stationary at the position, the orientation, and the posture for the second determination time or longer. The second teacher position, the second teacher position, the second teacher attitude, and the second teacher signal that is the received signal obtained at the second determination time. The second teacher data is generated by linking.

Thereby, when identifying the first living body at the next timing, the living body identifying unit 413 causes the first living body to remain stationary in the first identifying area or the second identifying area for a predetermined time or more based on the estimation result by the estimating unit 411. If it is estimated that the first teacher signal and the second teacher signal corresponding to the second living body previously acquired in the first identification region or the second identification region, One living body can be identified.

[Operation of the estimation device 10A]
Next, the operation of the estimation device 10A configured as above will be described. FIG. 12 is a flowchart showing an example of the operation of the estimation device 10A according to the second embodiment. In FIG. 12, the parts that perform the same operations as those in the flowchart of the first embodiment are designated by the same reference numerals, and the description thereof will be omitted.

After step S21, the three-dimensional estimation unit 411A of the circuit 40A of the estimation device 10A estimates the position, orientation, and orientation of the living body using the first matrix calculated by the first matrix calculation unit 410 (S22A). .. Each of the antenna elements 61A to 61H of the estimation device 10A has a plurality of antenna elements arrayed in the horizontal direction and the vertical direction, so that the height and the posture can be estimated in addition to the position and orientation of the living body. is there.

Next, the determination unit 412A of the circuit 40A refers to the teacher signal, the teacher position, the teacher orientation, the teacher attitude, and the identification information (biological ID) from the teacher data 42A stored in the memory 41 to estimate the living body 3 It is determined whether the dimensional position, the estimated orientation, and the estimated posture match the conditions of the identification area (S23A).

Further, after it is determined in step S24 that the living body is identified, if it is determined that the living body ID includes the living body in the teacher data 42A, the first matrix is calculated periodically, for example, for 0.5 seconds, and the three-dimensional shape of the living body is set. Continue to estimate position, orientation, and pose. Specifically, step S25 and step S26A corresponding to step S21 and step S22A, respectively, are performed. As a result, the three-dimensional position in which the identified living body is newly estimated in step S24 is obtained, and the identified living body ID is assigned to the position data indicating the newly estimated three-dimensional position. In this way, the identified living body is tracked.

Then, the determination unit 412A uses the position data obtained in steps S25 and S26A to determine whether the living body has the first determination time or more, for example, 5 or more, under the condition that the condition of the identification region already stored in the memory 41 does not match. It is determined whether or not to stand still for more than a second (S27).

When it is determined in step S27 that the living body matches the condition of the identification region or is not stationary for the first determination time or longer (No in S27), the process returns to step S25. For example, the step S27 to be performed next may be performed 0.5 seconds after the previous step S27 is performed. As a result, when No is determined in step S27, steps S25 to S27 are periodically performed.

In addition, you may repeat step S25 and step S26 regularly, and you may determine whether a living body stands still for 5 seconds or more in step S27 using the some positional data obtained by this.

Then, in step S27, when it is determined that the living body is stationary for the second determination time (5 seconds or more) under the condition that does not match the condition of the identification region (Yes in S27), when the living body is stationary for 5 seconds or more, Teacher data is generated by associating the three-dimensional position of the living body, the orientation of the living body, the posture of the living body, and the first matrix obtained from the received signal acquired while the teacher is stationary, and the generated teacher data is updated. A second identification area, which is an identification area, is added to the memory 41 (S28).

[Effects, etc.]
According to the estimation device 10A according to the present embodiment, the transmission wave is transmitted from each of the transceivers installed in, for example, eight locations around the predetermined area A1, and the reception signal is received. Then, the estimation device 10A periodically estimates the three-dimensional position, orientation, and posture of the living body that has entered the predetermined area A1, and continues to determine whether or not the conditions of the identification area match. After that, the estimation device 10A performs biometric identification when the estimated position, orientation, and orientation of the biometric subject satisfy the conditions of the identification region, and as a result of the biometric identification, the second biometric included in the teacher data 42A. It is determined whether they match. Then, the estimation device 10A follows the first living body by estimating the position, orientation, and orientation of the first living body that is determined to match the second living body in living body identification, and identifies the identification area in the teacher data 42A. When the first living body is stationary under a condition that does not match the condition of, the stationary position, orientation, and posture are set as the teacher position, the teacher orientation, and the teacher posture, respectively, and calculated from the received signal obtained at this time. The newly recorded first matrix is newly recorded. Thereby, a new identification area can be added, and the area for identifying the first living body can be increased in the area already recorded in the teacher data 42. Therefore, even if the region to be measured is a relatively large space, the first living body can be efficiently identified when the first living body is newly identified in the region to be measured.

In addition, in each of the above-described embodiments, each component may be configured by dedicated hardware, or may be realized by executing a software program suitable for each component. Each component may be realized by a program execution unit such as a CPU or a processor reading and executing a software program recorded in a recording medium such as a hard disk or a semiconductor memory. Here, the software that realizes the identification device of each of the above-described embodiments is the following program.

That is, the program is an estimation device including a memory, an antenna unit including M (M is a natural number of 2 or more) transmitting antenna elements and N (N is a natural number of 2 or more) receiving antenna elements in a computer, and a memory. Which is a signal received by each of the N receiving antenna elements, the transmitting signal being transmitted to the area to be measured using the M transmitting antenna elements. The transmission signal transmitted from each of the transmission antenna elements receives a reception signal including a reflection signal reflected by the first living body, and the N reception antenna elements receive N reception antenna signals in a predetermined period. From each of the received signals, an M×N first matrix having, as a component, each complex transfer function indicating the propagation characteristic between each of the M transmit antenna elements and each of the N receive antenna elements. And a set of the position where the first living body is present with respect to the estimation device and the orientation of the first living body is calculated using the calculated first matrix in the order in which the N received signals are received. For each of the plurality of groups that are sequentially estimated in time series, and (i) the position of the first living body of the group is stored in advance in the memory as an identification region of the measurement target region. Existing in the first identification area, and (ii) whether or not the orientation of the first living body of the set is within a predetermined range based on the orientation stored in advance in the memory, If the estimated position of the first living body of the set is within the first identification region, and the orientation of the estimated first living body of the set is within the predetermined range, the time of the received signal The first position is identified based on the waveform and the first teacher signal corresponding to the second living body, which is acquired in advance in the first identification area, and the estimated position of the first living body next to the identified first living body is estimated. The estimation method of adding a new identification area based on the information indicating the above as the identification area for identifying the identified first living body is executed.

In addition, this program is an estimation method by an estimation device including a memory and an antenna unit including M (M is 3 or more) transmitting antenna elements and N (N is 3 or more) receiving antenna elements in a computer. Then, the memory stores a vertical position, which is a position in the vertical direction in which the first living body is present with respect to the estimation device, and a temporal change of an RCS (Rader cross-section) value, and an operation of the first living body. Information indicating correspondence is stored, and at least three transmitting antenna elements of the M transmitting antenna elements are arranged at different positions in the vertical direction and the horizontal direction, respectively, and the N receiving antenna elements are stored. Among them, at least three receiving antenna elements are arranged at different positions in the vertical direction and the horizontal direction, respectively, and in the estimation method, the transmitting signals are transmitted using the M transmitting antenna elements in the region to be measured. , A reception signal which is a signal received by each of the N reception antenna elements, the transmission signal transmitted from each of the M transmission antenna elements including a reflection signal reflected by a first living body. From each of the N received signals received and received in each of the N receiving antenna elements in a predetermined period, each of the M transmitting antenna elements and each of the N receiving antenna elements. The M×N first matrix having each complex transfer function indicating the propagation characteristic between the components is calculated, and the calculated first matrix is used to determine whether the first living body exists for the estimation device. A three-dimensional position including a vertical position and a set of the orientation of the first living body are sequentially estimated in a time series in the order in which the N received signals are received, and a plurality of sequentially estimated multiple positions are obtained. For each of the three-dimensional positions, the RCS value for the first living body is sequentially calculated and sequentially estimated based on the three-dimensional position, the position of the transmitting antenna element, and the position of the receiving antenna element. Using the plurality of three-dimensional positions, the temporal change of the sequentially calculated RCS value, and the information indicating the correspondence stored in the memory, the first in each of the plurality of sets. Sequentially estimating the posture of the living body, in the estimated set, the three-dimensional position of the set is in the first identification region that is stored in advance in the memory as an identification region in the measurement target region, Further, the orientation of the first living body of the set is based on the first direction stored in advance in the memory. It is an orientation within a predetermined range, and it is determined whether or not the posture of the first living body in the set matches the first posture stored in advance in the memory, and the estimated first living body of the set. Is within the first identification area, the orientation of the first living body of the set is within the predetermined range, and the posture of the first living body in the set is the first posture. If it matches with, the first biological body is identified based on the temporal waveform of the received signal and the first teacher signal previously acquired in the first identification region and corresponding to the second biological body. An estimation method is performed in which a new identification region based on information indicating the next position of the completed first living body is added as the identification region for identifying the identified first living body.

Although the estimation devices 10 and 10A according to one or more aspects of the present invention have been described above based on the embodiment, the present invention is not limited to this embodiment. As long as it does not depart from the gist of the present invention, various modifications made by those skilled in the art may be applied to the present embodiment, or a configuration constructed by combining components in different embodiments may be one or more of the present invention. It may be included in the range of the aspect.

INDUSTRIAL APPLICABILITY The present disclosure can be used for an estimation device and an identification method for identifying a living body by using a wireless signal, and in particular, an estimation device mounted on a home appliance that performs control according to the living body, a monitoring device that detects intrusion of the living body, and the like. And can be used for identification methods.

10 Estimator 30A-30H Transmitter/receiver 31A-31H Antenna element 61A-61H Antenna element 40 Circuit 41 Memory 42 Teacher data 50 Living body 50a Subject 410 First matrix calculating unit 411 Estimating unit 412 Judging unit 413 Living body identifying unit 414 Addition unit

Claims (8)

An estimation method by an estimation device comprising an antenna unit including M (M is a natural number of 2 or more) transmitting antenna elements and N (N is a natural number of 2 or more) receiving antenna elements, and a memory,
A transmission signal is transmitted to the area to be measured using the M transmission antenna elements,
Receiving a reception signal that is a signal received by each of the N reception antenna elements, the transmission signal transmitted from each of the M transmission antenna elements including a reflection signal reflected by a first living body Then
From each of the N received signals received in each of the N receive antenna elements in a predetermined period, between each of the M transmit antenna elements and each of the N receive antenna elements. Calculating an M×N first matrix having components of each complex transfer function indicating the propagation characteristic,
Using the calculated first matrix, the set of the position of the first living body and the orientation of the first living body with respect to the estimation device are sequentially arranged in a time series in the order in which the N received signals are received. Estimate,
For each of the plurality of groups that are sequentially estimated, (i) the position of the first living body of the group is within the first identification region that is stored in advance in the memory as an identification region in the measurement target region. And (ii) determining whether or not the orientation of the first living body of the set is within a predetermined range based on the orientation stored in advance in the memory,
If the estimated position of the first living body of the set is within the first identification region, and the orientation of the estimated first living body of the set is within the predetermined range, the time of the received signal A waveform and previously acquired in the first identification area, the first living body is identified based on the first teacher signal corresponding to the second living body,
An estimation method for adding a new identification region based on the estimated information indicating the next position of the identified first living body as the identification region for identifying the identified first living body. In the addition of the identification area,
(I) The position of the first living body after the identification is continuously tracked at a predetermined time interval based on the estimation result by the estimation, and (ii) a predetermined time in a second identification region different from the first identification region. When stationary, the second teacher in the second identification area is based on the received signal at the predetermined time, the position of the first living body estimated using the received signal, and the orientation of the first living body. Generating a signal, and (iii) adding the generated second teacher signal as a teacher signal for identifying the identified first living body in the second identification area,
In the identification of the first living body, the first living body in the first identification area is identified using the first teacher signal, and the first living body in the second identification area is identified using the second teacher signal. The estimation method according to claim 1. Furthermore, based on the estimation result, when the first living body is estimated to be stationary in the first identification region or the second identification region for the predetermined time or more, the time waveform of the received signal, the The estimation method according to claim 2, wherein the first living body is identified based on the first teacher signal and the second teacher signal corresponding to the second living body, which are acquired in advance in one identification area or the second identification area. .. An estimation method using an estimation device comprising an antenna unit comprising M (M is 3 or more) transmitting antenna elements and N (N is 3 or more) receiving antenna elements, and a memory,
The memory stores a vertical position, which is a position in the vertical direction in which the first living body exists with respect to the estimation device, and a temporal change in an RCS (Rader cross-section) value, and a correspondence relationship between the movement of the first living body. It stores the information shown,
At least three transmitting antenna elements of the M transmitting antenna elements are respectively arranged at different positions in the vertical direction and the horizontal direction,
At least three receiving antenna elements of the N receiving antenna elements are respectively arranged at different positions in the vertical direction and the horizontal direction,
In the estimation method,
A transmission signal is transmitted to the area to be measured using the M transmission antenna elements,
Receiving a reception signal that is a signal received by each of the N reception antenna elements, the transmission signal transmitted from each of the M transmission antenna elements including a reflection signal reflected by a first living body Then
From each of the N received signals received in each of the N receive antenna elements in a predetermined period, between each of the M transmit antenna elements and each of the N receive antenna elements. Calculating an M×N first matrix having components of each complex transfer function indicating the propagation characteristic,
Using the calculated first matrix, the N number of sets of three-dimensional positions of the first living body with respect to the estimation device, which are the three-dimensional position including the vertical position and the orientation of the first living body. The received signals are sequentially estimated in the time series in which the received signals are received,
For each of the plurality of three-dimensional positions that are sequentially estimated, the RCS value for the first living body is sequentially calculated based on the three-dimensional position, the position of the transmitting antenna element, and the position of the receiving antenna element. Then
Using each of the plurality of three-dimensional positions sequentially estimated, the temporal change of the sequentially calculated RCS value, and the information indicating the correspondence stored in the memory, each of the plurality of sets. Sequentially estimating the posture of the first living body in
In the estimated set, the three-dimensional position of the set is within the first identification region prestored in the memory as the identification region in the region of the measurement target, and the first living body of the set. Is a direction within a predetermined range based on a first direction stored in advance in the memory, and the posture of the first living body in the set is a first posture stored in advance in the memory. Determine if they match,
The estimated three-dimensional position of the first living body of the set is within the first identification region, the orientation of the first living body of the pair is within the predetermined range, and the first in the pair When the posture of the living body matches the first posture, the first living body is based on the time waveform of the received signal and the first teacher signal corresponding to the second living body that is acquired in advance in the first identification region. Identify the
An estimation method for adding a new identification region based on the estimated information indicating the next position of the identified first living body as the identification region for identifying the identified first living body. In the addition of the identification area,
(I) The position of the first living body after the identification is continuously followed at a predetermined time interval based on the estimation result by the estimation, and (ii) one or more second identification regions different from the first identification region. In the case of standing still for a predetermined time or longer, the received signal at the predetermined time, the three-dimensional position of the first living body estimated using the received signal, the orientation of the first living body, and the posture of the first living body A second teacher signal in the second identification area, and (iii) the generated second teacher signal as a teacher signal for identifying the identified first living body in the second identification area. Stored in the memory,
In the identification of the first living body, the first living body in the first identification area is identified using the first teacher signal, and the first living body in the second identification area is identified using the second teacher signal. The estimation method according to claim 4. Furthermore, based on the estimation result, when the first living body is stationary for the predetermined time or more in the first identification area or the second identification area, the time waveform of the received signal, the first identification area or The estimation method according to claim 5, wherein the first living body is identified based on the first teacher signal and the second teacher signal corresponding to the second living body acquired in advance in the second identification area. An estimation device having a memory,
An antenna unit comprising M (M is 2 or more) transmitting antenna elements and N (N is 2 or more) receiving antenna elements;
A transmitter that transmits a transmission signal using the M transmission antenna elements in a region to be measured;
Receiving a reception signal that is a signal received by each of the N reception antenna elements, the transmission signal transmitted from each of the M transmission antenna elements including a reflection signal reflected by a first living body A receiver that
From each of the N received signals received in each of the N receive antenna elements in a predetermined period, between each of the M transmit antenna elements and each of the N receive antenna elements. A first matrix calculation unit that calculates an M×N first matrix having components of each complex transfer function indicating the propagation characteristic;
Using the calculated first matrix, the set of the position of the first living body and the orientation of the first living body with respect to the estimation device are sequentially arranged in a time series in the order in which the N received signals are received. An estimation unit for estimating,
For each of the plurality of groups sequentially estimated, (i) the position of the first living body of the group is within the first identification area that is stored in advance in the memory as an identification area among the areas to be measured. And (ii) a determination unit that determines whether or not the orientation of the first living body of the set is within a predetermined range based on the orientation stored in advance in the memory.
If the estimated position of the first living body of the set is within the first identification region, and the orientation of the estimated first living body of the set is within the predetermined range, the time of the received signal A waveform and a biometric identification unit that is acquired in advance in the first identification region, and that identifies the first biological body based on a first teacher signal corresponding to the second biological body,
A storage unit that stores a new identification area based on the estimated next position of the identified first living body in the memory as the identification area for identifying the identified first living body. Estimator. To cause a computer to execute an estimation method by an estimation device including an antenna unit including M (M is a natural number of 2 or more) transmitting antenna elements and N (N is a natural number of 2 or more) receiving antenna elements. Of the program,
A transmission signal is transmitted to the area to be measured using the M transmission antenna elements,
Receiving a reception signal that is a signal received by each of the N reception antenna elements, the transmission signal transmitted from each of the M transmission antenna elements including a reflection signal reflected by a first living body Then
From each of the N received signals received in each of the N receive antenna elements in a predetermined period, between each of the M transmit antenna elements and each of the N receive antenna elements. Calculating an M×N first matrix having components of each complex transfer function indicating the propagation characteristic,
Using the calculated first matrix, the set of the position of the first living body and the orientation of the first living body with respect to the estimation device are sequentially arranged in a time series in the order in which the N received signals are received. Estimate,
For each of the plurality of groups that are sequentially estimated, (i) the position of the first living body of the group is within the first identification region that is stored in advance in the memory as an identification region in the measurement target region. And (ii) determining whether or not the orientation of the first living body of the set is within a predetermined range based on the orientation stored in advance in the memory,
If the estimated position of the first living body of the set is within the first identification region, and the orientation of the estimated first living body of the set is within the predetermined range, the time of the received signal A waveform and previously acquired in the first identification area, the first living body is identified based on the first teacher signal corresponding to the second living body,
A new identification region based on the estimated next position of the identified first living body is added as the identification region for identifying the identified first living body. program.

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