CN103197354B - Digital passive infrared human body detector and detection method thereof - Google Patents
Digital passive infrared human body detector and detection method thereof Download PDFInfo
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Abstract
Digital passive infrared human body detector of the present invention, comprise shell, microcontroller and pir sensor, be characterised in that: the front end of pir sensor is provided with Fresnel Lenses, be provided with coupling catoptron between pir sensor and Fresnel Lenses, microcontroller is connected with power module, drive motor and detector switch.Detection method of the present invention, comprising: a). and ground unrest learns, formation background noise sequence; B). dynamic human body detects; C). time delay exports; D). judge whether to enter static instrumentation; E). gather detectable signal, form detectable signal sequence; F). carry out digital computing cross-correlation; G). judge whether that static human exists.Detector of the present invention and method, abandon and avoid false supposition and the drawback of human body under stationary state can not be detected of passive type static human detector in the past, the human body of stationary state in search coverage can be detected efficiently and accurately, make Static Detection become possibility.
Description
Technical field
The present invention relates to a kind of digital passive infrared human body detector and detection method thereof, in particular, particularly relate to a kind of adopt detectable signal and ground unrest to carry out digital computing cross-correlation digital passive infrared human body detector and detection method.
Background technology
Human body detection has very important effect in the intrusion detection and Energy Saving Control of safety monitoring, and common human body detection mode has the large classes of passive passive-type two such as active active and passive infrared (PIR) pyroelectric detect such as ultrasonic listening, microwave sounding.Ultrasound wave and microwave human body detection are made based on Doppler effect, can only detect the human body of motion, are a kind of dynamic Human Detection, cannot detect the human body remained static.These two kinds of detection modes can produce certain energy emission simultaneously, can cause certain injury under being in this environment for a long time to human body.Therefore, the request for utilization of Energy Saving Control is not suitable for.
Passive infrared human body detection works based on the principle of pyroelectricity, and any type of energy do not launched by detector itself, and just passive reception, detects from the infrared energy of environment or energy variation to complete detection object.It is the Main Means of human body detection in Energy Saving Control.Passive infrared peoplesniffer primarily of Fresnel Lenses, pyroelectric infrared sensor and signal transacting etc. three part composition.The infrared ray of human body radiation can focus on pyroelectric infrared sensor by Fresnel Lenses, produces infrared vision area and the blind area of alternately change, to adapt to the characteristic that pyroelectric sensor requirement signal constantly changes simultaneously; Pyroelectric infrared sensor is converted to electric signal the infrared signal of human body; Signal transacting carries out the ultra-weak electronic signal that sensor exports to amplify, filtering, compare and time delay, forms stable human body control signal and exports.
Passive type IR people locator major defect has: 1), signal amplitude is little, easily disturbs by various thermal source, light source; 2), can only detect the human body of motion, when human body is static, detector can't detect the existence of human body; 3), environment temperature and human body temperature close to time, detection sensitivity obviously declines, and sometimes causes malfunctioning in short-term; 4), the main detection direction of motion of passive infrared detector is tangential motion direction, poor to the object detection ability of radial direction motion.
The method that static human detection is conventional
The human body detection of stationary state is the particular/special requirement to human body detection in Energy Saving Control because Energy Saving Control to as if the electric equipment such as lighting, fan, air-conditioning and electric heater, use occasion works and the human body learnt under indoor are in sitting posture state.Human body under this state there is no motion state, only has the minor motion of upper limbs, can be called accurate stationary state.If adopt dynamic passive human body detector to carry out quasi-static human body detection, the accuracy of detection of detector is very poor, the existence of quasistatic human body cannot be detected, will be judged as not having human body and close controlled equipment by mistake.After human body one has motion, the existence of human body detected again and opening device.The frequent start-stop of equipment will be caused like this, not only affect the work and study efficiency of personnel, also can shorten the serviceable life of equipment.Therefore, in order to overcome the problems referred to above, just must transform passive infrared human body detection, making it have static human detection function.
Current static human detection mode mainly contains: the modes such as infrared image processing, life detection radar and follow-on pyroelectricity passive infrared detection.Infrared image processing and life detection radar expensive, be difficult to be applied in Energy Saving Control, and life detection radar is owing to there being microwave, the special dimensions such as buried person person's search and rescue in disaster, the monitoring of struggle against terror mid-board and battle reconnaissance can only be applied to, can not be used in the Energy Saving Control of personnel's prolonged stay environment.Thus, follow-on passive infrared static human detection has just become the unique selection of Energy Saving Control.
Modified passive infrared detector mainly contains based on infrared measurement of temperature principle and relative motion principle two kinds, these patents improved lower more than 20 are not planted, time is the longest 7 or eight years, but still do not have a kind of ripe practical product to emerge in the market, trace it to its cause is exactly that these patents all do not pass through strict theory calculate and actual experiment test, the theoretical imagination mostly, think only have human body be launch ultrared, and other object indoor be do not launch ultrared.In practical application, false detection rate is very high, does not have using value and the effect reaching the due Static Detection of patent, analyzes respectively below.
Chopping the light formula static human Detection Techniques
What the Chinese patent of publication number CN201234378, CN201696320U, CN102607709A, CN102788646A and CN2718902 adopted is chopping the light formula human body detection technology, ultimate principle is between pyroelectric sensor and Fresnel Lenses, install a chopper additional, utilize the driving of motor or piezoelectric ceramics, interval covers incident infrared ray.This is the method that infrared measurement of temperature is conventional.When chopper does not cover sensor, incide on sensor pyroelectric crystal be comprise human body whole lens detection within the scope of the infrared radiation launched of all objects; When chopper covers sensor, inciding, sensor pyroelectric crystal is infrared radiation on chopper blade.Like this when chopper rotates, output voltage is exactly temperature difference formation between the two, is provided by formula (1).
（1）
In formula, k is constant,
for the radiance of human body skin,
for human body temperature,
for the average radiation rate of indoor object,
for the medial temperature of indoor,
for chopper blade radiance,
for chopper temperature.Even if radiance and the temperature of chopper blade are known, body temperature and radiance, output voltage is also an equation with two unknowns relevant with various object radiation rate with average indoor temperature.Detector self can not obtain other subsidiary conditions again, and therefore, this equation is without solution.
As shown in Figure 1, give the actual measurement oscillogram adopting chopping the light formula static human Detection Techniques to obtain, waveform when figure a is nobody, figure b is waveform when having people, as can be seen from waveform, the difference of not essence between the two, wave-shape amplitude and whether have human body exist between there is not relation one to one, therefore also just cannot set a thresholding and judge whether that human body is present in.
In infrared temperature measurement system, only have an optical system, and require that measured target size exceedes more than 50% of lens field size.If target size is less than visual field, background radiation energy will enter the visual field of temperature measurer and disturb thermometry readings, causes error.When only having tested human body to exist in lens field, namely do not have in formula (1)
with
the existence of item, as long as measure
with
, just can measure the temperature of tested human body.But in human body detection, due to the needs of investigative range, lens number is a lot, as certain spherical lens has 43 lens, certain cylindrical lens has 24 lens, and human body is just in the visual field of one of them lens, all the other are other object indoor, under the condition of room temperature, the infrared wavelength of all objects radiation and human body consistent wavelength, can cause the output of pyroelectric sensor equally.Therefore, detectivity is high by mistake for static human detector in this way, does not have practical value.
Relative motion type static human Detection Techniques
The second utilizes the principle of relative motion between detector and static human to carry out static human detection, basic point of departure is the human body of motion is that human body moves and can cause the change of infrared heat on pyroelectric sensor between the vision area and blind area of Fresnel Lenses, when human body transfixion, allow detector motion get up and also can simulate the motion of human body before lens artificially.This relative motion can be divided into three kinds of mode of motion, and one is the motion of Fresnel Lenses, and the Chinese patent of publication number CN200972458, CN202583484U, CN201983863U is exactly this mode of motion; Two is pyroelectric sensor motions, and what the Chinese patent of publication number CN200989946, CN102510601A adopted is exactly this mode; Three is that Fresnel Lenses moves together with pyroelectric sensor, detector mass motion is also appreciated that type for this reason, and the Chinese patent of publication number CN102510640A, CN2681126, CN1949001, CN202305019U, CN201004618, CN101285710, CN201149330, CN202025401U, CN201707454U, CN201766566U is exactly this mode of motion.
Principle, these three kinds of mode of motion are equivalent, and the result of its motion can cause the motion of static human body between the vision area and blind area of Fresnel Lenses, also can produce corresponding signal and export.Why cannot that really realize again the detection of static human in actual motion? topmost reason is, the prerequisite of these patents is that hypothesis does not have human body, and the detector of motion can not cause signal to export; Signal could be produced when only having human body to exist export.About this point just clearly write exactly from the patent of publication number CN201707454U " a kind of intelligent detection device detecting dynamic and static human body " " according to the principle of relative motion; be equivalent to the relative pyroelectric sensor 6 of human body and Fresnel Lenses 12 moves, simulate human motion completely; If nobody, rotate in any case and do not have signal output, if there is people, after simulation human motion, pyroelectricity can export normal dynamic human body signal, so just static human body signal can be detected.”
Fig. 2 be utilize relative motion principle same room, synchronization unmanned and have people to exist time measured waveform figure, as can be seen from the figure, when nobody exists, along with the motion of detector, there is very large wave form output equally, when someone exists, waveform configuration, with unmanned basically identical, just adds some human body signal content and distributions in ground unrest.When there being sensor vision area to scan human body, because human body temperature is different from emissivity and surrounding articles, a signal can be produced and export, but human body signal amplitude is little, is submerged in ground unrest and has suffered.The static human detector of relative motion type that Here it is differentiates in practical application mistiming the reason that probability is very large.Not can not identify to have static human body exist and be degenerated to general dynamic human body detector; Exactly by unmanned exist be judged as that someone exists, can not closing device power supply and do not reach due energy-saving effect.
Sum up Problems existing in relative motion type human body detection patent, mainly contain:
(1), no matter which kind of mode of motion, adopt and detect identical amplitude diagnostic method with dynamic human body, real static human detection can not be realized;
(2), need mechanical moving element as multiple in motor, reduction gearing and crank connecting link etc., failure rate is high;
(3), power consumption is large, and during detection, moving component is always in running order, and power consumption is high, when especially needing to use powerful direct current or alternating current generator, all the more so;
(4), cannot overcome dead-time problem between Fresnel Lenses subregion and subregion, conventional Fresnel Lenses can be divided into spherical lens and cylindrical lens two kinds.No matter be spherical lens or cylindrical lens, all can require to be divided into several subregions, as cylindrical lens is divided into different layers according to the difference of detection range; It is all subregion that spherical lens is divided into different concentric circless.Be divided into several segmentations fifty-fifty again in each subregion, each segmentation is an independently lens unit.Between segmentation and segmentation, be blind area between subregion and subregion, as shown in Figure 5.
In blind area, no matter human body how action, all can not be detected device and detect, therefore be also called dead band.When detector motion, be all rotate along the direction of lens segmentation, static human body can be made like this to be in the tangential motion direction of detector, produce the highest sensitivity.Also eliminate the blind area between segmentation and segmentation, any position that no matter human body is within the scope of segmented projection in other words can detect simultaneously.But the dead band between each subregion still exists, and area is not little.Between the first subregion as shown in Figure 5 and the second subregion 8.5 ~ 10.5 meters, 4.5 ~ 6.5 meters between the second subregion and the 3rd subregion is all the dead band between subregion.In these dead bands, the projection scanning of sensor crystal does not reach these regions, the existence of human body just can not be detected yet.
(5) the minimum anglec of rotation and the rotational speed of the best, is not provided;
(6), the signal transacting of human body detection adopts analogue technique, circuit complexity, poor stability.。
Summary of the invention
The present invention in order to overcome the shortcoming of above-mentioned technical matters, provide a kind of adopt detectable signal and ground unrest to carry out digital computing cross-correlation digital passive infrared human body detector and detection method.
Digital passive infrared human body detector of the present invention, comprised the shell of fixing and protective effect, for computing and control microcontroller and infrared signal is converted into the pir sensor of electric signal, pir sensor is fixed on moving component; Its special feature is: the front end of described pir sensor has been provided with the Fresnel Lenses of focussing force, microcontroller be connected with power module, can the drive motor that moves relative to search coverage of drive motion components and the detector switch for detecting moving component turned position.
Shell is the housing of detector, and microcontroller has the effect that signals collecting, data operation and control export; Under the focussing force of Fresnel Lenses, the infrared signal that motion or the extraneous human body of geo-stationary send is converted into electric signal, so that microcontroller detects the existence of extraneous human body by pir sensor.
Digital passive infrared human body detector of the present invention, be provided with between pir sensor with Fresnel Lenses and mate catoptron for what eliminate Fresnel Lenses blind area, the output signal of described pir sensor is connected to the input end of microcontroller after the amplification conversion of A/D converter; Described drive motor is instrument step motor, and detector switch is optoelectronic switch.Coupling catoptron designs according to infrared optics reflection characteristic, compensate for the shortcoming of Fresnel Lenses, effectively can eliminate the blind area between Fresnel Lenses subregion; A/D converter has the effect of amplification, filtering and digital-to-analog conversion to the signal that pir sensor exports; Adopt instrument step motor, precisely can control and detect moving component velocity of rotation and angle.
Digital passive infrared human body detector of the present invention, comprises the telepilot carrying out optimum configurations and the remote control circuit be connected with microcontroller.
Digital passive infrared human body detector of the present invention, described Fresnel Lenses is sphere Fresnel Lenses, pir sensor, A/D converter are all fixed on sensor circuit board, coupling catoptron is fixed on the front end of pir sensor, and A/D converter, pir sensor, coupling catoptron and sensor circuit board constitute moving component; Described instrument step motor is fixed on control circuit board; Sphere Fresnel Lenses, control circuit board are all fixed on shell, and instrument step motor is rotated by output shaft drive motion components.When detector adopts sphere Fresnel Lenses, because pir sensor is positioned in the focus of Fresnel Lenses, now drive motor only need drive pir sensor to move, and Fresnel Lenses is without the need to motion.
Digital passive infrared human body detector of the present invention, described Fresnel Lenses is cylinder Fresnel Lenses, and pir sensor, A/D converter are all fixed on sensor circuit board, and coupling catoptron is fixed on the front end of pir sensor; A/D converter, Fresnel Lenses, pir sensor, coupling catoptron and sensor circuit board constitute moving component; Described instrument step motor is fixed on control circuit board, and control circuit board is fixed on shell; Moving component lower end is connected with shell by bearing, and upper end is connected with instrument step motor output shaft, instrument step motor drive motion components with the focus of cylinder Fresnel Lenses for turning axle rotates.When detector adopts cylinder Fresnel Lenses, drive motor needs to drive pir sensor to move together with cylinder Fresnel Lenses.
The detection method of digital passive infrared human body detector of the present invention, its special feature is, comprise the following steps: a). the study of ground unrest, when be detected in region there is no personnel, gather the ground unrest in moving component motion one-period process, and the data of collection are stored, if the data of the n-th sampling spot collection are designated as
;
,
...
...
be designated as normal background noise sequence, N is the required number of sampling gathered in calculating process; B). dynamic human body detects, and the signal exported by pir sensor, judges that the human body whether having motion in search coverage exists, if there is the human body of motion to exist, performs step c); If the human body of not motion, then export nobody and there is signal, re-execute step b); C). time delay exports, and triggered time section is the delay circuit of T1, and in delay time section T1, keep detector to export the useful signal of human body existence; D). judge whether to enter static instrumentation, in time period T1, if again detect that the human body of motion exists, then time delay is from new calculating; Before time delay section T1 time of arrival terminates
time, do not detect movement human laggard enter static instrumentation, perform step e); E). gather detectable signal, gather the detectable signal in moving component motion one-period process, and carried out storing and computing by the signal data of collection, the data of the n-th sampling spot collection are designated as
;
,
...
...
be designated as detectable signal sequence, N is the required number of sampling gathered in calculating process;
F). carry out digital computing cross-correlation,
（2）
（3）
（4）
（5）
Wherein, the energy that formula (2) is ground unrest sequence, the energy that formula (3) is detectable signal sequence; Formula (4) is the cross correlation function sequence between ground unrest and detectable signal, and formula (5) is Normalized Cross Correlation Function sequence, and wherein k is time delay sequence number; G). judge whether have human body to exist in search coverage, from Normalized Cross Correlation Function sequence
in find out correlation peak, and judge correlation peak whether below static judgement threshold, if correlation peak is below static judgement threshold, then show have static human to exist in search coverage, redirect performs step c), otherwise show do not have static human in search coverage, detector exports the unmanned useful signal existed.
Step is a) ground unrest of detector study search coverage, and is carried out preserving and record, the number of sampling that N gathers for moving component motion one-period process; Step e) with step a) in the position of N number of sampling spot that gathers should be completely the same.Step c) described in human body exist useful signal, can be high level; Step g) in, if cross correlation function sequence
peak value below static judgement threshold, the detectable signal showing Real-time Collection and the ambient noise signal difference as reference are comparatively large, and this causes owing to there being static personnel to exist in environment; If cross correlation function sequence
peak value more than static judgement threshold, then think gather detectable signal more consistent with the ambient noise signal as reference, do not have in search coverage static state human body.
The detection method of digital passive infrared human body detector of the present invention, step b) described in dynamic human body detection comprise the following steps: b-1). dynamic threshold compares, the signal of Real-time Collection and the threshold value of setting are compared, if be no more than the threshold value of setting, then judge there is no dynamic human body; If exceed threshold value, then perform step b-2); B-2). determine whether noise, judge whether the pulse width exceeding threshold signal is less than 100ms, if be less than 100ms, is then regarded as noise; If pulse width is greater than 100ms, is then determined as dynamic human body and has existed, performed step b-3); B-3). judge that signal is produced by dynamic human body, export the useful signal having people to exist.
The detection method of digital passive infrared human body detector of the present invention, step c) described in delay time section T1 be 5min, steps d) described in
=30s; Step g) described in static judgement threshold be 0.8.
The detection method of digital passive infrared human body detector of the present invention, if M is the segmented lens number of the middle subregion of sphere Fresnel Lenses or cylinder Fresnel Lenses, L is the lens component length of cylinder Fresnel Lenses; When lens adopt sphere Fresnel Lenses, step b) and step e) the rotating speed Z of middle pir sensor is:
When lens adopt cylinder Fresnel Lenses, step b) and step e) the rotating speed Z of middle pir sensor is:
Wherein, f is the focal length of cylinder Fresnel Lenses, and the unit of Z is rev/min.
The invention has the beneficial effects as follows: digital passive infrared human body detector of the present invention, the motor that drive motion components is rotated adopts instrument step motor, can control and detect speed and the rotational angle of moving component accurately, be convenient to the signals collecting of each sampling spot.A/D converter adopt there is amplifications, the integrated circuit of filtering and analog conversion function forms, avoid the use of the electrochemical capacitor that is coupled, efficiently reduce the volume and weight for the treatment of circuit.Mating catoptron by arranging between Fresnel Lenses with pir sensor, eliminating the blind area of Fresnel Lenses.
The detection method of digital passive infrared human body detector of the present invention, first, under the unmanned condition of search coverage, gathers the ground unrest of N number of sampling spot, it can be used as the standard signal sequence of contrast; Then, in Static Detection process, also at the N number of sampling spot of identical station acquisition, as detectable signal sequence; Finally, by the digital computing cross-correlation of detectable signal and standard signal, and extract the peak value in cross correlation function sequence, can judge in search coverage, whether have static human body to exist exactly.Detection method of the present invention, effectively abandon and avoid false supposition and the drawback of human body under stationary state can not be detected of passive type static human detector in the past, can detect the human body of stationary state in search coverage efficiently and accurately, static human is detected becomes possibility.
Accompanying drawing explanation
Fig. 1 is the actual measurement oscillogram adopting chopping the light formula static human Detection Techniques to obtain;
Fig. 2 is that relative motion type human body detection is in oscillogram that is unmanned and that obtain under having people's condition;
Fig. 3 is the oscillogram of not chummery ground unrest;
Fig. 4 is the ground unrest oscillogram of same room under cloudy day, fine day different condition;
Fig. 5 is Fresnel spherical lens and cylindrical lens investigative range schematic diagram;
Fig. 6 is the schematic diagram of passive infrared human body detector of the present invention;
Fig. 7 is the structure principle chart that peoplesniffer adopts Fresnel spherical lens;
Fig. 8 is the structure principle chart that peoplesniffer adopts Fresnel cylindrical lens;
Fig. 9 is the schematic diagram of PIR signal processing circuit in the present invention;
The Zigzag type optical system that Figure 10 is formed for employing coupling catoptron;
Figure 11 is the fundamental diagram of optoelectronic switch in the present invention;
Figure 12 is the frequency response of pir sensor;
Figure 13 is ground unrest and human body related function when existing;
The process flow diagram of the detection method that Figure 14 adopts for peoplesniffer of the present invention.
In figure: 1 microcontroller, 2 Fresnel Lenses, 3 coupling catoptrons, 4 pir sensors, 5 A/D converters, 6 drive motor, 7 power circuits, 8 remote control circuits, 9 optoelectronic switches, 10 sensor circuit boards, 11 control circuit boards, 12 shells, 13 bearings.
Embodiment
Below in conjunction with accompanying drawing and embodiment, the invention will be further described.
Basically identical about having people, unmanned waveform in Fig. 2, this point is easy to be explained theoretically, the all objects being in more than absolute zero all can infrared radiation, the infrared wavelength of all objects radiation of near room temperature (300 ° of K) and the wavelength of human body radiation basically identical, all near 10 μm, just in time drop on the center of the response wave length (7 ~ 14um) of sensor light filtering window, the infrared radiation that is during room temperature, all objects are launched can be received by sensor and obtain.
In actual indoor environment, infrared radiation is change.First room temperature distribution is uneven, and summer, the position temperature near window was high, lower more inward; Winter, the position temperature near window was low, higher more inward.The uneven meeting of Temperature Distribution is tended to be balanced gradually by modes such as convection current, conduction and radiation, and this process is very slow at ordinary times, can not cause the error detection of sensor.Unless when blowing, temperature variation is relatively more violent, also can cause the misoperation of detector, the reason that passive human body detector anti-scratch wind energy power that Here it is is weak.Secondly, even if indoor temperature distribution is even, indoor also can have the article such as door and window, tables and chairs, and these article are that different materials is made, according to Si Difen boltzmann law:
(6)
In formula,
gross energy under-absolute temperature T, Wcm-2; ε-object emissivity; σ-constant; T-absolute temperature K.As can be seen from formula, the energy of infrared radiation is not only relevant with temperature, also relevant with the emissivity of object, the radiant exitance that emissivity is defined as radiation source and the ratio of radiant exitance of black matrix with same temperature.Its value, between 1 of the zero-sum black matrix in non-radiative source, can be used to measure the degree of radiation source close to black matrix.The emissivity of metal material is all lower, but increases with temperature, and after surface forms oxide layer, emissivity tenfold or larger multiple increase.Nonmetallic emissivity wants high, is generally greater than 0.8, and increasing and reduce with temperature.The emissivity of human body skin is 0.98.
The uneven distribution emissivity different from article of indoor temperature can converge on the pyroelectric crystal of sensor by Fresnel Lenses, forms several infrared images (relevant with the unit number of whole lens).These images are immobilizing when detector is static, can not cause the error detection of detector.
According to transmitting-receiving reciprocity, two pieces of crystal of detector pyroelectric sensor are by the optical axis of a Fresnel Lenses, and will to project out a vision area in search coverage, remainder is blind area.During sonde rotary, be that vision area is scanned in search coverage.The infrared image that indoor all article are formed will pass through plane of crystal successively, and uneven infrared radiation will cause the change of temperature, makes sensor have signal to export.Here it is produces the reason also having signal output when nobody exists.The signal that this unmanned existence also occurs is exactly ground unrest.
When sensor vision area scans human body, because human body temperature is different from emissivity and surrounding articles, can produce a signal and export, just human body signal amplitude is little, is submerged in ground unrest and has suffered.Cause wave form output as shown in Figure 2.Ground unrest is change, and the ground unrest of chummery, Different climate room temperature is not different.Fig. 3 be two areas with towards identical, tables and chairs arrange the ground unrest oscillogram of different next rooms at synchronization.Can find out ground unrest and furnishings closely related; Fig. 4 is same room at not noise audiogram in the same time, and figure a is cloudy ground unrest waveform, and figure b is the ground unrest waveform of fine day next day.Can find out that ground unrest can change along with the change of weather and room temperature.
In the patent of above-mentioned all relative motion types, what signal transacting adopted is all conventional dynamic human body signal processing mode, i.e. signal amplitude diagnostic method, when exceeding the high and low thresholds of setting, has just been judged as that human body exists, otherwise is unmanned existence.Because ground unrest is very large, and relevant with room furnishings, change along with the change of temperature.Human body signal is submerged in wherein, and the method for so there is no arranges a thresholding and differentiates whether have static human body to exist.
Human motion is the motion of human body relative to stationary indoors object, the motion of detector be then human body and indoor object while move, both can not equivalence completely.The static human detector of relative motion type that Here it is differentiates in practical application mistiming the reason that probability is very large.Not can not identify to have static human body exist and be degenerated to general dynamic human body detector, need human body deliberately to do large action or athleticism of standing up detects again, have a strong impact on result of use; After personnel leave, ground unrest is determined as someone exactly to exist, and does not close consumer, do not reach due energy-saving effect.
As shown in Figure 6, give the schematic diagram of passive infrared human body detector of the present invention, it comprises microcontroller 1, Fresnel Lenses 2, coupling catoptron 3, pir sensor 4, A/D converter 5, drive motor 6, power circuit 7, remote control circuit 8 and optoelectronic switch 9; Shown microcontroller 1 has collection, computing and control action, and Fresnel Lenses 2 is arranged at the front end of pir sensor 4, realizes focussing force.Coupling catoptron 3 is arranged between Fresnel Lenses 2 and pir sensor 3, for eliminating the blind area of Fresnel Lenses 2.PIR(Passive infrared) sensor is Passive Infrared Sensor, for the infrared signal of human body radiation is converted into electric signal, A/D converter 5 has amplification, filtering and analog conversion function, the signal that pir sensor 4 exports is converted into the collectable digital signal of microcontroller 1.
Drive motor 6 adopts instrument step motor, moves relative to search coverage for drive motion components; Pir sensor 4 is fixed on moving component.Instrument step motor 6, can the speed of detection and control moving component and rotational angle under the control action of microcontroller 1.Power circuit 7 is for providing the direct supply needed for detector work; Remote control circuit 8 is connected with microcontroller 1, for receiving the instruction carrying out optimum configurations that telepilot sends.Optoelectronic switch 9 is detector switch, for detecting the angle that moving component rotates.
As shown in Figure 7, give the structure principle chart that detector adopts sphere Fresnel Lenses, shown pir sensor 4, A/D converter 5 are all fixed on sensor circuit board 10, and coupling catoptron 3 is fixed on the front end of pir sensor 4, and instrument step motor 6 is fixed on control circuit board 11.A/D converter, pir sensor 4, coupling catoptron 3 and sensor circuit board 10 constitute moving component.Fresnel Lenses 2, control circuit board 11 are all fixed on shell 12; Instrument step motor drives whole moving component to rotate by output shaft, is also just equivalent to drive pir sensor 4 to rotate.Optoelectronic switch 9 is arranged at the below of control circuit board 11, can realize the measurement to sensor circuit board 10 rotational angle.Be arranged at by A/D converter 5 on sensor circuit board 10, A/D converter 5 is connected with the digital circuit on control circuit board 11 by data line, is equivalent to the isolation achieving simulating signal and digital signal, avoids the interference between signal.
As shown in Figure 8, give the structure principle chart that detector adopts cylinder Fresnel Lenses, shown pir sensor 4, A/D converter 5 are all fixed on sensor circuit board 10, and coupling catoptron 3 is fixed on the front end of pir sensor 4, and instrument step motor 6 is fixed on control circuit board 11.A/D converter 5, Fresnel Lenses 2, pir sensor 4, coupling catoptron 3 and sensor circuit board 10 constitute moving component.Control circuit board 11 is fixed on shell 12; Moving component lower end is rotationally connected by bearing 13 and shell 12, upper termination instrument step motor output shaft, instrument step motor drives whole moving component with the focus of cylinder Fresnel Lenses for turning axle rotates, and is also just equivalent to drive pir sensor 4 to rotate around focus together with cylinder Fresnel Lenses.Optoelectronic switch 9 is arranged at the below of control circuit board 11, can realize the measurement to moving component rotational angle.
Microcontroller 1 adopts the Cortex-M3 CPU based on ARM 32 to be the microcontroller of core, the highest 72MHz frequency of operation, 1.25DMips/MHz arithmetic speed, monocycle multiplication and hardware division are that the digital signal processing computing (DSP) of static human signal provides advantage.2 16 bit strip dead zone function and emergency brakes, the senior control timer of the PWM for Electric Machine Control can Driving Stepping Motor easily.Abundant internal resource and the very applicable use with this detector of external interface.Instrument step motor is adopted as the micro-step motor of automobile instrument and other indicating equipment and development and Design, and motor does not need complicated driving circuit, directly can export driving by microcontroller (MCU).Inside has the reduction gear device of a set of 1:180, is exporting the resolution obtaining 1/3 degree.Have employed 24 micro-stepping subdivide technologies, make resolution bring up to 1/12 degree, reduce shake during slow running.Can realize micro-stepping Multi-level microstep by the pwm signal of MCU, reduce cost, the best rotational speed needed for realization and the anglec of rotation, achieve the fully digitalization of complete machine.Adopt the object of miniature motor for instrument be can directly and MCU system directly compatible, greatly reduce Overall Power Consumption, noise and electromagnetic interference (EMI).Rotational speed and angle information accurately can be obtained, for the digital operation of static human signal creates condition simultaneously.Motor adopts anti-aging materials to manufacture shell and gear, can stand high/low temperature change and greasy dirt erosion for a long time, there will not be the problem that gear breaking or housing decompose.Built-in reducing gear makes structure more succinct, thus cost has more advantage.Farthest decrease mechanical organ, extend machine life.The all parts of motor, by professional factory precision manufactureing, ensure stable and reliable product quality.Improve stability and the long-life of motor.
As shown in Figure 9, give PIR signal processing circuit, the i.e. schematic diagram of A/D converter 5, the signal amplitude exported due to pir sensor is very little, only has the mV order of magnitude, in order to follow-up circuit can normally work, common circuit is the filtering and amplifying circuit adopting two-stage calculation amplifier composition, provides the gain of 65 ~ 72dB and the passband of about 0.1 ~ 7Hz.The amplification mode of this simulation, require to use large electrochemical capacitor as coupling capacitance, circuit volume is large, and Heavy Weight, is installed on sensor circuit board and needs large motor to drive, and unstable properties, is unfavorable for the raising of overall performance simultaneously.For this reason, we adopt special sensor signal digital processing circuit, the A/D converter namely above mentioned, and it is specially low noise, micro-signal process and the digital interface circuit that designs.Inside is integrated with high sensitivity, high-impedance switch dielectric amplifier inputs as the micro-signal of sensor, the simultaneously analog to digital conversion of built-in 14 bit resolutions and a digital high-performance second order Butterworth LPF, directly to the digital signal that microprocessor provides single line to export.
As shown in Figure 10, give the Zigzag type optical system diagram adopting coupling catoptron to be formed, which employs patent publication No. is technology in CN201387418 patent documentation, ultimate principle increases a coupling catoptron between Fresnel Lenses and sensor, the infrared ray in dead band between lens subregion is reentered sensor after overmatching catoptron is launched, thus eliminates the dead band between subregion.As shown in figure 11, give the fundamental diagram of optoelectronic switch 9, control circuit board is provided with two detector switches, is served as by reflective photoelectric switch.Reflective photoelectric switch inside is integrated with infraluminescence pipe and phototriode, all towards the optical transmission window on top, when there is high reverse--bias object in the position that their light paths intersect, and phototriode conducting, otherwise cut-off.Employing optoelectronic switch can reduce the requirement to drive motor output torque, reduces mechanical loss, improves the life-span.The position of the maximum anglec of rotation of the sensor circuit board 10 of spherical lens structure and the moving component of cylindrical lens structure is pasted with the high aluminium foil of two pieces of reflecting rates, when aluminium foil rotates to immediately below optoelectronic switch, due to the reflection of aluminium foil, optoelectronic switch exports high level, and all the other positions are all low levels.So just can identify the exact position of moving component.
As shown in figure 12, the frequency response schematic diagram into pir sensor is given, as can be seen from curve; peak value is at about 0.1 ~ 0.2Hz; after the coupling considering signal, usually can be displaced to 0.3 ~ 0.7Hz, therefore select 0.5Hz to be suitable as optimum frequency.Next selects rotational speed by Fresnel Lenses quantity, and two of a pir sensor crystal projection can be two vision areas by a lens unit, and polarity is contrary, when such lens are with 1 time/second velocity sweeping, can form the signal of 1Hz.Whole lens are divided into several subregions, concentric circless as different in spherical lens, the layer that cylindrical lens is different.Because motion is all move along the direction of lens segmentation, each segmentation is exactly a lens unit.In same subregion, the frequency of lens forming is identical, and the frequency of different subregion is different.In subregion, the frequency of the formation that segments is many is high, and the frequency that segments is few is low.Rotational speed is selected to be exactly guarantee that the frequency that each zoned lens is formed all falls in the responding range of pir sensor.If M is the segmented lens number of the middle subregion of sphere Fresnel Lenses or cylinder Fresnel Lenses, L is the length of the lens component of cylinder Fresnel Lenses; When lens adopt sphere Fresnel Lenses, step b) and step e) the rotating speed Z of middle pir sensor is:
When lens adopt cylinder Fresnel Lenses, step b) and step e) the rotating speed Z of middle pir sensor is:
Wherein, f is the focal length of cylinder Fresnel Lenses, and the unit of Z is rev/min.
Optimizing the anglec of rotation is exactly on the basis realizing human body detection in whole investigative range, reduces the anglec of rotation of moving component as far as possible, with the convenience realizing moving component outlet and the requirement reduced digital operation amount.
For spherical lens system, it is an origin symmetry system, and each subregion distributes according to concentric circles, like this, when sensor rotation, two rectangle crystal of sensor just in subregion each lens unit inter-sync scan.The maximum tangential motion of induction sensitivity repeats according to the rule of 180 °, and therefore, its optimal rotation angle is 180 °.As long as be exactly rotate 180 °, in search coverage, the human body of any position can form an effective signal output.
For cylindrical lens system, it is a rotational symmetry system, can not adopt sensor rotation mode, can only adopt the rotation mode together with whole human body detection unit (Fresnel Lenses and sensor).Be equivalent to whole detector and carry out mechanical scanning around turning axle, when the focus of turning axle scioptics, the angle of rotation can be made to reach minimum.Lens are distributed on cylinder, have the distribution angle α that fixing between each segmented lens in each subregion, can find from concrete lens handbook.When detector remains static, generally whole moving component is positioned at the central authorities of shell, adopts during static human detection and first rotate toward a direction, then rotate toward another direction, finally return the reciprocating rotation mode in centre position.Be equivalent to each lens about rest position, respectively have rotated an angle θ, when θ=α/2, whole search coverage can be scanned by the vision area of lens.The distribution angle α of each zoned lens is different, and the many distribution angle of segmentation is little, and the distribution angle that segmentation is few is large.The maximum distribution angle of general selection is as design considerations, and the namely best anglec of rotation equals the half of maximum distribution angle.
As shown in figure 14, give the process flow diagram of the detection method that peoplesniffer of the present invention adopts, it comprises the following steps:
A). the study of ground unrest, when be detected in region there is no personnel, gather the ground unrest in moving component motion one-period process, and the data of collection stored, if the data of the n-th sampling spot collection are designated as
;
,
...
...
be designated as normal background noise sequence, N is the required number of sampling gathered in calculating process;
B). dynamic human body detects, and the signal exported by pir sensor (4), judges that the human body whether having motion in search coverage exists, if there is the human body of motion to exist, performs step c); If the human body of not motion, then export nobody and there is signal, re-execute step b);
In this step, described dynamic human body detection comprises the following steps:
B-1). dynamic threshold compares, and the signal of Real-time Collection and the threshold value of setting is compared, if be no more than the threshold value of setting, then judges do not have dynamic human body; If exceed threshold value, then perform step b-2);
B-2). determine whether noise, judge whether the pulse width exceeding threshold signal is less than 100ms, if be less than 100ms, is then regarded as noise; If pulse width is greater than 100ms, is then determined as dynamic human body and has existed, performed step b-3);
B-3). judge that signal is produced by dynamic human body, export the useful signal having people to exist;
C). time delay exports, and triggered time section is the delay circuit of T1, and in delay time section T1, keep detector to export the useful signal of human body existence; T1 is set by telepilot, can be chosen for 5min;
D). judge whether to enter static instrumentation, in time period T1, if again detect that the human body of motion exists, then time delay is from new calculating; Before time delay section T1 time of arrival terminates
time, do not detect movement human laggard enter static instrumentation, perform step e); In this step,
30s can be chosen for;
E). gather detectable signal, gather the detectable signal in moving component motion one-period process, and carried out storing and computing by the signal data of collection, the data of the n-th sampling spot collection are designated as
;
,
...
...
be designated as detectable signal sequence, N is the required number of sampling gathered in calculating process;
In this step, the rotating speed of pir sensor and the anglec of rotation should with step a) in identical, the position of N number of sampling spot also should completely with step a) in consistent;
F). carry out digital computing cross-correlation,
（2）
（3）
（4）
（5）
Wherein, the energy that formula (2) is ground unrest sequence, the energy that formula (3) is detectable signal sequence; Formula (4) is the cross correlation function sequence between ground unrest and detectable signal, and formula (5) is Normalized Cross Correlation Function sequence, and wherein k is time delay sequence number;
G). judge whether have human body to exist in search coverage, from Normalized Cross Correlation Function sequence
in find out correlation peak, and judge correlation peak whether below static judgement threshold, if correlation peak is below static judgement threshold, then show have static human to exist in search coverage, redirect performs step c), otherwise show do not have static human in search coverage, detector exports the unmanned useful signal existed; In this step, static judgement threshold is for being chosen for 0.8.
As shown in figure 13, give related function when ground unrest and human body exist, what embody due to cross-correlation peak value is similarity degree between two signals.Although the ground unrest of same room can change with weather and room temperature, intensity of variation is little, and similarity is still very high.But when having static human to exist, include human body signal composition in the signal of detection, the similarity degree of both waveforms greatly reduces.Proved by a large amount of tests, the normalized crosscorrelation peak value of same room ground unrest is more than 0.8, and when having static human to exist, normalized crosscorrelation peak value is below 0.8.With 0.8 as judgement threshold between the two, utilize cross correlation function to suppress the ability of uncorrelated " noise " (human body signal), just from very strong ground unrest static human input out, the identification of static human body accurately can be realized.
No matter detector adopts sphere Fresnel Lenses or adopts cylinder Fresnel Lenses, and the course of work is the same.When detector complete machine dispatches from the factory, arrange the dynamic human body detection delay time of an acquiescence, ground unrest wave sequence is all 0.Detector powers on after being in place, and after powering on, moving component returns to center under the control of microcontroller 1 at every turn, to eliminate the uncertainty of position in transportation, ensures best investigative range.First carry out the study of room ground unrest and the setting of storage with telepilot, at this moment moving component starts toward anticlockwise, after running into left detector switch, motor stop, then turn right start rotate, after running into right detector switch, motor stops, and finally turns left to rotate to arrive center.A/D conversion is carried out to the signal of pir sensor simultaneously, constantly delivers in microcontroller, moving component motion terminate after, microcontroller using this sequence stored in corresponding storage space as the standard sequence of digital computing cross-correlation.
During work, the human bioequivalence of the advanced Mobile state of detector, adopts common amplitude diagnostic method, by the threshold value of program setting as the threshold value of numerical aperture comparer.The numerical value sent here by sensor treatment circuit constantly compares with this threshold value, and be no more than threshold value and be just determined as unmanned, human body detection output signal is low level; When exceeding threshold level value, measure the pulse width exceeding threshold value, if pulsewidth is less than 100ms, be determined as noise, exporting still is low level; Otherwise be determined as dynamic human body to exist.
After being determined as dynamic human body existence, trigger a digital delay circuit, make human body detection signal export as high level simultaneously.The delay time of digital delay circuit is default value, also can be revised as setting value by telepilot.Delay circuit constantly reduces numerical value, until time delay terminates when being 0, output low level, expression personnel sit down or leave.While time delay, numerical aperture comparer still constantly carries out comparison and the pulse width measuring of threshold level, when being judged as dynamic human body signal, constantly the delay time of delay circuit is returned setting value, so just can obtain a stable dynamic human body control signal and export.If no longer include dynamic human body detection signal to occur during whole dynamic delay, show that personnel are not that the stationary state being in sitting posture leaves search coverage exactly.Therefore 30 seconds before dynamic delay terminates, start to enter static human detection process.
MCU(microcontroller) first output pwm signal direct-driving motor, moving component starts to start to rotate according to the direction of programming and speed under the control of MCU.Simultaneously, MCU enters static human probe algorithm calculating process, the data come from sensor treatment circuit do not compare with numerical aperture comparer, avoid the error detection that ground unrest causes, but be stored in specific storage space, and start the computing of normalized-cross-correlation function according to formula (2), (3), (4) and (5).And by the data that obtain stored in another one storage space, often enter new data, according to formula operation once.Like this after motor movement terminates, Normalized Cross Correlation Function sequence is complete with regard to computing.Afterwards, from normalized-cross-correlation function series, find out peak-data, then compare with 0.8.Be greater than 0.8 and be judged as there is no static human, at the end of dynamic delay, make control export become low level; Be less than 0.8 and be judged as that static human exists, the dynamic delay time is returned setting value, restart time delay process.And algorithm is readjusted into dynamic human body probe algorithm, for catching possible dynamic human body signal, within 30 seconds before dynamic delay terminates, enter again static human detection process.Until personnel leave, static human detection is judged as unmanned existence, at the end of time delay, and output low level.This completes whole human body detection process.Motor only works within more than 10 seconds of static human detection, and the power consumption of complete machine is very little.The loss of motor is also very little, ensure that the life-span of complete machine.The human body detection signal exported can combine with timing controling signal, illumination control signal or temperature control signals, for the Energy Saving Control of lighting or air-conditioning.
It should be noted that, although specifically show in conjunction with preferred embodiment and describe the present invention, the above implementation content, it is the one in conjunction with concrete preferred implementation, it is further description made for the present invention, can not assert that specific embodiment of the invention is confined to these and illustrates, but require to meet the widest scope consistent with thinking disclosed herein and principle.For general technical staff of the technical field of the invention, under the prerequisite not departing from design of the present invention and algorithm, some simple modifications or replacement can also be made.In the concept of the present invention that attached claims limit, all should be considered as belonging to protection scope of the present invention.
Claims (3)
1. the detection method of a digital passive infrared human body detector, described digital passive infrared human body detector comprised fixing and protective effect shell (12), for computing and control microcontroller (1) and infrared signal is converted into the pir sensor (4) of electric signal, pir sensor is fixed on moving component; The front end of described pir sensor has been provided with the Fresnel Lenses (2) of focussing force, microcontroller be connected with power module (6), can the drive motor (6) that moves relative to search coverage of drive motion components and the detector switch for detecting moving component turned position;
Described detection method comprises the following steps:
A). the study of ground unrest, when be detected in region there is no personnel, gather the ground unrest in moving component motion one-period process, and the data of collection stored, if the data of the n-th sampling spot collection are designated as
;
,
...
...
be designated as normal background noise sequence, N is the required number of sampling gathered in calculating process;
B). dynamic human body detects, and the signal exported by pir sensor (4), judges that the human body whether having motion in search coverage exists, if there is the human body of motion to exist, performs step c); If the human body of not motion, then export nobody and there is signal, re-execute step b);
shouldstep b) described in dynamic human body detection comprise the following steps:
B-1). dynamic threshold compares, and the signal of Real-time Collection and the threshold value of setting is compared, if be no more than the threshold value of setting, then judges do not have dynamic human body; If exceed threshold value, then perform step b-2);
B-2). determine whether noise, judge whether the pulse width exceeding threshold signal is less than 100ms, if be less than 100ms, is then regarded as noise; If pulse width is greater than 100ms, is then determined as dynamic human body and has existed, performed step b-3);
B-3). judge that signal is produced by dynamic human body, export the useful signal having people to exist;
C). time delay exports, and triggered time section is the delay circuit of T1, and in delay time section T1, keep detector to export the useful signal of human body existence;
D). judge whether to enter static instrumentation, in time period T1, if again detect that the human body of motion exists, then time delay is from new calculating; Before time delay section T1 time of arrival terminates
time, do not detect movement human laggard enter static instrumentation, perform step e);
E). gather detectable signal, gather the detectable signal in moving component motion one-period process, and carried out storing and computing by the signal data of collection, the data of the n-th sampling spot collection are designated as
;
,
...
...
be designated as detectable signal sequence, N is the required number of sampling gathered in calculating process;
F). carry out digital computing cross-correlation,
（1）
（2）
（3）
（4）
Wherein, the energy that formula (1) is ground unrest sequence, the energy that formula (2) is detectable signal sequence; Formula (3) is the cross correlation function sequence between ground unrest and detectable signal, and formula (4) is Normalized Cross Correlation Function sequence, and wherein k is time delay sequence number;
G). judge whether have human body to exist in search coverage, from Normalized Cross Correlation Function sequence
in find out correlation peak, and judge correlation peak whether below static judgement threshold, if correlation peak is below static judgement threshold, then show have static human to exist in search coverage, redirect performs step c), otherwise show do not have static human in search coverage, detector exports the unmanned useful signal existed.
2. the detection method of digital passive infrared human body detector according to claim 1, is characterized in that: step c) described in delay time section T1 be 5min, steps d) described in
=30s; Step g) described in static judgement threshold be 0.8.
3. the detection method of digital passive infrared human body detector according to claim 1, it is characterized in that: set M as the segmented lens number of subregion in the middle of sphere Fresnel Lenses or cylinder Fresnel Lenses, L is the lens component length of cylinder Fresnel Lenses; When lens adopt sphere Fresnel Lenses, step b) and step e) the rotating speed Z of middle pir sensor is:
When lens adopt cylinder Fresnel Lenses, step b) and step e) the rotating speed Z of middle pir sensor is:
Wherein, f is the focal length of cylinder Fresnel Lenses, and the unit of Z is rev/min.
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