CN107576957B - Sensor and estimation method - Google Patents
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- CN107576957B CN107576957B CN201710416994.9A CN201710416994A CN107576957B CN 107576957 B CN107576957 B CN 107576957B CN 201710416994 A CN201710416994 A CN 201710416994A CN 107576957 B CN107576957 B CN 107576957B
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Abstract
The present disclosure relates to a sensor and an estimation method. The sensor is provided with: a transmission antenna having N transmission antenna elements for transmitting a transmission signal; a reception antenna having M reception antenna elements for receiving N reception signals including a reflection signal reflected by a living body out of the N transmission signals, respectively; a circuit; and a memory, the circuitry to perform: a2 nd matrix corresponding to a predetermined frequency range is extracted from N x M1 st matrices representing propagation characteristics between each transmitting antenna element and each receiving antenna element based on each reception signal, a position where a living body exists is estimated using the 2 nd matrix, an RCS (radio cross-section) value for the living body is calculated based on the estimated position and the positions of the transmitting and receiving antennas, and the posture of the living body is estimated using the calculated RCS value and information representing the correspondence between the RCS value and the posture of the living body.
Description
Technical Field
The present disclosure relates to a sensor and an estimation method for estimating the posture of a living body by using a wireless signal.
Background
As a method of knowing the position of a person or the like, a method using a wireless signal has been studied (for example, see patent documents 1 to 3). Patent document 1 discloses a method of detecting a living body using a doppler sensor, and patent document 2 discloses a method of detecting motion and living body information of a person using a doppler sensor and a filter. Patent document 3 discloses that the position and state of a person to be detected can be known by analyzing a component including a doppler shift (doppler shift) using fourier transform. Patent document 4 discloses a method of estimating the position and/or state of a living body by machine learning based on channel information and various kinds of sensing information of a plurality of antennas, and patent document 5 discloses a method of estimating the state of a living body by a plurality of antennas, an ultrasonic radar, and a plurality of antennas.
Documents of the prior art
Patent document
Patent document 1: japanese Kohyo 2014-512526
Patent document 2: international publication No. 2014/141519
Patent document 3: japanese patent laid-open publication No. 2015-117972
Patent document 4: japanese patent laid-open No. 2014-190724
Patent document 5: japanese patent laid-open publication No. 2005-292129
Patent document 6: japanese laid-open patent publication No. 2001-159678
Disclosure of Invention
Problems to be solved by the invention
However, in order to improve the accuracy of estimating the posture of the living body by using the wireless signal, further improvement is required.
Means for solving the problems
In order to achieve the above object, a sensor according to one aspect of the present disclosure includes: a transmission antenna having N transmission antenna elements, N being a natural number of 2 or more, each of the N transmission antenna elements transmitting a transmission signal to a predetermined range in which a living body is likely to exist; a reception antenna having M reception antenna elements, M being a natural number of 2 or more, each of the M reception antenna elements receiving N reception signals including a reflected signal obtained by reflecting a part of the N transmission signals transmitted by the N transmission antenna elements by the living body; a circuit; and a memory, wherein the circuit calculates a 1 st matrix of N × M from each of the N reception signals received for a predetermined period in each of the M reception antenna elements, the 1 st matrix of N × M having as components respective complex transfer functions (complex transfer functions) representing propagation characteristics between each of the N transmission antenna elements and each of the M reception antenna elements, extracts a 2 nd matrix corresponding to a predetermined frequency range in the 1 st matrix, the 2 nd matrix corresponding to a component affected by physical sign (visual) activity including at least one of respiration, heartbeat, and body of the living body, estimates a position of the living body relative to the sensor using the 2 nd matrix, calculates a 1 st distance representing a distance between the living body and the transmission antenna and a 2 nd distance representing a distance between the living body and the reception antenna based on the estimated position, the position of the transmission antenna, and the position of the reception antenna, calculates a 1 st distance representing a distance between the living body and the reception antenna and a 2 nd distance representing a distance between the living body and the reception antenna, calculates a cross-sectional information (rcoss) of the living body, the radar, the correlation value representing a scattering of the radar cross-section s, the radar, and the attitude (correlation s) stored in the memory, and the estimated correlation s.
Effects of the invention
According to the present disclosure, the posture of the living body can be estimated in a short time and with high accuracy by using the wireless signal.
Drawings
Fig. 1 is a block diagram showing an example of the configuration of a sensor in embodiment 1.
Fig. 2 is a block diagram showing functional configurations of a circuit and a memory in embodiment 1.
Fig. 3 shows an example of information indicating the correspondence relationship in embodiment 1.
Fig. 4 is a flowchart showing an example of the operation of the sensor according to embodiment 1.
Fig. 5 is a block diagram showing an example of the configuration of the sensor in embodiment 2.
Fig. 6 is a block diagram showing a functional configuration of a circuit and a memory in embodiment 2.
Fig. 7 shows an example of information indicating the correspondence relationship in embodiment 2.
Fig. 8 is a diagram showing an outline of an experiment performed to confirm the effect of the sensor of embodiment 2.
Fig. 9 is a graph showing the result of an experiment using the experimental system shown in fig. 8.
Fig. 10 is a diagram showing a specific example of the 1 st to 4 th RCS ranges and a specific example of the 1 st to 4 th height ranges obtained from the experimental results.
Description of the reference symbols
10. 10A: sensor with a sensor element
20. 20A: transmitting antenna
21. 21A: transmitting antenna element
30. 30A: receiving antenna
31. 31A: receiving antenna element
40. 40A: circuit arrangement
41: memory device
42. 42A: information indicating correspondence
50. 50A: biological body
410: complex transfer function calculating unit
420: biological component calculating section
430: position estimation processing unit
430A: three-dimensional position estimation processing unit
440: RCS calculating unit
450: posture estimating unit
Detailed Description
(insight underlying the present disclosure)
The present inventors have conducted detailed studies on a conventional technique for estimating the state of a living body using a wireless signal. As a result, it is known that the methods of patent documents 1 and 2 have a problem in that, although the presence or absence of a person can be detected, the direction, position, size, posture, and the like in which the person is present cannot be detected.
Further, the method of patent document 3 is known to have a problem that it is difficult to detect the direction and/or position of the living body such as a human body in a short time and with high accuracy. This is because a frequency change due to the doppler effect resulting from the movement of the living body is extremely small, and in order to observe the frequency change by fourier transform, it is necessary to observe the frequency change for a long time (for example, several tens of seconds) in a state where the living body is stationary. In addition, the reason is that in general, organisms rarely continue the same posture and/or position for tens of seconds.
Further, it is known that patent document 4 has a problem that machine learning has to be performed for each user, and patent document 5 has a problem of installation and a problem of cost in which a plurality of ultrasonic antennas are installed over a wide range of a ceiling.
As a result of repeated studies on the above problems, the inventors have found that the direction, position, size, posture, and the like of a living body can be estimated in a short time and with high accuracy by using the propagation characteristics and scattering cross section of a reflected signal transmitted from a transmitting antenna including antenna elements placed at different positions and reflected by the living body, and have obtained the present disclosure.
(1) A sensor according to an aspect of the present disclosure includes: a transmission antenna having N transmission antenna elements, N being a natural number of 2 or more, each of the N transmission antenna elements transmitting a transmission signal to a predetermined range in which a living body is likely to exist; a reception antenna having M reception antenna elements, M being a natural number of 2 or more, each of the M reception antenna elements receiving N reception signals including a reflected signal obtained by reflecting a part of the N transmission signals transmitted by the N transmission antenna elements by the living body; a circuit; and a memory, wherein the circuit calculates a 1 st matrix of N × M from each of the N reception signals received for a predetermined period in each of the M reception antenna elements, the 1 st matrix of N × M having, as components, respective complex transfer functions representing propagation characteristics between each of the N transmission antenna elements and each of the M reception antenna elements, extracts a 2 nd matrix corresponding to a predetermined frequency range in the 1 st matrix, extracts the 2 nd matrix corresponding to a component affected by physical sign activity of the living body including at least one of respiration, heartbeat, and body, estimates a position of the living body with respect to the sensor using the 2 nd matrix, calculates a 1 st distance representing a distance between the living body and the transmission antenna and a 2 nd distance representing a distance between the living body and the reception antenna based on the estimated position, the position of the transmission antenna, and the position of the reception antenna, calculates a rads (rccross section — section) which is a distance of the living body using the 1 st and the 2 nd distances, calculates a corresponding value of RCS, and the posture information representing the posture of the living body, the calculated value and the posture information stored in the memory, and the estimated relationship between the posture and the memory.
Therefore, the position where the living body exists and the posture of the living body at the position can be estimated in a short time and with high accuracy.
(2) In the above aspect, the predetermined period may be substantially half of a period of at least one of respiration, heartbeat, and body movement of the living body.
Therefore, the position where the living body exists and the posture of the living body at the position can be efficiently estimated.
(3) In the above-described aspect, the circuit may estimate whether or not the living body is in a posture facing a direction perpendicular to an arrangement direction of the transmitting antenna and the receiving antenna.
(4) In the above-described aspect, the N is a natural number of 3 or more, at least 3 of the N transmitting antenna elements are disposed at positions different in vertical and horizontal directions, respectively, the M is a natural number of 3 or more, at least 3 of the M receiving antenna elements are disposed at positions different in vertical and horizontal directions, respectively, information indicating the correspondence relationship indicates a correspondence relationship between a vertical position as a position of the living body in a vertical direction in which the sensor is present and an RCS value and a posture of the living body, the posture of the living body corresponding to the information indicating the correspondence relationship includes standing, sitting on a standing leg, sitting on a leg, and lying on the back, and the circuit may estimate a three-dimensional position including the vertical position using the 2 nd matrix, and estimate which of the postures of the living body is standing, sitting on a standing leg, sitting on a leg, and sitting on the back using the estimated three-dimensional position, the calculated RCS value, and the information indicating the correspondence relationship stored in the memory.
Therefore, the three-dimensional position where the living body exists and the posture of the living body at the three-dimensional position can be estimated in a short time and with high accuracy.
The present disclosure can be realized not only as a device but also as an integrated circuit including a processing unit included in such a device, or as a method in which a processing unit included in the device is made to be a step, or as a program for causing a computer to execute the step, or as information, data, or a signal representing the program. The program, information, data, and signals may be distributed via a recording medium such as a CD-ROM and/or a communication medium such as the internet.
Hereinafter, embodiments of the present disclosure will be described in detail with reference to the drawings. The embodiments described below all show a preferred specific example of the present disclosure. The numerical values, shapes, materials, constituent elements, arrangement positions and connection modes of the constituent elements, steps, order of the steps, and the like shown in the following embodiments are merely examples, and are not intended to limit the present disclosure. Among the components in the following embodiments, those not recited in the independent claims indicating the most generic concept of the present disclosure will be described as arbitrary components constituting a more preferred embodiment. In the present specification and the drawings, the same reference numerals are given to the components having substantially the same functional configurations, and redundant description is omitted.
(embodiment mode 1)
Fig. 1 is a block diagram showing an example of the configuration of a sensor in embodiment 1.
As shown in fig. 1, the sensor 10 includes a transmitting antenna 20, a receiving antenna 30, a circuit 40, and a memory 41. The sensor 10 emits microwaves to a living body 50 such as a human being through a transmitting antenna 20, and receives reflected waves reflected by the living body 50 through a receiving antenna 30. Here, an angle formed between the 1 st reference direction set to any of the transmission antennas 20 and the 1 st biological direction as a direction from the transmission antenna 20 to the biological body 50 is represented by θ T . Similarly, an angle formed between the 2 nd reference direction set for any pair of the receiving antennas 30 and the 2 nd living body direction as the direction from the receiving antenna 30 to the living body 50 is represented by θ R . The 1 st reference direction, the 1 st biological direction, the 2 nd reference direction, and the 2 nd biological direction are directions on a horizontal plane.
The transmission antenna 20 includes N (N is a natural number of 2 or more) transmission antenna elements 21. The transmission antenna 20 includes an array antenna configured by N transmission antenna elements 21 arranged in the 1 st predetermined direction on the horizontal plane. Each of the N transmitting antenna elements 21 transmits a transmission signal to a predetermined range in which a living body may exist. That is, the transmission antenna 20 transmits N transmission signals from different N positions to a predetermined range. Further, the predetermined range in which a living body is likely to exist refers to a detection range in which the sensor 10 detects the presence of the living body.
Specifically, each of the N transmitting antenna elements 21 transmits a microwave as a transmission signal to the living body 50 such as a human being. The N transmitting antenna elements 21 may transmit, as a transmission signal, a signal subjected to different modulation processing for each transmitting antenna element 21. Further, each of the N transmitting antenna elements 21 may sequentially switch between transmitting a modulated signal and a non-modulated signal. The modulation process may be performed by the transmission antenna 20. In this way, by setting the transmission signals transmitted from the N transmission antenna elements 21 to transmission signals different from each other for each of the N transmission antenna elements 21, it is possible to specify the transmission antenna element 21 that transmitted the transmission signal received by the reception antenna 30. As such, the transmission antenna 20 may also include a circuit for performing modulation processing.
The reception antenna 30 has M (M is a natural number of 2 or more) reception antenna elements 31. The receiving antenna 30 has an array antenna constituted by M receiving antenna elements 31 arranged in the 2 nd predetermined direction on the horizontal plane. Each of the M receiving antenna elements 31 receives N receiving signals including a reflected signal reflected by the living body 50 out of the N transmitting signals. The receiving antenna 30 converts the frequency of the received signal made of microwaves into a low-frequency signal. The reception antenna 30 outputs a signal obtained by conversion into a low-frequency signal to the circuit 40. That is, the receiving antenna 30 may also include a circuit for processing a received signal.
The circuit 40 performs various processes for operating the sensor 10. The circuit 40 is configured to include, for example: a processor executing a control program; and a volatile storage area (main storage) used as a work area used when the control program is executed. Volatile Memory areas are, for example, RAM (Random Access Memory). The circuit 40 may be configured by a dedicated circuit for performing various processes for operating the sensor 10. That is, the circuit 40 may be a circuit that performs software processing or a circuit that performs hardware processing.
The Memory 41 is a nonvolatile storage area (auxiliary storage device), and is, for example, a ROM (Read Only Memory), a flash Memory, an HDD (Hard Disk Drive), or the like. The memory 41 stores information used for various processes for operating the sensor 10, for example.
Next, a functional configuration of the circuit 40 will be described with reference to fig. 2.
Fig. 2 is a block diagram showing functional configurations of a circuit and a memory in embodiment 1.
The circuit 40 includes a complex transfer function calculation unit 410, a biological component calculation unit 420, a position estimation processing unit 430, an RCS calculation unit 440, and a posture estimation unit 450.
The complex transfer function calculation unit 410 calculates a complex transfer function from the received signal converted into the low frequency signal. The complex transfer function is a function representing a propagation loss and a phase rotation between each transmitting antenna element 21 and each receiving antenna element 31. The complex transfer function is a complex matrix having M × N components when the number of transmission antenna elements is N and the number of reception antenna elements is M. Hereinafter, the complex matrix is referred to as a complex transfer function matrix. The calculated complex transfer function matrix is output to the biological component calculation unit 420. That is, the complex transfer function calculation unit 410 calculates an N × M1 st matrix having each complex transfer function representing the propagation characteristic between each of the N transmission antenna elements 21 and each of the M reception antenna elements 31 as a component, from each of a plurality of reception signals received in each of the M reception antenna elements 31 for a predetermined period.
The biological component calculation unit 420 separates the complex transfer function matrix into a complex transfer function matrix component obtained from the received signal having passed through the biological body 50 and a complex transfer function matrix component obtained from the received signal not having passed through the biological body 50. The component passing through the living body 50 refers to a component that changes in time according to the movement of the living body. Thus, for example, when the components passing through the living body 50 are stationary except for the living body 50, the components other than the direct current can be extracted by extracting the components from the components obtained by performing fourier transform on the components of the complex transfer function matrix in the time direction. The components that have passed through the living body 50 can be extracted by, for example, extracting components whose difference from the result observed when the living body 50 is not present in a predetermined range exceeds a predetermined threshold. In this way, the biological component calculation unit 420 extracts a complex transfer function matrix component obtained from the received signal including the reflected signal having passed through the living body 50, and calculates the extracted complex transfer function matrix component as the biological component. That is, the biological component calculation unit 420 extracts the 2 nd matrix corresponding to the predetermined frequency range from the 1 st matrix, and extracts the 2 nd matrix corresponding to the component affected by the vital sign activity of the living body including at least one of respiration, heartbeat, and body movement. The predetermined frequency range is, for example, a frequency range of a vital sign activity including at least one of respiration, heartbeat, and body motion derived from the living body. The predetermined frequency range is, for example, a frequency range of 0.1Hz or more and 3Hz or less. This makes it possible to extract a biological component that is affected by physical activity of a portion of the living body 50 that is subject to the activity of the heart, lungs, diaphragm, and internal organs, or physical activity of the hands, feet, and the like. The site of the living body 50 where the heart, the lung, the diaphragm, and the internal organs move is, for example, a human fossa.
Here, the biological component is a matrix having M × N components, and is extracted from a complex transfer function obtained from a reception signal observed in the reception antenna 30 for a predetermined period. Therefore, the biological component is a component having frequency response or time response information. The predetermined period is a period substantially half of a cycle of at least one of respiration, heartbeat, and body of the living body.
The biological component calculated by the biological component calculation unit 420 is output to the position estimation processing unit 430. The position estimation processing unit 430 performs position estimation of the living body using the calculated living body component. That is, the position estimation processing unit 430 estimates the position of the living body 50 relative to the sensor 10 using the 2 nd matrix. In the position estimation, the departure angle θ from the transmission antenna 20 is estimated T And an arrival angle theta to the receiving antenna 30 R Using trigonometry on the basis of the estimated departure angle theta T And angle of arrival theta R To estimate the position of the living body 50.
The RCS calculation unit 440 calculates a scattering Cross Section (RCS) using the biological component and the estimated position. Specifically, the RCS calculation unit 440 calculates a distance RT and a distance RR based on the estimated position, the position of the transmission antenna 20, and the position of the reception antenna 30, in order to calculate the scattering cross section, the distance RT indicating the distance between the living body 50 and the transmission antenna 20, and the distance RR indicating the distance between the living body 50 and the reception antenna 30. The RCS calculation unit 440 calculates the propagation distance from the calculated distance RT and the distance RR, and calculates the RCS using the calculated propagation distance and the intensity of the biological component. Further, the positions of the transmitting antenna 20 and the receiving antenna 30 may be stored in the memory 41 in advance.
The posture estimating unit 450 estimates the posture of the living body 50 using the RCS value calculated by the RCS calculating unit 440 and the information 42 indicating the correspondence relationship between the RCS value and the posture of the living body 50 stored in the memory 41. The information 42 indicating the correspondence relationship between the RCS value and the posture of the living body 50 stored in the memory 41 is information indicating the range of the RCS value associated in advance with each posture indicated by the supine position, the discipline-legged position, the plumbing-legged position, and the upright position, as shown in fig. 3. The supine posture means a posture in which the back is facing upward, and the legged sitting posture means a posture in which the chair is seated.
For example, supine is associated with a 1 st RCS range, disciform sitting is associated with a 2 nd RCS range, verticality sitting is associated with a 3 rd RCS range, and erect is associated with a 4 th RCS range. The 1 st to 4 th RCS ranges are ranges of different RCS values.
Next, the details of the operation principle of the sensor 10 according to embodiment 1 will be described using numerical expressions. Here, a method of extracting a biological component using fourier transform is shown. The processing described herein is performed by the circuit 40. A complex transfer function matrix between the transmission antenna 20 and the reception antenna 30 is defined as equation 1.
Here, t represents time. By performing fourier transform on each component of equation 1, a frequency response matrix such as equation 2 can be obtained.
Here, f denotes frequency, and each component of the frequency response matrix is a complex number. The frequency response matrix includes both propagation components passing through the living body 50 and propagation components passing through the outside of the living body 50. When a stationary state other than a living body is considered, it is considered that a direct current component of the frequency response matrix, i.e., G (0), mainly contains a propagation component other than the living body. This is because a doppler shift occurs due to a vital movement of the living body including at least one of respiration, heartbeat, and body movement, and therefore it is considered that a component passing through the living body is included in f = 0. Further, considering the frequency of respiration or heartbeat of a living body and its higher harmonics, it is considered that many components derived from a living body exist in the range of f <3 [ Hz ]. Therefore, for example, by extracting G (f) in a predetermined frequency range of 0 [ Hz ] < f <3 [ Hz ], it is possible to efficiently extract a biological component.
Next, a method of estimating a biological position using the biological component G (f) will be described. The biological component matrix G (f) is rearranged into a vector form as in equation 3. It is defined as a body composition vector.
g(f)＝[g 11 (t)，...，g M1 (t)，g 12 (t)，...，g N2 (t)，...，g 1M (t)，...，g NM (t)] T .. (formula 3)
Here, { · } T Indicating transposition. From the biological component vector g (f), a correlation matrix is calculated by equation 4.
Here, { · } H Representing a complex conjugate transpose. And further R is at 0 [ Hz ]<f<Averaged between 3 [ Hz ]. This averaging is known to improve the position estimation accuracy described later. Then, by performing eigenvalue decomposition on the calculated correlation matrix R, an eigenvector U of the correlation matrix R and a complex conjugate transposed vector U thereof are calculated H 。
R＝UDU H … (formula 5)
The feature vector in equation 5 is expressed by equation 6 shown below.
U＝[u I ，...，u MN ]… (formula 6)
Here, u i The feature vector of the ith column is represented, and the number of elements is NM. D is a diagonal matrix with diagonal elements as eigenvalues, represented by equation 7.
D＝diag[λ 1 ，...，λ MN ]… (formula 7)
Here, diag [ ·]Representing diagonal itemsHas [. C]A diagonal matrix of elements within. The circuit 40 uses the above information to estimate the position of the living body 50 to be detected. Here, a position estimation method based on the MUSIC (MUltiple SIgnal Classification) method will be described as an example. The MUSIC method is a method of estimating a direction and/or a position by using a direction vector called a steering vector (steering vector) and a feature vector shown by equation 6. The biological component vector expressed by expression 3 is obtained by transforming the original M × N matrix. In order to estimate the position of the living body 50, a guide vector needs to be defined in association with the position. At a starting angle theta to the 1 st reference direction of the transmitting antenna 20 T And the 1 st biological direction of (2) and the 2 nd reference direction of the receiving antenna 30 form an arrival angle theta R The 2 nd biological direction guide vector of (2) is represented by formula 8 and formula 9, respectively.
Here, k denotes a wave number, and d denotes an element interval of each antenna element of the antenna array. In addition, a linear array antenna in which the element interval is fixed is assumed in this embodiment. For example, in the transmitting antenna 20, d represents the interval between two adjacent transmitting antenna elements 21 among the plurality of transmitting antenna elements 21. In the receiving antenna 30, d represents the distance between two adjacent receiving antenna elements 31 among the plurality of receiving antenna elements 31. When the Kronecker product of these steering vectors is obtained, expression 10 is obtained.
In this case, the amount of the solvent to be used,
is an operator representing the kronecker product. a (theta) T ，θ R ) Is a vector having MN × 1 elements and has a departure angle θ T And angle of arrival theta R A function of these two variables. Next, a (θ) T ，θ R ) Defined as the steering vector. When the number of living bodies existing in the detection range is L, the living body position is specified by the evaluation function of equation 11.
Here, the evaluation function of equation 11 is called a MUSIC spectrum, and the combination (θ) in the direction from the transmission antenna 20 and the reception antenna 30 to the detection target is T ，θ R ) And taking the sample out to be maximum. According to theta corresponding to the maximum T And theta R The position of the living body 50 to be detected can be specified by using the trigonometry. Here, L represents the number of detection objects. That is, the number MN of feature vectors needs to be larger than the number L of detection objects.
The RCS value is obtained by equation 12, and the posture of the living body 50 is estimated from the position of the living body 50 and the RCS value. If the frequency range for the above extraction is set as f 1 ～f 2 (f 1 <f 2 ) When the transmission coefficient of power is obtained from the channel component reflected and observed from the living body, equation 12 can be calculated.
Where ρ is ij The (i, j) -th element of the matrix of expression 13.
On the other hand, the power from the jth transmitting antenna element 21 to the ith receiving antenna element 31 via the living body 50 is expressed by equation 14.
Here, P is t Indicating the transmit power. It is assumed that equal power is transmitted from all the transmitting antenna elements 21. G t Shows the actual gain (G) of the transmitting antenna 20 r Representing the actual gain, R, of the receiving antenna 30 1 Indicates the distance, R, from the transmitting antenna 20 to the living body 50 2 Indicating the distance from the biological body 50 to the receiving antenna 30. Distance R 1 And a distance R 2 Can be easily calculated from the position estimated by equation 11. Thus, the power transfer coefficient defined in equation 12 can be represented by ρ ij ＝P rij /P t Therefore, the scattering cross section can be calculated according to equation 15.
The scattering cross section processed here is not a scattering cross section of the entire living body 50, but may be a scattering cross section corresponding to only a fluctuation component caused by the influence of the vital sign activity of the living body 50 such as respiration, heartbeat, and body movement. All elements were averaged, and the average scattering cross section was obtained by equation 16.
Now, will
Referred to simply as the scattering cross section.
Note that, for example, when the vital sign component and the body motion component of a living body are measured separately, the frequency range of equation 12 may be adjusted and the subsequent processing may be performed.
Next, the operation of the sensor 10 in embodiment 1 will be described with reference to a flowchart.
Fig. 4 is a flowchart showing an example of the operation of the sensor according to embodiment 1.
In the sensor 10, the N transmitting antenna elements 21 of the transmitting antenna 20 transmit N transmitting signals to a predetermined range where the living body 50 may exist, using the N transmitting antenna elements 21 (S11).
The M number of receiving antenna elements 31 of the receiving antenna 30 receive N number of received signals including a plurality of reflected signals obtained by reflecting the N number of transmitted signals transmitted by the transmitting antenna 20 by the living body 50 (S12).
The circuit 40 calculates an N × M1 st matrix having, as components, respective complex transfer functions representing propagation characteristics between each of the N transmitting antenna elements 21 and each of the M receiving antenna elements 31, based on each of N received signals received for a predetermined period in each of the M receiving antenna elements 31 (S13).
The circuit 40 extracts a 2 nd matrix corresponding to a predetermined frequency range from the 1 st matrix, and extracts a 2 nd matrix corresponding to a component affected by a vital sign activity of the living body 50 including at least one of respiration, heartbeat, and body (S14).
The circuit 40 estimates the position where the living body 50 exists with respect to the sensor 10 using the 2 nd matrix (S15).
The circuit 40 calculates a 1 st distance and a 2 nd distance based on the estimated position, the position of the transmission antenna 20, and the position of the reception antenna 30, the 1 st distance representing the distance between the living body 50 and the transmission antenna 20, and the 2 nd distance representing the distance between the living body 50 and the reception antenna 30 (S16).
The circuit 40 calculates the RCS value for the living body 50 using the 1 st distance and the 2 nd distance (S17).
The circuit 40 estimates the posture of the living body 50 using the calculated RCS value and the information 42 indicating the correspondence between the RCS value and the posture of the living body 50 stored in the memory 41 (S18).
According to the sensor 10 of the present embodiment, the position of the living body 50 and the posture of the living body at the position can be estimated in a short time and with high accuracy.
The sensor 10 detects the presence of the living body 50 by detecting a moving part. Therefore, for example, by using this, it is possible to estimate whether or not a person is in a living state (living body) and in which posture is upright, sitting with legs, and lying on the back. This enables effective confirmation of the presence of a person. Further, since the presence of a person can be confirmed without analyzing the image captured by the camera, the presence of a person can be confirmed while protecting the privacy of the person.
(embodiment mode 2)
Fig. 5 is a block diagram showing an example of the configuration of the sensor in embodiment 2. Fig. 6 is a block diagram showing a functional configuration of a circuit and a memory in embodiment 2.
The sensor 10A in embodiment 2 is different from the sensor 10 in embodiment 1 in the arrangement of the N transmitting antenna elements 21A included in the transmitting antenna 20A and the M receiving antenna elements 31A included in the receiving antenna 30A. Further, N and M are each a natural number of 3 or more.
The transmitting antenna 20A has N transmitting antenna elements 21A. The transmitting antenna 20A has a structure in which N is arranged in the horizontal direction (x direction) X N are arranged in the vertical direction (z direction) Z N (N = N) units each configured in a rectangular manner X ×N Z ) An array antenna constituted by the transmission antenna elements 21A. That is, at least 3 transmitting antenna elements 21A out of the N transmitting antenna elements 21A are arranged at different positions in the vertical direction and the horizontal direction.
The receiving antenna 30A has M receiving antenna elements 31A. The receiving antenna 30A has a structure in which M is arranged in the horizontal direction (x direction) X M are arranged in the vertical direction (z direction) Z M (M = M) units of units arranged in a rectangular manner X ×M Z ) An array antenna comprising the receiving antenna element 31A. That is, at least 3 receiving antenna elements 31A out of the M receiving antenna elements 31A are disposed at different positions in the vertical direction and the horizontal direction.
Here, let the angle formed by the 1 st reference direction and the 1 st biological direction be Φ T The 1 st reference direction is a direction on a horizontal plane arbitrarily set to the transmission antenna 20A, and the 1 st living body direction is a direction from the transmission antenna 20A toward the living body 50A. Further, the elevation angle of the living body 50A as the angle formed by the vertical direction and the 1 st living body direction is set to θ T . Further, let Φ be an elevation angle of the living body 50A which is an angle formed by the 2 nd reference direction and the 2 nd living body direction R The 2 nd reference direction is a direction on a horizontal plane arbitrarily set to the receiving antenna 30A, and the 2 nd living body direction is a direction from the receiving antenna 30A toward the living body 50A. In addition, let the angle formed by the vertical direction and the 2 nd organism direction be theta R . Let the center coordinate of the portion of the living body 50A undergoing the physical activity be (x) b ，y b ，z b ) A direction (theta) according to the positional relationship of the transmitting antenna 20A, the receiving antenna 30A and the living body 50A T ，θ R ，Ф T ，Ф R ) And coordinates (x) b ，y b ，z b ) Can be transformed with each other.
The sensor 10A performs a different process than the sensor 10 by the circuit 40A. The organism 50A is for example at a height z compared to the surroundings b The organisms that are performing the strongest physical activity. The living body 50A has, for example, an abdomen where body surface displacement due to respiration is largest. In the sensor 10A of the present embodiment, the three-dimensional position of the height of the living body 50A, for example, the abdomen, which is the vertical position z as the position in the vertical direction, is estimated in addition to the position of the living body 50 in the horizontal plane estimated by the sensor 10 of embodiment 1 b (position in the z-axis direction). That is, the circuit 40A of the sensor 10A of the present embodiment includes a three-dimensional position estimation processing unit 430A that performs a process of estimating the three-dimensional position, instead of the position estimation processing unit 430 including the circuit 40 of embodiment 1.
The sensor 10A is different from the sensor 10 in the information 42A indicating the correspondence stored in the memory 41. In the present embodiment, the information 42A indicating the correspondence relationship between the RCS value and the posture of the living body 50 stored in the memory 41 is information indicating the range of the RCS value and the range of the height associated in advance with each posture indicated by the supine position, the disciform sitting, the upright sitting, and the standing position, as shown in fig. 7. For example, supine is associated with a 1 st RCS range and a 1 st height range, discal sitting is associated with a 2 nd RCS range and a 2 nd height range, pendulous sitting is associated with a 3 rd RCS range and a 3 rd height range, and upright is associated with a 4 th RCS range and a 4 th height range. The 1 st to 4 th RCS ranges are ranges of different RCS values. The 1 st to 4 th height ranges are different in height from each other.
Since other configurations of the sensor 10A are the same as those of the sensor 10, the same reference numerals as those in embodiment 1 are assigned to the corresponding configurations, and descriptions thereof are omitted.
The sensor 10A of the present embodiment estimates a vertical position, which is the position of the living body 50 in the vertical direction, in addition to the position of the living body 50 in the horizontal plane estimated by the sensor 10 of embodiment 1.
Next, the operation principle of the sensor 10A according to embodiment 2 will be described in detail using a numerical expression. From the expressions 1 to 4, the same processing as in embodiment 1 is performed, and the correlation matrix is obtained from the biological component by the expression 4
R is 0 [ Hz ] in the same manner as in embodiment 1<f<Averaged between 3 [ Hz ].
Then, in the same manner as in equation 5, U = [ U ] is calculated by performing eigenvalue decomposition on the calculated correlation matrix R 1 ，...，u MN ]And D = diag [ λ 1 ，...，λ MN ]. Next, a position estimation method including a height direction using the MUSIC method will be described. Indicates (θ) from the transmitting antenna 20A toward the living body 50A T 、Ф T ) The sum of the directional guide vectors indicates (θ) from the receiving antenna 30A toward the living body 50A R 、Ф R ) The directional vectors are expressed as expressions 17 and 18, respectively.
In this case, the amount of the solvent to be used,
where k denotes the wave number, d Tx And d Tz Respectively indicate element intervals in the x-direction and the z-direction of the transmitting antenna element 21A, d Rx And d Rz The element intervals of the receiving antenna element 31A in the x direction and the z direction are shown, respectively. In the present embodiment, a linear array antenna in which the element intervals are fixed in the same direction is assumed.
d Tx For example, the distance between two adjacent transmitting antenna elements 21A in the x direction among the plurality of transmitting antenna elements 21A. d is a radical of Tz For example, the interval between two adjacent transmitting antenna elements 21A in the z direction among the plurality of transmitting antenna elements 21A is shown. In addition, d Rx For example, the interval between two adjacent receiving antenna elements 31A in the x direction among the plurality of receiving antenna elements 31A is shown. In addition, d Rz For example, the interval between two adjacent receiving antenna elements 31A in the z direction among the plurality of receiving antenna elements 31A is shown. When the kronecker product of these steering vectors is obtained, equation 21 is obtained.
Guide vector a (θ) T ，φ T ，θ R ，φ R ) Is a vector having MN × 1 elements and has a departure angle θ T 、Ф T And angle of arrival theta R 、Ф R A function of these four variables. Then, a (theta) T ，φ T ，θ R ，φ R ) Defined as the steering vector. When the number of living bodies existing in the detection range is L, the living body position is specified by the evaluation function of equation 22.
As in embodiment 1, by searching for the maximum point of the MUSIC spectrum of expression 22, the three-dimensional position of the living body 50A including the vertical position and viewed from the transmitting antenna 20A and the receiving antenna 30A can be specified.
Note that the description of the operation of the sensor 10A in the present embodiment can be described by performing the above-described estimation of the three-dimensional position in the estimation of the position of the living body in step S15 of the flowchart described with reference to fig. 4, and therefore, the description is omitted.
Fig. 8 is a diagram showing an outline of an experiment performed to confirm the effect of the sensor of embodiment 2.
As shown in fig. 8, the transmission antenna 20A is a square array antenna configured by arranging 4 × 4=16 transmission antenna elements 21A. The transmitting antenna element 21A is a patch antenna (patch antenna). The reception antenna 30A is a square array antenna configured by arranging 4 × 4=16 reception antenna elements 31A. The receiving antenna element 31A is assumed to be a patch antenna. The transmitting antenna element 21A and the receiving antenna element 31A are each arranged so that the element interval is 0.5 wavelength.
The test subjects were 1 in number, and were measured in four states of standing upright, sitting down (sitting on a chair), sitting with legs (sitting with legs at will), and lying supine (face up). The position of the subject is (X, Y) = (5.0,1.0) m. In a posture other than the supine posture, the subject faces the antenna direction (Y direction). When lying on the back, the subject faces his feet in the antenna direction (Y direction). Each experiment was observed for approximately 5 seconds.
Fig. 9 is a graph showing the result of an experiment using the experimental system shown in fig. 8. In FIG. 9, the abscissa indicates the estimated height zb, and the ordinate indicates the calculated scattering Cross Section (RCS).
As shown in fig. 9, it is understood that the regions in which the heights and RCS values are distributed differ depending on the posture. That is, it can be confirmed that the posture of the subject can be estimated from the estimated height and the calculated RCS value. For example, as shown in fig. 10, by setting information 42A indicating the correspondence in advance, it is possible to estimate which of the standing, leg-hanging, leg-circling, and supine posture the living body 50A is in, using the estimated three-dimensional position, the calculated RCS value, and the information 42A indicating the correspondence stored in the memory 41. Fig. 10 is a diagram showing a specific example of the 1 st to 4 th RCS ranges and a specific example of the 1 st to 4 th height ranges obtained from the experimental results. The 1 st to 4 th RCS ranges of the information 42 indicating the correspondence relationship according to embodiment 1 can also be applied to the 1 st to 4 th RCS ranges of fig. 10.
According to the sensor 10A of the present embodiment, the three-dimensional position of the living body 50 and the posture of the living body at the position can be estimated in a short time and with high accuracy.
In the above 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, software for realizing the sensors 10 and 10A and the like of the above embodiments is a program as follows.
That is, the program causes a computer to execute an estimation method implemented by a sensor including: a transmitting antenna having N (N is a natural number of 2 or more) transmitting antenna elements, a receiving antenna having M (M is a natural number of 2 or more) receiving antenna elements, a circuit, and a memory, the estimating method comprising: the method includes transmitting N transmission signals to a predetermined range in which a living body may exist using N transmission antenna elements, receiving N reception signals including reflection signals obtained by reflecting a part of the transmitted N transmission signals by the living body using a plurality of reception antenna elements, respectively, calculating an N × M1 st matrix from each of the N reception signals received for a predetermined period in each of the M reception antenna elements, the N × M1 st matrix having, as components, complex transfer functions representing propagation characteristics between each of the N transmission antenna elements and each of the M reception antenna elements, extracting a 2 nd matrix corresponding to a predetermined frequency range in the 1 st matrix, extracting the 2 nd matrix corresponding to components affected by physical sign activities of the living body including at least one of respiration, heartbeat, and body, using the 2 nd matrix, estimating a position in which the living body exists with respect to the sensor, calculating a relationship between the 1 st matrix representing a distance between the living body and the rcantenna and the posture, and a distance representing the distance between the living body and the rcantenna, and a calculated distance representing the posture, and a calculated value using a distance, and a calculated value representing the distance of the living body, and a calculated relationship between the rcson, and the calculated value, and the calculated using the calculated distance, and the calculated value, and the calculated using the calculated values, and the calculated values of the distance, and the calculated values representing the distance, and the calculated values of the distance, the calculated using the calculated values of the memory, the calculated values of the distance, the calculated using the calculated values.
The sensors 10 and 10A according to one or more aspects of the present disclosure have been described above based on the embodiments, but the present disclosure is not limited to the embodiments. Various modifications that may occur to those skilled in the art are applicable to the present embodiment and/or a configuration in which the constituent elements in different embodiments are combined without departing from the spirit of the present disclosure, and are also included in the scope of the present disclosure.
In the above-described embodiments, the sensors 10 and 10A estimate whether the posture of the living body is upright, legged, disciform, or supine, but are not limited thereto. For example, it is also possible to estimate whether or not the living body is in a posture facing a direction perpendicular to the arrangement direction of the transmission antennas 20 and 20A and the reception antennas 30 and 30A. Specifically, it is also possible to estimate the posture of the vehicle in the y direction in fig. 1 or 5 or the posture of the vehicle in the lateral direction with respect to the y direction. For example, when a person faces in the y direction, the RCS value becomes smaller than when the person does not face in the y direction. Further, the posture lateral to the y direction means a posture facing the x direction.
In embodiment 1, the N transmitting antenna elements 21 are arranged in the 1 st predetermined direction in the horizontal plane, and the M receiving antenna elements 31 are arranged in the 2 nd predetermined direction in the horizontal plane, but the present invention is not limited thereto. That is, the 1 st prescribed direction and the 2 nd prescribed direction are not limited to the directions on the horizontal plane, and may be, for example, directions on a plane including the vertical direction, or directions on a plane inclined from the horizontal plane. In this case, the circuit 40 estimates the position of the living body on a plane including the 1 st predetermined direction and the 2 nd predetermined direction.
Claims (6)
1. A sensor is provided with:
a transmission antenna having N transmission antenna elements, N being a natural number of 2 or more, each of the N transmission antenna elements transmitting a transmission signal to a predetermined range in which a living body is likely to exist;
a reception antenna having M reception antenna elements, M being a natural number of 2 or more, the M reception antenna elements receiving N reception signals including a reflected signal obtained by reflecting a part of the N transmission signals transmitted by the N transmission antenna elements by the living body, respectively;
a circuit; and
a memory for storing a plurality of data to be transmitted,
in the case of the circuit described above,
calculating an N × M1 st matrix from each of the N received signals received over a predetermined period in each of the M receiving antenna elements, the N × M1 st matrix having as components respective complex transfer functions representing propagation characteristics between each of the N transmitting antenna elements and each of the M receiving antenna elements,
extracting a 2 nd matrix corresponding to a predetermined frequency range from the 1 st matrix, and extracting the 2 nd matrix corresponding to a component affected by a vital sign activity of the living body including at least one of respiration, heartbeat, and body,
using the 2 nd matrix, estimating a location at which the biological object is present relative to the sensor,
calculating a 1 st distance indicating a distance between the living body and the transmitting antenna and a 2 nd distance indicating a distance between the living body and the receiving antenna based on the estimated position, the position of the transmitting antenna, and the position of the receiving antenna,
calculating a radar scattering cross-section value for the living body using the 1 st distance and the 2 nd distance,
estimating the posture of the living body using the calculated radar cross-section value and information indicating the correspondence relationship between the radar cross-section value and the posture of the living body stored in the memory.
2. The sensor according to claim 1, wherein the sensor is a piezoelectric sensor,
the predetermined period is substantially half of a period of at least one of respiration, heartbeat, and body movement of the living body.
3. The sensor according to claim 1, wherein the sensor is a piezoelectric sensor,
in the case of the circuit described above,
it is estimated whether or not the living body is in a posture facing a direction perpendicular to the direction in which the transmission antenna and the reception antenna are arranged.
4. The sensor according to claim 2, wherein the sensor is a piezoelectric sensor,
in the case of the circuit described above,
estimating whether or not the living body is in a posture facing a direction perpendicular to the arrangement direction of the transmitting antenna and the receiving antenna.
5. The sensor according to any one of claims 1 to 4,
the N is a natural number of 3 or more,
at least 3 of the N transmitting antenna elements are arranged at different positions in the vertical direction and the horizontal direction,
the M is a natural number of 3 or more,
at least 3 receiving antenna elements among the M receiving antenna elements are respectively arranged at different positions in the vertical direction and the horizontal direction,
the information indicating the correspondence relationship indicates a correspondence relationship between a vertical position as a position in a vertical direction in which the living body exists with respect to the sensor, a radar cross-section value, and a posture of the living body,
the postures of the living body for which the correspondence is established in the information representing the correspondence relationship include standing upright, legged sitting, and supine,
in the case of the circuit described above,
estimating a three-dimensional position including the vertical position using the 2 nd matrix,
estimating, using the estimated three-dimensional position, the calculated radar cross-section value, and the information stored in the memory and indicating the correspondence relationship, which of standing, sitting with legs, and lying on the back of the living body is the posture of the living body.
6. An estimation method realized by a sensor,
the sensor is provided with: a transmission antenna having N transmission antenna elements, N being a natural number of 2 or more; a reception antenna having M reception antenna elements, M being a natural number of 2 or more; a circuit; and a memory, wherein,
the estimation method comprises the following steps:
n transmission signals are transmitted to a predetermined range in which a living body is likely to exist using N transmission antenna elements,
receiving N reception signals including reflection signals obtained by reflecting a part of the transmitted N transmission signals by the living body, respectively, by using a plurality of reception antenna elements,
calculating an N × M1 st matrix from each of the N received signals received over a predetermined period in each of the M receiving antenna elements, the N × M1 st matrix having as components respective complex transfer functions representing propagation characteristics between each of the N transmitting antenna elements and each of the M receiving antenna elements,
extracting a 2 nd matrix corresponding to a predetermined frequency range from the 1 st matrix, and extracting the 2 nd matrix corresponding to a component affected by a vital sign activity of the living body including at least one of respiration, heartbeat, and body,
using the 2 nd matrix, estimating a location at which the biological object is present relative to the sensor,
calculating a 1 st distance indicating a distance between the living body and the transmitting antenna and a 2 nd distance indicating a distance between the living body and the receiving antenna based on the estimated position, the position of the transmitting antenna and the position of the receiving antenna,
calculating a radar scattering cross-section value for the living body using the 1 st distance and the 2 nd distance,
estimating the posture of the living body using the calculated radar cross-section value and information indicating the correspondence relationship between the radar cross-section value and the posture of the living body stored in the memory.
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| US10729339B2 (en) * | 2018-02-22 | 2020-08-04 | Vayyar Imaging Ltd. | Detecting and measuring correlated movement with MIMO radar |
| KR102427925B1 (en) * | 2018-03-05 | 2022-08-02 | 삼성전자주식회사 | Electronic device and method for operating a predetermined function corresponding to a distance of object based on a signal output through an antenna |
| US11163057B2 (en) | 2018-05-02 | 2021-11-02 | Panasonic Intellectual Property Management Co., Ltd. | Estimation device, living body count estimation device, estimation method, and recording medium |
| US10772511B2 (en) * | 2018-05-16 | 2020-09-15 | Qualcomm Incorporated | Motion sensor using cross coupling |
| US11226408B2 (en) | 2018-07-03 | 2022-01-18 | Panasonic Intellectual Property Management Co., Ltd. | Sensor, estimating device, estimating method, and recording medium |
| JP6587199B1 (en) * | 2018-07-03 | 2019-10-09 | パナソニックＩｐマネジメント株式会社 | Estimation apparatus and estimation method |
| JP7174921B2 (en) * | 2018-07-03 | 2022-11-18 | パナソニックＩｐマネジメント株式会社 | Sensor, estimation device, estimation method, and program |
| IT201800008235A1 (en) * | 2018-08-29 | 2020-02-29 | De' Longhi Appliances Srl | METHOD OF ACTIVATION AND CONTROL OF A CONDITIONING APPARATUS |
| CN111381228A (en) | 2018-12-28 | 2020-07-07 | 松下知识产权经营株式会社 | Estimation method and estimation device |
| JP7281784B2 (en) * | 2018-12-28 | 2023-05-26 | パナソニックＩｐマネジメント株式会社 | Estimation method and estimation device |
| US11378685B2 (en) * | 2019-02-27 | 2022-07-05 | Leolabs, Inc. | Systems, devices, and methods for determining space object attitude stabilities from radar cross-section statistics |
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