JP2008224099A - Air conditioning device - Google Patents

Air conditioning device Download PDF

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JP2008224099A
JP2008224099A JP2007061176A JP2007061176A JP2008224099A JP 2008224099 A JP2008224099 A JP 2008224099A JP 2007061176 A JP2007061176 A JP 2007061176A JP 2007061176 A JP2007061176 A JP 2007061176A JP 2008224099 A JP2008224099 A JP 2008224099A
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wind
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JP4885017B2 (en
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Mitsuo Hashimoto
充夫 橋本
Koichi Yamashita
孝一 山下
Tetsuya Kuno
徹也 久野
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Mitsubishi Electric Corp
三菱電機株式会社
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<P>PROBLEM TO BE SOLVED: To detect a human body in a wide air-conditioned space in an angle wider than a field angle of an image pick-up device without using an expensive wide-angle lens such as a fish-eye lens. <P>SOLUTION: This air conditioning device comprises a signal processing means 2 detecting a human body by processing an image signal obtained by the image pick-up means 1 and deciding the important image pick-up direction, a recording means 4 storing positional data representing a position of the detected human body, a control means 3 controlling air conditioning according to an output of the signal processing means 2, a wind direction changing means 10 changing the wind direction by an output signal of the control means 3, and an image pick-up direction changing means 28 rotating the image pick-up means 1 on the basis of the positional data stored in the recording means 4. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

本発明は、居住空間、作業空間などの空調対象空間内における人の有無や位置を画像処理により検知して空調制御を行う空気調和装置に係るものである。   The present invention relates to an air conditioner that performs air-conditioning control by detecting the presence and position of a person in an air-conditioning target space such as a living space and a work space by image processing.
従来の空気調和装置においては、空調領域を撮像する撮像手段により得られた画像信号から人間の状態を判定し、空調手段を制御するものが知られている(特許文献1参照)。   A conventional air conditioner is known that determines a human state from an image signal obtained by an imaging unit that images an air-conditioned region and controls the air-conditioning unit (see Patent Document 1).
特許第2583973号公報Japanese Patent No. 2583973
しかし、上記の特許文献1に記載された撮像手段は、その撮像方向が固定されたものであり、撮像手段の画角で室内(空調対象空間内の)全体が撮像できる場合はよいが、空調対象空間が広くて撮像手段の画角で空調対象空間の全領域を撮像できない場合がある。撮像手段のレンズとして、魚眼レンズなどの広角レンズを用いることで撮像領域は拡大するが、広角レンズは高価であるだけではなく、画像処理において像高が高い部分の画像歪みによって人体検出のための特徴検出精度が下がると言う問題、あるいは画像歪みを補正するための演算負荷が増えるといった問題がある。   However, the imaging means described in the above-mentioned Patent Document 1 has a fixed imaging direction, and it is good if the entire room (in the air-conditioning target space) can be imaged at the angle of view of the imaging means. There are cases where the target space is wide and the entire area of the air-conditioning target space cannot be imaged at the angle of view of the imaging means. The imaging area is enlarged by using a wide-angle lens such as a fish-eye lens as a lens of the imaging means, but the wide-angle lens is not only expensive, but also features for human body detection due to image distortion at high image height in image processing There is a problem that the detection accuracy is lowered, or there is a problem that the calculation load for correcting the image distortion is increased.
本発明は上記課題を解決するものであり、空調対象空間内の、人が移動する範囲が撮像手段の画角より広い場合でも、広角レンズを用いずに人体検出を行うことを可能にすることを目的とする。   The present invention solves the above-described problems, and enables human body detection without using a wide-angle lens even when the range of movement of a person in the air-conditioning target space is wider than the angle of view of the imaging means. With the goal.
上述した目的を実現するために本発明は、
撮像方向が変更可能に保持された撮像手段と、
前記撮像手段より得られた画像信号を処理することにより人体検出を行い、前記撮像手段の重要撮像方向の決定を行う信号処理手段と、
検出された人体の位置を表す位置データを記憶する記録手段と、
前記信号処理手段の出力に応じて空調を制御する制御手段と、
前記制御手段の出力信号により風向を変更する風向変更手段と、
前記位置データに基づいて、前記撮像手段を回転させる撮像方向変更手段と
を備えたことを特徴とする空気調和装置を提供する。
In order to achieve the above-described object, the present invention
Imaging means in which the imaging direction is held so as to be changeable;
Signal processing means for performing human body detection by processing an image signal obtained from the imaging means and determining an important imaging direction of the imaging means;
Recording means for storing position data representing the position of the detected human body;
Control means for controlling the air conditioning according to the output of the signal processing means;
Wind direction changing means for changing the wind direction according to an output signal of the control means;
An air conditioning apparatus comprising: an imaging direction changing unit that rotates the imaging unit based on the position data.
この発明によれば、空調対象空間内を人が移動する領域が撮像装置の画角より広い場合でも広角レンズを用いる必要がないため、低コストで高精度の人体検出が可能である。さらに、空調対象空間全域を人体検出の対象とすることにより人が空調対象空間内のどこに居ても快適な空調制御が可能である。   According to the present invention, it is not necessary to use a wide-angle lens even when the region in which the person moves in the air-conditioning target space is wider than the angle of view of the imaging device, so that highly accurate human body detection can be performed at low cost. Furthermore, by setting the entire air-conditioning target space as a human body detection target, comfortable air-conditioning control is possible wherever a person is in the air-conditioning target space.
以下、図面を参照して本発明の実施の形態について説明する。   Embodiments of the present invention will be described below with reference to the drawings.
実施の形態1.
図1はこの発明の実施の形態1の空気調和装置の構成を表すブロック図である。
撮像手段1はその光軸、即ち撮像方向が変更可能に保持され、例えば可視領域に感度を有する撮像素子と、撮像方向からの光に応じた光学像を撮像素子上に形成するための光レンズとを備える。
撮像手段1は、その光軸、即ち撮像方向が変更可能に保持され、後述の撮像方向変更手段28により、回転(回動)されて撮像方向が変更される。
撮像手段1によって撮像された映像信号は信号処理手段2に送られる。A/D変換やAE(Auto Exposure)、AWB(Auto White Balance)といったデジタル信号処理については撮像手段1内にこれらの機能を実現するICを設けても良いし、信号処理手段2で行ってもよい。また、信号処理手段2はデジタル信号処理機能を含むDSP(Digital Signal Processor)であっても単純演算機能のみを有するマイクロコンピュータであってもよい。信号処理手段2では撮像手段1から出力された映像信号について、フレーム間演算を行うことにより動体検出を行うとともに、あらかじめ記録手段4に記録された人体認識用パターンデータとの比較を行うことにより人体検出を行なう。
Embodiment 1 FIG.
1 is a block diagram showing the configuration of an air-conditioning apparatus according to Embodiment 1 of the present invention.
The imaging means 1 is held so that its optical axis, that is, the imaging direction can be changed. For example, an imaging element having sensitivity in the visible region and an optical lens for forming an optical image corresponding to light from the imaging direction on the imaging element. With.
The imaging means 1 is held such that its optical axis, that is, the imaging direction can be changed, and is rotated (rotated) by the imaging direction changing means 28 described later to change the imaging direction.
The video signal picked up by the image pickup means 1 is sent to the signal processing means 2. For digital signal processing such as A / D conversion, AE (Auto Exposure), and AWB (Auto White Balance), an IC for realizing these functions may be provided in the image pickup means 1 or may be performed by the signal processing means 2. Good. The signal processing means 2 may be a DSP (Digital Signal Processor) including a digital signal processing function or a microcomputer having only a simple arithmetic function. The signal processing means 2 detects the moving object by performing inter-frame calculation on the video signal output from the imaging means 1, and compares it with the human body recognition pattern data recorded in the recording means 4 in advance. Perform detection.
信号処理手段2で人体を検出すると空調対象空間内(以下単に「室内」ということがある)の人に対して最適な空調制御を行うための制御信号が制御手段3に対して出力される。制御手段3では信号処理手段2から出力された制御信号をもとに吹き出し風量や風向き、また温度、湿度等の空調パラメータを制御する。信号処理手段2において人体を検出すると人体の位置データが記録手段4に記録される。この位置データをもとに信号処理手段2から制御手段3に対して風向を変えるための制御信号が出力され、制御手段3からは風向を変更する風向変更手段8を制御して風向きを変えるための制御信号が出力される。   When a human body is detected by the signal processing means 2, a control signal for performing optimum air conditioning control for a person in the air-conditioning target space (hereinafter simply referred to as “indoor”) is output to the control means 3. Based on the control signal output from the signal processing means 2, the control means 3 controls the air flow parameters such as the blown air volume, the wind direction, and the temperature and humidity. When the signal processing means 2 detects a human body, the position data of the human body is recorded in the recording means 4. Based on this position data, a control signal for changing the wind direction is output from the signal processing means 2 to the control means 3, and the control means 3 controls the wind direction changing means 8 for changing the wind direction to change the wind direction. The control signal is output.
信号処理手段2は人体の検出に加えて、人物の特徴も認識可能である。そのため、あらかじめ個人の顔等の人体情報に加えて空気調和装置からの風が体に当たっても良いか、体に当てたくないかの個人別の情報も記録手段4に記録しておく。信号処理手段2が人を検知後、記録手段4内の個人別の情報を照会して一致する人を特定するとともに、風が体に当たっても良いか、体に当てたくないかの情報を読み取り、個人の好みに合った風向き制御を行う。記録手段4内に合致する個人別の情報がない場合はあらかじめ「人に風を当てる/当てない」、もしくは「設定温度によって人に風を当てるか当てないかの設定を変更する」といった空気調和装置の初期設定値に従って制御を行う。   In addition to detecting the human body, the signal processing means 2 can also recognize the characteristics of the person. Therefore, in addition to the human body information such as the individual's face, information for each individual regarding whether the wind from the air conditioner may hit the body or not want to hit the body is recorded in the recording means 4 in advance. After the signal processing means 2 detects a person, the personal information in the recording means 4 is inquired to identify a matching person, and information on whether the wind may or may not hit the body is read, Perform wind direction control that suits individual preferences. If there is no matching personal information in the recording means 4, air conditioning such as “whether or not to apply wind to a person” or “change the setting of whether or not to apply wind to a person depending on the set temperature” Control is performed according to the initial setting value of the apparatus.
撮像手段1は、信号処理手段2で検出した人のその後の動きを追跡する目的で、その人が検出された方向を、その後重点的に撮像すべき方向(重要撮像方向)と定めて、その後その方向に撮像手段1の撮像方向を固定し、或いは定期的に撮像手段1をその撮像方向に向けるようにするのが望ましい。
この場合、検出された人の位置と、当該空調対象空間の出入り口の位置が撮像手段1の画角内に収まる(撮像手段1の撮像範囲に入る)のであれば、そのように両方が撮像できる方向を、重要撮像方向と定める。
人の位置と出入り口の位置が同一画角内に収まらないときは、後述のように、人の位置と出入り口の位置を交互に撮像するため、人が撮像できる撮像方向と出入り口が撮像できる撮像方向をともに重要撮像方向と定めて、これら二つの撮像方向を順位撮像する、即ち撮像手段1の撮像方向を例えば定期的に切り替えることとしても良い。
For the purpose of tracking the subsequent movement of the person detected by the signal processing means 2, the imaging means 1 determines the direction in which the person is detected as the direction (important imaging direction) to be focused afterwards, and then It is desirable to fix the imaging direction of the imaging unit 1 in that direction, or to periodically point the imaging unit 1 in the imaging direction.
In this case, if the detected position of the person and the position of the entrance / exit of the air-conditioning target space are within the angle of view of the imaging unit 1 (entering the imaging range of the imaging unit 1), both can be imaged as such. The direction is defined as an important imaging direction.
When the person's position and the entrance / exit position do not fit within the same angle of view, as will be described later, the person's position and the entrance / exit position are imaged alternately, so the imaging direction in which the person can image and the imaging direction in which the entrance / exit can be imaged May be determined as the important imaging directions, and the two imaging directions may be imaged in order, that is, the imaging direction of the imaging means 1 may be switched periodically, for example.
このように人の位置のみならず、出入り口の位置をも重点的に撮像すべき方向の一つ(重要撮像方向)とするのは、空調対象空間内への人の進入(入室)や、空調対象空間からの人の退出(退室)を速やかに把握して、その後の人体検出、それに基づく空調制御に役立てるためである。
ここで、空調対象空間の「出入り口」は、例えば、空調対象となっている部屋のドア、引き戸のある場所が典型的であるが、ドアや引き戸がなくても、空調対象空間に進入したり、退出する通路部分であっても良い。
In this way, not only the position of the person but also the position of the entrance / exit is one of the directions that should be imaged preferentially (important imaging direction). This is to quickly grasp a person's exit (exit) from the target space, and to make use of it for subsequent human body detection and air conditioning control based thereon.
Here, the “entrance / exit” of the air-conditioning target space is typically a room with a door or sliding door in the air-conditioning target. , May be the exit passage part.
なお、撮像方向変更手段28で撮像手段1を最大角度回転させることにより撮像手段1で撮像することができる領域(「全撮像可能領域」又は「全撮像可能範囲」とも言う)の中に出入り口が含まれない場合は、人のみが画角内に収まるよう重要撮像方向を決定する。   In addition, an entrance / exit is in an area (also referred to as “all imageable area” or “all imageable area”) that can be imaged by the imaging means 1 by rotating the imaging means 1 by the maximum angle by the imaging direction changing means 28. If it is not included, the important imaging direction is determined so that only a person falls within the angle of view.
このように、撮像手段1の撮像方向を変更するには、撮像手段1を回転させるための制御信号が制御手段3に供給され、制御手段3が風向変更手段8を制御するとともに、撮像方向変更手段28を制御して撮像手段1の向きを変える。   Thus, in order to change the imaging direction of the imaging means 1, a control signal for rotating the imaging means 1 is supplied to the control means 3, and the control means 3 controls the wind direction changing means 8 and changes the imaging direction. The direction of the imaging means 1 is changed by controlling the means 28.
図1に示す例では、撮像方向変更手段28が、脱着手段7と回転伝達手段6とを備え、制御手段3からの出力信号は、脱着手段7に供給される。制御手段3からの制御信号を受けた脱着手段7は回転伝達手段6と風向変更手段8を結合するように動作し、風向変更手段8の動力を使って回転伝達手段6をも回転させ、撮像手段1の方向を変える。   In the example shown in FIG. 1, the imaging direction changing unit 28 includes a detaching unit 7 and a rotation transmitting unit 6, and an output signal from the control unit 3 is supplied to the detaching unit 7. Upon receipt of the control signal from the control means 3, the detaching means 7 operates so as to couple the rotation transmitting means 6 and the wind direction changing means 8, and also rotates the rotation transmitting means 6 using the power of the wind direction changing means 8. Change the direction of means 1.
ここで、回転伝達手段6と風向変更手段8の結合は、風向変更手段8の動きに応じて回転伝達手段6が回転するような結合であれば良く、回転伝達手段6の動きが風向変更手段8の動きに一致することは必ずしも必要ではない。   Here, the rotation transmitting means 6 and the wind direction changing means 8 may be combined so that the rotation transmitting means 6 rotates in accordance with the movement of the wind direction changing means 8. The movement of the rotation transmitting means 6 is the wind direction changing means. It is not always necessary to match 8 movements.
図2は風向変更手段8及び撮像方向変更手段28の具体例を示す図である。垂直方向に風向きを調整するフラップ20はモータ22を駆動することによって動作し、水平方向に風向きを調整するフラップ21はモータ23を駆動することによって動作する。このときのモータ22、23、及びフラップ20、21、並びにモータ22、23の回転をフラップ20、21に伝える部材26、27が風向変更手段8を構成する。結合部24は電磁石等で構成される脱着手段7によってモータ22の回転部材と結合されると撮像手段1を垂直方向に回転させる。同様にカメラ結合部25は脱着手段7によってモータ23の回転部材と結合されると撮像手段1を水平方向に回転させる。結合部24及び25が回転伝達手段6を構成する。   FIG. 2 is a diagram showing specific examples of the wind direction changing means 8 and the imaging direction changing means 28. The flap 20 that adjusts the wind direction in the vertical direction operates by driving the motor 22, and the flap 21 that adjusts the wind direction in the horizontal direction operates by driving the motor 23. The motors 22 and 23, the flaps 20 and 21, and the members 26 and 27 that transmit the rotation of the motors 22 and 23 to the flaps 20 and 21 constitute the wind direction changing unit 8. The coupling unit 24 rotates the imaging unit 1 in the vertical direction when coupled to the rotating member of the motor 22 by the detaching unit 7 composed of an electromagnet or the like. Similarly, when the camera coupling unit 25 is coupled to the rotating member of the motor 23 by the detaching unit 7, the camera coupling unit 25 rotates the imaging unit 1 in the horizontal direction. The coupling parts 24 and 25 constitute the rotation transmission means 6.
撮像方向の変更が指示されたときに、風向変更手段8が動いていなかった場合には、撮像方向の変更のために、(風向の変更自体が望まれなくても、)風向変更手段8を動作させて、脱着手段7により風向変更手段8に回転伝達手段6を結合させて、撮像手段1を回転させる。   When the change of the imaging direction is instructed, if the wind direction changing unit 8 is not moving, the wind direction changing unit 8 is used to change the imaging direction (even if the change of the wind direction itself is not desired). By operating, the rotation transmitting means 6 is coupled to the wind direction changing means 8 by the detaching means 7 to rotate the imaging means 1.
撮像方向の変更が指示されたときに、風向変更手段8が動いているが、逆の向き(撮像手段を所望の方向に向けるための向きとは逆の向き)に動いているときは、風向変更手段8の動きの向きが変わるのを待って、脱着手段7による結合を行っても良い。例えば、空気調和装置が「スイングモード」で動作しているときには、動きの向きの周期的に変わることが分っており、風向変更手段8の動きの向きが所望の向きになるまでの時間を予測できるので、上記のような動作を行うのが適切である場合が多い。
但し、後述のように人の動きを追跡する場合など、撮像方向を速やかに変更する必要があるときは、風向変更手段8の本来の動きを一旦中止して、直ちに撮像方向の変更を行うのが望ましい。
When the change of the imaging direction is instructed, the wind direction changing unit 8 is moving, but when moving in the opposite direction (the direction opposite to the direction for directing the imaging unit to a desired direction), the wind direction is changed. The connection by the detaching means 7 may be performed after waiting for the direction of movement of the changing means 8 to change. For example, when the air conditioner is operating in the “swing mode”, it is known that the direction of movement changes periodically, and the time until the direction of movement of the wind direction changing means 8 becomes a desired direction is known. Since it can be predicted, it is often appropriate to perform the above operation.
However, when it is necessary to change the imaging direction quickly, such as when tracking the movement of a person as described later, the original movement of the wind direction changing means 8 is temporarily stopped and the imaging direction is immediately changed. Is desirable.
風向変更手段8を使って、撮像手段1を所望の撮像方向(例えば重要撮像方向)に回転させた後は、脱着手段7は回転伝達手段6と風向変更手段8を分離するように動作する。回転伝達手段6が風向変更手段8から分離されると撮像手段1は静止状態となる。   After rotating the imaging unit 1 in a desired imaging direction (for example, an important imaging direction) using the wind direction changing unit 8, the detaching unit 7 operates so as to separate the rotation transmitting unit 6 and the wind direction changing unit 8. When the rotation transmitting means 6 is separated from the wind direction changing means 8, the imaging means 1 is in a stationary state.
撮像されている人が撮像手段1の画角の外へ向けて(即ち、撮像範囲の外へ向けて)移動を開始した場合、人が撮像手段1の画角から外れる前に人の移動を追跡する必要がある。信号処理手段2では画像処理により人の移動方向と移動速度を算出する。算出した人の移動方向と移動速度に応じて撮像手段1を回転させる目的で、信号処理手段2から制御手段3に向けて制御信号が出力される。制御手段3はこの制御信号に応じて脱着手段7を制御し、回転伝達手段6と風向変更手段8の脱着を制御して、移動する人を追跡撮影するべく撮像手段1の撮像方向を制御する。移動する人を追跡撮像するため撮像方向の制御は、例えば、人に移動方向及び移動速度に基づいて、人の移動後の位置を予測し、重要撮像方向(重点的に撮像すべき方向)を変更し、撮像手段1が変更後の重要撮像方向を向くように脱着手段7及び風向変更手段8を動作させることにより行われる。   When the person being imaged starts to move out of the angle of view of the image pickup means 1 (that is, toward the outside of the image pickup range), the person moves before the person moves out of the angle of view of the image pickup means 1. Need to be tracked. The signal processing means 2 calculates the moving direction and moving speed of the person by image processing. A control signal is output from the signal processing means 2 to the control means 3 for the purpose of rotating the imaging means 1 in accordance with the calculated movement direction and movement speed of the person. The control means 3 controls the detaching means 7 in accordance with this control signal, controls the detachment of the rotation transmitting means 6 and the wind direction changing means 8, and controls the imaging direction of the imaging means 1 so as to track and photograph a moving person. . In order to track and image a moving person, for example, the control of the imaging direction is performed by predicting the position of the person after the movement based on the moving direction and the moving speed of the person, and determining an important imaging direction (a direction in which to focus imaging). This is performed by operating the detaching means 7 and the wind direction changing means 8 so that the imaging means 1 faces the important imaging direction after the change.
撮像手段1の向きを変えることで撮像可能であるが、撮像手段1が静止したままでは画角外となり人の動きが検知できない領域がある。このため、空調対象空間外から空調対象空間内に新たに人が入って来たときに、これを速やかに検知することができないことがある。また、上記のように人の移動速度に基づいて撮像手段1の撮像方向を変更する制御を行っていると、撮像中の人の移動速度が小さい場合には、撮像手段1の向きが固定したままとなって、画角内への人の移動も検知できないことがある。そこで、一定時間T(例えば、10乃至30分)が経過する毎に撮像手段1を上下左右方向(垂直方向及び水平方向)に最大角度回転させて新たに入って来た人の検出及び空調対象空間内で移動した人の検出を行う。例えば、撮像方向変更手段28で撮像手段1を最大角度回転させることにより撮像手段1で撮像することができる領域全体(全撮像可能領域)をN分割(Nは2以上の整数)した複数の分割領域について、順に人体検出を行い、信号処理手段2が人を検出すると、そのときの撮像手段1の撮像方向(を表すデータ)を記録手段4に記録し、すべての分割領域について人体検出が完了すると、記録手段4に記録された撮像手段1の撮像方向まで撮像手段1を回転させた後静止させ、その後所定期間その方向で人体検出を行う動作を一定時間T毎に行う。   Although imaging is possible by changing the orientation of the imaging means 1, there is a region where the movement of the person cannot be detected because it is outside the angle of view when the imaging means 1 remains stationary. For this reason, when a new person enters the air conditioning target space from outside the air conditioning target space, this may not be detected promptly. Further, when the control for changing the imaging direction of the imaging unit 1 is performed based on the moving speed of the person as described above, the orientation of the imaging unit 1 is fixed when the moving speed of the person who is imaging is low. The movement of the person within the angle of view may not be detected. Therefore, every time a certain time T (for example, 10 to 30 minutes) elapses, the image pickup means 1 is rotated by the maximum angle in the vertical and horizontal directions (vertical direction and horizontal direction) to detect a newly entered person and to be air-conditioned. Detect people who move in space. For example, by rotating the imaging unit 1 by the maximum angle by the imaging direction changing unit 28, the entire area (all imageable areas) that can be imaged by the imaging unit 1 is divided into N (N is an integer of 2 or more). Human bodies are detected in order for the areas, and when the signal processing means 2 detects a person, the imaging direction (data indicating the imaging means) at that time is recorded in the recording means 4, and the human body detection is completed for all the divided areas. Then, the imaging unit 1 is rotated in the imaging direction of the imaging unit 1 recorded in the recording unit 4 and then stopped, and then the human body detection is performed in that direction for a predetermined period every fixed time T.
撮像手段1を最大角度回転させても、空調対象空間内に人が検出されなければ、(即ち全撮像可能範囲のどこにも人が存在しないときは、)信号処理手段2からは、人が存在するとの判断結果は得られない。このような場合は人の入室があれば即座に撮像可能とする必要がある。そのため、撮像手段1を人の入室が行われる出入り口、例えば画像内に部屋のドアが撮像される角度で撮像手段1を静止させ、その後所定期間、その方向で撮像(人体検出)を続ける。   If a person is not detected in the air-conditioning target space even if the imaging means 1 is rotated by the maximum angle (that is, if there is no person anywhere in the entire imageable range), there is a person from the signal processing means 2 The judgment result is not obtained. In such a case, if there is a person entering the room, it is necessary to be able to take an image immediately. Therefore, the imaging unit 1 is stopped at an entrance / exit where a person enters the room, for example, an angle at which a room door is imaged in the image, and then imaging (human body detection) is continued in that direction for a predetermined period.
出入り口の位置情報はあらかじめ出入り口位置入力手段5により記録手段4に記録しておく必要がある。出入り口位置入力手段5は例えば空気調和装置のリモコン送信機を含み、出入り口の位置を特定するために空気調和装置のリモコン送信機に出入り口位置設定用のボタンを用意しておく。出入り口位置設定用ボタンは本機能専用であっても、他のボタンの兼用であってもよい。撮像手段1が出入り口方向を向いている状態で、リモコン送信機を出入り口付近に位置させて、空気調和装置のリモコン受信部(図示しない)に向けて、出入り口位置設定用ボタンを押すと、リモコン送信機からの赤外線通信にて出入り口位置設定開始が検知できる。信号処理手段2では画像中のリモコン送信機の赤外線通信のための発光素子としてのLEDが点滅する位置と、赤外線通信による出入り口位置設定信号からリモコン送信機の位置、すなわち出入り口位置を特定し、記録手段4に記録できる。   The entrance / exit position information needs to be recorded in the recording means 4 by the entrance / exit position input means 5 in advance. The entrance / exit position input means 5 includes, for example, a remote control transmitter of the air conditioner, and a button for setting the entrance / exit position is prepared in the remote control transmitter of the air conditioner in order to specify the position of the entrance / exit. The entrance / exit position setting button may be dedicated to this function, or may be shared with other buttons. With the image pickup means 1 facing the entrance / exit direction, the remote control transmitter is positioned near the entrance / exit and the remote control transmission is performed when the entrance / exit position setting button is pressed toward the remote control receiver (not shown) of the air conditioner. The start of entry / exit position setting can be detected by infrared communication from the machine. The signal processing means 2 specifies the position of the remote control transmitter, that is, the entrance / exit position from the position where the LED as the light emitting element for infrared communication of the remote control transmitter in the image blinks and the entrance / exit position setting signal by infrared communication, and records it. It can be recorded in means 4.
出入り口位置入力手段5の別形態として、本空気調和撮像装置に映像信号出力端子を用意して出力画像から出入り口位置を入力してもよい。例えば、図3に示されように映像信号出力端子11を設け、例えばNTSC形式の映像信号(撮像手段1からの画像を表す映像信号)を映像信号出力端子11から空気調和撮像装置外部に出力し、テレビ等の別モニタ12に表示させ、モニタ12用のリモコン送信機の十字キーを利用して十字カーソルを移動させ、映像中の出入り口位置で決定ボタンを押し、出入り口位置を記録手段4に記録させることができる。この場合には、モニタ12用のリモコン送信機が出入り口位置入力手段5を構成する。   As another form of the entrance / exit position input means 5, a video signal output terminal may be prepared in the air conditioning imaging apparatus and the entrance / exit position may be input from the output image. For example, as shown in FIG. 3, a video signal output terminal 11 is provided, and for example, an NTSC format video signal (a video signal representing an image from the imaging means 1) is output from the video signal output terminal 11 to the outside of the air conditioning imaging apparatus. , Display it on another monitor 12 such as a TV, move the cross cursor using the cross key of the remote control transmitter for the monitor 12, press the enter button at the entrance / exit position in the video, and record the entrance / exit position in the recording means 4 Can be made. In this case, the remote control transmitter for the monitor 12 constitutes the entrance / exit position input means 5.
本実施の形態1では撮像方向変更手段28は自ら回転できる動力は持たず、風向変更手段8に結合して、風向変更手段8の動力を使うことで撮像手段1の撮像方向を変更するように構成した。撮像手段1専用の駆動用のモータを用いないため低コストで、人体検出を行なうことができる撮像装置を実現することができる。   In the first embodiment, the imaging direction changing means 28 does not have the power to rotate by itself, but is coupled to the wind direction changing means 8 so as to change the imaging direction of the imaging means 1 by using the power of the wind direction changing means 8. Configured. Since a driving motor dedicated to the imaging means 1 is not used, an imaging apparatus capable of detecting a human body can be realized at low cost.
図1に示される信号処理手段2と、記録手段4と、出入り口位置入力手段5の組合せを人体検出手段9と呼ぶことがある。また、撮像方向変更手段28と、風向変更手段8の組合せを駆動手段10と呼ぶことがある。   The combination of the signal processing means 2, the recording means 4, and the entrance / exit position input means 5 shown in FIG. A combination of the imaging direction changing unit 28 and the wind direction changing unit 8 may be referred to as a driving unit 10.
図4は空気調和装置側からみた空調対象空間を表す概念図である。図中の枠15A、15B,15Cは、撮像手段1がそれぞれ異なる方向に向けられた状態で撮像される範囲(撮像範囲)を示している。なお、以下の説明で撮像手段1の画角は固定されているものとする。   FIG. 4 is a conceptual diagram showing a space to be air-conditioned viewed from the air conditioner side. Frames 15 </ b> A, 15 </ b> B, and 15 </ b> C in the figure indicate ranges (imaging ranges) in which the imaging unit 1 is imaged in different directions. In the following description, it is assumed that the angle of view of the imaging unit 1 is fixed.
撮像方向変更手段28で撮像手段1を最大角度回転させることにより撮像手段1で撮像することができる領域全体、即ち、撮像手段1の撮像方向を変えながら、撮像を繰り返すことにより(即ち、複数回の撮像により)画像データを収集することができる領域(「全撮像可能領域」或いは「全撮像可能範囲」とも言う)が枠14で示され、水平方向の全撮像可能範囲が符号LXで、水平方向の全撮像可能範囲LXに対応する角度(全撮像可能角度)が符号AXで、垂直方向の全撮像可能範囲が符号LYで、垂直方向の全撮像可能範囲LYに対応する角度(全撮像可能角度)が符号AYで示されている。   By repeating the imaging while changing the entire imaging area of the imaging unit 1, that is, by changing the imaging direction of the imaging unit 1 by rotating the imaging unit 1 by the maximum angle by the imaging direction changing unit 28 (that is, a plurality of times). An area in which image data can be collected (also referred to as “all imageable area” or “all imageable area”) is indicated by a frame 14, and the entire imageable area in the horizontal direction is indicated by a symbol LX and is horizontal. The angle corresponding to the entire imageable range LX in the direction (total imageable angle) is denoted by AX, the entire imageable range in the vertical direction is denoted by LY, and the angle corresponding to the entire imageable range LY in the vertical direction (all imageable) The angle) is indicated by AY.
水平方向及び垂直方向の全撮像可能範囲(LX、LYの範囲)の全体を撮像して画像データを蓄積した後、信号処理手段1で、人と出入り口が撮像できる方向を重点的に撮像すべき方向、即ち重要撮像方向として算出し、記録手段4に記憶させる。   After the entire horizontal and vertical imageable range (LX, LY range) is imaged and image data is accumulated, the signal processing means 1 should focus on the direction in which people and entrances can be imaged. The direction, that is, the important imaging direction is calculated and stored in the recording unit 4.
図5は撮像手段1による水平方向の撮像範囲及び全撮像可能範囲、並びに全撮像可能範囲の全体にわたり画像データを得るために順次撮像を行なう撮像方向の関係を示す図である。例えば撮像手段1の水平画角(1回の撮像で画像データが得られる範囲)が60度であり、撮像手段1の光軸(撮像方向)の水平方向の可動範囲が100度である場合、水平方向の全撮像可能角度は160度となる。この全撮像可能角度(160度)と水平画角(60度)の比から、撮像方向を変えながら3回の撮像を行うことで全撮像可能角度の全体がカバーできることが分る。
そこで、撮像手段1に対して水平方向に3つの撮像方向(静止角度)を設定する。
図5において、撮像方向を左側の限界にしたときの画角の左端が、全撮像可能範囲の左端に一致する。このときの撮像方向を第1の水平静止角度X1とする。全撮像可能範囲の左端を0度とすると、第1の水平静止角度X1は30度の位置にあり、0度から60度までの水平方向範囲が撮像される。
第1の水平静止角度X1から50度、右方向に回転した位置、即ち80度の位置を第2の水平静止角度X2とする。この位置では、50度から110度までの水平方向範囲が撮像される。
第2の水平静止角度X2から50度、右方向に回転した位置、即ち130度の位置を第3の水平静止角度X3とする。この位置では、100度から160度までの水平方向範囲が撮像される。
50度から60度までの範囲16Aは、第1の水平静止角度X1と第2の水平静止角度X2の両方で撮像され、100度から110度までの範囲16Bは、第2の水平静止角度X2と第3の水平静止角度X3の両方で撮像される。このように重複して撮像される範囲16A,16Bを設けることで、撮像範囲(画角)の端部付近における被写体の検出精度が向上させることができる。
FIG. 5 is a diagram illustrating the relationship between the imaging direction in the horizontal direction by the imaging unit 1 and the entire imaging possible range, and the imaging direction in which imaging is sequentially performed in order to obtain image data over the entire imaging possible range. For example, when the horizontal angle of view of the imaging unit 1 (the range in which image data can be obtained by one imaging) is 60 degrees, and the horizontal movable range of the optical axis (imaging direction) of the imaging unit 1 is 100 degrees, The total imageable angle in the horizontal direction is 160 degrees. It can be seen from the ratio of the total imageable angle (160 degrees) and the horizontal angle of view (60 degrees) that the entire imageable angle can be covered by performing the imaging three times while changing the imaging direction.
Therefore, three imaging directions (stationary angles) are set in the horizontal direction with respect to the imaging means 1.
In FIG. 5, the left end of the angle of view when the imaging direction is the left limit coincides with the left end of the entire imageable range. The imaging direction at this time is defined as a first horizontal stationary angle X1. If the left end of the entire imageable range is 0 degree, the first horizontal stationary angle X1 is at a position of 30 degrees, and the horizontal range from 0 degrees to 60 degrees is imaged.
A position rotated to the right by 50 degrees from the first horizontal stationary angle X1, that is, a position of 80 degrees is defined as a second horizontal stationary angle X2. At this position, a horizontal range from 50 degrees to 110 degrees is imaged.
A position rotated to the right by 50 degrees from the second horizontal stationary angle X2, that is, a position of 130 degrees is defined as a third horizontal stationary angle X3. At this position, a horizontal range from 100 degrees to 160 degrees is imaged.
The range 16A from 50 degrees to 60 degrees is imaged at both the first horizontal stationary angle X1 and the second horizontal stationary angle X2, and the range 16B from 100 degrees to 110 degrees is the second horizontal stationary angle X2. And the third horizontal stationary angle X3. By providing the ranges 16A and 16B that are imaged in this way, it is possible to improve the detection accuracy of the subject in the vicinity of the end of the imaging range (view angle).
図6は撮像手段1による垂直方向の撮像範囲及び全撮像可能範囲、並びに全撮像可能範囲の全体にわたり画像データを得るために順次撮像を行なう撮像方向の関係を示す図である。例えば撮像手段1の垂直画角(1回の撮像で画像データが得られる範囲)が40度であり、撮像手段1の光軸(撮像方向)の垂直方向の可動範囲が30度である場合は、垂直方向の全撮像可能角度は70度となる。この全撮像可能角度(70度)と垂直画角(40度)の比から、撮像方向を変えながら2回の撮像を行うことで全撮像可能角度の全体がカバーできることが分る。
そこで、撮像手段に対して垂直方向に2つの撮像方向(静止角度)を設定する。
図6において、撮像方向を下側の限界にしたときの画角の下端が、全撮像可能範囲の下端に一致する。このときの撮像方向を第1の垂直静止角度Y1とする。全撮像可能範囲の下端を0度とすると、第1の垂直静止角度Y1は、20度の位置にあり、0度から40度までの垂直方向範囲が撮像される。
第1の垂直静止角度Y1から30度、上方向に回転した位置、即ち50度の位置を第2の垂直静止角度Y2とする。この位置では、30度から70度までの垂直方向範囲が撮像される。
30度から40度までの範囲17は、第1の垂直静止角度Y1と第2の垂直静止角度Y2の両方で撮像される。このように重複して撮像される範囲17を設けることで、撮像範囲(画角)の端部付近における被写体の検出精度が向上させることができる。
FIG. 6 is a diagram illustrating the relationship between the imaging direction in the vertical direction by the imaging unit 1 and the entire imaging possible range, and the imaging direction in which imaging is sequentially performed in order to obtain image data over the entire imaging possible range. For example, when the vertical angle of view of the imaging unit 1 (the range in which image data can be obtained by one imaging) is 40 degrees and the movable range in the vertical direction of the optical axis (imaging direction) of the imaging unit 1 is 30 degrees The total imageable angle in the vertical direction is 70 degrees. It can be seen from the ratio of the total imageable angle (70 degrees) and the vertical angle of view (40 degrees) that the entire imageable angle can be covered by performing the imaging twice while changing the imaging direction.
Therefore, two imaging directions (stationary angles) are set in the vertical direction with respect to the imaging means.
In FIG. 6, the lower end of the angle of view when the imaging direction is set to the lower limit coincides with the lower end of the entire imageable range. The imaging direction at this time is defined as a first vertical stationary angle Y1. If the lower end of the entire imageable range is 0 degree, the first vertical stationary angle Y1 is at a position of 20 degrees, and the vertical range from 0 degrees to 40 degrees is imaged.
A position rotated upward by 30 degrees from the first vertical stationary angle Y1, that is, a position of 50 degrees is defined as a second vertical stationary angle Y2. At this position, a vertical range from 30 degrees to 70 degrees is imaged.
A range 17 from 30 degrees to 40 degrees is imaged at both the first vertical stationary angle Y1 and the second vertical stationary angle Y2. By providing the range 17 in which the images are captured in this way, the detection accuracy of the subject in the vicinity of the end of the imaging range (view angle) can be improved.
上記の例では、水平方向の静止角度が3箇所、垂直方向の静止角度を2つとしているが、静止角度の数は上記の例に限られるものではなく、水平方向、垂直方向の撮像手段1の静止角度の数は、撮像手段1の画角や撮像方向変更手段28の回転範囲、風向変更手段8の回転範囲、空調対象空間の広さによって変更する。例えば、撮像手段1の画角が広い場合や、撮像方向変更手段28の回転範囲や風向変更手段8の回転範囲が狭い場合、さらに空調対象空間が狭い場合、或いは人が移動できる範囲が室内の中央部に限定される場合等は撮像手段1の静止角度の数を少なくする。   In the above example, there are three horizontal stationary angles and two vertical stationary angles, but the number of stationary angles is not limited to the above example, and the horizontal and vertical imaging means 1 The number of stationary angles is changed according to the angle of view of the imaging means 1, the rotation range of the imaging direction changing means 28, the rotation range of the wind direction changing means 8, and the size of the air-conditioning target space. For example, when the angle of view of the imaging unit 1 is wide, when the rotation range of the imaging direction changing unit 28 or the rotation range of the wind direction changing unit 8 is narrow, when the air-conditioning target space is narrower, or the range in which people can move is indoors. In the case where it is limited to the central portion, the number of stationary angles of the image pickup means 1 is reduced.
図7は全撮像可能範囲14を垂直方向に2分割し、水平方向に3分割して形成される6つの分割領域A,B,C,D,E,Fを示す。これらの分割領域A,B,C,D,E,Fは、それぞれ、第1、2、3、4、5、6の分割領域と呼ばれることもあり、また一般化して第n(n=1〜N(N=6))の分割領域と呼ばれることもある。
6つの分割領域A〜Fの各々の大きさを横MX、縦MYとすると、分割領域(MX×MY)は撮像手段1の画角に対応する撮像範囲15と同じかそれより小さい。撮像範囲と撮像領域(MX×MY)の面積差は、図5、図6に示される重複範囲16A,16B,17を設けたことに関係しており、重複範囲16A、16B、17が大きいほど、分割領域(MX×MY)は撮像範囲に比べて小さくなる。
FIG. 7 shows six divided areas A, B, C, D, E, and F formed by dividing the entire imageable range 14 into two parts in the vertical direction and three parts in the horizontal direction. These divided areas A, B, C, D, E, and F may be called first, second, third, fourth, fifth, and sixth divided areas, respectively, and are generalized to nth (n = 1). ˜N (N = 6)) may be called a divided area.
If the size of each of the six divided areas A to F is horizontal MX and vertical MY, the divided area (MX × MY) is the same as or smaller than the imaging range 15 corresponding to the angle of view of the imaging means 1. The area difference between the imaging range and the imaging region (MX × MY) is related to the provision of the overlapping ranges 16A, 16B, and 17 shown in FIGS. 5 and 6, and the larger the overlapping ranges 16A, 16B, and 17 The divided area (MX × MY) is smaller than the imaging range.
分割領域A〜Fは、撮像手段1を、図5、図6を参照して説明したように、水平方向の第1、第2、第3の静止角度のいずれかにし、垂直方向を第1、第2の静止角度のいずれかにしたときに撮像される範囲に略対応する。
具体的には、撮像方向を、第1の垂直静止角度Y1、第1の水平静止角度X1としたときに撮像される範囲が分割領域Aに対応し、
撮像方向を、第1の垂直静止角度Y1、第2の水平静止角度X2としたときに撮像される範囲が分割領域Bに対応し、
撮像方向を、第1の垂直静止角度Y1、第3の水平静止角度X3としたときに撮像される範囲が分割領域Cに対応し、
撮像方向を、第2の垂直静止角度Y2、第3の水平静止角度X3としたときに撮像される範囲が分割領域Dに対応し、
撮像方向を、第2の垂直静止角度Y2、第2の水平静止角度X2としたときに撮像される範囲が分割領域Eに対応し、
撮像方向を、第2の垂直静止角度Y2、第1の水平静止角度X1としたときに撮像される範囲が分割領域Fに対応する。
図7にはそのことを、符号A〜Fの下に(Xi,Yj)(x=1、2又は3、y=1又は2)で示している。
In the divided areas A to F, as described with reference to FIGS. 5 and 6, the imaging unit 1 is set to any one of the first, second, and third stationary angles in the horizontal direction and the first in the vertical direction. This substantially corresponds to the range imaged when any of the second stationary angles is set.
Specifically, the range captured when the imaging direction is the first vertical stationary angle Y1 and the first horizontal stationary angle X1 corresponds to the divided area A,
A range that is imaged when the imaging direction is the first vertical still angle Y1 and the second horizontal still angle X2 corresponds to the divided area B,
The range captured when the imaging direction is the first vertical stationary angle Y1 and the third horizontal stationary angle X3 corresponds to the divided region C,
The range captured when the imaging direction is the second vertical stationary angle Y2 and the third horizontal stationary angle X3 corresponds to the divided region D,
The range captured when the imaging direction is the second vertical still angle Y2 and the second horizontal still angle X2 corresponds to the divided area E,
A range that is imaged when the imaging direction is the second vertical stationary angle Y2 and the first horizontal stationary angle X1 corresponds to the divided region F.
In FIG. 7, this is indicated by (Xi, Yj) (x = 1, 2 or 3, y = 1 or 2) under the signs A to F.
本発明の空気調和装置の電源が投入されると、まず撮像方向変更手段28の動作により全撮像可能範囲14を分割領域毎に順に撮像し、撮像により得られた画像データを解析して、撮像範囲(画角)内に人が存在するか否かの判定(人の有無の判定)を行う。
撮像は例えば分割領域A、B、C、D、E、Fの順(n=1からNまでの順)に行う。このような複数の領域を順に指定して各々について人体検出を行なうことを「人体検出走査」と言う。
When the air conditioner of the present invention is turned on, first, the entire imaging possible range 14 is sequentially imaged for each divided region by the operation of the imaging direction changing means 28, and the image data obtained by the imaging is analyzed and the imaging is performed. It is determined whether or not there is a person within the range (view angle) (whether or not there is a person).
Imaging is performed, for example, in the order of divided regions A, B, C, D, E, and F (in the order from n = 1 to N). Performing human body detection for each of these regions in order is called “human body detection scanning”.
例えば、電源投入時の初期位置は分割領域Aの位置であるとする。
領域Aにおける人体検出(人の有無の判定及びその位置の特定)が完了して人が検出されると、信号処理手段2は人の位置を表すデータ(位置データ)を記録手段4に記録する。
人が検出されなかった場合は「人体検出されず」を意味するデータを記録手段4に記録する。
For example, it is assumed that the initial position when the power is turned on is the position of the divided area A.
When the human detection in the region A (determination of the presence / absence of a person and identification of the position thereof) is completed and the person is detected, the signal processing means 2 records data (position data) representing the position of the person in the recording means 4. .
When no person is detected, data indicating “no human body detected” is recorded in the recording means 4.
次に、垂直方向の撮像角度を固定したまま、撮像手段1を第2の水平静止角度X2まで回転させて領域Bの人体検出を実施する。初期状態から第2の水平静止角度X2の位置まで撮像手段1を回転させる際には、脱着手段7により回転伝達手段6を風向変更手段8に結合させ、風向変更手段8の回転力により撮像手段1を回転させる。撮像手段1が領域Bを撮像する第2の水平静止角度X2まで回転すると信号処理手段2は領域Bの人体検出を実施する。領域Bの撮像中は風向変更手段8の回転も停止させる。
領域Bにおける人体検出結果は領域Aのときと同様に、信号処理手段2により記録手段4に記録される。
Next, with the vertical imaging angle fixed, the imaging means 1 is rotated to the second horizontal stationary angle X2 to perform human body detection in the region B. When rotating the imaging means 1 from the initial state to the position of the second horizontal stationary angle X2, the rotation transmitting means 6 is coupled to the wind direction changing means 8 by the detaching means 7 and the imaging means is coupled by the rotational force of the wind direction changing means 8. Rotate 1 When the imaging unit 1 rotates to the second horizontal static angle X2 for imaging the region B, the signal processing unit 2 performs human body detection in the region B. During imaging of the area B, the rotation of the wind direction changing means 8 is also stopped.
The human body detection result in the area B is recorded in the recording means 4 by the signal processing means 2 as in the case of the area A.
以降、同様に領域C,D,E,Fの位置で人体検出を行い、領域Fでの人体検出が完了すると信号処理手段2は記録手段4に記録されている、領域A、B、C、D、E、Fの人体検出の結果を参照して人と出入り口が撮像手段1の画角内に収まるように重要撮像方向を算出する。   Thereafter, the human body is similarly detected at the positions of the areas C, D, E, and F. When the human body detection in the area F is completed, the signal processing means 2 records the areas A, B, C, With reference to the results of D, E, and F human body detection, the important imaging direction is calculated so that the person and the entrance / exit are within the angle of view of the imaging means 1.
出入り口が全撮像可能範囲14内にない場合は、人のみを撮像手段1の画角内に収まるように重要撮像方向を決定乃至算出する。   If the entrance / exit is not within the entire imageable range 14, the important imaging direction is determined or calculated so that only the person is within the angle of view of the imaging means 1.
これらの場合、人が検出されたときの撮像方向、即ち6つの分割領域A〜Fのいずれかを撮像する方向を、「重要撮像方向」として記録しても良く、図7に示される6つの分割領域のいずれかを撮像する方向を以外の方向、例えば、これらの方向相互間の方向を重要撮像方向として算出しても良い。   In these cases, the imaging direction when a person is detected, that is, the direction in which one of the six divided areas A to F is imaged may be recorded as the “important imaging direction”, and the six directions shown in FIG. A direction other than the direction in which any one of the divided regions is imaged, for example, a direction between these directions may be calculated as the important imaging direction.
出入り口と人が撮像手段1の画角内に収まらない場合には、撮像手段1の撮像方向を、人が撮像できる撮像方向と、出入り口が撮像できる撮像方向をともに重要撮像方向として記憶し、これらの2つの重要撮像方向を順に撮像する、即ち撮像方向をこれら2つの方向間で、例えば定期的に切り替えるようにしても良い。この場合、切り替えのための撮像方向の回転量が最小となるように、人を撮像する撮像方向、及び出入り口を撮像する撮像方向を定めるのが望ましい。   When the doorway and the person do not fall within the angle of view of the image pickup means 1, the image pickup direction of the image pickup means 1 is stored as both the image pickup direction in which the person can pick up images and the image pickup direction in which the doorway can be picked up as important image pickup directions. These two important imaging directions may be sequentially imaged, that is, the imaging direction may be switched between these two directions, for example, periodically. In this case, it is desirable to determine the imaging direction for imaging the person and the imaging direction for imaging the doorway so that the amount of rotation in the imaging direction for switching is minimized.
全撮像可能領域内に複数の人が検出され、これらの人が互いに離れた2以上の場所に存在するために、複数の人が撮像手段1の画角内に収まらない場合にも、それぞれ複数の人の一部が撮像される複数の撮像方向であって、そのいずれかにおいて当該複数の人の各々が撮像される撮像方向を複数の重要撮像方向として決定し、撮像手段1に、該複数の重要撮像方向を順に撮像を行わせることで、すべての人の撮像データを収集することとしても良い。例えば、2つの撮像方向で、複数の人のすべての人を撮像できる場合には、撮像手段1の撮像方向を、複数の人の一部が存在する一つの場所が撮像できる撮像方向と、残りの人が存在する他の場所が撮像できる撮像方向に、定期的に切り替えるようにする。   Even when a plurality of people are detected within the entire imageable area and these people are present at two or more places apart from each other, the plurality of people do not fall within the angle of view of the imaging means 1. A plurality of imaging directions in which a part of the person is imaged, and the imaging direction in which each of the plurality of persons is imaged is determined as a plurality of important imaging directions. It is also possible to collect imaging data of all persons by causing the important imaging directions to be sequentially captured. For example, when all of a plurality of people can be imaged in two imaging directions, the imaging direction of the imaging means 1 is set to the imaging direction in which one place where a part of the plurality of people is present, and the remaining The camera is periodically switched to an imaging direction in which another place where the person exists can be imaged.
出入り口が2個所以上存在する場合も同様である。また、このように重点的に撮像する必要のある方向が3つ以上ある場合も同様である。
いずれの場合にも、切り替えのための撮像方向の回転量が最小となるように、人を撮像する撮像方向、及び出入り口を撮像する撮像方向を定めるのが望ましい。
The same applies when there are two or more doorways. The same applies to the case where there are three or more directions that need to be imaged with priority.
In any case, it is desirable to determine the imaging direction for imaging the person and the imaging direction for imaging the entrance / exit so that the amount of rotation in the imaging direction for switching is minimized.
全撮像可能範囲14内に人が検出されず、かつ出入り口が全撮像可能範囲内にある場合は、信号処理手段2は出入り口が撮像手段1の画角内に収まるように重要撮像方向を算出する。   When no person is detected within the entire imageable range 14 and the entrance / exit is within the entire imageable range, the signal processing unit 2 calculates the important imaging direction so that the entrance / exit is within the angle of view of the imaging unit 1. .
全撮像可能範囲16B内で人が検出されず、かつ出入り口が全撮像可能範囲14内にない場合は、信号処理手段2は全撮像可能領域14の中央に撮像手段1の撮像方向を設定する。
このようにする代わりに、人が出入り口から全撮像可能範囲14に入って来たときに、最初に撮像される位置を指定してこの位置に撮像手段1の撮像方向を設定してもよい。
When no person is detected in the entire imageable range 16B and the entrance / exit is not in the entire imageable range 14, the signal processing unit 2 sets the imaging direction of the imaging unit 1 in the center of the entire imageable region 14.
Instead of doing this, when a person enters the entire imageable range 14 from the doorway, the first imaging position may be designated and the imaging direction of the imaging means 1 may be set at this position.
信号処理手段2の人体検出の結果に応じて撮像手段1が重要撮像方向に設定されると、脱着手段7により回転伝達手段6は風向変更手段8から分離され、撮像手段1は静止状態となる。
風向変更手段8は、ユーザーにより設定済みの動作を継続する。
一定時間Tが経過した後、再び撮像手段1を駆動して領域A、B、C、D、E、Fの順に人体検出を行うまで回転伝達手段6は風向変更手段8から分離されたままとなる。
When the imaging means 1 is set in the important imaging direction according to the result of human detection by the signal processing means 2, the rotation transmitting means 6 is separated from the wind direction changing means 8 by the detaching means 7, and the imaging means 1 is in a stationary state. .
The wind direction changing means 8 continues the operation set by the user.
After a certain time T has elapsed, the rotation transmission means 6 remains separated from the wind direction changing means 8 until the imaging means 1 is driven again and human bodies are detected in the order of areas A, B, C, D, E, and F. Become.
上述したように、一定時間Tが経過後、再び撮像手段1を駆動して領域A、B、C、D、E、Fの順に人体検出を行う際には領域A、B、C、D、E、Fの順に限らない。例えば信号処理手段2により算出した重要撮像方向が領域Fの位置であれば、逆の順、即ち領域F、E、D、C、B、Aの順で人体検出を実施してもよい。   As described above, when the human body detection is performed in the order of the regions A, B, C, D, E, and F after the fixed time T has elapsed, the regions A, B, C, D, The order is not limited to E and F. For example, if the important imaging direction calculated by the signal processing means 2 is the position of the region F, human body detection may be performed in the reverse order, that is, the regions F, E, D, C, B, and A.
また、信号処理手段2が障害物を検出し、かつ該障害物が1つの分割領域より大きい場合には、一定時間T経過後に領域A、B、C、D、E、Fについて人体検出を行うときに上記障害物を含む領域は人体検出には用いず、次の領域までスキップするようにすることもできる。このように構成することで無効となる撮像を避け、人体検出の時間を短縮することができる。   Further, when the signal processing means 2 detects an obstacle and the obstacle is larger than one divided area, the human body is detected for the areas A, B, C, D, E, and F after a predetermined time T has elapsed. Sometimes, the region including the obstacle is not used for human body detection, and the next region can be skipped. With this configuration, invalid imaging can be avoided, and the time for detecting a human body can be shortened.
図8は本発明の人体検出における処理手順を示すフローチャートである。空気調和装置の電源が投入されると、脱着手段7によって風向変更手段8に回転伝達手段6が(水平方向及び垂直方向の一方又は双方の回転が伝達可能なように)結合される(ステップS1)。次にN分割した複数の領域A〜Fをn=1〜Nまで順に選択して撮像し、人体検出を実施する(ステップS2)。ステップS2の人体検出の結果によって検出された人の位置、検出された人物の風の当たり方についての好みを加味した空調制御を実施する(ステップS11)。続いてステップS3にて1人以上の人を検出すると、ステップS4に移行し、信号処理手段2にて撮像手段1の画角にすべての人と出入り口が収まるかを判定し、収まるのであれば(ステップS4でYES)、信号処理手段2で算出したすべての人と出入り口が画角内に収まる方向を重要撮像方向として、この方向まで、撮像手段1を回転させた後、脱着手段7によって風向変更手段8から回転伝達手段6を分離して撮像手段1を静止させる(ステップS5)。   FIG. 8 is a flowchart showing a processing procedure in human body detection according to the present invention. When the power of the air conditioner is turned on, the rotation transmitting means 6 is coupled to the wind direction changing means 8 by the detaching means 7 (so that one or both rotations in the horizontal direction and the vertical direction can be transmitted) (step S1). ). Next, a plurality of areas A to F divided into N are selected and imaged in order from n = 1 to N, and human body detection is performed (step S2). Air conditioning control is performed in consideration of the position of the person detected based on the result of the human body detection in step S2 and the preference of how the detected person hits the wind (step S11). Subsequently, when one or more persons are detected in step S3, the process proceeds to step S4, where the signal processing means 2 determines whether all the people and the entrance / exit are within the angle of view of the imaging means 1, and if they are within the range. (YES in step S4), the direction in which all persons and entrances calculated by the signal processing means 2 are within the angle of view is taken as an important imaging direction, and after the imaging means 1 is rotated to this direction, the wind direction is taken by the detaching means 7 The rotation transmitting means 6 is separated from the changing means 8 and the imaging means 1 is made stationary (step S5).
ステップS6では信号処理手段2で人が移動したかどうかを判定し、移動したのであれば(ステップS6でYES)、人の移動を追跡するように撮像手段1を制御(ステップS8)してステップS2の直後まで処理を戻した後、ステップS2以降の処理を人の移動を反映した人の位置に基づいて実施する。
人の移動を追跡するための撮像手段1の制御は、例えば、人に移動の方向及び速度を算出し、人の移動後の位置を予測し、重要撮像方向を変更することにより行われる。
In step S6, it is determined whether or not the person has moved by the signal processing means 2, and if it has moved (YES in step S6), the imaging means 1 is controlled so as to track the movement of the person (step S8). After returning the process to immediately after S2, the process after step S2 is performed based on the position of the person reflecting the movement of the person.
Control of the imaging means 1 for tracking the movement of a person is performed by, for example, calculating the movement direction and speed of the person, predicting the position after the movement of the person, and changing the important imaging direction.
ステップS6で人が移動を行わなければ、即ち人が移動したとの判断がなされなければ(ステップS6でNO)、ステップS7に移行し、ステップS2の人体検出の走査を開始した時点から一定時間Tが経過したかどうかを判定する。一定時間Tが経過したかどうかを確認し、経過していなければステップS6の直前に戻る。このような処理を繰り返し、一定時間Tが経過すると(ステップS7でYES)、ステップS1の直前に処理を戻し、ステップS1以降の処理を実施する。
ステップS3において、信号処理手段2で人を検出しなかった場合はステップS9に移行して、同じく信号処理手段2で差出した、出入り口を含む重要撮像方向で撮像手段1を静止させ、ステップS11にて空気調和装置に初期設定された駆動モードで空調制御を実施する。
If it is determined in step S6 that the person has not moved, that is, if it is not determined that the person has moved (NO in step S6), the process proceeds to step S7, and the human body detection scan in step S2 is started for a certain period of time. It is determined whether T has elapsed. It is confirmed whether or not the predetermined time T has elapsed. If not, the process returns to immediately before step S6. Such a process is repeated, and when the predetermined time T has elapsed (YES in step S7), the process is returned immediately before step S1, and the processes after step S1 are performed.
In step S3, if no signal is detected by the signal processing means 2, the process proceeds to step S9, and the imaging means 1 is stopped in the important imaging direction including the entrance, which is also sent out by the signal processing means 2, and the process proceeds to step S11. The air conditioning control is performed in the drive mode initially set in the air conditioner.
ステップS4で撮像手段1の画角にすべての人と出入り口が収まるかを判定した結果、収まらないと判断されたときは(ステップS4でNO)、ステップS10に移行する。ステップS10では信号処理手段2によって記録手段4に記録された複数の人物位置データに基づき、すべての人及び出入り口の撮像が可能となる2又は3以上の撮像方向を定めて、この撮像方向相互間で定期的に切り替ええる。この場合、回転量が最小となるように、上記2又は3以上の撮像方向を定める。その後はステップS6以降の動作を実施する。   If it is determined in step S4 that all persons and the entrance / exit are within the angle of view of the image pickup means 1, if it is determined that they do not (NO in step S4), the process proceeds to step S10. In step S10, based on a plurality of person position data recorded in the recording means 4 by the signal processing means 2, two or three or more imaging directions capable of imaging all persons and the entrance / exit are determined, and between these imaging directions are determined. Can be switched periodically. In this case, the above two or three or more imaging directions are determined so that the rotation amount is minimized. Thereafter, the operations after step S6 are performed.
以上説明したように実施の形態1によれば、撮像方向変更手段28として風向変更手段8の動力を用いるため撮像手段1のための専用のモータが不要であり、低コストで人体検出を行う空気調和装置を実現できる。   As described above, according to the first embodiment, since the power of the wind direction changing unit 8 is used as the imaging direction changing unit 28, a dedicated motor for the imaging unit 1 is unnecessary, and air for detecting a human body at low cost. A harmony device can be realized.
実施の形態2.
図9はこの発明の実施の形態2の空気調和装置の構成を表すブロック図である。実施の形態1における図1とは撮像手段1を駆動する手段が異なる。即ち、本実施の形態では、図1に示された回転伝達手段6、及び脱着手段7、或いは図2における脱着手段7、並びに結合部24及び25から成る撮像方向変更手段28の代わりに例えば専用のモータを備えた撮像方向変更手段30が設けられ、この撮像方向変更手段30が、制御手段3からの制御信号を受けて、撮像手段1を駆動してその向きを変更する。一方、風向変更手段8は、制御手段3から別個の制御信号を受けて、風向の変更を行う。
上記の構成でも実施の形態1と概して同じ効果が得られる。
Embodiment 2. FIG.
FIG. 9 is a block diagram showing the configuration of the air-conditioning apparatus according to Embodiment 2 of the present invention. The means for driving the imaging means 1 is different from FIG. 1 in the first embodiment. That is, in this embodiment, for example, the rotation transmission means 6 and the detaching means 7 shown in FIG. 1 or the detaching means 7 shown in FIG. An imaging direction changing unit 30 having a motor is provided. The imaging direction changing unit 30 receives a control signal from the control unit 3 and drives the imaging unit 1 to change its direction. On the other hand, the wind direction changing means 8 receives a separate control signal from the control means 3 and changes the wind direction.
Even in the above configuration, the same effects as those of the first embodiment can be obtained.
以上説明したように実施の形態2によれば、撮像方向変更手段30と風向変更手段8とを互いに独立に制御することができる。例えば撮像手段1を回転させる毎に風向変更手段8を撮像手段1に同調させる必要がなく、風向きが安定し、このため室内に居る人に不快感を与えない。   As described above, according to the second embodiment, the imaging direction changing unit 30 and the wind direction changing unit 8 can be controlled independently of each other. For example, it is not necessary to synchronize the wind direction changing means 8 with the imaging means 1 every time the imaging means 1 is rotated, and the wind direction is stable, so that no uncomfortable feeling is given to a person in the room.
上記の実施の形態1、2では、風向変更手段8が風向を水平方向(第1の方向)及び垂直方向(第2の方向)に変更可能であり、撮像方向変更手段28、20が、撮像方向を水平方向及び垂直方向に変更可能であるが、風向変更手段8としては、水平方向及び垂直方向以外の方向に風向を変更可能なものを用い、撮像方向変更手段10として、水平方向及び垂直方向以外の方向に撮像方向を変更することができるものを用いることができる。例えば、部屋の天井から下向きに風を送る空気調和装置であって、風向変更手段8が、天井から床面上の第1の仮想直線に沿う方向(第1の方向)と、第1の仮想直線とは異なる(例えば第1の仮想直線と直交する)第2の仮想直線に沿う方向(第2の方向)に風向が変更可能なものがあり、この場合、撮像方向変更手段10としては、風向の変更方向と同じ第1及び第2の方向に変更可能なものが用いられる。   In the first and second embodiments, the wind direction changing unit 8 can change the wind direction in the horizontal direction (first direction) and the vertical direction (second direction), and the imaging direction changing units 28 and 20 Although the direction can be changed to the horizontal direction and the vertical direction, the wind direction changing unit 8 can change the wind direction in a direction other than the horizontal direction and the vertical direction, and the imaging direction changing unit 10 can be changed to the horizontal direction and the vertical direction. What can change an imaging direction in directions other than a direction can be used. For example, in the air conditioner that sends the wind downward from the ceiling of the room, the wind direction changing means 8 includes a direction along the first virtual straight line on the floor surface from the ceiling (first direction), and a first virtual There is one in which the wind direction can be changed in a direction (second direction) different from the straight line (for example, orthogonal to the first virtual straight line) along the second virtual straight line. In this case, as the imaging direction changing means 10, The thing which can be changed to the same 1st and 2nd direction as the change direction of a wind direction is used.
上記の実施の形態1、2では撮像手段1として可視光に感度を有するものを用いているが、可視領域外の光、例えば赤外線に感度を有する撮像手段を用いることもできる。   In the first and second embodiments, the imaging unit 1 is sensitive to visible light. However, an imaging unit having sensitivity to light outside the visible region, for example, infrared rays may be used.
本発明の実施の形態1に係る空気調和装置の一構成例を示すブロック図である。It is a block diagram which shows the example of 1 structure of the air conditioning apparatus which concerns on Embodiment 1 of this invention. 実施の形態1の風向変更手段及び撮像方向変更手段の具体例を示す概略図である。FIG. 3 is a schematic diagram illustrating a specific example of a wind direction changing unit and an imaging direction changing unit according to the first embodiment. 実施の形態1に係る空気調和装置の他の構成例を示すブロック図である。It is a block diagram which shows the other structural example of the air conditioning apparatus which concerns on Embodiment 1. FIG. 撮像手段から見た空調対象空間、全撮像可能範囲及び撮像範囲の例を示す図である。It is a figure which shows the example of the air-conditioning object space seen from the imaging means, the whole imaging possible range, and an imaging range. 実施の形態1による、撮像手段による水平方向の撮像範囲及び全撮像可能範囲、並びに全撮像可能範囲の全体にわたり画像データを得るために順次撮像を行なう撮像方向の関係を示す図である。It is a figure which shows the relationship of the imaging direction which performs image pick-up sequentially in order to obtain image data over the whole imaging range of the horizontal direction by the imaging means, the whole imaging possible range, and all imaging possible range by Embodiment 1. 実施の形態1による、撮像手段による垂直方向の撮像範囲及び全撮像可能範囲、並びに全撮像可能範囲の全体にわたり画像データを得るために順次撮像を行なう撮像方向の関係を示す図である。It is a figure which shows the relationship of the imaging direction which sequentially images in order to acquire image data over the whole imaging range of the perpendicular direction imaging range and all imaging possible range by the imaging means by Embodiment 1, and all imaging possible ranges. 実施の形態1に係る空気調和装置における全撮像可能領域の分割例を示す図である。It is a figure which shows the example of a division | segmentation of all the imaging possible area | regions in the air conditioning apparatus which concerns on Embodiment 1. FIG. 実施の形態1における人体検出の処理手順を示すフローチャートである。3 is a flowchart showing a human body detection processing procedure in the first embodiment. 本発明の実施の形態2に係る空気調和装置の構成を示すブロック図である。It is a block diagram which shows the structure of the air conditioning apparatus which concerns on Embodiment 2 of this invention.
符号の説明Explanation of symbols
1 撮像手段、 2 信号処理手段、 3 制御手段、 4 記録手段、 5 出入り口位置入力手段、 6 回転伝達手段、 7 脱着手段、 8 風向変更手段、 9 人体検出手段、 10 駆動手段、 11 映像出力端子、 12 モニタ、 14 全撮像可能範囲、 15A、15B、15C 撮像範囲、 16A、16B、17 重複撮像範囲、 20 フラップ、 21 フラップ、 22 モータ、 23 モータ、 24、25 結合部、 28、30 撮像方向変更手段。   DESCRIPTION OF SYMBOLS 1 Imaging means, 2 Signal processing means, 3 Control means, 4 Recording means, 5 Entrance / exit position input means, 6 Rotation transmission means, 7 Desorption means, 8 Wind direction change means, 9 Human body detection means, 10 Driving means, 11 Video output terminal , 12 Monitor, 14 Total imaging possible range, 15A, 15B, 15C Imaging range, 16A, 16B, 17 Overlapping imaging range, 20 flaps, 21 flaps, 22 motors, 23 motors, 24, 25 coupling units, 28, 30 Imaging directions Change means.

Claims (17)

  1. 撮像方向が変更可能に保持された撮像手段と、
    前記撮像手段より得られた画像信号を処理することにより人体検出を行い、前記撮像手段の重要撮像方向の決定を行う信号処理手段と、
    検出された人体の位置を表す位置データを記憶する記録手段と、
    前記信号処理手段の出力に応じて空調を制御する制御手段と、
    前記制御手段の出力信号により風向を変更する風向変更手段と、
    前記位置データに基づいて、前記撮像手段を回転させる撮像方向変更手段と
    を備えたことを特徴とする空気調和装置。
    Imaging means in which the imaging direction is held so as to be changeable;
    Signal processing means for performing human body detection by processing an image signal obtained from the imaging means and determining an important imaging direction of the imaging means;
    Recording means for storing position data representing the position of the detected human body;
    Control means for controlling the air conditioning according to the output of the signal processing means;
    Wind direction changing means for changing the wind direction according to an output signal of the control means;
    An air conditioner comprising: an imaging direction changing unit that rotates the imaging unit based on the position data.
  2. 前記検出された人体が前記撮像手段の画角内に入る方向を前記重要撮像方向として決定することを特徴とする請求項1に記載の空気調和装置。   The air conditioning apparatus according to claim 1, wherein a direction in which the detected human body enters within an angle of view of the imaging unit is determined as the important imaging direction.
  3. 前記検出された人体と空調対象空間の出入り口がともに前記撮像手段の画角内に入る方向を、前記重要撮像方向として決定することを特徴とする請求項1に記載の空気調和装置。   The air conditioning apparatus according to claim 1, wherein a direction in which the detected human body and the entrance / exit of the air-conditioning target space are both within the angle of view of the imaging unit is determined as the important imaging direction.
  4. 前記撮像方向変更手段は、前記風向変更手段による風向の変更のための動きの伝達を受けて前記撮像手段を回転させることを特徴とする請求項1に記載の空気調和装置。   2. The air conditioner according to claim 1, wherein the imaging direction changing unit rotates the imaging unit in response to transmission of a movement for changing the wind direction by the wind direction changing unit.
  5. 前記風向変更手段が、第1の方向に回転可能な第1のフラップと、前記第1の方向とは異なる第2の方向に回転可能な第2のフラップと、これらを駆動するモータとを有し、
    前記撮像方向変更手段は、前記モータの回転を前記撮像手段に伝達する手段を備えることを特徴とする請求項4に記載の空気調和装置。
    The wind direction changing means includes a first flap that can rotate in a first direction, a second flap that can rotate in a second direction different from the first direction, and a motor that drives them. And
    The air conditioner according to claim 4, wherein the imaging direction changing means includes means for transmitting rotation of the motor to the imaging means.
  6. 前記信号処理手段は、前記撮像方向変更手段で前記撮像手段を最大角度回転させることにより前記撮像手段で撮像することができる領域全体をN分割(Nは2以上の整数)した複数の分割領域について前記撮像手段に順に撮像を行わせて、この撮像により得られる画像信号に基づいて人体検出を行う
    ことを特徴とする請求項1に記載の空気調和装置。
    The signal processing means includes a plurality of divided areas obtained by dividing the entire area that can be imaged by the imaging means by rotating the imaging means by a maximum angle by the imaging direction changing means (N is an integer of 2 or more). The air conditioning apparatus according to claim 1, wherein the imaging unit sequentially performs imaging, and human body detection is performed based on an image signal obtained by the imaging.
  7. 前記信号処理手段は、前記撮像方向変更手段で前記撮像手段を最大角度回転させることにより前記撮像手段で撮像することができる領域全体をN分割(Nは2以上の整数)した複数の分割領域について前記撮像手段に順に撮像を行わせて、この撮像により得られる画像信号に基づいて人体検出を行い、
    このように複数の分割領域について人体検出を順に行うために、前記撮像方向変更手段は、前記風向変更手段による風向の変更のための動きの伝達を受けて前記撮像手段を回転させることにより、前記撮像手段を一つの分割領域を撮像する方向から別の分割領域を撮像する方向へ回転させ、
    前記一つの分割領域で人体検出を行っている間は、前記風向変更手段を停止させることを特徴とする請求項4又は5に記載の空気調和装置。
    The signal processing means includes a plurality of divided areas obtained by dividing the entire area that can be imaged by the imaging means by rotating the imaging means by a maximum angle by the imaging direction changing means (N is an integer of 2 or more). Let the imaging means perform imaging in order, perform human body detection based on the image signal obtained by this imaging,
    In this way, in order to perform human body detection in order for a plurality of divided regions, the imaging direction changing means receives the movement for changing the wind direction by the wind direction changing means and rotates the imaging means, thereby Rotate the imaging means from the direction of imaging one divided area to the direction of imaging another divided area,
    The air conditioner according to claim 4 or 5, wherein the wind direction changing means is stopped while the human body is detected in the one divided region.
  8. 前記撮像手段が前記重要撮像方向まで回転した状態で、前記撮像方向変更手段は、前記風向変更手段による風向の変更のための動きの伝達を受けない状態となり、これにより、前記撮像手段の駆動を停止させることを特徴とする請求項7に記載の空気調和装置。   With the imaging means rotated to the important imaging direction, the imaging direction changing means does not receive movement for changing the wind direction by the wind direction changing means, thereby driving the imaging means. The air conditioning apparatus according to claim 7, wherein the air conditioning apparatus is stopped.
  9. 前記重要撮像方向において、人体の動きを検出し、検出された人体の動きに応じて前記重要撮像方向を変更する
    ことを特徴とする請求項1に記載の空気調和装置。
    The air conditioner according to claim 1, wherein a movement of a human body is detected in the important imaging direction, and the important imaging direction is changed according to the detected movement of the human body.
  10. 前記信号処理手段は、前記撮像方向変更手段で前記撮像手段を最大角度回転させることにより前記撮像手段で撮像することができる領域全体をN分割(Nは2以上の整数)した複数の分割領域について前記撮像手段に順に撮像を行わせて、この撮像により得られる画像信号に基づいて人体検出を行い、
    すべての分割領域についての人体検出の結果に基づいて前記重要撮像方向を決定して、前記記録手段に記録し、前記記録手段に記録された前記重要撮像方向に前記撮像手段を回転させ、その後人体の動きに応じて前記撮像方向を変更する
    ことを特徴とする請求項1に記載の空気調和装置。
    The signal processing means includes a plurality of divided areas obtained by dividing the entire area that can be imaged by the imaging means by rotating the imaging means by a maximum angle by the imaging direction changing means (N is an integer of 2 or more). Let the imaging means perform imaging in order, perform human body detection based on the image signal obtained by this imaging,
    The important imaging direction is determined based on the result of human body detection for all the divided areas, recorded in the recording unit, rotated in the important imaging direction recorded in the recording unit, and then the human body The air-conditioning apparatus according to claim 1, wherein the imaging direction is changed according to a movement of the air conditioner.
  11. 前記分割領域の各々の大きさは前記撮像手段の撮像範囲の大きさと同一であるかあるいはそれよりも小さいことを特徴とする請求項10に記載の空気調和装置。   The air conditioner according to claim 10, wherein the size of each of the divided regions is equal to or smaller than the size of the imaging range of the imaging means.
  12. 前記撮像方向変更手段で前記撮像手段を最大角度回転させることにより前記撮像手段で撮像することができる領域全体の中に複数の人がいると前記信号処理手段が判断した場合は、
    前記撮像方向変更手段は、すべての検出された人が前記撮像手段の画角内に収まる撮像方向に前記撮像手段を回転させ、その後その方向で撮像されている人の動きに応じて重要撮像方向を変更する
    ことを特徴とする請求項11に記載の空気調和装置。
    When the signal processing means determines that there are a plurality of people in the entire area that can be imaged by the imaging means by rotating the imaging means by a maximum angle by the imaging direction changing means,
    The imaging direction changing unit rotates the imaging unit in an imaging direction in which all detected persons are within the angle of view of the imaging unit, and then the important imaging direction according to the movement of the person being imaged in that direction The air conditioner according to claim 11, wherein the air conditioner is changed.
  13. 前記撮像方向変更手段で前記撮像手段を最大角度回転させることにより前記撮像手段で撮像することができる領域全体の中に複数の人が検出され、かつすべての人が前記撮像手段の画角内に収まらない場合には、前記信号処理手段は、それぞれ複数の人の一部が撮像される複数の撮像方向であって、そのいずれかにおいて前記複数の人の各々が撮像される撮像方向を複数の重要撮像方向として決定し、
    前記撮像手段に、該複数の重要撮像方向を順に撮像を行わせることで、すべての人の撮像データを収集し、
    それぞれの撮像方向において得られる撮像データを基にすべての人の動きを解析し、動きに応じて撮像方向を変更する
    ことを特徴とする請求項11に記載の空気調和装置。
    A plurality of people are detected in the entire area that can be imaged by the imaging means by rotating the imaging means by the maximum angle by the imaging direction changing means, and all the people are within the angle of view of the imaging means. If not, the signal processing means has a plurality of imaging directions in which a part of each of the plurality of people is imaged, and the imaging direction in which each of the plurality of people is imaged in any one of the plurality of imaging directions. Determined as the important imaging direction,
    Collecting imaging data of all persons by causing the imaging means to sequentially capture the plurality of important imaging directions,
    The air conditioning apparatus according to claim 11, wherein the movement of all persons is analyzed based on the imaging data obtained in each imaging direction, and the imaging direction is changed according to the movement.
  14. 前記信号処理手段は、前記撮像手段の回転量が、前記すべての人の撮像に必要な最小の量となるように、前記複数の撮像方向を定める
    ことを特徴とする請求項13に記載の空気調和装置。
    The air according to claim 13, wherein the signal processing unit determines the plurality of imaging directions so that a rotation amount of the imaging unit is a minimum amount necessary for imaging of all the persons. Harmony device.
  15. 空調対象空間の出入り口位置を前記信号処理手段に記録する出入り口位置入力手段をさらに有し、
    前記信号処理手段が該出入り口位置入力手段から入力された出入り口位置と人体検出により検出された人とが同時に撮像される撮像方向を前記重要撮像方向として算出し、
    該重要撮像方向に前記撮像手段を回転させ、その後その方向で撮像されている人の動きに応じて撮像方向を変更し、
    空調対象空間内に人が検出されない場合には、前記信号処理手段が前記出入り口位置入力手段により特定された出入り口位置を含む重要撮像方向を算出して該重要撮像方向に前記撮像手段を回転させ、その後その方向で撮像されている人の動きに応じて撮像方向を変更する
    ことを特徴とする請求項11に記載の空気調和装置。
    It further has an entrance / exit position input means for recording the entrance / exit position of the air conditioning target space in the signal processing means,
    The signal processing means calculates an imaging direction in which an entrance / exit position input from the entrance / exit position input means and a person detected by human body imaging are simultaneously imaged as the important imaging direction,
    Rotate the imaging means in the important imaging direction, and then change the imaging direction according to the movement of the person being imaged in that direction,
    When no person is detected in the air conditioning target space, the signal processing means calculates an important imaging direction including the entrance / exit position specified by the entrance / exit position input means, and rotates the imaging means in the important imaging direction, The air conditioning apparatus according to claim 11, wherein the imaging direction is changed in accordance with the movement of a person who is imaging in that direction.
  16. 前記撮像方向変更手段で前記撮像手段を最大角度回転させることにより前記撮像手段で撮像することができる領域全体をN分割(Nは2以上の整数)した複数の分割領域について人体検出を行った際に、前記信号処理手段により、1つの分割領域よりも大きい障害物が検出されたときは、
    一定時間経過後に前記複数の分割領域について人体検出を行う際に、前記障害物を含む分割領域については、人体検出を行わないことを特徴とする請求項1に記載の空気調和装置。
    When human body detection is performed for a plurality of divided regions obtained by dividing the entire region that can be imaged by the imaging unit by rotating the imaging unit by a maximum angle by the imaging direction changing unit (N is an integer of 2 or more). In addition, when an obstacle larger than one divided area is detected by the signal processing means,
    2. The air conditioner according to claim 1, wherein when performing human body detection for the plurality of divided areas after a predetermined time has elapsed, human body detection is not performed for the divided areas including the obstacle.
  17. 映像信号出力手段を備えたことを特徴とする請求項1乃至16のいずれかに記載の空気調和装置。   The air conditioner according to any one of claims 1 to 16, further comprising a video signal output unit.
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CN101900399A (en) * 2009-05-27 2010-12-01 松下电器产业株式会社 Air conditioner
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