JP2009009530A - Human body detection system and human body detection method - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a human body detection system and a human body detection method which can precisely detect a human body to be detected. <P>SOLUTION: The human body detection system includes: a first ranging sensor 21 and a second ranging sensor 22 which radiate detecting waves to a detection area which an object to be detected passes, at different angles; a horizontal difference calculation means 112 which calculates a horizontal difference between a horizontal position being a position in a moving direction when passing in the detection area of the detection object, which is obtained by the first ranging sensor 21, and a horizontal position when passing in the detection area of the detection object, which is obtained by the second ranging sensor 22; a vertical difference calculation means 110 which calculates a vertical difference between a vertical position being a position in a vertical direction of the detection object, which is obtained by the first ranging sensor 21, and a vertical position of the detection object, which is obtained by the second ranging sensor 22; and a determination means 116 which determines the detection object to be a human body when the horizontal difference is smaller than a preliminarily determined horizontal threshold and the vertical difference is smaller than a preliminarily determined vertical threshold. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to a human body detection system and a human body detection method for detecting a human body with a distance measuring sensor.

  Conventionally, a detection device for detecting an intruder into a management area is known. However, there has been a problem in that things other than the human body such as small animals may be erroneously detected. In view of this, an apparatus capable of identifying whether a detected object is a person or a small animal has been developed.

  For example, Patent Document 1 discloses an apparatus that calculates the height of a detected object and determines that the detected object is a person when the height is equal to or greater than a specified value.

Japanese Patent No. 3414177

  However, when it is determined whether or not the person is a person by comparison with the specified value as described above, for example, when a child is to be detected as a human body, the specified value needs to be set low to some extent. However, since large dogs and the like are as high as children, it is difficult to distinguish them. On the other hand, if a certain height is set as the specified value to exclude pets or the like, a person with a short height will not be detected.

  This invention is made in view of the above, Comprising: It aims at providing the human body detection system and human body detection method which can detect a human body accurately.

  In order to solve the above-described problems and achieve the object, the invention according to claim 1 is a human body detection system in which detection waves are transmitted at different angles with respect to detection regions through which an object to be detected passes. A first distance sensor and a second distance sensor that measure the distance to the detection object by irradiation, and a position in the moving direction when the detection object obtained by the first distance sensor passes through the detection area. A horizontal difference calculating means for calculating a horizontal difference between a certain horizontal position and the horizontal position when the detection target obtained by the second distance sensor passes through a detection area; and a first distance sensor. Vertical difference calculation means for calculating a vertical difference between the obtained vertical position which is a position in the vertical direction of the detection target and the vertical position of the detection target obtained by the second distance measuring sensor; and the horizontal difference When the horizontal difference calculated by the calculation means is less than a predetermined horizontal threshold and the vertical difference calculated by the vertical difference calculation means is equal to or greater than a predetermined vertical threshold, the detection target is a human body And determining means for determining that it is.

  The invention according to claim 2 is the human body detection system according to claim 1, further comprising alarm means for issuing an alarm when the determination means determines that the detection target is a human body. It is characterized by.

  The invention according to claim 3 is the human body detection system according to claim 1 or 2, wherein the horizontal difference calculated by the horizontal difference calculating means is less than the horizontal threshold, and the vertical difference calculating means A time measuring unit that measures a time during which the vertical difference calculated by the method is equal to or greater than the vertical threshold, and wherein the determination unit is equal to or greater than a predetermined reference time measured by the time measuring unit. In addition, the detection target is determined to be a human body.

  The invention according to claim 4 is the human body detection system according to claim 3, wherein the time measurement means has the horizontal difference calculated by the horizontal difference calculation means less than the horizontal threshold, The time when the vertical difference calculated by the vertical difference calculating means is equal to or more than the vertical threshold and the vertical difference is changing is measured.

  The invention according to claim 5 is the human body detection system according to any one of claims 1 to 4, wherein the determination unit is configured such that the horizontal difference calculated by the horizontal difference calculation unit is the horizontal difference. When it is equal to or greater than a threshold value, it is determined that the detection target is a small animal.

  The invention according to claim 6 is the human body detection system according to any one of claims 1 to 5, wherein the determination unit is configured such that the horizontal difference calculated by the horizontal difference calculation unit is the horizontal difference. The detection target is determined to be a small animal when the vertical difference calculated by the vertical difference calculation means is less than the vertical threshold and is equal to or greater than a threshold.

  The invention according to claim 7 is the human body detection system according to any one of claims 1 to 6, wherein the detection object is detected by the first distance sensor and the second distance sensor. The horizontal difference calculation means is obtained at any position in the horizontal direction by the first distance measuring sensor, and the horizontal difference calculation means is irradiated in a fan shape in a horizontal direction that is a direction orthogonal to the moving direction when passing through an area. Calculating the horizontal difference between the horizontal position of the detection target and the horizontal position of the detection target obtained at any position in the lateral direction by the second ranging sensor, and calculating the vertical difference The means is obtained at the vertical position of the detection object obtained at any position in the lateral direction by the first distance sensor and at any position in the lateral direction by the second distance sensor. Detection And calculates the vertical difference between the vertical positions of the elephants.

  The invention according to claim 8 is the human body detection system according to any one of claims 1 to 6, wherein the first distance sensor and the second distance sensor are detected by the detection object. A plurality of sensors arranged in a lateral direction that is orthogonal to the moving direction when passing through an area, and the horizontal difference calculating means is obtained by a predetermined sensor among the first distance measuring sensors The horizontal difference between the horizontal position of the detection target and the horizontal position of the detection target obtained by a predetermined sensor among the second ranging sensors is calculated, and the vertical difference calculation means is Calculating the vertical difference between the vertical position obtained by the predetermined sensor of one distance sensor and the vertical position obtained by the predetermined sensor of the second distance sensor; And

  The invention according to claim 9 is the human body detection method, wherein the first distance measuring sensor and the second distance measuring sensor detect the detection waves at different angles with respect to the detection area through which the object to be detected passes. An irradiation step of measuring the distance from the detection target by irradiating the detection target, a horizontal position that is a position in the moving direction when the detection target obtained by the first distance measuring sensor passes through the detection region, and the second A horizontal difference calculating step of calculating a horizontal difference between the horizontal positions when the detection target obtained by the distance measurement sensor passes through a detection area; and a vertical of the detection target obtained by the first distance measurement sensor. A vertical difference calculation step for calculating a vertical difference between a vertical position which is a position in a direction and the vertical position of the detection target obtained by the second distance measuring sensor, and a horizontal difference calculation step. When the calculated horizontal difference is less than a predetermined horizontal threshold value and the vertical difference calculated in the vertical difference calculating step is equal to or greater than a predetermined vertical threshold value, the detection target is a human body. And a determination step for determining.

  According to the present invention, the horizontal difference and the vertical difference of the distance measurement values to be detected are obtained from the detection results of the first distance sensor and the second distance sensor, and the human body and the small animal are obtained based on the horizontal difference and the vertical difference. And the human body detection accuracy can be improved.

  Exemplary embodiments of a human body detection system and a human body detection method according to the present invention will be explained below in detail with reference to the accompanying drawings.

(First embodiment)
FIG. 1 is a block diagram showing the overall configuration of the human body detection system 1 according to the first embodiment of the present invention. The human body detection system 1 includes a monitoring device 10, a first distance measuring sensor 21, and a second distance measuring sensor 22. The first distance measuring sensor 21 has a light emitting element and a light receiving element. The light receiving element receives the reflected light of the light emitted from the light emitting element, thereby detecting the distance to the object. The same applies to the second distance measuring sensor 22.

  FIG. 2 is a diagram for explaining the installation positions of the first distance measuring sensor 21 and the second distance measuring sensor 22. The first distance sensor 21 and the second distance sensor 22 are installed on the ceiling in the security area. The security area is, for example, a hallway. That is, the security area is an area in which the moving direction when a person or the like to be detected passes is assumed to be one-dimensional. The first distance measuring sensor 21 and the second distance measuring sensor 22 are installed at different angles along this moving direction. That is, the first distance sensor 21 and the second distance sensor 22 irradiate detection waves at different angles to the detection area through which an object to be detected passes.

  The angle (α) between the irradiation direction of the first distance measuring sensor 21 and the vertical direction is, for example, 50 °. Further, an angle (β) formed between the irradiation direction of the second distance measuring sensor 22 and the vertical direction is, for example, 40 °. The installation angle of the first distance sensor 21 and the second distance sensor 22 is arbitrary, but the detection position detected by one sensor is outside the error range of the detection position detected by the other sensor. The specific angle is preferably determined according to the installation height and the moving speed of the human body to be detected.

  The first distance measuring sensor 21 and the second distance measuring sensor 22 detect the position of the floor surface to be the background or the position of the object to be detected. The monitoring device 10 determines whether or not the detected object is a person based on the detection results of the first distance sensor 21 and the second distance sensor 22.

  As shown in FIG. 1, the monitoring apparatus 10 includes a mode switching unit 100, a background distance measurement value holding unit 102, a detected object distance measurement value holding unit 104, a distance measurement value comparison unit 106, and a component decomposition unit 108. , A vertical difference calculation unit 110, a horizontal difference calculation unit 112, a detection time measurement unit 114, and a detection object determination unit 116.

  The mode switching unit 100 switches the operation mode. The operation mode includes a normal mode and a background mode. When the normal mode is set, the distance values obtained by the first distance sensor 21 and the second distance sensor 22 are held in the detected object distance value holding unit 104. When the background mode is set, the distance values obtained by the first distance sensor 21 and the second distance sensor 22 are held in the background distance value holding unit 102 as background distance values.

  The distance value comparison unit 106 compares the distance value held in the detected object distance value holding unit 104 with the distance value held in the background distance value holding unit 102. When the difference between the two becomes larger than 0, it is determined that a position closer to the background is detected. That is, it is determined that some object has been detected. Note that a threshold value that takes measurement errors into account may be set, and when the difference between the two exceeds the threshold value, it may be determined that a position closer to the background has been detected.

なお、ここで、ｘは垂直方向であり、ｙは移動方向に対応する水平方向である。 The component decomposition unit 108 decomposes the distance to the position P of the detected object obtained by the first distance measuring sensor 21 into a vertical component and a horizontal component. As shown in FIG. 3, when the distance detected by the first distance measuring sensor 21 is L ₁ and the installation position of the first distance measuring sensor 21 is the coordinate origin, the position P ( The coordinates of x _P , y _P ) are given by equation (1).

Here, x is the vertical direction, and y is the horizontal direction corresponding to the moving direction.

Similarly, the component decomposition unit 108 decomposes the distance to the position Q of the detected object obtained by the second ranging sensor 22 into a vertical component and a horizontal component. Specifically, as shown in FIG. 3, when the distance detected by the second distance sensor 22 is L ₂ and the installation position of the second distance sensor 22 is the coordinate origin, the distance is obtained by the second distance sensor 22. The coordinates of the position Q (x _Q , y _Q ) are expressed by equation (2).

The vertical difference calculation unit 110 calculates the difference between the x component obtained from the detection result of the first distance measurement sensor 21 and the x component obtained from the detection result of the second distance measurement sensor 22 using the equation (3). ).

本実施の形態にかかる監視装置１０は、垂直差分（Δｘ）および水平差分（Δｙ）に基づいて検知物体が人体であるかペットであるかを判定する。 The horizontal difference calculating unit 112 calculates the difference between the y component obtained from the detection result of the first distance measuring sensor 21 and the y component obtained from the detection result of the second distance measuring sensor 22 using the equation (4). ).

The monitoring apparatus 10 according to the present embodiment determines whether the detected object is a human body or a pet based on the vertical difference (Δx) and the horizontal difference (Δy).

FIG. 4 is a diagram illustrating a case where the detection target of the first distance measuring sensor 21 and the second distance measuring sensor 22 is an adult (human body). In this case, the vertical position of the detection position P of the first distance sensor 21 and the detection position Q of the second distance sensor 22 are substantially equal. That, y component _{y P} and _{y Q} are approximately equal, equation (5) is satisfied. Incidentally, x-component _{x P} and _{x Q} becomes different values, Equation (6) is established.

FIG. 5 is a diagram illustrating a case where the detection target of the first distance measuring sensor 21 and the second distance measuring sensor 22 is a child (human body). In this case, when an adult is to be detected as well as the y component y _P and y _Q are approximately equal, x component x _P and x _Q are different values.

FIG. 6 is a diagram illustrating a case where the detection target of the first distance sensor 21 and the second distance sensor 22 is a pet. In this case, the horizontal position of the detection position P of the first distance measurement sensor 21 and the detection position Q of the second distance measurement sensor 22 are substantially equal. x component _{x P} and _{x Q} are approximately equal, equation (7) is satisfied. Incidentally, y component _{y P} and _{y Q} becomes different values, Equation (8) holds.

  From the above, when Expression (5) and Expression (6) are satisfied, that is, when the vertical positions of the detection position P and the detection position Q are substantially equal and the horizontal positions of the detection position P and the detection position Q are different. , You can see that it is a human body. On the other hand, when the equation (7) is satisfied, that is, when the horizontal positions of the detection position P and the detection position Q are substantially equal, it is understood that the object is other than a human body, that is, a pet.

  Thus, by using the vertical difference (Δx) and the horizontal difference (Δy), it is possible to discriminate between the human body and the pet even if the heights of the human body and the pet are similar.

  The detection time measurement unit 114 says that the horizontal difference (Δy) obtained by the horizontal difference calculation unit 112 is less than the horizontal threshold, and the vertical difference (Δx) obtained by the vertical difference calculation unit 110 is greater than or equal to the vertical threshold. The time that satisfies the first condition and satisfies the second condition that the vertical difference (Δx) is changed is measured as the human body detection time (Thd).

  Here, the horizontal threshold is a threshold for which the horizontal difference (Δy) is regarded as almost zero. Being below the horizontal threshold corresponds to the horizontal difference (Δy) being substantially zero. Similarly, the vertical threshold is a threshold for the vertical difference (Δx) to be regarded as almost zero. The horizontal threshold and the vertical threshold are preferably set in consideration of measurement errors.

  Further, the first condition is satisfied while the moving person is detected by the first distance sensor 21 and the second distance sensor 22. Therefore, the detection time measurement unit 114 measures the time during which the human body is detected in order to determine that the human body is detected for the first time when the first condition is continuously satisfied during the detection. However, it is desirable that the time during which the human body is stopped in the detection area is not included in the measurement time. Since the vertical difference (Δx) changes when the person is moving, as described above, the human body detection time (Thd) is measured when the second condition is satisfied.

  The detected object determination unit 116 determines that the detected object is a human body when the human body detection time (Thd) measured by the detection time measurement unit 114 is longer than a preset human body reference time (Th). Further, when the horizontal difference (Δy) obtained by the horizontal difference calculation unit 112 is larger than the horizontal threshold, it is determined to be a pet.

  Hereinafter, processing of the detection time measurement unit 114 and the detection object determination unit 116 will be described in detail. Since the detected object is actually moving, the first distance measuring sensor 21 and the second distance measuring sensor 22 detect the detected object while the detected object passes. Therefore, in human body detection, the time that the human body passes is set as the above-mentioned human body reference time (Th), and the human body detection time (Thd) measured by the detection time measuring unit 114 is longer than the human body reference time (Th). In some cases, the determination accuracy is increased by determining that the human body.

  FIG. 7 is a diagram showing temporal changes of each component of the point P detected by the first distance measuring sensor 21 and each component of the point Q detected by the second distance measuring sensor 22 when the detection target is a human body. It is. As shown in FIG. 7, when the human body moves in the A direction, the first distance measuring sensor 21 starts human body detection at time T1, and then the second distance sensor 22 starts human body detection at time T2. Furthermore, at time T3, the first distance measuring sensor 21 ends human body detection, and at time T4, the second distance measuring sensor 22 ends human body detection.

  On the other hand, when the human body moves in the B direction, the second distance measuring sensor 22 starts human body detection at time T5, and then the first distance measuring sensor 21 starts human body detection at time T6. Furthermore, at time T7, the second distance sensor 22 ends human body detection, and at time T8, the first distance sensor 21 ends human body detection.

  The point P obtained by the first distance sensor 21 and the second distance sensor 22 between time T2 and time T3 when both the first distance sensor 21 and the second distance sensor 22 are detecting the human body. And the horizontal component of the point Q, that is, the y coordinate coincides. Therefore, the time from time T2 to time T3 is set in the detected object determination unit 116 as the human body reference time (Th). The time from time T6 to time T7 when both the first distance measuring sensor 21 and the second distance measuring sensor 22 detect the human body is also equal to the human body reference time (Th). As another example, a time slightly shorter than the time from time T2 to time T3 may be set as the human body reference time (Th). Thus, the human body reference time (Th) is preferably determined based on the time from time T2 to time T3.

なお、点Ｑの位置は足の動きにより不安定になるため、点Ｐおよび点Ｑがともに上半身を測距している時間を人体基準時間（Ｔｈ）として算出した。 For example, as shown in FIG. 8, the installation height (H) of the first ranging sensor 21 and the second ranging sensor 22 is 2.4 m, the installation angle (α) of the first ranging sensor 21 is 50 °, The installation angle (β) of the second ranging sensor 22 is 40 °, the height (D) of the human body is 1.7 m (inseam (d) is 0.8 m, the human body thickness (T) is 0.2 m, and the human body is moved. When the speed (V) is 4 km / h (= 1.11 m / s), the time at which the points P and Q are arranged in the vertical direction, that is, the human body reference time (Th) is 0.46 s according to the equation (9). It becomes.

Since the position of the point Q becomes unstable due to the movement of the foot, the time during which the point P and the point Q both measure the upper body is calculated as the human body reference time (Th).

以上の結果より、０．４６ｓまたはこれよりも小さい値を人体基準時間（Ｔｈ）として検知物体判定部１１６に設定する。 Further, assuming a child and height (D) is 1.2 m, the time at which the points P and Q are arranged in the vertical direction, that is, the human body reference time (Th), is expressed as 0. 52 s.

From the above results, a value of 0.46 s or smaller is set in the detected object determination unit 116 as the human body reference time (Th).

The vertical component x _P and x _Q takes between different value from the time T1 to the first distance measuring sensor 21 starts human body detection to the time T4 to the second distance measuring sensor 22 finishes human body detection. Similarly, when the human body moves in the B direction, different values are taken from time T5 when the second ranging sensor 22 starts detecting the human body to time T8 when the first ranging sensor 21 finishes detecting the human body. . In this way, the vertical difference (Δx) always changes while the human body is moving. Therefore, as described above, the detection time measurement unit 114 determines whether or not the human body is moving based on whether or not the vertical difference (Δx) changes.

  FIG. 9 is a flowchart showing human body detection processing by the human body detection system 1. As a premise, it is assumed that the background distance value holding unit 102 holds the background distance value. In the normal mode, first, ranging by the first ranging sensor 21 and the second ranging sensor 22 is started (step S100). The detected distance value is held in the detected object distance value holding unit 104.

Next, whether the distance measurement value comparison unit 106 has detected any object other than the background by comparing the detected distance measurement value with the background distance measurement value held in the background distance measurement value holding unit 102. Judge whether or not. That is, when the difference between the detected distance measurement value and the background distance measurement value is zero or more, that is, when the detection target is not the background (step S102), the component decomposing unit 108 uses the obtained distance measurement value. The components are decomposed to obtain the coordinates of point P (x _P , y _P ) and point Q (x _Q , y _Q ) (step S104).

  Next, the vertical difference calculation unit 110 calculates the vertical difference (Δx) between the points P and Q, and the horizontal difference calculation unit 112 calculates the horizontal difference (Δy) between the points P and Q (step S106). .

  When the horizontal difference (Δy) is smaller than the horizontal threshold value (step S108, Yes) and the vertical difference (Δx) is equal to or greater than the vertical threshold value (step S110, Yes), the detection time measurement unit 114 determines the human body detection time. (Thd) is measured (step S112). When the vertical difference (Δx) is less than the vertical threshold (No at Step S110), the process returns to Step S100.

  When the human body detection time (Thd) is longer than the human body reference time (Th) (step S114, Yes), the detected object determination unit 116 determines that the detection target is a human body (step S116). And the measurement value by the detection time measurement part 114 is returned to zero (step S118), and it returns to step S100.

  On the other hand, when the human body detection time (Thd) is equal to or shorter than the human body reference time (Th) (step S114, No), the process proceeds to step S118. In step S108, when the horizontal difference (Δy) is equal to or greater than the horizontal threshold (No in step S108), the detected object determination unit 116 determines that the detection target is a pet (step S120), and returns to step S100. .

  FIG. 10 is a diagram illustrating a hardware configuration of the monitoring apparatus 10 according to the first embodiment. As a hardware configuration, the monitoring device 10 includes a ROM 52 that stores a human body detection program for executing a human body detection process in the monitoring device 10, a CPU 51 that controls each unit of the monitoring device 10 according to a program in the ROM 52, and a monitoring device 10 is provided with a RAM 53 for storing various data necessary for the control 10, a communication I / F 57 for connecting to a network for communication, and a bus 62 for connecting each unit.

  The above-described human body detection program in the monitoring device 10 is a file in an installable or executable format on a computer-readable recording medium such as a CD-ROM, floppy (registered trademark) disk (FD), or DVD. It may be recorded and provided.

  In this case, the human body detection program is loaded onto the main storage device by being read from the recording medium and executed by the monitoring device 10 so that each unit described in the software configuration is generated on the main storage device. It has become.

  Further, the human body detection program according to the present embodiment may be provided by being stored on a computer connected to a network such as the Internet and downloaded via the network.

  As described above, the present invention has been described using the embodiment, but various changes or improvements can be added to the above embodiment.

  As such a first modification, the vertical difference (Δx) may also be taken into consideration when determining whether or not the pet is a pet. Specifically, when the horizontal difference (Δy) is equal to or greater than the horizontal threshold and the vertical difference (Δx) is less than the vertical threshold, it may be determined that the detection target is a pet.

  As a second modification, the human body detection system 1 according to the present embodiment includes two sensors, but may include three or more sensors instead. In this case, it is determined whether or not it is a human body based on the detection results of any two of the plurality of sensors.

  As another example, based on the detection results of all of the plurality of sensors, it may be determined whether the human body. Specifically, when the horizontal difference obtained by all the sensors is 0 and the vertical difference is not 0, the human body is determined.

  As a third modification, the monitoring device 10 of the human body detection system 1 may further include an alarm unit. The alarm unit issues an alarm when the detected object determination unit 116 determines that the detection target is a human body. Thereby, it can be notified to the guard that the human body has been detected.

(Second Embodiment)
FIG. 11 is a diagram illustrating the first distance sensor 31 and the second distance sensor 32 of the human body detection system 1 according to the second embodiment. The first distance measuring sensor 31 and the second distance measuring sensor 32 irradiate light from end to end of the passage in a fan shape in a transverse direction perpendicular to the moving direction. Thus, by sensing in a fan shape, it is possible to prevent the detected object from slipping through without being detected by the sensor.

  The speed at which the first distance sensor 31 and the second distance sensor 32 scan in a fan shape is sufficiently higher than the moving speed of the detected object.

As shown in FIG. 12, the first ranging sensor 31 detects the distance from end to end of the passage N times at equal intervals. At this time, the distance value obtained by the nth (n = 1, 2,..., N) th scan from the end of the passage is L _n , and the angle of the scan direction with respect to the fan-shaped central axis is θ _n .

The component decomposition unit 108 according to the present embodiment uses the equations (11) and (12) to calculate the coordinates of the point Pn (x _{P (n)} , y _{P (n)} ) and the coordinates of the point Qn (x _{Q (n )} , _{YQ (n)} ).

  The other configuration and processing of the human body detection system 1 according to the second embodiment are the same as the configuration and processing of the human body detection system 1 according to the first embodiment.

  As a modification of the second embodiment, as shown in FIG. 13, each of the first distance measuring sensor 41 and the second distance measuring sensor 42 may have a plurality of sensors. Then, a plurality of sensors of the first distance measuring sensor 41 are arranged in the horizontal direction, and similarly, a plurality of sensors of the second distance measuring sensor 42 are arranged in the horizontal direction at positions different from the first distance measuring sensor 41 in the moving direction. To do. In this case, the detected object is determined based on the detection result of the sensor that detects the object among the plurality of first distance sensors 41 and the second distance sensors 42. Also in this example, since it is possible to perform sensing from end to end of the course, slip-through can be prevented.

1 is a block diagram illustrating an overall configuration of a human body detection system 1. FIG. It is a figure for demonstrating the installation position of the 1st ranging sensor 21 and the 2nd ranging sensor 22. FIG. It is a figure for demonstrating the position coordinate of a detection object. It is a figure which shows the case where the detection target of the 1st distance sensor 21 and the 2nd distance sensor 22 is an adult (human body). It is a figure which shows the case where the detection target of the 1st ranging sensor 21 and the 2nd ranging sensor 22 is a child (human body). It is a figure which shows the case where the detection target of the 1st ranging sensor 21 and the 2nd ranging sensor 22 is a pet. It is a figure which shows the time change of each component of the point P detected by the 1st ranging sensor 21 and each component of the point Q detected by the 2nd ranging sensor 22 when a detection target is a human body. It is a figure for demonstrating human body reference time (Th). 3 is a flowchart showing human body detection processing by the human body detection system 1; 2 is a diagram illustrating a hardware configuration of a monitoring device 10. FIG. It is a figure which shows the 1st ranging sensor 31 and the 2nd ranging sensor 32 of the human body detection system 1 concerning 2nd Embodiment. It is a figure for demonstrating the position coordinate of a detection object. It is a figure for demonstrating the example of a change of 2nd Embodiment.

Explanation of symbols

1 Human Body Detection System 10 Monitoring Device 21, 31, 41 First Distance Sensor 22, 32, 42 Second Distance Sensor 51 CPU
52 ROM
53 RAM
57 Communication I / F
62 Bus 100 Mode switching unit 102 Background distance measurement value holding unit 104 Detected object distance value holding unit 106 Distance measurement value comparison unit 108 Component decomposition unit 110 Vertical difference calculation unit 112 Horizontal difference calculation unit 114 Detection time measurement unit 116 Detected object determination Part

Claims (9)

A first distance measuring sensor and a second distance measuring sensor that irradiate detection waves at different angles with respect to a detection region through which an object to be detected passes and measure a distance from the detection object;
The horizontal position, which is the position in the moving direction when the detection object obtained by the first distance sensor passes through the detection area, and the detection object obtained by the second distance sensor pass the detection area. Horizontal difference calculation means for calculating a horizontal difference between the horizontal positions at the time,
A vertical for calculating a vertical difference between a vertical position that is a position in the vertical direction of the detection target obtained by the first ranging sensor and the vertical position of the detection target obtained by the second ranging sensor. Difference calculation means;
The detection is performed when the horizontal difference calculated by the horizontal difference calculating unit is less than a predetermined horizontal threshold value and the vertical difference calculated by the vertical difference calculating unit is equal to or greater than a predetermined vertical threshold value. A human body detection system comprising: determination means for determining that the object is a human body.   The human body detection system according to claim 1, further comprising alarm means for issuing an alarm when the determination means determines that the detection target is a human body. A time measuring means for measuring a time when the horizontal difference calculated by the horizontal difference calculating means is less than the horizontal threshold and the vertical difference calculated by the vertical difference calculating means is equal to or greater than the vertical threshold;
The said determination means determines that the said detection object is a human body, when the time measured by the said time measurement means is more than predetermined reference time. Human body detection system.   The time measuring means is configured such that the horizontal difference calculated by the horizontal difference calculating means is less than the horizontal threshold, the vertical difference calculated by the vertical difference calculating means is greater than or equal to the vertical threshold, and further, the vertical difference The human body detection system according to claim 3, wherein a time during which the difference is changed is measured.   The determination unit determines that the detection target is a small animal when the horizontal difference calculated by the horizontal difference calculation unit is equal to or greater than the horizontal threshold. The human body detection system according to one item.   The determination unit is configured such that when the horizontal difference calculated by the horizontal difference calculation unit is equal to or greater than the horizontal threshold value and the vertical difference calculated by the vertical difference calculation unit is less than the vertical threshold value, The human body detection system according to any one of claims 1 to 5, wherein the detection target is determined to be a small animal. The first distance sensor and the second distance sensor irradiate light in a fan shape in a lateral direction that is a direction orthogonal to the moving direction when the detection target passes through a detection region,
The horizontal difference calculation means includes the horizontal position of the detection target obtained at any position in the lateral direction by the first distance measuring sensor and any position in the lateral direction by the second distance sensor. Calculating the horizontal difference between the horizontal positions of the detection target obtained in
The vertical difference calculating means includes the vertical position of the detection target obtained at any position in the lateral direction by the first distance measuring sensor and any position in the lateral direction by the second distance measuring sensor. The human body detection system according to claim 1, wherein the vertical difference between the vertical positions of the detection target obtained in step 1 is calculated. The first distance sensor and the second distance sensor have a plurality of sensors arranged in a lateral direction that is a direction orthogonal to the moving direction when the detection target passes through a detection region,
The horizontal difference calculation means includes the horizontal position of the detection target obtained by a predetermined sensor of the first distance measuring sensor and the detection target of the detection target obtained by a predetermined sensor of the second distance measurement sensor. Calculating the horizontal difference between the horizontal positions;
The vertical difference calculating means is configured to obtain a difference between the vertical position obtained by the predetermined sensor of the first distance measuring sensor and the vertical position obtained by the predetermined sensor of the second distance measuring sensor. The human body detection system according to claim 1, wherein the vertical difference is calculated. An irradiation step in which the first distance sensor and the second distance sensor irradiate a detection wave at different angles with respect to a detection region through which an object to be detected passes, and measure a distance from the detection object;
The horizontal position, which is the position in the moving direction when the detection object obtained by the first distance sensor passes through the detection area, and the detection object obtained by the second distance sensor pass the detection area. A horizontal difference calculating step for calculating a horizontal difference between the horizontal positions at the time of,
A vertical for calculating a vertical difference between a vertical position that is a position in the vertical direction of the detection target obtained by the first ranging sensor and the vertical position of the detection target obtained by the second ranging sensor. A difference calculating step;
The detection when the horizontal difference calculated in the horizontal difference calculation step is less than a predetermined horizontal threshold value and the vertical difference calculated in the vertical difference calculation step is equal to or greater than a predetermined vertical threshold value. And a determination step for determining that the object is a human body.

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