JP2014070905A - Human body detection device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To accurately detect a human body, eliminating: a failure to detect when a child approaches a urinal and urinate; and an erroneous detection as urination when an adult stands at a distance from the urinal.SOLUTION: A human body detection device, pre-storing a size factor depending on a human body size and a relational expression of amplitude intensity of a Doppler signal depending on a distance between a human body and a propagation wave emission part, performs: generating estimation values of the size factor and the distance so as to make preset distribution; calculating an amplitude intensity estimation value of a Doppler signal calculated from the size factor and the estimated distance by using the relational expression; executing processing for identifying the size factor and the distance by comparing between the amplitude intensity estimation value and amplitude intensity generated by a Doppler signal analysis part; and identifying the size factor and distance with high accuracy by repeating the processing for identification for different values of amplitude intensity generated by the Doppler signal analysis part.

Description

  The present invention relates to a human body detection device that detects the presence position of a user by sending a propagation wave in a predetermined direction.

  A human body is detected using a Doppler sensor such as a microwave Doppler sensor. The microwave Doppler sensor detects the movement of an object by transmitting the microwave as a propagation wave and receiving the microwave reflected by the object.

  The microwave Doppler sensor generates a Doppler signal from a difference signal between the frequency of the microwave transmitted from the sensor and the frequency of the signal received by the sensor when the microwave transmitted from the sensor is reflected by an object such as a human body. Is. This Doppler signal is a signal representing the movement of the object (for example, the approach of the object or the separation of the object). Therefore, the movement of the object can be detected from the Doppler signal.

  The technique described in Patent Document 1 below discloses a technique for determining whether or not an object is present near the sensor using the amplitude intensity of the Doppler sensor signal. Specifically, the amplitude intensity of the Doppler signal decreases in the leaving or stationary state, and when this state is set to the non-detection state, if the amplitude intensity of the microwave Doppler sensor immediately before the non-detection state is equal to or greater than a preset threshold value, When the object is stationary near the sensor and does not exceed the threshold, the human body detection device determines that the object is not near the sensor.

  In such a device, the accumulated travel distance is obtained by measuring the amplitude intensity and Doppler frequency of the sensor output value detected by the microwave Doppler sensor, calculating the moving speed of the object from the Doppler frequency, and integrating the moving speed over time. The motion of the object can be determined by comparing the amplitude intensity of the Doppler signal at the position immediately before the detected state with a preset determination threshold.

  In the technique described in Patent Document 2 below, two distance radio waves are transmitted and the phase difference between the two received waves and the Doppler shift of the received waves are detected, thereby obtaining the distance to the detection target.

  In such a device, it is necessary to transmit two different frequencies, and there is a drawback that the device becomes complicated.

JP2011-102783A JP-A-8-166443

  However, the amplitude intensity of the Doppler signal varies not only with the distance between the sensor and the object but also with the size of the object, that is, the surface area of the object that receives the propagation wave. Therefore, even if the sensor and the object are at the same distance, the amplitude intensity of the Doppler signal changes depending on whether the object is an adult or a child, and this may cause an erroneous determination.

  The present invention has been made in view of such problems, and its purpose is to calculate the distance between the object and the sensor and accurately determine the action of the object regardless of the propagation wave power receiving area of the object. An object of the present invention is to provide a human body detection device capable of making a determination and determining the size of a human body to be detected simply and inexpensively.

  In order to solve this problem, the present inventor has made various studies focusing on the amplitude intensity of the Doppler signal. In general, the amplitude intensity of the Doppler signal is inversely proportional to the fourth power of the distance between the sensor and the object to be detected (hereinafter simply referred to as distance). Further, the amplitude intensity of the Doppler signal is proportional to the size of the object with respect to the propagation wave power receiving area of the detection object (hereinafter simply referred to as the size of the object). On the other hand, the size of the person who is the detection target varies from person to person to be detected, but the same person appears in front of the sensor, and in a series of operations to leave the sensor, the size does not change greatly and is constant. Based on the knowledge that the effects of standing waves generated by superposition of multiple reflected radio waves in a Doppler sensor can be ignored at a position close to the sensor, we have gained knowledge that leads to the solution of the problem.

  The present invention is based on such knowledge, and is radiated by a propagation wave transmitter that radiates a propagation wave toward the human body, a propagation wave receiver that receives a propagation wave reflected by the human body, and the propagation wave transmitter. A Doppler signal generator that generates a Doppler signal based on the propagated wave and the propagation wave received by the propagation wave receiver, and the frequency and amplitude intensity of the Doppler signal based on the Doppler signal generated by the Doppler signal generator A human body detection apparatus comprising: a Doppler signal analysis unit that calculates a distance; and a behavior determination unit that identifies a distance from the human body based on the frequency and amplitude intensity generated by the Doppler signal analysis unit and determines a human body behavior In the above, the determination unit includes a magnitude coefficient caused by a size of the human body and an amplitude intensity of the Doppler signal depending on a distance between the human body and the propagation wave transmission unit. The equation is stored in advance, the estimated value of the magnitude coefficient and the distance is generated so as to have a preset distribution, and the amplitude intensity estimation of the Doppler signal calculated from the estimated magnitude coefficient and the estimated distance A value is calculated by the relational expression, and the magnitude coefficient and the distance are specified by comparing the amplitude intensity estimated value and the amplitude intensity generated by the Doppler signal analysis unit. The size coefficient and distance with high accuracy are specified by repeating for different amplitude intensities generated by the Doppler signal analysis unit.

  In the present invention configured as described above, it is possible to specify the distance between the person and the Doppler sensor by reducing the influence of the size of the human body, and by using this distance information, accurate behavior determination It can be performed. Further, it is possible to determine the size of the human body by specifying the size coefficient of the human body.

  According to the second aspect of the present invention, in the specifying process, the moving speed of the human body and a cumulative moving distance obtained by time-integrating the moving speed are calculated based on the frequency generated by the Doppler signal analyzing unit, and the cumulative moving distance is calculated. And determining a distance between different amplitude intensities, and setting a new amplitude intensity position using an estimated distance generated in a preset distribution and a distance between different amplitude intensities.

  In the present invention configured as described above, for a plurality of different amplitude intensities including observation noise, the influence of the observation noise of the amplitude intensity can be reduced by obtaining the distance between them relatively accurately, and the distance of high accuracy can be obtained. The distance can be easily specified by generating the estimated distance and the estimated size coefficient once.

  According to a third aspect of the present invention, the determination unit is configured such that the amplitude intensity of the Doppler signal before the current period is equal to or greater than a predetermined threshold value, and the amplitude intensity of the current Doppler signal is the predetermined amplitude intensity before the period. When the ratio is equal to or less than the threshold ratio, the human body is assumed to be stationary, and the distance at that time is set as the stationary position of the human body.

  In the present invention configured as described above, the position where the human body is stationary can be accurately specified. For example, when this human body detection and detection device is used in a urinal, it can be guided to an optimal urinal position, urination from the urinal can be prevented, and a clean toilet space can be provided. . In addition, when the urinal is stationary at a position that is clearly far from the rest position before using the urinal, it is possible to save water without washing the urinal before using the urinal without determining that the urinal is stationary.

Further, in the present invention according to claim 4, when the amplitude intensity of the current Doppler signal becomes equal to or greater than a predetermined threshold ratio of the amplitude intensity of the Doppler signal one period before the stationary position is determined, the determination unit re-moves the human body. It is characterized by being a start.

  In the present invention configured as described above, since it is determined that the person moves using the amplitude intensity of the Doppler signal accompanying the movement of the whole body, for example, when this human body detection detection device is used for a urinal The movement of the stool before and after the stool and the movement of the body shake can surely flow flush water after the stool without misjudging the movement after the stool.

  Further, in the present invention according to claim 5, the determination unit compares the amplitude intensity one period before the stationary position determination with the amplitude intensity after moving a predetermined distance from the start of the re-movement, thereby moving the human body. It is characterized by determining the direction.

  In the present invention configured as described above, it is possible to easily determine the direction of movement of a person simply by comparing the magnitudes of the amplitude intensities when the distance is moved by the threshold distance 4 or more before and after the start of movement.

  Further, in the present invention according to claim 6, the determination unit calculates a cumulative travel distance by time-integrating the travel speed calculated from the Doppler frequency after re-movement and the travel speed, and the cumulative travel distance and the travel The distance after the re-movement is calculated using the direction and the stationary position.

  In the present invention configured as described above, the distance between the human body and the sensor can be monitored sequentially with a simple calculation.

  Further, in the present invention according to claim 7, the determination unit compares the human body stationary position with a predetermined threshold distance set in advance, so that the human body stationary state in the vicinity or the human body stationary in the distance is not detected. It is characterized by determining whether it is in a state.

  In the present invention configured as described above, since it is possible to determine a person's action using the distance between the person and the Doppler sensor, an accurate action can be determined.

  Further, the present invention according to claim 8 is a urinal device provided with the human body detection device in a urinal, wherein the determination unit determines the size of the human body based on a specific value of the size coefficient, and The amount of washing water supplied to the toilet is controlled based on the result of the human body size.

  In the present invention configured as described above, the size of the person is identified using the size coefficient, and the toilet bowl is washed with the amount of flushing water according to the amount of urine estimated from the size of the physique. it can.

  In the present invention, it is possible to specify the distance between the person and the Doppler sensor while reducing the influence of the size of the human body. By using this distance information, it is possible to perform accurate behavior determination. Further, it is possible to determine the size of the human body by specifying the size coefficient of the human body. .

It is a block diagram which shows the whole structure of the human body detection apparatus by embodiment of this invention. It is a graph which shows an example of the Doppler signal produced | generated by the Doppler signal production | generation part by the example of a urinal. An example of the graph which shows the Doppler signal value at the time of use of the urinal shown in FIG. 2, a moving speed, a cumulative moving distance, distance, and the determined human action is shown. An example of the graph which shows the Doppler signal value at the time of an adult using a urinal, a moving speed, a cumulative moving distance, distance, and the determined person's action is shown. An example of the graph which shows the Doppler signal value at the time of a child using a urinal, a moving speed, a cumulative moving distance, distance, and the determined person's action is shown. The identification result of the coefficient of the amplitude intensity in the case including the cases of FIGS. 4 and 5 is shown. It is a flowchart (first half) which shows the process of embodiment of this invention. It is a flowchart (latter half) which shows the process of embodiment of this invention.

  Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. In order to facilitate understanding of the description, the same components in the drawings are denoted by the same reference numerals as much as possible, and redundant description will be omitted.

  A human body detection apparatus according to an embodiment of the present invention will be described with reference to FIG. FIG. 1 is a block configuration diagram illustrating a functional configuration of a human body detection device 1 according to the embodiment. As shown in FIG. 1, the human body detection device 1 includes a propagation wave transmission unit 2, a propagation wave reception unit 3, a Doppler signal generation unit 4, a Doppler signal analysis unit 5, and an action determination unit 6. Yes.

  The human body detection device 1 is a device that detects the presence and behavior of a user by sending a propagation wave in a predetermined direction. The human body detection device 1 performs human body detection by transmitting a propagation wave to a detection region in which the presence and behavior of a user are to be detected. For example, when the human body detection device 1 is installed in a urinal, a microwave as a propagation wave is transmitted to a region including a standing position when the user uses the urinal. For example, when the human body detection device 1 is installed in a toilet, a micro wave as a propagation wave is placed in a region including a standing position when the user uses the toilet while standing and a seating position when using the seat. Send a wave. In addition, when the human body detection device 1 is installed in an automatic faucet, a microwave as a propagation wave is applied to an area including a standing position when the user uses the faucet and a hand washing position with the faucet. Send.

  Subsequently, each functional part will be described. The propagation transmitting unit 2 is a part that transmits a propagation wave to a detection area where the presence of the user is to be detected. The propagation wave transmission unit 2 outputs the transmitted propagation wave information to the Doppler signal generation unit 4.

  The propagation wave receiving unit 3 is a part that receives the propagation wave reflected by the user. The propagation wave receiving unit 3 outputs the received propagation wave information to the Doppler signal generation unit 4.

  The Doppler signal generation unit 4 is a part that generates a Doppler signal based on the propagation wave transmitted by the propagation wave transmission unit 2 and the propagation wave received by the propagation wave reception unit 3. The Doppler signal generation unit 4 outputs the generated Doppler signal to the Doppler signal analysis unit 5.

  The Doppler signal analysis unit 5 calculates the Doppler frequency and the amplitude intensity of the Doppler signal based on the Doppler signal generated by the Doppler signal generation unit 4, calculates the moving speed from the Doppler frequency, and integrates the moving speed over time. Generate cumulative travel distance. Furthermore, based on the amplitude intensity and the accumulated movement distance, the distance between the detection target and the sensor is calculated by the method of the present invention, and these results are output to the action determination unit 6.

  The action determination unit 6 is a part that determines a user's action state based on information output by the Doppler signal analysis unit and the Doppler signal generation unit.

Next, processing executed by the Doppler signal analysis unit 5 and the action determination unit 6 according to the present invention will be described with reference to FIGS.
FIG. 2 is a graph illustrating an example of a Doppler signal generated by a Doppler signal generation unit in a urinal according to the present invention. 3 is based on the Doppler signal shown in FIG. 2, and the movement speed, cumulative movement distance and distance of the person processed and output by the Doppler signal analysis unit 5 and the person output by the action determination unit 6 of the Doppler signal analysis unit. It is a graph which shows an example of the judgment which shows the result of having judged the action of a person using movement speed, accumulation movement distance, and distance. Although not shown in FIG. 3, the Doppler signal calculation unit also calculates the amplitude intensity based on the Doppler signal.

  When a person approaches the urinal from a distance, stops in front of the urinal, performs a urine operation, and rotates in the latter half to move away from the urinal, the Doppler signal generator as shown in FIG. A simple Doppler signal is output. In FIG. 2, the horizontal axis represents time, and the vertical axis represents the value of the Doppler signal.

The Doppler signal analysis unit calculates the movement speed, amplitude intensity, cumulative movement distance, and distance of the person from the Doppler signal generated by the Doppler signal generation unit. Of these, values other than the distance can be calculated as follows.
The moving speed and the amplitude intensity can be calculated by a method using an autoregressive model and a particle filter as described in Patent Document 1. The amplitude intensity can also be calculated by simply obtaining the peak value of the Doppler sensor value. By obtaining the Doppler frequency f _d, the moving velocity v of the person using Equation 1 can be calculated.
v _t = f _d · c / (2f _s ) (Formula 1)
Where f _d : Doppler frequency f _s : microwave sensor transmission frequency (10.525 GHz in this example)
v _t : speed at time t c: speed of light (3 × 10 ⁸ m / sec)
It is. The cumulative movement distance L can be calculated by the following equation if the movement speed v _t of the person at time t is obtained.
L = Σ (v _t · Δt) (Formula 2)
here,
Δt: a time interval for calculating a moving speed of a person.

In FIG. 3, the position of the person is specified after the person approaches and becomes stationary. However, the sequential position specification during the approach can be performed in the same manner as the position specification after the stop. 4 and 5 specify the distance between the adult and the child until they approach the urinal and stop. FIG. 6 shows an example of the result of specifying the size coefficient (magnitude coefficient of amplitude intensity) due to the size of the human body that affects the amplitude intensity in the cases including FIG. 4 and FIG. From FIG. 6, an adult and a child can be distinguished by a size coefficient. In the example of FIG. 6, it can be seen that if the determination threshold for adults and children is 0.52, it can be determined even if the position where a person stops in front of the toilet is changed. Using this result, the amount of toilet flushing water after urination can be changed between adults and children, and water can be saved for toilet flushing.
Also, if the distance between the human body and the sensor can be specified in this way, if the sensor is installed in the toilet bowl, the toilet lid is raised and lowered depending on the position of the human body, or in the case of a heated toilet seat, instructions to start heating Has the advantage available.
It is also possible to detect the position of the reservoir surface of the toilet, and when the reservoir surface rises abnormally due to clogging of the drain pipe, it is possible to restrict water flow to the toilet and prevent water leakage.

  Next, a flow for detecting a behavior state such as the presence or use of a user by sending a propagation wave in a predetermined direction and specifying the distance between the human body and the sensor will be described with reference to FIGS. 7 and 8. . 7 and 8 are flowcharts for calculating the user's action state by calculating the distance of the user in the detection region.

  In step S501, a microwave is transmitted from the propagation wave transmission unit 2 of FIG. If the detected object exists, the microwave reflected from the detected object is received by the propagation wave receiving unit 3 in FIG. 1, and is output as a Doppler signal by the Doppler signal generating unit 4 in FIG.

  In step S502, if the detected object moves near the sensor, the amplitude intensity of the Doppler signal becomes equal to or greater than the threshold value 51. This information is output to the behavior determination unit 6 through the Doppler signal calculation unit 5 of FIG. 1, and the behavior determination unit 6 determines that “the detected object exists”, and proceeds to the steps after step S503. If the absolute value of the Doppler signal is not greater than or equal to the threshold value 51 in step S502, step S502 is repeated until it is confirmed that there is no detection target and the presence of the detection target is confirmed.

  In step S503, the amplitude intensity of the Doppler signal is calculated.

  In step S504, the frequency is calculated using the Doppler signal. The frequency can be calculated by the method using the autoregressive model and the particle filter described in Patent Document 1 as described above. Further, the frequency can be calculated by obtaining the period from the time interval between the maximum value and the minimum value of the Doppler signal.

In step S505, the velocity V of the detection target is calculated from Equation 1 using the frequency fd of the Doppler signal calculated in step S504, the speed of light C, and the frequency f of the microwave.
Also, using this speed, the cumulative moving distance is calculated by time-integrating the speed.

  In step S506, the amplitude intensity and the accumulated movement distance are recorded in a storage unit (not shown in FIG. 1) of the human body detection device. This is because it is possible to calculate the position more accurately by first calculating the position using a plurality of sets of amplitude intensities and cumulative travel distances, so that the plurality of sets of amplitude intensities and cumulative travel distances are stored in advance. is there.

  In step S507, it is confirmed whether distance identification performed in the subsequent steps has been performed in the past. Since the distance has not been specified at first, the process always proceeds to step S508. At this time, a counter for counting the number of times the distance is specified is prepared and counted.

  In step S508, it is confirmed whether the number of times the amplitude intensity has become larger than the first predetermined value has continued for a predetermined number of times. If YES, the process proceeds to step S509. If NO, the process returns to step S503. Repeat the process. In step S508, it is confirmed whether or not a plurality of sets of amplitude strengths and cumulative movement distances of a predetermined number or more whose amplitude strength is greater than the first predetermined value are prepared. The information of the amplitude intensity equal to or greater than the first predetermined value is specified by setting a condition for the amplitude intensity in order to use a signal that is reliable as being attributed to the human body.

  In step S509, a predetermined number of sets of amplitude intensity magnitude coefficients and initial distances (estimated magnitude coefficient and estimated distance) are generated in a preset distribution to obtain initial particles. The preset distribution refers to, for example, a uniform distribution in which distribution sections are set or a normal distribution in which predetermined center values and variance values are set. In addition, this step may be generated in advance at a stage before step S501.

In step S510, the amplitude intensity under each particle condition is estimated by Equation 2 using the magnitude coefficient of the amplitude intensity and the initial distance (estimated size coefficient and estimated distance) that each initial particle has, and the value is calculated as the estimated amplitude intensity. And Formula 3 is an empirical formula showing the relationship between distance and amplitude strength obtained in advance by experiment, and the amplitude strength is inversely proportional to the fourth power of the distance. Here, instead of Equation 3, other polynomials showing substantially the same relationship, or a combination of linear approximation equations with limited sections may be used.
y = A · a / (x0 + b) ⁴ (Formula 3)
A: Estimated magnitude coefficient of amplitude intensity x0: Estimated distance:
y: Amplitude intensity estimated value Here, a and b are constants determined by the configuration of the sensor, and in the embodiment of the present invention, a = 304022.3 and b = 1.161296.

  In step S511, the estimated amplitude intensity is compared with the actually measured amplitude intensity, and the error is stored for each particle. Here, the error in each particle condition is stored for the purpose of evaluating the accumulated error using the past error in the subsequent evaluation.

  In step S512, the particle distance with the smallest error and the magnitude coefficient of the amplitude intensity are output as the optimum solution, and the process returns to step S503 to repeat the same operation in the next sampling period.

  If the distance identification is performed once, the distance identification counter is larger than 0, and using this, YES is determined in step S507, and the process proceeds to step S513.

  In step S513, the magnitude of the amplitude intensity is measured, and the amplitude intensity of the amplitude intensity of the previous period is greater than or equal to the preset amplitude intensity, and the current amplitude intensity is decreased below the preset ratio from the amplitude intensity of the previous period. If not, the process proceeds to step S517. If not, the process proceeds to step S514.

  In step S513, instead of simply performing the “still” determination in step S517 below by simply changing the amplitude intensity as described above, after the amplitude intensity has decreased, within the movement distance range set in advance from that point, If the speed becomes lower than the designated speed, the process may proceed to step S517 to determine “still”. In this case, in addition to the feature of the change in amplitude intensity when moving from the approaching state to the stationary state, the feature that the movement speed of the person is slowed down due to the stationary state is also utilized. Even if there is a change, it is possible to judge human behavior more accurately.

  In step S514, in order to identify the distance using the new amplitude intensity, the distance moved by the person at the time interval from the previous amplitude intensity to the current amplitude intensity is set as the first period moving distance. The distance information is updated by subtracting the first period travel distance from the distance information held by the.

  In step S515, the updated particle data and Equation 3 are used to estimate the amplitude intensity for each particle data to obtain the estimated amplitude intensity.

  In step S516, the estimated amplitude intensity and the actually measured amplitude intensity are compared, and the square error and the accumulated square error of each particle stored so far are added to obtain a new accumulated square error, and the process proceeds to step S512. Here, the square error is used in order to easily evaluate the magnitude of error including positive and negative, but other error notations may be used as long as the magnitude relation of accumulated errors such as an absolute value of error can be properly evaluated.

  In step S517, the action determination unit 6 determines that the person is about to move to the “still” state at this time. Here, the distance of the particle with the smallest cumulative square error is determined as the distance at rest, and the magnitude coefficient of the amplitude intensity is determined.

  In step S518, it is determined whether or not the stationary distance is smaller than a preset distance. If the stationary position is smaller than the threshold distance 5, the process proceeds to step S519, and if larger than the threshold distance 5, the process proceeds to step S523.

  In step S519, assuming that the person has stopped for urination in front of the toilet, the action determination unit 6 sends a pre-wash instruction to the urinal.

  In step S520, it is determined whether or not the magnitude coefficient of the amplitude intensity is larger than a preset threshold 6. If the magnitude coefficient of the amplitude intensity is larger than the threshold 6, the process proceeds to step S521, otherwise the process proceeds to step S522.

  In step S521, the behavior determination unit 6 determines that it is an adult's use. As a result, a large amount of washing water used in step S531 is allowed to flow.

  In step S522, the behavior determination unit 6 determines that the child is using. Thereby, less washing water is used in step S531.

  If the stationary position is greater than the threshold distance 5 in step S518, the action determination unit 6 determines that there is no presence in step S523.

  After step S521, step S522, and step S523, the process proceeds to step S524 in which the movement of the person after being stationary and absent is determined.

  Step S524 is a process of detecting that the current state is that the person in front of the sensor is stationary and starts moving again.

  In step S525, the amplitude intensity of the Doppler signal is calculated, and the process proceeds to step S526.

  In step S526, if an amplitude intensity having an amplitude intensity greater than or equal to the threshold ratio 6 of the amplitude intensity before stationary appears, the process proceeds to step S527, and otherwise, the process returns to step S525.

  In step S527, the frequency of the Doppler signal is calculated, and at the same time, the moving speed of the person is calculated, and the process proceeds to step S528.

  In step S528, the cumulative moving distance is calculated by time-integrating the speed calculated in step S528, and the process proceeds to step S529.

  In step S529, the paired data of the amplitude intensity and the cumulative movement distance is stored every time the amplitude intensity is measured.

  In step S530, the movement is started from a stationary state, and it is evaluated whether or not the cumulative movement distance is equal to or greater than the threshold distance 7. If YES, the process proceeds to step S531, and if NO, the process returns to step S525.

  In step S531, the behavior determination unit 6 determines that the behavior determination is a moving state. In addition, when the determination so far is the toilet use determination, the action determination unit 6 instructs the toilet bowl cleaning.

  Next, in step S532, in order to determine whether the person who has started moving is approaching or moving away from the sensor, the amplitude intensity after moving a certain distance from the stationary state and the magnitude of the amplitude intensity immediately before stationary If the current amplitude intensity is larger than the amplitude intensity immediately before the stationary, the process proceeds to step S533, otherwise the process proceeds to step S539. At this time, the amplitude intensity immediately before the stop may be one amplitude value, but the average value of the plurality of amplitude intensity immediately before the stop and the current amplitude intensity also include the current amplitude intensity so as not to be affected by the signal noise. The average value of the most recent amplitude intensities may be used.

In step S533, determines that the person is moving in a direction approaching to the sensor, the distance X _t of the sensor and the person using stationary distance X ₀ and accumulated travel distance Y _t, the accumulated travel distance Y ₀ at rest , Calculated by Equation 4.
_{X t = X 0 - (Y} t -Y 0) ( Equation 4)
However, Formula 4 is used only once after the movement direction is determined, and the distance specified thereafter is calculated by Formula 5.
X _t = X _t-1 −v _t · Δt (Formula 5)

  In step S534, if the amplitude intensity of the Doppler signal of the approaching person is equal to or less than the threshold ratio 3 of the amplitude intensity of the previous period as in step S513, the process proceeds to step S535, otherwise the process proceeds to step S544.

  In step S535, it is determined whether the distance between the person and the sensor is greater than or less than the threshold distance 5. If it is far, the process proceeds to step S536, and if it is close, the process proceeds to step S538.

  In step S536, the action determination unit 6 determines the absence and proceeds to step S537.

  In step S538, the action determination unit 6 determines that the toilet is stationary, and the process proceeds to step S537.

  In step S537, the process proceeds to step S524, and the start of re-movement is started again.

  If the amplitude intensity of the Doppler signal of the person approaching in step S534 is equal to or greater than the threshold ratio 3 of the amplitude intensity of the previous period, and proceeding to step S544, the amplitude intensity is calculated, accumulated in step S545, and accumulated in step S546. The movement distance is calculated, and the process proceeds to step S532.

In step S532, when it is determined whether the person who has started moving is approaching or moving away from the sensor, the amplitude intensity after moving a fixed distance from the stationary state and the magnitude of the amplitude intensity immediately before stationary are determined. comparison, it is determined that the person in the step S539 when the amplitude strength before still greater is away from the sensor, the distance X _t of the sensor and the person still distance X ₀ and accumulated travel distance Y _t, accumulated travel distance at rest use the Y _0, is calculated by the equation (6).
_{X t = X 0 + (Y} t -Y 0) ( Equation 6)
However, Expression 6 is used only once after the movement direction is determined, and the distance after that is calculated by Expression 7.
X _t = X _t-1 + v _t · Δt (Formula 7)

  In step S540, it is evaluated whether the amplitude of the Doppler signal has continued for the specified time or less when the threshold value is 8 or less. If not continued, the process proceeds to step S534, and if continued, the process proceeds to step S541.

  In step S541, it is determined whether the distance is longer than the threshold distance 5. When the distance is short, the process proceeds to step S534, and when the distance is long, the process proceeds to step S542.

  In step S542, the absence determination is made by the action determination unit 6, and the process proceeds to step S543.

In step S543, starting from step S501, a series of behavioral determinations from when the human body begins to be detected until the human body leaves the urinal is completed, the use parameters are initialized, and the behavior detection start step is step S501. Return. The usage parameters are initialized to 0 for the cumulative moving distance, 0 for the distance, no action determination before the first period, and 0 for the maximum amplitude intensity.
As described above, the method for generating the estimated distance and the estimated magnitude coefficient in a predetermined distribution and specifying the distance and the magnitude coefficient only once has been described as an example, but each time the estimated distance and the magnitude coefficient are specifically calculated. It is also possible to perform a new update. However, this method has the disadvantage that the specific computational load is greater than the disclosed embodiment.

1: Human body detection device 2: Propagation wave transmission unit 3: Propagation wave reception unit 4: Doppler signal generation unit 5: Doppler signal calculation unit 6: Action determination unit (determination unit)

Claims (8)

A propagation wave transmitter that radiates a propagation wave toward the human body, a propagation wave receiver that receives a propagation wave reflected by the human body,
A Doppler signal generation unit that generates a Doppler signal based on the propagation wave radiated by the propagation wave transmission unit and the propagation wave received by the propagation wave reception unit;
Based on the Doppler signal generated by the Doppler signal generator, a Doppler signal analyzer that calculates the frequency and amplitude intensity of the Doppler signal;
Based on the frequency and amplitude intensity generated by the Doppler signal analysis unit, a determination unit that identifies the distance from the human body and determines the behavior of the human body,
In the human body detection device provided with
The determination unit stores in advance a relational expression of a magnitude coefficient resulting from the size of the human body and the amplitude intensity of the Doppler signal depending on the distance between the human body and the propagation wave transmission unit, so that the distribution is set in advance. Generating an estimated value of the magnitude coefficient and the distance, and calculating an amplitude intensity estimated value of the Doppler signal calculated from the estimated magnitude coefficient and the estimated distance by the relational expression. The identification processing of the magnitude coefficient and the distance is performed by comparing the amplitude intensity generated by the Doppler signal analysis unit,
A human body detection apparatus characterized by specifying the size coefficient and distance with high accuracy by repeating the specifying process for different amplitude intensities generated by the Doppler signal analysis unit.   The specifying process according to claim 1 calculates a moving speed of the human body based on the frequency generated by the Doppler signal analysis unit and a cumulative moving distance obtained by time-integrating the moving speed, and uses the cumulative moving distance to obtain different amplitudes. A human body detection device, wherein a distance between intensities is determined, and a new amplitude intensity position is set using an estimated distance generated with a preset distribution and a distance between different amplitude intensities.   The determination unit according to claim 1, when the amplitude intensity of the Doppler signal before the current period is equal to or greater than a predetermined threshold, and the amplitude intensity of the current Doppler signal is equal to or less than a predetermined threshold ratio of the amplitude intensity before the first period, A human body detection device characterized in that, when the human body is stationary, the distance at that time is set as a stationary position of the human body.   The determination unit according to claim 3, when the amplitude intensity of the current Doppler signal becomes equal to or greater than a predetermined threshold ratio of the amplitude intensity of the Doppler signal one period before the stationary position is determined, the human body starts moving again. A human body detection device.   The determination unit according to claim 4 determines the moving direction of the human body by comparing the amplitude intensity one period before the stationary position determination and the amplitude intensity after moving a predetermined distance after the re-movement starts. Characteristic human body detection device.   The determination unit according to claim 5 calculates a cumulative movement distance by time-integrating the movement speed calculated from the Doppler frequency after re-movement and the movement speed, and calculating the cumulative movement distance, the movement direction, and the stationary position. A human body detection device characterized by calculating a distance after re-movement using. The determination unit according to claim 3 determines whether the human body stationary position is a human body detection state stationary in the vicinity or a human body non-detection state far away by comparing with a predetermined threshold distance set in advance. A human body detection device characterized by that. A urinal device comprising a urinal comprising the human body detection device according to claim 1, wherein the determination unit determines the size of a human body based on a specific value of the size coefficient and supplies the urinal to the urinal The urinal device is controlled based on the result of the size of the human body.