JP3205068B2 - Electronic equipment - Google Patents

Description

Description: BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an electronic device , and more particularly, to a detecting means for detecting an object near the electronic device . 2. Description of the Related Art In recent years, in order to improve the convenience of users, automation of apparatus and equipment has been increasingly promoted. In particular, the field focused on in the present invention is to detect a user approaching the device by providing a sensor for detecting an object near the device in the device,
This is an area where we want to enhance the automation of the equipment. Techniques in this field include, for example, an automatic door that detects the approach of a person and automatically opens and closes the door, and a cash dispenser of a bank that detects an approach of a person and automatically turns on / off an operation display unit (LCD). It has been put to practical use. In the image forming apparatus, automatic power ON / OFF,
It is applied to automatic preheating function. [0003] The automatic power ON / OFF function is used in an image forming apparatus as an example of an electronic apparatus such as a copying apparatus.
A sensor is provided to detect the presence or absence of an object (human body) on the front of the device.
The function is to turn on the power when the FF is set and a human body is detected (when used). [0004] The automatic preheating function means that in an image forming apparatus such as a copying apparatus, a sensor for detecting the presence or absence of a front object (human body) is provided on the apparatus, and an operation display is provided when no human body is detected (when not in use). The display of the unit (LCD) is turned off, and the fixing temperature of a fixing unit (a roller with a built-in heater) for fixing the image information (toner image) transferred onto the sheet is lower than when a human body is detected. When the temperature is set (preheating state) and a human body is detected (when used), the display of the operation display section is turned ON, and the fixing temperature is set to a predetermined temperature at which the fixing operation can be performed. [0005] Conventionally, power ON / OFF and activation / release of preheating had to be executed by manual input. In recent years, however, there has emerged an apparatus that performs automatic operation by combining sensors as described above. I've been. [0006] However, the above-described conventional apparatus has the following problems. Since the sensor is configured to detect the presence of an object facing the device, even if it is a non-user, just walking in front of the device will recognize it as a user, turn on the power switch, or preheat state Is canceled. Also, if the sensitivity of the sensor is set low to avoid this problem, the user will recognize the user only after standing in front of the device, and control such as the release of the preheating state will be delayed, and eventually the user There has been a problem of operating the switch. [0007] According to an aspect of the present invention, in order to solve the problems described above, has a detecting means for detecting a distance from the apparatus to the object in the vicinity of the device, object detecting means Until
Approach the device within the detectable area where the distance of
Object and an object crossing between the approaching object and the detection means
Is present, both approaching and traversing objects are
When the infrared light emitted by the infrared light emitting means is emitted,
Detect distance from device for both objects and approach
The infrared rays are not projected on the object, and
While the infrared light is being emitted,
Object approaching from change in distance data of approaching object
Is predicted, and infrared rays are projected on the approaching object again.
At this point, distance detection is resumed for both objects. The present invention has the following configuration in order to solve the above problems. (1 ) An infrared light emitting means and an infrared light receiving means are provided, and the infrared light emitted from the infrared light emitting means is projected, and the infrared light reflected from an object is received by the infrared light receiving means. Detecting means for detecting the distance to the object; detecting whether or not the detected object is a person using the device based on a detection signal from the detecting means, at least before the detected person reaches the device; An electronic device comprising: a recognition unit that recognizes at the timing of; and a control unit that controls the operation of the device based on a recognition result of the recognition unit. In the case where there is an object approaching and an object crossing between the approaching object and the detection means, infrared rays emitted by the infrared light emitting means are projected on both the approaching object and the traversing object. When the object is detected, the distance from the device is detected for both objects, and the infrared light is not emitted to the approaching object. Predicting the movement of the approaching object from a change in the distance data of the approaching object, and restarting distance detection for both objects when infrared light is projected on the approaching object again, or ( 2 ) It has infrared light emitting means and infrared light receiving means, and emits infrared light emitted by the infrared light emitting means and receives infrared light reflected from an object by the infrared light receiving means, from the device to an object near the device. Detecting means for detecting the distance of the object; based on a detection signal from the detecting means, determining whether the detected object is a person using the device, at least before the detected person reaches the device. The electronic device and a control means for controlling the operation of the device according to the recognition result of the recognizing means; recognizing means and the timing
In the detectable area where the detecting means can detect the distance to the object, when an object approaching the device and an object passing behind the approaching object are present, the infrared rays are applied to both the approaching object and the traversing object. When the infrared light emitted by the light emitting means is emitted, the distance from the device is detected for both objects, the infrared light is not emitted to the object passing behind, and the infrared light is emitted only to the approaching object. While moving, predict the movement of the object passing behind from the change in the distance data of the object passing behind that was detected earlier, at the time when infrared rays were projected on the object passing behind again, Restarting distance detection for both objects, or (3 ) having infrared light emitting means and infrared light receiving means,
The infrared ray emitting means emits infrared rays, and the infrared rays reflected from an object are received by the infrared ray receiving means to detect the distance from the device to an object near the device and the direction viewed from the device. Means for recognizing, based on a detection signal from the detection means, whether or not the detected object is a person using the device, at least at a timing before the detected person reaches the device; An electronic device having control means for controlling the operation of the device based on the recognition result of the recognition means; an object approaching the device within a detectable area in which the detection means can detect a distance to the object; When there is an object crossing between the detection means, when the infrared light emitted by the infrared light emitting means is projected on both the approaching object and the traversing object, The distance from the device is detected, and while the infrared rays are not emitted to the approaching object and only the traversing object is emitted, the distance data of the approaching object detected before that is not detected. Estimating the movement of the approaching object from the change, and restarting the distance detection for both objects when the approaching object is again irradiated with infrared light, or ( 4 ) using infrared light emitting means and infrared light receiving means Having an infrared ray emitted by the infrared light emitting means and receiving the infrared light reflected from the object by the infrared light receiving means, so that the distance from the device to the object near the device and the direction seen from the device can be measured. Detecting means for detecting, based on a detection signal from the detecting means, whether or not the detected object is a person who uses the device; and at least a timing before the detected person reaches the device. An electronic device, comprising: a recognition unit for recognizing the object; and a control unit for controlling the operation of the device based on a recognition result of the recognition unit. When an approaching object and an object passing behind the approaching object are present, when the infrared light emitted by the infrared light emitting means is projected on both the approaching object and the traversing object, the apparatus emits light for both objects. Is detected, the infrared light is not emitted to the object passing behind, while the infrared light is emitted only to the approaching object,
The movement of the object passing behind is predicted from the change in the distance data of the object passing behind that was detected before that, and when infrared rays are projected on the object passing behind again, the distance of both objects is Is restarted. The distance between the device and an object near the device is detected.
Detecting means for detecting the distance to the object.
An object approaching the device within the detectable area where it can exit,
There was an object crossing between the approaching object and the detection means
In both cases, both the approaching and traversing objects are
When the infrared light emitted by the light means is projected, both objects
The distance from the device is detected for
Infrared rays are not emitted, but only for objects that traverse.
While the light is being emitted, the
Movement of an approaching object is predicted based on a change in the distance data of the approaching object.
Measured, and when infrared light is projected on the approaching object again,
By resuming distance detection for both objects ,
Significantly improve the operational convenience of the device. FIG. 1 is a block diagram for explaining a configuration concept when an automatic response system is applied to OA equipment. The automatic response system includes a sensor unit 2 composed of one or more sensors.
And a recognition determining device 3 and a service providing device 4, which are mounted on various OA devices 1 in order to realize an automatic response function. It responds and provides various services. The sensor unit 2 is mounted on the surface or inside the OA device 1 to generate various data for recognizing an object (for example, an approaching human) to be automatically responded, and recognizes and determines the obtained data. Send to device 3. The type of the sensor, the mounting position and the number thereof are determined by the parameters to be detected from the data from the sensor, the direction to be detected (for example, the direction in which the operation panel is facing = the front of the OA device), and the size of the object to be responded to. (Width, height), detection accuracy (resolution, detection interval) and the like are appropriately determined. FIG. 2 is a diagram showing an example of mounting a sensor unit including a plurality of distance sensors 6 on an image forming apparatus 5 which is a copying machine, a facsimile, or a laser beam printer. Overall perspective view of the device, (b)
The figure is a plan view. In the example of FIG. 2, the response target object is a human (operable person), the data obtained by measurement is the distance from the image forming apparatus 5 to the measured object, and the directions to be measured are the front and side surfaces of the apparatus 5. . In addition, in order to obtain the direction of the object to be measured, the distance is measured in a plurality of directions by a distance sensor having a relatively sharp directivity. For example, a sensor of this type irradiates infrared light from a light emitting unit in a target direction and measures the amount of reflected light at a receiving unit to measure a distance, or transmits an ultrasonic wave of a certain frequency from a transmitter. In some cases, the reflected wave is received by a receiver and the distance is measured based on the phase difference. In the example shown in FIG. 2, a plurality of sensors are mounted in order to obtain a high resolution in a relatively short detection period, and the distance sensors are operated in parallel for measurement. In order to obtain the direction of the object to be measured, each sensor emits light little by little (10 degrees interval).
The transmission / reception / reception directions are shifted. Also, since vertical direction data (height etc.) is not required, the direction of light emission / transmission / reception / reception is developed and mounted only on a horizontal plane. As the configuration of the sensor unit, an image input device using a CCD, for example, may be considered in addition to the distance sensor. In this case, the image data captured from the image input device is sent to the recognition determination device. The recognition judging device 3 is built in or external to the OA device 1 and makes a recognition judgment based on data sent from the sensor unit 2. For example, as in the example shown in FIG. 2, based on the distance to the object and its direction data, a stationary object and a moving object to be a response target are recognized, or the response target object (human) recognizes the OA device. An action decision such as whether or not to use (or whether or not use has been completed) is performed. For a device that has a sensor unit composed of an image input device and uses image data, the characteristics of an object (human) to be responded to are extracted, and an individual is identified based on the extracted characteristics. ID (eg, name,
Number, etc.), and sends the generated judgment data to the service providing apparatus. The service providing device 4 has a function of driving each unit of the OA device 1, and implements services by various automatic responses. For example, when there is a response target object approaching the OA device 1 and determination data indicating that the object uses the OA device is sent, the preheating mode is automatically released, or conversely, the use termination determination is made. A service that automatically transitions to the residual heat mode when data is sent corresponds to this. In the case of an apparatus having a configuration in which a personal ID is transmitted as data, the operation unit is optimized for each user (key layout change, switching of instruction screens,
Provide an environment that is easier to use. This service providing device may be provided with dedicated hardware, but it is also possible to substitute functions as software by a central processing unit of the OA equipment. FIG. 3 is a block diagram showing a basic configuration of the recognition / judgment device.
The operation of each unit will be described. The OA device on which the automatic response system is mounted is an image forming apparatus, and the configuration of the sensor unit that sends data to the recognition / determination apparatus is such that a plurality of distance sensors having high directivity emit light as shown in FIG. The following description will be made assuming that the direction of reception / light reception / reception is expanded on a horizontal plane and mounted. The recognition determining device 3 includes a sensor driving unit 7, a parameter extracting unit 8, a recognition determining unit 9, and a post-processing unit 1.
0, a control unit 11, an input / output management unit 12, a storage device 13, a data line 14, a control line 15, and an external I / F (interface) line 16. The sensor driver 7 drives the distance sensor 6 and receives measured distance data. Control unit 1
Each distance sensor 6 is driven based on the sampling signal from 1 to measure the distance to the object. After that, the measurement result data is sent to the parameter extracting unit 8. The parameter extracting unit 8 extracts and calculates a feature amount parameter necessary for recognition of an object to be a response target and various determinations from the distance data to each object from the measured distance data. The generated parameters and the additional information thereof are sent to the recognition determination unit 9 and written into the storage device 13 as appropriate.
Read from other blocks as needed. The recognition judging section 9 makes a judgment relating to a response target object based on a request signal from the control section 11. The parameter generated by the parameter extracting unit 8 is received directly or via the storage device 13 and, for example, whether the response target object is a user of the image forming apparatus (“use” or “do not use” the image forming apparatus) "), Whether or not the use of the image forming apparatus has been terminated (" in use "or" completed "),
And so on. The post-processing unit 10 puts together the results of the determination and finally prepares the format for external output. For example, the processing when there are a plurality of objects to be responded is performed in this block. The control unit 11 controls the entire recognition determination device. Communication is performed with the outside (image forming apparatus) via the input / output management unit 12, and control is performed by sending a control signal to each block. The input / output management unit 12 controls an interface with the outside (image forming apparatus) through the external I / F line 16. It also functions as a buffer for synchronizing with the outside. The post-processing unit 10 includes
In addition to the judgment data generated by the above and transmitted to the service providing apparatus, various requests between the recognition judgment apparatus and the image forming apparatus, and control signals such as timing signals are also included. The storage device 13 is composed of a RAM for storing the data generated in each block as necessary, and a ROM for storing programs and data necessary for operating each block. Data read / write is performed. Data line 14
Is used for transmission of each data. The control line 15 is used for transmitting a control signal. The external I / F line 16 is used for transmitting control signals and data for interfacing with the outside (image forming apparatus). The sensor driving unit 7 has a period T (T must be a period sufficiently shorter than the moving speed of the object to be recognized and responded) from the control unit 11 via the control line 15. The distance sensor 6 mounted on the image forming apparatus is driven according to the sent sampling signal. Each distance sensor is driven simultaneously (parallel) and measures the distance once in one sampling cycle (time interval T). The measured data is converted from analog data to digital data in the sensor driver 7 and the parameters are determined by a method capable of identifying which sensor has measured the data (for example, adding an identification number of the sensor to each data). It is sent to the extraction unit 8. Parameter extraction unit The parameter extraction unit 8 extracts parameters necessary for recognition from the distance data sent from the sensor driving unit 7. As shown in FIG. 4, the distance sensors are arranged at intervals of 10 degrees around the center of the image forming apparatus 5 (however, for the tenth to nineteenth, # 10, # 11,
The measurement is performed in 19 directions (note that it is described as $ 19) (however, the measurement direction is only the measurement surface and the front direction of the image forming apparatus, and the rear surface is not considered here). , The measurement of the distance to the object is repeated at the same time interval T. Each arrow in FIG. 4 indicates the light emission / transmission / reception / reception direction of the sensor. The parameter extracting unit performs the following processing at time intervals T (every time measurement is performed). Position detection (1) Store measurement results Now, as shown in FIG. 4, the image forming apparatus 5 is installed in a place where there is a stationary object 17 such as a wall in one of a forward direction and a lateral direction. It is assumed that the maximum distance at which the distance to the object can be measured by the distance sensor is Rmax.
The measurable distance is, in addition to the measurable distance of the distance sensor itself, a gap between the measurable directions (a range where no measurement is performed) is sufficiently smaller than the size of an object (human) as a response target. It is in such a range. In the example of FIG.
Among the measurement directions, there is some stationary object (in this case, a wall, hereinafter referred to as an obstacle) 17 within the measurable distance of the distance sensor with respect to the direction indicated by the outlined characters. The parameter extracting unit 8 stores the distance data together with the measurement direction (distance sensor number) in the storage device (memory) 13 for each measurement. FIG. 5 schematically shows an example of distance data written in the storage device 13 in the case of FIG. Here, in FIG. 5, r _d represents the measurement results for the direction d (distance to the object), also, ∞ symbol object was not anything closer than the object was not measured (Rmax)) It is shown that. The parameter extractor 8 writes the measurement result to a predetermined address in the storage device 13 every time the measurement is performed at the time interval T. (2) Update of Environmental Information Objects that are within the measurable range of the distance sensor and do not actively act on the image forming apparatus 5 (= obstacles: for example, walls,
The position information of a desk, a chair, etc.) is called environmental information. The parameter extracting unit 8 distinguishes these objects from objects that may actively act on the image forming apparatus 5 (= moving objects: for example, humans, etc .; hereinafter, referred to as target objects). Next, the environment information in the storage device 5 is referred to. The environment information is conceptually in the form of a table of distances in each direction shown in FIG. 5, and indicates at which distance an obstacle is present in each direction. The environmental information selects the maximum distance measured in each direction during a period (for example, after power-on) sufficiently longer than a period during which the target object is active in the measurable range of the distance sensor in the image forming apparatus 5. It is created by doing. When the maximum distance for the measured direction d within the period and r _d max, environmental information is shown conceptually as in FIG. Each making measurements at time intervals T, and the distance rd is measured for each direction and the environmental information rdmax are compared, If Naritate the relationship r _d> r _d max, replacing environmental information r _d. In this way, after a sufficiently long time has passed, the environmental information is created. For example, after a sufficiently long time (it is sufficient if a moving object such as a human does not exist within the measurement range of the distance sensor) in the image forming apparatus installed in the environment as shown in FIG. The environmental information is as shown in FIG. However, r _d is the distance to the obstacle in the direction d in the case of FIG. (3) After updating the object detection environment information, the parameter extraction unit 8 detects an object by the following method. For example, the state at time t0 is as shown in FIG.
Consider when approaching. FIG. 9 shows the distance data for the case of FIG. 8 written in the storage device in the procedure of (1). Here, r _dt is the distance to the object in the direction d at time t. The parameter extracting unit 8 stores the distance data and the storage device 5 created by the procedure of (2).
The target object is detected by comparing it with the environmental information stored therein. Specifically, for example, the difference between the distance written in the environment information and the distance data is obtained for each direction. FIG. 10 shows a result obtained by taking a difference between the environmental information and the distance data in the case of FIG. According to FIG. 10, there is a difference between the distance data and the environment information in the direction, and the target object 18 is recognized in the direction based on this (environment / distance data). Now, considering a polar coordinate system in which the origin of the image forming apparatus is the origin and the direction of 〇10 is the angle θ = 0, the position of the target object 18 in the example of FIG. 8 is (r _5t0 , 50 °). expressed. When the object is recognized,
The position (distance and direction) is written to a predetermined position in the storage device 13. By the way, as the moving object 18 approaches the image forming apparatus, the same object may be measured by a plurality of distance sensors. In this case, the position is calculated by the following method. In the example of FIG. 11, the same object is measured by the sensor in and directions. According to the above-mentioned means, two positions (r ₆ , θ ₆ (= 40 °)) and (r ₇ ,
θ ₇ (= 30 °)) is detected. Therefore, when two or more positions are detected, the distance between each of them is calculated, and all the distances are set to a predetermined value Lmin (where Lmin is a response target object (= human) Points that are smaller than) determined from the size of) and whose detection directions are adjacent to each other are collected as one position. In the case of two points, they are put together at the position of the midpoint and 3
If the number of points is equal to or more than the point, the positions are combined at the position of the center of gravity to generate one position. In the example of FIG. 11, the distance l between the two detected points is given by: When l <Lmin, the two points are combined into one and the middle point is newly adopted as the position.
In the case of three or more points, as shown in FIG.
3 only when <Lmin and l2 <Lmin and l3 <Lmin
The points are collected, and the three centers of gravity G are adopted as the positions of the target object and written to the storage device. Object Tracking (1) Tracking One Object Once the target object is recognized within the measurable range of the distance sensor, the target object is tracked. For example, at time t1 (= t0 + T), the target object 18 shown in the example of FIG.
_Assuming that the object has moved as shown in FIG. 3, the object position (r _6t1 , 40 °) is detected by the above-described method. Here, if the position information of the target object is stored in the storage device 13 one measurement interval time before (time T before), the moving speed v and the moving direction φ are calculated. With respect to the target object 18 shown in the example of FIG. 13, since the position information calculated in the example of FIG. 8 is already stored in the storage device 13, the moving speed v and the moving direction φ are calculated. The calculation method will be described below with reference to FIGS. 8 and 13. The movement distance of the target object 18 between time t0 and t1 is l _t1 , the average speed is v _t1 , a line connecting the coordinate origin (center of the image forming apparatus) and the position of the target object 18 at time t0, and If the angle (moving direction) between the position of the target object 18 and the line connecting the position of the target object 18 at time t1 is defined as _φt1 , the amounts represented by the respective parameters are as shown in FIG. In FIG. 14, _it1 is: ## EQU1 ## The moving speed v and the moving direction φ calculated by Expressions 3, 5, and 6 are written in the storage device 13 together with the position (r, θ) calculated previously. By repeating the above operation at every time interval t,
In the storage device 13, the position information r, θ, and if
If there is position information measured before the current time, the moving speed v and the moving direction φ are sequentially stored as the trajectory information of the object at each time interval t. The trajectory information of the object 18 is stored in the storage device 13 in a data format such as a list or a ring buffer. However, the trajectory information may be conceptually considered as a table. Target object 18 after time T (= t2) in FIG.
FIG. 15 shows the state of the movement of FIG.
FIG. 16 shows the state of the movement of the object in 3), and a conceptual diagram of the trajectory information obtained when the object moves as shown in FIGS. 8, 13, 15, and 16 between times t0 and t3. Are shown in FIG. (2) Tracking of a Plurality of Objects When a plurality of target objects exist within the measurement range of the distance sensor 6, a plurality of trajectory information is generated for each target object in the storage device and tracking is performed. For example, consider a case where two target objects, a target object A and a target object B, exist as shown in FIG. Two pieces of trajectory information are generated for the target object A and the target object B in the storage device. FIG.
In the state of (1), the position of the target object A is (r ₆ , θ ₆ (= 4
0 °)), and the position of the target object B is (r ₁₂ , θ ₁₂ (= −
20 °)) is detected, and the respective trajectory information is written. FIG. 19 shows a state one sampling cycle (time interval T) after the state of FIG. Position 1 (r ₇ , θ ₇ (= 30 °)) and position 2 by object detection
Two positions of (r ₁₁ , θ ₁₁ (= −10 °)) are detected. As a possibility, as shown in FIG.
There are two cases in which the target object B has moved to the position 1 and the target object B has moved to the position 2 (case A), or the target object A has moved to the position 2 and the target object B has moved to the position 1 (case B). The following method is used to determine which trajectory information each position is to be written into. For the above two cases, the moving direction φ and the velocity v are calculated by equations 5 and 6, respectively. The moving direction of the target object A calculated for the case A is φ _A2 , the moving speed is v _A2 , the moving direction of the target object B is φ _B4 , the moving speed is v _B4 , and the target object A calculated for the case B is The moving direction is φ _Ab , the moving speed is v _Ab , the moving direction of the target object B is φ _Bb , and the moving speed is v _Bb . Further, one sampling period (time interval T) previous state (the moving direction of the object A in the state of FIG. 18 phi _Apre, the moving velocity v _Apre, when the moving direction of the target object B and phi _BPRE, the object A movement direction variation .delta..phi _a, the change in the moving speed amount .delta.v _a, the movement direction variation .delta..phi _B of the target object B, and the amount of change in the moving speed δ of
v _B is given by: Is represented by Here, defined by Equation 9 below variation e _i about the target object i, further case is defined by equation 10 below the total variation En for n. [Equation 4] Here, α and β are changes δ in the moving direction.
It is a constant for weighting the change amount δv _i of φ _i and the moving speed. As the combination of the target object and the detection position, a combination of the target object and the detection position in the case where the total change amount is the smallest is adopted. The total change amounts E _a and E _{b in} case A and case B are given by: When E _a <E _b , a combination of the target object and the detection position for case A is adopted,
The trajectory information of the target object A includes position 1 (r ₇ , θ ₇ (= 30
°)), the moving direction φ _Aa and the moving speed v _Aa , and the trajectory information of the target object B includes position 2 (r ₁₁ , θ ₁₁ (= −10 °)), the moving direction φ _Ba and the moving speed v _Ba Are written respectively. Similarly, in all cases where three or more target objects are present within the range of measurement of the distance sensor, a combination of the target object and the detection position is created.
The data to be written into the trajectory information is determined by calculating the total change amount E in each case. When a target object for which the total change amount E cannot be calculated is included, for example, the moving distance 1
Is performed so that the target object and the detected position are associated with each other so as to minimize (corresponding the detected positions of objects that are closer to each other compared to one sampling cycle (time interval T) before). When a plurality of target objects overlap as seen from the image forming apparatus (exist in the same sensor measurement direction) as in the example of the target object A and the target object B in FIG.
The number of detected target objects decreases temporarily. In such a case, tracking is performed as follows, and trajectory information is generated. In the example of FIG. 21, the object is detected in the direction, and the position (r ₉ , θ ₉ (= 10 °)) is obtained. Here, the target object A before one sampling cycle (time interval T)
And the position of the target object B, respectively (r _Apre , θ _Apre )
And (r _Bpre , θ _Bpre ), and as shown in FIG. 22, the moving direction and moving speed when the target object A and the target object B are considered to have reached the detected positions are φ _A , Assuming v _A and φ _B , v _B , from equations 5 and 6, Is as follows. Further, the moving directions and moving speeds of the target object A and the target object B one sampling cycle (time interval T) are set as φ _Apre , v _Apre and φ _Bpre , v _Bpre
Then, the respective amounts of change e _A and e _B are obtained from Expression 10 as follows: Is as follows. Assuming that the detected position is the position of the target object having the smaller change amount, in the example of FIG. 22, the detected position is included in the trajectory information of the target object B from e _B <e _A. Written. In this case, for the target object A whose position is not determined, the writing of the trajectory information is suspended, and when the position is determined, the trajectory information is written retrospectively. For example, _assuming that the position of the target object A is determined to be (r _Apost , θ _Apost ) after one sampling cycle (time interval T), two points (r _Apre , θ _Apre ) and (r _Apost , θ _Apost ) The point is assigned to the reserved position (r _A , θ _A ). Hereinafter, similarly, when the position is determined after n sampling periods (time interval nT), points that internally divide the two points into n points are respectively assigned to the reserved positions and written into the trajectory information. The same applies to the case where three or more target objects exist within the measurement range of the distance sensor and the target objects overlap when viewed from the image forming apparatus (exist in the same sensor measurement direction). Then, a change amount e is calculated for each target object, and the target object and the detected position are correlated by comparing them. Generation of Recognition Judgment Trigger The distance r to the approaching target object 17 is a certain value Lmi
If n or less, the parameter extraction unit 8 sends a recognition determination trigger to the control unit 11 to make a distance determination on the target object 17. When a plurality of target objects exist within the measurement range, this operation is performed every time the distance r to any one of the target objects becomes equal to or less than a certain value Lmin. The recognition determination trigger is converted into a recognition determination request signal by the control unit 11 and sent to the recognition determination unit 9. Similarly, when the target object using the image forming apparatus moves away, the distance r to the target object becomes
When the value exceeds a certain value Lmin, the parameter extracting unit 8 sends a recognition determination trigger to the control unit 11 in order to perform recognition determination on the target object. The case where a plurality of target objects exist within the measurement range is the same as the case where they approach. FIG. 23 shows how a judgment recognition trigger is generated. The value of Lmin is usually set to a distance at which the recognition determination device must output a recognition determination result (for example, whether or not the target object acts on the image forming apparatus) to the service providing apparatus. This distance is appropriately determined by the type of service provided by the output result from the recognition determination device, the time required for the service, the moving speed of the target object, and the like. The value of Lmax is appropriately set to a distance within the maximum measurement distance (Rmax in FIG. 4) of the distance sensor. After outputting the recognition determination trigger, data relating to the trajectory information of the target object for which the recognition determination needs to be performed (the address in the storage device where the trajectory information is stored, the size of the trajectory data, whether the target object is approaching or not) The recognition determination unit 9 sends to the recognition determination unit 9 data necessary for accessing the trajectory information, such as whether the user is moving away. Recognition determination section The recognition determination section 9 makes a determination relating to the response target object in response to a request from the control section 11. After receiving the recognition determination request signal from the control unit 11, data relating to the trajectory information of the target object that needs to be recognized and determined by the parameter extraction unit 8 (addresses in the storage device 13 where the trajectory information is stored, trajectory data , And whether the target object is approaching or moving away, and the like, which is necessary for accessing the trajectory information) from the parameter extracting unit 8. Thereafter, by accessing the trajectory information of the target object in the storage device 13 which needs to make the recognition determination and performing a predetermined process, for example, when the target object approaches, the user is the user of the image forming apparatus. ("Use" or "do not use" the image forming apparatus), and if it goes away, whether or not the use of the image forming apparatus has been completed ("in use" or "has been used"), And the like, and outputs the result to the post-processing unit 10. In the following, some examples of the recognition determination processing for determining whether to use or not use the image forming apparatus when the target object approaches are described. In order to determine the recognition of the object to be preprocessed, the recognition determining unit 9 generates some parameters from the trajectory information. One or more reference distances are provided in the measurement range of the distance sensor. For example, as shown in FIG. 24, n reference distances L0, L1, L2,..., L (n-1) from the center of the image forming apparatus (where L0 <L1 <L2 <... L (n-1)) Is established). Here, the reference distance of the closest distance L0 from the image forming apparatus is Lmin
(Distance at which the recognition determination trigger is generated by the parameter extraction unit). The trajectory information at the reference distance Lm is time _tLm , distance _rLm (= Lm), direction _θLm , moving speed _vLm , moving direction _φLm, and the distance L (m−
The change amount of the moving speed between 1) and Lm is represented by Δv _Lm (= v _Lm
−v _L ( _m−1 )), and the amount of change in the moving direction is Δ _Lm (= φ _Lm −φ _L
( _m-1 )), and a parameter is generated for each distance (however, the change amount Δv _L0 of the moving speed and the change amount Δφ _{0 of the} moving direction at the distance L0 are excluded). FIG. 25 conceptually shows the parameters generated for each distance. The generated parameters are further processed so that they can be used in the next stage. For example, the data is grouped according to a value range and converted into the group number, or a normalization process for a certain value range is performed. Recognition Judgment Processing Among the methods for making a recognition judgment using the parameters generated in the preprocessing stage, a method using a neural network will be described below. For example, the following neural network 21 for determining whether the target object "uses" or "does not use" the image forming apparatus is prepared. FIG. 26 is a schematic diagram of a neural network 21 for recognition determination by a hierarchical neural network including three layers of an input layer 22, an intermediate layer 23, and an output layer 24.
The input layer 22 corresponds to each input parameter, and the output layer 24 corresponds to each determination (in this case, “use” and “do not use”). The neural network used here learns in a predetermined method (for example, back propagation) a characteristic pattern collected in advance through experiments or the like as teacher data. That is, each parameter is input, and it is learned whether the target object "uses" or "does not use" the image forming apparatus at that time. At the time of the recognition judgment processing, the parameters generated from the trajectory information by the control signal from the control unit are input to the neural network for recognition judgment, and among the output layers 24 of the neural network at that time. The result corresponding to the unit that fired strongly (having the largest output value) is output to the post-processing unit 10 as a recognition determination result. With the same specifications, a neural network for determining whether the target object is "using" or "ending use" of the image forming apparatus is prepared, and the recognition determination result is output to the post-processing unit 10. Post-Processing Unit The post-processing unit 10 collects the results of the recognition judgment and arranges the final output format, and if necessary, the control unit 11 if necessary.
, And sends recognition determination data to the input / output management unit 12. For example, consider a case where a plurality of target objects exist in the measurement range of the distance sensor as shown in FIG. In the case of (a), the target object B who is going to newly use the image forming apparatus comes to the place where the target object A is already using the image forming apparatus. in this case,
When the target object B approaches the distance Lmin from the image forming apparatus, a recognition determination trigger is generated, and the recognition determination unit 9 determines that the target object B "uses" the image forming apparatus. If not suspended, a problem occurs that the service for the target object B is started even though the target object A is in use. Conversely, as in the case of the example (b), it is assumed that the target object A as the previous user has left while the target object B is using the image forming apparatus. In this case, when the target object A approaches the distance Lmax from the image forming apparatus, a recognition determination trigger is generated, and the recognition determination unit 9 determines that the target object A has used the image forming apparatus. If the target object B is not masked or held, the service is started even though the target object B is in use (transition to the residual heat mode, automatic reset, etc.) occur. The post-processing unit 10 fetches external (image forming apparatus) information (for example, whether or not copying is in progress) through the control unit 11 if necessary, and masks or suspends judgments on a plurality of target objects. Only when it is necessary to change the state, the recognition determination data is sent to the input / output management unit 12. The control section control section 11 controls the entire recognition judging device. The main control contents are as follows. (1) Timing Processing of Each Block The data among the blocks (sensor driving unit 7, parameter extracting unit 8, recognition judging unit 9, post-processing unit 10, input / output managing unit 12) in the recognition / judgment device. Performs synchronous processing for delivery. For example, when data is transferred from a certain block A to a certain block B, first, a data transmission request is issued from the block A to the control unit 11. The control unit 11 sends a data reception request signal from the block A to the block B, and after confirming that the reception preparation of the block B is completed, a data transmission request signal is sent to the block A. In block A, after receiving the data transmission request signal from the control unit 11, data transfer is started. (2) Request processing for each block A request sent from each block in the recognition / judgment device (for example, a recognition judgment trigger generated in the parameter extraction unit, a recovery request for an error generated in each block,
Etc.). (3) Access management of storage device Arbitration is performed so that a plurality of blocks do not access the storage device at the same time (so that read / write does not collide). Each block in the recognition / judgment device can access the storage device only by requesting an access right from the control unit and only when permitted. (4) External Interface Control A clock signal and a reset signal from the outside (image forming apparatus) are received through the input / output management unit 12, and the outside and each block in the recognition / judgment device are synchronized. Also,
External information (the state of the image forming apparatus, for example, “operating / not operating”, information on the operation panel, etc.) is fetched, and those necessary for recognition determination are transferred to the corresponding blocks. Various requests from the outside are sent to the input / output management unit 12.
Process that responds to the request.
For example, when the trajectory information of the target object is requested from outside,
This corresponds to processing such as reading out locus information from a predetermined area in the storage device and outputting it through the input / output management unit 12. In addition, a request to the outside when an error or the like occurs in the recognition determination device (for example, displaying an error on an operation panel, etc.) is also generated by the control unit 11, and the input / output management unit 12
Output to the outside through Input / output management unit The input / output management unit 12 controls an interface with the outside (image forming apparatus) through the external I / F line 16.
The input / output data / signal is also latched and synchronized by the input / output management unit 12, which also functions as a buffer for synchronizing with the outside. The input and output signals include, in addition to the determination data on the target object generated by the post-processing unit 10 and sent to the service providing device, various control signals between the recognition determining device and the outside, such as timing signals, etc. included. The storage device 13 is a RAM for storing data generated in each block as necessary, and a ROM for storing programs and data necessary for operating each block.
And data reading / reading by each block.
Writing is performed. Service providing device Service providing device The service providing device 4 has a function of driving each part of the OA equipment, receives various judgment results generated by the recognition judging device 3, and provides a service by an automatic response corresponding thereto. To embody. Further, if necessary, it requests the recognition determination unit for more detailed information on the target object. The service providing device 4 is a conceptual device, and several methods can be considered for its realization. In particular, it is better to realize such a service that does not specify the provision of dedicated hardware and that can perform functions as software by a central processing unit of an OA device. If there is a response object (person) approaching the service OA device for a person and the judgment data indicating that the object uses the OA device is sent, the following service is executed. I do. (1) AI (Artificial Intelligence) residual heat function (2) AI automatic power switching function (3) AI pressure plate automatic opening / closing function (4) AI automatic interrupt function (5) Height variable function Also, OA equipment is used. If the user has finished the operation, has left the OA device, and received the determination data indicating that the use has been completed, the following service is executed. (1) AI residual heat function (2) AI automatic power switching function (3) AI pressure plate automatic opening / closing function (4) AI automatic interrupt function (5) AI automatic reset function (6) AI original / copy forgetting check function The following service is executed for an apparatus having a configuration in which there is an object (person) to be responded to approaching the OA device and the personal ID is transmitted as data. (1) Operation panel AI automatic setting function (2) AI guidance function (3) Management function (4) AI automatic interruption function (5) AI automatic reset function (6) Message notification function Next, use by image data Person recognition / personal recognition will be described. User Recognition In the above-described automatic response system, an example was given in which a distance sensor such as an infrared sensor was used as a sensor. Next, based on information obtained by processing the image data, not the distance information, such as the body and face direction when the target object (person) approaches, is the person a "person to use"? ,
A method of recognizing / determining whether a person is a “mere passer” will be described. FIG. 1 which is a configuration example when a distance sensor is used, FIG. 2 which is an implementation example, and FIG. 3 which is a basic configuration of a recognition determination device are completely the same in the case of a recognition method using image data described below. . However, the distance sensor 2
It must be a sensor for inputting some image data using a CCD, MOS, image pickup tube, or the like. The parameter extraction unit 8 in FIG. 3 extracts necessary information from image data or the like by image processing or the like. Now, let us consider the operation of a person approaching to use the image forming apparatus 5 such as a copying machine provided with the present recognition judging device. In particular, in the absence of obstacles, one can usually assume that a person walks straight on the device he wants to use. In other words, the user approaches the device he or she wants to use while keeping his body straight. In addition, even if there is some obstacle, etc., if you can not approach straight, if you come within the range where the device can be seen by the time you approach the position of the target device, you can look at the device at least several times You can think. In other words, the face of the device to be used is directed several times straight. Such behaviors in which humans behave naturally are stored as rules, and these behaviors are extracted / determined by image processing or the like to determine whether the target person is a “user” or a mere “passer”. I do. Hereinafter, a simple example of a specific judgment method will be described with reference to FIG. In the photographed image data, it must first be determined whether a person has been photographed (step 1). This can be achieved, for example, by holding image data in which no one is shown, and calculating the difference from the captured image data. In other words, by removing the background portion from the currently captured image data, the remaining portion becomes a moving object other than the background,
In other words, it can be seen that the subject person. Next, in the image data of the target person, the orientation of the body or face must be detected (step
2). Speaking of detection, it is sufficient to judge whether or not this is facing. As a very simple example, a user may be determined if the body or face of the person being photographed is facing this direction. However, it's usually hard to judge just because you're turned here once. In other words, this alone does not provide sufficient accuracy. Therefore,
For example, a counter may be provided, and the number of times the user is observed to be turned may be stored by the counter, and the user may be determined to be a “user” when the number of observations is equal to a preset number. . Instead of yes / no, for example, the orientation may be converted into a numerical value based on the number of angles and the like, observed, and a determination may be made based on the data sequence. In this case, the data string pattern of “user” may be stored in advance, and the determination may be made by referring to the stored table, or an appropriate weight parameter may be added using time and direction as parameters. Judgment may be made by an evaluation function, or the behavior pattern of the “user” may be described by natural language rules (for example, if you turn here many times in a short time, you are the user.) Judgment may be made by fuzzy inference, or the behavior pattern of the "user" may be stored in the neural network in advance, and the observed data sequence may be used as input to output from the neural network whether or not the user is "user". You may. The configuration for carrying out the present recognition processing is basically not significantly different from that described above, but the distance sensor 2 in FIG. 1 is replaced with an image input sensor such as a CCD. In addition, image data obtained by capturing an approaching target object (target person) is processed by the parameter extracting unit 8 in FIG. The feature amount (data / information) to be extracted here is the orientation of the face or body of the target person described above. Further, the recognition determining unit 9 refers to the table described above,
Judgment processing is performed by an evaluation function, fuzzy inference, a neural network, or the like. Recognizing that a target object which is a person who is a person is a specific person is called personal recognition. Personal recognition is divided into two larger recognitions. One is to identify individuals who have been registered in advance (identification that has already been individualized), and the other is not to register individuals in particular, but to target individuals observed at a certain point in time. , To determine whether they are the same person (sequentially identifying the same person).
In the above-described automatic response system, an example in which a distance sensor is provided to measure the position of a target object as a sensor has been shown, and an infrared or ultrasonic sensor has been described as a specific example. Here, an example relating to personal recognition of a target person is shown. In this case, a specific example of the sensor is a CCD.
An example in which image data is processed after an image is input by, for example, will be mainly described. In this case, the recognition judging device 3 shown in FIG.
, And the distance sensor 2 becomes a sensor capable of inputting image data, but the basic configuration is not changed at all. Hereinafter, one image input sensor will be described as an example for simplicity, but a plurality of sensors may be provided in the same manner as shown in FIGS. In addition,
Even if an image input device such as a CCD is used as a sensor, it is possible to observe the position up to the target object described in the aforementioned automatic response system without any problem using current image processing techniques ([[Robot "Bit extra number, pp
711/724, July 1976 issue], ["Stereoscopic vision", Journal of the Robotics Society of Japan, Vol. 1, pp30 / 35, 1983]. In other words, the image input sensor is only a specific example of the distance sensor. For example, in order to obtain the position of the target object from the image data captured from one fixed sensor, the image of the position of the foot of the target person is obtained. Data coordinates may be extracted and mapped to real world coordinate data. If there are a plurality of sensors, the position up to the target object can be observed by applying the principle of triangulation (binocular stereovision). Therefore, even if the sensor is changed from the above-mentioned infrared sensor or the like to an image sensor, the above-described processing can be similarly performed, and the sensor is also useful for personal recognition described below. A processing method for the already-specified individual identification for specifying the already registered individual from the already-specified individual identification image data will be described.
Identification technology has been around for a long time and has been put to practical use, for example, for character recognition. The same technique / principle can be used for personalized identification. To explain the principle briefly, we prepare a dictionary called a dictionary that describes the characteristics of what is to be specified, extract the characteristics of the observed input data, compare them with the contents of the dictionary, Is to be identified. In addition to the discriminant approach, a table reference method, an evaluation function method, a certainty calculation method, a fuzzy inference method, a neural network method, and the like are also known. Information about an individual, which must be registered in advance as data for identifying the individual, that is, a feature, may be any feature obtained by image processing or the like, but must be good for identifying the individual. Must. For example, height, weight (volume), gender, size and shape of body and face, presence or absence of glasses, and the like can be considered. The height is obtained by converting the number of pixels from the head to the toe from the image data to the actual length. Since the distance to the target object must be known, the conversion is easy. Finding the head and toe can be realized by ordinary image processing techniques such as binarization and filter processing and knowledge engineering. The gender can be determined by obtaining the shape of the hair, the covering, the presence or absence of makeup, and the like by image processing. Facial features are effective and often used to identify individuals by image data. For example, the relationship between the components and the shape of the individual components, such as the degree of eye separation, the shape of the eyes, the contour of the chin, and the like, are often used. With the personal recognition of the personalized identification,
It is possible to improve the operability of the user, save labor in managing the apparatus, and the like. For example, when this personal recognition device is attached to an image forming apparatus such as a copying machine,
The operation panel AI automatic setting function, AI guidance function, AI automatic interrupt, and the like can be realized. Next, as described above, instead of registering an individual in advance as described above, it is necessary to recognize whether or not the target person observed at a certain time is the same person. The same person determination will be described. In this method, the characteristics of the target person observed at a certain point in time are stored, and it is determined whether the characteristics match with the characteristics of the target person observed at another point in time. It is not necessary to register information including the characteristics of the individual you want to identify as a dictionary in advance, but instead, for example, if someone does not artificially enter the device, such as the name of the observed person, you can not understand No information can not be obtained. The method for successively identifying the same person is basically not significantly different from the method in the already-personalized identification. In individual identification, based on observed / extracted features, the characteristics of each individual, which were previously described in a dictionary, were compared. The difference is that they compare with the observed features. In the same person determination, the characteristics of the target person observed at a certain point in time are stored as a dictionary and used when comparing with the characteristics of the person observed later, but only the immediately preceding observation object is stored in the dictionary. Alternatively, a plurality of storages may be made. Since the same person can be sequentially discriminated, for example, it is known that the user of the apparatus has been changed, so that "in use / completed use" can be distinguished at that time. When a person is identified as the same person, it can be recognized as "in use" within a certain period of time, and if a person who is not the same person comes, the previous person is recognized as having used it. it can. Further, if the apparatus is a copying machine, for example, it is possible to automatically reset each parameter (AI auto reset function) to prevent erroneous operation by the next user. Further, even if the AI automatic interrupt function cannot be specified even to an individual, it can be realized by the real recognition. Also,
The sensor for sequentially observing the feature in the same person determination is not particularly limited to the CCD. For example, any device that can measure characteristics of a person, such as a color sensor, a weight scale, and a sound sensor, may be used. In addition, there is a sensor that can be distinguished by itself, such as the image input sensor using a CCD or the like described above, but even a sensor that is difficult to distinguish by itself can be distinguished with higher accuracy by using it in combination. .
The configuration in this case is only required to connect these sensors in parallel with the distance sensor 2 shown in FIG. Method of processing parameters for recognition judgment: Initial condition setting method for predetermined measurement detection area A person approaching is a person who came to operate a system (apparatus) provided with the present recognition apparatus. When determining whether a person is just passing by or not, it is desirable to recognize and store the surrounding situation in order to make the decision early or more reliably depending on the situation in which the system is set. The "situation" mentioned here is, for example, a location of an obstacle such as a surrounding wall. For example, in the case where the system is installed at the end of a dead-end corridor, the person approaching the system in most cases is considered to be the person who uses the system. here,
A method for automatically recognizing situations such as "the system is installed at the end of the dead end corridor" will be described. The information to be detected is, for example, a fixed object such as a wall, which hinders / obstructs human walking. What is necessary is just to find these objects at a certain timing. For example, a service person or a user who installs a system to which the present recognition device is attached can directly input to the system by some method.
It has to be reset, which is troublesome. Here, a method of automatically recognizing these will be described. The following conditions (a) and (b) are required for recognizing data (area data) such as an obstacle as an initial condition in a measurable detection area by the sensor or the like described in the above-described recognition device. , (C). (A) Area data is stored from detected values detected after a lapse of a predetermined time from power-on (blocking obstacle data based on regular light-receiving / receiving data). This is a method in which the sensor is activated later, and the location where some object is detected by the sensor is recognized as a fixed object (obstacle) and stored. Immediately after the power is turned on, there is a possibility that the person who turned on the power is nearby and recognizes this as a fixed object. Then, after the power is turned on and after a while (for example, one minute later)
Then, the sensor is activated, and the place where something is detected is recognized as a fixed object and stored. As one of the embodiments, the case where the initial conditions are set by the above-described sensor will be described. 1 and 2 show the configuration of a system (OA device 1 or image forming apparatus 5) to which the present recognition device is attached and the configuration of the sensor 2. FIG. Here, the sensor is mounted on the system in a plurality of directions. When the system is powered on by the user, the timing of power-on can be easily known by some means, for example, the power of the recognition apparatus is shared with the power of the system. A timer is installed in an apparatus or the like, and each sensor is activated after a predetermined time set in advance, for example, one minute, and a predetermined measurement is performed. These sensors are
At least some object can be measured in what direction and at what distance. For example, FIGS. 4 and 5
In such a case, a certain object is indicated by a combination of the observed direction and distance, and at ~ 〇13, 〇15 to 〇19,
It recognizes that there is an obstacle and stores it. (B) Store and update area data at predetermined timings from detected values detected at predetermined timings after the power is turned on. The sensor is activated at predetermined time intervals after the power is turned on, and at predetermined time intervals. This is a method of comparing the detection status of the sensor at the time of the previous measurement with the current detection status, recognizing where the fixed object is, and updating the storage. The fixed object should be detected at the same place no matter how many times the sensor performs detection, except when the situation is not artificially changed due to a layout change or the like. On the other hand, if the object is not originally an obstacle, such as a person who happened to be near by chance, the object is first observed by the sensor, but at the next measurement, it should have already left and will not be observed. So, for example,
This is a method in which the detection status is obtained from the sensor every five minutes, the past detection status is remembered, and the one that is always detected at the same place is recognized as a fixed object. The predetermined timing does not need to be observed at all times, that is, at minimum intervals.
However, if you only want to get area data,
There is no particular need for constant observation, and measurement may be performed at certain intervals. For example, if you always activate the sensor to make some kind of judgment, use that,
Updating the area data at all times is more reliable, but if there is no particular need to constantly observe, it is better to measure at certain intervals to save power. In realizing this method, it is necessary to store the past detection status at least once. However, a plurality of times may be stored. In this case, the recognition accuracy is increased, but the cost is increased. When the past detection status is stored only once, the stored previous detection status is, for example, θ = 15 degrees, distance = 3 m and θ = 8.
It is assumed that the position is 0 degree and the distance = 2 m.
If it is m, it is recognized / determined that there is some fixed object (obstacle) in the 80 degree, 2m part detected at the same place. And 30 degrees and 4 meters as the past detection status;
80 degrees and 2 m are stored. Also, when a plurality of detection situations are stored, the determination may be made in substantially the same manner. For example, in the case of storing the situation for five times, it is determined that there is a fixed object at a place that has been detected at the same place three or more times in succession recently,
It is not continuous, but it is 4
It is determined that there are obstacles in places where the number of times has been detected more than once. By doing so, it is possible to more accurately determine whether or not the obstacle is an obstacle. As a result, besides a truly stationary object such as a wall, for example, a word processor, for example, is installed near the system to which the recognition device is attached, and a human using the word processor is detected by the sensor. In other words, it is possible to deal with a case where the system is originally a moving object, but temporarily becomes an obstacle to the system for some reason, and a correct installation environment, that is, an initial condition can be obtained. (C) Storing area data from detected values detected under predetermined conditions (area data storage update for each predetermined condition) Recognizing area data is performed only when predetermined conditions are satisfied. Is the way. The predetermined condition is basically a situation where no one is around. The sensor itself may be activated at regular or irregular intervals. However, whether or not the area data should be recognized is recognized by referring to a predetermined condition and stored. As the predetermined condition, the following four cases can be considered. (I) When not in use Measurement / recognition is performed when the system to which the present recognition device is attached is not operating, that is, when no one is using it.
When the system is not running, it is basically considered that there are no nearby people. That is, if the measurement is performed at that time, it may be determined that there is an obstacle at a location where some detection is made.
In this case, in one measurement, a location detected at that time may be recognized as an obstacle, or a number of locations may be measured several times and determined as an obstacle. . (Ii) Night with no people: Timer In a normal office or the like, there are no people at night. Therefore,
At this time, measurement / recognition is performed. When a sensor is activated by a timer or the like at a time when no person is present, such as at night, and if any object is detected, it is assumed that the object is an obstacle such as a wall. In addition, it is possible to more reliably determine that there is no person by using not only the timer but also the brightness of the lighting. For example, as a specific time setting, the default is 3 o'clock in the middle of the night, and if it is desired to change it, it may be set by the user,
It may be set in conjunction with an ON / OFF timer incorporated in the system for another purpose, at the time of OFF, immediately before being turned off, immediately after being automatically turned on, or the like. In this case, at least one measurement is sufficient, and the place where something was detected at that time may be identified as an obstacle, or several times during a time, such as when there are no people, just in case. Measure
The locations where many are detected may be obstacles. (Iii) Holiday: weekly timer In a normal office, there are no people on holidays. Therefore, measurement / recognition is performed at this time. When a sensor is activated by a calendar (weekly timer) or the like on a day when no one is present, such as Sunday, if any object is detected, it is assumed that the object is an obstacle such as a wall. The specific time can be set by default as Sunday, and can be changed by the user if it is desired to change the setting. In this case, at least one measurement may be performed, and a location detected at that time may be recognized as an obstacle, or a number of measurements may be performed, and a large number of detected locations may be determined as an obstacle. Is also good. (Iv) Initial condition setting means ON Here, means for setting initial conditions are released to the user. For example, an operation button such as a "initial structure condition setting button" is attached to the apparatus. When a service engineer, user / administrator, or the like determines the layout, etc. and determines that initial conditions should be set, the user can explicitly press this button to recognize / set the initial conditions. is there. However, immediately after pressing the button, the person who pressed it is in front of the device, so set it in advance so that it is set a few seconds later, like a self-timer often used for cameras etc. The operator of the button may be caused to retreat outside the detection range of the sensor. Alternatively, the means may be operated from a remote place using an infrared remote controller or the like. Next, a method of early recognition of “use / not use” or “used / used” by the machine installation environment will be described. If it is recognized from the machine installation environment data (area data) based on the initial condition settings that the machine (equipment) has been installed in a corner, it is only necessary that the measurement object (moving object) enters the set detection measurement area. It can be recognized as "use". That is, depending on the installation environment of the machine, it is conceivable that if a person simply comes, that person is always the person who uses it. For example, if a machine is installed at the end of a dead-end aisle, people who come close to it may be considered to be users. The installation environment (area data) of the machine can be obtained by the above-described method. At this time, basically, it is a problem whether a person can physically pass / overpass the front of the machine. This is determined from the area data, and if it is impossible for a person to physically pass by the front of the machine, simply use a distance sensor or the like to determine whether a person is near. Look, and if they come close, they will be judged as "users". Also, if the sensor is configured to have a plurality of sensors oriented in multiple directions, it is possible to save power by not operating the sensor that measures the direction determined as an obstacle. There is also an effect. The condition under which a person cannot physically pass / overpass the machine in front of the machine, which is a condition under which most approaching persons can be determined to be “users”, is that the machine is installed at a dead end. If you are. The situation in which the machine is in a dead end may be, for example, a case where the end of a dead end passage or two surfaces are placed at the corners of a wall. Is only the front of the machine accessible?
Alternatively, such recognition / judgment is performed when the vehicle can pass only in a horizontal (right or left) direction or the like. Due to this, although there are certain restrictions on the installation environment, there is no particular difficulty, and the "user" can be determined quickly and easily easily. In the above, an example of recognizing and judging "use / no use" for an approaching person has been described, but a method of recognizing "in use / finished" for a person leaving is exactly the same. Needless to say, it can be realized with a simple concept. Next, a method for recognizing “use / no use” when a plurality of measurement objects (moving objects) exist in the detection measurement area will be described. Here, there are cases where the determination is made only with the distance data and cases where the determination is made with the distance data and the direction data. First, the case where the determination is made only with the distance data will be described. In this example, a case where there are two moving objects will be described for the sake of simplicity. First, consider the case where two moving objects both approach the apparatus. First, when two moving objects approach from the same direction, measurement is impossible because the longer distance is behind the shorter distance when viewed from the recognition device. Therefore,
In this case, the recognition is performed using data of only the shorter distance. That is, when a plurality of objects approach the apparatus from the same direction and there is an object to which the infrared light emitted by the infrared light emitting means is not projected, it is recognized whether or not the person whose distance from the detecting means is the shortest is used. . When approaching from other directions,
By pulsating the infrared light and capturing the amount of the returning infrared light with a light meter, the change of the amount of the pulsating light of the infrared light returned from two or more objects in the other direction in one cycle is as shown in FIG. The mountain becomes a composite mountain. By judging this using judgment means such as neuro,
A plurality of moving objects can be identified. Using this data, it is determined whether the user is a user.
That is, when a plurality of objects approach the apparatus from a plurality of directions, the distance from the apparatus to each object is detected to recognize whether or not the object is a user. Next, consider the case where one approaches and the other passes by. In this case, it is conceivable that a passing moving object may be a shadow of an approaching object, or be cast as a shadow. In other cases, two moving objects can be identified by the above-described method, and a processing method at this time will be described. First, when another moving object crosses the approaching moving object, the moving object that has crossed is judged as it is, and for the approaching moving object, based on the data before entering the shadow, as long as it is in the shadow Predict its movement. After that, when it comes out of the shadow, tracking is started again. That is, in the detectable area where the detecting means can detect the distance to the object, if there is an object approaching the device and an object crossing between the approaching object and the detecting means, both the approaching object and the object crossing When the infrared light emitted by the infrared light emitting means is projected,
The distance from the device is detected for both objects, and the infrared light is not emitted to the approaching object, and only infrared light is emitted to the traversing object. The movement of the approaching object is predicted from the change in the distance data, and when infrared rays are projected on the approaching object again, distance detection is resumed for both objects. Next, in the case where another moving object passes behind the approaching moving object, the judgment is made as to the approaching moving object, and the moving object that crosses is determined based on the data before entering the shadow. Predict its movement as long as it is in. After that, the tracking is started again when the moving object comes out of the shadow. That is, in the detectable area where the detecting means can detect the distance to the object, when an object approaching the device and an object passing behind the approaching object are present, both the approaching object and the traversing object are When the infrared light emitted by the infrared light emitting means is emitted, the distance from the device is detected for both objects, and the infrared light is not emitted to the object passing therethrough, but is emitted only to the approaching object. During that time, the movement of the object passing behind is predicted from the change in the distance data of the object passing behind that was detected earlier, and when infrared rays are projected on the object passing behind again , Restart distance detection for both objects. When there is a moving object other than the user, the object from which it is determined that the user and the other moving object have been exchanged in terms of distance has been changed from the time when it is determined to use the apparatus to the present. From a user to a moving object.
In other words, if there is a person facing the device using the device and an object approaching the device, when the person facing the device moves away from the device and becomes farther from the device than the object approaching the device, the device Recognize whether or not the approaching person is the person who uses it. Next, a case where the determination is made based on the distance data and the direction data will be described. First, when two moving objects approach each other, two moving objects from different directions are used.
However, when viewed from the same direction, one becomes in the shadow of the other and cannot be detected by the sensor. Therefore, the determination is made based on the distance and direction data of the moving object close to the image forming apparatus. That is, when there are a plurality of objects in the same direction as viewed from the apparatus, it is recognized whether or not the person who uses the object whose distance from the detection means is the shortest is used. Also, if it is detected out of the shadow in the middle, it is determined as a newly appearing thing. Next, when approaching from different directions, since different sensors detect each of them, they can be grasped as separate moving objects. Therefore, it is determined whether or not to use the apparatus from each movement. . That is, when a plurality of objects exist in different directions as viewed from the device, it is recognized whether or not each object is a person who uses the object. In this case, the one closer in distance to the image forming apparatus is determined first. Next, consider the case where one approaches and the other passes by. In this case, it is conceivable that a passing moving object may be a shadow of an approaching object, or be cast as a shadow. In other cases, two moving objects can be identified by the above-described method, and a processing method at this time will be described. First, when another moving object crosses the approaching moving object, the moving object that has crossed is judged as it is, and for the approaching moving object, based on the data before entering the shadow, as long as it is in the shadow Predict its movement. After that, when it comes out of the shadow, tracking is started again. That is, in the detectable area where the detecting means can detect the distance to the object, if there is an object approaching the device and an object crossing between the approaching object and the detecting means, both the approaching object and the object crossing When the infrared light emitted by the infrared light emitting means is projected,
The distance from the device is detected for both objects, and the infrared light is not emitted to the approaching object, and only infrared light is emitted to the traversing object. The movement of the approaching object is predicted from the change in the distance data, and when infrared rays are projected on the approaching object again, distance detection is resumed for both objects. Next, in the case where another moving object passes behind the approaching moving object, the judgment is made as to the approaching moving object, and the moving object that crosses is determined based on the data before entering the shadow. Predict its movement as long as it is in. After that, the tracking is started again when the moving object comes out of the shadow. Here, the order of priority in the determination is set to the object closest to the apparatus, and in the case of the same distance, the object is set to the object approaching earlier. That is, in the detectable area in which the detection means can detect the distance to the object, when an object approaching the device and an object passing behind the approaching object are present, both the approaching object and the traversing object When the infrared light emitted by the infrared light emitting means is emitted, the distance from the device is detected for both objects, and the infrared light is not emitted to an object that passes behind but is emitted only to an approaching object. While the light is being emitted, the movement of the object passing behind is predicted based on the change in the distance data of the object passing behind that was detected before that time, and the point at which infrared light is projected on the object passing behind again Then, the distance detection is restarted for both objects. By using the above method as a basic idea when judging whether or not the apparatus is going to be used, it is possible to make a reliable judgment. As is apparent from the above description, the present invention solves the above-mentioned problems of the prior art and further has the following effects. According to an aspect of the present invention, there is provided an apparatus for performing recognition by detecting only distance data, wherein an object approaching the apparatus and an object crossing between the approaching object and the detection means are present in a detectable area. Also, accurate recognition can be performed. According to the second aspect of the present invention, there is provided an apparatus for performing recognition by detecting only distance data, wherein an object approaching the apparatus and a rear part of the approaching object are located within a detectable area in which the detecting means can detect a distance to the object. Even when there is a passing object, accurate recognition can be performed. According to a third aspect of the present invention, in a device for performing recognition by detecting a distance from a device and a direction viewed from the device, when an object approaching the device and an object crossing between the approaching object and the detection unit are present. Also, accurate recognition can be performed. According to a fourth aspect of the present invention, in a device for performing recognition by detecting a distance from a device and a direction viewed from the device, even if an object approaching the device and an object passing behind the approaching object are present, accurate detection is possible. Recognition can be performed.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a block diagram for explaining a configuration concept when an automatic response system is applied to an OA device. FIG. 2 is a diagram illustrating an example in which a sensor is mounted on an image forming apparatus (electronic device) . FIG. 3 is a block diagram showing a basic configuration of a recognition device. FIG. 4 is a diagram illustrating a relationship between an image forming apparatus and an obstacle. FIG. 5 is a diagram schematically illustrating distance data between an image forming apparatus and an obstacle. FIG. 6 is a diagram illustrating an example of environment information for an image forming apparatus. FIG. 7 is a diagram showing environment information in FIG. 4; FIG. 8 is a diagram showing a state of change of environmental information. FIG. 9 is a diagram showing distance data in FIG. 8; FIG. 10 is a diagram showing a result obtained by taking a difference between environment information and distance data in the case of FIG. 9; FIG. 11 is a diagram showing a state of change of environmental information. FIG. 12 is a detailed view of a main part of FIG. 11; FIG. 13 is a diagram showing a state of change of environmental information. FIG. 14 is a detailed view of a main part of FIG. 13; FIG. 15 is a diagram showing a state of change of environmental information. FIG. 16 is a diagram showing a state of change of environmental information. FIG. 17 is a diagram illustrating a concept of movement trajectory information of a target object. FIG. 18 is a diagram illustrating a state of change of environmental information. FIG. 19 is a diagram showing a state of change of environmental information. FIG. 20 is a diagram showing a state of change of environmental information. FIG. 21 is a diagram showing a state of change of environmental information. FIG. 22 is a diagram showing a state of change of environmental information. FIG. 23 is a diagram for describing recognition determination for a target object. FIG. 24 is a diagram for describing an example of recognition determination when a target object approaches an image forming apparatus. FIG. 25 is a diagram conceptually showing parameters generated for each distance in the example of FIG. 24; FIG. 26 is a diagram illustrating an example of a hierarchical neural network. FIG. 27 is a diagram for describing an example in which a plurality of target objects exist within a measurement range of a distance sensor. FIG. 28 shows whether the target person is a user of the image forming apparatus,
It is a figure showing an example of the way of judging whether or not. FIG. 29 is a diagram for describing an example in which two or more objects are identified by pulsating emission of infrared light. [Description of Signs] 1 ... OA equipment, 2 ... Sensor section, 3 ... Recognition determination device, 4 ...
Service providing device, 5 ... Electronic device (image forming device) , 6
... Distance sensor, 7 ... Sensor drive unit, 8 ... Parameter extraction unit, 9 ... Recognition determination unit, 10 ... Post-processing unit, 11 ... Control unit,
12: input / output management unit, 13: storage device, 14: data line, 15: control line, 16: external I / F, 17: obstacle,
18: target object, 21: hierarchical neural network, 22: input layer, 23: intermediate layer, 24: output layer.

──────────────────────────────────────────────────続 き Continued on the front page (72) Inventor Mitsuhisa Kanaya 1-3-6 Nakamagome, Ota-ku, Tokyo Inside Ricoh Co., Ltd. (72) Inventor Takashi Ichinomiya 1-3-6 Nakamagome, Ota-ku, Tokyo Inside Ricoh Co., Ltd. (72) Inventor Fumio Kurizumi 1-3-6 Nakamagome, Ota-ku, Tokyo Inside Ricoh Co., Ltd. (56) References JP-A-4-27964 (JP, A) JP-A-3 JP-A-194562 (JP, A) JP-A-3-96969 (JP, A) JP-A-56-101159 (JP, A) JP-A-4-35144 (JP, U) Patent 2820271 (JP, B2) (58) Field surveyed (Int.Cl. ⁷ , DB name) G01S ⁷ /48-7/51 G01S 17/00-17/95 G03G 15/00 G03G 21/00

Claims (1)

(57) Claims: 1. An infrared light receiving means comprising an infrared light emitting means and an infrared light receiving means, wherein the infrared light emitted by the infrared light emitting means is projected and the infrared light reflected from an object is reflected by the infrared light receiving means. Detecting means for detecting the distance from the device to an object near the device by receiving light at the device; based on a detection signal from the detecting means, whether or not the detected object is a person who uses the device; An electronic device comprising: a recognition unit that recognizes a detected person at a timing before reaching the device; and a control unit that controls an operation of the device based on a recognition result of the recognition unit. In the detectable area where the distance can be detected, if there is an object approaching the device and an object crossing between the approaching object and the detection means, the infrared ray is applied to both the approaching object and the crossing object. When the infrared light emitted by the light means is emitted, the distance from the device is detected for both objects, and the infrared light is not emitted for the approaching object, and only for the traversing object. Predicts the movement of the approaching object based on the change in the distance data of the approaching object detected before that, and resumes distance detection for both objects when infrared light is projected on the approaching object again. An electronic device, comprising: 2. An infrared light emitting means and an infrared light receiving means. The infrared light emitting means emits infrared light, and receives infrared light reflected from an object by the infrared light receiving means. Detecting means for detecting a distance to an object in the vicinity of the apparatus; and, based on a detection signal from the detecting means, determining whether the detected object is a person using the apparatus or not. In an electronic device having a recognition unit that recognizes at a timing before performing the operation, and a control unit that controls the operation of the device based on a recognition result of the recognition unit, the detection unit detects a distance to an object within a detectable area. In the case where there is an object approaching the device and an object passing behind the approaching object, infrared rays emitted by the infrared light emitting means are projected on both the approaching object and the traversing object. When the distance is detected from the device for both objects, the infrared light is not emitted to objects that pass behind, while the infrared light is emitted only to the approaching object, The movement of the object passing behind is predicted from the change in the distance data of the object passing behind that was detected, and when infrared rays are projected on the object passing behind again, distance detection is performed for both objects. An electronic device, wherein the electronic device is restarted. 3. An infrared light emitting means and an infrared light receiving means, wherein the infrared light emitted by the infrared light emitting means is projected, and infrared light reflected from an object is received by the infrared light receiving means. Detecting means for detecting a distance to an object near the device and a direction viewed from the device; based on a detection signal from the detecting means, it is determined at least whether or not the detected object is a person who uses the device; Recognizing means for recognizing at a timing before reaching the device;
An electronic device having control means for controlling the operation of the device based on the recognition result of the recognition means; an object approaching the device within a detectable area in which the detection means can detect a distance to the object; If there is an object crossing between the detection means, when the infrared light emitted by the infrared light emitting means is projected on both the approaching object and the traversing object, the distance from both devices is detected from the device,
While the infrared light is not emitted to the approaching object and only the traversing object is emitted, the movement of the approaching object is predicted from the change in the distance data of the approaching object detected before that. An electronic device that restarts distance detection for both objects when infrared light is projected on the approaching object again. 4. An infrared light emitting means and an infrared light receiving means. The infrared light emitting means emits infrared light, and the infrared light reflected from an object is received by the infrared light receiving means. Detecting means for detecting a distance to an object near the device and a direction viewed from the device; based on a detection signal from the detecting means, it is determined at least whether or not the detected object is a person who uses the device; Recognizing means for recognizing at a timing before reaching the device;
An electronic device having control means for controlling the operation of the device based on the recognition result of the recognition means, wherein an object approaching the device and an object approaching within a detectable area in which the detection means can detect a distance to the object. If there is an object passing behind, when the infrared light emitted by the infrared light emitting means is projected on both the approaching object and the traversing object, the distance from both devices to the device is detected, The infrared light is not emitted to the passing object, and only the approaching object is emitted while the infrared light is emitted. An electronic device which predicts a movement of an object, and restarts distance detection for both objects when infrared rays are projected onto an object passing backwards again.