JPH0666943A - Image forming apparatus - Google Patents

Abstract

PURPOSE:To make it possible to perform accurate recognition even if a plurality of persons approach the apparatus from the same direction by recognizing and judging whether the person uses the apparatus or not with respect to the body, whose distance from a distance sensor is the shortest. CONSTITUTION:Distance sensors 6 using infrared rays are mounted so that the light emitting and receiving directions of each sensor are slightly shifted in order to obtain high resolution. A sensor driving part 7 receives the driving of the sensors 6 and the measured distance data based on the sampling signal from a control part 11 and sends the measured distance data to a body to a parameter extracting part 8. The extracting part 8 extracts and computes the parameters of the characteristic amounts required for the recognition and various kinds of judgment for body that is the object for response based on the distance data. A recognizing and judging part 9 receives the parameters formed in the extracting part 8 directly or through a memory device 13 and judges whether the object body is the user of the apparatus or not with respect to the body located at the shortest distance when a plurality of the bodies approach the apparatus.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an image forming apparatus, and more particularly to a detecting means for detecting an object near the image forming apparatus.

[0002]

2. Description of the Related Art In recent years, in order to improve the convenience of users, automation of devices has been increasingly attempted. In particular, the field of interest in the present invention is to detect a user who approaches the device by providing the device with a sensor for detecting an object in the vicinity of the device,
This is a field in which automation of the equipment is desired to be enhanced. The technology in this field includes, for example, an automatic door that automatically detects the approach of a person and opens and closes the door, and a cash dispenser of a bank that detects the approach of a person and automatically turns on / off the operation display unit (LCD). It has been put to practical use as such. Further, in the image forming apparatus, automatic power ON / OFF,
It is applied to automatic preheating function.

The automatic power ON / OFF function is used when an image forming apparatus such as a copying machine is provided with a sensor for detecting the presence or absence of an object (human body) on the front surface of the apparatus and when the human body is not detected (when not in use). Is a function of turning off the power and turning on the power when the human body is being detected (in use).

In the image forming apparatus such as a copying machine, the automatic preheating function is provided with a sensor for detecting the presence or absence of an object (human body) in front of the apparatus, and when the human body is not detected (when not in use), an operation display is displayed. The fixing temperature of the fixing means (roller having a built-in heater) for fixing the image information (toner image) transferred onto the sheet while the display of the unit (LCD) is turned off is lower than that when the human body is detected. This is a function of setting the temperature (preheating state), turning on the display of the operation display unit while detecting the human body (in use), and setting the fixing temperature to a predetermined temperature at which the fixing operation is possible.

[0005] Thus, the conventional power ON / OFF and preheat activation / cancellation had to be executed by manual input, but in recent years, an apparatus for automatically combining the sensors as described above has appeared. I've been

[0006]

However, the conventional device described above has the following problems. Since the sensor is configured to detect the presence of an object facing the device, even a non-user can recognize the user as long as he walks in front of the device, turn on the power switch, or preheat. Will be canceled. If the sensitivity of the sensor is set weak to avoid this problem, the user recognizes the user for the first time when standing in front of the device, so control such as releasing the preheating state is delayed, and the user eventually There was a problem of operating the switch.

[0007]

SUMMARY OF THE INVENTION In order to solve the above-mentioned problems, the present invention detects a distance from a device to an object near the device and a detection signal based on a detection signal from the detection device. Whether the object is the person using the device,
In an image forming apparatus having a recognition means for recognizing at least the detected person at the timing before reaching the apparatus, a plurality of objects approaching the apparatus from the same direction, and the infrared rays emitted by the infrared light emitting means are not projected. If it exists, it recognizes whether or not the person who uses the object having the shortest distance from the detection means.

[0008]

The present invention has the following structure in order to solve the above problems. (1) An infrared light emitting means and an infrared light receiving means are provided, the infrared light emitted by the infrared light emitting means is projected, and the infrared light reflected from an object is received by the infrared light receiving means, so that the device is near the device. Detecting means for detecting the distance to the object; based on the detection signal from the detecting means, whether the detected object is a person who uses the device, at least before the detected person reaches the device. An image forming apparatus having a recognizing unit that recognizes at the timing of; and a control unit that controls the operation of the apparatus according to the recognition result of the recognizing unit, a plurality of objects approach the apparatus from the same direction,
When there is an object to which the infrared ray emitted by the infrared ray emitting means is not projected, it is recognized whether or not the person uses the object having the shortest distance from the detecting means, or (2)
Having an infrared light emitting means and an infrared light receiving means, by projecting the infrared light emitted by the infrared light emitting means and receiving the infrared light reflected from the object by the infrared light receiving means,
Detecting means for detecting a distance from the device to an object in the vicinity of the device; based on a detection signal from the detecting means, at least the detected person determines whether or not the detected object is a person who uses the device. In an image forming apparatus having a recognition means for recognizing at a timing before reaching the apparatus; and a control means for controlling the operation of the apparatus according to the recognition result of the recognition means, a plurality of objects approach the apparatus from a plurality of directions. In this case, the distance from each device to the object is detected to recognize whether or not the object is used, or (3) the infrared light emitting means and the infrared light receiving means are provided, and the infrared light emitted by the infrared light emitting means is projected. Detection means for detecting the distance from the device to the object in the vicinity of the device by receiving the infrared light reflected from the object by the infrared light receiving device; Detection from the detection device A recognition means for recognizing whether or not the detected object is a person who uses the device, at least at a timing before the detected person reaches the device; and the device based on the recognition result of the recognition means. An image forming apparatus having control means for controlling the operation of the device, an object approaching the device and a crossing between the approaching object and the detecting means within a detectable area where the detecting means can detect the distance to the object. When an object is present, when the infrared rays emitted by the infrared light emitting means are projected onto both the approaching object and the object passing therethrough, the distance from the device is detected for both objects, and the infrared ray is detected for the approaching object. While the infrared light is not projected and only the object that crosses it is projected, the movement of the approaching object is predicted from the change in the distance data of the approaching object that was previously detected. When infrared rays are projected onto the approaching object again, the distance detection is restarted for both objects, or (4) the infrared light emitting means and the infrared light receiving means are provided, and the infrared rays emitted by the infrared light emitting means are emitted. Detecting means for detecting the distance from the device to the object in the vicinity of the device by receiving the infrared rays projected from the object and reflected by the infrared receiving means; based on the detection signal from the detecting means, Recognition means for recognizing whether or not the detected object is a person who uses the device, at least at a timing before the detected person reaches the device; and controlling the operation of the device according to the recognition result of the recognition means. In the image forming apparatus having a control means for controlling the object, the detecting means passes through an object approaching the apparatus and behind the approaching object within a detectable area where the distance to the object can be detected. In the case where there is an object that does, when the infrared light emitted by the infrared light emitting means is projected to both the approaching object and the object that crosses the object, the distance from the device is detected for both objects, and the object passing behind is detected. While the infrared light is not projected, and the infrared light is projected only for the approaching object,
The movement of the object passing behind is predicted from the change in the distance data of the object passing behind detected earlier, and when the infrared rays are projected onto the object passing behind again, the distance of both objects is calculated. Restart detection of, or
(5) An infrared light emitting means and an infrared light receiving means are provided, 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, so that the device is near the device. Detecting means for detecting the distance to the object; based on the detection signal from the detecting means, whether the detected object is a person who uses the device, at least before the detected person reaches the device. In an image forming apparatus having a recognition means for recognizing at the timing of; and a control means for controlling the operation of the apparatus according to the recognition result of the recognition means, a person facing the apparatus using the apparatus and an object approaching the apparatus. If a person facing the device moves away from the device and is farther from the device than an object approaching the device, it is possible to recognize whether or not the person approaching the device is the person using it. Alternatively, (6) 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, whereby the device is Detecting means for detecting a distance to an object in the vicinity of the device and a direction viewed from the device; based on a detection signal from the detecting device, it is at least detected whether or not the detected object is a person who uses the device. In an image forming apparatus having a recognition means for recognizing a person at a timing before reaching the apparatus; and a control means for controlling the operation of the apparatus according to the recognition result of the recognition means, a plurality of image forming apparatuses are arranged in the same direction when viewed from the apparatus. When an object is present, it is recognized whether or not the object is the person who uses the object having the shortest distance from the detection means, or (7) an infrared light emitting means and an infrared light receiving means are provided, Detection means for detecting the distance from the device to the object in the vicinity of the device and the direction viewed from the device by projecting the infrared light emitted from the infrared light emitting device and receiving the infrared light reflected from the object by the infrared light receiving device. And; based on the detection signal from the detection means,
Recognition means for recognizing whether or not the detected object is a person who uses the device, at least at a timing before the detected person reaches the device; and controlling the operation of the device according to the recognition result of the recognition means. When a plurality of objects exist in different directions when viewed from the apparatus, the image forming apparatus having a control means for recognizing whether or not each person is a person who uses the object, or (8) infrared light emitting means and infrared light receiving means Means for projecting the infrared light emitted from the infrared light emitting means and receiving the infrared light reflected from the object by the infrared light receiving means, as seen from the distance from the device to the object near the device and the device. Detection means for detecting the direction;
Recognition means for recognizing, based on a detection signal from the detection means, whether or not the detected object is a person who uses the apparatus, at least at a timing before the detected person reaches the apparatus; An image forming apparatus having a control means for controlling the operation of the apparatus according to the recognition result of
If there is an object approaching the device and an object crossing between the approaching object and the detecting means in the detectable area where the detecting means can detect the distance to the object, both the approaching object and the crossing object are present. When the infrared light emitted from the infrared light emitting means is projected, the distance from the device is detected for both objects, the infrared light is not projected to the approaching objects, and the infrared light is projected only to the traversing objects. While moving, predict the movement of the approaching object from the change in the distance data of the approaching object that was detected before that, and detect the distance for both objects when infrared rays are projected to the approaching object again. Or (9) the infrared light emitting means and the infrared light receiving means are provided, and the infrared light emitted from the infrared light emitting means is projected to reflect the infrared light reflected from the object by the infrared light receiving means. In and by receiving, detecting means and for detecting a direction viewed from the device and the distance to the object of the device near the device; based on the detection signal from the detecting means,
Recognition means for recognizing whether or not the detected object is a person who uses the device, at least at a timing before the detected person reaches the device; and controlling the operation of the device according to the recognition result of the recognition means. When there is an object approaching the device and an object passing behind the approaching object in the detectable area where the detecting means can detect the distance to the object, the image forming apparatus having the control means When the infrared light emitted from the infrared light emitting means is projected to both the object that crosses and the object that crosses, the distance from the device is detected for both objects, and the infrared light is not projected to the object that passes behind. , While infrared rays are being projected only on the approaching object, the movement of the object passing behind is predicted from the change in the distance data of the object passing behind detected previously. In which again when infrared object passing through the rear is projected, and characterized by resuming the detection distance for both objects.

[0009]

According to the detection signal from the detecting means for detecting the distance from the device to the object in the vicinity of the device, at least the detected person reaches the device by determining whether or not the detected object is a person who uses the apparatus. In a device that recognizes at an earlier timing and controls the device, the infrared light emitted from the infrared light emitting means is projected onto an object, and the infrared light reflected from the object is received by the infrared light receiving means to determine the distance to the object. The detection greatly improves the convenience of operation of the device.

Device Outline FIG. 1 is a block diagram for explaining a configuration concept when an automatic response system is applied to an OA device. The automatic response system includes a sensor unit 2 composed of one or more sensors.
A recognition determination device 3 and a service providing device 4, which are mounted on various OA devices 1 to realize an automatic response function, and which are suitable regardless of the active action of the user of the OA device 1. It responds and provides various services.

The sensor unit 2 is mounted on the surface or inside of the OA device 1 in order to generate various data for recognizing an object (for example, a human being approaching) that automatically responds, and recognizes the obtained data. Send to device 3. The types of sensors, the mounting positions, and the number of sensors are the parameters to be detected from the data from the sensors, the direction to be detected (for example, the direction in which the operation panel is facing = the OA device front direction), and the size of the object to be responded to. (Width, height), detection accuracy (resolution, detection interval) and the like.

FIG. 2 is a diagram showing an example of mounting a sensor section composed of a plurality of distance sensors 6 in an image forming apparatus 5 which is a copying machine, a facsimile machine or a laser beam printer. FIG. Overall perspective view of device, (b)
The figure is a plan view. In the example of FIG. 2, the object to be responded to is a human (operable person), the data obtained by measurement is the distance from the image forming apparatus 5 to the object to be measured, and the directions to be measured are the front and side surfaces of the apparatus 5. . In addition to these, 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. In this type of sensor, for example, infrared light is emitted from the light emitting unit in the target direction and the distance is measured by measuring the amount of reflected light at the receiving end, and ultrasonic waves of a certain frequency are transmitted from the transmitter. However, there is one in which the reflected wave is received by a wave receiver and the distance is measured by the phase difference.

In the example of FIG. 2, a plurality of sensors are mounted in order to obtain high resolution in a relatively short detection period, and the distance sensors are operated in parallel to perform measurement. Each sensor emits light little by little (at intervals of 10 degrees) to obtain the direction of the measured object.
It is implemented by shifting the direction of transmission / reception / reception. Also, since vertical data (height, etc.) is not required, the directions of light emission / transmission / light reception / reception are developed and mounted only on the horizontal plane. In addition to the distance sensor, an image input device using a CCD, for example, can be considered as the configuration of the sensor unit. In this case, the image data taken in from the image input device is sent to the recognition determination device.

The recognition determination device 3 is built in or attached to the OA equipment 1 and makes a recognition determination based on the data sent from the sensor unit 2. For example, as in the example shown in FIG. 2, from a distance to an object and its direction data, a stationary object and a moving object as a response target are recognized, and an object (human) as a response target recognizes an OA device. Determine behavior such as whether or not to use (or whether or not to use). In addition, for a device that has a sensor unit composed of an image input device and uses image data, the characteristics of the responding target object (human) are extracted, the individual is identified based on the extracted characteristics, and the individual ID (eg name,
Number, etc.) and sends the generated judgment data to the service providing device.

The service providing device 4 has a function of driving each part of the OA equipment 1, and embodies services by various automatic responses. For example, when there is a response target object approaching the OA device 1 and the determination data indicating that the object uses the OA device is sent, the preheating mode is automatically released, or conversely, the use end is determined. When data is sent, this is a service that automatically transitions to the residual heat mode. In addition, regarding the device in which the personal ID is sent as data, the operation unit is optimized for each user (key / layout change, instruction screen switching,
Etc.) to 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 the function in software by the central processing unit of the OA equipment.

Recognition Judgment Device Outline of Recognition Judgment Device FIG. 3 is a block diagram showing the basic configuration of the recognition judgment device.
The operation of each part will be described. Note that the OA device in which the automatic response system is installed is an image forming apparatus, and the sensor unit that sends data to the recognition and determination apparatus has a configuration in which a plurality of distance sensors with strong directivity emit light as shown in FIG. -Reception / light reception-The following explanation will be made assuming that the direction of reception is expanded and mounted on a horizontal plane. The recognition determination device 3 includes a sensor driving unit 7, a parameter extraction unit 8, a recognition determination unit 9, and a post-processing unit 1.
0, control unit 11, input / output management unit 12, storage device 13, data line 14, control line 15, and external I / F (interface) line 16.

The sensor drive unit 7 drives the distance sensor 6 and receives measured distance data. Control unit 1
Based on the sampling signal from 1, each distance sensor 6 is driven and the distance to the object is measured. Then, the measurement result data is sent to the parameter extraction unit 8. The parameter extraction unit 8 extracts and calculates, from the measured distance data, the characteristic amount parameters required for recognition and various determinations of the response target object from the distance data to each object. The generated parameter and its additional information are sent to the recognition determination unit 9 and written in the storage device 13 as appropriate.
It is read from other blocks as needed.

The recognition determining unit 9 makes a determination regarding the object to be responded to by the request signal from the control unit 11. The parameters generated by the parameter extraction unit 8 are received directly or via the storage device 13, and, for example, whether or not 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 is completed (“in use” or “used”),
And so on.

The post-processing section 10 collects the judgment results and arranges them in a format for final output to the outside. For example, the process is performed in this block when there are multiple objects to be responded to. 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 the 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 input / output signals include the post-processing unit 10
In addition to the determination data generated in step 1 and sent to the service providing device, control signals such as various requests and timing signals between the recognition determination device and the image forming device are also included.

The storage device 13 is composed of a RAM for storing the dirty data generated in each block as necessary, and a ROM for storing the programs and data required to move each block. Data reading / writing is performed. Data line 14
Is used for transmitting each data. The control line 15 is used for transmitting control signals. The external I / F line 16 is used for transmitting control signals and data for interfacing with the outside (image forming apparatus).

Sensor drive unit The sensor drive unit 7 has a period T from the control unit 11 via the control line 15 (T must be a period sufficiently shorter than the moving speed of the object to be recognized as a response target). The distance sensor 6 mounted on the image forming apparatus is driven according to the sent sampling signal. The distance sensors are driven simultaneously (in parallel), and the distance is measured once in one sampling cycle (time interval T). The measurement data is converted into a digital data from analog data in the sensor drive unit 7, and a parameter can be identified by a method (for example, a sensor identification number is added to each data) that can identify which data is measured. It is sent to the extraction unit 8.

Parameter Extraction Unit The parameter extraction unit 8 extracts parameters required for recognition from the distance data sent from the sensor drive unit 7. As shown in FIG. 4, the distance sensors are arranged at intervals of 10 degrees with the center of the image forming apparatus 5 as the center (however, for the tenth to nineteenth positions, ◯ 10, ◯ 11,
It is mounted so that the measurement is performed in 19 directions (denoted as ◯ 19) (however, the measurement is performed only in the measuring direction 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 time interval T at the same time. Each arrow in FIG. 4 indicates the direction of light emission / transmission / light reception / reception of the sensor.

The parameter extraction unit performs the following processing at time intervals T (every time measurement is performed). Position Detection (1) Storage of 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 the forward direction and the lateral direction. It is assumed that the maximum distance at which the distance sensor can measure the distance to the object is Rmax.
In addition to the measurable distance of the distance sensor itself, this measurable distance is such that the gap between the measurable directions (the range in which measurement is not performed) is sufficiently smaller than the size of the response target object (human). It is such a range. In the example of FIG. 4, 19
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 white letters among the measurement directions of. The parameter extraction unit 8 stores the distance data together with the measurement direction (distance sensor number) in the storage device (memory) 13 for each measurement. An example of the distance data written in the storage device 13 in the case of FIG. 4 is schematically shown in FIG. Here, in FIG. 5, r _d represents the measurement result (distance to the object) in the direction d, and the ∞ symbol indicates that there was no object closer than the object was not measured (Rmax)). It is shown that. The parameter extraction unit 8 writes the measurement result in a predetermined address in the storage device 13 every time the measurement is performed at the time interval T.

(2) Update of environmental information An object (= obstacle: wall, for example, which is within the measurable range of the distance sensor and does not actively work on the image forming apparatus 5)
Position information of desks, chairs, etc.) will be called environmental information. The parameter extraction unit 8 distinguishes these objects from those that may actively act on the image forming apparatus 5 (= moving objects: for example, humans, etc., hereinafter referred to as target objects). First, the environment information in the storage device 5 is referred to. The environmental 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 exists in each direction.

As the environmental information, the maximum distance measured in each direction in the image forming apparatus 5 is selected for a period sufficiently longer than the period in which the target object is active in the measurable range of the distance sensor (for example, after the power is turned on). 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, environmental information is created after a sufficiently long time has elapsed. For example, in the image forming apparatus installed in the environment as shown in FIG. 4, after a sufficiently long time (it is enough if there is no moving object such as a human within the measurement range of the distance sensor). The environmental information of is as shown in FIG. However, r _d represents the distance to the obstacle in the direction d in the case of FIG.

(3) Object Detection After updating the 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.
Think of when you are approaching. FIG. 9 shows distance data in the case of FIG. 8 written in the storage device by the procedure of (1). However, r _dt is the distance to the object in the direction d at time t. The parameter extraction unit 8 creates the storage device 5 based on this distance data and the procedure of (2).
The target object is detected by comparing it with the environmental information stored in it. Specifically, for example, the difference between the distance written in the environmental information and the distance data is calculated for each direction. FIG. 10 shows the result of taking the 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 environmental information regarding the direction, and the target object 18 is recognized in the direction according to this (environment ≠ distance data). Now, considering a polar coordinate system in which the center of the image forming apparatus is the origin and the direction of 010 is the angle θ = 0, the position of the target object 18 in the example of FIG. 8 is (r _5t0 , 50 °). expressed. When an object is recognized,
The position (distance and direction) is written in 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 the directions of and, and according to the above 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 distances between them are calculated, and all the distances are set to a predetermined value Lmin (where Lmin is an object to be responded (= human). Each point which is smaller than the value of) and whose detection directions are adjacent to each other is grouped as one position. If there are two points, they will be grouped in the middle point and
If the number of points is equal to or more than the point, the points are combined into the position of the center of gravity to generate one position. In the example of FIG. 11, the distance l between the two points detected is

[0029]

[Equation 1]

When l <Lmin, the two points are combined into one and the midpoint is newly adopted as the position.
When the number of points is 3 or more, as shown in FIG.
3 only when <Lmin and l2 <Lmin and l3 <Lmin
The points are collected, and the center of gravity G of the three points is adopted as the position of the target object and written in the storage device.

Object Tracking (1) Tracking of One Object Once the target object is recognized within the measurable range of the distance sensor, the target object is tracked. For example, the target object 18 shown in the example of FIG. 8 is displayed at time t1 (= t0 + T) in FIG.
If it moves as shown in 3, the object position (r _6t1 , 40 °) is detected by the method described above. Here, if the position information of the target object one measurement interval time before (time T before) is stored in the storage device 13, the moving speed v and the moving direction φ are calculated. As for the target object 18 shown in the example of FIG. 13, the position information calculated in the example of FIG. 8 has already been stored in the storage device 13, so 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 moving distance of the target object 18 from time t0 to t1 is l _t1 , the average speed is v _t1 , the line connecting the coordinate origin (center of the image forming apparatus) and the position of the target object 18 at time t0, and at time t0. If the angle formed by the line connecting the position of the target object 18 and the position of the target object 18 at time t1 (moving direction) is defined as φ _t1 , the amount represented by each parameter is as shown in FIG. In FIG. 14, l _t1 is

[0033]

[Equation 2]

It becomes The moving speed v and the moving direction φ calculated by Expression 3, Expression 5, and Expression 6 are written in the storage device 13 together with the position (r, θ) calculated previously. By repeating the above operation at time intervals t,
In the storage device 13, position information r, θ, and if
If there is position information measured before, the moving speed v and the moving direction φ are sequentially stored as the trajectory information of the object at time intervals 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, but it can be conceptually considered as a table. Target object 18 after time T (= t2) in FIG.
FIG. 15 shows the movement of the robot, after a further time T (= t
FIG. 16 shows 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. 17, respectively.

(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 locus information are 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, as the position of the target object A, (r ₆ , θ ₆ (= 4
0)), as the position of the target object B (r ₁₂ , θ ₁₂ (=-
20 °)) is detected and the trajectory information of each is written. FIG. 19 shows a state after one sampling period (time interval T) from 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. 20, the target object A
There are two possible cases, ie, where is moved to position 1 and target object B is moved to position 2 (case A), or target object A is moved to position 2 and target object B is moved to position 1 (case B), respectively. Which locus information to write each position is determined by the following method.

The moving direction φ and the velocity v are calculated by the equations 5 and 6 for the above two cases, 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 moving direction of 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 , _assuming that the state before one sampling period (time interval T) (the moving direction of the target object A in the state of FIG. 18 is φ _Apre , the moving speed is v _Apre , and the moving direction of the target object B is φ _Bpre , the target 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

[0037]

[Equation 3]

It 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.

[0039]

[Equation 4]

However, α and β are change amounts δ in the moving direction.
It is a constant for weighting φ _i and the moving speed change amount δv _i . As the combination of the target object and the detection position, the 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 of case A and case B are

[0041]

[Equation 5]

Since E _a <E _b , the combination of the target object and the detection position for case A is adopted,
In the trajectory information of the target object A, the position 1 (r ₇ , θ ₇ (= 30
)), The moving direction φ _Aa , the moving speed v _Aa , and in the trajectory information of the target object B, the position 2 (r ₁₁ , θ ₁₁ (= -10 °)), the moving direction φ _Ba , the moving speed v _Ba. Are written respectively.

Similarly, in all cases where three or more target objects exist within the measurement range of the distance sensor, combinations of target objects and detection positions are created,
Data to be written in the trajectory information is determined by calculating the total change amount E in each case. When the target object whose total change amount E cannot be calculated is included, for example, the moving distance 1
Is performed so that the target object and the detection position are associated with each other so as to minimize (corresponding the detection positions of the close objects to each other as compared with one sampling period (time interval T) before).

When a plurality of target objects overlap with each other when viewed from the image forming apparatus as in the case of the target object A and the target object B in FIG.
The number of detected target objects temporarily decreases. In such a case, tracking is performed as described below to generate trajectory information. In the example of FIG. 21, the object is detected in the direction of and the position (r ₉ , θ ₉ (= 10 °)) is obtained. Here, the target object A one sampling cycle (time interval T) before
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 the moving speed when it is considered that the target object A and the target object B respectively reach the detected position are φ _A , Given v _A and φ _B , v _B , from Equation 5 and Equation 6,

[0045]

[Equation 6]

It becomes Further, the moving directions and moving speeds of the target objects A and B one sampling period (time interval T) before are φ _Apre , v _Apre and φ _Bpre , v _Bpre.
Then, the respective variation amounts e _A and e _B are given by

[0047]

[Equation 7]

It becomes Assuming that the detected position is the position of the target object with the smaller change amount, in the case of the example in FIG. 22, since e _B <e _A , the detected position is the trajectory information of the target object B. Written. In this case, with respect to 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 backward from the time. For example, if the position of the target object A is determined to be (r _Apost , θ _Apost ) after one sampling period (time interval T), then the position between the two points (r _Apre , θ _Apre ) and (r _Apost , θ _Apost ) The point is assigned to the reserved position (r _A , θ _A ). Similarly, when the position is determined after n sampling cycles (time interval nT), points that internally divide the two points into n are assigned to the reserved positions and written in the trajectory information.

Similarly, when three or more target objects exist within the measurement range of the distance sensor and the target objects overlap with each other when viewed from the image forming apparatus (exist in the measurement direction of the same sensor). Then, the change amount e is calculated for each target object, and the changes are compared to obtain the correspondence between the target object and the detected position.

Generation of Recognition Judgment Trigger The distance r to the approaching target object 17 is a certain value Lmi.
When the number becomes equal to or less than n, the parameter extraction unit 8 sends a recognition determination trigger to the control unit 11 to perform the distance determination regarding the target object 17. When a plurality of target objects are present within the measurement range, this operation is activated each time the distance r to any one of the target objects falls below 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 becomes equal to or more than a certain value Lmin, the parameter extraction unit 8 sends a recognition determination trigger to the control unit 11 to make a recognition determination regarding the target object. The same applies when a plurality of target objects are present within the measurement range. FIG. 23 shows how the judgment recognition trigger is generated.

The value of Lmin is usually set to a distance at which the recognition judgment device has to output the recognition judgment result (= whether the target object acts on the image forming device, for example) to the service providing device. This distance is appropriately determined according to the type of service provided by the output result from the recognition and 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 distance measured by the distance sensor (Rmax in FIG. 4). After outputting the recognition judgment trigger, the data related 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, and whether the target object is approaching. The data required for access to the trajectory information by the recognition determination unit, such as whether or not the user has moved away, is sent to the recognition determination unit 9.

Recognition Judgment Unit The recognition judgment unit 9 makes a judgment regarding the object to be responded to in response to a request from the control unit 11. After receiving the recognition determination request signal from the control unit 11, data relating to the trajectory information of the target object for which the recognition determination needs to be performed from the parameter extraction unit 8 (the address in the storage device 13 where the trajectory information is stored, the trajectory data, and the like). , The size of the target object, whether the target object is approaching or moving away, and the like), which are necessary for accessing the trajectory information) are received from the parameter extracting unit 8. Then, by accessing the trajectory information of the target object that needs to be recognized and determined in the storage device 13 and performing a predetermined process, for example, when the target object approaches, the user of the image forming apparatus is identified. Whether or not ("use" or "not use" of the image forming apparatus), whether or not the use of the image forming apparatus has ended ("in use" or "finished") when going away. Etc., and outputs the result to the post-processing unit 10. Among the recognition determination processes, some examples of the process for determining whether the image forming apparatus is “used” or “not used” when the target object approaches will be described below.

Preprocessing In order to make a recognition judgment regarding the target object, the recognition judgment section 9 generates some parameters from the trajectory information. One or more reference distances are provided within the measurement range of the distance sensor. For example, as shown in FIG. 24, n reference distances (where L0 <L1 <L2 <... L (n-1)) of distances L0, L1, L2, ..., L (n-1) from the center of the image forming apparatus. Shall be established). Here, the reference distance of the closest distance L0 from the image forming apparatus is Lmin.
(Distance at which the recognition judgment trigger is generated by the parameter extraction unit). The locus information at the reference distance Lm is time t _Lm , distance r _Lm (= Lm), direction θ _Lm , moving speed v _Lm , moving direction φ _Lm, and distance L (m−
1) and Lm, the change amount of the moving speed is Δv _Lm (= v _Lm
-V _L ( _m-1 )), the amount of change in the moving direction is Δ _Lm (= φ _{Lm −} φ _L
( _m-1 )), and parameters are 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). The parameters generated for each distance are conceptually shown in FIG. The generated parameters are processed so that they can be used in the next stage. For example, it is divided into groups according to the value range and converted into the group number, or normalization processing for a certain value range is performed.

Recognition / Decision Processing Among the methods for performing recognition / decision using the parameters generated in the pre-processing 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 shows a schematic diagram of a recognition judgment neural network 21 by a hierarchical neural network composed of 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 "not use"). The neural network used here is trained by a predetermined method (for example, back propagation) using the characteristic pattern collected in advance by experiment as teacher data. That is, it is assumed that each parameter is input and the object to be learned at that time is to "use" or "not use" the image forming apparatus.

In the recognition judgment process, 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 the most output layer 24 of the neural network at that time is inputted. The result corresponding to the unit that strongly ignites (the output value is the largest) is output to the post-processing unit 10 as the recognition determination result. With the same specifications, a neural network for determining whether the target object is “in use” or “used” of the image forming apparatus is prepared, and the recognition determination result is output to the post-processing unit 10.

Post-Processing Section The post-processing section 10 collects the recognition judgment results and arranges them in a format to be finally output to the outside, and then the control section 11 if necessary.
After notifying the change of state to the input / output management unit 12, the recognition determination data is sent. 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 the example of (a), the target object B who is trying to use the image forming apparatus newly comes to the place where the target object A is already using the image forming apparatus. in this case,
A recognition determination trigger is generated when the target object B approaches the distance Lmin from the image forming apparatus, and the recognition determining unit 9 determines that the target object B "uses" the image forming apparatus. Is this determination masked? If it is not held, a problem occurs that the service for the target object B is started even though the target object A is in use. On the other hand, as in the case of the example of (b), it is assumed that the target object A, which is the previous user, has left while the target object B is using the image forming apparatus. In this case, a recognition determination trigger is generated when the target object A approaches the distance Lmax from the image forming apparatus, and the recognition determining unit 9 determines that the target object A has “used up” in 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 residual heat mode, auto reset, etc.). If necessary, 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, and masks or suspends the determination regarding 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.

Control Unit The control unit 11 controls the entire recognition / judgment device. The main control contents are as follows.

(1) Timing processing of each block Data of each block (sensor drive unit 7, parameter extraction unit 8, recognition determination unit 9, post-processing unit 10, input / output management unit 12) in the recognition determination 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, confirms that the reception preparation of the block B is completed, and then sends the data transmission request signal 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 of each block Requests sent from each block in the recognition / judgment apparatus (for example, recognition judgment trigger generated in the parameter extraction unit, recovery request for error generated in each block,
Etc.) is performed.

(3) Access control of storage device Arbitration is performed so that a plurality of blocks do not access the storage device at the same time (read / write does not collide). Each block in the recognition / judgment device can be accessed only when the storage device is accessed and the access right is requested from the control unit.

(4) Control of interface with the outside The clock signal and the reset signal from the outside (image forming apparatus) are received through the input / output management unit 12, and the synchronization processing between the outside and each block in the recognition and determination apparatus is performed. Also,
External information (the state of the image forming apparatus, for example, “in operation / not operating”, information on the operation panel, etc.) is taken in, and information necessary for recognition determination is transferred to the corresponding blocks.

The input / output management unit 12 receives various requests from the outside.
And receive the request through the.
For example, when the trajectory information of the target object is requested from the outside,
This corresponds to processing such as reading trajectory information from a predetermined area in the storage device and outputting it through the input / output management unit 12. Further, a request to the outside (for example, displaying an error on the operation panel, etc.) when an error or the like occurs in the recognition determination device is also generated by the control unit 11, and the input / output management unit 12 is generated.
Is output to the outside through.

Input / Output Management Unit The input / output management unit 12 controls the 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, and each input / output data / signal is latched by the input / output management unit 12 to be synchronized. The input / output signals include control data such as various requests and timing signals between the recognition / determination device and the outside, in addition to the determination data regarding the target object generated by the post-processing unit 10 and sent to the service providing device. included.

Storage Device The storage device 13 stores a RAM for storing data generated in each block as needed, and a ROM for storing programs and data required to operate each block.
Read / write data by each block
Writing is done.

Service Providing Device Service Providing Device Outline 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 to the judgment results. Embody. Further, if necessary, the recognition determination unit is requested to provide more detailed information regarding the target object. The service providing device 4 is a conceptual device, and there are several possible ways of implementing it. In particular, it is preferable to implement such a method for a service that does not stipulate that dedicated hardware is prepared and can substitute functions by software by a central processing unit of an OA device.

Service for People When a response target object (person) approaches an OA device, and the judgment data indicating that the object uses the OA device is sent, the following service is executed. To do. (1) AI (Artificial Intelligence) residual heat function (2) AI automatic power switching function (3) AI pressure plate automatic opening and closing function (4) AI automatic interrupt function (5) Height variable function

Further, when the person who is using the OA equipment ends the operation and leaves the OA equipment, and the judgment data indicating that the use is completed is sent, the following service is executed. (1) AI residual heat function (2) AI automatic power supply switching function (3) AI pressure plate automatic opening / closing function (4) AI automatic interrupt function (5) AI automatic reset function (6) AI original / copy forget check function

Service for Individuals The following service is executed for an apparatus having a response target object (person) approaching the OA device and sending the individual ID as data. (1) Operation panel AI automatic setting function (2) AI guidance function (3) Management function (4) AI automatic interrupt function (5) AI automatic reset function (6) Message message function

Next, user recognition / personal recognition based on image data will be described. User recognition In the above-mentioned automatic response system, an example using a distance sensor such as an infrared sensor was given as a sensor. Next, based on the information such as the body and face orientation when the target object (person) approaches, which is obtained by processing the image data, not the distance information, is that person the "user"? ,
A method of recognizing / determining whether the user is a “passer” will be described. The configuration example in which a distance sensor is used in FIG. 1, the implementation example in FIG. 2, the basic configuration of the recognition determination device in FIG. . However, the distance sensor 2
It needs to be a sensor for inputting some image data using a CCD, a MOS, an 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 an approaching person in order to use the image forming apparatus 5 such as a copying machine provided with the present recognition and determination apparatus. In particular, when there is no obstacle, it can be considered that a person usually walks straight to the device he / she wants to use. In other words, approach the device you want to use with your body straight. In addition, even if you cannot come in a straight line due to some obstacle, etc., if you can see the device at least several times as long as you can reach the target device by the time it comes close to the position of the target device, You can think. In other words, the face of the device desired to be used faces straight again and again. It is possible to determine whether the target person is a "user" or a simple "passerby" by storing such behaviors of human beings as a rule as rules and extracting / determining these behaviors by image processing or the like. To do.

Hereinafter, a simple example of a specific method of making a determination will be described with reference to FIG. First, it must be judged whether or not a person is photographed in the photographed image data (step 1). This can be achieved, for example, by holding image data in which no one is reflected and taking the difference from the image data taken. In other words, by deleting the background portion from the image data that is currently captured, the remaining portion is a moving object that is not the background,
In other words, it can be seen that the target person.

Next, the orientation of the body or face must be detected in the image data of the target person (step
2). Even if it says detection, it is enough to judge whether or not it is facing here. As a very simple example, the user may be judged if the body or face of the photographed person is facing this direction. However, it is usually difficult to judge just because you were only looking at me once. In other words, this is not enough accuracy. Therefore,
For example, a counter may be provided, and the number of times that it is observed that the user has turned to this side may be stored in the counter, and it may be determined that the user is the user when the number of times of observation is preset. .

Further, the direction may be digitized by the number of angles or the like, instead of yes / no, and observed, and the data string may be used for the determination. In this case, the data string pattern of the "user" may be stored in advance and the judgment may be made by referring to the stored table, or an appropriate weighting parameter may be added with time and direction as parameters. It may be judged by the evaluation function, or the behavior pattern of the "user" may be described by a natural language rule (for example, if the user turns here many times in a short time, the user is the one.), It may be judged by fuzzy reasoning, or the behavior pattern of the "user" may be stored in advance in the neural network, and the observed data string may be input to the neural network to output whether or not the user is the "user". May be.

The structure for carrying out this recognition processing is basically the same as that described above, but the distance sensor 2 in FIG. 1 is replaced by an image input sensor such as a CCD. In addition, the image data obtained by photographing the approaching target object (target person) is processed by the parameter extraction 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, in the recognition determining unit 9, the table reference described above,
Judgment processing is performed by an evaluation function, fuzzy inference, neural network, etc.

Individual Recognition Recognizing that a target object that is a person is a specific individual is called personal identification. Individual recognition can be divided into two larger recognitions. One is the recognition of identifying an individual who has been registered in advance (identified individual identification), and the other is not to register the individual in particular, but for the target person observed at a certain point. , The same person is recognized (the same person is sequentially identified).
In the above-described automatic response system, an example in which a distance sensor is provided to measure the position of the target object as a sensor is shown, and an infrared or ultrasonic sensor has been described as a specific example thereof. Here, an example relating to individual recognition of the 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 the image is input by, for example, will be mainly described.

In this case, the recognition judgment device 3 shown in FIG.
In the above, personal recognition is performed, and the distance sensor 2 is a sensor that can input image data, and the basic configuration is not changed at all. In the following, one image input sensor will be described as an example for simplification of description, but a plurality of sensors may be provided as shown in FIGS. 1 and 2. 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 above-mentioned automatic response system without any problem by using the current image processing technology ([“robot ] Bit special edition, pp
711/724, July 1976], ["Stereoscopic vision", Journal of the Robotics Society of Japan, Vol. 1, pp30 / 35, 1983], etc.). That is, the image input sensor is just one specific example of the distance sensor, and for example, in order to obtain the position of the target object from the image data captured by one fixed sensor, the image of the position of the foot of the target person is used. Data coordinates may be extracted and mapped to real world coordinate data. If there are multiple sensors, the position of the target object can be observed by applying the triangulation principle (stereoscopic method). Therefore, even if the sensor is changed from the infrared sensor or the like to the image sensor, not only the above-described processing is possible but also the sensor is useful in the individual recognition described below.

Existing Individual-Specific Identification The processing method for the already-identified individual identification for identifying the already registered individual from the image data will be described.
Discrimination technology has existed for a long time and has been put to practical use, for example, in character recognition. The same technique / principle can be applied to the already-identified personal identification. To explain the principle briefly, prepare a dictionary that describes the characteristics of something to be specified in advance, extract the characteristics of the observed input data, compare with each content of the dictionary, and find the best match. What is present is identified. In addition to such a discriminant approach, a table reference method, an evaluation function method, a confidence factor calculation method, a fuzzy inference method, a neural network method, etc. are also known.

As the data for identifying an individual, the information about the individual, which must be registered in advance, that is, the feature, may be any feature obtained by image processing or the like, but it must be good for distinguishing the individual. I have to. For example, height, weight (volume), sex, size or shape of body or face, presence or absence of eyeglasses, etc. may be considered. The height can be obtained by converting the number of pixels from the head to the toes into the actual length from the image data. This is easy to convert because the distance to the target object should be known. Finding the head and toes can be realized by ordinary image processing techniques such as binarization and filtering and knowledge engineering. The sex 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 often used and are often used to identify individuals based on image data. For example, relations between parts, shapes of individual parts, and the like such as the degree of separation of eyes, the shape of eyes, and the contour of a jaw are often used.

By the individual recognition of the already-identified individualized identification,
It is possible to improve the operability of the user and to save the management of the device. For example, when this personal recognition device is attached to an image forming device such as a copying machine,
The operation panel AI automatic setting function, AI guidance function, and AI automatic interrupt can be realized.

Sequential Identification of Same Person Next, as described above, the individual is not registered in advance, but it is the recognition whether or not the target person observed at a certain time is the same person. Discrimination of the same person will be described. This is to store the characteristics of the target person observed at a certain point in time, determine whether they match the characteristics of the target person observed at another point, and determine whether they are the same person / You do not need to register in advance information that includes the characteristics of the individual you want to identify as a dictionary.For example, if someone does not artificially input the name of the observed person into the device, you can understand it. No information can be obtained. The method for sequentially identifying the same person is basically not much different from the method in the already identified individual identification. In the personal identification, based on the observed / extracted features, this was compared with the features of each individual, which was described in the dictionary in advance. The difference is that it compares the observed features. In the same person determination, the characteristics of the target person observed at a certain time are stored as a dictionary and used when comparing with the characteristics of the person observed later, but only the immediately preceding observed object is stored in the dictionary. Alternatively, it may be possible to store a plurality of items.

By making it possible to successively identify the same person, for example, it is possible to know that the user of the apparatus has changed, and it is possible to distinguish "in use / end of use" at that point. When a person is identified as the same person, it can be recognized as "in use" within a certain period of time, and when a person who is not the same person comes in, the previous person is recognized as finished using it. it can. If the apparatus is, for example, a copying machine, it is possible to automatically reset each parameter (AI auto reset function) to prevent the next erroneous operation by the user. Even if the AI automatic interrupt function cannot be specified for each individual, this recognition can be performed. Also,
The sensor for sequentially observing the characteristics in the same person discrimination is not limited to the CCD. For example, anything that can measure the characteristics of a person such as a color sensor, a weight scale, and a sound sensor may be used. Further, although there is a sensor which can be individually discriminated such as the image input sensor such as the CCD described above, it is possible to discriminate with higher accuracy by using a combination of sensors which are difficult to discriminate by themselves. .
The configuration in this case is only required to connect these sensors in parallel with the distance sensor 2 shown in FIG.

Processing method of recognition judgment parameter: Predetermined measurement detection area initial condition setting method A person approaching is a person who has come to operate the system (apparatus) attached to the present recognition apparatus. It is desirable to recognize and memorize the surrounding situation in order to make the determination early or more surely depending on the situation where the system is set when deciding whether the person is a passing person. As used herein, the term "situation" refers to the location of obstacles such as surrounding walls, for example. For example, when the system is installed at the far end of a dead-end corridor, the person who approaches the system is considered to be the person who uses the system in most cases. here,
Described is a method of automatically recognizing a situation where a system is installed at the far end of a dead-end corridor. The information to be detected is a fixed object, such as a wall, which is a blocking / obstacle for a human to walk. Find these objects at a certain time. For this purpose, for example, a service person or a user who installs the system to which the recognition device is attached can directly input to the system by some method.
It is troublesome to set it again. Here, the method of automatically recognizing these is described.

In order to recognize data (area data) such as an obstacle which is an initial condition in a measurable detection area by the sensor described in the above-mentioned recognition device, the following (a), (b) , (C) can be considered. (A) Area data is stored from the detection value detected after a lapse of a predetermined time after the power is turned on (blocking obstacle data based on regular light reception / reception data) A predetermined time from the time the power is turned on This is a method in which the sensor is activated later, and the location where any object is detected by the sensor is recognized as a fixed object (obstacle) and stored. Immediately after the power is turned on, the person who turned on the power is nearby and may recognize this as a fixed object. Then, after the power is turned on for a while (for example, 1 minute later)
The sensor is activated to recognize the place where something is detected as a fixed object and stores it.

As one of the embodiments, a case where the above-mentioned sensor sets the initial condition will be described. 1 and 2 show configurations of a system (the OA device 1 or the image forming apparatus 5) and a sensor 2 to which the present recognition device is attached. Here, the sensor is attached to the system in a plurality of directions. When the power of this system is turned on by the user, for example, the power of the recognition device is shared with the power of the system, and the timing of the power is easily known by some means. A timer is installed in the device or the like, and each sensor is activated after a predetermined time, for example, 1 minute, which has been set in a random manner, to perform a predetermined measurement. These sensors are
At least some object can measure in what direction and at what distance, for example, FIG. 4 and FIG.
In such a case, it is indicated by a combination of the direction and distance in which some object was observed, and at ~ 〇13, 〇15〜 ○ 19,
Recognize that there is an obstacle and memorize it.

(B) Area data is stored and updated at every predetermined timing from the detection value detected at every predetermined timing after the power is turned on. After the power is turned on, the sensor is activated at every predetermined time. This is a method of comparing the detection status of the sensor at the time of the previous measurement with the detection status of this time, recognizing where the fixed object is, and updating the memory. A fixed object should be detected in the same place no matter how many times it is detected by the sensor, unless a situation change due to a layout change or the like does not occur artificially. On the other hand, if it is not an obstacle originally, such as a person who happened to be nearby, it will be observed by the sensor at first, but will have already left there and will not be observed at the next measurement. So, for example,
This is a method in which the detection status is obtained from the sensor every 5 minutes, the past detection status is memorized, and the object always detected at the same place is recognized as a fixed object. The predetermined timing need not always be observed, that is, at the minimum interval.
However, if you just want to get the area data,
There is no particular need for constant observation, and measurements may be taken at some intervals. For example, if you always activate the sensor to make some judgment, divert it,
It is more reliable if the area data is updated at all times, but if there is no need for other observations at all times, it is more effective to save power if measurements are taken at certain intervals.

In order to realize this method, it is necessary to store the past detection status at least once. However, a plurality of times may be stored, which increases the recognition accuracy but increases the cost. 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 degrees and the distance is 2 m, and the detection status measured this time after a predetermined time is 30 degrees, 4 meters and 80 degrees, and 2 degrees.
If it is m, it is recognized / determined that there is some fixed object (obstacle) in the part of 80 degrees and 2 m detected at the same place. And the past detection status is 30 degrees and 4 m;
Store 80 degrees and 2 meters.

Also, in the case of storing the detection statuses of a plurality of times, the judgment may be made in substantially the same manner. For example, when storing the situation for 5 times, it is judged that a fixed object is surely present at a place detected at the same place three or more times in a row recently,
It is not continuous, but it is 4 in 6 detection situations including this measurement
It is judged that there are some obstacles in the places detected more than once. By doing so, it becomes possible to more accurately know whether or not it is an obstacle. As a result, in addition to things such as walls that are truly stationary objects, for example, a word processor, etc., is installed near the system equipped with this recognition device, and a person using the word processor can detect it with a sensor. In this case, that is, it is possible to deal with the case where it is originally a moving object, but temporarily becomes an obstacle to the system for some reason, and the correct installation environment, that is, the initial condition can be obtained.

(C) Storing area data from the detected value detected under a predetermined condition (area data storage update for each predetermined condition) The timing of recognizing the area data is performed only when the predetermined condition is satisfied. Is the way. The predetermined condition is basically a situation where no one is around. The sensor itself may be activated constantly or irregularly, but whether or not the area data should be recognized is recognized by checking it against a predetermined condition and stored. The following four cases can be considered as the predetermined condition.

(I) When not in use Measurement / recognition is performed when the system attached with the present recognition device is not in operation, that is, no one is using it.
When the system is not operating, there are basically no people nearby. In other words, if the measurement is performed at that point, it may be determined that there is an obstacle at the location where something is detected.
In this case, one measurement may recognize a location detected at that time as an obstacle, or it may be measured several times and a plurality of locations detected may be an obstacle. .

(Ii) Night with no people: Timer In a normal office, there are no people at night. Therefore,
At this time, measurement / recognition is performed. If some kind of object is detected by activating the sensor with a timer or the like when there is no person such as at night, it is assumed that it is an obstacle such as a wall. Moreover, it is possible to more reliably determine that there is no person, not only by the timer but also by the brightness of the illumination. For example, as a specific time setting, it is possible to set it by default at 3 o'clock in the middle of the night, and to change it 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 required, and the location detected at that time may be identified as an obstacle, or, as a precautionary measure, it may be repeated several times during an unattended night time. Measure
The place where a large number is detected may be an obstacle.

(Iii) Holidays: Weekly timer In a normal office, there are no people on holidays. Therefore, measurement / recognition is performed at this time. If an object is detected when a sensor is activated by a calendar (weekly timer) on a day when there is no person such as Sunday, it is assumed that it is an obstacle such as a wall. The specific time may be set on Sunday by default, and may be set by the user if desired. In this case, the measurement may be performed at least once, and the location detected at that time may be recognized as an obstacle. Good.

(Iv) Initial condition setting means ON Here, the means for setting the initial condition is closed to the user. For example, an operation button such as a "first condition setting button" is attached to the apparatus. By recognizing / setting the initial condition, the service person or the user / administrator etc. decides the layout etc. and explicitly presses this button when it is determined that the initial condition should be set. is there. However, immediately after pressing the button, the person who presses it is in front of the device, so like the self-timer often used for cameras etc., it is set in advance so that it will be set in a few seconds, and during that time. In addition, the button operator may ask the user to evacuate outside the detection range of the sensor. Further, an infrared remote controller or the like may be used so that the present means can be operated from a distant place.

Next, a method for early recognition of "used / not used" or "in use / finished" depending on the machine installation environment will be described. If you recognize that the machine (device) is installed in the corner from the machine installation environment data (area data) based on the initial condition setting, then the object to be measured (moving object) simply enters the set detection measurement area. It can be recognized as "use". That is, depending on the installation environment of the machine, if a person simply comes, that person may be the person who always uses it. For example, when a machine is installed at the far end of a dead end passage, people who come nearby may be considered as users.

The installation environment (area data) of the machine can be obtained by the above-mentioned method, and basically, at this time, it is a question whether or not a person can physically pass / overpass in front of the machine. If this is judged from the area data and it is impossible for a person to physically pass in front of the machine, simply check with a distance sensor to see if a person is nearby. Look, if you come near, that person is judged as "user". In addition, if the sensor is configured to include a plurality of sensors in multiple directions, it is possible to save power by not operating only the sensor that measures the direction determined as an obstacle. There is also an effect.

It is a condition under which most people approaching can be judged to be "users". A situation where a person cannot physically pass / overshoot in front of a machine means that the machine is installed at a dead end. That is the case. The situation where the machine is at a dead end may be, for example, a case where the passage is at a dead end or two sides are placed on a corner of a wall. Is only the front of the machine accessible?
Alternatively, such recognition / judgment is performed when the vehicle can pass only in the lateral (right or left) direction. As a result, although there are certain restrictions on the installation environment, there is no particular difficulty, and it is possible to quickly and reliably and easily determine the “user”.

In the above, an example of recognizing and determining "use / not use" for an approaching person has been described, but the method of recognizing "in use / finished" for a person who leaves is exactly the same. It goes without saying that it can be realized with this kind of thinking.

[0097]

[Embodiment] Next, a method for recognizing "used / not used" when a plurality of objects to be measured (moving objects) exist in the detection measurement area will be described. Here, there are cases where the judgment is made based on the distance data only and cases where the judgment is made based on the distance data and the direction data. First, the case where the judgment is made based on the distance data only will be described. In this example, in order to simplify the description, the case where there are two moving objects will be described.

First, consider the case where two moving objects both approach the device. First, when two moving objects approach each other from the same direction, measurement cannot be performed because the one with a longer distance from the recognition device is in the shadow of the shorter one. Therefore,
In this case, the recognition is performed only by the data with the shorter distance. That is, when a plurality of objects approach the device 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 who uses the object having the shortest distance from the detecting means is a person who uses it. .

When approaching from other directions,
Fig. 29 shows the change in the amount of pulsating emission of infrared light returned from two or more objects in other directions by pulsating infrared light and capturing the amount of light returning from the infrared light with a photometer. The mountain becomes a compound mountain of two. By judging this using a judgment means such as neuro,
It becomes possible to identify a plurality of moving objects. Using this data, each user is judged.
That is, when a plurality of objects approach the device from a plurality of directions, the distance from the device is detected for each object and it is recognized whether or not the person is a person who uses the device.

Next, consider the case where one approaches and the other passes. In this case, a moving object passing by may be a shadow of an approaching object or may be a shadow. In other cases, the two moving objects can be identified by the above method, and the processing method at this time will be described. First, when another moving object crosses in front of a moving object that approaches, the moving object that crosses is judged as it is, and as far as the moving object approaches, as long as it is in the shadow based on the data before entering the shadow. Predict its movement. After that, when it comes out of the shadow, tracking is started again. That is, when there is an object approaching the device and an object crossing between the approaching object and the detecting means in the detectable area where the detecting means can detect the distance to the object, both the approaching object and the crossing object are present. When the infrared light emitted by the infrared light emitting means is projected onto
The distance from the device is detected for both objects, and the infrared light is not projected to the approaching object, and while the infrared light is projected only to the crossing object, the approaching object previously detected is detected. The movement of the approaching object is predicted from the change in the distance data, and when infrared rays are projected onto the approaching object again, the distance detection is restarted for both objects.

Next, when another moving object passes behind the approaching moving object, the approaching moving object is judged as it is, and the moving object that has crossed the object is shadowed based on the data before entering the shadow. Predict the movement as long as it is in. After that, tracking is restarted when the object comes out of the shadow, but the moving object that approaches is the one that gives priority to the determination. That is, when the detecting means includes an object approaching the device and an object passing behind the approaching object in the detectable area where the distance to the object can be detected, both the approaching object and the object crossing the object are detected. When the infrared light emitted from the infrared light emitting means is projected, the distances from the device are detected for both objects, the infrared light is not projected to the object passing behind, and the infrared light is projected only to the approaching object. While moving, the movement of the object passing behind is predicted from the change in the distance data of the object passing behind detected earlier, and when infrared rays are projected onto the object passing behind again. , Restart the distance detection for both objects.

When there is a moving object other than the user, from the time when it is determined that the user and the other moving object are interchanged in terms of distance, to the present when the priority is given to whether to use the device or not. The user changes to a moving object.
That is, if there are an object approaching the device and a person who is facing the device while using the device, when the person facing the device moves away from the device and becomes farther from the device than an object approaching the device, Recognize whether or not a person who uses an approaching person will use it.

Next, the case of making a determination based on distance data and direction data will be described. First, when two moving objects come closer to each other,
Although there is a passage, if one is in the same direction, the other is in the shadow of the other, so that the sensor cannot detect it. Therefore, the determination is made from the data of the distance and the direction of the moving object close to the image forming apparatus. That is, when a plurality of objects are present in the same direction as seen from the apparatus, it is recognized whether or not the object is the person who is the shortest distance from the detection means. In addition, if it is detected in the middle of a shadow, it is determined as a newly appearing object.

Next, when approaching from different directions, different sensors detect each other, so that they can be regarded as different moving objects. Therefore, it is judged from each movement whether or not the device is used. . That is, when a plurality of objects exist in different directions when viewed from the device, it is recognized whether or not the person uses each 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. In this case, a moving object passing by may be a shadow of an approaching object or may be a shadow. In other cases, the two moving objects can be identified by the above method, and the processing method at this time will be described. First, when another moving object crosses in front of a moving object that approaches, the moving object that crosses is judged as it is, and as far as the moving object approaches, as long as it is in the shadow based on the data before entering the shadow. Predict its movement. After that, when it comes out of the shadow, tracking is started again. That is, when there is an object approaching the device and an object crossing between the approaching object and the detecting means in the detectable area where the detecting means can detect the distance to the object, both the approaching object and the crossing object are present. When the infrared light emitted by the infrared light emitting means is projected onto
The distance from the device is detected for both objects, and the infrared light is not projected to the approaching object, and while the infrared light is projected only to the crossing object, the approaching object previously detected is detected. The movement of the approaching object is predicted from the change in the distance data, and when infrared rays are projected onto the approaching object again, the distance detection is restarted for both objects.

Next, when another moving object passes behind the approaching moving object, the approaching moving object is judged as it is, and the moving object that has crossed the object is shadowed based on the data before entering the shadow. Predict the movement as long as it is in. After that, tracking is restarted when the object comes out of the shadow, but the moving object that approaches is the one that gives priority to the determination. Here, the priority order in the case of determination is from the object having the shortest distance from the device, and in the case of the next same distance, it is from the object having the closest approaching speed. That is, when the detecting means includes an object approaching the device and an object passing behind the approaching object in the detectable area where the distance to the object can be detected, both the approaching object and the crossing object are detected. When the infrared light emitted from the infrared light emitting means is projected, the distances from the device are detected for both objects, the infrared light is not projected to the object passing behind, and the infrared light is projected only to the approaching object. While light is being projected, the movement of the object passing behind is predicted from the change in the distance data of the object passing behind detected earlier, and the time when infrared rays are projected onto the object passing behind again Then, the distance detection is restarted for both objects. By using the basic idea when deciding whether to use the device by the above method, it becomes possible to make a reliable decision.

[0107]

As is apparent from the above description, the present invention solves the above-mentioned problems of the prior art and has the following effects. Effect corresponding to claim 1: In a device that recognizes by detecting only distance data, accurate recognition can be performed even when a plurality of people approach the device from the same direction. Effect corresponding to claim 2: In a device that recognizes only by detecting distance data, accurate recognition can be performed even when a plurality of persons approach the device from a plurality of directions. Effect corresponding to claim 3: In a device for recognizing by detecting only distance data, when an object approaching the device and an object crossing between the approaching object and the detecting means exist in a detectable area. Even accurate recognition can be done. Effect corresponding to claim 4: In a device for recognizing only by detecting distance data, an object approaching the device and a rear part of the approaching object are placed in a detectable area where the detecting means can detect the distance to the object. Accurate recognition can be performed even when there is an object passing through. Effect corresponding to claim 5: In a device that recognizes only by detecting distance data, accurate recognition is performed even when a person who is facing the device that is using the device and an object approaching the device exist. You can Effect corresponding to claim 6: In a device that performs recognition by detecting a distance from the device and a direction viewed from the device, accurate recognition can be performed even when a plurality of objects exist in the same direction viewed from the device. it can. Effect corresponding to claim 7: In a device that performs recognition by detecting a distance from the device and a direction viewed from the device, accurate recognition can be performed even when a plurality of objects exist in different directions viewed from the device. . Effect corresponding to claim 8: In a device for recognizing 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 detecting means exist Even accurate recognition can be done. Effect corresponding to claim 9: Even if an object approaching the device and an object passing behind the approaching object are present in the device that performs recognition by detecting the distance from the device and the direction viewed from the device, the accuracy is improved. Can be recognized.

[Brief description of 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 the image forming apparatus.

FIG. 3 is a block diagram showing a basic configuration of a recognition device.

FIG. 4 is a diagram showing a relationship between an image forming apparatus and an obstacle.

FIG. 5 is a diagram schematically showing distance data between an image forming apparatus and an obstacle.

FIG. 6 is a diagram showing an example of environment information for the image forming apparatus.

FIG. 7 is a diagram showing environment information in FIG.

FIG. 8 is a diagram showing a change state of environmental information.

9 is a diagram showing distance data in FIG.

FIG. 10 is a diagram showing a result of taking a difference between environmental information and distance data in the case of FIG. 9;

FIG. 11 is a diagram showing a change state of environmental information.

FIG. 12 is a detailed view of a main part of FIG.

FIG. 13 is a diagram showing a change state of environmental information.

FIG. 14 is a detailed view of a main part of FIG.

FIG. 15 is a diagram showing a change state of environmental information.

FIG. 16 is a diagram showing a change state of environmental information.

FIG. 17 is a diagram showing the concept of movement trajectory information of a target object.

FIG. 18 is a diagram showing a change state of environmental information.

FIG. 19 is a diagram showing a change state of environmental information.

FIG. 20 is a diagram showing a change state of environmental information.

FIG. 21 is a diagram showing a change state of environmental information.

FIG. 22 is a diagram showing a change state of environment information.

FIG. 23 is a diagram for explaining recognition determination for a target object.

FIG. 24 is a diagram for explaining 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 showing an example of a hierarchical neural network.

FIG. 27 is a diagram for explaining an example when a plurality of target objects are present within the measurement range of the 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 how to judge whether or not.

FIG. 29 is a diagram for explaining an example in which infrared light is pulsatingly emitted to identify two or more objects.

[Explanation of symbols]

1 ... OA device, 2 ... Sensor unit, 3 ... Recognition determination device, 4 ...
Service providing device, 5 ... 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.

─────────────────────────────────────────────────── ─── Continuation of the front page (51) Int.Cl. ⁵ Identification number Reference number within the agency FI Technical display location G01V 9/04 Q 7256-2G // G03G 15/00 102 (72) Inventor Mitsuhisa Kanaya Ota, Tokyo 1-3-6 Nakamagome-ku, Ricoh Co., Ltd. (72) Inventor Takashi Ichinomiya 1-3-6 Nakamagome, Ota-ku, Tokyo In-house Ricoh Co., Ltd. (72) Fumio Kurizumi Nakamagome, Ota-ku, Tokyo 1-3-6, Ricoh Co., Ltd.

Claims (9)

[Claims] 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, whereby the device is Detecting means for detecting a distance to an object near the device; based on a detection signal from the detecting means, whether or not the detected object is a person who uses the device, at least the detected person reaches the device In an image forming apparatus having a recognizing unit that recognizes at a timing before the operation, and a control unit that controls the operation of the apparatus according to the recognition result of the recognizing unit, a plurality of objects approach the apparatus from the same direction, and the infrared light is emitted. An image forming apparatus characterized in that, when there is an object to which infrared rays emitted by the means are not projected, whether or not the object is the person who is the shortest distance from the detecting means is used. 2. 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, whereby the device is Detecting means for detecting a distance to an object near the device; based on a detection signal from the detecting means, whether or not the detected object is a person who uses the device, at least the detected person reaches the device In a case where a plurality of objects approach a device from a plurality of directions in an image forming apparatus having a recognizing unit that recognizes at a timing before performing; An image forming apparatus characterized by detecting a distance from an apparatus for each object and recognizing whether or not the person is a user. 3. 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, whereby the device is Detecting means for detecting a distance to an object near the device; based on a detection signal from the detecting means, whether or not the detected object is a person who uses the device, at least the detected person reaches the device In a detectable area in which the detecting means can detect the distance to the object in an image forming apparatus having a recognizing means for recognizing at a timing before When there is an object approaching the device and an object crossing between the approaching object and the detection means, the red light emitted by the infrared light emitting means is emitted to both the approaching object and the object crossing. When the external line is projected, the distances from the device are detected for both objects, and the infrared rays are not projected to the approaching objects, while the infrared rays are projected only to the traversing object before that. The movement of an approaching object is predicted from the change in the distance data of the approaching object that was detected in the above, and when infrared rays are projected onto the approaching object again, the distance detection is restarted for both objects. Image forming apparatus. 4. 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, whereby the device is Detecting means for detecting a distance to an object in the vicinity of the device; based on a detection signal from the detecting means, whether or not the detected object is a person who uses the device, at least the detected person reaches the device In the image forming apparatus having a recognition unit that recognizes at a timing before the detection; and a control unit that controls the operation of the device according to the recognition result of the recognition unit, the detection unit can detect the distance to the object. When 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 emitted to both the approaching object and the object crossing. When the light is projected, the distance from the device is detected for both objects, and the infrared ray is not projected to the object passing behind, while the infrared ray is projected 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 detected previously, and when the infrared rays are projected onto the object passing behind again, the distance of both objects is changed. An image forming apparatus characterized by restarting detection. 5. An infrared light emitting means and an infrared light receiving means are provided, and the infrared light emitted from said infrared light emitting means is projected, and the infrared light reflected from an object is received by said infrared light receiving means, whereby the device is Detecting means for detecting a distance to an object in the vicinity of the device; based on a detection signal from the detecting means, whether or not the detected object is a person who uses the device, at least the detected person reaches the device In an image forming apparatus having a recognition means for recognizing at a timing before the operation; and a control means for controlling the operation of the apparatus according to the recognition result of the recognition means, a person facing the apparatus using the apparatus and a person approaching the apparatus. When a person facing the device moves away from the device when there is a moving object, and is farther from the device than an object that approaches the device, recognizes whether or not to use the person who approaches the device. An image forming apparatus comprising: 6. 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, whereby the device is Detection means for detecting a distance to an object in the vicinity of the device and a direction viewed from the device; based on a detection signal from the detection device, at least a person who has detected whether or not the detected object is a person who uses the device Recognition means for recognizing at a timing before reaching the device;
In an image forming apparatus having a control means for controlling the operation of the apparatus according to the recognition result of the recognition means, when a plurality of objects exist in the same direction as seen from the apparatus, the object having the shortest distance from the detection means is used. An image forming apparatus characterized in that it recognizes whether or not a person who does. 7. 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, whereby the device is Detection means for detecting a distance to an object in the vicinity of the device and a direction viewed from the device; based on a detection signal from the detection device, at least a person who has detected whether or not the detected object is a person who uses the device Recognition means for recognizing at a timing before reaching the device;
In an image forming apparatus having a control means for controlling the operation of the apparatus according to the recognition result of the recognition means, when there are a plurality of objects in different directions when viewed from the apparatus, it is recognized whether or not the person uses each object. An image forming apparatus characterized by the above. 8. 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, whereby the device is Detection means for detecting a distance to an object in the vicinity of the device and a direction viewed from the device; based on a detection signal from the detection device, at least a person who has detected whether or not the detected object is a person who uses the device Recognition means for recognizing at a timing before reaching the device;
In an image forming apparatus having a control means for controlling the operation of the apparatus according to the recognition result of the recognition means, in the detectable area where the detection means can detect the distance to the object,
When there is an object approaching the device and an object crossing between the approaching object and the detection means, when infrared rays emitted by the infrared light emitting means are projected onto both the approaching object and the crossing object, both The distance data of the approaching object that is detected before is detected while the distance from the device is detected for the object and the infrared ray is not projected to the approaching object, and the infrared ray is projected only for the crossing object. An image forming apparatus that predicts the movement of an approaching object from the change of the object and restarts the distance detection for both objects when the infrared light is projected on the approaching object again. 9. An infrared light emitting means and an infrared light receiving means are provided, wherein the infrared light emitting means projects the infrared light and the infrared light reflected from an object is received by the infrared light receiving means. Detection means for detecting a distance to an object in the vicinity of the device and a direction viewed from the device; based on a detection signal from the detection device, at least a person who has detected whether or not the detected object is a person who uses the device Recognition means for recognizing at a timing before reaching the device;
In an image forming apparatus having a control means for controlling the operation of the apparatus according to the recognition result of the recognition means, in the detectable area where the detection means can detect the distance to the object,
When there is an object approaching the device and an object passing behind the approaching object, when the infrared rays emitted by the infrared light emitting means are projected to both the approaching object and the object that crosses the object, both the objects are approached. An object that detects the distance from the device and does not project the infrared light on an object passing behind it, and while the infrared light is projected only on an approaching object, the object passing behind that was previously detected. Image formation characterized by predicting movement of an object passing behind from changes in distance data of the object and restarting distance detection for both objects when infrared rays are projected onto the object passing behind again apparatus.