JPH10142351A - Human-sensor - Google Patents

Abstract

PROBLEM TO BE SOLVED: To detect the presence or absence and the position of even a still human body over a wide range by detecting the presence or absence of a human body from the output signal of a signal-processing circuit for filtering and amplifying a signal from an infrared sensor. SOLUTION: A multiple Fresnel lens 2 consists of a double Fresnel lenses, and an outer Fresnel lens focuses infrared rays on each lens surface of the inner Fresnel lens. Further, the inner Fresnel lens focuses infrared rays to a charging type infrared sensor 3. A signal-processing means 4 consists of an LPF circuit for eliminating a power supply noise, an amplification circuit for amplifying the small signal of the charging type infrared sensor 3, and an ADC for converting the amplified signal to a digital signal. The signal-processing means 4 inputs infrared rays that are discharged from the human body to a microcomputer as a digital signal whose noise is reduced. A human body detection means 5 detects a human body from a time-series digital signal sent from the charging type infrared sensor that passes through the signal-processing means 4.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a motion sensor used in the field of air-conditioning control and its application.

[0002]

2. Description of the Related Art Hitherto, as an application of a human sensor of this type, one described in Japanese Patent Application Laid-Open No. Hei 6-323604 is known.

Hereinafter, the motion sensor will be described with reference to FIG. As shown in the drawing, when a plurality of human body positions are determined by the human body position distribution detection sensor 101, the distribution width of the human is calculated. Then, the swing width is calculated by the control means 102 so that the airflow is sent to all the occupants, and the wind direction is controlled by the left wind direction deflection drive means 103 and the right wind direction deflection drive means 104. Regarding the detection of a human body, a plurality of sensors for detecting infrared rays emitted from a moving object such as a human body are provided along the moving direction of the object, and the moving direction of the object is detected. Then, the detection beams for the respective sensors are overlapped with each other, and the detection beam ends are sequentially arranged and set so as to be substantially parallel to each other, so that a continuous detection area is secured.

[0004]

In such an application method of the conventional human sensor, when one occupant is alone, the swing stops, and considering the characteristics of the pyroelectric infrared sensor, continuous detection is performed. May be difficult, and emergency measures such as a timer are required. Therefore, in the conventional human sensor, in order to continuously detect such a stationary human body, pseudo continuous driving by a timer or the like is indispensable, and conversely, unnecessary air conditioning and malfunction may occur. is there.

The present invention has been made to solve the above-mentioned conventional problems. The presence / absence and position of a stationary human body can be detected over a wide range. It is an object of the present invention to provide a human sensor capable of maintaining the sensitivity of air conditioning to a user and an application method thereof.

[0006]

In order to solve the above-mentioned problems, one of the human motion sensors according to the present invention comprises one or more infrared sensors for detecting infrared rays emitted from a human body, and an infrared sensor. A multiplexed Fresnel lens optical system that collects infrared rays, a signal processing circuit that filters and amplifies the signal from the infrared sensor, and a human detection unit that detects the presence or absence of a person from an output signal from the signal processing circuit. It is constituted by

Another means includes a plurality of infrared sensors for detecting infrared rays emitted from a human body, a multiplexed Fresnel lens optical system for collecting infrared rays on the infrared sensors, and a plurality of infrared rays. It is configured to include means for determining the presence or absence of a person from a voltage signal output from a sensor.

Another means includes one or more infrared sensors for detecting infrared rays emitted from the human body, a single or multiple Fresnel lens system for collecting infrared rays on the infrared sensors, It comprises a means for determining the presence or absence of a voltage signal output from a plurality of infrared sensors, and a human sensor mounting means provided with a vibration function for continuously determining the presence of a person. is there.

Another means is a plurality of infrared sensors for detecting infrared rays emitted from a human body, a Fresnel lens optical system for concentrating infrared rays on the infrared sensors, and outputs from the plurality of infrared sensors. Means for determining the presence or absence of a voltage signal; human sensor mounting means provided with a vibration function for continuously determining the presence of a person; and a plurality of infrared rays based on a human body position from a plurality of infrared sensors. The scanning means is provided so that the human body is located at the central infrared sensor position among the sensors.

Another means is to install an infrared sensor at an air conditioner outlet and use the rotation of the outlet as a scanning and vibration function,
Indirect air conditioning is used without direct airflow to the human body.

Another means is such that the infrared sensor calculates the amount of activity from the tracked distance and adjusts the wind speed and the blow-out temperature in the air-conditioning control.

According to the present invention, the presence / absence and position of a human body can be detected over a wide range by the above means.
A human sensor that can detect a stationary human body, control the airflow direction of the air conditioner based on the position information of the human body, and maintain the sensitivity to air conditioning for the user can be obtained.

[0013]

DESCRIPTION OF THE PREFERRED EMBODIMENTS According to the first aspect of the present invention, one or a plurality of infrared sensors for detecting infrared rays emitted from a human body and a multiplexed sensor for collecting infrared rays on the infrared sensors are provided. Fresnel lens optics
A signal processing circuit that filters and amplifies a signal from an infrared sensor, and a human detection unit that detects the presence or absence of a person from an output signal from the signal processing circuit. Thus, since the monitoring area can be expanded, the presence or absence of a person in a wide area can be detected.

According to a second aspect of the present invention, there are provided a plurality of infrared sensors for detecting infrared rays emitted from a human body, and a multiplexed Fresnel lens optical system for focusing infrared rays on the infrared sensors. Means for determining the presence or absence of a person from voltage signals output from a plurality of infrared sensors. Has the effect that the position of the human body can be specified by determining the presence or absence of the human body in the detection area of each infrared sensor.

According to a third aspect of the present invention, one or a plurality of infrared sensors for detecting infrared rays emitted from a human body and a single or multiple infrared sensors for collecting infrared rays on the infrared sensors are provided. A Fresnel lens system, a means for determining the presence or absence of a voltage signal output from a plurality of infrared sensors, and a human sensor mounting means provided with a vibration function for continuously determining the presence of a person are provided. Since it is possible to forcibly add a change in the amount of incident light, each infrared sensor has an operation of detecting a stationary human body.

According to a fourth aspect of the present invention, there are provided a plurality of infrared sensors for detecting infrared rays emitted from a human body, a Fresnel lens system for concentrating infrared rays on the infrared sensors, and a plurality of infrared sensors. Means for determining the presence or absence of a voltage signal output from a human sensor, means for attaching a human sensor provided with a vibration function for continuously detecting the presence of a person, and a human body position from a plurality of infrared sensors. Positioning means for scanning so that the human body is positioned at the central infrared sensor position among the plurality of infrared sensors, and the scanning and vibration functions are repeated so that the moving state of the human body, infrared It is possible to track a moving human body by adding a forced change in the amount of incident light to the sensor. Having an iodine.

According to a fifth aspect of the present invention, an infrared sensor having a function of tracking a moving human body according to the fourth aspect is installed at an air conditioner outlet. Since the rotation of the mouth is used as a scanning and vibration function to perform indirect air-conditioning without directly blowing air to the human body, it has an effect of maintaining the sensitivity of a thermal sensation and improving comfort.

According to a sixth aspect of the present invention, there is provided an infrared sensor having a function of tracking a moving human body according to the fourth or fifth aspect, wherein an activity amount is calculated from a tracked distance, and air conditioning control is performed. The wind speed and the blow-out temperature are adjusted in the wind speed.
Alternatively, since the blowing temperature can be controlled, it has an effect of improving comfort.

Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. (Embodiment 1) FIG. 1 is a schematic diagram of a human sensor. In FIG. 1, a human sensor 1 includes a multiplexed Fresnel lens 2, a pyroelectric infrared sensor 3, a signal processing unit 4, and a human body. It is constituted by the detecting means 5. In the above configuration, the human sensor 1 detects infrared rays radiated from a person over a wide range, and has the effect of detecting the presence of a person.

(Embodiment 2) FIG. 2 shows a human sensor for detecting the position of a person. In FIG. 2, the human sensor is a multiple Fresnel lens, an infrared sensor, a signal processing means, a human detecting means, a position determining means. Is provided.

In the above configuration, the human sensor performs an operation of detecting the position where a person is present by the position determining means.

(Embodiment 3) FIG. 3 shows a human sensor for detecting a stationary person. In FIG. 3, the human sensor includes a multiple Fresnel lens, an infrared sensor, signal processing means, human detection means, and position determination means. And a human sensor mounting means.

In the above configuration, the motion sensor performs an operation of detecting a stationary person by the vibration function of the motion sensor mounting means.

(Embodiment 4) FIG. 4 shows a human sensor that detects a stationary person and follows a moving person. In FIG. 4, the human sensor is a multiple Fresnel lens, an infrared sensor, signal processing means, and a human sensor. The configuration includes a detection unit, a position determination unit, a human sensor attachment unit, and a scanning unit.

In the above configuration, the human sensor performs an action of following a stationary human body or a moving person by a combination of the vibration function of the human sensor mounting means and the scanning means.

(Embodiment 5) FIG. 5 shows a human sensor installed at an air conditioning outlet. In FIG. 5, the human sensor is a multiple Fresnel lens, an infrared sensor, a signal processing means, a human detecting means, an air outlet control. Means.

In the above structure, the human sensor performs the vibration function and the scanning function by the command to the outlet by the outlet control means, so as to follow the stationary human body or the moving person. .

(Embodiment 6) FIG. 6 shows a human sensor installed at an air conditioning outlet. In FIG. 6, the human sensor is a multiple Fresnel lens, an infrared sensor, a signal processing means, a human detecting means, an outlet control. Means and a moving amount determining means.

In the above configuration, the human sensor performs the vibration function and the scanning function by the command to the outlet by the outlet control means, follows the stationary human body or the moving person, and detects the movement amount by the movement amount determining means. The function of detecting the moving state of the person is performed.

[0030]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, a first embodiment of the present invention will be described with reference to FIGS.

The same components have the same reference numerals and their detailed description is omitted. As shown in FIG. 1, the human sensor 1 includes a multiple Fresnel lens 2, a pyroelectric infrared sensor 3, a signal processing unit 4, and a human detection unit 5.

First, the multiple Fresnel lens 2 is shown in FIG. As shown in FIG. 2, the multiple Fresnel lens 2 is composed of a double Fresnel lens, and the outer Fresnel lens has a function of condensing infrared rays on the respective lens surfaces of the inner Fresnel lens. . Further, the inner Fresnel lens has a function of condensing infrared rays to the pyroelectric infrared sensor 3.

With the above structure, infrared rays from a wide area outside can be focused on the pyroelectric infrared sensor 3 by the double Fresnel lens, that is, the multiple Fresnel lens 2.

Second, the signal processing means 4 is shown in FIG. As shown in FIG. 3, the signal processing means 4 includes a low-pass filter circuit for removing power supply noise, a pyroelectric infrared sensor 3
And an ADC that converts the amplified signal into a digital signal.

With the above configuration, the signal processing means 4 has a function of inputting infrared rays emitted from a human body to a microcomputer as noise-reduced digital signals.

Third, the human detection means 5 will be described with reference to FIGS.
Shown in As shown in FIG. 4, the human detecting means 5 detects a human from the time-series digital signal from the pyroelectric infrared sensor 3 that has passed through the signal processing means 4. First, as shown in FIG. 5, a deviation between the digital signal at the time T0 and the digital signal at the time T1 is calculated. If the deviation is equal to or more than the threshold value K1, a person enters. If the state does not change, and if it is less than the threshold value K2, it is determined that the person has left. After it is determined that a person has entered, if there is no change in the amount of incident infrared light of the pyroelectric infrared sensor 3, the output returns to the zero point.
The exit determination of No. 2 is not performed. With this determination, it is possible to determine whether the person enters, leaves, or remains unchanged.

As described above, according to the human sensor of the first embodiment of the present invention, the presence or absence of a person in a wide area can be detected.

In the embodiment, the multiple Fresnel lens has a double structure, but may have any number of layers.

In the embodiment, the infrared sensor is one pyroelectric infrared sensor. However, a plurality of infrared sensors may be arranged.

Further, in this embodiment, the signal processing means includes a low-pass filter circuit for removing power supply noise and the like, an amplifier circuit for amplifying a small signal of the pyroelectric infrared sensor, and an ADC for converting the amplified signal into a digital signal. However, a band-pass filter circuit, an amplifier circuit, and an ADC may be used.

Next, a second embodiment of the present invention will be described with reference to FIG.
This will be described with reference to FIG. The components having the same configuration are denoted by the same reference numerals, and detailed description is omitted.

As shown in FIG. 6, the entire apparatus comprises a human sensor 1 and position determining means 6.

Next, the principle of the position judging means 6 will be described with reference to FIG.
Shown in The position judging means 6 is a means for analyzing one measurement value in a time series pattern and analyzing an output amplitude pattern. The infrared rays are collected by the multiple Fresnel lens 2, but the response of the pyroelectric infrared sensor 3 is different depending on the position of the person. For example, when a person enters point A in FIG. 7, the pyroelectric infrared sensor 3 outputs a signal A as shown by a signal A, and a signal B at point B. The detection area of the pyroelectric infrared sensor 3 varies depending on the distance between the pyroelectric infrared sensor 3 and a human body. Since the detection area is enlarged in proportion to the distance,
The area ratio occupied by a person becomes smaller. As the occupied area ratio decreases, the detection signal also decreases. Therefore, as shown in FIG. 7, if the distance between the human sensor 1 and the human body increases,
As in the case of the signal A, the signal becomes small, and the response is affected. Finally, the output widths Ta and Tb of the signals and the output amplitude V like the signals A and B are obtained from the difference of the signals due to the distance.
The position can be determined by the classification of a and Vb.

With the above configuration, it is possible to detect the position of a person from the output time pattern and output amplitude pattern of the pyroelectric infrared sensor 3 by applying the features of the distance and the visual field occupancy of the pyroelectric infrared sensor 3. it can.

As described above, according to the motion sensor of the second embodiment of the present invention, the presence or absence of a person in a wide area can be detected, and the position of a person in a wide area can be specified.

In the embodiment, the position judging means is a means for analyzing a single measured value in a time series pattern and an output amplitude pattern. However, only one of a time series pattern and an output amplitude pattern may be used. .

In the embodiment, the infrared sensor is a single pyroelectric infrared sensor. However, a plurality of infrared sensors may be arranged.

Next, a third embodiment of the present invention will be described with reference to FIG.
This will be described with reference to FIG. The components having the same configuration are denoted by the same reference numerals, and detailed description is omitted.

As shown in FIG. 8, the whole apparatus comprises a human sensor 1, a position judging means 6, and a human sensor attaching means 7
It consists of. As shown in FIG. 9, the human sensor mounting means 7 is an interface joint between the human sensor 1 and the installation location. The pyroelectric infrared sensor 3 has a characteristic of returning to the zero point when there is no change in the amount of incident infrared light, that is, when a person is present but keeps standing still. In consideration of the limit value of the detection area for a minute human motion, it is necessary to mechanically change the amount of incident infrared light in order to further increase the detection area. Therefore, this mechanical change in the amount of incident infrared light is performed by the human sensor mounting means 7. FIG.
As shown in (1), the human sensor mounting means 7 is configured to slightly vibrate the pyroelectric infrared sensor 3 right and left. The minute vibration driving source of the human sensor mounting means 7 is a motor and a piston device. The rotation of the motor vibrates the piston in the left-right direction at a constant cycle. Due to this vibration function, the detection area of the pyroelectric infrared sensor 3 changes sequentially, and the heat source is detected even when the heat source is stationary.

As described above, according to the human sensor according to the third embodiment of the present invention, the presence or absence of a person can be detected regardless of the stillness and operation of a wide area, and the detection of the stillness and operation of a wide area can be performed. And the position of a person can be detected.

In the embodiment, the structure of the human sensor mounting means is a motor and a piston, but may be a motor and a cam.

Furthermore, in the embodiment, one infrared sensor is used as the infrared sensor, but a plurality of infrared sensors may be used.

Next, a fourth embodiment of the present invention will be described with reference to FIG.
This will be described with reference to FIG. The components having the same configuration are denoted by the same reference numerals, and detailed description is omitted.

As shown in FIG. 10, the whole apparatus comprises a human sensor 1, a position determining means 6, a human sensor mounting means 7, a scanning means 8, and a rotation control means 9.

The scanning means 8 rotates the necessary detection area using a brushless motor, and the rotation control means 9
Detects the rotation position of the scanning means 8 and stops the rotation at the rotation position where a person is detected. The rotation and stop are performed in accordance with the movement of the person, and the stop position is set so that the outputs of the central elements of the three pyroelectric infrared sensors 3 have the highest output.

According to the above configuration, the detection target area can be rotated over a wide area, and a stationary person can be detected and a moving person is aligned with the center element of the three pyroelectric infrared sensors. Therefore, it is possible to determine to which of the adjacent element signals the element has moved when moving. Therefore, the human sensor is rotated in the moving direction, and the center element of the three pyroelectric infrared sensors is again positioned. By this repetition, it can follow the moving human body.

As described above, according to the motion sensor of the fourth embodiment of the present invention, it is possible to detect a motion following a stationary or moving person.

In the embodiment, a brushless motor is used as the scanning means, but a stepping motor may be used.

Further, in the embodiment, the rotation control means detects the rotation position of the motor, but may detect the rotation position based on the rotation cycle of the motor.

Further, in the embodiment, the infrared sensors are three pyroelectric infrared sensors, but any number of infrared sensors may be used as long as a plurality of infrared sensors are arranged.

Next, a fifth embodiment of the present invention will be described with reference to FIG.
This will be described with reference to FIG.

It is to be noted that the same components are denoted by the same reference numerals, and detailed description is omitted. As shown in FIG. 11, the human sensor 1 and the outlet control means 10 are configured to select the blowing direction and the amount of the blowing air.

Next, the outlet control means 10 is shown in FIGS. The selection of the blowing direction is shown in FIG.
FIG. 13 shows a schematic flowchart for selecting the blowout air volume. As shown in FIG. 12, the selection of the blowing direction causes the human sensor 1 to initially rotate in the entire detection area. If initial detection is not performed by the human sensor 1, the rotation is repeated until the initial detection is performed. When the initial detection is performed, the apparatus stops at the detected point, determines the blowing direction, and positions and fixes the blowing direction. Further, the blowing is started while scanning the blowing swing width. After the start, the blowing is continued until the detected human body moves. When movement is detected, it is determined whether or not it has moved into the detection target area.If it is within the movement detection area, it returns to the blowing direction determination routine, and if it is out of the detection area, it returns to the initial scanning routine. Will return. The repetition of this routine follows the human body existing in the detection target area. As shown in FIG. 13, the selection of the blowout air amount is performed in accordance with the blowout air amount table set based on the detected points. The selection of the blowing air volume is determined by the detected size of the human body, that is, the output amplitude of the pyroelectric infrared sensor 3 and the blowing direction. This air volume is set in consideration of the difference in the wind speed reached depending on the blowing direction.

With the above configuration, it is possible to control the air conditioning by selecting the blowing direction and the blowing air volume.

As described above, according to the human sensor of the fifth embodiment of the present invention, it is possible to control the direction and amount of air at the air conditioning outlet.

Next, a sixth embodiment of the present invention will be described with reference to FIG.
This will be described with reference to FIG.

The same components have the same reference numerals and their detailed description will be omitted. As shown in FIG. 14, the motion sensor 1, the outlet control means 10, the moving amount determination means 11
Is installed near the outlet.

FIG. 15 shows a schematic flowchart of an algorithm involved in the determination of the movement amount determining means 11. As a flow of the movement amount determination algorithm, first, an initial position at which a human body is detected is set. Compared with the position input at the time of the next sampling, if there is no movement, it is determined that there is no movement amount, and as air conditioning control, control is performed by determining that the load is when the human body is at rest. In the case of movement, enter the position of the movement and the scale of the heat source at that time. Next, 3
Each of the pyroelectric infrared sensors 3 has a field of view widened by the multiple Fresnel lens 2, but the area on the floor varies depending on the angle of incidence of the infrared rays. Therefore,
When a human body is detected from a minute infrared ray and when a human body is detected from a strong infrared ray, it is necessary to increase the position weight when the minute infrared ray is incident when judging from a distance perspective. Therefore, the position weight table is read, each incident direction is detected based on the time series pattern and the output amplitude pattern obtained from the three pyroelectric infrared sensors 3, and the weight table is set. The moving distance for each angle is calculated from the corrected position,
The moving distance is determined by multiplying the moving distance by the heat source scale.
Further, a time factor is incorporated to determine a moving amount per time change. An example is shown in FIG. In the case as shown in FIG. 16, it is determined that the detection point of the human body has moved from V0 to V1 between time T0 and time T1. This is because the output signals of the three pyroelectric infrared sensors 3 indicate that the left or right region I or III from the central region II exits from the entrance, and the region I
II is determined to be central entry from entry. Therefore, it is determined that the human body has moved from the region II to the region III.

With the above configuration, the moving amount determination means 11 can perform a quantitative determination of a person present in the detection area and perform air conditioning control.

As described above, according to the motion sensor of the sixth embodiment of the present invention, it is possible to perform air conditioning control according to the working state and moving state of the human body existing in the detection area.

[0071]

As described above, according to the present invention, it is possible to detect a human body in a wide detection area regardless of whether it is stationary or moving. An advantageous effect that control can be effectively performed is obtained.

In addition, there is also obtained an effect that the user can avoid adverse effects such as rut of air conditioning.

Further, an advantageous effect that air conditioning follows a person in the detection area can be obtained. Further, there is also obtained an effective effect that air conditioning can be effectively performed in accordance with the degree of congestion of people in the detection area.

[Brief description of the drawings]

FIG. 1 is a schematic configuration diagram of a human sensor according to a first embodiment of the present invention;

FIG. 2 is a diagram of the same multiple Fresnel lens.

FIG. 3 is a diagram of the signal processing means.

FIG. 4 is an explanatory diagram of doujin detection means.

FIG. 5 is an explanatory diagram of doujin detection means.

FIG. 6 is a schematic configuration diagram of a human sensor according to a second embodiment of the present invention;

FIG. 7 is an explanatory diagram of the position determination means.

FIG. 8 is a schematic configuration diagram of a human sensor according to a third embodiment of the present invention;

FIG. 9 is a schematic configuration diagram of a doujin sensor mounting means.

FIG. 10 is a schematic configuration diagram of a human sensor according to a fourth embodiment of the present invention.

FIG. 11 is a schematic configuration diagram of a human sensor according to a fifth embodiment of the present invention;

FIG. 12 is a flowchart of the blowing direction control.

FIG. 13 is a flow chart of the blowing air volume control.

FIG. 14 is a schematic configuration diagram of a motion sensor according to a sixth embodiment of the present invention;

FIG. 15 is a schematic flowchart of the movement amount determination.

FIG. 16 is an explanatory diagram of a movement amount determination example.

FIG. 17 is a schematic diagram of a conventional human sensor.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Human sensor 2 Multiple Fresnel lens 3 Pyroelectric infrared sensor 4 Signal processing means 5 Human detecting means 6 Position determining means 7 Human sensor attaching means 8 Scanning means 9 Rotation control means 10 Air outlet control means 11 Moving amount determining means

Claims (6)

[Claims] 1. An infrared sensor for detecting infrared rays emitted from a human body, one or more infrared sensors, a multiplexed Fresnel lens optical system for focusing infrared rays on the infrared sensor, and a signal from the infrared sensor. A human sensor capable of detecting the presence or absence of a person in a wide area by being configured by signal processing means for filtering and amplifying and human detection means for detecting the presence or absence of a person from an output signal from the signal processing means. 2. The human sensor according to claim 1, wherein the position of a human body can be specified. 3. The stationary human body of each infrared sensor can be detected by providing a human sensor mounting means provided with a vibration function for continuously detecting the presence of a person. Human sensor. 4. A scanning means is provided so as to position the human body at a central infrared sensor position among the plurality of infrared sensors according to the position of the human body from the plurality of infrared sensors, and the moving human body is repeated by repeating the scanning and vibration functions. The motion sensor according to claim 1, wherein the motion sensor can perform tracking. 5. An infrared sensor is installed at the air outlet of the air conditioner, and the rotation of the air outlet is used as a scanning and vibration function, and at the same time, the sensitivity of the thermal sensation is maintained by indirect air conditioning without directly blowing the wind to the human body. ,
The human sensor according to claim 4, wherein comfort can be improved. 6. The person according to claim 4, wherein in the infrared sensor, the amount of activity is calculated from the tracked distance, and the wind speed and the blowing temperature in the air conditioning control are adjusted to improve comfort. Feeling sensor.