WO2019221244A1 - Système de détection d'objet, système de capteur, système de climatiseur, procédé de détection d'objet, et programme - Google Patents

Système de détection d'objet, système de capteur, système de climatiseur, procédé de détection d'objet, et programme Download PDF

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Publication number
WO2019221244A1
WO2019221244A1 PCT/JP2019/019569 JP2019019569W WO2019221244A1 WO 2019221244 A1 WO2019221244 A1 WO 2019221244A1 JP 2019019569 W JP2019019569 W JP 2019019569W WO 2019221244 A1 WO2019221244 A1 WO 2019221244A1
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WIPO (PCT)
Prior art keywords
area
detection
background data
temperature
background
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PCT/JP2019/019569
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English (en)
Japanese (ja)
Inventor
延亮 島本
浩 山中
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パナソニックＩｐマネジメント株式会社
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Application filed by パナソニックＩｐマネジメント株式会社 filed Critical パナソニックＩｐマネジメント株式会社
Priority to JP2020519923A priority Critical patent/JP7228767B2/ja
Priority to CN201980030894.XA priority patent/CN112105964A/zh
Publication of WO2019221244A1 publication Critical patent/WO2019221244A1/fr

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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F24—HEATING; RANGES; VENTILATING
    • F24F—AIR-CONDITIONING; AIR-HUMIDIFICATION; VENTILATION; USE OF AIR CURRENTS FOR SCREENING
    • F24F11/00—Control or safety arrangements
    • F24F11/30—Control or safety arrangements for purposes related to the operation of the system, e.g. for safety or monitoring
    • F24F11/46—Improving electric energy efficiency or saving
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F24—HEATING; RANGES; VENTILATING
    • F24F—AIR-CONDITIONING; AIR-HUMIDIFICATION; VENTILATION; USE OF AIR CURRENTS FOR SCREENING
    • F24F11/00—Control or safety arrangements
    • F24F11/70—Control systems characterised by their outputs; Constructional details thereof
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01J—MEASUREMENT OF INTENSITY, VELOCITY, SPECTRAL CONTENT, POLARISATION, PHASE OR PULSE CHARACTERISTICS OF INFRARED, VISIBLE OR ULTRAVIOLET LIGHT; COLORIMETRY; RADIATION PYROMETRY
    • G01J1/00—Photometry, e.g. photographic exposure meter
    • G01J1/02—Details
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01J—MEASUREMENT OF INTENSITY, VELOCITY, SPECTRAL CONTENT, POLARISATION, PHASE OR PULSE CHARACTERISTICS OF INFRARED, VISIBLE OR ULTRAVIOLET LIGHT; COLORIMETRY; RADIATION PYROMETRY
    • G01J1/00—Photometry, e.g. photographic exposure meter
    • G01J1/42—Photometry, e.g. photographic exposure meter using electric radiation detectors
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01J—MEASUREMENT OF INTENSITY, VELOCITY, SPECTRAL CONTENT, POLARISATION, PHASE OR PULSE CHARACTERISTICS OF INFRARED, VISIBLE OR ULTRAVIOLET LIGHT; COLORIMETRY; RADIATION PYROMETRY
    • G01J5/00—Radiation pyrometry, e.g. infrared or optical thermometry
    • G01J5/48—Thermography; Techniques using wholly visual means
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
    • G01V8/00—Prospecting or detecting by optical means
    • G01V8/10—Detecting, e.g. by using light barriers

Definitions

  • the present disclosure generally relates to an object detection system, a sensor system, an air conditioning system, an object detection method, and a program, and more specifically, an object detection system, a sensor system, an air conditioning system, and an object that detect an object from an output of a temperature sensor.
  • the present invention relates to a detection method and a program.
  • Patent Document 1 describes an air conditioner including a human sensor that detects the presence of a room occupant and the position of the room occupant. This air conditioner controls the fan unit and the like with reference to the presence of the occupant and the position of the occupant specified by the detection result (detection signal) of the human sensor.
  • the air conditioner can determine the direction of the left and right wind direction plates based on the detection result of the human sensor, and can direct the air flow toward the occupant with high accuracy. Further, according to the function of the human sensor, the airflow can follow the movement of the occupant and even if the occupant moves, the airflow can reach the occupant accurately. Thereby, the occupant can surely obtain a cool feeling based on the cooling effect of the airflow.
  • an object detection system that detects an object (a person in the room) in the detection area based on the output of the temperature sensor that detects the temperature of the detection area can be used.
  • the area where the object can be detected is limited within the viewing angle of the temperature sensor.
  • an object existing outside the viewing angle of the temperature sensor
  • an object of the present disclosure is to provide an object detection system, a sensor system, an air conditioning system, an object detection method, and a program that can expand an area in which an object can be detected.
  • the object detection system includes a switching unit, a determination unit, and a background correction unit.
  • the switching unit switches a detection area between a plurality of areas including at least a specific area.
  • the determination unit determines the presence or absence of an object in the detection area based on a comparison result between output data of a temperature sensor that detects the temperature of the detection area and background data corresponding to each of the plurality of areas.
  • the background correction unit corrects the background data corresponding to the specific area based on a temperature change amount during a period in which the detection area is an area other than the specific area.
  • a sensor system includes the object detection system and the temperature sensor.
  • An air conditioning system includes the sensor system and an air conditioner that operates based on an output of the determination unit.
  • the object detection method includes a switching process, a determination process, and a background correction process.
  • the switching process is a process of switching detection areas between a plurality of areas including at least a specific area.
  • the determination processing determines the presence or absence of an object in the detection area based on a comparison result between output data of a temperature sensor that detects the temperature of the detection area and background data corresponding to each of the plurality of areas. It is processing.
  • the background correction process is a process of correcting the background data corresponding to the specific area based on a temperature change amount during a period in which the detection area is an area other than the specific area.
  • a program according to an aspect of the present disclosure is a program for causing a computer system to execute the object detection method.
  • FIG. 1 is a block diagram illustrating configurations of an object detection system, a sensor system, and an air conditioning system according to the first embodiment.
  • 2A and 2B are explanatory diagrams of the operation when there is an object in the object detection system of the above.
  • 3A and 3B are explanatory diagrams of the operation when there is no target in the object detection system of the above.
  • 4A and 4B are explanatory diagrams of determination processing in the object detection system of the above.
  • FIG. 5 is a flowchart showing an operation example of the object detection system of the above.
  • FIG. 6 is a flowchart showing an operation example of the object detection system of the above.
  • FIG. 7 is a flowchart showing an operation example according to the determination process of the object detection system.
  • FIG. 1 is a block diagram illustrating configurations of an object detection system, a sensor system, and an air conditioning system according to the first embodiment.
  • 2A and 2B are explanatory diagrams of the operation when there is an object in the object detection
  • FIG. 8 is an explanatory diagram of the operation of the object detection system of the above.
  • FIG. 9 is a flowchart illustrating an operation example of the object detection system according to the comparative example.
  • 10A and 10B are explanatory diagrams of the operation of the object detection system of the above.
  • 11A to 11C are explanatory diagrams of the operation of the object detection system according to the modification of the first embodiment.
  • FIG. 12 is an explanatory diagram of the operation of the object detection system according to the first configuration example of the second embodiment.
  • FIG. 13A is an explanatory diagram of an operation of the object detection system according to the second configuration example of the second embodiment.
  • FIG. 13B is an explanatory diagram of an operation of the object detection system according to the third configuration example of Embodiment 2.
  • the object detection system 1 according to the present embodiment constitutes a sensor system 20 together with the temperature sensor 2 as shown in FIG.
  • the sensor system 20 according to the present embodiment includes the object detection system 1 and the temperature sensor 2.
  • the sensor system 20 constitutes an air conditioning system 30 together with the air conditioner 3.
  • the air conditioning system 30 according to the present embodiment includes the sensor system 20 and the air conditioner 3.
  • the object detection system 1 is a system that detects the object 5 (see FIG. 2A) in the detection area 4 (see FIG. 2A) based on the output of the temperature sensor 2.
  • the presence / absence of the object 5 in the detection area 4 is determined based on the comparison result between the output data D1 (see FIG. 4B) of the temperature sensor 2 and the background data D2 (see FIG. 4B). That is, in the object detection system 1, the object 5 is regarded as a heat source, and the presence of the object 5 is detected based on a temperature change in the detection area 4 due to the object 5 existing in the detection area 4.
  • the air conditioner 3 operates based on the detection result of the sensor system 20.
  • the sensor system 20 used in the air conditioning system 30 uses the “person” existing in the room where the air conditioner 3 is installed as the target object 5, and whether or not there is a person (target object 5) in the room. Judging.
  • the air conditioner 3 performs control such as switching the operation mode to the power saving mode or stopping the operation, for example. To do.
  • the object detection system 1 includes a switching unit 12, a determination unit 11, and a background correction unit 13, as shown in FIG.
  • the switching unit 12 switches the detection area 4 between a plurality of areas A1 to A3 (see FIG. 2A) including at least the specific area.
  • the determination unit 11 determines the presence / absence of the object 5 in the detection area 4 based on the comparison result between the output data D1 of the temperature sensor 2 and the background data D2.
  • the temperature sensor 2 detects the temperature of the detection area 4.
  • the background data D2 corresponds to each of the plurality of areas A1 to A3.
  • the background correction unit 13 corrects the background data D2 corresponding to the specific area based on the temperature change amount during the period in which the detection area 4 is an area other than the specific area.
  • the detection area 4 in which the temperature is detected by the temperature sensor 2 is switched between the plurality of areas A1 to A3 by the switching unit 12. Therefore, compared to the case where the detection area 4 is fixed, The area where the object 5 can be detected can be expanded. That is, in the object detection system 1 configured as described above, the area in which the object 5 can be detected is not limited within the viewing angle of the temperature sensor 2, and the object 5 existing outside the viewing angle of the temperature sensor 2 can also be detected. It becomes.
  • the background correction unit 13 corrects the background data D2 corresponding to the specific area based on the temperature change amount during the period in which the detection area 4 is an area other than the specific area. To do. Thereby, although the detection area 4 is switched between the plurality of areas A1 to A3, the reliability (detection accuracy) of detection of the object 5 in the object detection system 1 is unlikely to decrease. This will be described in detail in the column “(2.3) Operation”.
  • the air conditioning system 30 includes the sensor system 20 and the air conditioner 3.
  • the air conditioning system 30 includes only one air conditioner 3.
  • the present invention is not limited to this example, and the air conditioning system 30 may include a plurality of air conditioners 3. Good.
  • the sensor system 20 includes the object detection system 1 and the temperature sensor 2 as described above.
  • the sensor system 20 further includes a drive unit 21.
  • all the components of the sensor system 20 are integrated with the air conditioner 3.
  • all the components of the air conditioning system 30 are provided in the casing 31 (see FIG. 2A) of one air conditioner 3.
  • the air conditioning system 30 is introduced into a residential facility such as a detached house or an apartment house.
  • the casing 31 of the air conditioner 3 is attached to the wall or ceiling of one living room 40 (see FIG. 2A) in a residential facility.
  • the air conditioner 3 adjusts the temperature, humidity, air cleanliness, airflow, and the like in the living room 40.
  • the sensor system 20 used in the air conditioning system 30 uses the “person” existing in the living room 40 in which the air conditioner 3 is installed as the target object 5, and whether or not there is a person (target object 5) in the living room 40. Determine whether. That is, the area that is the target of detection of the object 5 by the sensor system 20 and the area that is the target of air conditioning by the air conditioner 3 are set in the same space (in the living room 40). Therefore, when the sensor system 20 determines that no person (object 5) is present in the living room 40, the air conditioner 3 performs control such as switching the operation mode to the power saving mode or stopping the operation, for example. Execute.
  • the sensor system 20 recognizes not only the presence / absence of a person (target object 5) but also the position of the person existing in the living room 40 and the number of persons (number of persons) existing in the living room 40. Is possible. Therefore, the air conditioner 3 executes control such as changing the direction of the air flow (wind direction) or the amount of air according to at least one of the position and the number of people in the living room 40.
  • the temperature sensor 2 is an infrared array sensor in which a plurality of sensor elements that detect infrared rays are two-dimensionally arranged.
  • “Infrared rays” as used in the present disclosure is at least light rays (heat rays) emitted from the human body, for example, light having a wavelength in the vicinity of 10 [ ⁇ m].
  • This type of temperature sensor 2 outputs a thermal image representing a temperature distribution in a detection area set within a predetermined viewing angle.
  • the “thermal image” referred to in the present disclosure is an image configured by two-dimensionally arranging a plurality of pixels with the detected temperatures of the plurality of sensor elements as pixel values.
  • the temperature sensor 2 is an infrared array sensor in which 64 sensor elements are two-dimensionally arranged so that eight sensor elements are arranged in the X-axis direction and eight in the Y-axis direction. Therefore, the temperature sensor 2 outputs a thermal image in which the number of pixels in each of the X-axis direction and the Y-axis direction is 8 as output data D1.
  • the output data D1 is image data including a plurality of pixels each having a temperature value as a pixel value.
  • the drive unit 21 generates power for moving the temperature sensor 2.
  • the drive unit 21 drives the temperature sensor 2 so that the temperature sensor 2 rotates about the rotation axis.
  • the rotation axis of the temperature sensor 2 is, for example, an axis along the vertical direction or inclined by a predetermined angle with respect to the vertical direction.
  • the drive unit 21 rotates the temperature sensor 2 to change the direction of the temperature sensor 2, thereby realizing switching of the detection area 4 among the plurality of areas A1 to A3 (see FIG. 2A). That is, the temperature sensor 2 is configured to be rotatable in the horizontal direction (pan direction) by the drive unit 21, and the detection area 4 is switched depending on the direction of the temperature sensor 2 in the horizontal direction.
  • the detection area 4 includes three areas of the first area A1, the second area A2, and the third area A3. Assumes switching. Therefore, as shown in FIG. 2A, the drive unit 21 reciprocates the temperature sensor 2 within a range of a predetermined rotation angle, and swings the temperature sensor 2 (swing operation) to thereby detect the detection area 4. Switching between the first area A1, the second area A2, and the third area A3. Specifically, the drive unit 21 includes an electric motor, and swings the temperature sensor 2 according to a drive signal from the switching unit 12 described later.
  • the object detection system 1 further includes a background update unit 14, an acquisition unit 15, and a background storage unit 16 in addition to the determination unit 11, the switching unit 12, and the background correction unit 13. ing.
  • the determination unit 11, the switching unit 12, the background correction unit 13, and the background update unit 14 are realized by the processing unit 10 that mainly includes a computer system such as a microcomputer, for example.
  • the processing unit 10 is mainly composed of a computer system including a processor and a memory, and the program recorded in the memory is executed by the processor, whereby the determination unit 11, the switching unit 12, the background correction unit 13, and the background update unit 14 are executed. Realize the function.
  • the program may be recorded in advance in a memory, may be provided through an electric communication line such as the Internet, or may be provided by being recorded in a non-temporary recording medium such as a memory card.
  • the acquisition unit 15 and the background storage unit 16 are connected to the processing unit 10. Furthermore, the drive unit 21 and the air conditioner 3 are connected to the processing unit 10.
  • the processing unit 10 and the driving unit 21 or the air conditioner 3 are only required to be connected in a state capable of transmitting information, and are not limited to a configuration in which the processing unit 10 and the driving unit 21 or the air conditioner 3 are directly connected to each other. You may be connected using.
  • the determination unit 11 determines the presence / absence of the object 5 in the detection area 4 based on the comparison result between the output data D1 of the temperature sensor 2 and the background data D2.
  • the “background data” in the present disclosure is data serving as a reference for the output data D1 when the determination unit 11 determines whether or not the object 5 exists, and the temperature of the detection area 4 when the object 5 does not exist (this book In the embodiment, it is data representing a thermal image).
  • the output data D1 of the temperature sensor 2 when the object 5 does not exist is used as the background data D2.
  • the output data D1 is image data including a plurality of pixels each having a temperature value as a pixel value. Therefore, the background data D2 serving as the reference for the output data D1 is also image data including a plurality of pixels each having a temperature value as a pixel value, similarly to the output data D1. Specifically, the background data D2 is a thermal image in which the number of pixels in each of the X-axis direction and the Y-axis direction is 8 pixels.
  • “based on the comparison result” in the present disclosure is not limited to a case based on a result (difference) obtained by directly comparing the output data D1 and the background data D2, but substantially the output data D1 and the background data D2. Including cases based on the comparison results. That is, the determination of the presence or absence of the object 5 in the determination unit 11 is realized by one of the following first to third methods as an example.
  • the first method is a method for determining the presence or absence of the object 5 based on the result (difference) obtained by directly comparing the output data D1 and the background data D2, and the second and third methods This is a method for determining the presence or absence of the object 5 without directly comparing the data D1 and the background data D2.
  • the determination unit 11 calculates difference data by taking the difference between the output data D1 and the background data D2, and compares the calculated difference data with the threshold value to thereby detect the difference in the detection area 4. The presence or absence of the target object 5 is determined. In this case, the determination unit 11 determines that the object 5 is “present” when the difference data exceeds the threshold value. In the present embodiment, it is assumed that the determination unit 11 adopts the first method. The processing related to the determination of the presence / absence of the object 5 in the determination unit 11 will be described in detail in the column “(2.3) Operation”.
  • the determination unit 11 compares the output data D1 and the composite data obtained by adding a threshold value to the background data D2 without obtaining the difference data, so that the object 5 in the detection area 4 is compared. Judgment is made. In this case, the determination unit 11 determines that the object 5 is “present” when the output data D1 exceeds the combined data.
  • the determination unit 11 compares the composite data obtained by subtracting the threshold value from the output data D1 and the background data D2 without obtaining the difference data, so that the object 5 in the detection area 4 is compared. Judgment is made. In this case, the determination unit 11 determines that the object 5 is “present” when the composite data exceeds the background data D2.
  • the background data D2 is set in association with each of the plurality of areas A1 to A3. That is, background data D2 is set for each area (first area A1, second area A2, or third area A3) as a candidate for detection area 4. Then, the determination unit 11 selects the target in the detection area 4 based on the comparison result between the background data D2 corresponding to the area as the detection area 4 and the output data D1 of the temperature sensor 2 among the plurality of areas A1 to A3. The presence or absence of the object 5 is determined.
  • the determination unit 11 is based on the comparison result between the background data D2 corresponding to the area A1 and the output data D1 of the temperature sensor 2. Thus, the presence or absence of the object 5 in the detection area 4 is determined.
  • the object 5 is a moving object. More strictly, the object 5 is a “person” present in the living room 40. Therefore, the determination unit 11 determines that the object 5 is “none” in the state where the object 5 (person) does not exist in the detection area 4, and the object 5 (person) that is a moving object is detected from this state. When entering the area 4, it is determined that the object 5 is “present”.
  • the object 5 may be a moving object, and is not limited to a person, and may be a small animal, for example.
  • the determination unit 11 determines the presence / absence of the object 5 a plurality of times during a period in which the detection area 4 is in the same area. That is, in the present embodiment, the detection area 4 is switched between the plurality of areas A1 to A3 by the switching unit 12. While the detection area 4 is stopped in any one of the plurality of areas A1 to A3, the determination unit 11 determines whether or not the object 5 is present a plurality of times. In other words, in the period from when the detection area 4 is switched to when the detection area 4 is switched next, the determination unit 11 determines whether or not the object 5 is present a plurality of times.
  • the switching unit 12 switches the detection area 4 between the plurality of areas A1 to A3 including at least the specific area. That is, the detection area 4 to be detected by the temperature sensor 2 is not fixed and is switched by the switching unit 12.
  • the plurality of areas that are candidates for the detection area 4 include three or more areas. In the present embodiment, it is assumed that the detection area 4 is switched between three areas of the first area A1, the second area A2, and the third area A3. That is, the plurality of areas that are candidates for the detection area 4 include the three areas of the first area A1, the second area A2, and the third area A3.
  • the central area as viewed from the temperature sensor 2 is the first area A1
  • the right area is the second area A2
  • the left area is the third area A3.
  • the viewing angle of the temperature sensor 2 in plan view is approximately 60 degrees
  • the range of approximately 180 degrees centered on the front of the air conditioner 3 is divided into three equal parts, and the first area A1, the first Three areas A2 and A3 are formed.
  • the drive unit 21 swings the temperature sensor 2 to realize switching of the detection area 4 among the plurality of areas A1 to A3. Therefore, the switching unit 12 outputs a drive signal to the drive unit 21 and controls the drive unit 21 with the drive signal, thereby switching the detection area 4 among a plurality (here, three) areas A1 to A3.
  • the “specific area” in the present disclosure is included in the plurality of areas A1 to A3, and is an arbitrary one area to which attention is paid.
  • any of the first area A1, the second area A2, and the third area A3 can be a “specific area”. That is, the specific area is not fixed, and the specific area changes depending on which of the first area A1, the second area A2, and the third area A3 is focused.
  • the first area A1 is a “specific area”
  • the second area A2 and the third area A3 are “areas other than the specific area”.
  • the first area A1 and the third area A3 are “areas other than the specific area”, and when the third area A3 is the “specific area”, the first area A1 is the first area.
  • the area A1 and the second area A2 are “areas other than the specific area”.
  • the switching unit 12 switches the detection area 4 at intervals of a predetermined time (for example, about several tens of seconds to several minutes). That is, switching of the detection area 4 by the switching unit 12 is not performed continuously but intermittently. Specifically, for example, when the switching unit 12 is operated to switch the detection area 4 from the first area A1 to the second area A2 by operating the driving unit 21, the driving unit 21 is temporarily stopped and the detection area 4 is moved to the second area. Temporarily fix in area A2. When the second area A2 becomes the detection area 4 and a predetermined time elapses, the switching unit 12 operates the drive unit 21 to switch the detection area 4 from the second area A2 to the first area A1.
  • a predetermined time for example, about several tens of seconds to several minutes.
  • the switching unit 12 temporarily stops the drive unit 21 to temporarily fix the detection area 4 to the first area A1.
  • the drive unit 21 does not always operate, but operates intermittently only when the detection area 4 is switched. Therefore, compared to a configuration in which the drive unit 21 operates continuously, it is possible to reduce the power consumption in the drive unit 21 and to reduce the deterioration of the drive unit 21. Furthermore, when the temperature sensor 2 and the object detection system 1 are connected by a cable, it is possible to reduce the load applied to the cable.
  • the background correction unit 13 corrects the background data D2 corresponding to the specific area based on the temperature change amount during the period in which the detection area 4 is an area other than the specific area.
  • a period in which the detection area 4 is an area other than the specific area is referred to as a “first period”
  • a period in which the detection area 4 is the specific area is referred to as a “second period”. That is, in the first period, the detection area 4 is set in an area other than the specific area, and in the second period, the detection area 4 is set in the specific area.
  • the background correction unit 13 determines the temperature generated in the first period when the first period in which the detection area 4 is an area other than the specific area and the second period in which the detection area 4 is the specific area are switched in this order. Based on the amount of change, the background data D2 used in the second period is corrected. In this case, since the background data D2 corresponding to the specific area is not updated in the first period in which the detection area 4 is an area other than the specific area, the second period is caused by a temperature change that occurs during the first period. May cause a shift in the background data D2 used. In order to reduce such a shift, the background correction unit 13 uses the background data of the second period in which the detection area 4 is the specific area from the amount of temperature change during the first period in which the detection area 4 is an area other than the specific area. D2 is corrected.
  • the “temperature change amount” in the present disclosure means the change amount when the temperature changes in a certain period.
  • the temperature change amount in the first period is the temperature at the start point of the first period. It is the difference from the temperature at the end point of the first period.
  • the specific area is not fixed, and the specific area changes depending on which of the first area A1, the second area A2, and the third area A3 is focused. Therefore, for example, when the first area A1 is a “specific area”, both the period in which the detection area 4 is the second area A2 and the period in which the detection area 4 is the third area A3 are the first period. The period in which the area 4 is the first area A1 is the second period. Similarly, when the second area A2 is a “specific area”, both the period in which the detection area 4 is the first area A1 and the period in which the detection area 4 is the third area A3 are the first period. The period in which 4 is the second area A2 is the second period.
  • both the period in which the detection area 4 is the first area A1 and the period in which the detection area 4 is the second area A2 are the first period, and the detection area 4 is the first area.
  • the period of the three areas A3 is the second period.
  • the temperature change amount used in the background correction unit 13 is a representative value of the temperature value change amount for a plurality of pixels of the background data D2 during the period in which the detection area 4 is an area other than the specific area.
  • the “representative value” in the present disclosure includes an average value, a mode value, a median value, and the like, and in the present embodiment, as an example, it is assumed that the representative value is an average value. That is, as described above, each of the output data D1 and the background data D2 is image data including a plurality of pixels each having a temperature value as a pixel value.
  • the background correction unit 13 calculates the average value of the amount of change in temperature value for all the pixels constituting the background data D2 in the period (first period) in which the detection area 4 is an area other than the specific area. , And used as a temperature change amount generated during this period (first period).
  • the background update unit 14 updates the background data D2.
  • the background update unit 14 updates the background data D2 corresponding to this area as needed during a period in which the detection area 4 is in the same area. That is, while the detection area 4 is stopped in any one of the plurality of areas A1 to A3, the background update unit 14 updates the background data D2 corresponding to this area as needed.
  • the processing related to the update of the background data D2 in the background update unit 14 will be described in detail in the section “(2.3) Operation”.
  • the determination unit 11 determines the presence / absence of the object 5 a plurality of times during a period in which the detection area 4 is in the same area, and the background update unit 14 determines whether the determination unit 11 has the object.
  • the background data D2 is updated every time. That is, in the period in which the detection area 4 is in the same area, the number of times that the determination unit 11 determines the presence or absence of the object 5 is the same as the number of times that the background update unit 14 updates the background data D2.
  • the acquisition unit 15 is connected to the temperature sensor 2 and acquires output data D1 from the temperature sensor 2.
  • the acquisition unit 15 acquires the output data D1 including the thermal image.
  • the frequency with which the acquisition unit 15 acquires the output data D1 is defined by the frame rate of the temperature sensor 2, for example. That is, if the frame rate of the temperature sensor 2 is 10 [fps] as an example, the acquisition unit 15 acquires the output data D1 at intervals of 0.1 [s].
  • the background storage unit 16 is composed of, for example, a nonvolatile memory, and stores background data D2.
  • the background storage unit 16 stores background data D2 in association with each of the first area A1, the second area A2, and the third area A3. That is, in the present embodiment, background data D2 is stored in the background storage unit 16 for each area (first area A1, second area A2, or third area A3) as a candidate for the detection area 4.
  • the background data D2 stored in the background storage unit 16 is rewritten with the corrected background data D2.
  • the background data D2 corresponding to the first area A1 is corrected by the background correction unit 13
  • the background data D2 corresponding to the first area A1 stored in the background storage unit 16 is corrected background data D2. To be rewritten.
  • the background data D2 is updated by the background update unit 14
  • the background data D2 stored in the background storage unit 16 is rewritten with the updated background data D2.
  • the background data D2 corresponding to the first area A1 is updated by the background update unit 14
  • the background data D2 corresponding to the first area A1 stored in the background storage unit 16 is the updated background data D2. To be rewritten.
  • the background storage unit 16 always stores the latest background data D2, that is, the corrected or updated background data D2.
  • the object detection system 1 provides the air conditioner 3 with information on the temperature of the space, floor, wall, ceiling, etc. of the detection area 4 in addition to the presence or absence of the object 5 or instead of the presence or absence of the object 5. It may be output. In this case, the air conditioner 3 can be operated based on the temperature of the space, floor, wall, ceiling, etc. of the detection area 4.
  • the determination unit 11 determines the presence or absence of the object 5 in the detection area 4 based on the comparison result between the output data D1 of the temperature sensor 2 acquired by the acquisition unit 15 and the background data D2. To do.
  • the switching unit 12 switches the detection area 4 between a plurality of areas (first area A1, second area A2, and third area A3), and the plurality of areas A1 to A3. For each of these, the determination unit 11 determines the presence or absence of the object 5. That is, FIG. 2A is a schematic plan view showing a state in which the detection area 4 is switched between the first area A1, the second area A2, and the third area A3. In particular, the detection area 4 is in the first area A1. Is shown.
  • the object detection system 1 switches the detection area 4 in the order of the first area A1, the second area A2, the first area A1, the third area A3, the second area A2, the first area A1,. Then, the presence or absence of the object 5 is determined.
  • FIG. 2B shows a thermal image acquired as output data D1 by the acquisition unit 15 when the detection area 4 is in each of the first area A1, the second area A2, and the third area A3 in the example of FIG. 2A. Show.
  • the output data D1 acquired in the first area A1 is expressed as “center”
  • the output data D1 acquired in the second area A2 is expressed as “right”
  • the output data D1 is expressed as “left”. That is, as shown in FIG.
  • the object detection system 1 compares the output data D1 with the background data D2. As described above, the object detection system 1 basically uses the output data D1 of the temperature sensor 2 when the target object 5 does not exist as the background data D2. Therefore, as shown in FIGS. 3A and 3B, the object detection system 1 acquires the output data D1 of the temperature sensor 2 in a state where the object 5 does not exist as background data D2 by the acquisition unit 15.
  • FIG. 3A is a schematic plan view showing a state in which the detection area 4 is switched between the first area A1, the second area A2, and the third area A3, and particularly shows a state in which the detection area 4 is in the first area A1.
  • FIG. 3B shows a thermal image acquired as background data D2 by the acquisition unit 15 when the detection area 4 is in each of the first area A1, the second area A2, and the third area A3 in the example of FIG. 3A. Show.
  • the object detection system 1 calculates difference data by taking the difference between the output data D1 and the background data D2, and compares the calculated difference data with a threshold value to thereby detect the object 5 in the detection area 4. Judgment is made.
  • the determination unit 11 since the output data D1 and the background data D2 are both thermal images, the determination unit 11 generates difference data by taking a difference for each pixel. That is, the difference data consists of image data in which the difference value between the same pixels of the output data D1 and the background data D2 is the pixel value. The determination unit 11 determines that the object 5 is “present” when the difference data exceeds the threshold value.
  • FIG. 4B schematically shows a Y1 line cross section in the output data D1 shown in FIG. 4A. That is, it is assumed that a temperature distribution as shown in FIG. 4B is obtained by extracting one row of pixels P1 along the horizontal axis (X axis) of the output data D1 shown in FIG. 4A.
  • the object detection system 1 calculates difference data by taking the difference between the output data D1 and the background data D2, and compares the calculated difference data with the threshold value Vth1. The presence / absence of the object 5 in the detection area 4 is determined.
  • the determination unit 11 determines that the object 5 is “present” when the difference data exceeds the threshold value Vth1. That is, in the example of FIG.
  • the difference data exceeds the threshold value Vth1 in the shaded area that exceeds the data (indicated by the broken line) obtained by adding the threshold value Vth1 to the background data D2 in the output data D1.
  • the determination unit 11 determines that the object 5 exists, that is, “person” exists in the shaded area.
  • the determination unit 11 determines the size, shape, and pixel value (temperature value) of a pixel (shaded area) whose difference data exceeds the threshold value Vth1. ) May be used to determine whether the object 5 (person) or not.
  • FIG. 5 to 7 are flowcharts showing an operation example of the object detection system 1 according to the present embodiment.
  • processing is distinguished and indicated depending on which of the plurality of areas A1 to A3 is the detection area 4.
  • the process when the detection area 4 is the first area A1 is described in the “center” column, and the process when the detection area 4 is the second area A2 is described in the “right” column.
  • the processing when the area 4 is the third area A3 is shown in the “left” column.
  • the object detection system 1 first acquires background data D2 corresponding to the third area A3 after startup (S1). Next, the object detection system 1 executes a switching process for switching the detection area 4 from the third area A3 to the first area A1 (S2), and acquires background data D2 corresponding to the first area A1 (S3). . Next, the object detection system 1 executes a switching process for switching the detection area 4 from the first area A1 to the second area A2 (S4), and acquires background data D2 corresponding to the second area A2 (S5). . Thereby, in the object detection system 1, the acquisition of the background data D2 corresponding to the first area A1, the second area A2, and the third area A3 is completed. The acquired background data D2 is stored in the background storage unit 16 in association with each of the first area A1, the second area A2, and the third area A3.
  • the object detection system 1 executes a switching process for switching the detection area 4 from the second area A2 to the first area A1 (S6), and reads the background data D2 corresponding to the first area A1 from the background storage unit 16 ( S7). And the object detection system 1 performs the below-mentioned determination process (S8) about 1st area A1.
  • the object detection system 1 uses the background correction unit 13 to calculate the amount of temperature change that occurred during the period in which the detection area 4 is the first area A1 (S9).
  • the background correction unit 13 sets the average value (representative value) of the temperature value change amount for the plurality of pixels of the background data D2 during the period in which the detection area 4 is the first area A1 as the “temperature change amount”. calculate.
  • the object detection system 1 executes a switching process for switching the detection area 4 from the first area A1 to the second area A2 (S10), and reads the background data D2 corresponding to the second area A2 from the background storage unit 16 ( S11). Then, in the object detection system 1, the background correction unit 13 executes background correction processing (S12) for correcting the background data D2.
  • the specific area is the second area A2, based on the temperature change amount generated in the period in which the detection area 4 is an area other than the specific area (first area A1), that is, based on the temperature change amount obtained in the process S9.
  • the background data D2 corresponding to the second area A2 is corrected.
  • the object detection system 1 performs a determination process (S13) using the corrected background data D2 for the second area A2.
  • the background correction unit 13 calculates the amount of temperature change that occurred during the period in which the detection area 4 is the second area A2 (S14).
  • the background correction unit 13 sets the average value (representative value) of the temperature value change amount for the plurality of pixels of the background data D2 during the period in which the detection area 4 is the second area A2 as “temperature change amount”. calculate.
  • the object detection system 1 executes a switching process for switching the detection area 4 from the second area A2 to the first area A1 (S15), and the background data D2 corresponding to the first area A1 is obtained as shown in FIG. Read from the background storage unit 16 (S16). Then, the object detection system 1 executes the background correction process (S17) in which the background correction unit 13 corrects the background data D2.
  • the specific area is the first area A1, based on the temperature change amount generated in the period in which the detection area 4 is an area other than the specific area (second area A2), that is, the temperature change amount obtained in the process S14.
  • the background data D2 corresponding to the first area A1 is corrected.
  • the object detection system 1 performs a determination process (S18) using the corrected background data D2 for the first area A1.
  • the background correction unit 13 calculates the temperature change amount that occurs during the period in which the detection area 4 is the first area A1 (S19).
  • the background correction unit 13 sets the average value (representative value) of the temperature value change amount for the plurality of pixels of the background data D2 during the period in which the detection area 4 is the first area A1 as the “temperature change amount”. calculate.
  • the object detection system 1 executes a switching process for switching the detection area 4 from the first area A1 to the third area A3 (S20), and reads the background data D2 corresponding to the third area A3 from the background storage unit 16 ( S21). Then, the object detection system 1 executes the background correction process (S22) in which the background correction unit 13 corrects the background data D2.
  • the specific area is the third area A3, based on the temperature change amount generated in the period in which the detection area 4 is an area other than the specific area (first area A1), that is, based on the temperature change amount obtained in the process S19.
  • the background data D2 corresponding to the third area A3 is corrected.
  • the object detection system 1 executes the determination process (S23) for the third area A3 using the corrected background data D2.
  • the object detection system 1 determines the presence or absence of the object 5 for each of the plurality of areas A1 to A3 while switching the detection area 4 between the plurality of areas A1 to A3.
  • FIG. 7 shows an overview of each determination process (S8, S13, S18, S23). That is, in the determination process, the object detection system 1 first acquires the latest thermal image from the temperature sensor 2 as output data D1 (S101). Next, the object detection system 1 calculates difference data by taking the difference between the output data D1 and the background data D2 (S102). Next, the object detection system 1 determines the presence or absence of the target 5 (person) in the detection area 4 by comparing the calculated difference data with a threshold (S103).
  • the object detection system 1 updates the background data D2 in the background update unit 14 (S104).
  • the background update unit 14 updates the background data D2 so as to approach the output data D1.
  • the background update unit 14 generates difference data by taking a difference for each pixel for the output data D1 and the background data D2, and updates the difference data by a predetermined ratio (for example, several percent).
  • the background data D2 is updated by adding the business data to the background data D2.
  • the output data D1 is used to update the background data D2 except for the area where the object 5 exists. In other words, only the pixels in the region where the object 5 does not exist in the output data D1 are used for updating the background data D2.
  • the background data D2 is updated so as to follow the temperature change.
  • the object detection system 1 determines whether or not a predetermined time has elapsed since the start of the determination process (S105). At this time, if the predetermined time has not elapsed (S105: No), the process returns to step S101, and if the predetermined time has elapsed (S105: Yes), the determination process is terminated. Thereby, the above-described processes S101 to S104 are repeated until a predetermined time has elapsed.
  • the background correction unit 13 corrects the background data D2 corresponding to the specific area based on the temperature change amount during the period in which the detection area 4 is an area other than the specific area. . Therefore, for example, even when the temperature of the living room 40 is increased by the air conditioner 3 during a period in which the detection area 4 is an area other than the specific area, the reliability (detection of the object 5 in the object detection system 1 is detected). (Accuracy) is unlikely to decrease.
  • FIG. 8 schematically shows a cross section along line Y1 in the output data D1 shown in FIG. 4A, similarly to FIG. 4B.
  • the first area A1 is equal to the amount of temperature change ⁇ T1 that occurs in the period in which the detection area 4 is an area other than the specific area (first area A1).
  • the background data D2 corresponding to is corrected.
  • the background data D2 'before correction is indicated by an imaginary line (two-dot chain line), and the background data D2 after correction is indicated by a solid line. Since the determination process is performed based on the corrected background data D2, erroneous detection of the object 5 or detection omission of the object 5 is unlikely to occur.
  • FIG. 9 is a flowchart showing the operation of the object detection system according to the comparative example.
  • the object detection system according to the comparative example here is assumed to have a configuration in which the background correction unit 13 is omitted from the object detection system 1 according to the present embodiment. That is, the object detection system according to the comparative example has the same configuration as the object detection system 1 according to the present embodiment except that the background correction unit 13 is not provided.
  • the detection area 4 since the detection area 4 is switched between the plurality of areas A1 to A3, the area other than the specific area corresponds to the specific area during a period in which the detection area 4 is set.
  • the background data D2 is not updated. Therefore, for example, when the specific area is the first area A1, the update of the background data D2 corresponding to the specific area is not performed during the period when the area other than the specific area (second area A2) is set as the detection area 4. Not done. Therefore, for example, as shown in FIG. 10A, as a result of the temperature rise during the period when the area other than the specific area (second area A2) is set as the detection area 4, the output is performed regardless of the presence or absence of the target object 5.
  • the difference data between the data D1 and the background data D2 may exceed the threshold value. As a result, even if there is no target object 5, it is determined that the target object 5 is “present”, and erroneous detection occurs.
  • the object detection system it is also possible to newly acquire the background data D2 instead of the process of reading the background data D2 (Sc11, Sc16, Sc21).
  • the background data D2 since the background data D2 is newly acquired every time the detection area 4 is switched between the plurality of areas A1 to A3, the area other than the specific area is set in the specific area during the period in which the detection area 4 is set.
  • Detection failure of the intruding target object 5 (person) may occur. That is, for example, as shown in FIG. 10B, an object 5 (person) who has entered the specific area (first area A1) during the period when the area other than the specific area (second area A2) is set as the detection area 4. May not be detected.
  • the background correction unit 13 uses the background data D2 corresponding to the specific area based on the temperature change amount during the period in which the detection area 4 is an area other than the specific area. Therefore, false detection and detection omission are less likely to occur. Therefore, in this embodiment, although the detection area 4 is switched between the plurality of areas A1 to A3, the reliability (detection accuracy) of detection of the target 5 in the object detection system 1 is unlikely to decrease. There is.
  • Modification Example 1 is only one of various embodiments of the present disclosure.
  • the first embodiment can be variously modified according to the design or the like as long as the object of the present disclosure can be achieved.
  • the functions similar to those of the object detection system 1 according to the first embodiment may be embodied by an object detection method, a program, or a non-transitory recording medium that records the program.
  • the object detection method according to one aspect includes a switching process (see S2, S4, S6, S10, S15, and S20 in FIGS. 5 and 6) and a determination process (see S8, S13, S18, and S23 in FIGS. 5 and 6). ) And background correction processing (see S12, S17, and S22 in FIGS. 5 and 6).
  • the switching process is a process of switching the detection area 4 between a plurality of areas A1 to A3 including at least a specific area.
  • the determination process is a process of determining the presence or absence of the object 5 in the detection area 4 based on the difference data between the output data D1 of the temperature sensor 2 and the background data D2.
  • the temperature sensor 2 detects the temperature of the detection area 4.
  • the background data D2 corresponds to each of the plurality of areas A1 to A3.
  • the background correction process is a process of correcting the background data D2 corresponding to a specific area based on a temperature change amount during a period in which the detection area 4 is an area other than the specific area.
  • a program according to an aspect is a program for causing a computer system to execute the object detection method.
  • areas A1 to A3 that can be the detection area 4 may be adjustable.
  • the central area is the first area A1 and the right area when viewed from the temperature sensor 2. Is the second area A2, and the left area is the third area A3.
  • the central first area A1 is in front of the air conditioner 3. Adjusted to tilt to the right.
  • the central first area A1 is tilted to the left with respect to the front of the air conditioner 3. To be adjusted.
  • the first area A ⁇ b> 1 can be directed to the center of the living room 40 regardless of the position of the air conditioner 3, and most of the living room 40 can be set as the detection area 4. is there.
  • the time for which the detection area 4 is fixed to each of the plurality of areas A1 to A3 varies depending on the areas A1 to A3.
  • the switching unit 12 switches the detection area 4 with a predetermined time interval, the detection area 4 is fixed to each of the areas A1 to A3 for a predetermined time.
  • the predetermined time is individually set by the first area A1, the second area A2, and the third area A3, the time during which the detection area 4 is fixed to each of the plurality of areas A1 to A3 is the area A1. It depends on ⁇ A3.
  • the predetermined time is set longer than the second area A2 and the third area A3.
  • the object detection system 1 in the present disclosure includes, for example, a computer system in the processing unit 10 or the like.
  • the computer system mainly includes a processor and a memory as hardware.
  • the function as the object detection system 1 in the present disclosure is realized by the processor executing the program recorded in the memory of the computer system.
  • the program may be recorded in advance in a memory of a computer system, may be provided through a telecommunication line, or recorded in a non-transitory recording medium such as a memory card, an optical disk, or a hard disk drive that can be read by the computer system. May be provided.
  • a processor of a computer system includes one or more electronic circuits including a semiconductor integrated circuit (IC) or a large scale integrated circuit (LSI).
  • IC semiconductor integrated circuit
  • LSI large scale integrated circuit
  • An integrated circuit such as an IC or an LSI here is called differently depending on the degree of integration, and includes an integrated circuit called a system LSI, a VLSI (Very Large Scale Integration), or a ULSI (Ultra Large Scale Integration). Furthermore, an FPGA (Field-Programmable Gate Array) programmed after manufacturing the LSI, or a logic device capable of reconfiguring the junction relationship inside the LSI or reconfiguring the circuit partition inside the LSI should be adopted as the processor. Can do.
  • the plurality of electronic circuits may be integrated on one chip, or may be distributed on the plurality of chips.
  • the plurality of chips may be integrated into one device, or may be distributed and provided in a plurality of devices.
  • the object detection system 1 it is not an essential configuration for the object detection system 1 that a plurality of functions in the object detection system 1 are integrated in one casing, and the components of the object detection system 1 are distributed in a plurality of casings. It may be provided. Furthermore, at least some functions of the object detection system 1, for example, some functions of the processing unit 10 may be realized by cloud (cloud computing) or the like.
  • the object detection system 1, the sensor system 20, and the air conditioning system 30 are not limited to residential facilities, and may be introduced into non-residential facilities such as offices, stores, hospitals, schools, and nursing care facilities, for example.
  • the object detection system 1 and the sensor system 20 are not limited to the air conditioning system 30 and may be used for, for example, an illumination control system or an entrance / exit management system.
  • the drive unit 21 is not an essential component for the sensor system 20 and may be omitted as appropriate.
  • the switching unit 12 selects, for example, the outputs of the plurality of temperature sensors 2 installed in association with the plurality of areas A1 to A3.
  • the detection area 4 may be switched between the areas A1 to A3.
  • the plurality of areas that are candidates for the detection area 4 are not limited to the three areas A1 to A3, and may include four or more areas.
  • the plurality of areas that are candidates for the detection area 4 may be two areas. In the case where the detection area 4 is switched only between the two areas of the first area A1 and the second area A2, for example, when the first area A1 is a “specific area”, the second area A2 is “other than the specific area”. Area ". Similarly, when the second area A2 is a “specific area”, the first area A1 is an “area other than the specific area”.
  • a period in which the detection area 4 is the first area A1 is a first period and a third period, and a period in which the detection area 4 is the second area A2.
  • Second period when the second area A2 is a “specific area”, the period in which the detection area 4 is the second area A2 is the first period and the third period, and the period in which the detection area 4 is the first area A1 is the first period. 2 periods.
  • the background update unit 14 updates the background data D2 every time the determination unit 11 determines the presence or absence of an object. That is, even when the detection area 4 is in the same area, the number of times the determination unit 11 determines whether or not the object 5 is present and the number of times the background update unit 14 updates the background data D2 may be different from each other. Good.
  • the object detection system 1 according to the present embodiment is different from the object detection system 1 according to the first embodiment in the method for calculating the temperature change amount used in the background correction unit 13.
  • the same configurations as those of the first embodiment are denoted by common reference numerals, and description thereof is omitted as appropriate.
  • the first area A1 and the second area A2 or the third area A3 overlap in the overlapping area A10 as shown in FIG. That is, the first area A1 and the second area A2 partially overlap each other in the overlapping area A10. Similarly, the first area A1 and the third area A3 partially overlap each other in the overlapping area A10.
  • the temperature change amount used in the background correction unit 13 is the temperature value for the pixel corresponding to the overlapping area A10 among the plurality of pixels of the background data D2 in the period in which the detection area 4 is an area other than the specific area.
  • the specific area is the second area A2
  • the specific area is the third area A3, the representative value of the amount of change in the temperature value for the pixel in the overlap area A10 among the plurality of pixels in the background data D2 during the period in which the detection area 4 is the first area A1. Is used as a temperature change amount.
  • the temperature change generated in the overlapping area A10 that is a part of the specific area is reflected in the correction of the background data D2 corresponding to the specific area. Will improve.
  • the temperature change amount used in the background correction unit 13 reflects the distribution of temperature values in the background data D2 during the period in which the detection area 4 is an area other than the specific area. It is the value. That is, when the background data D2 changes with a specific distribution during a period in which the detection area 4 is an area other than the specific area, this distribution is reflected in the temperature change amount.
  • the background data D2 is displayed in FIG. 13A during the period in which the detection area 4 is an area other than the specific area (first area A1). It changes as shown.
  • the background data D2 before the change in the period in which the detection area 4 is the first area A1 is indicated by an imaginary line (two-dot chain line), and the background data D2 after the change is indicated by a solid line.
  • the background correction unit 13 uses the temperature change amount ⁇ T1 for correction of the background data D2 corresponding to the second area A2, and uses the temperature change amount ⁇ T2 (for correction of the background data D2 corresponding to the third area A3. ⁇ T1) is used.
  • the accuracy of the correction of the background data D2 is improved.
  • the temperature change amount used in the background correction unit 13 is specified among a plurality of pixels of the background data D2 in a period in which the detection area 4 is an area other than the specific area.
  • This is a representative value of the amount of change in temperature value for pixels excluding pixels. That is, the change in the temperature value of all the pixels of the background data D2 during the period in which the detection area 4 is an area other than the specific area is not reflected in the temperature change amount, but some pixels (specific pixels) are excluded. The change in temperature value is reflected in the amount of temperature change.
  • the television receiver 401 (see FIG. 2A) is activated, and the television receiver 401 becomes a fixed heat source, so Assume a temperature rise.
  • the specific area is the second area A2 or the third area A3
  • the background data D2 is displayed in FIG. 13B during the period in which the detection area 4 is an area other than the specific area (first area A1). It changes as shown.
  • the background data D2 before the change in the period in which the detection area 4 is the first area A1 is indicated by an imaginary line (two-dot chain line), and the background data D2 after the change is indicated by a solid line.
  • the background correction unit 13 uses the representative value of the change amount of the temperature value for the pixels excluding the specific pixel (the pixel in the range indicated by Z1 in FIG. 13B) to correct the background data D2 corresponding to the second area A2.
  • a temperature change amount ⁇ T1 that is (for example, an average value) is used.
  • the local data is partially obtained at some pixels. It is determined that a certain temperature change has occurred, that is, some pixels are specific pixels.
  • the accuracy of the correction of the background data D2 is improved.
  • Embodiment 2 can be used in appropriate combination with the various configurations (including modifications) described in Embodiment 1.
  • the object detection system (1) includes the switching unit (12), the determination unit (11), and the background correction unit (13).
  • the switching unit (12) switches the detection area (4) between a plurality of areas (A1 to A3) including at least the specific area.
  • the determination unit (11) compares the output data (D1) of the temperature sensor (2) that detects the temperature of the detection area (4) with the background data (D2) corresponding to each of the plurality of areas (A1 to A3). Based on the result, the presence or absence of the object (5) in the detection area (4) is determined.
  • the background correction unit (13) corrects the background data (D2) corresponding to the specific area based on the temperature change amount ( ⁇ T1) during the period in which the detection area (4) is an area other than the specific area.
  • the detection area (4) in which the temperature is detected by the temperature sensor (2) is switched between the plurality of areas (A1 to A3) by the switching unit (12).
  • the area in which the object (5) can be detected can be expanded. That is, in the object detection system (1), the area in which the object (5) can be detected is not limited to the viewing angle of the temperature sensor (2), and the object exists outside the viewing angle of the temperature sensor (2). (5) can also be detected.
  • the background correction unit (13) uses the background data (D2) corresponding to the specific area, and the temperature change amount during the period in which the detection area (4) is an area other than the specific area ( Correction is performed based on ⁇ T1). As a result, the detection reliability of the object (5) in the object detection system (1) is unlikely to decrease, although the detection area (4) is switched between the plurality of areas (A1 to A3).
  • each of the output data (D1) and the background data (D2) includes a plurality of pixels (P1) each having a temperature value as a pixel value. It is image data including.
  • the reliability of detection of the object (5) is improved.
  • the temperature change amount ( ⁇ T1) is a plurality of background data (D2) in a period in which the detection area (4) is an area other than the specific area. This is a representative value of the change amount of the temperature value for the pixel (P1).
  • the temperature change amount ( ⁇ T1) is obtained when the detection area (4) has a plurality of pixels (P1) of the background data (D2) in the following period. ) Is a representative value of the change amount of the temperature value for the pixel in the overlapping region (A10).
  • the period is an area that is an area other than the specific area and that overlaps the specific area in the overlapping region (A10) that is a part of the specific area.
  • the temperature change amount ( ⁇ T1) is the value in the background data (D2) in the period in which the detection area (4) is an area other than the specific area. This value reflects the distribution of temperature values.
  • the temperature change amount ( ⁇ T1) is a plurality of background data (D2) in a period in which the detection area (4) is an area other than the specific area. This is a representative value of the amount of change in temperature value for the pixels excluding the specific pixel among the pixels (P1).
  • the determination unit (11) includes the object (5) during a period in which the detection area (4) is in the same area. Determine the presence or absence of multiple times.
  • the object detection system (1) is the background update part (D2) that updates the background data (D2) every time the determination part (11) determines the presence or absence of the object (5). 14).
  • the object (5) is a moving object.
  • the time for which the detection area (4) is fixed to each of the plurality of areas (A1 to A3) varies depending on the area. .
  • the plurality of areas (A1 to A3) include three or more areas.
  • the area where the object (5) can be detected can be further expanded.
  • the sensor system (20) according to the twelfth aspect includes the object detection system (1) according to any one of the first to eleventh aspects, and a temperature sensor (2).
  • the detection area (4) in which the temperature is detected by the temperature sensor (2) is switched between the plurality of areas (A1 to A3) by the switching unit (12).
  • the area where the object (5) can be detected can be expanded. That is, in the sensor system (20), the area in which the object (5) can be detected is not limited within the viewing angle of the temperature sensor (2), and the object (outside the viewing angle of the temperature sensor (2) ( 5) can also be detected.
  • the air conditioning system (30) according to the thirteenth aspect includes the sensor system (20) according to the twelfth aspect and an air conditioner (3) that operates based on the output of the determination unit (11).
  • the detection area (4) in which the temperature is detected by the temperature sensor (2) is switched between the plurality of areas (A1 to A3) by the switching unit (12).
  • the area where the object (5) can be detected can be expanded. That is, in the air conditioning system (30), the area where the object (5) can be detected is not limited within the viewing angle of the temperature sensor (2), but the object existing outside the viewing angle of the temperature sensor (2). (5) can also be detected.
  • the object detection method includes a switching process, a determination process, and a background correction process.
  • the switching process is a process of switching the detection area (4) between a plurality of areas (A1 to A3) including at least the specific area.
  • the determination process is based on the comparison result between the output data (D1) of the temperature sensor (2) for detecting the temperature of the detection area (4) and the background data (D2) corresponding to each of the plurality of areas (A1 to A3). This is a process for determining the presence or absence of the object (5) in the detection area (4).
  • the background correction process is a process of correcting the background data (D2) corresponding to the specific area based on the temperature change amount ( ⁇ T1) during the period in which the detection area (4) is an area other than the specific area.
  • the detection area (4) where the temperature is detected by the temperature sensor (2) is switched between the plurality of areas (A1 to A3) by the switching process, the detection area (4) is fixed. Compared with the case where it is, the area which can detect a target object (5) can be expanded. That is, in the object detection method, the area where the object (5) can be detected is not limited to the viewing angle of the temperature sensor (2), but the object (5) existing outside the viewing angle of the temperature sensor (2). ) Can also be detected.
  • the program according to the fifteenth aspect is a program for causing a computer system to execute the object detection method according to the fourteenth aspect.
  • the detection area (4) in which the temperature is detected by the temperature sensor (2) is switched between the plurality of areas (A1 to A3) by the switching process, the detection area (4) is fixed. Compared with the case where it is, the area which can detect a target object (5) can be expanded. That is, in the above program, the area where the object (5) can be detected is not limited within the viewing angle of the temperature sensor (2), but the object (5) existing outside the viewing angle of the temperature sensor (2). Can also be detected.
  • various configurations (including modifications) of the object detection system (1) according to the first and second embodiments can be implemented by an object detection method and a program.
  • the configurations according to the second to eleventh aspects are not essential to the object detection system (1) and can be omitted as appropriate.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Spectroscopy & Molecular Physics (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • General Life Sciences & Earth Sciences (AREA)
  • Geophysics (AREA)
  • Geophysics And Detection Of Objects (AREA)

Abstract

L'invention concerne un système de détection d'objet dans lequel la zone dans laquelle un objet peut être détecté peut être agrandie, un système de capteur, un système de climatisation, un procédé de détection d'objet, et un programme. Le système de détection d'objet (1) est pourvu d'une unité de commutation (12), d'une unité de décision (11), et d'une unité de correction d'arrière-plan (13). L'unité de commutation (12) commute une zone de détection entre une pluralité de zones comprenant au moins une zone spécifique. L'unité de décision (11) détermine si un objet est présent dans une zone de détection sur la base du résultat de la comparaison des données de sortie d'un capteur de température (2) pour détecter la température de la zone de détection et des données d'arrière-plan correspondant à chaque zone d'une pluralité de zones. L'unité de correction d'arrière-plan corrige les données d'arrière-plan correspondant à la zone spécifique sur la base d'un changement de température dans une période pour laquelle la zone de détection est une zone autre que la zone spécifique.
PCT/JP2019/019569 2018-05-16 2019-05-16 Système de détection d'objet, système de capteur, système de climatiseur, procédé de détection d'objet, et programme WO2019221244A1 (fr)

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CN201980030894.XA CN112105964A (zh) 2018-05-16 2019-05-16 物体探测系统、传感器系统、空气调节系统、物体探测方法及程序

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