JP4239144B2 - Object detection device - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to an object detection device that detects an object using high-frequency radio waves, and particularly to detection of an object including stillness in a plurality of detection target regions within a very short distance (within several cm to several m). The present invention relates to a suitable object detection device.
[0002]
[Prior art]
A conventional object detection device that uses a high-frequency radio wave, including a stationary state, has an updatable reference signal that is learned without detecting an object, and a Doppler signal level (the same as a detection signal generated by a standing wave). ) And a signal detected by comparing the level of a difference signal with a predetermined threshold value. (For example, see Patent Document 1)
In the same document, there is also proposed one that uses the AC component of a Doppler signal to determine the presence or absence of an object.
[0003]
[Patent Document 1]
Japanese Patent Laid-Open No. 10-62526 (page 1-7, FIGS. 1 to 13)
[0004]
[Problems to be solved by the invention]
In the above-described conventional object detection device, the shortest distance from the object detection device of the detection region to be detected including a stationary state is about several centimeters in a plurality of detection regions, and conversely the longest of the detection regions farther than the detection region. When the distance is at a level such as several meters, the magnitude of the signal changes in inverse proportion to the square of the distance. Therefore, if a signal at the same level is used, A / D for obtaining a signal used by the microcomputer. If the conversion unit does not have sufficient resolution, an appropriate threshold value cannot be set for the far-side detection region, and the determination accuracy may be greatly reduced. (For example, the signal size is 1/100 at 10 cm and 1 m, and if the resolution is 10 bits, only 10 steps can be obtained.) This also applies to the case where the level of the differential signal is used. Even when the AC component of the Doppler signal is used in combination, the same problem occurs when the same level signal is used.
[0005]
In addition, since the reference signal can be updated during non-detection, a situation in which the surrounding state changes while an object is detected in a far detection area (for example, when the toilet seat is used in a toilet seat device) In the case of detecting the human body in front of the apparatus and opening the toilet lid, etc.), the reference signal becomes inappropriate, the level of the difference signal itself is shifted, and the problem that it is easy to detect erroneously occurs.
In addition, as a countermeasure against the above-mentioned problem, even when the AC component is used in combination, there may be a case where it is not possible to observe a clear frequency movement due to the movement in the movement range or the state of fluctuation in a minute range rather than in a completely stationary state. There is a case that the defect cannot be compensated.
Furthermore, the difference signal level itself also has a portion with a low difference signal level that becomes a node for every ½ wavelength depending on the distance. When the difference signal level stops at a distance near the position of this node, the set threshold value is set. There is a high possibility that the state of lowering will continue, and it will be easier to detect non-detection.
The present invention has been made to solve at least one of the above-mentioned problems, and an object of the present invention is to detect an object including stillness in a plurality of detection target regions within a very short distance (within several cm to several m). An object of the present invention is to provide an object detection apparatus that can detect a stable and accurate state.
[0006]
[Means for solving the problems and actions / effects]
In order to achieve the above object, a first amplifying unit that detects a standing wave in which a high-frequency transmission wave and a reception wave bounced off by an object interfere, amplifies the detection signal, and outputs a first amplified signal; A high-pass filter that extracts a signal having a predetermined frequency or more from the first amplified signal; a second amplifier that amplifies an output from the high-pass filter and outputs a second amplified signal; and the first amplified signal And a reference signal setting unit that sets the first reference signal and the second reference signal based on the average value of each of the second amplified signal and a second level that is a difference between the second amplified signal and the second reference signal A second determination unit configured to determine the presence or absence of an object in the second detection region based on the signal; and when the second determination unit determines that an object exists in the second detection region, the first amplification signal and the first 1st level signal which is the difference from 1 reference signal Alternatively, based on the second level signal, a first determination unit that determines the presence or absence of an object in the first detection region whose distance from the object detection device to the center of the detection region is closer than the second detection region; A movement direction determination unit that determines a movement direction based on a temporal change of the two amplified signals, and the movement direction determination unit starts from the second detection region when the amplitude of the second amplification signal tends to increase. It is determined as an approaching operation toward the first detection region, and when the amplitude of the second amplified signal is decreasing, it is determined as a separation operation from the first detection region toward the second detection region, and the moving direction determination is performed. The first determination unit is configured to determine the presence or absence of an object in the first detection region after detecting a movement from the second detection region to the first detection region by the unit. An object detection device is provided.
[0007]
Therefore, the presence or absence of an object in two detection areas with different center distances of the detection areas can be determined using amplification signals that are appropriate to each other. By using a high-amplification signal, even a small amount of object motion can be detected, so even when the object is located near the node of the standing wave, it can be compensated sufficiently and stable and accurate. It can be detected well. Further, since the reference signal is also set using the average value of each amplified signal, the deviation can be suppressed and can be detected with high accuracy. In addition, when there is no detection of an object in the second detection area farther than the first detection area, the presence / absence of an object in the first detection area is not determined, so that a reference signal other than the object to be detected is detected. Even if a deviation occurs, detection is not erroneously shifted to detection, and detection can be performed more stably and accurately.
[0009]
Accordingly, a situation in which the surrounding state changes during the detection of an object in the second detection region (for example, when using the toilet seat device, the human body in front of the toilet seat device is detected to detect the toilet lid. If the level of the first reference signal changes and the first level signal becomes a level at which an object in the first detection area is detected, it may be detected inadvertently. Can be prevented.
[0010]
According to a second aspect of the present invention, the object detection device includes a movement direction determination unit that determines a movement direction based on a temporal change of the second amplification signal, and the movement direction determination unit has an amplitude of the second amplification signal. When it is in an increasing tendency, it is determined that the approaching action is from the second detection area toward the first detection area, and when the amplitude of the second amplified signal is in a decreasing tendency, the movement from the first detection area is toward the second detection area. After determining that the operation is a separation operation, and when the first determination unit detects a movement from the first detection region to the second detection region while the detection determination of the object in the first detection region is performed, The first determination unit is configured to shift to non-detection of the object in the first detection region regardless of the level of the first level signal.
[0011]
Therefore, a situation in which the surrounding state changes during the detection of an object in the first detection region (for example, when the toilet seat device is used for the toilet seat device, the toilet seat is lifted by the separation operation). Even if the level of the first reference signal changes and the level of the first level signal maintains the level for detecting the object in the first detection area, it is surely shifted to non-detection. be able to.
[0012]
According to a third aspect of the present invention, in the object detection device, the reference signal setting unit is configured such that the first determination unit is in a non-detection state of the object in the first detection region, and the movement direction determination unit displays the determination result of the movement direction. The first reference signal is configured to be updated based on a change in the average value of the first amplified signal in an undefined state.
[0013]
Accordingly, a situation in which the surrounding state changes during the detection of an object in the second detection region (for example, when using the toilet seat device, the human body in front of the toilet seat device is detected to detect the toilet lid. If the level of the first reference signal has changed, the first reference signal can be updated quickly, and the detection of the object can be determined with an appropriate reference signal. Can do. Conversely, by using the determination result of the moving direction determination unit, it is possible to prevent inadvertent updating.
[0014]
5. The non-detection of movement from the first detection region to the second detection region by the movement direction determination unit in the object detection device while the first determination unit is detecting an object in the first detection region. A third determination unit is provided that determines whether or not the object is continuously detected in the first detection region when a predetermined time has elapsed, and outputs a signal independently of the first determination unit. Yes.
[0015]
Therefore, the use of the control device incorporating the object detection device is confirmed by determining the continuation of the detection of the object in the first detection region (for example, if the toilet cleaning device is used, it is determined that the toilet cleaning is necessary). Etc.), or a signal effective for detecting that it stays more than necessary can be obtained. In addition, the signal output timing can be freely set by outputting the signal independently of the first determination unit. Furthermore, if the object to be detected is a human body, etc., and there is no movement during detection, it is possible to detect that an abnormality has occurred in the human body, which can be applied to various purposes. Become.
[0016]
According to a fifth aspect of the present invention, the object detection device divides the transmission wave and the reception wave bounced back by the object into equal numbers, and obtains standing waves having different phases obtained by interfering with each other via the phase difference generation unit. A plurality of detection signals are obtained by each detection, and the first amplification unit amplifies each of the plurality of detection signals and outputs a plurality of first amplification signals, and the second amplification The unit amplifies the plurality of first amplification signals after passing through each of the high-pass filters, and outputs a plurality of second amplification signals. Further, the reference signal setting unit includes the plurality of first amplification signals. A plurality of first reference signals are set based on the average values of the amplified signals, and a plurality of second reference signals are set based on the average values of the plurality of second amplified signals. It is characterized by being.
[0017]
Accordingly, since a plurality of detection signals having different phases are amplified and used, the nodes at every half wavelength due to the standing wave can be supplemented with each other, and only the determination using the first amplification signal is possible. It is possible to detect a more stable object.
[0020]
DETAILED DESCRIPTION OF THE INVENTION
Embodiments of the present invention will be described below with reference to the drawings.
FIG. 1 is a block diagram showing the configuration of the object knowledge device 1 according to the first embodiment of the present invention, and FIG. 2 is a block diagram showing the configuration of the reference signal setting unit 1g of the object detection device 1.
The object detection device 1 according to the first embodiment of the present invention includes a transmission unit 1a that transmits a high-frequency radio wave having a frequency near 10.525 GHz as a center frequency as a transmission wave S1, and the transmission wave S1 is an object such as a human body ahead. A reception unit 1b that receives a reflected wave obtained by reflection as a reception wave S2, a detection unit 1c that obtains a detection signal S3 by causing a part of the transmission wave S1 to interfere with the reception wave S2, and amplifies the detection signal S3 A first amplifying unit 1d for obtaining a first amplified signal S4 ′, a high-pass filter 1e for converting the signal level of the first amplified signal S4 ′ to a center level within a range in which amplitude is possible, and obtaining an AC component signal S5 Amplifying the AC component signal S5 to obtain a second amplified signal S6 ′, a second amplifying part 1f, taking in the first amplified signal S4 ′ and the second amplified signal S6 ′, and shifting the A / D conversion process and the past value While remembering Capture signal processing unit 1z that performs processing, first reference signal S7 and second reference signal that serve as a basis for level determination of each of first amplified signal S4 and second amplified signal S6 obtained by captured signal processing unit 1z A reference signal setting unit 1g for setting and supplying the signal S8, a movement for determining the movement direction between the detection areas of the object detection device 1 based on the second amplified signal S6 and the second reference signal S8 and outputting a movement direction determination result S11 The object detection device 1 includes two components, a direction determination unit 1j, the first amplification signal S4 and the second amplification signal S6, the first reference signal S7 and the second reference signal S8, and the movement direction determination result S11. A first determination unit 1h that determines the presence or absence of an object in the first detection region that is near the center distance of the detection region in the detection region, and outputs a first detection signal S9, the second amplified signal, and the second reference signal S8 And by The second determination unit 1i outputs the second detection signal S10 by determining the presence / absence of an object in the second detection region where the center distance of the detection region is long.
The reference signal setting unit 1g includes an average value calculation unit 1n for calculating a first average value S12 and a second average value S13 of the first amplified signal S4 and the second amplified signal S6, the first reference signal S7, It is determined whether the second reference signal S8 should be updated, and is set by the update determination unit 1k and the update determination unit 1k that are reset based on the first average value S12 and the second average value S13 according to the result. The reference signal storage unit 1m stores and holds the first reference signal S7 and the second reference signal S8.
[0021]
Next, a control flow performed in each unit will be described.
FIG. 3 is a flowchart showing an on determination flow of object detection in the first detection region of the first determination unit 1h. First, at Step 1z, the approach determination process is performed by the movement direction determination unit 1j, and the process proceeds to the next Step 1a to check the approach determination flag determined at the approach determination process. If it is being set, the process proceeds to Step 1b. Exit this control flow. In Step 1b, the current value W of the first amplified signal S4 _a (0) and the set value W of the first reference signal S7 _az It is confirmed whether or not the absolute value of the difference with the first ON determination threshold value TH1 is greater than or equal to, and if so, the process proceeds to Step 1d, the first detection counter Cnt1 is incremented and the process proceeds to Step 1e, and the first detection counter clear timer Tim1 Is set to the first detection counter clear time T1, and the process proceeds to Step 1h. In Step 1h, it is confirmed whether or not the first detection counter Cnt1 has reached a preset first detection count number N1, and if not, the control flow is left as it is. On the other hand, at Step 1b, the current value W of the first amplified signal S4 _a (0) and the set value W of the first reference signal S7 _az If the absolute value of the difference between the two is less than the first ON determination threshold TH1, the process proceeds to Step 1c, and this time the current value W of the second amplified signal S6 _b (0) and the set value W of the second reference signal S8 _bz Whether or not the absolute value of the difference between the two and the second ON determination threshold value TH2 is greater than or equal to the threshold value, proceeds to Step 1g, increments the second detection counter Cnt2, proceeds to Step 1i, and performs the first detection in the same manner as Step 1e. The first detection counter clear time T1 is set in the counter clear timer Tim1, and the process proceeds to Step 1j. In Step 1j, it is confirmed whether or not the second detection counter Cnt2 has reached a preset second detection count number N2. If the second detection counter Cnt2 has not been reached, the control flow is directly exited. If both Step 1h and Step 1j are affirmed, the process proceeds to Step 1k, the first detection flag is set and the process proceeds to Step 1n, the first detection off-delay timer Tim2 is set to the first detection off-delay time T2 and Step 1p is set. Then, the first detection counter Cnt1 is cleared and the process proceeds to Step 1q. The second detection counter Cnt2 is cleared and the control flow is exited. At Step 1c, the current value W of the second amplified signal S6 _b (0) and the set value W of the second reference signal S8 _bz If the absolute value of the difference between the two is less than the second ON determination threshold TH2, the process proceeds to Step 1f to check whether or not the first detection counter clear timer Tim1 is 0. Yes. In the case of 0, the process proceeds to Step 1p and Step 1q, and both the first detection counter Cnt1 and the second detection counter Cnt2 are cleared and the control flow is exited.
By using such a control flow, it is possible to perform the ON determination under a situation where the object is surely approaching the first detection region to be detected. In addition, by using two amplified signals with different amplification factors in combination, it is possible to establish an ON determination with only a slight movement even when there is an object near the node of the standing wave. Detection is possible. Further, by adding a time element such as a timer, unnecessary accumulation of counters and the like can be prevented, and erroneous detection can be prevented.
Although the first detection counter clear timer Tim1 and the first detection off-delay timer Tim2 are not specified, they are counted down independently by another timer routine.
[0022]
FIG. 4 is a flowchart showing an object detection OFF determination flow in the first detection region of the first determination unit 1h. First, at Step 2z, the distance determination process is performed by the movement direction determination unit 1j, the process proceeds to the next Step 2a, the distance determination flag determined at the distance determination process is confirmed, and if set, the process proceeds to Step 2b. The first detection off-delay timer Tim2 set in the on determination is cleared and the process proceeds to Step 2d. The separation determination flag is cleared and the process proceeds to Step 2h. The first detection flag is cleared and the control flow is exited. On the other hand, if the separation determination flag is being cleared, the process proceeds to Step 2c, and the current value W of the first amplified signal S4 _a (0) and the set value W of the first reference signal S7 _az It is confirmed whether or not the absolute value of the difference between is less than the first off determination threshold TH3, and if it is above, the process proceeds to Step 2e, and the first detection off delay time T2 is set again in the first detection off delay timer Tim2. To exit this control flow. If it is less, the process proceeds to Step 2f, and this time the current value W of the second amplified signal S6 _b (0) and the set value W of the second reference signal S8 _bz Whether or not the absolute value of the difference between the first detection off-delay time TH4 is less than the second off-determination threshold TH4, the process proceeds to Step 2e. Similarly, the first detection off-delay time T2 is set again in the first detection off-delay timer Tim2. Set and exit this control flow. If it is less, the process proceeds to Step 2g to check whether or not the first detection off-delay timer Tim2 is 0. If it is not 0, the control flow is left as it is. If 0, the process proceeds to Step 2h, the first detection flag is cleared, and the control flow is exited.
By adopting such a control flow, it is possible to reliably perform the off determination if the object is away from the first detection region to be detected. On the other hand, when the first on-determination threshold value TH1> the first off-determination threshold value TH3 and the second on-determination threshold value TH2> the second off-determination threshold value TH4, there is an object near the node of the standing wave. In addition, it can be prevented from being turned off easily, and an object can be detected more reliably.
[0023]
FIG. 5 is a flowchart showing an on determination flow of object detection in the second detection region of the second determination unit 1i. First, at Step 3a, the current value W of the second amplified signal S6 _b (0) and the set value W of the second reference signal S8 _bz It is confirmed whether or not the absolute value of the difference with the third ON determination threshold value TH5 is greater than or equal to, and if so, the process proceeds to Step 3c, the third detection counter Cnt3 is incremented and the process proceeds to Step 3d, and the third detection counter clear timer Tim3 Is set to the third detection counter clear time T3, and the process proceeds to Step 3e. In Step 3e, it is confirmed whether or not the third detection counter Cnt3 has reached a preset third detection count number N3. If the third detection counter Cnt3 has not been reached, the control flow is immediately exited. When the third detection counter Cnt3 has reached the preset third detection count N3, the process proceeds to Step 3f, sets the second detection flag, proceeds to Step 3g, and proceeds to the second detection off-delay timer Tim4. 2 detection off delay time T4 is set and it progresses to Step3h, the 3rd detection counter Cnt3 is cleared, and this control flow is exited. In Step 3a, the current value W of the second amplified signal S6 _b (0) and the set value W of the second reference signal S8 _bz If the absolute value of the difference between the two is less than the third ON determination threshold TH5, the process proceeds to Step 3b to check whether the third detection counter clear timer Tim3 is 0 or not. Yes. In the case of 0, the process proceeds to Step 3h, the third detection counter Cnt3 is cleared and the control flow is exited.
By using such a control flow and using a second amplified signal having a high amplification factor, it is possible to establish an ON determination with only a slight movement in the second detection area whose center distance is farther than the first detection area. This makes it possible to detect an object more reliably. In addition, by adding a time element such as a timer, unnecessary accumulation of counters and the like can be prevented, and erroneous detection can be prevented.
The third detection counter clear timer Tim3 and the second detection off-delay timer Tim4 are configured to be counted down independently by another timer routine, like the other timers.
[0024]
FIG. 6 is a flowchart showing an object detection OFF determination flow in the second detection region of the second determination unit 1i. First, in Step 4a, the current value W of the second amplified signal S6 _b (0) and the set value W of the second reference signal S8 _bz Whether or not the absolute value of the difference between the first detection value and the second detection value is less than the third OFF determination threshold value TH6, the process proceeds to Step 4b, and the second detection OFF delay time Tim4 set in the ON determination is set again. Time T4 is set and the control flow is exited. If it is less, the process proceeds to Step 4c to check whether or not the second detection off-delay timer Tim4 is 0. If it is not 0, the control flow is left as it is. If 0, the process proceeds to Step 4d, the second detection flag is cleared, and the control flow is exited.
By using such a control flow and further using the second amplified signal having a high amplification factor and the third on determination threshold TH5> the third off determination threshold TH6, the center distance of the detection region is longer than the first detection region. 2 It is possible to prevent the detection area from being easily turned off with only a slight movement. On the other hand, by adding a time element such as a timer, it is possible to prevent the continuation of an unnecessary on-state, and more reliably the object. Can be detected.
[0025]
FIG. 7 is a flowchart showing an approach determination flow from the second detection region to the first detection region of the movement direction determination unit 1j. First, at Step 5a, the set value W of the second reference signal S8. _bz For the current value W of the second amplified signal S6 _b Whether (0) is large, that is, whether the difference is positive or negative is checked. If it is positive, the process proceeds to Step 5b, and otherwise, the process proceeds to Step 5c. If positive, the latest maximum value W _bH1 Is not being used in subsequent processing. Conversely, if it is negative, the minimum value W _bL1 Is not being used in subsequent processing. In Step 5b to Step 5g, it is confirmed whether or not the difference between the maximum value and the minimum value tends to increase. Whether the route is Step 5b or Step 5c, the process proceeds to Step 5h if three steps are passed, otherwise Step 5i is performed.
Go to W _b It is determined that the amplitude of (0) does not tend to increase, and the approach determination flag is cleared to exit. In Step 5h, W _b Check whether the difference between the oldest maximum value and the minimum value of (0) exceeds the approach determination threshold TH7. If it exceeds, the approach determination flag is set. If not, the distance is not sufficiently close. Judgment is made and the approach determination flag is cleared to exit.
By adopting such a control flow, it is possible to reliably detect the approaching action from the second detection area to the first detection area, and to prevent unnecessary approach detection by adding a threshold determination. it can.
[0026]
FIG. 8 is a flowchart showing a separation determination flow from the first detection region to the second detection region of the movement direction determination unit 1j. First, at Step 6a, the set value W of the second reference signal S8. _bz For the current value W of the second amplified signal S6 _b It is checked whether (0) is large, that is, whether the difference is positive or negative. If it is positive, the process proceeds to Step 6b, and otherwise, the process proceeds to Step 6c. If positive, the latest maximum value W _bH1 Is not being used in subsequent processing. Conversely, if it is negative, the minimum value W _bL1 Is not being used in subsequent processing. In Step 6b to Step 6g, it is confirmed whether or not the difference between the maximum value and the minimum value is decreasing. Whether the route is Step 6b or Step 6c, the process proceeds to Step 6h after passing 3 steps. Otherwise, Step 6i is performed.
Go to W _b It is determined that the amplitude of (0) does not tend to decrease, and the separation determination flag is cleared to exit. In Step 6h, W _b Check whether the difference between the oldest maximum value and the minimum value of (0) is below the separation determination threshold TH8. If it is below, the separation determination flag is set. It is determined that it is not, and the distant determination flag is cleared to exit.
By adopting such a control flow, it is possible to reliably detect the separation operation from the first detection region to the second detection region, and to detect the separation unnecessarily by adding a threshold determination. Can also be prevented.
[0027]
FIG. 9 is a flowchart showing a first reference signal update determination flow of the update determination unit 1k of the reference signal setting unit 1g. In Step 7a, the state of the first detection flag, that is, whether or not an object is detected in the first detection area is checked. If clear, the process proceeds to Step 7b, and if set, the process proceeds to Step 7g to update the first reference signal. It clears the flag and leaves it. In Step 7b, the approach determination flag determined by the moving direction determination unit 1j is confirmed, and if cleared, the process proceeds to Step 7c, and if set, the process proceeds to Step 7g to clear the first reference signal update flag and exit. ing. In Step 7c, the distance determination flag determined by the moving direction determination unit 1j is confirmed, and if cleared, the process proceeds to Step 7d, and if set, the process proceeds to Step 7g to clear the first reference signal update flag and exit. I have to. The reason for using the three flags as described above is to prevent the average value changed depending on the object to be detected from being erroneously recognized and performing unnecessary updating. In the next Step 7d, the current value W of the first amplified signal S4 _a (0) and the set value W of the first reference signal S7 _az Whether or not the absolute value of the difference between and the first update determination threshold value TH9 is less than or equal to, if not, the process proceeds to Step 7e, and if it exceeds, the process proceeds to Step 7g to clear the first reference signal update flag and exit. ing. The threshold value is determined in this way because the three flags confirmed above are not set, but the average value changed depending on the object to be detected when this determination is in progress or immediately before the determination is made. This is to prevent erroneous recognition and unnecessary updating. In Step 7f, the current average value W of the first amplified signal S4 _aavg (0) and the set value W of the first reference signal S7 _az Whether or not the absolute value of the difference between the two is greater than or equal to the second update determination threshold value TH10, and if so, the process proceeds to Step 7f to set the first reference signal update flag so as to exit. If it is less, the process proceeds to Step 7g to clear the first reference signal update flag and exit. The threshold determination is performed in this way because it is possible to prevent the first reference signal from being updated when there is little fluctuation of the average value and the state is stable.
[0028]
FIG. 10 is a flowchart showing a second reference signal update determination flow of the update determination unit 1k of the reference signal setting unit 1g. In Step 8a, the state of the second detection flag, that is, whether or not an object is detected in the first detection area is checked. If clear, the process proceeds to Step 78. If set, the process proceeds to Step 8e to update the second reference signal. It clears the flag and leaves it. In Step 8b, the current value W of the second amplified signal S6 _b (0) and the set value W of the second reference signal S8 _bz Whether or not the absolute value of the difference between the two is less than or equal to the third update determination threshold TH11, and if it is less, the process proceeds to Step 8c, and if it exceeds, the process proceeds to Step 8e to clear the second reference signal update flag and exit. ing. The reason why the determination by the flag and the threshold determination are performed in this way is to prevent the average value changed by the object to be detected from being erroneously recognized and performing unnecessary updating. In Step 8c, the current average value W of the second amplified signal S6 _bavg (0) and the set value W of the second reference signal S8 _bz Whether or not the absolute value of the difference between the two is greater than or equal to the fourth update determination threshold value TH12, and if so, the process proceeds to Step 8d to set the second reference signal update flag and exit. If it is less, the process proceeds to Step 8e to clear the second reference signal update flag and exit. The threshold determination is performed in this way because it is possible to prevent the second reference signal from being updated when the average value is small and stable.
[0029]
FIG. 11 is a flowchart showing a first reference signal setting flow of the update determination unit 1k of the reference signal setting unit 1g. First, in Step 9a, the first reference signal update determination flag determined in the first reference signal update determination is confirmed. If the flag is being set, the process proceeds to Step 9b, and the current average value W of the first amplified signal S4 is determined. _aavg (0) and the past average value W of the first amplified signal S4 _aavg It is confirmed whether or not the absolute value of the difference from (n) is equal to or less than the first setting determination threshold TH13. If it is equal to or less, the process proceeds to Step 9c, the first setting counter Cnt4 is incremented, and the process proceeds to Step 9d. It is confirmed whether Cnt4 has reached a preset first set count number N4, and if not reached, the control flow is left as it is. If it has, the process proceeds to Step 9e, where the current average value W of the first amplified signal S4 _aavg (0) is the set value W of the first reference signal S7 _az Is set and the process proceeds to Step 9f, the first reference signal update flag is cleared and the process proceeds to Step 9g, and the first setting counter Cnt4 is cleared and the control flow is exited. On the other hand, when the first reference signal update flag is being cleared at Step 9a, and the current average value W of the first amplified signal S4 at Step 9b. _aavg (0) and the past average value W of the first amplified signal S4 _aavg If the absolute value of the difference from (n) exceeds the first setting determination threshold TH13, the process proceeds to Step 9g, where the first setting counter Cnt4 is cleared and the control flow is exited.
By adopting such a control flow, the average value of the first amplified signal S4 in a state where the average value is stable for a certain period of time is used as the first reference signal W. _bz By using an appropriate reference signal, an object can be detected more reliably.
Although not shown in the figure again, the second reference signal setting flow is generally the same control flow although the signal to be used is different.
Furthermore, the main flow of the object detection apparatus 1 that bundles the above control flow will be described.
[0030]
FIG. 20 is a flowchart showing a main flow of object detection of the object detection apparatus 1.
First, in Step 13a, the captured signal processing is performed in the captured signal processing unit 1z of two amplified signals used in each unit output from the two amplifying units, and the process proceeds to the next Step 13b. As described in FIG. 1, in this acquisition signal processing, A / D conversion for converting an analog signal into a digital signal, a plurality of past values including the current value, and a plurality of maximum and minimum values including the past are sampled. Signal processing such as storage processing is performed while performing data shift with the passage of time due to update. In Step 13b, the state of the second detection flag is confirmed, and if it is being cleared, the process proceeds to Step 13c, the second ON determination process is performed, each process after Step 13i is performed, and this control flow is exited and the next sampling is awaited. It is like that. If it is being set, the process proceeds to Step 13d to check the first detection flag. If the first detection flag is being set, the process proceeds to Step 13f, where a first off determination process is performed, each process after Step 13i is performed, and this control flow is exited to wait until the next sampling. If it is clearing, it will progress to Step 13e, will perform 1st ON judgment processing, and will progress to Step 13g. In Step 13g, it is confirmed whether or not the first detection flag has been set in the first on determination process. If it has been set, the process proceeds to the next, performs each process after Step 13i, and waits until the next sampling through this control flow. It is supposed to be. If it remains clear, the process proceeds to Step 13h to continue the second off determination process, perform each process after Step 13i, and wait for the next sampling through this control flow.
By using such a control flow, it is possible to appropriately detect the presence or absence of an object.
Here, it is assumed that the object does not enter the first detection area without entering the second detection area, and priority is given to detection of the presence or absence of the object in the second detection area. is doing.
[0031]
Next, a two-phase object detection apparatus will be described as a second embodiment of the present invention.
FIG. 12 is a block diagram illustrating the configuration of the object detection device 2 according to the second embodiment of the present invention, and FIG. 13 is a block diagram illustrating the configuration of the reference signal setting unit 2g of the object detection device 2.
The object detection device 2 according to the second embodiment of the present invention is configured in substantially the same configuration as the object detection device 1 according to the first embodiment except that there are signals for two phases having different phases. A transmission unit 2a that transmits a high-frequency radio wave having a center frequency as a transmission wave S21; a reception unit 2b that receives a reflection wave obtained by reflecting the transmission wave S21 on an object such as a human body as a reception wave S22; Obtained by the phase difference generation unit 2c and the phase difference generation unit 2x that divide a part of the transmission wave S21 and the reception wave S22 into two parts and shift the phases of the two transmission waves divided by the transmission wave S21 by 90 degrees. The detection unit 2c for obtaining the first phase detection signal S25 and the second phase detection signal S29 having a phase difference of 90 degrees by causing the two transmission waves S23 having different phases and the divided reception wave S24 to interfere with each other. Phase detection The first phase first amplifying unit 2d for amplifying the signal S25 to obtain the first phase first amplified signal S26 ′ and the second phase detection signal S29 are amplified to obtain the second phase first amplified signal S30 ′. Second phase first amplifying unit 2k, a first phase high-pass filter that converts the signal level of the first phase first amplified signal S26 ′ into a center level within a range in which amplitude is possible and sets the first phase AC component signal S27. 2e, a second phase high-pass filter 2m that converts the signal level of the second phase first amplified signal S30 ′ into a center level within a range in which amplitude is possible, and generates a second phase AC component signal S31, and the first phase AC The first phase second amplification unit 2f that amplifies the component signal S27 to obtain the first phase second amplification signal S28 ′, the second phase AC component signal S31 is amplified, and the second phase second amplification signal S32 ′ is obtained. A second phase second amplifying unit 2n for obtaining A captured signal processing unit 2z that performs signal processing such as capturing each width signal and performing A / D conversion processing or storing past values while shifting, and each amplified signal obtained by the captured signal processing unit 2z. A reference for setting and supplying a first phase first reference signal and a second phase first reference signal S33, and a first phase second reference signal and a second phase second reference signal S34, which serve as a reference for determining each level. The movement direction between the detection regions of the signal setting unit 2g and the object detection device 2 is determined based on the first phase second amplified signal S28 and the second phase second amplified signal S32, the first phase second reference signal, and the second phase second signal. The object detection apparatus 2 includes a plurality of movement direction determination units 2j that determine the two reference signals S34 and output the movement direction determination result S37, the total amplification signal, the total reference signal, and the movement direction determination result S37. Detection A first determination unit 2h for determining the presence or absence of an object in the first detection region having the closest center distance in the region and outputting a first detection signal S35, the first phase second amplified signal S28 and the second phase second Based on the amplified signal S32, the first phase second reference signal, and the second phase second reference signal S34, the presence or absence of an object in the second detection area having a center distance farther than the first detection area is determined to determine the second detection signal S36. The first detection signal S35, the moving direction determination result S37, the first phase second amplification signal S28 and the second phase second amplification signal S32, and the first phase second. The reference signal and the second phase second reference signal S34 are configured by a third determination unit 2p that determines whether the object is continuously detected in the first detection region and outputs a detection continuation determination signal S40.
[0032]
The reference signal setting unit 2g includes an average value S38 of each of the first phase first amplified signal S26 and the second phase first amplified signal S30, the first phase second amplified signal S28, and the second phase second signal. An average value calculation unit 2S that calculates an average value S39 of each of the amplified signals S32, the first phase first reference signal and the second phase first reference signal S33, the first phase second reference signal, and the second phase second It is determined whether or not the reference signal S34 should be updated, and the first phase first reference set by the update determination unit 2r and the update determination unit 2r that are reset based on the respective average values according to the result. The signal and the second phase first reference signal S33, and the reference signal storage unit 2q that stores and holds the first phase second reference signal and the second phase second reference signal S34.
As described above, in the object detection device 2 of the second embodiment, compared with the human body detection device 2 of the first embodiment, two detection signals having a phase difference of 90 degrees are used, and the wavelength of the standing wave is 1 It is configured so that each node portion can be efficiently supplemented with respect to a node having a period of / 2. Next, a toilet apparatus will be described with reference to the drawings as an embodiment in which the object detection apparatus 2 according to the second embodiment of the present invention is incorporated in a control device.
[0033]
FIG. 14 is an overall perspective view showing a state in which the toilet device 3 incorporating the object detection device 2 according to the second embodiment of the present invention is installed in a toilet.
The toilet device 3 is roughly divided into a toilet unit 7 that is a base made of ceramics, a local cleaning that cleans a local part after a toilet provided in the toilet device 3 with warm water, and a flush water that flows into the toilet unit 7 after a toilet. Each function generating means for controlling each function such as toilet flushing, control means for controlling each function generating means, and prevention of inadvertent operation of each function of the toilet device 3, and for proper use by the user The object detection device 2 according to the second embodiment of the present invention for detecting a user incorporated as a means is pivotally pivoted to the main body part 4 with a main body part 4 housed therein and a heating means inside. Similar to the toilet seat 5 that closes the toilet seat 5 in the closed state, the toilet seat 5 includes a toilet lid 6 that is pivotally pivoted on the main body 4. In addition, since high-frequency radio waves can pass through the ABS resin, which is an outer member of the main body 4, and PP, which is a constituent member of the toilet lid 6, a notch that incorporates another member such as a filter. Etc. are not provided in the human body detection direction of the outer shell member of the main body portion 4, so that even if the main body portion 4 is exposed to water or the like, it will not be immersed in the interior.
Here, the object detection device 2 is disposed at a substantially central position in the left-right direction behind the position where the toilet seat 5 and the toilet lid 6 are pivoted in a rotatable manner, and the height direction is the height of the pivot. It is arranged in the position almost equivalent to. The state of incorporation into the main body 4 is arranged substantially parallel to the inner wall surface of the opposing outer member of the main body 4. Arranged in this way, high-frequency radio waves pass through the resin, which is a constituent member of the main body 4 and the toilet lid 6, etc., while reflecting on the boundary surfaces with different dielectric constants and in the constituent members. Since there is a considerable amount of refraction at the time of transmission, since the incident angle is vertical when passing through the outer shell member of the main body 4 and the toilet lid 6 in the open state, reflection in the vertical direction occurs. In addition, dispersion in an unnecessary direction due to refraction or reflection can be suppressed. Thereby, the fall of the detection sensitivity with which the original object detection apparatus 2 was originally provided by having arrange | positioned the object detection apparatus 2 in the main-body part 4 can be suppressed.
[0034]
FIG. 21 is a side view showing two detection areas in which the object detection device 2 when incorporated in the toilet device 3 detects the presence or absence of an object. The first detection area where the center distance of the detection area is short is a seating detection area A that is a detection area for detecting the human body C1 seated on the toilet seat 5 provided in the toilet device 3. The seating detection area A is located in front of the main body part above the toilet seat part 5, and the center point A1 of the detection area is near the center part of the human body C1 seated at a standard position. The distance A2 is about 10 cm to 20 cm. The second detection area where the center distance of the detection area is far is a far detection area B which is a detection area for detecting a human body C2 in a standing posture standing in front of the toilet device 3 and performing operations such as undressing and clothing. The far detection area B is collinear with the seating detection area A, and the center point B1 of the detection area is near the center of the human body C2 standing in a standard position, and the object detection device 2 The distance B2 from is about 60 cm to 80 cm.
Next, the influence of the opening / closing posture change of the toilet lid 6 that occurs during the detection of the human body that is the object to be detected will be described based on an example of a signal waveform.
[0035]
FIG. 15 is a diagram illustrating an example of a signal waveform of the first phase first amplified signal of the object detection device 2 incorporated in the toilet device 3. (A) is a figure which shows the whole use condition, (b) is an enlarged view near the time of opening of the toilet lid part 6, (c) is an enlarged view of the seating operation vicinity to the toilet seat part 5. FIG.
In FIG. 15, the signal waveform with a larger amplitude is the signal waveform W in the discrete time domain of the first phase first amplified signal S26 shown in FIG. ₁ (Z), and the signal waveform having a small amplitude passing through the approximate center of the amplitude of the signal waveform is the first phase S1 which is one of the average values S38 calculated by the average value calculation unit 2s shown in FIG. Signal waveform W in discrete time domain of average value of one amplified signal _{1 avg} (Z). Also, a one-dot chain line indicates a set value W of the first phase first reference signal which is one of the first phase first reference signal and the second phase first reference signal S33. _1Z It is. The set value W of the first phase first reference signal _1Z Is the average signal waveform W _{1 avg} Since (z) is updated in a stable state, as shown in FIG. ₂ 'Changes in steps.
[0036]
Based on the signal waveform shown to (a), the use condition of the toilet device 3 is demonstrated in time flow.
First, the left end is a standby state when the toilet lid 6 is closed. Then the entrance point P into the toilet ₁ And the movement of the human body in the far field ₁ The amplitude of (z) is slightly increased. Next, the opening operation start point P of the toilet lid 6 ₂ And the movement of the toilet lid 6 ₁ (Z) greatly fluctuates including the center of amplitude, and W _{1 avg} (Z) also varies greatly. After further undressing movement, etc., the approaching movement start point P for sitting ₃ To reach W _{1 avg} (Z) is stable and W ₁ The amplitude of (z) tends to increase continuously. Seating point P ₄ W ₁ (Z) has almost no amplitude, W _{1 avg} W during approaching movement toward seating including (z) _{1 avg} Stable in a state deviated from (z). Starting point P for sitting after the flight ends ₅ W ₁ The amplitude of (z) continuously decreases and W _{1 avg} (Z) is stabilized at the same level as during the approaching movement toward the seating. In the subsequent dressing operation or the like, the same state as the previous undressing operation continues. Although not shown, when the closing operation of the toilet lid 6 is entered, the opening operation start point P of the toilet lid 6 described above is entered. ₂ It will be in the same state as before.
As can be seen by comparing FIGS. 15B and 15C, when the human body in the seating region is simply detected based on the level of the difference signal between the signal waveform and the reference signal, the toilet lid 6 May be judged as human body detection in the seating area, ₁ As long as the human body is not detected in the seating area unless the approach determination such as the continuous increase tendency of the amplitude of (z) is made, it is possible to distinguish the human body seating operation from the toilet lid 6 opening / closing operation. . That is, it is necessary to determine the movement from the far field to the seating area. For this reason, as shown in FIG. 12, the movement direction determination result S37 determined by the movement direction determination unit 2j is used for determination of the seating area. In addition, in order to correct the displacement due to the opening / closing operation of the toilet lid 6, it is necessary to update the reference signal even during human detection in a remote region, and the first update determination threshold TH9 of Step 7e shown in FIG. Is a value larger than the level of the differential signal generated by the movement of the human body. If set in this way, the reference signal can be appropriately updated even when the average value largely fluctuates due to the toilet lid 6.
[0037]
FIG. 16 is a graph showing a phase relationship between two second amplified signals of the object detection device 2 incorporated in the toilet device 3. (A) is a graph showing the relationship between the output level and the phase depending on the distance to the detection object, (b) shows the relationship between the output level and the phase in the time domain at the time of approach, and (c). FIG.
First phase second amplified signal W obtained from two detection signals ₃ And the second phase second amplified signal W with the phase shifted 90 degrees. ₄ Are in a relationship as shown in FIG. In this situation, moving to the left from the position indicated by the two-point difference line means approaching, and conversely moving to the right means moving away. Figures (b) and (c) show this on the time axis, respectively. First, the approach direction will be described in (b). ₄ When (z) goes to the set value of the reference signal, W ₃ (Z) moves toward the maximum value. W ₃ (Z) is a movement toward the set value of the reference signal delayed by 90 degrees of the phase. For this reason, W ₄ (Z) is W ₃ Will precede (z). Next, in (c), the distance direction will be described. ₃ When (z) goes to the set value of the reference signal, W ₄ (Z) moves toward the maximum value. W ₄ (Z) is a movement toward the set value of the reference signal delayed by 90 degrees of the phase. For this reason, W ₃ (Z) is W ₄ Will precede (z). In other words, the delay and advance in each time domain are reversed due to the difference in moving direction. By using this, it is possible to determine the moving direction.
[0038]
Hereinafter, a flow of approach determination using the above will be described.
FIG. 17 is a flowchart showing an approach determination flow of the movement direction determination unit 2j of the object detection device 2 incorporated in the toilet device 3.
First, in Step 10a, W ₄ The immediately preceding value W of (z) ₄ (1) and current value W ₄ Whether or not the difference of (0) is greater than or equal to the second amplification signal fluctuation determination threshold THA is checked, including the magnitude relationship. If it is greater, the process proceeds to Step 10b, and if smaller, the process proceeds to Step 10g. Here, the W shown in FIG. ₄ It is checked whether (z) is in a state where the reference signal is set to the set value, and when the amount of fluctuation is small, it is ignored. Next, at Step 10b, the current value W ₄ (0) and the set value W of the second phase second reference signal _4Z It is checked whether the absolute value of the difference between and the second phase second reference signal is within the set value vicinity determination threshold THB. If within the predetermined value, the process proceeds to Step 10c, and if it exceeds, the process proceeds to Step 10g. Here, the W shown in FIG. ₄ It is confirmed whether or not (z) has reached the set value of the reference signal, and since it is unclear whether the instant can be detected exactly, a threshold is provided to cover a certain range. In Step 10c, the current value W ₃ (0) and set value W of the first phase second reference signal _3Z Whether or not the absolute value of the difference between the two is greater than or equal to the approach determination threshold THC is checked. Here, the W shown in FIG. ₃ It is confirmed whether (z) is in a state of reaching the maximum value and whether a sufficiently large amplitude is generated. If the amplitude is small, it is ignored. In Step 10d, the approach detection counter CCNT is incremented, and the process further proceeds to Step 10e, the approach determination continuation time TA is set in the approach determination continuation timer CTIM, and the process proceeds to Step 10f. It is confirmed whether or not NA has been reached. If it has been reached, the process proceeds to Step 10j to set an approach determination flag. If it has not been reached, the process proceeds to Step 10k to clear the approach determination flag and exit. On the other hand, in Step 10g, it is confirmed whether or not the approach determination continuation timer CTIM is 0. If it is not 0, the process proceeds to Step 10k as it is, and if it is 0, the process proceeds to Step 10h, the approach detection counter CCNT is cleared, The approach determination continuation timer CTIM is cleared and the process proceeds to Step 10k, and the approach determination flag is cleared to exit. Here, a continuous operation is detected instead of a single operation, and a plurality of detections and a continuation of a predetermined time are taken into consideration. Of course, if there is no continuity, it can be ignored.
[0039]
Next, the flow of reverse separation determination will be described.
FIG. 18 is a flowchart illustrating a separation determination flow of the movement direction determination unit 2j of the object detection device 2 incorporated in the toilet device 3.
First, in Step 11a, W ₃ The immediately preceding value W of (z) ₃ (1) and current value W ₃ Whether or not the difference of (0) is greater than or equal to the second amplification signal fluctuation determination threshold value THD is checked, including the magnitude relationship. If it is greater, the process proceeds to Step 11b, and if smaller, the process proceeds to Step 11g. Here, the W shown in FIG. ₃ It is checked whether (z) is in a state where the reference signal is set to the set value, and when the amount of fluctuation is small, it is ignored. Next, at Step 11b, the current value W ₃ (0) and set value W of the first phase second reference signal _3Z Whether or not the absolute value of the difference between the first phase and the second reference signal is within the set value vicinity determination threshold THE is checked, and if it is within, the process proceeds to Step 11c, and if it exceeds, the process proceeds to Step 11g. Here, the W shown in FIG. ₃ It is confirmed whether or not (z) has reached the set value of the reference signal, and since it is unclear whether the instant can be detected exactly, a threshold is provided to cover a certain range. In Step 11c, the current value W ₄ (0) and the set value W of the second phase second reference signal _4Z Whether or not the absolute value of the difference between the two is less than or equal to the separation determination threshold THF is checked. If it is less, the process proceeds to Step 11d. Here, the W shown in FIG. ₄ It is confirmed whether (z) is in a state of reaching the maximum value and whether the amplitude is small to some extent. If the amplitude is large, it is ignored. At Step 11d, the remote detection counter RCNT is incremented, and the process further proceeds to Step 11e, the remote determination determination duration timer RTIM is set to the remote determination determination duration TB, and the process proceeds to Step 11f. At Step 11f, the value of the remote detection counter RCNT is set. It is confirmed whether or not the distance detection count number NB has been reached. If it has reached, the process proceeds to Step 11j, the distance determination flag is set, and if not reached, the process proceeds to Step 11k to clear the distance determination flag and exit. On the other hand, in Step 11g, it is confirmed whether or not the separation determination continuation timer RTIM is 0. If it is not 0, the process proceeds directly to Step 11k, and if it is 0, the process proceeds to Step 11h, and the separation detection counter RCNT is cleared, and further to Step 11i. Then, the distance determination continuation timer RTIM is cleared and the process proceeds to Step 11k, and the approach determination flag is cleared to exit. Here, a continuous operation is detected instead of a single operation, and a plurality of detections and a continuation of a predetermined time are taken into consideration. Of course, if there is no continuity, it can be ignored. In the above embodiment, the point where the leading side in the time domain heads toward the set value of the reference signal is used for the determination of the moving direction, but conversely the point where the lagging side heads toward the set value of the reference signal, the maximum value or the minimum value It is also possible to use a switching point between the upward direction and the downward direction in the vicinity.
[0040]
Next, the control flow of the third determination unit 2p will be described.
FIG. 19 is a flowchart showing a detection continuation determination flow of the third determination unit 2p.
In Step 12a, it is confirmed whether seating is being detected, and if it is being detected, the process proceeds to Step 12b, where it is confirmed whether either the approaching or separating flag is set in the moving direction determination unit 2j. If it is cleared, the process proceeds to Step 12c, and it is confirmed whether or not the second amplified signal has an amplitude greater than or equal to a predetermined value in either one of the two phases. If any of the second amplified signals has a small amplitude, the process proceeds to Step 12d. Then, the detection continuation counter ECNT is incremented, and the process proceeds to Step 12f to check whether the detection continuation counter ECNT has reached the detection continuation determination count number NX. If it has reached, the process proceeds to Step 12g and the detection continuation flag is set. The control flow is exited. If not, the control flow is exited as it is. On the other hand, when the seating is not detected at Step 12a, when the determination flag is set at either the approach or separation at the moving direction determination unit 2j at Step 12b, or at any of the two phases at Step 12c On the other hand, if the second amplified signal has a predetermined amplitude or more, the process proceeds to Step 12e, the detection continuation counter ECNT is cleared, and the process further proceeds to Step 12h, where the detection continuation flag is cleared to exit this control flow. . The control flow is such that the human body should move to some extent even if it is seated, but if the movement is completely lost, there is something wrong with the human body. This is because the object detection device 2 itself can do this. Conversely, the detection continuation counter ECNT can be easily cleared if there is any movement, so the detection continuation flag is set only when it is really abnormal. The determination signal can be sent directly to the toilet seat device 3. In addition, in the case of determining only the continuation of the presence of an object, it can be easily handled by omitting Step 12c from this control flow, and further, by adding a time factor to the counter clearing condition, it is cumulative. It is also possible to determine the use of the toilet seat device 3 and determine the function such as automatic toilet cleaning.
[0041]
Although the other control flow is not described here again, the control flow performed by each unit is the control flow shown in FIGS. 3 to 11 and 20 described in the first embodiment of the present invention. Applicable. For example, taking the control flow in FIG. 3 as an example, one first amplified signal is used in Step 1b, but this is determined by the first amplified signal for two phases, and if either one is satisfied, Step 1d You can proceed to By doing so, the ON determination can be made more reliably.
In the embodiments of the present invention, the human body detection device is described as detecting with a radio wave having a frequency in the vicinity of 10.525 GHz as the center frequency of the transmission wave, but with a high frequency radio wave called a microwave or a millimeter wave. If there is, the frequency to be used is not particularly limited.
Moreover, although the toilet apparatus integrated with the toilet bowl is described as an example in the control apparatus incorporating the human body detection apparatus of the present invention, the toilet apparatus may be a separate body from the toilet bowl, and is movable. It is also suitable for other control devices that are affected by standing waves other than a human body equipped with a unit or the like, and the control device is not particularly limited.
Further, in the present invention, the description was made between the seating detection area A and the far detection area B. For example, in the case of having a further far detection area, the detection signal that is the original signal is used. Amplifying with the appropriate first amplifying unit according to the detection area to be detected, and providing a high-pass filter and second amplifying unit to detect with the combination of adjacent detection areas In addition, it is possible to detect the presence or absence of objects in a plurality of detection areas.
[Brief description of the drawings]
FIG. 1 is a block diagram showing a configuration of an object knowledge apparatus 1 according to a first embodiment of the present invention.
FIG. 2 is a block diagram showing a configuration of a reference signal setting unit 1g of the object detection device 1.
FIG. 3 is a flowchart showing an on determination flow of object detection in a first detection region of a first determination unit 1h.
FIG. 4 is a flowchart showing an object detection OFF determination flow in a first detection region of a first determination unit 1h.
FIG. 5 is a flowchart showing an on determination flow of object detection in a second detection region of the second determination unit 1i.
FIG. 6 is a flowchart showing an object detection OFF determination flow in a second detection region of a second determination unit 1i.
FIG. 7 is a flowchart showing an approach determination flow from the second detection region to the first detection region of the movement direction determination unit 1j.
FIG. 8 is a flowchart showing a separation determination flow from the first detection region to the second detection region of the movement direction determination unit 1j.
FIG. 9 is a flowchart showing a first reference signal update determination flow of an update determination unit 1k of the reference signal setting unit 1g.
FIG. 10 is a flowchart showing a second reference signal update determination flow of the update determination unit 1k of the reference signal setting unit 1g.
FIG. 11 is a flowchart showing a first reference signal setting flow of the update determination unit 1k of the reference signal setting unit 1g.
FIG. 12 is a block diagram illustrating a configuration of an object detection device 2 according to a second embodiment of the present invention.
13 is a block diagram illustrating a configuration of a reference signal setting unit 2g of the object detection device 2. FIG.
FIG. 14 is an overall perspective view showing a state in which a toilet device 3 incorporating an object detection device 2 according to a second embodiment of the present invention is installed in a toilet.
15 is a diagram illustrating an example of a signal waveform of a first phase first amplified signal of the object detection device 2 incorporated in the toilet device 3. FIG. (A) is a figure which shows the whole use condition, (b) is an enlarged view near the time of opening of the toilet lid part 6, (c) is an enlarged view of the seating operation vicinity to the toilet seat part 5. FIG.
16 is a graph showing the phase relationship between two second amplified signals of the object detection device 2 incorporated in the toilet device 3. FIG. (A) is a graph showing the relationship between the output level and the phase depending on the distance to the detection object, (b) shows the relationship between the output level and the phase in the time domain at the time of approach, and (c). FIG.
17 is a flowchart showing an approach determination flow of a movement direction determination unit 2j of the object detection device 2 incorporated in the toilet device 3. FIG.
FIG. 18 is a flowchart showing a separation determination flow of a movement direction determination unit 2j of the object detection device 2 incorporated in the toilet device 3.
FIG. 19 is a flowchart showing a detection continuation determination flow of the third determination unit 2p.
20 is a flowchart showing a main flow of object detection of the object detection apparatus 1. FIG.
FIG. 21 is a side view showing two detection areas in which the object detection device 2 when incorporated in the toilet device 3 detects the presence or absence of an object.
[Explanation of symbols]
1, 2 ... Object detection device, 1a, 2a ... transmission unit, 1b, 2b ... reception unit,
1c, 2c ... detector, 1d ... first amplifier, 1e ... high-pass filter,
1f ... 2nd amplification part, 1g, 2g ... reference signal setting part,
1h, 2h ... 1st determination part, 1i, 2i ... 2nd determination part,
1j, 2j ... movement direction determination unit, 1k, 2r ... update determination unit,
1m, 2q: reference signal storage unit, 1n, 2s: average value calculation unit,
1z, 2z ... Capture signal processing unit,
2d ... 1st phase 1st amplification part, 2e ... 1st phase high-pass filter,
2f ... 1st phase 2nd amplification part, 2k ... 2nd phase 1st amplification part,
2m 2nd phase high-pass filter 2g 2nd phase 2nd amplification part,
2p ... 3rd determination part, 2x ... Phase difference production | generation part, 3 ... Toilet device,
4 ... body part, 5 ... toilet seat part, 6 ... toilet lid part, 7 ... toilet bowl part,
S1, S21 ... transmission wave, S2, S22 ... reception wave, S3 ... detection signal,
S4 ... 1st amplified signal, S4 '... 1st amplified signal before acquisition signal processing,
S5: AC component signal, S6: Second amplified signal,
S6 ′: Second amplified signal before acquisition signal processing,
S7: first reference signal, S8: second reference signal,
S9, S35 ... first detection signal, S10, S36 ... second detection signal,
S11, S37 ... Moving direction determination result,
S12: first average value, S13: second average value,
S23: Two transmitted waves with different phases, S24: Received waves divided,
S25: first phase detection signal, S26: first phase first amplified signal,
S26 ′: first phase first amplified signal before acquisition signal processing,
S27: first phase AC component signal, S28: first phase second amplified signal,
S28 ': first phase second amplified signal before acquisition signal processing,
S29: second phase detection signal, S30: second phase first amplified signal,
S30 ': second phase first amplified signal before acquisition signal processing,
S31: second phase AC component signal, S32: second phase second amplified signal,
S32 '... second phase second amplified signal before acquisition signal processing,
S33 ... 1st phase 1st reference signal and 2nd phase 1st reference signal,
S34: first phase second reference signal and second phase second reference signal,
S35 ... 1st detection signal, S36 ... 2nd detection signal,
S37: Movement direction determination result, S40: Detection continuation determination signal,
S38: average values of the first amplified signals of the first phase and the second phase,
S39: Average values of the second amplified signals of the first phase and the second phase,
W _a (0) ... Current value of the first amplified signal, W _aZ ... Set value of first reference signal,
W _aavg (0) ... Current average value of the first amplified signal,
W _aavg (N) ... past average value of the first amplified signal,
W _b (0) ... Current value of the second amplified signal, W _bZ ... second reference signal setting value,
W _bavg (Z) ... current average value of the second amplified signal,
W _bH1 , W _bH2 , W _bH3 ... second amplified signal maximum value [tail 1 is nearest],
W _bL1 , W _bL2 , W _bL3 ... 2nd amplified signal minimum value [end 1 is nearest],
W ₁ (Z) ... signal waveform in the discrete time domain of the first phase first amplified signal,
W _{1 avg} (Z) ... signal waveform in the discrete time domain of the first phase first amplified signal average value,
* [W ₁ (0) Other z = 0 indicates current value]
W _1Z ... Set value of first phase first reference signal,
W ₃ (Z) ... first phase second amplified signal [W ₃ (0) is the current value],
W ₄ (Z) Second phase second amplified signal [W ₄ (0) is the current value],
W _3Z ... Set value of first phase second reference signal,
W _4Z ... Setting value of second phase second reference signal,
P ₁ … Entry point, P ₂ … The toilet lid opening movement starting point,
P ₂ '… Update point, P ₃ … The starting point of the seating movement,
P ₄ ... Sitting point, P ₅ … Separation start point,
TH1 ... 1st ON judgment threshold value, TH2 ... 2nd ON judgment threshold value,
TH3: first off determination threshold, TH4: second off determination threshold,
TH5 ... third on determination threshold, TH6 ... third off determination threshold,
TH7: Approach determination threshold, TH8: Distance determination threshold,
TH9: first update determination threshold, TH10: second update determination threshold,
TH11 ... third update determination threshold, TH12 ... fourth update determination threshold,
TH13: first setting determination threshold, THL: seating detection threshold
THA ... second amplification signal fluctuation determination threshold,
THB ... second-phase second reference signal set value vicinity determination threshold,
THC ... Approach determination threshold,
THD: set value vicinity determination threshold value of the first phase second reference signal,
THE ... Distance determination threshold 1, THF ... Distance determination threshold 2,
Cnt1 ... first detection counter, Cnt2 ... second detection counter,
Cnt3 ... third detection counter, Cnt4 ... first setting counter,
CCNT ... proximity detection counter, RCNT ... remote detection counter,
ECNT: Detection continuation counter,
Tim1 ... first detection counter clear timer,
Tim2 ... First detection off-delay timer,
Tim3 3rd detection counter clear timer,
Tim4 ... 2nd detection off delay timer,
CTIM… Approaching determination continuation timer, RTIM… Distance determination continuation timer,
CTIM… Approaching determination continuation timer, RTIM… Distance determination continuation timer,
N1 ... first detection count, N2 ... second detection count,
N3 ... third detection count, N4 ... remote detection count,
NA ... approach detection count, NB ... remote detection count,
NX ... Detection continuation count,
T1 ... first detection counter clear time, T2 ... first detection off-delay time,
T3 ... third detection counter clear time, T4 ... second detection off delay time,
Step 1a to Step 13g ... control step,
A: Seating (first) detection area, A1: Center (target) point of the seating detection area,
A2 ... Center distance of the seating detection area, B ... Distant (second) detection area,
B1: Center (target) point of the far detection area, B2: Center distance of the far detection area,
C1 ... Sitting human body, C2 ... Standing human body

Claims (5)

A first amplification unit that detects a standing wave in which a high-frequency transmission wave and a reception wave bounced off by an object interfere, amplifies the detection signal, and outputs a first amplified signal;
A high-pass filter for extracting a signal having a predetermined frequency or more from the first amplified signal;
A second amplifier for amplifying the output from the high-pass filter and outputting a second amplified signal;
A reference signal setting unit that sets a first reference signal and a second reference signal based on an average value of each of the first amplified signal and the second amplified signal;
A second determination unit that determines the presence or absence of an object in the second detection region based on a second level signal that is a difference between the second amplified signal and the second reference signal;
When the second determination unit determines that an object is present in the second detection region, based on the first level signal or the second level signal that is a difference between the first amplified signal and the first reference signal, A first determination unit that determines the presence or absence of an object in the first detection region, the distance from the object detection device to the center of the detection region being closer than the second detection region;
A moving direction determination unit that determines a moving direction based on a temporal change of the second amplified signal;
With
The movement direction determination unit determines that the approaching action is from the second detection area toward the first detection area when the amplitude of the second amplification signal tends to increase, and the amplitude of the second amplification signal tends to decrease. If there is, it is determined as a remote operation from the first detection area toward the second detection area,
After the movement direction determination unit detects movement from the second detection region toward the first detection region, the first determination unit is configured to determine whether there is an object in the first detection region. An object detection device characterized by that. The object detection device includes a movement direction determination unit that determines a movement direction based on a temporal change of the second amplification signal,
The movement direction determination unit determines that the approaching action is from the second detection area toward the first detection area when the amplitude of the second amplification signal tends to increase, and the amplitude of the second amplification signal tends to decrease. If there is, it is determined as a remote operation from the first detection area toward the second detection area,
After the first determination unit detects the movement from the first detection region to the second detection region during the detection determination of the object in the first detection region, the first determination unit The object detection device according to claim 1, wherein the object detection device is configured to shift to non-detection of an object in the first detection region regardless of a level of the first level signal.   In the object detection device, in the reference signal setting unit, the first determination unit is in a non-detection state of the object in the first detection region, and the movement direction determination unit has not decided the determination result of the movement direction. 3. The object detection device according to claim 1, wherein the first reference signal is updated based on a change in an average value of the first amplified signal in a state. .   In the object detection device, while the first determination unit is detecting an object in the first detection region, the non-detection state of the movement from the first detection region to the second detection region by the movement direction determination unit is The system further comprises a third determination unit that determines whether or not the object is continuously detected in the first detection region after a predetermined time has elapsed, and outputs a signal independently of the first determination unit. Item 4. The object detection device according to any one of Items 1 to 3.   The object detection device divides a transmission wave and a reception wave bounced by an object into the same number, respectively, and detects a plurality of standing waves having different phases obtained by causing interference through a phase difference generation unit. The first amplification unit amplifies each of the plurality of detection signals and outputs a plurality of first amplification signals, and the second amplification unit includes the plurality of detection signals. Each of the first amplified signals is passed through a high-pass filter and then amplified, and a plurality of second amplified signals are output. Further, the reference signal setting unit is configured to output each of the plurality of first amplified signals. A plurality of first reference signals are set based on the average value, and a plurality of second reference signals are set based on the average value of each of the plurality of second amplified signals. Claims 1 to 4 characterized in that Object detection apparatus according to any Re.

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