CN102575866B - Air conditioner - Google Patents

Abstract

An indoor unit is provided with an image-capturing device, and the image-capturing device is provided with: a human body-detecting means which detects whether or not a human being is present; and an obstacle-detecting means which detects whether or not an obstacle is present. An air flow direction-changing means provided to the indoor unit is controlled on the basis of the result of the detection by the human body-detecting means and on the basis of the result of the detection by the obstacle-detecting means. Specifically, at least one obstacle position-detecting region belongs to each human being position-determining region. When it is determined that there is an obstacle in an obstacle position-determining region which is located in front of a human being position-determining region in which it is determined that there is a human being, a vertical blade is controlled to perform air flow control by which air flows above the obstacle to avoid the obstacle.

Description

Air conditioner

Technical field

The present invention relates to a kind of being provided with and detect the people human body detection device whether existing and the air conditioner that detects the obstacle detector that has clear in indoor set, and relate to the position of the barrier that a kind of basis detects in obstacle detector, effectively send the technology of air-conditioner wind to the region that has people of detecting in human body detection device.

Background technology

Existing air conditioner is provided with human body detection device in indoor set, this human body detection device has the human body detection sensors such as burnt electric type infrared ray sensor and detects to the ultrasonic sensor of the distance of object, utilize human body detection device to come position and the distance of the people in sensing chamber, thus, control the wind direction being formed by upper and lower blade and left and right blade and change parts, send air-conditioner wind (for example,, with reference to patent documentation 1) towards unmanned region.

In addition, in the air conditioner described in patent documentation 1, at barriers such as the indoor furniture that has the circulation that hinders air-conditioner wind, in the case of unmanned region is consistent with the region that has barrier, send air-conditioner wind towards barrier, so air conditioning decrease in efficiency, therefore, people's position testeding outleting part part and Obstacle Position are set in indoor set and detect parts, detect both detection signals of parts according to people's position testeding outleting part part and Obstacle Position and control wind direction and change parts, improve air conditioning efficiency.

In this air conditioner, if start heating running, so, first utilize people's position testeding outleting part part to judge indoor whether have a people, unmanned in the situation that, utilize Obstacle Position to detect parts and determined whether barrier, in the situation that there is no barrier, control wind direction and change parts so that the whole indoor diffusion of air-conditioning wind direction.

In addition, although unmanned, but in the case of being tested with the barrier that can avoid, controlling wind direction change parts makes it towards the direction that there is no barrier, and in the case of being tested with the barrier that can not avoid, control wind direction and change parts, make air-conditioner wind can directly not blow to barrier, and make air-conditioner wind in whole indoor diffusion.

In addition, in the situation that having people, determine whether not in region, not not in region in the situation that, control wind direction and change parts so that the whole indoor diffusion of air-conditioning wind direction, in the situation that having not in region, judge and in region, do not have clear, in the situation that having barrier, towards the direction control wind direction control assembly of barrier, make the high wind of air-conditioner wind can not blow to barrier, and in the situation that there is no barrier, towards the direction control wind direction control assembly (for example,, with reference to patent documentation 2) that there is no barrier.

Patent documentation 1: Japanese kokai publication sho 63-143449 communique

Patent documentation 2: Japanese Patent Publication 3-72249 communique

Summary of the invention

The problem that invention will solve

For the air conditioner described in patent documentation 2, the detection signal that detects parts according to the detection signal of people's position testeding outleting part part and Obstacle Position is controlled wind direction and is changed parts, air conditioning efficiency thus improves, but, at the indoor numerous barriers such as the furniture such as desk, sofa, television set, sound equipment that exist, therefore, only by this control, the aspect regulating from realizing optimum air, leeway still has greatly improved.

In addition, the detecting signal that people's position testeding outleting part part detects sensor and ultrasonic sensor according to the people who forms human body detection device detects people's position, and detecting parts, Obstacle Position detects in the case of not forming the people of human body detection device the detecting signal of sensor, detect the position of barrier according to the range information from ultrasonic sensor etc., human body detection device also can detect parts as people's position testeding outleting part part or Obstacle Position.

Therefore,, if think people by mistake barrier, not only can not realize comfortable air conditioning, and, air-conditioner wind (air conditioning wind) also can directly blow to people, therefore, likely becomes poor efficiency and makes us uncomfortable air-conditioning control (air conditioning control).

The present invention is in view of these problem points of prior art and complete, its object is to provide a kind of air conditioner, can refinement people position critical region and Obstacle Position critical region, whether high accuracy and the people who effectively carries out in regional there is the judgement that has or not of judging with barrier, and according to these result of determination, control subtly the wind direction being formed by upper and lower blade and left and right blade and change parts, thus, air conditioning efficiency is improved.

For solving the method for problem

To achieve these goals, the invention provides a kind of air conditioner, whether utilize the camera head arranging in indoor set to detect people exists, there is clear but also detect, in addition, be equipped with left and right to change the left and right blade of the blow-off direction of air, these wind direction change parts have the blade up and down of the blow-off direction that changes up and down air, control wind direction according to the testing result of the testing result of human detection parts and detection of obstacles parts and change parts, in this air conditioner, according to the testing result of human detection parts and detection of obstacles parts, be judged to be barrier and be positioned at the more close described indoor set than people, and the temperature of the indoor heat converter that indoor set is equipped with is in the case of the scope of the high temperature from the fiducial temperature based on skin temperature to regulation, control upper and lower blade, carry out the air-flow control from top avoiding obstacles.

In addition, particularly, should regulate the region of air to be distinguished into the many individual positions critical region being detected by human detection parts, and be distinguished into the multiple Obstacle Position critical regions that detected by detection of obstacles parts, each of many individual positions critical region at least has an Obstacle Position critical region, with be judged to be people's people position critical region by human detection parts compared with, judging have barrier by detection of obstacles parts in the Obstacle Position critical region of indoor set one side, control upper and lower blade, carry out the air-flow control from top avoiding obstacles.

In addition, particularly, in this air conditioner, for each of many individual positions critical region, vertical line or horizontal line arrange angle (no matter be to set or set from horizontal line from vertical line, the numeral of benchmark different set are also different.Certainly, using beyond vertical line or horizontal line as benchmark too), with be judged to be people's people position critical region by human detection parts compared with, judging have barrier by detection of obstacles parts in the Obstacle Position critical region of indoor set one side, the angle of the blade up and down that correction sets, sets upper and lower blade upward.

In addition, particularly, many individual positions critical region is according to be divided into first area and the second area far away than this first area to the distance regions of indoor set, the people position critical region that is judged to be people by human detection parts belongs to second area, and the Obstacle Position critical region that is judged to be barrier by detection of obstacles parts belongs to first area.

In addition, particularly, upper and lower blade comprises many pieces of upper and lower blades, and each upper and lower blade can be controlled independently.

In addition, particularly, in air conditioner, people's position from indoor set more away from, upper and lower blade is set more upward.

Invention effect

According to the present invention, in the case of having barrier above of people, control upper and lower blade and make it carry out the air-flow control from top avoiding obstacles, so, can control subtly the wind direction change parts with upper and lower blade, air conditioning efficiency improves.

Brief description of the drawings

Fig. 1 is the front elevation of the indoor set of air conditioner of the present invention.

Fig. 2 is the longitudinal section of the indoor set of Fig. 1.

Fig. 3 is that movable front panel is opened front openings portion, and upper and lower blade is opened the longitudinal section of the indoor set of Fig. 1 of the state of blow-off outlet.

Fig. 4 will form the longitudinal section of indoor set of Fig. 1 of the state that the lower blade of upper and lower blade sets down.

Fig. 5 is the flow chart that represents the handling process of the people's position deduction in present embodiment.

Fig. 6 is the schematic diagram of the background subtraction divisional processing for the people's position deduction in present embodiment is described.

Fig. 7 is the schematic diagram for explanation processing of background image in background subtraction divisional processing.

Fig. 8 is the schematic diagram for explanation processing of background image in background subtraction divisional processing.

Fig. 9 is the schematic diagram for explanation processing of background image in background subtraction divisional processing.

Figure 10 is the schematic diagram for the Region Segmentation processing in the people's position deduction in present embodiment is described.

Figure 11 is used for illustrating the schematic diagram of two coordinate systems utilizing in the present embodiment.

Figure 12 is the skeleton diagram that represents the distance of the position of centre of gravity from image sensor cell to personage.

Figure 13 is the skeleton diagram that is illustrated in the people position critical region detecting in the image sensor cell that forms human detection parts.

Figure 14 is the schematic diagram there is personage in the people position critical region detecting in the image sensor cell of formation human detection parts time.

Figure 15 is the flow chart for setting regions characteristic in the regional shown in Figure 13.

Figure 16 is the flow chart whether people in the regional shown in final decision Figure 13 exists.

Figure 17 is the general view that is provided with the residence of the indoor set of Fig. 1.

Figure 18 is the coordinate diagram that represents the long-term accumulated result of each image sensor cell in the residence of Figure 17.

Figure 19 is the general view that is provided with other residence of the indoor set of Fig. 1.

Figure 20 is the coordinate diagram that represents the long-term accumulated result of each image sensor cell in the residence of Figure 19.

Figure 21 represents the flow chart of utilization from the flow process of people's position deduction processing of the processing of frame (frame) image contract people's similar area (as people's region).

Figure 22 represents to utilize the flow chart that extracts the flow process of people's position deduction processing of the processing of face's similar area (as the region of face) from two field picture.

Figure 23 is the skeleton diagram that is illustrated in the Obstacle Position critical region detecting in detection of obstacles parts.

Figure 24 is the schematic diagram that detects barrier for explanation anaglyph.

Figure 25 is the flow chart that represents the handling process of the range determination of barrier.

Figure 26 represents the skeleton diagram of image sensor cell to the distance of position P.

Figure 27 is the elevation of certain living space, is the skeleton diagram that represents the measurement result of detection of obstacles parts.

Figure 28 is the skeleton diagram that represents the definition that forms the wind direction in the lobus sinister sheet of left and right blade and each position of lobus dexter sheet.

Figure 29 is the general view of then obtaining the room of the wall detection algorithm (algorithm) of distance numbers for explanation mensuration indoor set to the distance of wall around.

Figure 30 is the front elevation of the indoor set of other air conditioner of the present invention.

Figure 31 is the schematic diagram that represents the relation of image sensor cell and light-projecting portion (Lighting Division).

Figure 32 is the flow chart that represents the flow process of the processing of the range determination to barrier that utilizes light-projecting portion and image sensor cell.

Figure 33 is the front elevation of the indoor set of other air conditioner of the present invention.

Figure 34 represents to utilize the human body distance of human detection parts to detect the flow chart of the flow process of the processing of parts.

Figure 35 utilizes the v1 as the v coordinate of image topmost for explanation, infers the schematic diagram of image sensor cell to the processing of personage's distance.

Figure 36 represents to utilize the barrier of human detection parts to detect the flow chart of the flow process of the processing of parts.

Figure 37 utilizes human body distance to detect image sensor cell that parts the infer range information to personage for explanation, infers the schematic diagram of the processing of the height v2 of the personage on image.

Figure 38 infers for explanation the schematic diagram that whether has the processing of barrier between image sensor cell and personage.

Figure 39 infers for explanation the schematic diagram that whether has the processing of barrier between image sensor cell and personage.

Detailed description of the invention

Below, with reference to accompanying drawing, embodiments of the present invention are described.

The overall structure > of < air conditioner

The air conditioner that general family is used is made up of the cooled dose of interconnective off-premises station of pipe arrangement and indoor set conventionally, and Fig. 1 to Fig. 4 represents the indoor set of air conditioner of the present invention.

Indoor set has: the movable front panel (being only called below " front panel ") 4 of the 2a of front openings portion of main body 2 and freely openable main body 2, in the time that air conditioner stops, front panel 4 is close to main body 2 to close the 2a of front openings portion, and in the time that air conditioner turns round, front panel 4 is to move to open the 2a of front openings portion away from the direction of main body 2.In addition, Fig. 1 and Fig. 2 represent that front panel 4 closes the state of the 2a of front openings portion, and Fig. 3 and Fig. 4 represent that front panel 4 opens the state of the 2a of front openings portion.

As shown in Figures 1 to 4, comprise in the inside of main body 2: heat exchanger 6; Be used for by from peristome 2a above and above the room air drawn of peristome 2b heat exchanger 6, carry out heat exchange then to the indoor indoor fan blowing out (indoor fan) 8; Open and close the air after heat exchange to the indoor blow-off outlet blowing out 10 and change up and down the blade up and down 12 of the blow-off direction of air; Change the left and right blade 14 of blow-off direction of air with left and right, the 2a of front openings portion and above be provided with filter 16 between peristome 2b and heat exchanger 6, be used for removing be included in from peristome 2a above and above dust the room air drawn of peristome 2b.

In addition, the top of front panel 4 links by two arms 18,20 and main body 2 tops that are arranged at its both ends, drive and control drive motors (motor) (not shown) linking with arm 18, thus, in the time that air conditioner turns round, move towards front oblique upper the position (occlusion locations of the 2a of front openings portion) when front panel 4 stops from air conditioner.

And upper and lower blade 12 is made up of blade 12a and lower blade 12b, and is installed on respectively the bottom of main body 2 in the mode of freely shaking.Blade 12a and lower blade 12b and each drive source (for example, stepper motor) link, and are built in control device (first substrate 48 described later, for example micro computer) the difference control angle independently in indoor set.In addition, from Fig. 3 and Fig. 4, the modifiable angular range of lower blade 12b is set to larger than the modifiable angular range of blade 12a.

In addition will in the back the driving method of blade 12a and lower blade 12b be set forth.In addition, upper and lower blade 12 also can be made up of 3 pieces of above blades up and down, in the case, preferably can control independently the angle of at least 2 pieces (blades that are particularly positioned at the top be positioned at the blade of below).

In addition, left and right blade 14 is made up of the center 5 pieces of blades that amount to 10 pieces of each configuration on left and right directions from indoor set, and is installed on respectively the bottom of main body 2 in the mode of freely shaking.In addition, link using 5 pieces of left and right for example, as a unit and each drive source (, stepper motor), 5 pieces of left and right blade is built in control device in indoor set control angle independently respectively.In addition also will in the back the driving method of left and right blade 14 be set forth.

The structure > of < human detection parts

As shown in Figure 1, on the top of front panel 4, as camera head, image sensor cell 24 is installed, image sensor cell 24 is maintained in sensor holder (sensor holder).

Image sensor cell 24 is made up of: circuit substrate, the image sensor that is installed on the lens on circuit substrate and is packaged in lens inside.In addition, human detection parts for example utilize circuit substrate to judge whether people exists according to difference processing described later., circuit substrate as carry out people whether exist judgement at no judging part.

People's position deduction > of < image sensor cell

In order to utilize image sensor cell 24 to carry out people's position deduction, utilize the calculus of finite differences as well-known technology.Background image and the captured image of image sensor cell 24 as the image that does not have personage are carried out to difference processing, producing in the region of difference, infer and have personage.

Fig. 5 is the flow chart that represents the flow process of the people's position deduction processing in present embodiment.In step S101, utilize background subtraction divisional processing, detect thus the pixel that produces difference in frame (frame) image.Background subtraction divisional processing refers to, captured photographed images in the situation that the background image of taking more under given conditions, the imaging conditions such as the visual field and visual angle, focal length of image sensor cell 24 equate with background image, detect in background image and do not exist thus, but a kind of method of the object existing in photographed images.In order to detect personage, create the image image as a setting that does not have personage.

Fig. 6 is the schematic diagram for background subtraction divisional processing is described.Fig. 6 (a) represents background image.Herein, according to setting the visual field with the roughly equal mode in the air conditioning space of air conditioner.In the figure, 101 represent to be present in the window in air conditioning space, and 102 represent door.Fig. 6 (b) represents the two field picture of being taken by image sensor cell 24.Herein, the visual field and visual angle, the focal length etc. of image sensor cell 24 equate with the background image of Fig. 6 (a).103 represent to be present in the personage in air conditioning space.In background subtraction divisional processing, create the difference image of Fig. 6 (a) and Fig. 6 (b), detect thus personage.Fig. 6 (c) represents difference image, and white pixel represents not exist the pixel of difference, and black picture element represents to exist the image of difference.Knownly in background image, do not exist, but the personage's 103 who exists in captured two field picture region is detected as the region 104 that produces difference.That is, from difference image, extract the region that has produced difference, can detect thus people's object area.

In addition, utilize inter-frame difference processing, can create thus aforesaid background image.Fig. 7～Fig. 9 is the schematic diagram for this processing is described.Fig. 7 (a)～(c) is illustrated in personage 103 before window 101 from right to left under mobile sight, the schematic diagram of the captured three continuous two field pictures of image sensor cell 24.The image of the next frame of Fig. 7 (b) presentation graphs 7 (a), the image of the next frame of Fig. 7 (c) presentation graphs 7 (b).In addition, Fig. 8 (a)～(c) represent to utilize the image of Fig. 7, carries out inter-frame difference inter-frame difference image after treatment.White pixel represents not exist difference, and black picture element 105 represents to have produced the pixel of difference., if mobile object is only personage in the visual field, can think herein, in inter-frame difference image, in the region that does not produce difference, not have personage.Therefore,, in the region that does not produce inter-frame difference, background image is replaced as to present two field picture.By this processing, automatically background image.Fig. 9 (a)～(c) is respectively the schematic diagram of the renewal of the background image in each frame of presentation graphs 7 (a)～(c).Region 106 shown in oblique line represents to have upgraded the region of background image, and black region 107 also represents the not region of background image, and white portion 108 represents not upgrade the region of background image., the black region 107 of Fig. 9 and the total region of white portion 108 equate with the black region of Fig. 8.Known as shown in the figure, in the situation that personage moves, black region 107 diminishes gradually, automatically background image.

Next,, in step S102, the difference region of trying to achieve by Region Segmentation, in the situation that there is multiple personage, cuts apart as multiple difference region.Utilize well-known image clustering method, for example, carry out Region Segmentation difference image according to the rule of " pixel that produces difference is the same area with the pixel that is present near the generation difference it ".Figure 10 is the schematic diagram of implementing this Region Segmentation processing.Figure 10 (a) represents the difference image calculating according to difference processing, and 111 and 112 black picture element is the pixel that produces difference.Figure 10 (b) represents, while obtaining Figure 10 (a), carries out the result of Region Segmentation according to the rule of aforementioned " pixel that produces difference is the same area with the pixel that is present near the generation difference it " as difference image.Judge that horizontal stripe region 113 and vertical stripe region 114 are other regions herein.The denoising that the morphology (morphology) that now, also can carry out extensively utilizing in image is processed is processed etc.

In step S103, by calculating the position of centre of gravity of the regional of trying to achieve, detect detected personage's position below.In order to go out personage's position according to the barycenter position measurement of image, utilize perspective projection transformation.

For perspective projection transformation is described, two coordinate systems are described.Figure 11 is the schematic diagram for two coordinate systems are described.First, consider image coordinate system.This is the two-dimensional coordinate system in captured image, and using the upper left pixel of image as initial point, right-hand is u, and below is v.Then, consider the camera coordinates system of the three-dimensional system of coordinate taking camera as benchmark.This be focal position using image sensor cell 24 as initial point, the optical axis direction of image sensor cell 24 is Zc, camera top is Yc, camera left is Xc.Now, according to perspective projection transformation, following relation is set up.

[mathematical formulae 1]

$X_C=\frac{(u-u_0)\&CenterDot;\mathrm{dpx}\&CenterDot;Z_C}{f},$ $Y_C=-\frac{(v-v_0)\&CenterDot;\mathrm{dpy}\&CenterDot;Z_C}{f}$

Herein, f represents focal length [mm], and (u0, v0) represents the picture centre [Pixel] in image coordinate, and (dpx, dpy) represents the size [mm/Pixel] of 1 pixel of imaging apparatus.Herein, if be conceived to Xc, Yc, Zc is unknown number, so known, in mathematical formulae 1, coordinate (u, v) on image is datum, and the actual three-dimensional position corresponding with this coordinate is present on certain straight line of the initial point that is by camera coordinates.As shown in Figure 12 (a), (b), the position of centre of gravity of the personage on image is (ug, vg), and the three-dimensional position in this camera coordinates system is (Xgc, Ygc, Zgc).Herein, Figure 12 (a) represents to observe from the side the schematic diagram in air conditioning space, and Figure 12 (b) represents the schematic diagram of observing from top.In addition, the arranging highly as H of image sensor cell 24, Xc direction equates with horizontal direction, optical axis Zc arranges according to the mode from vertical direction with θ angle.In addition, for image sensor cell 24 towards, the angle (elevation angle, the angle of measuring upward from vertical line) of vertical direction is α, the angle (from indoor set direction, the angle from positive datum line to right-hand mensuration) of horizontal direction is β.And if the height of hypothesis personage's center of gravity is h, the three-dimensional position in air conditioning space is that image sensor cell 24 can calculate according to the following formula to the distance L of position of centre of gravity and towards W.

[mathematical formulae 2]

$X_{\mathrm{gC}}=\frac{(u-u_0)\&CenterDot;\mathrm{dpx}\&CenterDot;Z_{\mathrm{gC}}}{f}=\left(\tan \mathrm{\&beta;}\right)\&CenterDot;Z_{\mathrm{gC}},$

[mathematical formulae 3]

[mathematical formulae 4]

[mathematical formulae 5]

Herein, image sensor cell 24 is arranged on the height of the about 2m of H=conventionally, and the height h of personage's center of gravity is about 80cm, if consideration this point, mathematical formulae 3, mathematical formulae 5 represent, in the case of the height h of the center of gravity that height H and personage are set that has specified image sensor cell 24, according to the position of centre of gravity (ug on picture, vg), monodrome is obtained the position of centre of gravity (L, W) of the personage in air conditioning space.Figure 13 (a), (b) represent, the position of centre of gravity on image is present in the regional of A～G, whether in certain region in air conditioning space, has personage.In addition, schematic diagram when Figure 14 (a), (b) represent to have personage.In Figure 14 (a), personage's position of centre of gravity is present in region A and F, therefore, judges in the region A of Figure 13 (b) and F and has personage.On the other hand, in Figure 14 (b), personage's position of centre of gravity is present in the D of region, therefore, judges in the region D of Figure 13 (b) and has personage.

Figure 15 uses image sensor cell 24, in regional A～G, set the flow chart of region characteristic described later, Figure 16 uses image sensor cell 24, judge the flow chart that has people in which region of region A～G, below, with reference to these flow charts, people's position decision method is described simultaneously.

In step S1, cycle T 1 (for example, if the frame ratio of image sensor cell 24 is 5fps, being 200 milliseconds) first according to the rules, judges according to aforesaid method whether the people in regional exists.According to this result of determination, regional A～G is divided into three regions: very short the 3rd region of time that short second area of time of often having people's first area (place of being everlasting), people to stop (region is passed through in the region that region, holdup time that people only passes through are short etc.), people stop (the non-life region that the people such as wall, window goes hardly).Below, by first area, second area, the 3rd region be called respectively life distinguish I, life distinguish II, life distinguish III, also can by life distinguish I, life distinguish II, life distinguish III be called respectively the region of region characteristic I, the region of region characteristic II, the region of region characteristic III.In addition, to live distinguish I (region characteristic I), life distinguish II (region characteristic II) be collectively referred to as life region (region that people lives), in contrast, to live and distinguish III (region characteristic III) and be called non-life region (people is not or not the region of this life), the frequency whether existing according to people is carried out style to life region.

This differentiation is to carry out after the step S3 in the flow chart of Figure 15, with reference to Figure 17 and Figure 18, this method of discrimination is described.

Figure 17 is illustrated in the indoor set that air conditioner of the present invention is set in the LD in the room (1LDK) being made up of a Japanese room and LD (parlor hold concurrently dining room) and kitchen, the place that the region representation subject shown in the ellipse in Figure 17 is everlasting.

As mentioned above, judge in each cycle T 1 whether the people in regional A～G exists, as reaction result (judgement) output 1 (the responding) or 0 (not reaction) of cycle T 1, repeatedly repeat after this operation, in step S2, the sensor output clearing all.

In step S3, determine whether through accumulation duration of runs of air conditioner of regulation.If judge and do not pass through the stipulated time in step S3, return to step S1, if and judgement has been passed through the stipulated time, the reaction result of accumulating in this stipulated time in regional A～G and two threshold values are compared, differentiating thus regional A～G is respectively that in I～III is distinguished in life.

Carry out more detailed elaboration with reference to the Figure 18 that represents long-term accumulated result, set first threshold and the Second Threshold less than first threshold, in step S4, whether the long-term accumulated result of judging regional A～G is more than first threshold, in step S5, will be judged to be many area judging for life differentiation I.In addition, in step S4, if judge that the long-term accumulated result of regional A～G is fewer than first threshold, so, in step S6, the long-term accumulated result of judging regional A～G is more than Second Threshold, and in step S7, will be judged to be many area judging is that II is distinguished in life, and will be judged to be few area judging for life differentiation III in step S8.

In the example of Figure 18, region C, D, G are identified as life and distinguish I, and region B, F are identified as life and distinguish II, and region A, E are identified as life and distinguish III.

In addition, Figure 19 is illustrated in the situation that the indoor set of air conditioner of the present invention is set in other (parlor the hold concurrently dining room) LD in a room (1LDK), and Figure 20 represents to differentiate according to the long-term accumulated result in this situation the result of regional A～G.In the example of Figure 19, region B, C, E are identified as life and distinguish I, and region A, F are identified as life and distinguish II, and region D, G are identified as life and distinguish III.

In addition, repeat the differentiation of above-mentioned zone characteristic (life is distinguished) in each stipulated time, only otherwise mobile at indoor configured sofa, the dining table etc. that should differentiate, differentiate result and just can change hardly.

Below, with reference to the flow chart of Figure 16, the final decision whether people in regional A～G is existed describes.

Step S1～S2 in the flow chart of step S21～S22 and above-mentioned Figure 15 is identical, so the description thereof will be omitted.In step S23, determine whether the reaction result of the cycle T 1 that has obtained stated number M (for example 45 times), if determination cycles T1 does not reach stated number M, return to step S21, if and determination cycles T1 has reached stated number M,, in step S24, using the summation of the reaction result in cycle T 1 × M number of times as between the accumulation stage of reaction, calculate number of times between the accumulation stage of reaction once.Repeatedly the calculating of number of times between this accumulation stage of reaction, in step S25, determine whether the result that calculates of for example, between the accumulation stage of reaction that has obtained stipulated number (N=4) number of times, if judge and do not reach stipulated number, return to step S21, if and judgement has reached stipulated number,, in step S26, whether existed according to the people that between the accumulation stage of reaction of the region characteristic of having differentiated and stipulated number, number of times is inferred in regional A～G.

In addition, in step S27, between the accumulation stage of reaction, calculating of number of times deducts 1 and return to step S21 number of times (N), repeats calculating of number of times between accumulation stage of reaction of stipulated number.

Table 1 represents the up-to-date once historical record of the reaction result of (time T 1 × M), and in table 1, for example ∑ A0 refers to number of times between the accumulation stage of reaction once in the A of region.

[table 1]

Herein, suppose that between the ∑ A0 once accumulation stage of reaction before, number of times is ∑ A1, between the once accumulation stage of reaction before it, number of times is ∑ A2 ... the in the situation that of N=4, in the past in the historical record of four times (∑ A4, ∑ A3, ∑ A2, ∑ A1), distinguish I for life, as long as number of times once, has so just been judged to be people between the accumulation stage of reaction once.In addition, distinguish II for life, if in the past in the historical record of four times, once between the above accumulation stage of reaction, number of times has more than twice, be judged to be people, distinguished III for life, if in four historical records in the past, between the more than twice accumulation stage of reaction, number of times has more than three times, has been judged to be people.

Below, whether exist and judge and start elapsed time T1 × M from above-mentioned people, same, distinguish and accumulate between the stage of reaction number of times and infer people and whether exist according to the past historical record of four times and life.

; in the indoor set of air conditioner of the present invention; according to the region characteristic of the regional determination result of the each specified period of long-term accumulated, the regional determination result of N the each specified period of accumulation location that between the accumulation stage of reaction of the regional of trying to achieve, the historical record in the past of number of times is inferred people, obtain thus the people's that probability is high position deduction result.

Table 2 represents, judges according to above-mentioned this method whether people exists, and is being set as T1=0.2 second, M=45 time time infer people in the required time, infer not in the required time.

[table 2]

Life is distinguished	Inferring people exists	Do not infer and exist
			I	15 seconds (soon)	60 seconds (slowly)
II	30 seconds (standard)	45 seconds (standard)
			III	45 seconds (slowly)	30 seconds (soon)

Like this, the region that utilizes image sensor cell 24 to carry out air conditioning by the indoor set of air conditioner of the present invention is distinguished into after multiple region A～G, determine the region characteristic (I～III is distinguished in life) of regional A～G, but also according to the region characteristic of regional A～G change infer people in the required time, infer not in the required time.

That is, changing after air conditioning setting, wind is to needing about one minute, therefore, for example, set even if the short time (several seconds) is changed air conditioning, also can destroy comfortableness, the place of leaving very soon for people, from energy-conservation viewpoint, does not preferably carry out air conditioning.Therefore, whether the people who first detects in regional A～G exists, and particularly optimizes and has the air conditioning in people region to set.

In detail, using be identified as life distinguish II region infer the required time as standard no, distinguish in the region of I being identified as life, according to the existence of inferring people than the short time interval of region that is identified as life differentiation II, in contrast, in the situation that people leaves from this region, according to inferring not existing of people than the long time interval of region that is identified as life differentiation II, thus, shorten and infer people in the required time, extend and infer not in the required time.Otherwise, distinguish in the region of III being identified as life, according to the existence of inferring people than the long time interval of region that is identified as life differentiation II, in contrast, in the situation that people leaves from this region, according to inferring not existing of people than the short time interval of region that is identified as life differentiation II, thus, extend and infer people in the required time, shorten and infer not in the required time.And, as mentioned above, distinguish and change because of the life of long-term accumulated result regional, infer people the required time and infer not the required time also will be accordingly change setting correspondingly.

In the above description, people's position deduction that image sensor cell 24 carries out has utilized calculus of finite differences, can certainly utilize other method.For example, also can utilize personage's whole body view data, from two field picture, extract people's similar area.As this method, for example well-known HOG (the Histograms of Oriented Gradients that utilizes, gradient orientation histogram) method (the N.Dalal and B.Triggs of characteristic quantity etc., " Histograms of Oriented Gradients for Human Detection ", In Proc.IEEE Conf.on Computer Vision and Pattern Recognition.Vol.1.pp.886-893.2005.).HOG characteristic quantity is the characteristic quantity of the edge strength of each edge direction based in regional area, also can utilize SVM (Support Vector Machine, SVMs) etc. learn, identify this characteristic quantity, from two field picture, detect thus people's object area.

Figure 21 is the flow chart that represents the flow process of the processing that utilizes the people's position deduction that extracts people's similar area from two field picture.In the figure, for the step identical with Fig. 5, mark identical symbol, omit its detailed explanation herein.

In step S104, utilize aforesaid HOG characteristic quantity, in two field picture, extract people's similar area as people region.

In step S103, calculate the position of centre of gravity in the people region of trying to achieve, detect thus detected personage's position.In order to go out personage's position according to the barycenter position measurement of image, as previously mentioned, utilize mathematical formulae 3, mathematical formulae 5.

In addition, also can be unfavorable by the view data of personage's whole body, but from two field picture, extract face's similar area.As this method, such as well-known have a method (P.Viola and M.Jones that utilizes Haar-Like characteristic quantity etc., " Robust real-time face dectetion ", International Journal of Computer Vision, Vol.57.No.2.pp.137-154,2004.).Haar-Like characteristic quantity is the characteristic quantity of the luminance difference based between regional area, also can utilize this characteristic quantity SVM (Support Vector Machine, SVMs) etc. learn, identify this characteristic quantity, from two field picture, detect thus people's object area.

Figure 22 is the flow chart that represents the flow process of the processing of the people's position deduction that utilizes the processing of extracting face's similar area from two field picture.In the figure, for the step identical with Fig. 5, mark identical symbol, omit its detailed explanation herein.

In step S105, utilize aforesaid Haar-Like characteristic quantity, in two field picture, extract face's similar area as face area.

In step S103, calculate the position of centre of gravity of the face area of trying to achieve, detect thus detected personage's position.In order to go out personage's position according to the barycenter position measurement of image, as previously mentioned, utilize perspective projection transformation.Now, in the whole body region that utilizes personage, go out personage's the situation of position from its barycenter position measurement, as personage's height of C.G., the about 80cm of h=, and in the situation that utilizing face area, as the height to face's center of gravity, the about 160cm of h=, utilizes mathematical formulae 3, mathematical formulae 5 to detect personage's position.

The structure > of < detection of obstacles parts

To utilizing aforesaid image sensor cell 24, these detection of obstacles parts that carry out detection of obstacles describe.In addition, " barrier " as used in this specification refers to, obstruction is used for blowing out from the blow-off outlet 10 of indoor set all article that the air draught of comfortable space is provided to occupant, such as, article beyond the occupants such as the furniture such as desk and sofa, television set, sound equipment.

In the present embodiment, as shown in figure 12, according to the angle beta of the angle [alpha] of vertical direction and horizontal direction, utilizing barrier to detect parts segments the ground of living space as illustrated in fig. 23, these regionals are defined as to Obstacle Position critical region or " position ", differentiate which position to have barrier in.In addition, the whole region of the people position critical region shown in the whole positions shown in Figure 23 and Figure 13 (b) is unanimous on the whole, make the zone boundary of Figure 13 (b) and the location boundary of Figure 23 unanimous on the whole, make in the following manner region and position correspondence, can carry out easily thus air conditioning control described later, greatly reduce the internal memory of storing.

Region A: position A1+A2+A3

Region B: position B1+B2

Region C: position C1+C2

Region D: position D1+D2

Region E: position E1+E2

Region F: position F1+F2

Region G: position G1+G2

In addition, for the Region Segmentation of Figure 23, the number of regions of position is set as more than the number of regions of people position critical region, at least two positions belong to each individual position's critical region, see these at least two Obstacle Position critical regions of left and right configuration from indoor set direction, but the mode that also can belong to each individual position's critical region according at least one position is carried out Region Segmentation, then carries out air conditioning control.

In addition, for the Region Segmentation of Figure 23, according to distinguish each of many individual positions critical region to the distance of indoor set, the number of regions of position of people position critical region in region that belongs near distance is set as more than the number of regions of position of people position critical region in region that belongs to distance, but also can be not limited to and the distance of indoor set, the positional number that makes to belong to each individual position's critical region is identical.

The detection action of < detection of obstacles parts and data processing >

As mentioned above, whether the people that air conditioner of the present invention utilizes human detection parts to detect in the A～G of region exists, and utilize detection of obstacles parts to detect in the A1～G2 of position and have clear, detection signal (testing result) according to the detection signal of human detection parts (testing result) with detection of obstacles parts, drive blade up and down 12 and the left and right blade 14 controlled as wind direction converting member, comfortable space is provided thus.

Human detection parts as previously mentioned, for example utilize personage's movement to detect and in air conditioning space, have mobile object, whether can detect thus people exists, and detection of obstacles parts detect the distance of barrier according to image sensor cell 24, therefore, can not differentiate people and barrier.

If think people by mistake to be barrier, so, sometimes can not carry out air conditioning to the region that has people, and air conditioning wind (air-flow) directly contacts people, result just likely becomes inefficient air conditioning control or the air conditioning control to people's sticky feeling.

Therefore, for detection of obstacles parts, carry out following illustrated data processing, only detect barrier.

First, the detection of obstacles parts that utilize image sensor cell are described.In order to utilize image sensor cell to detect barrier, utilize anaglyph.Anaglyph is to utilize multiple image sensor cells 24 and 26, utilizes its parallax to infer the method for the distance of object.Figure 24 utilizes anaglyph to detect the schematic diagram of barrier for explanation.In the drawings, utilize image sensor cell 24 and 26, measure the distance as the some P of barrier.In addition, f represents focal length, B represents the focus spacing of two image sensor cells 24 and 26, u1 represents the u coordinate of the barrier on the image of image sensor cell 24, in addition, the u coordinate of the corresponding points on the image of the image sensor cell 26 of u1 is u2, and X represents that image sensor cell is to the distance of putting P.In addition, the picture centre position of two image sensor cells 24 and 26 equates.Now, image sensor cell to the distance X of putting P is obtained by following formula.

[mathematical formulae 6]

$X=\frac{f\&CenterDot;B}{|u_1-u_2|\&CenterDot;\mathrm{dpx}}$

From this formula, image sensor cell to the distance X of the some P of barrier depends between image sensor cell the parallax of 24,26 | u1-u2|.

In addition, corresponding points explore block matching method utilizing template matching method etc.As described above, utilize image sensor cell to carry out the range determination (position probing of barrier) in air conditioning space.

From mathematical formulae 3, mathematical formulae 5, mathematical formulae 6, infer the position of barrier according to location of pixels and parallax.I in table 3 and j represent the location of pixels that should measure, and the angle of vertical direction and the angle of horizontal direction represent respectively above-mentioned angle of elevation alpha and see the angle beta from positive line of face,mounting along right-hand mensuration from indoor set direction.That is, from indoor set direction, 5 degree～80 degree, set each pixel in the scope of in the horizontal direction-80 degree～80 degree in vertical direction, and image sensor cell is measured the parallax of each pixel.

[table 3]

, air conditioner carries out range determination (position probing of barrier) by measure parallax in each pixel from pixel [14,15] to pixel [142,105].

The detection range of detection of obstacles parts when also the running of air conditioner can be started in addition, is limited in more than the elevation angle 10 spends.Its reason is, in the time that starting, the running of air conditioner have people's possibility large, only measure the high region of possibility of not detecting people, there is the distance in the region of wall, (people is not barrier can to effectively utilize thus measurement data, so, as described later, do not use the data in people region).

Below, with reference to the flow chart of Figure 25, the range determination to barrier is described.

First in step S41, in the region corresponding with present pixel (the region A～G shown in Figure 13 one), nobody, enter step S42, and in the situation that being judged to be people, enter step S43 being judged to be.; people is not barrier; so; set in such a way: in the pixel corresponding with the region that is judged to be people; do not carry out range determination but use range data (not upgrading range data) in the past; only in the pixel corresponding with the region that is judged to be nobody, carry out range determination, use the new range data (renewal range data) of measuring.

; when in each Obstacle Position critical region, carry out barrier have or not judge time; whether there is result of determination according to the people in the people position critical region corresponding with each Obstacle Position critical region; determine whether upgrading the result of determination of the detection of obstacles parts in each Obstacle Position critical region, effectively carry out thus the judgement that has or not of barrier.More specifically, belonging in the Obstacle Position critical region of people position critical region that is judged to be nobody by human detection parts, carry out the previous result of determination of regeneration barrier thing detection part by new result of determination, and belonging in the Obstacle Position critical region of people position critical region that is judged to be people by human detection parts, need not new result of determination carry out the previous result of determination of regeneration barrier thing detection part.

In step S42, utilize aforesaid block matching method to calculate the parallax of each pixel, enter step S44.

In step S44, in identical pixel, obtain the data of 8 times, judge whether the range determination of the data based on obtained finishes, if judge that range determination not yet finishes, return to step S41.Otherwise, in step S44, if judge that range determination finishes, enter step S45.

In step S45, assess its reliability, improve thus the accuracy that distance is inferred.,, in the situation that judgement has reliability, in step S46, carry out distance numbers and determine processing, and in the situation that judgement does not have reliability, in step S47, near the distance numbers it is processed as the range data of this pixel.

In addition, these processing are carried out in image sensor 24 and 26, and therefore, image sensor cell 24 and 26 is as Obstacle Position detection part.

The distance numbers the following describes in step S46 is determined processing, first term " distance numbers " is described.

" distance numbers " represents, the approximate distance of certain position P from image sensor cell to air conditioning space, as shown in figure 26, image sensor cell is arranged at apart from the top of bottom surface 2m, suppose that image sensor cell to the distance of position P is " the quite distance of distance numbers " X[m], position P represents with following formula.

[mathematical formulae 7]

[mathematical formulae 8]

As shown in mathematical formulae 6, the distance X that is equivalent to distance numbers depends on the parallax of image sensor cell 24,26.In addition, distance numbers is 2～12 integer value, the distance that is equivalent to each distance numbers of setting as shown in table 4.

[table 4]

In addition, table 4 represents, each distance numbers and the position of position P that is equivalent to the elevation angle (α) being determined by the v coordinate figure of each pixel according to mathematical formulae 2, for the part of painted black, h is negative value (h < 0), represents the position of below ground.In addition, the setting of table 4 is applied in the air conditioner that efficiency grade is 2.2kw, and this air conditioner is arranged at the room (diagonal distance=4.50m) of 6 tatamis specially, and distance numbers=9 are set as to limits value (maximum D).That is, in the room of 6 tatamis, being equivalent to distance >=10 position is the position (position in outside, room) that diagonal distance > 4.50m exceedes the wall in room, is nonsensical distance numbers completely, represents with black.

Table 5 represents to be applied in the air conditioner that efficiency grade is 6.3kW, and this air conditioner is arranged on the room (diagonal distance=8.49m) of 20 tatamis specially, and distance numbers=12 are set as to limits value (maximum D).

[table 5]

Table 6 represents the limits value of the efficiency grade of air conditioner and the distance numbers set according to the elevation angle of each pixel.

[table 6]

Reliability assessment processing in step S45 and the distance numbers in step S46 are determined to processing describes below.

As mentioned above, in distance numbers, set limits value according to the efficiency grade of air conditioner and the elevation angle of each pixel, even in the situation that distance numbers is inferred result N > maximum D, in multiple measurement results, if all results are not distance numbers=N, also set distance numbers=D for.

In each pixel, determine the distance numbers of eight times, remove successively two distance numbers and remove successively two distance numbers according to little order according to large order, get the mean value of remaining four distance numbers, determine distance numbers.In the case of using the anaglyph of BMA, in the case of detecting the barrier that there is no luminance variations, detect disparity computation unstable, surveying the large parallax result (distance numbers) of timing difference.Therefore, in step S45, the value of more remaining four distance numbers, be threshold value above in the situation that in its error, in step S47, the value of this distance numbers is regarded as does not have reliability, the distance of abandoning in this pixel is inferred, and utilizes the distance numbers of inferring in pixel nearby.In addition, mean value get decimal point round up later quantize integer value, the position of the distance numbers that is equivalent to determine is thus as described in table 4 or table 5.

In addition, in the present embodiment, in each pixel, determine eight distance numbers, remove each two distance numbers of size, get the mean value of remaining four distance numbers, determine distance numbers, still, the distance numbers determining in each pixel is not limited to eight, and the distance numbers of averaging is also not limited to four.

; in each Obstacle Position critical region, carry out having or not while judgement of barrier; whether there is result of determination according to the people in the people position critical region corresponding with each Obstacle Position critical region; determine whether to upgrade the result of determination of the detection of obstacles parts in each Obstacle Position critical region, effectively carry out thus the judgement that has or not of barrier.More specifically, belonging in the Obstacle Position critical region that is judged to be unmanned people position critical region by human detection parts, carry out the previous result of determination of regeneration barrier thing detection part by new result of determination, and belonging in the Obstacle Position critical region of people position critical region that is judged to be people by human detection parts, need not new result of determination carry out the previous result of determination of regeneration barrier thing detection part.

In addition, in step S43 in the flow chart of Figure 25, range data before using, but, data before installing after air conditioner have not just existed, so, the in the situation that of carrying out first judgement in each Obstacle Position critical region at detection of obstacles parts, Use Defaults, default value uses above-mentioned limits value (maximum D)

Figure 27 is the elevation (by the longitudinal section of image sensor cell) of certain living space, the below 2m that is illustrated in image sensor cell is ground, measurement result while having the barriers such as desk apart from 0.7～1.1m place, ground, the linked network portion in figure, upper right oblique line portion, bottom right oblique line portion be judged as respectively closely, middle distance, remote (will set forth these distances in the back) have barrier.

< barrier avoids controlling >

According to the no judgement of depositing of above-mentioned barrier, change the blade up and down 12 of parts and left and right blade 14 as wind direction and control in the following manner when the heating.

In the following description, use term " piece ", " region ", " closely ", " middle distance ", " at a distance ", first these terms are described.

Region A～G shown in Figure 13 belongs to respectively following piece.

Piece N: region A

Piece R: region B, E

Piece C: region C, F

Piece L: region D, G

In addition, region A～G belongs to respectively following region.

Region 1: region A

Region 2: region B, D

Region 3: region C

Region 4: region E, G

Region 5: region F

And, for defining in such a way with the distance of indoor set.

Closely: region A

Middle distance: region B, C, D

Remote: region E, F, G

Table 7 represents to form the goal-setting angle of 5 lobus sinister sheets of left and right blade 14 and each position of 5 lobus dexter sheets, in numeral (angle), the symbol of mark as shown in figure 28, lobus sinister sheet or lobus dexter sheet are orientated as when the inner side positive direction (+, in table 7 without symbol), will be toward the outer side time, be defined as negative direction (-).

[table 7]

In addition, " the heating B region " in table 7 is to carry out barrier to avoid the heating region of controlling, and " automatic wind is to controlling conventionally " is not carry out barrier to avoid the wind direction control of controlling.Herein, that whether carries out that barrier avoids controlling judges that temperature with indoor heat converter 6 is as benchmark, in the situation that temperature is low, carry out the wind direction control that wind can not blow to occupant, the in the situation that of excess Temperature, carry out the wind direction control of maximum quantity of wind position, in the situation that temperature is suitable, carry out to the wind direction control in heating B region.In addition, the meaning of said " temperature is low ", " too high ", " wind can not blow to occupant's wind direction control ", " the wind direction control of maximum quantity of wind position " is as follows herein.

Low temperature: for the temperature of indoor heat converter 6, skin temperature (33～34 DEG C) is set as to optimum temperature, can becomes the temperature (for example, 32 DEG C) below this temperature

Too high temperature: for example, more than 56 DEG C

Wind can not blow to occupant's wind direction control: for not to living space air-supply, control the angle of upper and lower blade 12, wind is along the mobile wind direction control of ceiling

The wind direction control of maximum quantity of wind position: air conditioner, if utilize upper and lower blade 12 and left and right blade 14 to make air-flow bending, must produce so impedance (loss), therefore, till maximum quantity of wind, be that loss approaches 0 wind direction control (if left and right blade 14, towards positive position so, if upper and lower blade 12 is the position from downward 35 degree of level so)

Table 8 represents to carry out the goal-setting angle in the regional of barrier upper and lower blade 12 while avoiding controlling.In addition, the angle (γ 2) of the angle of the blade in table 8 (γ 1) and lower blade is the angle (elevation angle) of measuring from vertical line towards top.

[table 8]

Below, avoid controlling and be specifically described meeting the barrier of position of barrier, the term using in first barrier being avoided controlling " waves (swing) action ", " position stops running ", " piece stops running " describe.

Rocking action is the shake action of left and right blade 14, is left and right angle amplitude shake according to the rules centered by the position of a target substantially, there is no the operation of set time at the two ends of waving.

In addition, position stops running and refers to, carries out the correction of table 9, respectively as left and right left end and right-hand member for the goal-setting angle (angle of table 7) of certain position.Its action is, keep respectively the wind direction set time (time of fixing left and right blade 14) at left end and right-hand member, for example, the in the situation that of the left end process wind direction set time, move to right-hand member, before the right-hand member process wind direction set time, keep the wind direction of right-hand member, after the wind direction set time, move to left end, repeat this action.The wind direction set time is for example set to 60 seconds.

[table 9]

That is, the in the situation that of having barrier in certain position, if use without change the goal-setting angle of this position, warm braw will often blow to barrier, but by carrying out the correction of table 9, can make warm braw arrive from the side of barrier the position that has people.

And piece stops running and refers to, for example, decide the set angle of the left and right blade 14 corresponding with the left end of each and right-hand member according to table 10.Its action is, keep respectively the wind direction set time at the left end of each and right-hand member, for example, the in the situation that of the left end process wind direction set time, move to right-hand member, before the right-hand member process wind direction set time, keep the wind direction of right-hand member, after the wind direction set time, move to left end, repeat this action.The wind direction set time is same with position stop running, for example, be set to 60 seconds.In addition, the left end of each and right-hand member are consistent with left end and the right-hand member of people position critical region that belongs to this piece, so piece stops the stop that running also can be described as people position critical region and turns round.

[table 10]

In addition, position stops to turn round to stop to turn round with piece and separates use according to the size of barrier.In the little situation of barrier forwardly, centered by the position that has barrier, carry out position and stop running, avoiding obstacles is blown thus, and barrier is forwardly large, for example have barrier in the whole front that has people region, carry out piece and stop running, it is blown on a large scale.

In the present embodiment, wobbling action and position are stopped to running and piece and stop running and be generically and collectively referred to as the shake action of left and right blade 14.

Below, the control example of bright upper and lower blade 12 or left and right blade 14 specifically, in the situation that human detection parts judge that people is only arranged in single area, utilizing the judgement of obstacle quality testing detection part, have barrier in the case of being arranged in the Obstacle Position critical region that is judged to be the front of people's people position critical region by human detection parts, control upper and lower blade 12, carry out the air-flow control from top avoiding obstacles.In addition, utilizing the judgement of detection of obstacles parts, be judged to be to have barrier in people's the Obstacle Position critical region of people position critical region in the case of belonging to by human detection parts, select following a kind of control: at least one the Obstacle Position critical region that belongs to the people position critical region that is judged to be people, left and right blade 14 is shaken, do not set the first air-flow control of the set time of left and right blade 14 at the two ends of swing range, with belong to be judged to be people's people position critical region or with at least one Obstacle Position critical region of the people position critical region of this region adjacency in shake left and right blade 14, in the second air-flow control of set time of setting left and right, the two ends of swing range blade 14.

In addition, in the following description, separate and carry out the control of upper and lower blade 12 and the control of left and right blade 14, according to the position of people and barrier, suitably the control of upper and lower blade 12 controls and left and right blade 14 is carried out in combination.

A. upper and lower blade control

(1) in any one in the B～G of region, there is people, have barrier at the position A1～A3 in the front that has people region

For common region wind direction control (table 8) set angle of revising upper and lower blade 12 as shown in table 1, carry out setting upper and lower blade 12 for air-flow control upward.

[table 11]

(2) in any one in the B～G of region, there is people, in the region A in front that has people region, do not have barrier (above-mentioned (1) in addition)

Carry out common automatic wind to control

B. left and right blade control

B1. the in the situation that of having people in region A (closely)

(1) in the A of region, there is no the position of barrier is one

Centered by the goal-setting angle of position that there is no barrier, swing, carry out the first air-flow control.For example, there is barrier at position A1, A3, in the situation that position A2 does not have barrier, centered by the goal-setting angle of position A2, swing, the position A2 that there is no barrier is carried out to air conditioning, be not limited to position A1, A3 nobody, so, by wobbling action, also distribute some air-flows to position A1, A3.

In addition, describe particularly, decide goal-setting angle and the angle correction (angle when rocking action) of position A2 according to table 7 and table 9, so, lobus sinister sheet and lobus dexter sheet all, centered by 10 degree, do not continue shake (swing) at the angular range of ± 10 degree respectively with stopping.But rock from side to side lobus sinister sheet and the time of lobus dexter sheet are configured to identical, the shake action interlock of lobus sinister sheet and lobus dexter sheet.

(2) in the A of region, the position of clear is (A1 and A2 or A2 and A3) two and adjacency

Using the goal-setting angle of two positions of clear as two ends, make its swing carry out the first air-flow control, substantially regulate thus the air of the position of clear.

(3) in the A of region the position of clear be two and separate (A1 and A3)

Using the goal-setting angle of two positions of clear as two ends, make its piece stop running and carry out the second air-flow control.

(4) in the A of region, have barrier in all positions

Due to indefinite towards which position air-supply, so, make piece N carry out piece stop and turn round and carry out the second air-flow control.With compared with whole region, piece stops running and becomes and have the wind direction of directive property easily to blow at a distance, and possibility that can avoiding obstacles is high.That is, the in the situation that of having barrier in the A of region, between barrier and barrier, conventionally there is gap, can be by the gap air-supply between this barrier.

(5) in the A of region, all do not have barrier in all positions

Carry out the common automatic wind of region A to control.

B2. people is arranged in any one the situation of region B, C, D (distance)

(1) only have barrier in the position belonging in two positions that have people region

Centered by the goal-setting angle of position that there is no barrier, make it swing to carry out the first air-flow control.For example, be arranged in region D people, only, in the situation that position D2 has barrier, centered by the goal-setting angle of position D1, it swung.

(2) have barrier in two positions that belong in two positions that have people region

The piece that makes to include people region carries out piece and stops running and carry out the second air-flow control.For example, be arranged in region D people, in the situation that position D1, D2 have barrier in both, make piece L carry out piece and stop running.

(3) having there is no barrier in people region in the situation that

The common automatic wind in someone region is to control.

B3. people is arranged in any one the situation of region E, F, G (at a distance)

(1) only a position in two positions of middle distance areas that belong to the front that has people region has (for example, people is arranged in region E, in the B2 of position, has barrier, and B1 does not have barrier in position) barrier

(1.1) there is no (for example, there is no barrier at position B1, C1) barrier at two adjacents of the position that has barrier

(1.1.1) there is no (for example, there is no barrier at position E2) barrier at the rear of the position that has barrier

Centered by the position that has barrier, make its position stop running and carry out the second air-flow control.For example, be arranged in region E people, in position, B2 has barrier, in the situation that its both sides and rear all do not have barrier, can avoid from the side the barrier of position B2, and to region, E sends into air-flow.

(1.1.2) (for example, there is barrier at position E2) in the case of there being the rear of position of barrier to have barrier

In middle distance areas, centered by the goal-setting angle of position that there is no barrier, make it swing to carry out the first air-flow control.For example, be arranged in region E people, in position, B2 has barrier, there is no barrier in its both sides, but have barrier at its rear in the situation that, preferably never the position B1 of barrier sends into air-flow.

(1.2) there is barrier a position in two of position that have barrier are adjacent, the in the situation that of there is no barrier in another position

Centered by the goal-setting angle of position that there is no barrier, make it swing to carry out the first air-flow control.For example, be arranged in region F people, in position, C2 has barrier, and in two adjacent positions of position C2, Zhong position D1 has barrier, the in the situation that of C1 clear, the barrier that never the position C1 of barrier avoids position C2 by airflow feeding toward region F.

(2) in both of two positions of middle distance areas that belong to the front that has people region, have barrier

The piece that makes to include people region carries out piece and stops running and carry out the second air-flow control.For example, be arranged in region F people, have barrier in the case of both of position C1, C2, make piece C carry out piece and stop running.In the case, have barrier in people's front, cannot avoiding obstacles, so, with the piece of piece C adjacency in whether have barrier irrelevant, stop running and carry out piece.

(3) in both of two positions of middle distance areas that belong to the front that has people region, there is no (for example, people is arranged in region F, there is no barrier at position C1, C2) barrier

(3.1) only have barrier in the position belonging in two positions that have people region

Centered by the goal-setting angle of another position that there is no barrier, make it swing to carry out the first air-flow control.For example, be arranged in region F people, there is no barrier at position C1, C2, F1, in the situation that position F2 has barrier, the front of someone region F is open, so, consider that remote barrier carries out air conditioning centered by the remote position F1 that there is no barrier.

(3.2) have barrier in the case of belonging to both that there are two positions in people region

The piece that makes to include people region carries out piece and stops running and carry out the second air-flow control.For example, be arranged in region G people, there is no barrier at position D1, D2, have barrier in the case of both of position G1, G2, have the front of people region G open, but have barrier in whole this region, taking where as target indefinite, so, make piece L carry out piece and stop running.

(3.3) there is no there is the common automatic wind in people region to control barrier in the case of belonging to both that there are two positions in people region.

< people's wall approaches controls >

In the situation that people and wall are present in the same area, people must be positioned at the position more forward than wall and approach wall, in the time of heating, warm braw is easily trapped near wall, near room temperature wall has the tendency uprising compared with the room temperature of other parts, therefore, makes it carry out people's wall and approaches control.

In this control, in the pixel different with the pixel [i, j] of table 4, calculate parallax, detect its distance, be first familiar with the position of face wall and left and right wall.

That is, utilize image sensor cell 24,26, first calculate the parallax of the pixel corresponding with the front of general horizontal direction, then the distance that is measured to face wall obtains distance numbers.And, also to calculate and the parallax of the pixel corresponding to left side of summary horizontal direction, then the distance that is measured to left side wall obtains distance numbers, and the distance numbers of right side wall is also obtained in the same way.

In addition be explained in detail with reference to Figure 29.The figure in the room of Figure 29 is the installation observed from above indoor set, represents to observe from indoor set direction, in positive, left side and right side there is respectively the situation of face wall WC, left wall WL, right wall WR.In addition, the distance numbers of the corresponding ascending order of numeral in the left side of Figure 29, table 12 represents from indoor set to perigee and the apogean distance corresponding with distance numbers.

[table 12]

Distance numbers	Closely [m]	[m] at a distance
			1	0	0.63
2	0.63	0.83
			3	0.83	1.00
4	1.00	1.25
			5	1.25	1.67
6	1.67	2.00
			7	2.00	2.50
8	2.50	3.33
			9	3.33	4.17
10	4.17	5.00
			11	5.00	7.14
12	7.14	8.33
			13	8.33	10.00
14	10.00	∞

As mentioned above, " barrier " that use at this description refers to, if for example supposition is the furniture such as desk and sofa, television set, sound equipment etc., and consider the common height of these barriers, can infer in the angular range of spending at the elevation angle 75 and not be detected, what detect is wall, so, in the present embodiment, the distance between front, left end and the right-hand member of indoor set more than the degree of the elevation angle 75, detected, on the extended line that comprises this position, have wall.

In addition, under field-of-view angle in the horizontal direction, left wall WL be can infer and angle-80 degree ,-75 positions of spending are positioned at, face wall WC is positioned at the position of angle-15 degree～15 degree, right wall WR be positioned at angle 75 spend, 80 degree positions, so, in the pixel shown in Fig. 3, as follows respectively with pixel corresponding in the field-of-view angle of aforementioned levels direction in the elevation angle 75 is spent.

Left end: [14,15], [18,15], [14,21], [18,21], [14,27], [18,27]

Positive: [66,15]～[90,15], [66,21]～[90,21], [66,27]～[90,27]

Right-hand member: [138,15], [142,15], [138,21], [142,21], [138,27], [142,27]

When determining from indoor set to face wall WC, when the distance numbers of left wall WL, right wall WR, as shown in table 13, first in above-mentioned each pixel, extract wall data.

[table 13]

WL

5	6
		6	6
6	6

WC

5	5	5	5	5	5	5
							5	5	5	5	5	5	5
14	5	5	5	5	5	5

WR

3	3
		3	3
3	3

Below, as shown in table 14, delete higher limit and the lower limit of each wall data and get rid of unnecessary wall data, according to the wall data that obtain thus, determine the distance numbers with face wall WC, left wall WL, right wall WR.

[table 14]

WL

	6
		6	6
6	6

WC

5	5	5	5	5	5	5
							5	5	5	5	5	5	5
	5	5	5	5	5	5

WR

3	3
		3	3
3	3

As with the distance numbers of face wall WC, left wall WL, right wall WR, can adopt the maximum (WC:5, WL:6, WR:3) in table 14.Adopting in peaked situation, the air from indoor set adjusting with the room (big room) of the distance of face wall WC, left wall WL, right wall WR, can set larger space as the object of air conditioning control.But, may not be maximum, also can adopt mean value.

Like this, after the distance numbers determining with face wall WC, left wall WL, right wall WR, whether utilize detection of obstacles parts to judge has wall in Obstacle Position critical region, this Obstacle Position critical region belongs to the people position critical region that is judged to be people by human detection parts, if be judged to be wall, consider that people is before wall, so, in the time of heating, carry out than the low Temperature Setting of design temperature of setting with remote controller.

This people's wall being approached to control below, is specifically described.

A. people is the in the situation that of nearby region or middle distance areas

Nearby region and middle distance areas are positioned at from the position close to indoor set, and region area is also little, for example, so the degree that room temperature rises is large, therefore, the design temperature of setting with remote controller is turned down and is only set the first set point of temperature (2 DEG C) for.

B. people is the in the situation that of remote region

Remote region is positioned at from the position away from indoor set, region area is also large, so, the degree that room temperature rises is lower than nearby region or middle distance areas, therefore, the design temperature of setting with remote controller is turned down and be only set in the second set point of temperature lower than the first set point of temperature (for example 1 DEG C).

In addition, the region area in remote region is large, so, even if detect in identical people position critical region and have people and wall, because people likely separates with wall, so, only limit to the situation of the combination shown in table 15, make it carry out people's wall and approach control, carry out temperature transition according to the position relationship of people and wall.

[table 15]

In addition, in the present embodiment, adopted as the anaglyph apart from detection part, but also can replace anaglyph, adopted the method for utilizing light-projecting portion 28 and image sensor cell 24.The method is described.

As shown in figure 30, in the main body 2 of present embodiment, there is image sensor cell 24 and light-projecting portion 28.Light-projecting portion 28 forms (not shown) by light source and scanner section, and light source can utilize LED and laser.In addition, scanner section utilizes galvanometer mirror etc., can at random change light projector direction.Figure 31 is the schematic diagram that represents the relation of image sensor cell 24 and light-projecting portion 28.Originally, light projector direction was double freedom, and shooting face is two dimensional surface in length and breadth, still, for the purpose of simplifying the description, considered using projecting direction as single-degree-of-freedom, and shooting face is only horizontal straight line.Herein, light-projecting portion 28, towards the optical axis direction of image sensor cell 24, enters light at light projector direction ρ upslide.Image sensor cell 24 carries out the difference processing of the two field picture in two field picture and the light projector process before light-projecting portion 28 light projectors, thus, obtains the u coordinate u1 on the image of the some P that reflects light-projecting portion 28 input light.Suppose that image sensor 24 to the distance of a P is X, following relation is set up.

[mathematical formulae 9]

$X\&CenterDot;\tan \mathrm{\&rho;}-X\&CenterDot;\frac{(u-u_0)\&CenterDot;\mathrm{dpx}}{f}=C$

[mathematical formulae 10]

$X=\frac{f\&CenterDot;C}{f\&CenterDot;\tan \mathrm{\&rho;}-(u-u_0)\&CenterDot;\mathrm{dpx}}$

That is, change the light projector direction ρ of light-projecting portion 28, detect the pip P of this light simultaneously, can obtain thus the range information in air conditioning space.

I in table 16 and j represent the address that light-projecting portion 28 should scan, and the angle of vertical direction and the angle of horizontal direction represent respectively above-mentioned angle of elevation alpha and see the angle beta from positive line of face,mounting along right-hand mensuration from indoor set direction.That is, from indoor set direction, 5 degree～80 degree, set each address in the scope of in the horizontal direction-80 degree～80 degree in vertical direction, and light-projecting portion 28 is measured each address, scanning living space.

[table 16]

Below, with reference to the flow chart of Figure 32, the range determination to barrier is described.In addition, the flow chart of Figure 32 is extremely similar to the flow chart of Figure 25, below, different steps is only described.

First,, in step S48, carrying out the address [i of light projector with light-projecting portion 28 judging, j] in corresponding region (any one in the region A～G shown in Figure 13) in nobody's situation, enter step S49, and in the situation that being determined with people, enter step S43.; set in such a way; because people is not barrier; so; in the pixel corresponding with the region that is judged to be people; do not carry out range determination but range data (not upgrading range data) before using, only in the pixel corresponding with the region that is judged to be nobody, carry out range determination, use the new range data (renewal range data) of measuring.

In step S49, process and obtain pip from image sensor cell 24 by aforesaid light projector, infer thus the distance with barrier.Certainly, as previously mentioned, also can utilize distance numbers to determine and process, utilize the processing of distance numbers.

In addition, as apart from detection part, also can utilize human detection parts.It detects parts by the human body distance of utilizing human detection parts; Detecting parts with the barrier that utilizes human detection parts forms.This processing is described.

As shown in figure 33, in the main body 2 of present embodiment, there is single image sensor cell 24.In addition, Figure 34 represents to utilize the human body distance of human detection parts to detect the flow chart of the handling process of parts.In the figure, for the step identical with Fig. 5, mark identical symbol, and omit herein its detailed explanation.

In step S201, human body distance detects parts has carried out, in the regional of Region Segmentation, detecting the pixel that is present in image topmost in the pixel that difference has occurred at aforementioned human detection parts, obtains its v coordinate as v1.

Then,, in step S202, human body distance detects parts utilization and infers the distance from image sensor cell to personage as the v1 of the v coordinate of image topmost.Figure 35 is the schematic diagram for this processing is described.Figure 35 (a) is near the schematic diagram that is illustrated in camera and has two personages 121,122 sight at a distance, and Figure 35 (b) is the difference image that represents image sensor cell captured image in the sight of Figure 35 (a).In addition, the region 123,124 of generation difference is corresponding with personage 121,122 respectively.Herein, personage's height h1 is known, and the height of all personages in air conditioning space is roughly equal.As previously mentioned, image sensor cell 24 is arranged to the height of 2m, therefore, as shown in Figure 35 (a), image sensor cell takes a crane shot from personage's top.Now, personage more approaches image sensor cell, and as shown in Figure 35 (b), the personage more bottom on image is taken., the v coordinate v1 of personage's image topmost is corresponding one by one with the distance from image sensor cell to personage.Thus, obtain in advance v coordinate v1 and distance from image sensor cell to personage corresponding of personage's topmost, can utilize thus the human body distance of human detection parts to detect parts.Table 17 is using personage's average height as h1, obtains in advance personage's the v coordinate v1 of image topmost and the corresponding example of the distance from image sensor cell to personage.As image sensor cell, utilize the image sensor cell of the resolution with VGA herein.Can be inferred by this table, the in the situation that of v1=70, the distance from image sensor cell 24 to personage is approximately 2m.

[table 17]

Distance [m] with image sensor	The v coordinate v1 of topmost
		1	98
2	72
		4	60
8	54

Below, describe utilizing the barrier of human detection parts to detect parts.

Figure 36 represents to utilize the barrier of human detection parts to detect the flow chart of the handling process of parts.

In step S203, barrier detects parts utilization and detects by aforementioned human body distance the range information from image sensor cell 24 to personage that parts are inferred, and infers the height v2 of the personage on image.Figure 37 is the schematic diagram for this processing is described, is the schematic diagram that represents the sight same with Figure 35.Herein, as previously mentioned, personage's height h1 is known, and the height of all personages in air conditioning space is roughly equal.As previously mentioned, image sensor cell 24 is arranged to the height of 2m, therefore, as shown in Figure 34 (a), image sensor cell is overlooked and is taken from personage's top.Now, personage more approaches image sensor cell 24, and as shown in Figure 34 (b), the size on personage's image is larger., the difference v2 of the v coordinate of personage's image topmost and the v coordinate of image foot is corresponding one by one with the distance from image sensor cell 24 to personage.Thus, in the case of knowing the distance from image sensor cell to personage, can infer the size on this image.As long as this obtain in advance personage's the v coordinate of image topmost and the difference v2 of the v coordinate of image foot is corresponding with distance from image sensor cell to personage.Table 18 is v coordinate v1, personage's the v coordinate of image topmost and difference v2 of the v coordinate of image foot of obtaining in advance personage's image topmost and the corresponding example of the distance from image sensor cell 24 to personage.As image sensor cell, utilize the image sensor cell of the resolution with VGA herein.Can be inferred by this table, for example, be 2m in the distance from image sensor cell 24 to personage, the difference v2=85 of the v coordinate of personage's image topmost and the v coordinate of image foot.

[table 18]

Distance [m] with image sensor	The v coordinate v1 of topmost	The height v2 in region
			1	98	96
2	72	85
			4	60	70
8	54	53

In step S204, barrier detects parts in the regional of difference image, detects the pixel that has produced the difference that is present in image topmost and the pixel that has produced the difference that is present in image foot, calculates the difference v3 of its v coordinate.

In step S205, the height v2 of personage the image that relatively utilizes the range information from image sensor cell 24 to personage and infer, with the personage's who obtains according to actual difference image height v3, infer thus between image sensor cell 24 and personage, whether have barrier.Figure 38, the 39th, is used for illustrating the schematic diagram of this processing.Figure 38 represents the sight same with Figure 35, is to be illustrated in the schematic diagram that does not have the sight of barrier between image sensor cell 24 and personage.On the other hand, Figure 39 is the schematic diagram that represents the sight that has barrier.In Figure 38, in the situation that there is not barrier between image sensor cell and personage, utilize range information from image sensor cell 24 to personage and the height v2 of personage the image of inferring, roughly equal with the personage's 123 who obtains according to actual difference image height v3.On the other hand, in Figure 39, in the situation that there is barrier between image sensor cell 24 and personage, personage's a part is blocked, and the region of blocking does not exist difference., for the shelter in air conditioning space, be placed in this point on ground if be conceived to most of shelter herein, can think that personage's lower area is blocked.This situation represents, obtains to personage's distance as the v1 of the v coordinate of the image topmost of people's object area in utilization, even if there is barrier between image sensor cell 24 and personage, also correctly obtains distance.On the other hand, in the situation that there is barrier between image sensor cell 24 and personage, the height v3 Billy who infers the personage 125 that obtains according to actual difference image uses the height v2 of the personage the image that the range information from image sensor cell 24 to personage infers little.Therefore, in step S205, judging that v3 is less a lot of in the situation that than v2, enter step S206, judge between image sensor cell and personage and have barrier.Now, the distance of image sensor cell and barrier equates with the distance from image sensor cell to personage of trying to achieve according to the v coordinate v1 of topmost.

As described above, utilize the testing result of human detection parts, realize apart from detection part.

In addition, in the present embodiment, the people position critical region that has carried out segmentation is set with Obstacle Position critical region, controls wind direction according to detected barrier and people's position relationship and change parts.But, when the people in the region that is judged to be to carry out air conditioning and the position relationship of barrier, also can adopt well-known method.Also can be according to the position relationship with the detected people of this well-known method and barrier, implement selectively the first air-flow control and the second air-flow control.

Utilizability in industry

Air conditioner of the present invention changes parts according to critically controlling wind direction in people's the result of determination that whether has barrier above, and air conditioning efficiency thus improves, so, particularly useful as general home-use air conditioner.

Symbol description

2 indoor set main bodys, 2a front openings portion, peristome above 2b

4 movable front panels, 6 heat exchangers, 8 indoor fans

10 blow-off outlets, blade, 14 left and right blades Shang Xia 12

16 filters, 18,20 front panel arms

24,26 image sensor cells, 28 light-projecting portions

Claims (5)

1. an air conditioner, is characterized in that:

In indoor set, be equipped with: detect the human detection parts whether people exists; Detection has the detection of obstacles parts of clear; Change parts with the wind direction of the blow-off direction that changes air, these wind direction change parts have the blade up and down of the blow-off direction that changes up and down air, control described wind direction according to the testing result of the testing result of described human detection parts and described detection of obstacles parts and change parts, in this air conditioner

According to the testing result of described human detection parts and described detection of obstacles parts, be judged to be barrier and be positioned at the more close described indoor set than people, and the temperature of the indoor heat converter that described indoor set is equipped with is in the case of the scope of the high temperature from the fiducial temperature based on skin temperature to regulation, people's position from indoor set more away from, control described upper and lower blade more upward, carry out the air-flow control from top avoiding obstacles

Described human detection parts and described detection of obstacles parts are realized by camera head.

2. air conditioner as claimed in claim 1, is characterized in that:

Should regulate the region of air to be distinguished into the many individual positions critical region being detected by described human detection parts, and be distinguished into the multiple Obstacle Position critical regions that detected by described detection of obstacles parts, each of described many individual positions critical region at least has an Obstacle Position critical region, with be judged to be people's people position critical region by described human detection parts compared with, judging have barrier by described detection of obstacles parts in the Obstacle Position critical region of described indoor set one side, control described upper and lower blade, carry out the air-flow control from top avoiding obstacles.

3. air conditioner as claimed in claim 2, is characterized in that:

For each of described many individual positions critical region, from the angle of vertical line or the described upper and lower blade of horizontal line setting, with be judged to be people's people position critical region by described human detection parts compared with, judging have barrier by described detection of obstacles parts in the Obstacle Position critical region of described indoor set one side, the angle of the described upper and lower blade that correction sets, sets described upper and lower blade upward.

4. air conditioner as claimed in claim 2 or claim 3, is characterized in that:

Each basis of described many individual positions critical region is divided into any of He Bigai first area, first area second area far away to the distance regions of indoor set, the people position critical region that is judged to be people by described human detection parts belongs to described second area, and the Obstacle Position critical region that is judged to be barrier by described detection of obstacles parts belongs to described first area.

5. the air conditioner as described in any one in claim 1～3, is characterized in that:

Described upper and lower blade comprises many pieces of upper and lower blades, and each upper and lower blade can be controlled independently.