DE102007042395B4 - Radar-based, portable orientation system - Google Patents

Abstract

A portable radar environmental examination apparatus, comprising - a radar front end for emitting radar radiation and for receiving a radar echo, an output unit for outputting output signals, and a signal processing unit connected to the radar front end and the output unit, wherein - the radar -Frontend is adapted to scan a spatial environment by emitting radar radiation and generate and output the received radar echoes corresponding electrical signal sequences, - the signal processing unit is formed according to predefined similarity criteria, the presence of a similarity between the received from the radar front end electrical signal sequence and in check the signal sequence patterns stored in the memory unit and, if there is a similarity, cause the memory unit to output the output signal associated with the relevant signal sequence pattern to the output unit, characterized by - a A user interface connected to the signal processing unit, the signal processing unit having access to a device-internal or device-external storage unit configured to store a plurality of pre-recorded electrical signal sequence patterns, each corresponding to a radar echo characteristic of a respective spatial environment, and store output signals respectively associated with the signal sequence patterns which, when outputted via the output unit, perceptibly identify the subject environments to a user; and wherein the signal processing unit is adapted to input a user via the user interface in a learn mode of operation the current electrical signal sequence to convert into an electrical signal sequence pattern characteristic of the spatial environment and store the instantaneous electrical signal sequence as a new signal sequence pattern in the memory unit; and assign an output signal corresponding to the signal sequence pattern in the memory unit.

Description

Field of the invention

The invention relates to a radar environmental examination apparatus and a method for studying the environment.

Background of the invention

There are many applications where it helps to gain information about the environment. An important area is the support of visually impaired people. They can be supported by a device that gives information about the shape of the environment. These devices are known which z. B. Measure distances to objects and output them via a sound signal. The variation of the pitch is a measure of the distance of the next object.

For the measurements that are made in the context of this, there are different approaches. There is the possibility to perform ultrasonic measurements for the determination of the distance of objects. However, these have the disadvantage that the propagation speed of sound is low, and thus the measurements have a great delay. Furthermore, ultrasound measurements are susceptible to interference from sound from the environment. Improvements are made by devices that make optical measurements because optical measurements are faster. However, optical measurements are susceptible to ambient light and can be disturbed by a cloudy atmosphere between the meter and the object.

From the EP 0 766 833 is an electronic visual aid known that works with radar distance measurements. It can also be used in situations where visibility is obstructed, such as in smoky buildings. Thus, the device is also suitable as a support for firefighters. The known device is small and lightweight, so that it can be carried out in the form of glasses. A radar scanning beam of the visual aid has a very small opening angle. This can be measured with the visual aid and the distance to small objects.

The disadvantage of the electronic visual aid described is that the user of the visual aid is informed only about distances to next objects in a respective, current scanning direction. The user does not get any guidance beyond the distances to the nearest objects in the environment.

DE 198 50 056 A1 describes a method and apparatus for guiding visually impaired and blind people. The described device comprises a first component for detecting coarse location information by means of receiving GSM and / or UMTS and / or GPS data and a second component for performing a so-called fine localization.

DE 10 2005 024 716 A1 describes a method and an apparatus for the recognition and classification of objects. In this case, electromagnetic radiation is emitted by means of a sensor and the partial radiation reflected by an object is received by the sensor. The received signals are evaluated by a comparison with stored characteristic values. Based on the evaluation, the class of the reflecting object is closed. DE 298 19 436 U1 describes orientation glasses for the blind and visually impaired. The orientation is carried out by means of ultrasonic or radar sensor, which scans the environment to obtain information about the nature of the environment.

Disclosure of the invention

It is therefore an object of the invention to overcome the above-mentioned disadvantages partially or completely.

• – einem Radar-Frontend zum Aussenden von Radarstrahlung und zum Empfangen eines Radarechos, einer Ausgabeeinheit zur Ausgabe von Ausgabesignalen, einer Signalverarbeitungseinheit, die mit dem Radar-Frontend und der Ausgabeeinheit verbunden ist, und einer Benutzerschnittstelle, die mit der Signalverarbeitungseinheit verbunden ist, gelöst, wobei
• – das Radar-Frontend ausgebildet ist, eine räumliche Umgebung durch Aussenden von Radarwellen abzutasten und den empfangenen Radarechos, entsprechende elektrische Signalsequenzen zu erzeugen und auszugeben,
• – die Signalverarbeitungseinheit Zugriff auf eine geräteinterne oder geräteexterne Speichereinheit hat, die ausgebildet ist, eine Vielzahl von voraufgezeichneten elektrischen Signalsequenz-Mustern zu speichern, die jeweils einem für eine jeweilige räumliche Umgebung charakteristischen Radarecho entsprechen, und den Signalsequenz-Mustern jeweils zugeordnete Ausgabesignale zu speichern, die bei einer Ausgabe über die Ausgabeeinheit die betreffenden Umgebungen für einen Benutzer wahrnehmbar identifizieren,
• – die Signalverarbeitungseinheit ausgebildet ist, auf Eingabe eines Benutzers in einem Lern-Betriebsmodus die momentane elektrische Signalsequenz in ein für die Umgebung charakteristisches elektrisches Signalsequenz-Muster zu wandeln und die momentane elektrische Signalsequenz als neues Signalsequenz-Muster in der Speichereinheit abzulegen und ein dem Signalsequenz-Muster entsprechendes Ausgabesignal in der Speichereinheit zuzuordnen,
• – die Signalverarbeitungseinheit ausgebildet ist, nach vordefinierten Ähnlichkeitskriterien das Vorliegen einer Ähnlichkeit zwischen der vom Radar-Frontend empfangenen elektrischen Signalsequenz und den in der Speichereinheit abgelegten Signalsequenz-Mustern zu prüfen und bei Vorliegen einer Ähnlichkeit die Speichereinheit zur Ausgabe des dem betreffenden Signalsequenz-Muster zugeordneten Ausgabesignals an die Ausgabeeinheit zu veranlassen.

The object is according to a first aspect of the invention, by a portable radar environment examination apparatus with

• A radar front end for emitting radar radiation and for receiving a radar echo, an output unit for outputting output signals, a signal processing unit connected to the radar front end and the output unit, and a user interface connected to the signal processing unit, in which
• The radar front-end is designed to scan a spatial environment by emitting radar waves and to generate and output the received radar returns, corresponding electrical signal sequences,
• The signal processing unit has access to an in-memory or out-of-memory storage unit configured to store a plurality of prerecorded electrical signal sequence patterns, each corresponding to a radar echo characteristic of a particular spatial environment, and to store respective output signals associated with the signal sequence patterns, which, in the case of an output via the output unit, perceptibly identify the environments in question for a user,
• - The signal processing unit is adapted to enter a user in a learning mode of operation, the current electrical signal sequence in a characteristic for the environment electrical signal sequence pattern convert and store the current electrical signal sequence as a new signal sequence pattern in the memory unit and assign an output signal corresponding to the signal sequence pattern in the memory unit,
• - The signal processing unit is adapted to check according to predefined similarity criteria, the presence of a similarity between the received from the radar front end electrical signal sequence and stored in the memory unit signal sequence patterns and, if a similarity, the memory unit for outputting the signal sequence pattern associated output signal to cause to the output unit.

The technical effect of this radar environmental examiner is that it can recognize known environments and thereby provide the user with an environment-characterizing output signal that identifies the environment perceptibly to the user. The radar environment examination apparatus according to the invention is so small and lightweight that it can be worn by the user.

The user can thus orientate himself spatially with the aid of the radar environment examination apparatus because the output signal contains the information as to where he is at the moment. This information may be intelligibly coded in various forms for the user. Thus, the information may be encoded by sounds, sounds, speech or haptic perceptible signals. This is convenient for a visually impaired user. Furthermore, an optical output of the output signal is possible. For a projection of the output signal in a pair of glasses would be possible. It is important that the user connects a respective output signal mentally with an environment.

Preferably, the radar environmental examiner is so small and light that it can be attached to the user's head. The radar environment examination apparatus may also consist of two parts, one part of which contains the radar front end is attachable to the user's head, and the other part, which is a power supply of the radar environment examination apparatus, such as a battery , is attachable to another part of the body of the user, such as the back or the belt.

Recognition of the environment is preferably performed with a known type of pattern recognition. For this purpose, the signal processing unit checks with the aid of a pattern recognition method whether there is a similarity between the current electrical signal sequence and a stored signal sequence pattern.

Examples of known pattern recognition methods are speech recognition, optical character recognition, object recognition, face recognition or even fingerprint recognition. Pattern recognition belongs to the field of artificial intelligence and is preferably performed digitally.

Therefore, in a preferred embodiment, the signal processing unit is a digital signal processing unit and the electrical signal sequences are digitized signal sequences. The radar environment survey device therefore includes an analog-to-digital converter between the radar front end and the signal processing unit, which digitizes the signal sequences of the radar front end.

The signal sequence patterns stored in the memory unit are images of the electrical signal sequences. Preferably, the signal sequence patterns are simplified maps of the electrical signal sequences. A distance profile of the environment is an image of the electrical signal sequences that is suitable for recognizing the environment through a pattern recognition process. A distance profile is a signal sequence that contains distances to objects in the environment as information.

The pattern recognition works in a particularly preferred embodiment with classification. For this purpose, the digitized electrical signal sequences are suitably simplified with the signal processing unit and compared with the simplified signal sequence patterns in the memory unit. The signal processing unit then finds matches between the simplified electrical signal sequences and the signal sequence patterns. At a certain predetermined degree of coincidence, the signal processing unit classifies the current electrical signal sequence as belonging to a known signal sequence pattern and outputs the associated output signal.

In one embodiment, the signal processing unit is designed to correlate the signal sequence with the signal sequence patterns in the pattern recognition.

In a preferred embodiment, the signal processing unit performs the classification with an algorithm based on artificial neural networks.

In one embodiment, the radar environment examination apparatus is designed to output a speech signal with spoken speech as the output signal, wherein the speech signal has a content characterizing the environment. So that can the Radar Environment Examiner will call the environment. The output signal identifies the environment perceptible to the user.

The environment detection will be explained below with an example. Stored in the memory unit are known electrical signal sequences that are characteristic of a room, which in this example is called a living room. When the user of the radar environmental examiner enters this room, the radar environmental examiner scans the environment, creates a range profile of the room, and compares the electrical signal sequences of the measured range profile to the signal sequence patterns of electrical signal sequences of range profiles stored in the memory unit. The radar environment examination apparatus establishes a similarity of a signal sequence pattern in the memory unit with the currently measured signal sequence pattern of the distance profile. Thereafter, the radar environment inspector issues an output signal associated with this signal sequence pattern, which in this example is a speech signal having the content "living room".

In one embodiment, the radar environmental examiner is configured to recognize objects in the environment when recognizing the environment. These objects are usually furniture or commodities. Examples of everyday objects are cups, plates, shoes and other household items. Other objects that may be detected may be traffic lights, entrance doors or vehicles. The type of objects that are detected depends on the benefit to the user.

In a particularly preferred embodiment, the radar environmental examination apparatus is designed to sequentially scan a radiation angle range with a scanning beam. This process is commonly referred to as scanning. For this purpose, the radar ambient examination device focuses the radar waves into a scanning beam with a small opening angle when emitting radar radiation. The scanning beam is then guided horizontally and / or vertically over an angular range over the environment. For this purpose, the radar environmental examination device is designed to change a beam direction of the scanning beam. Known possibilities for beam guidance are z. B. Beam guidance by means of a phased array antenna. This consists of several antenna elements. The beam direction and the degree of bundling can be electronically controlled in this type of antenna. The bundling and beam guidance is achieved by interference. Individual antenna elements are driven for beam guidance with different phase position of a transmission signal. For this purpose, the radar environment examination apparatus preferably has a plurality of phase shifters with which the transmission signal is shifted in its phase position for each antenna element.

The backscattered radar echo is then received by the same or a second receive antenna. Another possibility of beam guidance is a pivotable parabolic antenna. The advantage of using a phased array antenna is that the beam can be swiveled very quickly and no moving parts are necessary.

The determination of the distances for the distance profile can be done with known measures in the pulse mode of the radar by means of a signal delay measurement or in continuous wave mode with frequency modulation. The person skilled in the radar distance measuring methods are known.

In a preferred embodiment, the radar front end operates in continuous wave mode and the radar signal is modulated with a sawtooth signal. For continuous wave operation two antennas are necessary. In continuous wave operation, a radar transmits continuously and continuously receives the radar echoes. An advantage of CW operation is that it can also measure the velocity of an object that scatters back the radar radiation. The speed measurement is based on a frequency shift measurement due to the Doppler effect. The speed measurements can support the environment detection. For example, a hallmark of a "street" environment would be that many objects, such as cars, are moving. On the other hand, if the whole environment is detected to be moving, it may be that the user is in a vehicle, and as the output signal, information about the relative speed may be output. This is particularly useful because speeds in inertial systems can not be felt directly, as opposed to acceleration.

In an exemplary embodiment of the radar environmental examination apparatus, the signal processing unit is designed to supply the output unit with an output signal which varies with the distance to a next object lying in the direction of a scanning direction and within the range of the radar surrounding examination apparatus.

The technical effect of this embodiment is that a combination of environmental detection and direct distance determination is achieved. The variation of a part of the output signal is based on the distance determination.

The output of the ambient detection output signal may be concurrent with the output of the distance determination signal. For example, a tone may be varied in pitch with the distance of the next item, and at the same time, the environment may be named with a speech signal. It is also conceivable that a certain sound carpet, such as a noise, a specific music, etc., assigned to a specific environment and output.

In one embodiment, the scanning direction is a frontal direction. The frontal direction is at a phased array antenna, which is formed as a surface, perpendicular to this surface. Preferably, the frontal direction is the viewing direction of the user. The scanning beam can be concentrated in order to be able to detect even distances to small objects.

In one embodiment, the scan direction is swept over when sweeping the angle range with the scan beam. The distance in the frontal direction is thus known after each scan of the angular range and can be used by the signal processing unit to generate the varying output signal.

In an alternative embodiment, the radar environment survey device has a second radar front-end for scanning the distance to the next object in the frontal direction. In this embodiment, the radar environment inspection apparatus can continuously perform the distance measurements in the frontal direction.

The combination of the distance measurement with the environmental detection has the advantage that different operating modes of the distance measurements adapted to the respective environment, can be set automatically. For example, when the user is outside and the environment has been recognized as being "outside," an operating mode may be set in which the distance measurement uses a scanning beam having a larger opening angle than if the user is in a room. Then a scanning beam with a smaller opening angle could be used for the distance measurement. As a result, smaller objects would be detectable in space and a larger field would be viewed outside.

In one embodiment, the radar environmental examiner has a user interface connected to the signal processing unit, and the signal processing unit is configured to input a user in a learning mode of operation the current electrical signal sequence into an electrical signal sequence pattern characteristic of the environment to convert the current electrical signal sequence as a new signal sequence pattern in the memory unit and to assign an output signal corresponding to the signal sequence pattern in the memory unit. As a result, the radar environmental examination device is designed to learn a signal sequence characterizing the environment for the recognition of the environment.

The technical effect of this embodiment is that not only can predefined environments be detected, but the radar environment explorer can learn new unknown environments for recognition. Learning is a well-known method in pattern recognition. The current electrical signal sequences may be compressed before being dropped as a new signal sequence pattern, or reduced to features, or simplified. The radar environment explorer can then classify the new environment by pattern recognition.

The learning of a new environment can also be supported by the user if he / she evaluates a correct classification, ie teaches the classification several times in a trial phase. Such learning algorithms are known to the person skilled in the art.

An input of the user may be a keystroke or a linguistic control command, etc. The user interface can therefore be used as a push-button switch or z. B. be designed as a speech recognition module.

In a further embodiment of the radar environment examination apparatus, the signal processing unit is designed to allow the user to select an output signal which corresponds to the signal sequence pattern and to assign it in the memory unit to the signal sequence pattern after a new signal sequence pattern has been stored in the memory unit.

The technical effect of this embodiment is that the user can select an environment-appropriate output signal. It would be z. B. conceivable that the user has options for output signals in a listening menu.

In a preferred embodiment of the radar environment examination apparatus, the signal processing unit is designed to record, after the laying down of a new signal sequence pattern in the memory, a speech output signal of the user corresponding to the signal sequence pattern with a recording device in which Store storage unit and assign the memory unit to the new signal sequence pattern.

The technical effect of this embodiment is that the user can select a highly personalized output signal in the form of a self-recorded voice output signal to identify a new environment learned by the radar environment investigator. The advantage is that the user can choose a voice signal that describes the environment directly. Examples of such voice output signals are the living room, entrance of Dr. Ing. K, street names and other place names.

In one embodiment, the radar environment examination apparatus includes a transceiver unit and the memory unit is formed as a remote data processing system, which is wirelessly connected to the signal processing unit, and the signal processing unit is adapted to send the electrical signal sequences with a transmitting unit to a data processing system and with a receiving unit to receive an output signal associated with the electrical signal sequences and to transmit to the output unit.

The technical effect of this embodiment is that the signal processing unit of the radar environment inspection apparatus can be made simpler because the signal sequence pattern recognition is performed in a data processing equipment remote from the radar environment inspection apparatus. The remote data processing equipment may be much more powerful in computing power than the signal processing unit of the portable portion of the radar environmental inspection equipment.

The signal processing unit may simplify or compress the electrical signal sequences prior to dispatch or calculate an image in a feature space, which amounts to an information reduction.

A further advantage is that the storage capacity of the remote data processing system can be much higher, and thus more different environments can be stored and recognized.

The part of the data processing system and the portable part of the radar environment examination device can communicate with each other via conventional mobile radio networks in a variant. This allows the radar environment survey device to operate throughout the coverage area of the mobile network.

In one embodiment, multiple portable radar environmental surveyors may access the same data processing equipment.

The advantage is that multiple portable radar environment survey devices share a data processing system and thus not every user must own a data processing system.

In one embodiment, the radar environmental examination apparatus includes a transceiver unit and a user interface, and the memory unit is a remote data processing system wirelessly connected to the signal processing unit, and the signal processing unit is configured to input the user with the current electrical signal sequences Send transmitting unit to the data processing system, store as a new signal sequence pattern in the data processing system and assign in the data processing system an output signal corresponding to the signal sequence pattern.

The technical effect of this embodiment is that the learning of new environments is performed in the form of signal sequence patterns on the data processing equipment. This has the particular advantage that when multiple portable radar environmental survey devices access the same data processing facility, the data processing facility can learn from all users. This allows portable radar environmental survey equipment to detect environments they have not yet encountered. It is thus an environment database built, which is composed by all users and all can use.

A variant of this exemplary embodiment is that the signal processing unit is designed to record a user's speech output signal to be assigned to a new signal sequence pattern with a recording device and then to store it in the data processing system and to associate it with the signal sequence pattern as an output signal in the data processing system.

The effect is that very diverse information in the data processing system can be stored, because can be stored by language information very accurate, the environment descriptive information.

This variant is also advantageous when several users access the data processing system, because then the environments can be explicitly described or named, and everyone User can understand the information of other users.

For example, the data processing equipment may store signal sequence patterns of public environments, and the storage unit in the radar environment inspector may store the signal sequence patterns of personal spaces and objects of the user. It is also conceivable that on the data processing system special memory areas map the personal area of the user, and generally accessible memory areas map the public environments. Mapping means that characteristic signal sequence patterns for each environment are stored preprocessed as a map.

In one embodiment of the radar environmental survey device, the electrical signal sequences depend on the material, size or spatial location or speed of objects in the environment.

The technical effect of this embodiment is that more information is detected with the electrical signal sequences. If, for example, the environment's materials are reflected in the electrical signal sequences, it is even easier to classify environments, ie to identify them even more reliably.

It is known that various materials have different reflection properties and radiant-radiation absorption properties. This can be with the radar environment examination device gain information about the material and possibly tell the user.

The size of an object affects its reflective properties for radar radiation. Thus, the radar environmental examination apparatus can obtain information about the size of an object and notify the user by the output signal.

The spatial position of objects can be detected by the scanning process. Thus, the signal processing unit can determine on the basis of the distance profile, in which direction the objects are relative to the frontal direction.

The speed of objects relative to the radar-environment survey device can be determined from the electrical signal sequences when the radar front-end is operating in continuous wave mode with frequency modulation. It is known to the person skilled in the art how velocities are determined with a radar device. The determined speeds of objects can also be used in addition to the pattern recognition and the recognition of the environment. This additional information makes the determination of similarity between signal sequences and signal sequence patterns more reliable.

In one embodiment of the radar environment examination apparatus, the output unit is designed as an output signal a tone of different pitch or a sequence of tones in different clock or stereo sounds of different volume on a respective ear of the user or a vibration of different frequency or a vibration of different amplitude issue.

The technical effect of this embodiment is that radar environment survey equipment is configured to output output signals that are perceptible to users with visual impairment.

In a further embodiment of the radar environment examination apparatus, the signal processing unit is designed to detect objects in the distance profile and to supply the output unit with an output signal which varies with the direction in which a next object is located opposite the radar environment examination apparatus. The output unit is adapted to output as output signal a stereo sound whose volume varies on a respective ear of the user differently with the direction of the object, or as an output signal two vibrations on vibration transmitters which are mounted at different locations on the user, with different frequency or different amplitude on the respective vibration generator depending on the direction of the object output.

The technical effect is that a visually impaired user can be given perceptible information about the direction in which an object is located, either acoustically or haptically perceptibly.

In a further embodiment of the radar environmental examination apparatus, the signal processing unit is designed to detect objects in the distance profile and to supply the output unit with an output signal which varies with the size which the next object has in the scanning direction. In this case, the output unit is configured to output a sound as an output signal whose pitch or volume varies with the size of the subject.

The technical effect is that information about the size of an object perceivable acoustically or haptically perceptible user can be given to a visually impaired user.

In another embodiment, the signal processing unit is configured to detect objects in the range profile and to provide the output unit with an output signal that varies with the distance the next object has in the scan direction. The output unit is here designed to output a sound as the output signal whose pitch or its volume varies with the distance of the object.

The technical effect is that a visually impaired user can acoustically acquire information about the distance to an object. Again, a haptic perceptible issue is conceivable.

In one exemplary embodiment of the radar environmental examination apparatus, the signal processing unit is designed to detect objects and, in the case of a similarity of the signal sequence pattern of the electrical signal sequences with a signal sequence pattern stored in the memory unit, assign a material to the next object in the emission direction, and to supply the output unit with an output signal corresponding to the detected material.

In this case, the output signal may be a voice signal which is stored in the memory unit associated with the corresponding signal sequence pattern. Thus, the radar environment inspector may explicitly name the detected material.

In one embodiment, the radar environment survey device includes a satellite location module connected to the signal processing unit configured to generate an output signal corresponding to the spatial coordinates obtained by the satellite location module, to assist in recognizing the environment from the spatial coordinates, or to provide plausibility Check environment detection.

Satellite location modules are z. B. known under the name Global Positioning System (GPS). These provide information about the spatial location of the satellite location module in the form of coordinates that are composed of a latitude and longitude.

The technical effect of this embodiment is that a coarser location can be performed with the radar environment survey device, which can assist in more accurate spatial positioning by detecting the environment.

For example, in the environment recognition, a plausibility check can be carried out if coordinates assigned to a signal sequence pattern of an environment are stored in the memory unit. If the coordinates do not coincide with the coordinates associated with the signal sequence pattern, the radar environment explorer may suppress the output of the output signal until a signal sequence pattern is found whose associated coordinates are in the nearer range of the coordinates currently determined by the satellite location module.

In a further embodiment, the radar environment examination apparatus includes an ultrasonic measuring device which is connected to the signal processing unit, which is designed to additionally process the signal sequences received by the ultrasonic measuring device for environmental detection and / or distance determination.

With the aid of the ultrasonic measuring device, the radar environmental examination device can obtain information about the environment based on measurements having a different physical basis.

For example, with the ultrasonic measuring device, the material of an object can be examined with a physical principle different from that for radar examination. Distance measurements and environmental detection can also be supported by the ultrasonic measuring device. As a result, the reliability of the respective measurement can be increased.

In one embodiment, the radar environmental examination device is designed to operate in different operating modes depending on the detected environment, to automatically change the respective operating mode depending on the detected environment, and in another operating mode, the radar waves with different transmission energy, adapted to the respective environment, to send out or in a mode of operation, the radar waves adapted to the respective environment to bundle differently or in a further operating mode, the radar echoes adapted to the respective environment to receive from different sized receiving angular ranges.

The technical effect of this embodiment is that the radar environment survey device can automatically adjust the environmental investigation method to the requirements of the current environment. For example, it may be useful to increase the transmit power if the environment is recognized as being "outside." was because here larger distances to objects can be expected.

• 1) Abtasten einer Umgebung durch Aussenden von Radarstrahlen, und
• 2) Empfangen von zurückgestreuten Radarechos,
• 3) Erzeugen von den Radarechos entsprechenden elektrischen Signalsequenzen,
• 4) Prüfen des Vorliegens einer Ähnlichkeit nach Ähnlichkeitskriterien zwischen der elektrischen Signalsequenz und abgespeicherten Signalsequenz-Mustern,
• 5) bei einer Ähnlichkeit der elektrischen Signalsequenzen mit einem abgespeicherten Signalsequenz-Muster, Ausgeben eines dem Signalsequenz-Muster zugeordneten, für einen Benutzer wahrnehmbaren, gespeicherten Ausgabesignals,
• 6) auf Eingabe eines Benutzers Abspeichern der momentanen elektrischen Signalsequenzen als neues Signalsequenz-Muster, und
• 7) Zuordnen eines dem Signalsequenz-Muster entsprechenden Ausgabesignals.

According to a second aspect of the invention, the technical problem is solved by a method for environmental investigation with a portable radar environmental examination apparatus, which comprises the following steps:

• 1) scanning an environment by emitting radar beams, and
• 2) receiving backscattered radar echoes,
• 3) generating electrical signal sequences corresponding to the radar echoes,
• 4) examining the presence of similarity according to similarity criteria between the electrical signal sequence and stored signal sequence patterns,
• 5) if the electrical signal sequences are similar to a stored signal sequence pattern, outputting a user-programmable output signal associated with the signal sequence pattern,
• 6) to input a user storing the current electrical signal sequences as a new signal sequence pattern, and
• 7) assigning an output signal corresponding to the signal sequence pattern.

The technical effect of the method is that the method allows the environment to be recognized.

The advantages of the method result from those of the radar environment examination apparatus and the corresponding embodiments.

• – Bestimmen einer Entfernung zu einem in Richtung einer Abtastrichtung und Reichweite des Radar-Umgebungs-Untersuchungsgeräts liegenden, nächsten Gegenstands
• – Variieren des Ausgabesignals entsprechend der bestimmten Entfernung.

In one embodiment, the environmental survey method with a portable radar environmental survey device includes the additional steps of:

• Determining a distance to a next object lying in the direction of a scanning direction and range of the radar environmental examination apparatus
• - varying the output signal according to the determined distance.

• – Auf Eingabe eines Benutzers Abspeichern der momentanen elektrischen Signalsequenzen als neues Signalsequenz-Muster, und
• – Zuordnen eines dem Signalsequenz-Muster entsprechenden Ausgabesignals.

In another embodiment, the environmental survey method with a portable radar environmental survey device includes the additional steps of:

• - Upon input of a user storing the current electrical signal sequences as a new signal sequence pattern, and
• - Assigning an output signal corresponding to the signal sequence pattern.

This allows the method to learn new environments for recognition.

• – Dem Benutzer ermöglichen, ein dem Signalsequenz-Muster entsprechendes Ausgabesignal auszuwählen, und
• – Zuordnen des Ausgabesignals zum neuen Signalsequenz-Muster.

In a further embodiment, the method for environmental examination with a portable radar environmental examination apparatus after storing a new signal sequence pattern includes the additional steps:

• Enable the user to select an output signal corresponding to the signal sequence pattern, and
• - Assign the output signal to the new signal sequence pattern.

• – Aufnehmen eines dem Signalsequenz-Muster entsprechenden Sprach-Ausgabesignals des Benutzers
• – Abspeichern des Sprach-Ausgabesignals, und
• – Zuordnen des Sprach-Ausgabesignals zum neuen Signalsequenz-Muster.

In a further embodiment, the method for environmental examination with a portable radar environmental examination apparatus after storing a new signal sequence pattern includes the additional steps:

• - Recording of the signal sequence pattern corresponding voice output signal of the user
• - storing the voice output signal, and
• Associating the speech output signal with the new signal sequence pattern.

As a result, a user can be explicitly designated a recognized environment by a voice signal.

• 3a) Senden der elektrischen Signalsequenzen an eine entfernte Datenverarbeitungsanlage,
• 4a) Empfangen eines den elektrischen Signalsequenzen entsprechenden Ausgabesignals von der Datenverarbeitungsanlage.

In one embodiment, the environmental survey method with a portable radar environmental survey device includes the additional steps of:

• 3a) sending the electrical signal sequences to a remote data processing system,
• 4a) receiving an output signal corresponding to the electrical signal sequences from the data processing system.

The numbering with "number a)" means that the respective step is executed directly after the step with the numbering "number" ".

The technical effect of this embodiment is that the user can access a remote device for pattern recognition. This device may be a data processing system that has a larger storage capacity than the portable radar environment survey device.

• – auf Eingabe eines Benutzers mit einer Benutzerschnittstelle die momentanen elektrischen Signalsequenzen als neues Signalsequenz-Muster an eine entfernte Datenverarbeitungsanlage senden,
• – Empfangen und Abspeichern des neuen Signalsequenz-Musters auf der Datenverarbeitungsanlage, und
• – Zuordnen eines dem Signalsequenz-Muster entsprechenden Ausgabesignals auf der Datenverarbeitungsanlage.

In another embodiment, the environmental survey method with a portable radar environmental survey device includes the additional steps of:

• Upon input of a user with a user interface, send the current electrical signal sequences as a new signal sequence pattern to a remote data processing system,
• Receiving and storing the new signal sequence pattern on the data processing system, and
• - Assigning an output signal corresponding to the signal sequence pattern on the data processing system.

Thereby, the method enables the learning of new signal sequences and thus new environments for recognition by means of a remote system, such as a data processing unit.

In another embodiment of the environmental survey method with a portable radar environmental survey device, the electrical signal sequences depend on the material or size or spatial location or speed of objects in the environment.

In a further embodiment of the method for environmental investigation with a portable radar environment examination apparatus is as output a tone of different pitch or a sequence of tones in different tact or stereo tones of different volume on a respective ear of the user or a vibration of different frequency or a Vibration of different amplitude output.

• – Bestimmen einer Richtung, in welcher sich ein nächster Gegenstand gegenüber dem Radar-Umgebungs-Untersuchungsgerät befindet, anhand der elektrischen Signalsequenzen,
• – Variieren des Ausgabesignals entsprechend der bestimmten Richtung, und
• – Ausgeben eines Stereo-Tons als Ausgabesignal, dessen Lautstärke auf einem jeweiligen Ohr des Benutzers unterschiedlich mit der bestimmten Richtung variiert oder
• – Ausgeben von zwei Vibrationen auf Vibrationsgebern als Ausgabesignal, die an verschiedenen Stellen am Benutzer angebracht sind, mit verschiedener Frequenz oder verschiedener Amplitude auf dem jeweiligen Vibrationsgeber je nach bestimmter Richtung des Gegenstands.

In one embodiment, the environmental survey method with a portable radar environmental survey device includes the additional steps of:

• Determining a direction in which a next object is located opposite the radar environment examination device, based on the electrical signal sequences,
• - varying the output signal according to the particular direction, and
• Outputting a stereo sound as an output signal whose volume on a respective ear of the user varies with the particular direction or
• - Outputting two vibrations on vibration transmitters as output signal, which are mounted at different locations on the user, with different frequency or different amplitude on the respective vibration generator depending on the particular direction of the object.

• – Bestimmen einer Größe eines sich in Abtastrichtung und in Reichweite des Radar-Umgebungs-Untersuchungsgeräts befindenden Gegenstands,
• – Variieren des Ausgabesignals entsprechend der bestimmten Größe, und
• – Ausgeben eines Tons variierender Tonhöhe oder Amplitude entsprechend der bestimmten Größe als Ausgabesignal.

In another embodiment, the environmental survey method with a portable radar environmental survey device includes the additional steps of:

• Determining a size of an object located in the scanning direction and within the range of the radar environmental examination apparatus,
• - varying the output signal according to the particular size, and
• Outputting a tone of varying pitch or amplitude corresponding to the particular size as the output signal.

• – Ausgeben eines Tons variierender Tonhöhe oder Amplitude entsprechend der bestimmten Entfernung.

In another embodiment, the environmental survey method includes a portable radar environmental survey device including the additional step of:

• Outputting a tone of varying pitch or amplitude corresponding to the determined distance.

• – Zuordnen eines Materials zum nächsten Gegenstand in Abstrahlrichtung bei einer Ähnlichkeit des Signalsequenz-Musters der elektrischen Signalsequenzen mit einem jeweiligen Material zugeordneten, abgespeicherten Signalsequenz-Muster, und
• – Ausgeben eines dem erkannten Material entsprechenden Ausgabesignals.

In one embodiment, the environmental survey method with a portable radar environmental survey device includes the additional steps of:

• Assigning a material to the next object in the emission direction in the case of a similarity of the signal sequence pattern of the electrical signal sequences with a stored signal sequence pattern assigned to a respective material, and
• Outputting an output signal corresponding to the detected material.

• – Erfassen von räumlichen Satelliten-Koordinaten
• – Ausgeben eines den Satelliten-Koordinaten entsprechenden Ausgangssignals oder
• – Prüfen der Plausibilität der Umgebungserkennung anhand der Satelliten-Koordinaten und der Umgebung zugeordneten Satelliten-Koordinaten.

In one embodiment, the environmental survey method with a portable radar environmental survey device includes the additional steps of:

• - Capture spatial satellite coordinates
• Outputting an output signal corresponding to the satellite coordinates or
• - Checking the plausibility of environment detection using satellite coordinates and satellite coordinates assigned to the environment.

Hereinafter, further embodiments will be described with reference to FIGS.

1 schematically shows the structure of an embodiment of a radar environmental examination apparatus.

2 schematically shows another embodiment of the radar environment examination apparatus with a radiation area in operation.

The radar environment examination apparatus is explained in more detail below with reference to the figures.

1 schematically shows the structure of the radar environment examination apparatus 100 according to an embodiment of the invention. The Radar Environment Examiner includes a radar frontend 102 that has a transmitter on a transmit path 106 and a receiver on a receive path 108 Has. The transmission path 106 and the reception path 108 are with antennas 104 connected. A digital signal pre-processing unit 110 is with the transmitter 106 and the receiver 108 connected. The digital signal preprocessing unit 110 provides a transmit signal to the transmitter and processes a receive signal from the receiver 108 to signal sequences. The transmission signal may be the modulation signal for a radar radiation generated by the transmitter. The transmission signal may be in the form of a sawtooth signal. The signal preprocessing unit digitizes the received signal from the receiver 108 and gives it to the signal processing unit 112 . 118 further. The signal processing unit performs with the signal sequences a pattern recognition with signal sequence patterns, which in the memory unit 116 are stored. The storage unit will also work with environment database 116 designated. When there is a similarity between the current signal sequence and a signal sequence pattern stored in the environment database, the signal processing unit issues 112 . 118 an output signal corresponding to the signal sequence pattern in the memory unit 116 is assigned to the output unit 114 out. The output unit 114 For example, in a synthesis step, it may also output multiple output signals simultaneously, such as a voice output that identifies the environment, and a varying frequency sound signal that varies with the measured distance. The output unit is with output transducers 120 . 122 connected, for example, headphones 120 or vibration generator 122 could be. When input by a user with a user interface, not shown, becomes a learning unit 118 , which is part of the signal processing unit 112 . 118 can be activated. The learning unit 118 then stores the current signal sequence as a new signal sequence pattern in the environment database 116 from. The signal processing unit then enables the user to record a speech signal with a microphone 124 , The signal processing unit then stores the speech signal associated with the new signal sequence pattern in the memory unit 116 from. If the signal processing unit has detected a similarity in a pattern recognition, it can in one operating mode information signals about the location of a satellite positioning module 124 or signals from an ultrasound meter 124 to pattern recognition with the signal sequence patterns and thus achieve greater reliability of the detection of the environment.

2 schematically shows an embodiment of the radar environment examination apparatus 202 with a radiation area 204 operational. The radar environment surveyor repeatedly sweeps an angular range with a radar beam 210 and sequentially receives the radar echoes from the objects 206 . 208 be scattered back. In addition, the radar environment inspector transmits a radar beam in a frontal scanning direction 212 out and evaluate the object 208 backscattered radar echoes. This is determined by the radar environmental examination device 202 the distance between the next item 208 in the frontal scanning direction and the radar environmental examination device 202 , The radar environment inspector issues a user with a distance characterizing output signal. The output signal varies according to the measured distance.

Claims (30)

A portable radar environmental examination apparatus, comprising - a radar front end for emitting radar radiation and for receiving a radar echo, an output unit for outputting output signals, and a signal processing unit connected to the radar front end and the output unit, wherein - the radar -Frontend is adapted to scan a spatial environment by emitting radar radiation and generate and output the received radar echoes corresponding electrical signal sequences, - the signal processing unit is formed according to predefined similarity criteria, the presence of a similarity between the received from the radar front end electrical signal sequence and in check the signal sequence patterns stored in the memory unit and, if there is a similarity, cause the memory unit to output the output signal associated with the relevant signal sequence pattern to the output unit, characterized by - a A user interface connected to the signal processing unit, the signal processing unit having access to a device-internal or device-external storage unit configured to store a plurality of pre-recorded electrical signal sequence patterns each corresponding to a radar echo characteristic of a respective spatial environment, and store output signals respectively associated with the signal sequence patterns which, when outputted via the output unit, perceptibly identify the subject environments to a user; and wherein the signal processing unit is adapted to input a user via the user interface in a learn mode of operation the current electrical signal sequence to convert into a characteristic for the spatial environment electric signal sequence pattern and the to store instantaneous electrical signal sequence as a new signal sequence pattern in the memory unit and to assign an output signal corresponding to the signal sequence pattern in the memory unit. The radar environmental examination apparatus according to claim 1, wherein the signal processing unit is configured to supply to the output unit an output signal that varies with the distance to a next object lying in the direction of a scan direction and within the range of the radar environmental inspector. A radar environmental examination apparatus as set forth in any one of the preceding claims, wherein after placing a new signal sequence pattern in the memory unit, the signal processing unit is adapted to allow the user to select an output signal corresponding to the signal sequence pattern and in the memory unit to the signal sequence pattern assigned. Radar environment examination apparatus according to one of the preceding claims, wherein the signal processing unit is adapted to record after placing a new signal sequence pattern in memory a signal sequence pattern corresponding voice output signal of the user with a recording device to store in the memory unit and in the Assign memory unit to the new signal sequence pattern. Radar environment examination apparatus according to one of the preceding claims, which contains a transceiver unit and in which the memory unit is designed as a remote data processing system, which is wirelessly connected to the signal processing unit, and the signal processing unit is configured, the electrical signal sequences with a transmitting unit to a Data processing system to send and receive with a receiving unit to the electrical signal sequences associated output signal and to query the output unit. Radar environment examination apparatus according to one of the preceding claims 1, which contains a transceiver unit and in which the memory unit is designed as a remote data processing system, which is wirelessly connected to the signal processing unit, and the signal processing unit is designed to input the user's current electrical Send signal sequences with a transmitting unit to the data processing system, store as a new signal sequence pattern in the data processing system and assign in the data processing system an output signal corresponding to the signal sequence pattern. A radar environmental examination apparatus according to any one of the preceding claims, wherein the electrical signal sequences depend on the material or the size or spatial location or speed of objects in the environment. Radar environment examination apparatus according to one of the preceding claims, wherein the output unit is formed as output signal a tone of different pitch or a sequence of tones in different tact or stereo sounds of different volume on a respective ear of the user or a vibration of different frequency or to output a vibration of different amplitude. A radar environmental examination apparatus as claimed in any one of the preceding claims, wherein the signal processing unit is adapted to detect objects in the range profile and to provide the output unit with an output signal corresponding to the direction in which a next object is located opposite the radar environmental examination apparatus. varies, and the output unit is adapted to output as output signal a stereo sound whose volume varies on a respective ear of the user differently with the direction of the object or the output unit is adapted to output, as an output signal, two vibrations on vibration transmitters mounted at different locations on the user, with different frequency or different amplitude on the respective vibration generator, depending on the direction of the object. A radar environmental examination apparatus according to any one of the preceding claims, wherein the signal processing unit is adapted to detect objects in the distance profile and to supply to the output unit an output signal which varies with the size which the next object in the scanning direction has, and the output unit is designed to output a sound as an output signal, the pitch or the volume of which varies with the size of the object. A radar environmental examination apparatus according to any one of the preceding claims, wherein the signal processing unit is adapted to detect objects in the distance profile and to supply to the output unit an output signal which varies with the distance which the next object has in the scanning direction and the output unit is formed to output a sound as an output signal whose pitch or volume varies with the distance of the subject. Radar environment examination apparatus according to any one of the preceding claims, wherein the signal processing unit is adapted to detect objects and with a similarity of the signal sequence pattern of the electrical signal sequences with a stored in the memory unit, a material associated signal sequence pattern to the next object in the emission direction to assign a material, and the output unit to supply an output signal associated with the detected material. Radar environment examination apparatus according to one of the preceding claims, which is designed to be attached to the user in the direction of the user. Radar environment examination device according to one of the preceding claims, which is integrated in a pair of spectacles. A radar environmental examination apparatus as claimed in any one of the preceding claims including a satellite locating module connected to the signal processing unit configured to generate an output signal corresponding to the spatial coordinates obtained by the satellite locating module, to assist in detecting the environment based on the spatial coordinates, or to check a plausibility of environment detection. Radar environment examination apparatus according to one of the preceding claims, which contains an ultrasonic measuring device which is connected to the signal processing unit, which is designed to additionally process the signal sequences obtained by the ultrasonic measuring device for environmental detection and / or distance determination. Radar environment examination apparatus according to any one of the preceding claims, which is designed to operate in different operating modes depending on the detected environment to change automatically depending on the detected environment, the respective operating mode and thereby in an operating mode, the radar waves with different transmission energy, adapted to the respective environment, send out or in an operating mode, the radar waves, adapted to the respective environment to bundle differently or in an operating mode to receive the radar echoes, adapted to the respective environment, from different sized receiving angular ranges. Environmental investigation procedure with a portable radar environmental survey device, which includes the steps: 1) scanning an environment by emitting radar beams, and 2) receiving backscattered radar echoes, 3) generating electrical signal sequences corresponding to the radar echoes, 4) examining the presence of similarity according to similarity criteria between the electrical signal sequence and stored signal sequence patterns, 5) upon a similarity of the electrical signal sequences to a stored signal sequence pattern, outputting a user-recordable output signal associated with the signal sequence pattern in that the signal sequence patterns respectively correspond to a radar echo characteristic of a respective environment, and by 6) storing the current electrical signal sequences as a new signal sequence pattern upon input of a user in a learning mode of operation, and assigning an output signal corresponding to the signal sequence pattern. A method of environmental investigation with a portable radar environmental examination apparatus according to claim 18, comprising the additional steps of: Determining a distance to a next object lying in the direction of a scanning direction and range of the radar environmental examination apparatus - varying the output signal according to the determined distance. Method for environmental examination with a portable radar environmental examination apparatus according to one of the preceding claims, after storing a new signal sequence pattern comprising the steps: Enable the user to select an output signal corresponding to the signal sequence pattern, and - Assign the output signal to the new signal sequence pattern. Method for environmental examination with a portable radar environmental examination apparatus according to one of the preceding claims, after storing a new signal sequence pattern comprising the steps: - Recording of the signal sequence pattern corresponding voice output signal of the user - storing the voice output signal, and Associating the speech output signal with the new signal sequence pattern. Method for environmental investigation with a portable radar environmental examination device according to one of the preceding claims, additionally comprising the steps: 3a) transmitting the electrical signal sequences to a remote data processing system, 4a) receiving an output signal corresponding to the electrical signal sequences from the data processing system. Method for environmental investigation with a portable radar environmental examination device according to one of the preceding claims, additionally comprising the steps: Upon input of a user with a user interface, send the current electrical signal sequences as a new signal sequence pattern to a remote data processing system, Receiving and storing the new signal sequence pattern on the data processing system, and - Assigning an output signal corresponding to the signal sequence pattern. An environmental survey method with a portable radar environmental survey device according to any one of the preceding claims, wherein the electrical signal sequences depend on the material or size or spatial location or speed of objects in the environment. Method for environmental examination with a portable radar environmental examination apparatus according to one of the preceding claims, in which the output signal is a tone of different pitch or a sequence of tones in different tact or stereo tones of different volume on a respective ear of the user or a vibration of different frequency or a vibration of different amplitude is output. Method for environmental investigation with a portable radar environmental examination device according to one of the preceding claims, with the additional steps: Determining a direction in which a next object is located opposite the radar environment examination device, based on the electrical signal sequences, - varying the output signal according to the particular direction, and Outputting a stereo sound as an output signal whose volume on a respective ear of the user varies with the particular direction or - Outputting two vibrations on vibration transmitters as output signal, which are mounted at different locations on the user, with different frequency or different amplitude on the respective vibration generator depending on the particular direction of the object. Method for environmental investigation with a portable radar environmental examination device according to one of the preceding claims, with the additional steps: Determining a size of an object located in the scanning direction and within the range of the radar environmental examination apparatus, - varying the output signal according to the particular size, and Outputting a tone of varying pitch or amplitude corresponding to the particular size as the output signal. Method for environmental investigation with a portable radar environmental examination apparatus according to claim 19 with the additional step: Outputting a tone of varying pitch or amplitude corresponding to the determined distance. Method for environmental investigation with a portable radar environmental examination device according to one of the preceding claims, with the additional steps: Assigning a material to the next object in the emission direction in the case of a similarity of the signal sequence pattern of the electrical signal sequences with a stored signal sequence pattern assigned to a respective material, and - Outputting a respective detected material corresponding output signal. Method for environmental investigation with a portable radar environmental examination device according to one of the preceding claims, with the additional steps: - Capture spatial satellite coordinates Outputting an output signal corresponding to the satellite coordinates or - Checking the plausibility of environment detection using satellite coordinates and satellite coordinates assigned to the environment.

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