JP2000165130A - Motor for on-vehicle radar antenna scanner, and radar scanner device using the motor - Google Patents

Abstract

PROBLEM TO BE SOLVED: To reduce cost and to enhance reliability by linking a rotatable rod member centering around a fixed flange, rotatably linking a rocking core of a radar antenna with an end part on the opposite side of the side of the fixed flange of the rod member, coupling the side of another end of an axis part on the antenna side of a link with a center of a motor and rocking the antenna by rotation of the motor. SOLUTION: When a motor 6 is rotated, a disk 8 installed on a shaft 7 of the motor 6 is also rotated. A working pin 9 is fixed at a position which is eccentric with certain distance from the rotational center of the motor 6 on the disk 8. A hinge part 11 with an open cylindrical bole 10 is constituted at an outer edge part of the antenna 5 so that it is rotated with the working pin 9. The rocking core 12 of the antenna 5 is provided at a center part of the antenna 5. The rocking core 12 is constituted of a hinge part 13 with an open hole, the rocking core 12 is a hole and exists on the top and bottom sides of the antenna 5. Each hole of the rocking core 12 of the antenna 5 is engaged with a pin so that it is rotated with a hole on one end of a crank rod 15.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an on-vehicle radar, and more particularly, to a motor for an on-vehicle radar antenna scanner which swings a radar antenna for preventing rear-end collision and intelligent cruise to detect a distance and a relative speed with high accuracy. And related radar scanner devices.

[0002]

2. Description of the Related Art In the 1990s, the viewpoint of technological development of automobiles has changed from a conventional performance-oriented concept to a safety-oriented one. That is, recently, the number of cars produced worldwide is 45 per year.
More than 1 million vehicles and more than 150,000 deaths and more than 5 million injuries are caused by road accidents each year.
Airbags and ABS (Antilock Bra
The mounting rate of the ke System) has been increasing year by year, and in the 21st century, safety equipment has been equipped with nearly 100% of safety equipment.

[0003] Against the background of such heightened safety and social demands, around the 1990s, a national project was launched in Japan, the United States, and Europe for the purpose of intelligentizing automobiles and their traffic environments. Prom in Europe in 1986
Etheus project, 1991 ITS-Ame in the United States
rica plan, ASV plan was launched in Japan in 1991. Aiming at vehicles that do not cause accidents, preventive safety and driving support systems such as alarms and automatic avoidance are being studied. In such a system, a function for recognizing roads and obstacles around the vehicle is required. ITS-Ameri
ca plan on the Internet eg http://www.itsa.org
According to the survey, among these projects, one of the important key devices of preventive safety technology is radar technology.

[0004] Millimeter-wave radars are being studied as radars mounted on vehicles, especially for collision prevention and intelligent cruising. The millimeter-wave radar is different from methods such as ultrasonic waves, radar, and images in that it can accurately detect distances and relative speeds up to around 100 m, and is less susceptible to weather and dirt. However, millimeter-wave radar has not been commercialized until now due to radio administration problems.

[0005] Recently, as a vehicle-mounted radar, 60
GHz, 76 GHz in Europe, 47, 76, 9 in the United States
4, 139 GHz is being allocated to the law. Under such circumstances, the development of in-vehicle millimeter-wave radar has been activated here. Scanner motors that swing radar antennas have also been actively developed.

[0006] The radar scanner motor that has been developed employs a direct mounting system in which a radar antenna is mounted on a shaft of the motor. As shown in FIG.
For the shaft 101 of No. 0, the outer peripheral surface of the shaft 101 is D-cut 102, the shaft 101 is inserted into the hole of the hinge 104 at the lower center of the radar antenna 103, and the screw 105 provided on the hinge 104 is screwed. The screw is fixed by the D cut of the shaft. Therefore, the radar antenna 103 is connected to the motor shaft 101
Fixed to

In the case of an antenna mounted on the front of an automobile, it is only necessary to move the swing angle in a range of about 60 degrees.
However, the motor does not rotate one rotation,
Since the motor swings only at 60 degrees, the swing control performance of the motor becomes a problem.

[0008] Generally, vibrations are generated due to road conditions due to the running of an automobile. Due to the influence of the vibration, the vibration acts on the antenna itself and acts as a disturbance load on the shaft of the motor. The disturbance vibration to the shaft has a larger radial component than the thrust direction component with respect to the bearing, and the bearing is easily damaged by a change in the radial load.

In the case of a curve or the like, especially when the antenna is oscillating, the gyro effect acts on the antenna like Coriolis force, so that a disturbance load acts on the motor from a direction different from the vibration direction, and The control performance is disturbed, and the radar affects the object measurement.

A motor 100 for a radar scanner as shown in FIG. 12 is a brushless motor, and its motor structure 106 is a metal plate, a motor mounting plate, and holes are formed at four corners. I have. The motor can be attached to the housing of the radar device using the hole. A bearing housing 107 is fixed to the center of the metal plate 106 by caulking.
A stay portion 109 for attaching a printed circuit board 108 by forming a part of the metal plate 106 by bending the metal plate 106 is formed. On the printed circuit board 108, electronic components such as a Hall element for switching energization of the coil are mounted. The printed circuit board 108 can be fixedly held in the bearing housing 107. Bearing housing 10
A core, which is not shown in FIG. 12 but is wound, is fixed to the inside of the motor. A magnet is bonded and fixed to the inside of the rotor frame 110 so as to face the core.
Numeral 01 is fixed and rotatably supported by a bearing mounted on the bearing housing 107. The shaft 101 has a structure that protrudes long toward the metal plate 106, and the shaft 101 has a D-cut 102 shape. An antenna 103 is directly attached to the shaft 101.

Controlling the motor to swing in a certain range can be achieved by stopping the motor slightly at both ends of the swing,
Since the motor rotates in the reverse direction, it is necessary to control the acceleration and deceleration of the motor, which affects the characteristics of the antenna, such as rising, as an inertial load. Acceleration from the stop of the motor, deceleration control from the center position of the swing, very complicated control,
A lot of power is consumed because the motor current is activated. Since the power supply system of a vehicle is driven by a battery, this radar scanner motor also requires low power consumption, and swinging directly with the motor shaft is a major mechanical problem.

Further, an encoder is mounted on a swing axis of the antenna to detect the swing angle of the antenna, and the irradiation timing of the radar is regulated by the pulse waveform of the encoder. In addition to the high cost of the encoder and the fact that the antenna is directly attached to the motor shaft, there are many restrictions on the fixed mounting portion of the encoder, which has been complicated.

[0013]

SUMMARY OF THE INVENTION A collision prevention system such as a radar antenna or an ICC (Interlligent CruiseC)
In an ontrol system, detecting a target object of a vehicle ahead in the traveling lane of the own vehicle is an important technology that affects the performance of the system (radar scanner device) itself. Insufficient technology may cause malfunctions due to vehicles on other lanes or roadside belts, deteriorating the reliability of the system, and may also cause accidents.

However, in the above-mentioned conventional configuration, that is, in a device in which the radar antenna is directly mounted on the motor shaft, a disturbance acting on the antenna directly acts on the motor depending on a running state of the automobile. There has been a problem that the swing performance may be impaired, and eventually, the reliability of the radar scanner device may be deteriorated.

Also, since the encoder is mounted directly on the antenna oscillation axis to detect the oscillation angle of the antenna, the fixed mounting portion of the encoder is more restricted and complicated. It was expensive in terms of cost.

The encoder only generates pulses and requires a reference position of the antenna. For this reason, it is necessary to mount a sensor on the axis of the antenna for position detection, and the radar device is complicated.

[0017]

First, as a first means, a rod member rotatable around a fixed flange is connected, and the end of the rod member opposite to the fixed flange side is swung by a radar antenna. The core is rotatably connected, and a rotatable shaft is provided at a position on the antenna remote from the swinging core of the radar antenna, and the operating pin of the shaft is connected to either the antenna side or the link side. On the side. The other end of the shaft on the antenna side of the link is coupled to the center of the motor, and when the motor rotates, the rotational force activates the link, causing the antenna to swing.

As a second means, a swing core of the radar antenna is connected so as to be rotatable about a fixed flange, and can be rotated to a position on the antenna remote from the swing core of the radar antenna. And a rod member is connected to the shaft portion so as to be rotatable, and a rotatable shaft portion is provided at an end of the rod member on the side opposite to the antenna side, and the action of the shaft portion is provided. A pin is provided on either the member side or the link side, and the other end of the shaft of the link is coupled to the center of the motor, and when the motor rotates, the rotational force is transmitted to the link, and the antenna is transmitted through the rod member. Rocks.

A brushless motor is used as the motor, and frequency information based on a frequency detection signal of a voltage detected from a frequency detection unit of the motor used for controlling the brushless motor is used as encoder information of the antenna.

The motor is a brushless motor, provided with an index signal generator on the motor side, and uses the motor index signal as a reference for the oscillation of the antenna.

[0021]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The invention according to claim 1 of the present invention is directed to a radar scanner device for scanning a vehicle-mounted radar antenna for detecting a distance and a relative speed by oscillating a radar antenna with a motor. Rotatable rod member (crank rod in the embodiment)
And the swing core of the radar antenna is rotatably connected to the end of the rod member opposite to the fixed flange side, so that the center of rotation of the fixed flange and the swing of the radar antenna are The moving core is separated by the length of the rod member, and the swing core of the radar antenna moves on a locus separated by the length of the rod member from the center of the fixed flange, and is separated from the swing core of the radar antenna. A position on the antenna (for example, the position is often the end of the antenna), a rotatable shaft is provided at that position, and a working pin of the shaft is provided on either the antenna side or the link side. . The link (which is a disk in the embodiment) is connected to the center of the motor at the other end of the shaft on the antenna side. When the motor rotates by the link, the shaft at the tip of the link rotates. A radar scanner device using a motor for an in-vehicle radar antenna scanner, characterized in that the antenna swings with the rotation of its shaft, and the radar antenna swings with respect to the rotation angle of the motor. The angle can also change in a state close to a sine wave, and when the motor makes one rotation, the radar antenna can also make one swing cycle. Since the oscillating core of the antenna is connected by one or more elements (parts) from the fixed part, the position of the oscillating core of the antenna changes with the rotation of the motor, so that the oscillating core of the antenna is always the same. It is a radar antenna scanner device having an antenna oscillating core at a movable position that does not exist at a position. Therefore, the entire oscillating load of the antenna is not directly transmitted to the motor shaft, and the control performance of the motor can be improved.

With one rotation of the motor, the antenna swinging core at the movable position can move along a predetermined locus.
The swing angle of the antenna with respect to the rotational position of the motor becomes known information, and the scanner position of the antenna can be determined.

Further, since the antenna can be rocked by continuously rotating the motor in a fixed direction, the rocking of the antenna can be achieved by controlling the rotation of the motor at a fixed rotation. A large load does not act on the motor, and there is no disturbance component that disturbs the control performance of the motor. Since the motor rotates at a constant speed, the current is reduced and the power consumption can be reduced. Since a fluctuating load such as direct mounting does not directly act on the motor, the motor has an effect that the control performance is stable and damage to bearings and the like is small.

According to a second aspect of the present invention, there is provided a radar scanner for scanning a vehicle-mounted radar antenna for detecting a distance and a relative speed by oscillating a radar antenna with a motor. The swing center of the antenna is connected, so the center of rotation of the fixed flange is the swing center, and the radar antenna moves along the trajectory around the center of rotation of the fixed flange and is separated from the swing center of the radar antenna. Location on the antenna (e.g., often at the end of the antenna),
A rotatable shaft is provided at that position, and a rod member (in the embodiment, a crank rod) is connected to the shaft so as to be rotatable, and an end of the rod member opposite to the antenna side Is provided with a rotatable shaft portion, and a working pin of the shaft portion is provided on either the member side or the link side. The link (which is a disk in the embodiment) is connected to the center of the motor at the other end of the shaft on the rod member side. When the motor rotates by the link, the shaft at the tip of the link rotates. With the rotation of the shaft, the rod member also moves. With the movement, the rotational force of the motor is transmitted through the shaft of the antenna connected to the rod member, and the on-vehicle radar is characterized by swinging the antenna. This is a radar scanner device using a motor for an antenna scanner. The swing angle of the radar antenna can change in a state close to a sine wave with respect to the rotation angle of the motor. Can also make one swing cycle. Since the oscillating core of the antenna is rotatably connected around the fixed portion, the position of the oscillating core of the antenna is constant. Even if the motor rotates, the antenna oscillating core is always at the same position, so the antenna oscillating core is at a fixed position. Scanner position can be determined. Since the antenna swing core is at the fixed position, the fulcrum of the antenna search position can be the antenna swing core. When the fulcrum of the search position of the antenna is fixed, the swing angle of the antenna and the scanner angle of the antenna have a one-to-one relationship.

Further, by continuously rotating the motor in a fixed direction, the antenna can be swung.
Since the swing of the antenna can be achieved by controlling the rotation of the motor at a constant rotation, a large load does not act on the motor and there is no disturbance component that disturbs the control performance of the motor. Since it is a constant speed motor, the current is also small,
Power consumption can be reduced. Since a fluctuating load such as direct mounting does not act directly on the motor, the motor has an effect that the control performance is stable and damage to bearings and the like is small.

According to a third aspect of the present invention, there is provided a radar scanner device for scanning a vehicle-mounted radar antenna for detecting a distance and a relative speed by oscillating a radar antenna. In order to generate magnetic flux, it is formed in a cup shape with a magnet having a main pole magnetized part multipolarized to the N and S poles and a frequency power magnetized part multipolarized more than the main pole magnetized. A rotor composed of a rotor frame, a stator core around which a multi-phase winding disposed at a position interlinking with the field magnetic flux is wound, and a stator facing the frequency detection magnetizing section. A brushless motor comprising a housing having a frequency detector and a bearing rotatably supporting the rotor, wherein the rotational position information of the radar antenna of the radar device is used as a frequency detection signal of the motor. It is a radar scanner device characterized by using the voltage detected from the frequency detection unit of the motor, that is, the frequency information by the frequency detection signal can be used as the encoder information of the antenna, the radar irradiation of the antenna The use of the frequency detection signal of the motor as the angle information has the effect that the motor and the radar antenna become a systemized device.

According to a fourth aspect of the present invention, there is provided a motor for oscillating a radar antenna used in an apparatus for scanning an on-vehicle radar antenna for oscillating a radar antenna and detecting a distance and a relative velocity, and generates a field magnetic flux. A magnet having a main pole magnetized portion that is multipolar magnetized to N and S poles and a frequency detection magnetized portion that is multipole magnetized more than the main pole magnetized, and a cup-shaped rotor A rotor composed of a frame, a stator core on which a multi-phase winding disposed at a position interlinking with the field magnetic flux is wound, and a frequency detector disposed at a position opposed to the frequency detection magnetizing section. Department and
A brushless motor having a housing having a bearing that rotatably supports a rotor, wherein the motor is a radar antenna scanner motor that uses a frequency detection signal of the motor for rotation position information of a radar antenna of a radar device. Yes, the voltage detected from the frequency detection unit of the motor, that is, the frequency information based on the frequency detection signal can be used as the encoder information of the antenna, and the motor can be used by using the frequency detection signal of the motor as the angle information of the radar irradiation of the antenna. The radar antenna is a systemized device, and the frequency detection signal of the motor can be used as an encoder, so that an additional encoder is not required.

According to a fifth aspect of the present invention, there is provided a radar scanner for scanning a vehicle-mounted radar antenna for detecting a distance and a relative speed by oscillating a radar antenna. In order to generate magnetic flux, it is formed in a cup shape with a magnet having a main pole magnetized part that is multipolar magnetized on the N and S poles and a frequency detection magnetized part that is multipole magnetized more than the main pole magnetized. A rotor composed of a rotor frame, a stator core around which a multi-phase winding disposed at a position interlinking with the field magnetic flux is wound, and a stator facing the frequency detection magnetizing section. Motor having a frequency detector and a housing having a bearing for rotatably supporting a rotor, wherein the rotational position of the motor is determined by a position detecting portion provided in a rotor frame (in the embodiment, a position detecting portion is provided). (Magnet for dex) is detected by providing a position detection unit electrically connected to the printed circuit board side, and the position detection signal and frequency detection signal on the motor side are used for the rotation position information of the radar antenna of the radar device. It is a motor for an on-board radar antenna scanner and a radar scanner device using the same. By matching the index signal of the motor with the reference position of the antenna, the index of the antenna swing can be understood by the index signal of the motor, The frequency generated by the frequency generator of the motor can be used as the encoder information of the antenna. By using the frequency detection signal of the motor as the angle information of the radar irradiation of the antenna, the motor and the radar antenna become a systemized device, and the frequency of the motor is detected. The signal can be used as an encoder To have the effect of additional encoder is not required.

[0029]

Embodiments of the present invention will be described below with reference to the drawings.

(Embodiment 1) First, the following four systems are generally used as millimeter-wave radar systems for automobiles. (1) Pulse method It is hardly affected by multi-targets, but requires high-speed wideband signal processing. (2) FM-CW system Although the RF structure is simple and the speed polarity can be identified,
The following distance measurement is difficult. (3) Two-frequency CW method Although the occupied frequency bandwidth can be narrow, measurement cannot be performed when the relative speed is zero. (4) Spread spectrum method This method has been developed as an information communication means. It is resistant to radio wave interference and interference, and can communicate simultaneously with distance measurement. However, a high-speed and wideband correlator is required. Although there are the above four methods, recently, FM-CW type radar scanner devices have been actively developed.

An on-vehicle radar scanner according to the first embodiment will be described below. FIG. 1 is a schematic explanatory view of an automatic braking system of a vehicle equipped with a radar scanner device, and FIG.
FIG. 3 is an external structural view of the radar scanner device, and FIG. 3 is a structural view of the antenna.

In FIG. 1, 1 is an automobile, 2 is a radar scanner, and 3 is an ECU (Electronic Control Uniform).
t), 4 is an actuator.

FIG. 1 is a schematic explanatory diagram of an automatic braking system of an automobile 1 equipped with an on-vehicle radar scanner device. First, the radar scanner device 2 measures a distance / azimuth data group from the radar. Based on the information from the radar scanner device 2, the ECU 3 performs processing by an object identification method to obtain information on each object, for example, relative speed and position. Next, the traveling path is estimated based on the amount of change in the relative positions of all the objects and the own vehicle. Further, a target vehicle is extracted based on the positional relationship between the traveling path and the object. Based on that information,
Judging the situation such as safety or danger, the actuator 4
Activate The actuator 4 has an alarm, an automatic brake, a slot OFF, and the like, and performs measures such as rear-end collision prevention to enable safe traveling.

In FIG. 2, 5 is an antenna, 6 is a motor, 7 is a shaft, 8 is a disk, 9 is a working pin, 10 is a hole, 11 is a hinge, 12 is a swinging core of the antenna, 13 is a hinge, 14 is a fixed flange, 15 is a crank rod, and 16 is a hole.

FIG. 2 is an external structural view of the radar scanner device, which comprises a radar antenna unit, a motor, a mechanism for connecting the antenna and the motor, and a mechanism for connecting the antenna and the fixed unit.

When the motor 6 rotates, the disk 8 attached to the shaft 7 of the motor 6 also rotates. An operating pin 9 is fixed to the disk 8 at a position eccentric from the rotation center of the motor 6 by a certain distance. A hinge portion 11 having a cylindrical hole 10 rotatably formed on the working pin 9 is formed at an outer end of the antenna 5. An oscillating core 12 of the antenna is provided at the center of the antenna 5. The oscillating core 12 comprises a hinged portion 13 having a hole. The oscillating core 12 is a hole, and exists above and below the antenna 5. Each of the holes of the swinging core 12 of the antenna 5 is rotatably engaged with a hole of one end of the crank rod 15 by a pin. A hole is also drilled at the other end of the crank rod so that the fixing flange 1
4 is engaged with a hole 16 provided at the end so as to be rotatable with a pin. The antenna 5 has a hole 16 in the fixed flange 14.
, And is movable through a crank rod 15.

The radar antenna 5 is a planar antenna, and has a triplate structure as shown in FIG. 3, in which a dielectric sheet 18 is formed on a ground conductor 17, and a film is formed on the dielectric sheet 18. The substrate 19 is further provided with a dielectric sheet 20 thereon.
Is a planar antenna composed of a slot plate 22 provided with a number of slots 21. The planar antenna can obtain the same gain as the waveguide antenna, and adopts a linearly polarized wave to prevent the mutual interference of the radar vehicles and suppress the influence of the radio wave interference by 30 dB or more. A high-frequency module is provided behind the flat radar antenna 5, and a beat signal is output from this sensor, and signal processing is performed by the ECU.

Although the size of the radar device is substantially determined by the size of the antenna, the higher the frequency, the smaller the size of the antenna. There is little design freedom due to regulations such as the Radio Law. Therefore, the antenna having a considerably large surface area is swung, and a disturbance load acts on a bearing for rotating the antenna depending on a running state or the like. Therefore, in order to reduce as much as possible the load effect acting as a disturbance on the swing performance of the antenna, the present embodiment does not adopt a structure in which the swing shaft of the antenna and the motor shaft are directly connected.

In order to understand FIG. 2, a mechanical description will be given. The rotation center of the motor is Oe, the distance from Oe to the working pin of the disk is R, the distance from the center of the swing of the antenna to the center of the hole in the hinge portion is b, and the rotation center of the fixed portion of the fixed flange is Assuming that the distance from the center of rotation of the antenna to the center of rotation is c and the distance from the center of rotation of the motor to the center of rotation of the fixed flange is a, the positional relationship is as shown in FIG.

The rotation angle of the motor is defined as θ based on the rotation center of the motor, the rotation center portion Of of the fixed flange, and the reference.
The center of the working pin 9 or the hole 10 is represented by M, and the swing center of the antenna is represented by N. The movement of the angle β of the crank rod 15 of the fixed flange 14 when the angle θ rotates from 0 to 360 degrees (the angle OeOfN is assumed to be β) is obtained, and the trajectory of the direction of the antenna is simulated. In FIG. 4, in the triangle of the triangle OeOfM, the distance O
When fM is p, it is expressed by the following equation.

[0041]

(Equation 1)

Assuming that the angle formed by the angle OeOfM is α,
The angle α is represented by the following equation.

[0043]

(Equation 2)

An angle β is obtained from the triangle MNOf by using the cosine theorem.

[0045]

(Equation 3)

Therefore,

[0047]

(Equation 4)

FIG. 5 shows changes in the angle β when the motor rotation angle θ is rotated every 10 degrees. In FIG. 5, R = 40 mm, a = 100 mm, b = 100 mm, c =
It is calculated by inserting a numerical value of 60 mm.

The angle β changes in a state close to a sine wave with respect to the rotation angle θ of the motor. Also, consider the swing angle of the antenna.

Assuming that the angle OfNM is γ, the triangle OfN
From the cosine theorem of M

[0051]

(Equation 5)

Therefore,

[0053]

(Equation 6)

Assuming that the angle between the antenna and the fixed portion (OeOf) is δ, the angle δ is the angle shown in FIG. The swing angle of the antenna is the angle δ, but since the position of the swing core of the antenna changes with the rotation of the motor,
The search position of the antenna does not have a one-to-one relationship with the swing angle δ of the antenna. This is because the swing core of the antenna is not always at the same position. The radar device according to the first embodiment is a radar device having a feature that the swinging core of the antenna is movable.

[0055]

(Equation 7)

Is obtained from Motor rotation angle θ is 10
FIG. 6 shows the change in the angle δ when rotated by degrees. In FIG. 6, R = 40 mm, a = 100 mm, b =
It is calculated by inserting numerical values of 100 mm and c = 60 mm. In FIG. 6, the angle δ changes sinusoidally with respect to the rotation angle of the motor. It does not have an accurate sinusoidal shape.

By rotating the motor continuously in a fixed direction, the antenna can be swung.
Since the swing of the antenna can be achieved by controlling the rotation of the motor at a constant rotation, a large load does not act on the motor and there is no disturbance component that disturbs the control performance of the motor. Since it is a constant speed motor, the current is also small,
Power consumption can be reduced. Since a fluctuating load such as direct mounting does not directly act on the motor, the control performance is stable and there is almost no damage to bearings and the like.

The motor 6 for a radar scanner as shown in FIG. 2 is a brushless motor, and its motor structure is a metal plate 23, a motor mounting plate, and holes at four corners. Have been. The motor can be attached to the housing of the radar device using the hole. Therefore, since the motor 6 is mounted on the housing of the radar device, a part thereof is mechanically handled as a fixed portion. The center of the shaft 7 represents the center of rotation of the fixed part. A bearing housing 24 is fixed to the center of the metal plate 23 by caulking. A stay portion 256 for attaching the printed circuit board 25 by forming a part of the metal plate 23 by bending the metal plate 23 is formed. On the printed circuit board 25, electronic components such as a Hall element for switching the energization of the coil and a Hall IC for an index for detecting a rotational position are mounted. The printed circuit board 25 can be fixed and held in the bearing housing 24. Although not shown in FIG. 2, a wound core is fixed to the bearing housing 24 inside the motor. A magnet is bonded and fixed to the inside of the rotor frame 27 so as to face the core, and the shaft 7 is fixed to the center of the rotor frame 27, and is rotatably supported by a bearing attached to a bearing housing 24. The shaft 7 has a structure that protrudes long toward the metal plate 23, and a disk 8 is attached to the tip of the shaft 7. The antenna 5 is not directly connected to the shaft 7 of the motor.

(Embodiment 2) An on-vehicle radar scanner according to Embodiment 2 will be described below. FIG. 7 is an external structural view of the radar scanner device. The same reference numerals as those of the radar scanner device of the first embodiment denote the same components of the radar scanner device of the second embodiment.

In FIG. 7, 5 is an antenna, 6 is a motor, 7 is a shaft, 8 is a disk, 9 is a working pin, 11 is a hinge, 12 is a swinging core of the antenna, 13 is a hinge, 1
4 is a fixed flange, 28 is a crank rod.

FIG. 7 is an external structural view of the radar scanner device, which comprises a radar antenna unit, a motor, and a mechanism for connecting the antenna and the motor.

When the motor 6 rotates, the disk 8 attached to the shaft 7 of the motor 6 also rotates. An operating pin 9 is fixed to the disk 8 at a position eccentric from the rotation center of the motor 6 by a certain distance. A cylindrical portion at the end of the crank rod 28 is engaged with the working pin 9 so as to be rotatable.
The cylindrical portion at the other end of the crank rod 28 is rotatably supported by inserting a pin into a hole of the hinge portion 11 formed at the outer end of the antenna 5.

An antenna swing core 12 is provided at the center of the antenna 5. The oscillating core 12 comprises a hinged portion 13 having a hole. The oscillating core 12 is a hole, and exists above and below the antenna 5. By aligning the holes of the fixed flange 14 with the holes of the swing core 12 of the antenna 5 and connecting them with pins, the antenna 5 rotates and swings about the center of the hole of the fixed flange 14 as the center of rotation.

In order to understand FIG. 7, a mechanical description will be given. FIG. 8 is a diagram for explaining this.

Assuming that the rotation center of the motor is Oe, the distance from Oe to the working pin 9 of the disk 8 is R, and the center of the hole of the fixed flange 14 is Of, the distance OeOf is structurally a fixed length. And the fixed length is a. The length of the crank rod 28 connecting the working pin 9 and the antenna 5 is d, and the distance from the center of swing of the antenna to the center of the hole of the hinge 11 is b. Assuming that the position of the action pin 9 is S1 and the position of the center of the hole of the hinge portion 11 of the antenna 5 is S2, the positional relationship is as shown in FIG.

The rotation angle of the motor is defined as θ from the rotation center of the motor, the rotation center portion Of the fixed flange and the reference.
Simulation is performed on how the trajectory of the antenna direction changes when the angle θ rotates from 0 to 360 degrees. In FIG. 8, the distance OfS1 in the triangle OeOfS1 is represented by h.
Then, it is expressed by the following equation.

[0067]

(Equation 8)

Assuming that the angle formed by the angle OeOfS1 is ε, the angle ε is expressed by the following equation.

[0069]

(Equation 9)

An angle φ is obtained from the triangle S1S2Of by using the cosine theorem.

[0071]

(Equation 10)

Therefore,

[0073]

[Equation 11]

FIG. 9 shows changes in the angle φ when the motor rotation angle θ is rotated every 10 degrees. In FIG. 9, R = 40 mm, a = 100 mm, d = 90 mm, d = 1
It is calculated by inserting a numerical value of 20 mm.

The angle φ changes in a state close to a sine wave with respect to the rotation angle θ of the motor. The antenna is rotatable about a point Of, and the swing angle of the antenna is an angle φ. The position of the swing core of the antenna is the center of swing of the antenna, and the position of the swing core of the antenna does not change with the rotation of the motor. Unlike the case of the first embodiment, in the second embodiment, the search position of the antenna has a one-to-one relationship with the swing angle φ of the antenna. This is because the swing core of the antenna always exists at the same position.

The radar device according to the second embodiment is characterized in that the position of the oscillating core of the antenna is fixed.

The antenna can be rocked by continuously rotating the motor in a fixed direction, and the rocking of the antenna can be achieved by controlling the rotation of the motor at a fixed speed. A large load does not act, and there is no disturbance component that disturbs the control performance of the motor. Since the motor rotates at a constant speed, the current is reduced and the power consumption can be reduced. Since a variable load such as direct mounting does not directly act on the motor, the control performance is stable and
There is almost no damage to bearings.

Since the power consumption of the scanner device can be reduced, the scanner device can be applied to a vehicle equipped with a storage battery or a solar cell, and can be used as a vehicle collision radar device for preventing rear-end collision which is particularly suitable for electric vehicles. it can.

(Embodiment 3) FIG. 10 is a sectional view of a motor for scanning a radar antenna of a radar scanner. Example 1 of radar scanner device
The description is omitted in the second embodiment and the second embodiment. An embodiment of a motor that scans a radar antenna will be described.

In FIG. 10, reference numeral 29 denotes a metal plate which holds the bearing housing 30 by caulking.
A printed board 31 on which electronic components are mounted is held and fixed to the metal plate 29. Bearing housing 30
A stator core 32 insulated with a powder coating film is fastened to the bearing housing 30 by press-fitting on the outer periphery of the cylindrical portion. A winding 34 is wound around a powder coating insulating layer of the stator core 32.
Are electrically connected to the printed circuit board 31 by soldering. Stator core 32 and bearing housing 3
The stator 29 is constituted together with the plate 29 and the printed circuit board 31 to which 0 is fixed. 35 is a bearing housing 3
This is a bearing that is held at zero and receives an axial load and a radial load. 36 also bearing housing 3
The bearing is held at 0, and the shaft 37 is rotatably supported by two bearings. 38
Is a preload spring disposed between the bearing housing 30 and the bearing.

A cylindrical rotor frame 39 having a bottom is fixed to the shaft 37 by press-fitting. Inside the outer peripheral cylindrical portion of the rotor frame 39, a driving magnet 40 of a main pole magnetized portion that is multipolar magnetized to N and S poles to generate a field magnetic flux is fixed. An index magnet 41 is fixed to a part of the outer peripheral portion of the cylindrical portion. FG magnetization for frequency power generation (or for frequency power generation) is applied to the end face of the drive magnet.
The FG magnetization for frequency power generation is multi-polarized more than the main pole.

The driving magnet 4 is provided on the printed circuit board 31.
A zigzag pattern frequency power generating element capable of generating frequency in a pattern is formed at a position facing the FG magnetic pole for frequency power generation on the 0 end face, and a Hall element 4 for switching power supply to the motor.
2 is also implemented. Further, a hole IC 43 for index detection is mounted on the printed circuit board 31.

The procedure for assembling the brushless motor configured as described above will be described. The printed circuit board 31 on which the electronic components are mounted and the winding terminals of the stator core 32 on which the windings 34 are provided are electrically connected via an insulating layer of powder coating,
The printed board 31 and the stator core 32 are
Are inserted into the cylindrical portion of the bearing housing 30 integrated by caulking, and the stator core is fixed to the bearing housing 30 by screws 33. Further, the printed circuit board 31 is fastened to the plate 29 with screws or the like to complete the stator assembly.

Then, the preload spring 38 and the bearing 35 are inserted from the output side. Then, the bearing 36 is inserted from the non-output side, and the shaft 37 pressed into the rotor frame 39 to which the drive magnet 40 and the index magnet 41 are fixed is inserted from the non-output side. Secure with the E-ring of the shaft and assemble it so that it does not come off.

An electronic component for generating an index signal is provided in the motor and used for a reference position signal of the antenna. The index signal from the motor generates one pulse for one rotation of the motor, and the antenna also performs one reciprocating swing operation in response to one rotation of the motor, so that a position signal of the motor is generated at a predetermined position. Thus, the reference position of the antenna is determined.

In the radar scanner device according to the second embodiment, since the size of the antenna is fixed, the distance between the swing center and the hinge can be determined in advance. Further, the length of the crank rod can be determined in advance. The size of the disk, ie the distance between the working pin and the shaft insert, can also be determined in advance. However, the positional relationship between the motor index signal and the antenna cannot be determined unless the rotational index relationship between the motor index signal and the rotating pin of the disk is determined by some method.

In the third embodiment, a notch such as a D-cut is provided on the shaft so that positioning is possible, and the position of the disk determined with respect to the position of the working pin of the disk comes to the position of the notch. Assemble. For example, the shaft is D-cut, the disk is provided with screw holes for screwing, and it is fixed with screws. Also, for example, D
A method in which a hole with a shape that matches the shape of the cut is made in the center of the disk and a shaft is inserted into the hole.

As shown in FIG. 11, a semicircular notch 44 is provided on the shaft, and a hole 46 in which two circles like a gourd are connected is provided at the center of the disk 45.
6, a cylindrical pin 47 is press-fitted into a circular hole formed by a hole other than the shaft insertion and the notch portion 44 of the shaft.
Assemble so that the positional relationship between the notch of the shaft and the disk is at the determined position.

As described above, the shaft serving as a reference for positioning is applied to the shaft, and the shaft is assembled so that the center position and the position where the index signal of the motor is generated have a predetermined positional relationship. For example, an index magnet is attached to the center position of the shaft of the shaft pressed into the rotor frame.

Thus, the index signal of the motor can be matched with the reference position of the antenna, the reference of the swing of the antenna can be found from the index signal of the motor, and the frequency generated by the frequency generator of the motor is used as encoder information of the antenna. A frequency generated voltage signal of the motor is used as angle information of the radar irradiation of the antenna.

The third embodiment is an example in which the frequency detecting means is configured by using a frequency generating line element in a pattern on the printed circuit board 31 at a position facing the FG magnetic pole for frequency generating on the end face of the driving magnet 40. , An MR element or the like, or a Hall IC.

[0092]

As is apparent from the above description, according to the first aspect of the present invention, the swing angle of the radar antenna with respect to the rotation angle of the motor is close to a sine wave. The state can change, and when the motor makes one rotation, the radar antenna can also make one swing cycle. Since the oscillating core of the antenna is connected by one or more elements (parts) from the fixed part, the position of the oscillating core of the antenna changes with the rotation of the motor, so that the oscillating core of the antenna is always the same. It is a radar antenna scanner device having an antenna oscillating core at a movable position that does not exist at a position. With one rotation of the motor, the antenna oscillating core at the movable position can move along a predetermined trajectory. Therefore, the oscillating angle of the antenna becomes known information with respect to the rotational position of the motor, and the scanner position of the antenna is changed. The advantageous effect of being able to determine is obtained.

When the fulcrum of the search position of the antenna is fixed, there is a one-to-one relationship between the swing angle of the antenna and the scanner angle of the antenna. However, in the present invention, since the swing core of the antenna is movable, the antenna is movable. Is not fixed, and the swing angle of the antenna and the antenna scanner angle do not have a one-to-one relationship. Since the swing angle of the antenna and the scanner angle of the antenna can be obtained from the rotational position of the motor mechanistically, it is possible to analyze which object is on the radar and in what state.

According to the first aspect, the antenna can be swung by continuously rotating the motor in a fixed direction, and the antenna can be swung by controlling the motor rotation at a fixed rotation. Therefore, a large load does not act on the motor, and there is no disturbance component that disturbs the control performance of the motor. Because it is a constant speed motor,
The current is reduced and the power consumption can be reduced. Since a fluctuating load such as direct mounting does not directly act on the motor, the advantageous effect that the control performance is stable and the bearing is hardly damaged is obtained.

According to the second aspect of the present invention, the swing angle of the radar antenna can be changed in a state close to a sine wave with respect to the rotation angle of the motor. One swing cycle can be performed. Since the oscillating core of the antenna is rotatably connected around the fixed portion, the position of the oscillating core of the antenna is constant. Even if the motor rotates, the swinging core of the antenna always exists at the same position. Therefore, the present invention is different from the first aspect in that the antenna swinging core is a fixed position type radar antenna scanner. Since the antenna oscillating core is at the fixed position, the oscillating angle of the antenna becomes known information with respect to the rotational position of the motor, and an advantageous effect that the scanner position of the antenna can be determined can be obtained.

Since the antenna swing center is at the fixed position, the fulcrum of the antenna search position can be the antenna swing center. When the fulcrum of the search position of the antenna is fixed, an advantageous effect is obtained in that the swing angle of the antenna and the scanner angle of the antenna have a one-to-one relationship.

Since the swing angle of the antenna and the scanner angle of the antenna can be determined mechanically from the rotational position of the motor, it is possible to analyze which object is on the radar and in what state. Becomes

According to the second aspect of the present invention, the antenna can be swung by continuously rotating the motor in a fixed direction, so that the antenna can be swung by controlling the motor rotation at a fixed rotation. As a result, a large load does not act on the motor, and there is no disturbance component that disturbs the control performance of the motor. Since the motor rotates at a constant speed, the current is reduced and the power consumption can be reduced. Since a fluctuating load such as direct mounting does not directly act on the motor, the advantageous effect that the control performance is stable and the bearing is hardly damaged is obtained.

According to the third and fourth aspects of the present invention, the voltage detected from the frequency detector of the motor, that is, the frequency information based on the frequency detection signal can be used as the encoder information of the antenna, and the angle of the radar irradiation of the antenna can be used. By using the motor frequency detection signal as information, the motor and radar antenna become a systemized device,
The motor frequency detection signal can be used as an encoder,
Effective effects can be obtained such that a separate encoder is not required.

According to the fifth, sixth, and seventh aspects of the present invention, by matching the index position of the motor with the reference position of the antenna, the reference of the swing of the antenna can be determined by the index signal of the motor, and the frequency generation unit of the motor can be obtained. Can be used as the encoder information of the antenna,
By using the frequency detection signal of the motor as the angle information of the antenna's radar irradiation, the motor and the radar antenna become a systemized device. The frequency detection signal of the motor can be used as an encoder, and no separate encoder is required. Further, there is an advantageous effect that a small, inexpensive and stable quality radar scanner can be realized by using a brushless motor.

Also, since the power consumption of the scanner device can be reduced, it can be applied to a vehicle equipped with a storage battery or a solar cell. can get. In addition, although the term "vehicle" is used, it goes without saying that aircraft, ships, and the like can also be used. For example, it is very effective in areas that have traditionally relied on human confirmation, such as airfields, ports, and narrow sea areas.

[Brief description of the drawings]

FIG. 1 is a schematic explanatory diagram of an automatic braking system of a vehicle equipped with a radar scanner device.

FIG. 2 is an external structural view of the radar scanner device according to the first embodiment of the present invention.

FIG. 3 is a structural diagram of an antenna;

FIG. 4 is a mechanical explanatory diagram of the radar scanner device.

FIG. 5 is a diagram showing a relationship between a motor rotation angle θ and an angle β.

FIG. 6 is a diagram illustrating the relationship between the motor rotation angle θ and the swing angle δ of the radar antenna.

FIG. 7 is an external structural view of a radar scanner device according to a second embodiment of the present invention.

FIG. 8 is a mechanical explanatory diagram of the radar scanner device.

FIG. 9 is a diagram showing a relationship between a radar antenna swing angle φ and a motor rotation angle θ.

FIG. 10 is a sectional view of a motor that scans a radar antenna of the radar scanner device according to the third embodiment of the present invention.

FIG. 11 is a perspective view of a positioning assembly of a shaft and a disk.

FIG. 12 is an external structural view of a conventional radar scanner device.

[Explanation of symbols]

 REFERENCE SIGNS LIST 1 automobile 2 radar scanner device 3 ECU 4 actuator 5 antenna 6 motor 7, 37 shaft 8, 45 disk 9 working pin 10, 16 hole 11, 13 hinge part 12 antenna swing core 14 fixing flange 15, 28 crank rod 23 metal Plate 24, 30 Bearing housing 25, 31 Printed circuit board 26 Stay part 27, 39 Rotor frame 29 Plate 32 Stator core 33 Screw 34 Winding 35, 36 Bearing 38 Preload spring 40 Driving magnet 41 Index magnet 42 Hall element 43 Hall IC 44 Notch 46 Hole 47 Pin

──────────────────────────────────────────────────続 き Continued on the front page (51) Int.Cl. ⁷ Identification symbol FI Theme coat ゛ (Reference) H02K 29/06 G01S 13/93 Z F-term (Reference) 5H019 AA00 AA04 AA09 BB01 BB05 BB09 BB15 BB19 BB20 BB22 BB24 CC04 CC09 DD01 EE01 EE07 EE11 EE14 FF01 FF03 5H607 AA00 AA11 BB01 BB09 BB17 CC01 CC03 CC05 EE00 FF01 GG05 GG08 HH01 HH09 JJ03 5J021 AA01 AB06 DA02 DA04 DA05 DA07 FA20 GA02 HA03 A04 MA03 A04 MA03 A04

Claims (7)

[Claims] 1. A radar scanner device for scanning an on-vehicle radar antenna with a motor, wherein a rod member rotatable around a fixed flange is connected, and a radar antenna is provided at an end of the rod member opposite to the fixed flange side. The pivot center of the fixed antenna is rotatably connected, the center of rotation of the fixed flange and the pivot of the radar antenna are separated by the length of the rod member, and the pivot of the radar antenna is separated from the center of the fixed flange. A rotatable shaft is provided at a position on the antenna that moves on a locus separated by the length of the rod member and is separated from the swinging core of the radar antenna, and a working pin of the shaft is connected to the antenna or the link. The link member is connected to the shaft part on the antenna side, the other end is connected to the center of the motor, and when the motor rotates by the link, the link member Shank at the end is rotated, with the rotation of the shaft portion, the radar scanner apparatus using a motor-vehicle radar antenna scanner, characterized in that the swing of the antenna. 2. A radar scanner device for scanning an on-vehicle radar antenna with a motor, wherein a swing center of the radar antenna is connected so as to be rotatable about a fixed flange, and the center of rotation of the fixed flange is a swing center. The radar antenna moves along a locus about the center of rotation of the fixed flange, and a pivotable shaft is provided at a position on the antenna that is separated from the swing center of the radar antenna, so that the shaft can rotate. A rod member is connected, a rotatable shaft portion is provided at an end of the rod member on the side opposite to the antenna side, and a working pin of the shaft portion is provided on either the member side or the link side. The other end of the shaft on the rod member side is coupled to the center of the motor, and when the motor is rotated by the link, the shaft at the tip of the link rotates, and with the rotation of the shaft, Using a motor for an on-vehicle radar antenna scanner, the rod member is moved, and with the movement, the rotational force of the motor is transmitted to the shaft portion of the antenna connected to the rod member to swing the antenna. Radar scanner device. 3. A radar scanner device for scanning an on-vehicle radar antenna with a motor, wherein a main pole magnetized portion multipolarized and a frequency degree detecting magnetized portion multipolarized more than the main pole magnetized portion. A rotor having a magnet and a cup-shaped rotor frame, a stator core on which a multi-phase winding disposed at a position intersecting with the field magnetic flux is wound, and A frequency detection unit disposed at a position facing the magnetic unit, and a housing having a bearing that rotatably supports the rotor, using the frequency detection signal of the motor for the rotation position information of the radar antenna of the vehicle-mounted radar device. A radar scanner device, characterized in that: 4. A motor for an on-vehicle radar antenna scanner used for a device for scanning an on-vehicle radar antenna, wherein a main pole magnetized portion having a multi-pole magnetization and a frequency further multi-pole magnetized than the main pole magnetized. A rotor having a magnet having a detection magnetized portion and a rotor frame formed in a cup shape, a stator core wound with a multi-phase winding disposed at a position intersecting with the field magnetic flux, and A frequency detecting unit disposed at a position facing the frequency detecting magnetizing unit, and a housing having a bearing for rotatably supporting the rotor, and a motor frequency detection signal in a rotational position information of a radar antenna of the on-vehicle radar device. A motor for a vehicle-mounted radar antenna scanner that uses a. 5. A radar scanner device for scanning an on-vehicle radar antenna with a motor, wherein the motor that swings the radar antenna includes a multi-pole magnetized main pole magnetized portion and a multi-pole magnetized portion more than the main pole magnetized portion. A magnet having a magnetized frequency degree detection magnetized portion, a rotor composed of a rotor frame formed in a cup shape, and a plurality of phase windings disposed at a position interlinking with the field magnetic flux are wound. And a housing having a bearing for rotatably supporting the rotor, and a position detecting portion provided on the rotor frame is electrically connected to the frequency detecting portion disposed at a position facing the frequency detecting magnetizing portion. That the position detection unit connected to the printed circuit board is connected and detected, and the position detection signal and the frequency detection signal on the motor side are used for the rotation position information of the radar antenna of the radar device. A motor for radar antenna scanners mounted on vehicles. 6. A radar scanner device using the motor for a vehicle-mounted radar antenna scanner according to claim 4. 7. A vehicle provided with the radar scanner device according to claim 1, 2, 3 or 6.