JP2005283256A - Object location detecting apparatus - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an object location detecting apparatus capable of appropriately removing virtual images of a plurality of objects present in two-dimensional locations or three-dimensional locations and simultaneously and accurately detecting the locations of the plurality of objects. <P>SOLUTION: The object location detecting apparatus is provided with three or four distance sensors for transmitting electromagnetic waves in a two-dimensional direction at a prescribed wide angle to measure distances to the objects on the basis of standing waves formed in-between with the objects. An object presence candidate location determining means 15 determines candidate locations at which the objects are present on the basis of distance data measured by the three or four distance sensors. An object virtual image removing means 16 considers presence conditions of the objects to be detected and removes object presence candidate locations indicating virtual images of the objects from the object presence candidate locations. An object location specifying means 17 specifies the remaining object presence candidate locations after the removal by the object virtual image removing means 16 as locations at which the objects are present. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  The present invention relates to an object position detection apparatus that detects the position of an object existing on a two-dimensional plane or in a three-dimensional space.

  As an object position detection device for detecting the position of an object, there is an apparatus that uses a narrow-angle distance sensor for measurement. This is to detect a position of an object by receiving a reflected wave from an object using a narrow-angle distance sensor with a narrow radiation angle of electromagnetic waves and mechanically changing the direction of the distance sensor. That is, the position of the object is measured by calculating a two-dimensional or three-dimensional position based on the direction of the distance sensor and the measured distance. Therefore, in such an object position detection device, a mechanism for changing the direction of the distance sensor and a mechanism for detecting the angle of the changed direction are required.

  There is also an object position detection device that detects the position of an object using a surveillance camera. This object position detection device recognizes an object by performing image processing on an image captured by a surveillance camera, but it is necessary to perform image processing according to the installation position of the surveillance camera, and image processing software is required. Therefore, it becomes expensive.

  Furthermore, there are some which detect the position of an object using a plurality of area sensors, but the area sensors are required for the number of divided areas, and a large number of sensors are required to increase the resolution. In the same area, it is not possible to distinguish between the case where there are two or more detected objects and the case where there is only one detected object. That is, there is a drawback that the number of objects cannot be counted in the same area.

Here, a distance measuring device that measures the distance to an object based on a standing wave formed with the object has been developed (see, for example, Patent Document 1). This distance measurement device measures the distance to an object by determining the period of the standing wave because the period of the standing wave is inversely proportional to the distance, allowing accurate distance measurement even at short distances. Thus, it has an excellent feature that it can measure the distances of a plurality of measurement objects at the same time, and can measure the distance without being influenced by the transmission signals of other distance measuring devices. Therefore, application of this distance measuring device to an object position detecting device has been studied.
JP 2002-357656 A (FIG. 1)

  However, when the distance measurement device disclosed in Patent Document 1 is to be applied to an object position detection device, a mechanism for changing the direction of the distance measurement device and a mechanism for detecting the angle of the changed direction are left as they are. Necessary. This is because the device disclosed in Patent Document 1 is a narrow-angle distance sensor that narrows the radiation angle of electromagnetic waves so that it can be detected accurately even at a distance of 10 cm or less.

  For example, an object position detection device for confirming the presence of a person installed in a store or an office only needs to detect the position of an object at a distance of 10 cm or more. Therefore, in applying the distance measuring device disclosed in Patent Document 1, a wide-angle distance sensor with an increased electromagnetic wave radiation angle, a mechanism for changing the direction of the distance sensor, and a mechanism for detecting the angle of the changed direction. Can be considered unnecessary. In this case, when an object at a two-dimensional position is detected using two wide-angle distance sensors, or an object at a three-dimensional position is detected using three wide-angle distance sensors, the detected object is In the case of one, position measurement is possible in the same manner as triangulation.

  However, when there are many detection objects, many virtual images are generated. This is because the distance sensor can only measure the distance to the object and cannot detect the direction. It is conceivable that this virtual image is removed by recording the locus of the detected object and removing the detected object that cannot be caused. For example, in the case of detecting the position of an object in a building, a virtual image removal process of removing an object that has moved through a wall is performed. In such a virtual image removal process, If the target hardly moves, the virtual image cannot be removed. In addition, in order to perform this virtual image removal process, the past position information of the virtual image and the real image is necessary, so that the data held in the arithmetic processing unit and the processing data increase.

  An object of the present invention is to provide an object position detection device that can appropriately remove virtual images of a plurality of objects existing at a two-dimensional position or a three-dimensional position and can simultaneously detect the positions of the plurality of objects with high accuracy. .

  The object position detecting device according to the invention of claim 1 is a device for transmitting electromagnetic waves at a predetermined wide angle in a two-dimensional direction and measuring a distance to the object based on a standing wave formed between the object and In consideration of four distance sensors, object presence candidate position determination means for determining a candidate position where an object exists based on distance data measured by three or four distance sensors, and the existence condition of the detected object Then, an object virtual image removing unit that removes an object existence candidate position representing a virtual image of the object from the object existence candidate position determined by the object existence candidate position determining unit, and the remaining object existence candidates removed by the object virtual image removing unit An object position specifying means for specifying the position as the position where the object exists is provided.

  The object position detecting device according to the invention of claim 2 transmits four electromagnetic waves at a predetermined wide angle in a three-dimensional direction and measures the distance to the object based on a standing wave formed between the object and In consideration of five distance sensors, object presence candidate position determination means for determining a candidate position where an object exists based on each distance data measured by four or five distance sensors, and presence conditions of detected objects Then, an object virtual image removing unit that removes an object existence candidate position representing a virtual image of the object from the object existence candidate position determined by the object existence candidate position determining unit, and the remaining object existence candidates removed by the object virtual image removing unit An object position specifying means for specifying the position as the position where the object exists is provided.

  According to the present invention, there are provided a plurality of distance sensors that transmit electromagnetic waves at a predetermined wide angle and measure the distance to an object based on the period of a standing wave formed between the object and a two-dimensional Or, when detecting the position of an object that exists three-dimensionally, in addition to the existence condition of the detected object, one or two more distance sensors than the number of dimensions are provided to remove the virtual image. Can be removed.

  In addition, since a plurality of distance sensors that transmit electromagnetic waves at a predetermined wide angle and measure the distance to the object based on the period of the standing wave formed between the object and the object are used, the position is two-dimensional or three-dimensional. It is possible to detect the position of an object without using image processing and many area sensors, and not only to detect a single point but also to measure multiple points at the same time without requiring a mechanical swing device. Become.

  Embodiments of the present invention will be described below. FIG. 1 is a block diagram of an object position detecting apparatus according to an embodiment of the present invention. The distance sensors 11a to 11d detect the distance to the object, and the detection principle is the same as that of the distance measuring device of Patent Document 1 described above, but the electromagnetic waves transmitted from the transmission means are predetermined in a two-dimensional direction. Is different in that it is transmitted at a wide angle. That is, an electromagnetic wave is transmitted at a predetermined wide angle in a two-dimensional direction, and a distance to the object is measured based on a standing wave formed between the object and the object. In order to radiate electromagnetic waves at a wide angle, for example, a power source from a transmission source is guided to a transmission unit by a waveguide or a coaxial cable, and radiated from a horn provided on the transmission unit at a wide angle.

  FIG. 1 shows a case where four distance sensors 11a to 11d are provided, and the distance sensors 11a to 11d are installed at different places, respectively, and emit electromagnetic waves at a wide angle toward the region where the object position is detected. It will radiate. The distance data to the object measured by these four distance sensors 11a to 11d is input to the input means 13 of the arithmetic and control unit 12, and the distance data to the object measured by each of the distance sensors 11a to 11d and the number thereof. Is stored in the memory 14.

  The object presence candidate position determination unit 16 determines a candidate position where the object exists based on the distance data measured by the distance sensors 11a to 11d. That is, an intersection point where circles with the distance data 11a to 11d as the center and the distance data as the radius intersect each other is determined as the object existence candidate position. In this case, since the distance sensors 11a to 11d can only measure the distance to the object and cannot detect the direction in which the object exists, many virtual images are generated when there are a large number of objects.

  Therefore, the object virtual image removing unit 16 takes into account the existence condition of the detected object stored in advance in the memory 14, and the object existence candidate position determining unit 15 determines the number of distance data measured by the distance sensors 11a to 11d. The object existence candidate position representing the virtual image of the object is removed from the determined object existence candidate position. The object position specifying means 17 specifies the remaining object existence candidate positions after being removed by the object virtual image removing means 16 as the positions where the objects exist, and stores the object position information in the memory 14 as necessary. At the same time, it is output to the output device 18.

  Next, the principle of object position detection in the present invention will be described. FIG. 2 is an explanatory diagram of position detection when one object 20 is present inside the building. In order to detect the position of the single object 20, two distance sensors 11a and 11b may be provided on the wall surface 21 inside the building. That is, a circle 22a whose distance data La is measured by the distance sensor 11a with a radius centered on the distance sensor 11a and a circle 22b whose radius centered on the distance sensor 11b is distance data Lb measured by the distance sensor 11b. It is possible to specify the two-dimensional position of the object 20 by obtaining the intersection with. Although two intersections of the circles 22a and 22b can be formed, one of them is an intersection formed outside the building, and therefore, it is removed depending on the presence condition of the detected object, ie, an object inside the building.

  FIG. 3 is an explanatory diagram when two objects exist inside the building and the position of the object is detected by the two distance sensors 11a and 11b. When there are two objects, the distance data measured by the distance sensor 11a is two, and the distance data measured by the distance sensor 11b is also two. Two circles 22a1 and 22a2 having a radius of distance data La1 and La2 measured by the distance sensor 11a, and two circles 22b1 and 22b2 having a radius of distance data Lb1 and Lb2 measured by the distance sensor 11b There will be 8 intersections. The four intersections 23-5 to 23-8 are removed by taking into account the existence condition of the detected object called the object in the building with respect to these eight intersections 23-1 to 23-8.

  In this case, the remaining intersections are four intersections 23-1 to 23-4, but the two distance sensors 11a and 11b detect two distance data, respectively. There are two. Accordingly, two of the four intersections 23-1 to 23-4 are virtual images.

  Here, when the number of distance data measured by the plurality of distance sensors 11 is the same, the remaining virtual images can be removed under the condition that only one entity exists on the circle. Since the two distance sensors 11a and 11b detect two distance data, respectively, on the condition that only one entity exists on the circle, the intersections 23-1 and 23-4 or the intersection 23 -2 or 23-3, but it is unknown whether it is the intersection 23-1, 23-4 or the intersection 23-2, 23-3. Therefore, using the distance data from the third distance sensor 11c, two virtual images are removed from the four intersections 23-1 to 23-4 to obtain two real images.

  FIG. 4 is an explanatory diagram when two objects exist inside the building and the position of the object is detected by the three distance sensors 11a, 11b, and 11c. That is, it is an explanatory diagram when circles 22c1 and 22c2 based on two distance data Lc1 and Lc2 from the third distance sensor 11c are added to FIG.

  In the case of three distance sensors 11a, 11b, and 11c, detection is made among the intersections of circles 22a1, 22a2, 22b1, and 22b2 having radiuses of distance data La1, La2, Lb1, and Lb2 from the distance sensors 11a and 11b. The remaining intersections 23-1 to 23-4 taking into account the existence condition of the object also intersect with circles 22c1 and 22c2 centered on the distance sensor 11c having the radius of the distance data Lc1 and Lc2 measured by the added distance sensor 11c. Intersections 23-2 and 23-3 that are not performed can be determined as virtual images. In FIG. 4, since the intersections 23-1 and 23-4 are intersections of circles having radii of two distance data of the three distance sensors 11a, 11b, and 11c, they can be determined as real images.

When the number of objects further increases to N, the number of intersections is N ² even if the presence condition of the detected object is taken into account, but the position detection of the object is performed by the three distance sensors 11a, 11b, and 11c. If it carries out, it can determine with the intersection of the circle | round | yen which uses each N distance data of the three distance sensors 11a, 11b, and 11c as a radius as a real image.

  Next, even if the three distance sensors 11a, 11b, and 11c are used, if the object and the distance sensor are in a special positional relationship, the virtual image may not be removed exceptionally. FIG. 5 is an explanatory diagram when the position of an object cannot be detected even if three distance sensors 11a, 11b, and 11c are used. Here, the case where the object and the distance sensor have a special positional relationship means that the distance data La1, La2 circles 22a1, 22a2 measured by the distance sensor 11a and the distance data Lb1 measured by the distance sensors 11a, 11b. , Lb2 circles 22b1 and 22b2 and the two intersection positions 23-2 and 23-3 are, for example, on the circle 22c2 of the distance data Lc2 measured by the third distance sensor 11c.

  In this case, as shown in FIG. 5, the circle 22c1 of the distance data Lc1 detected by the third distance sensor 11c is an intersection 23-1 of the circles 22a1 and 22b1 of the distance data La1 and Lb1 of the distance sensors 11a and 11b. It can be seen that the intersection 23-1 is a real image. However, since there are two intersections 23-2 and 23-3 on the circle 22c2 of the distance data Lc2 detected by the third distance sensor 11c, it is not known which is a real image.

  Therefore, as shown in FIG. 6, by using the distance data from the fourth distance sensor 11d, one virtual image is removed from the two intersections 23-2 to 23-3, and two real images are obtained. Will get. FIG. 6 is an explanatory diagram when two objects exist inside the building and the position of the object is detected by the four distance sensors 11a to 11d. That is, the circles 22d1 and 22d2 based on the two distance data Ld1 and Ld2 from the fourth distance sensor 11d are added to FIG. 5, and the intersection 23-3 that does not intersect with the circle 22d2 is determined to be a virtual image. Even when the object and the distance sensor are in a special positional relationship, a real image is appropriately obtained. When the object moves, it is only for a moment that there is a special positional relationship. Therefore, if the object deviates from the special positional relationship with the movement of the object, the distance from the fourth distance sensor 11d. Virtual images can be identified without data.

  Next, the number of distance data measured by the two distance sensors 11a and 11b may be different. For example, there may be one distance data measured by one distance sensor 11a and two distance data measured by the other distance sensor 11b. This is a case where there are two objects in a place where the distance from the distance sensor 11a is equal and only the direction is different. FIG. 7 is an explanatory diagram in the case where the positions of the two objects 20a and 20b in the building can be detected by the two distance sensors 11a and 11b.

  For the two objects 20a and 20b, the distance sensor 11a and the distance sensor 11b normally measure two pieces of distance data. For example, the distance from the distance sensor 11a is the same distance. If there are two objects 20a and 20b at different locations, the distance data measured by the distance sensor 11a is one distance data La. On the other hand, the distance data measured by the distance sensor 11b is two distance data Lb1 and Lb2.

  The intersection of the circle 22a having the radius of the distance data La measured by the distance sensor 11a and the circles 22b1 and 22b2 having the radius of the distance data Lb1 and Lb2 measured by the distance sensor 11b is a candidate position where the object exists. . Then, if the intersection point that is outside the building is removed in consideration of the existence condition of the detected object, two object existence candidate positions are obtained. In this case, since the distance sensor 11b measures two pieces of distance data, it can be seen that there are two objects. Therefore, the two object existence candidate positions obtained in consideration of the existence conditions of the detected objects are detected as they are as the existence positions of the two objects. As described above, when the two objects 20a and 20b exist at a place where the distance from the distance sensor 11a is the same distance and only the direction is different, the two objects 20a and 20b are detected by the two distance sensors 11a and 11b. The position detection of 20b can be performed.

  Next, assuming that the number of distance data measured by the two distance sensors 11a and 11b is different, the distance data measured by one distance sensor 11a is two and the distance measured by the other distance sensor 11b. A case where there are three pieces of data will be described.

  FIG. 8 shows that two of the three objects existing inside the building are located at a location that is equidistant from a certain distance sensor and only differs in direction, and the position detection of the three objects is performed by the two distance sensors. It is explanatory drawing at the time of performing. Now, it is assumed that the distance data measured by one distance sensor 11a is two and the distance data measured by the other distance sensor 11b is three.

  There can be twelve intersections between the circles 22a1, 22a2 of the two distance data La1, La2 measured by the distance sensor 11a and the circles 22b1, 22b2, Lb3 of the distance data Lb1, Lb2, Lb3 measured by the distance sensor 11b. However, if the presence condition of the detected object is taken into consideration, the six intersections 23-1 to 23-6 are obtained. Since the number of distance data measured by the distance sensor 11b is 3, the number of objects is 3, and it can be seen that at least 2 are on one of the circle 22a1 or the circle 22a2. I don't know which one. Therefore, using the distance data from the third distance sensor 11c, three virtual images are removed from the six intersections 23-1 to 23-6, and three real images are obtained.

  FIG. 9 is an explanatory diagram when three objects exist inside the building and the position of the object is detected by the three distance sensors 11a, 11b, and 11c. That is, FIG. 8 is an explanatory diagram in the case where circles 22c1, 22c2, and 22c3 based on three distance data Lc1, Lc2, and Lc3 from the third distance sensor 11c are added.

  When the three distance sensors 11a, 11b, and 11c are used, the intersection points of the circles 22a1, 22a2, 22b1, 22b2, and 22b3 having the radiuses of the distance data La1, La2, Lb1, Lb2, and Lb3 from the distance sensors 11a and 11b, respectively. Among the remaining intersections 23-1 to 23-6 taking into account the existence condition of the detected object, the distance sensor 11 c having the radius of the distance data Lc 1, Lc 2, Lc 3 measured by the added distance sensor 11 c is the center. Intersections 23-2, 23-3, and 23-5 that do not intersect with the circles 22c1, 22c2, and 22c3 can be determined as virtual images. In FIG. 9, the intersections 23-1, 23-4, 23-6 can be determined as real images.

  Next, the operation of the object position detection apparatus according to the embodiment of the present invention will be described. 10 to 12 are flowcharts showing the processing contents of the object position detection apparatus according to the embodiment of the present invention. FIG. 10 is a flowchart when the position of one or two objects is detected by the two distance sensors 11a and 11b shown in FIGS. 2 and 7, and FIG. 11 shows the three or three sensors shown in FIGS. FIG. 12 is a flowchart for detecting the position of an object with four distance sensors 11a, 11b, and 11c. FIG. 12 shows the position detection of an object with three or four distance sensors 11a, 11b, and 11c shown in FIGS. It is a flowchart in the case of performing.

  In FIG. 10, first, distance data measured by two distance sensors 11a and 11b are input (S1), and distance data measured by the distance sensors 11a and 11b and the number thereof are stored (S2). Then, it is determined whether or not the number of data measured by the two distance sensors 11a and 11b is the same (S3). If they are the same, the distance data measured by the two distance sensors 11a and 11b is determined. It is determined whether the number is 1 or not (S4).

  When the number of distance data measured by the two distance sensors 11a and 11b is one, as shown in FIG. 2, a circle 22a whose radius centered on the distance sensor 11a is the distance data La, and The intersection with the circle 22b whose radius centered on the distance sensor 11b is the distance data Lb is obtained (S5), and the virtual image is removed in consideration of the existence condition of the detected object (S6). That is, the intersection formed on the back side of the wall surface 21 of each of the distance sensors 11a and 11b is removed as a virtual image of the object. Then, the remaining intersection is specified as the position of the object (S7). Thus, the position detection of one object can be detected by the two distance sensors 11a and 11b.

  If it is determined in step S4 that the number of distance data measured by the two distance sensors 11a and 11b is not one, the process proceeds to the process illustrated in FIG. That is, when the number of distance data of the two distance sensors 11a and 11b is the same and the number is two or more, the distance data measured by the third distance sensor 11c is input (S8). ) The distance data measured by the third distance sensor 11c and the number thereof are stored (S9).

  For example, when the number of distance data measured by the two distance sensors 11a and 11b is both two and the number of distance data measured by the third distance sensor 11c is also two, As shown in FIG. 4, circles 22a1, 22a2 whose radii centered on the distance sensor 11a are distance data La1, La2 and circles 22b1, 22b2 whose radii centered on the distance sensor 11b are distance data Lb1, Lb2 The intersections of the circles 22c1 and 22c2 whose radii around the distance sensor 11c are the distance data Lc1 and Lc2 are obtained (S10). Thereafter, the virtual image is removed in consideration of the existence condition of the detected object (S11). That is, the intersection formed on the back side of the wall surface 21 of each of the distance sensors 11a and 11b is removed as a virtual image of the object.

  Next, the number of intersections where the circles 22c1 and 22c2 intersect with the intersections of the circles 22a1 and 22a2 and the circles 22b1 and 22b2 after the virtual image is removed in step S11 is the distance data measured by the distance sensors 11a to 11c. It is determined whether or not the number is the same as the number (S12). If the number is the same, the intersection is specified as the position where the object exists (S13). In FIG. 4, the intersections 23-1 and 23-4 are specified as the positions where the objects exist.

  If it is determined in step S12 that the number of intersections of the circles 22c1 and 22c2 and the intersections of the circles 22a1 and 22a2 and the circles 22b1 and 22b2 is not the same as the number of distance data measured by the distance sensors 11a to 11c, For example, as shown in FIG. 5, the number of intersection data is three for intersections 23-1, 23-2, and 23-3, and the number of distance data measured by each of the distance sensors 11a to 11c is two. In this case, the distance data measured by the fourth distance sensor 11d is input (S14).

  Then, as shown in FIG. 6, circles 22a1, 22a2 whose radii around the distance sensor 11a are distance data La1, La2 and circles 22b1, 22b2 whose radii around the distance sensor 11b are distance data Lb1, Lb2 are shown. The intersections of the circles 22c1 and 22c2 whose radii centered on the distance sensor 11c are the distance data Lc1 and Lc2 and the circles 22d1 and 22d2 whose radii centered on the distance sensor 11d are the distance data Ld1 and Ld2 intersect are obtained ( S15). Thereafter, the virtual image is removed in consideration of the presence condition of the detected object (S16). Then, the remaining intersection is specified as the position of the object (S17). In FIG. 6, the intersections 23-1 and 23-4 are specified as the positions where the objects exist.

  Thus, the position detection of two or more objects can be detected by the three distance sensors 11a and 11b. When the object and the distance sensor are in a special positional relationship, the position of two or more objects is exceptionally detected using four distance sensors (S14 to S17).

  Next, if the number of distance data measured by the two distance sensors 11a and 11b is not the same in the determination in step S3 of FIG. 10, the number of distance data measured by one distance sensor is one. It is determined whether or not (S18). For example, as shown in FIG. 7, when there is one distance data measured by the distance sensor 11a and two distance data measured by the distance sensor 11b, the distance data La measured by the distance sensor 11a is set as the radius. And the intersection of two circles 22b1 and 22b2 whose radius is the distance data Lb1 and Lb2 measured by the distance sensor 11b is obtained (S19). Then, the virtual image is removed in consideration of the existence condition of the detected object (S20), and the remaining intersection is specified as the position of the object (S21). As described above, when two objects exist at a place where the distance from the distance sensor 11a is the same distance and only the direction is different, the existence position of the object can be specified by the two distance sensors 11a and 11b.

  If it is determined in step S18 in FIG. 10 that the number of distance data of one distance sensor is not one, the process proceeds to the process shown in FIG. That is, if the distance data of the two distance sensors 11a and 11b are different and the distance data of one distance sensor is not one, the distance data measured by the third distance sensor 11c is input. (S22) The distance data measured by the third distance sensor 11c and the number thereof are stored (S23).

  For example, the number of distance data measured by the distance sensor 11a is two, the number of distance data measured by the distance sensor 11b is three, and the number of distance data measured by the third distance sensor 11c. 9, as shown in FIG. 9, the circles 22a1 and 22a2 whose radii centered on the distance sensor 11a are distance data La1 and La2, and the radii centered on the distance sensor 11b are distance data Lb1. , Lb2 and Lb3 are obtained as intersections with circles 22b1, 22b2 and 22b3, and of these intersections, the radius around the distance sensor 11c intersects with circles 22c1, 22c2 and 22c3 whose distance data is Lc1, Lc2 and Lc3. An intersection is obtained (S24). Thereafter, the virtual image is removed in consideration of the presence condition of the detected object (S25).

  Next, the distance sensors 11a to 11c measure the number of intersections of the circles 22c1, 22c2, and 22c3 at the intersections of the circles 22a1, 22a2 and the circles 22b1, 22b2, and 22b3 after the virtual image is removed in step S25. It is determined whether the distance data is the maximum number (S26). If the distance data is the maximum number, the intersection point is specified as the position where the object exists (S27). In FIG. 9, the intersections 23-1, 23-4, and 23-6 are specified as the positions where the objects exist.

  The maximum number of distance data measured by the distance sensors 11a to 11c is the number of intersections where the circles 22c1, 22c2, and 22c3 intersect with the intersections of the circles 22a1, 22a2 and the circles 22b1, 22b2, and 22b3 in the determination of step S26. Otherwise, for example, as shown in FIG. 5, when the object and the distance sensor are in a special positional relationship, the number of intersections is greater than the maximum number of distance data measured by each of the distance sensors 11a to 11c. . Therefore, the distance data measured by the fourth distance sensor 11d is input (S28).

  Then, similarly to the case shown in FIG. 6, the intersection of circles having the radiuses of the distance data measured by the distance sensors 11a to 11d is obtained (S29), and then the existence condition of the detected object is taken into account. The virtual image is removed (S30). Then, the remaining intersection is specified as the position of the object (S31).

  In the above description, when the position of an object is first detected by the two distance sensors 11a and 11b and the position detection of the object cannot be specified, the third distance sensor 11c and the fourth distance sensor 11d are sequentially arranged. However, as shown in FIG. 13, distance data may be read from the four distance sensors 11a to 11d from the beginning to detect the position of the object.

  That is, in FIG. 13, the distance data measured by the four distance sensors 11a to 11d are input (S101), and the distance data is set as the radius with the four distance sensors 11a to 11d as the centers. The intersection of the circles is obtained (S102), and the virtual image is removed in consideration of the existence condition of the detected object (S103). Then, the remaining intersection is specified as the position of the object (S104).

  In the above description, the case where the four distance sensors 11a to 11d are provided has been described. However, as shown in FIG. 6, the object and the distance sensor have a special positional relationship, and the object has a long time. Since it is extremely rare to be stationary, the three distance sensors 11a to 11c are used instead of the four distance sensors 11a to 11d, and the position of the object is determined by the three distance sensors 11a to 11c. However, there is no problem in practical use.

  In the above description, the position of the object is detected in the two-dimensional direction. However, in the case of the three-dimensional case, the same processing can be performed by using the intersection of concentric spheres with the distance sensor as the center. . That is, an electromagnetic wave is transmitted at a predetermined wide angle in a three-dimensional direction, and a distance to the object is measured based on a standing wave formed between the object and the object. In this case, in addition to the cases shown in FIG. 2 to FIG. 9, one distance sensor is further added, and the three-dimensional measurement is performed from the intersection of the spherical surfaces whose radius is the distance data measured by each distance sensor. The position of the object is specified and the position of the object is detected.

  According to the embodiment of the present invention, when detecting the position of a two-dimensional object, an electromagnetic wave is transmitted at a predetermined wide angle and is based on the period of a standing wave formed between the object and the object. When three or four distance sensors that measure the distance to an object are provided and the position of an object that exists three-dimensionally is detected, electromagnetic waves are transmitted at a predetermined wide angle to form the object. Since the four or five distance sensors that measure the distance to the object based on the standing wave period are provided, the position of the object can be detected with high accuracy.

  In addition, since a plurality of distance sensors that transmit electromagnetic waves at a predetermined wide angle and measure the distance to the object based on the period of the standing wave formed between the object and the object are used, the position is two-dimensional or three-dimensional. It is possible to detect the position of an object without using image processing and many area sensors, and not only to detect a single point but also to measure multiple points at the same time without requiring a mechanical swing device. Become.

The block block diagram of the object position detection apparatus concerning embodiment of this invention. Explanatory drawing of position detection in case one object exists in a building. Explanatory drawing when the position of an object is detected with two distance sensors when two objects exist inside the building. Explanatory drawing when the position of an object is detected with three distance sensors when two objects exist in the building. Explanatory drawing when the position of an object cannot be detected even if it uses three distance sensors. Explanatory drawing when the position of an object is detected with four distance sensors when two objects exist inside a building. Explanatory drawing at the time of detecting the position of two objects inside a building with two distance sensors. Explanatory drawing when the position of an object is detected by two distance sensors when two of the three objects existing inside the building are located at locations that are equidistant from the distance sensor and differ only in direction. . Explanatory drawing when the position of an object is detected by three distance sensors when three objects exist inside the building. The flowchart in the case of performing the position detection of one or two objects with the two distance sensors 11a and 11b shown in FIG. 2 and FIG. 7 among the processing contents of the object position detection apparatus according to the embodiment of the present invention. 7 is a flowchart in the case of detecting the position of an object by three or four distance sensors 11a, 11b, and 11c shown in FIGS. 4 and 6 among the processing contents of the object position detection apparatus according to the embodiment of the present invention. FIG. 7 is a flowchart when the position of an object is detected by three or four distance sensors 11a, 11b, and 11c shown in FIGS. 9 and 6 among the processing contents of the object position detection apparatus according to the embodiment of the present invention. The flowchart which shows an example of the other processing content of the object position detection apparatus concerning embodiment of this invention.

Explanation of symbols

DESCRIPTION OF SYMBOLS 11 ... Distance sensor, 12 ... Calculation control apparatus, 13 ... Input means, 14 ... Memory, 15 ... Object presence candidate position determination means, 16 ... Object virtual image removal means, 17 ... Object position specification means, 18 ... Output device, 19 ... 20 ... object, 21 ... wall surface, 22 ... circle, 23 ... intersection

Claims (2)

Three or four distance sensors that transmit electromagnetic waves in a two-dimensional direction at a predetermined wide angle and measure the distance to the object based on a standing wave formed between the object and three or four distance sensors Based on the distance data measured by the distance sensor, the object presence candidate position determination means for determining the candidate position where the object exists, and the object presence candidate position determination means in consideration of the presence condition of the detected object Object virtual image removing means for removing an object existence candidate position representing a virtual image of an object from the object existence candidate position, and an object for identifying the remaining object existence candidate positions removed by the object virtual image removing means as positions where the object exists An object position detecting apparatus comprising: a position specifying unit. 4 or 5 distance sensors that transmit electromagnetic waves at a predetermined wide angle in a three-dimensional direction and measure the distance to the object based on a standing wave formed between the object and 4 or 5 Based on the distance data measured by the distance sensor, the object presence candidate position determination means for determining the candidate position where the object exists, and the object presence candidate position determination means in consideration of the presence condition of the detected object Object virtual image removing means for removing an object existence candidate position representing a virtual image of an object from the object existence candidate position, and an object for identifying the remaining object existence candidate positions removed by the object virtual image removing means as positions where the object exists An object position detecting apparatus comprising: a position specifying unit.

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