JP2007064655A - Moving body measuring system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a moving body measuring system capable of measuring easily the distance to a measuring object and its position with a simple configuration. <P>SOLUTION: The system S1 includes a plurality of distance sensors 10a, 10b for measuring each distance L1, L2 to the measuring object Z by a radio wave, and an operation part 21 for determining the position of the measuring object Z based on measurement information from each of the plurality of distance sensors 10a, 10b and on arrangement information L0 between each of the plurality of distance sensors 10a, 10b. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to a moving body measuring system that measures the position and the like of a moving body.

Conventionally, there are various techniques for detecting an intrusion of a suspicious person into a building.
For example, a microwave or other radio wave is irradiated into the room, the reflected wave reflected is compared with the basic waveform of the reflected wave stored in advance in the storage means, and there is a difference between the two waveforms due to the attenuation of the level of the reflected wave. A technique has been proposed for determining that an intruder is lurking in a room when an intruder is hidden.
JP 59-24396 A

However, the above-described technique is merely a technique for measuring the distance to the moving object that is the object to be measured, and there is a problem that the position and moving direction of the object to be measured cannot be detected.
For this reason, a technique for detecting the position and moving direction of the object to be measured from the relationship between the scanning direction and the distance by scanning the irradiation of the radio wave has been proposed, but a special device for scanning the radio wave has been proposed. There is a problem that it becomes necessary and causes an increase in system cost.

  The present invention has been made in view of the above-described circumstances, and an object of the present invention is to provide a moving body measurement system capable of easily measuring the distance and position to a measurement object with a simple configuration.

The moving body measurement system according to the present invention employs the following means in order to solve the above problems.
The mobile body measurement system of the present invention is based on a plurality of distance sensors that measure the distance to an object to be measured by radio waves, measurement information from each of the plurality of distance sensors, and arrangement information of the plurality of distance sensors. And an arithmetic unit for obtaining the position of the object to be measured.
According to the present invention, by providing a plurality of distance sensors, not only the distance of the object to be measured, which is a moving body, but also the position and the like can be easily obtained.

In addition, in the case where the plurality of distance sensors includes three distance sensors arranged on a non-straight line, even when there are a plurality of moving bodies (objects to be measured), their positions and the like can be easily obtained. It can be obtained.
In addition, with a storage unit that stores the position of the object to be measured, it is possible to easily obtain the movement locus of the moving object by recording the position of the moving object (object to be measured).
Further, when the plurality of distance sensors alternately measure the distance of the object to be measured, it is possible to easily and reliably avoid the disadvantage that the measurement of each distance sensor interferes.
Further, when the distance sensor switches the measurement range based on the immediately preceding measurement information when measuring the distance of the object to be measured, the position of the moving body is obtained by measuring a straight line. By narrowing the measurement range of the sensor to the periphery of the moving body (adjusting the directivity in a predetermined direction), reliable distance measurement can be realized.

According to the present invention, the following effects can be obtained.
The mobile body measurement system of the present invention is based on a plurality of distance sensors that measure the distance to an object to be measured by radio waves, measurement information from each of the plurality of distance sensors, and arrangement information of the plurality of distance sensors. And a calculation unit for obtaining the position of the object to be measured, so that the position of the object to be measured, which is a moving body, can be easily achieved by providing a plurality of distance sensors without using a special device or the like. It becomes possible to ask for.
Therefore, it is possible to construct a high-performance mobile measurement system while minimizing an increase in system cost.

Hereinafter, an embodiment of a moving body measurement system of the present invention will be described with reference to the drawings.
[First embodiment]
FIG. 1 is a diagram showing a schematic configuration of the moving body measurement system S1. FIG. 2 is a diagram illustrating a circuit configuration of the distance sensor 10.
The moving body measurement system S1 includes two distance sensors 10 (10a, 10b) and a control device 20 having a calculation unit 21, a storage unit 22, and the like.

As shown in FIG. 2, the distance sensor 10 is a millimeter wave radar type radio wave sensor, and includes an antenna 11, a circulator 12, a coupler 13, a transmitter 14, a mixer 15, an amplifier 16, an A / D converter 17, and a DSP 18. Etc.
Then, a millimeter wave is transmitted from the antenna 11 and a reflected wave from the moving object Z that is the object to be measured is received to measure the distance to the moving object Z.
A millimeter wave is a radio wave having a very short wavelength, generally in a frequency band of 30 GHz to 300 GHz (wavelength 10 mm to 1 mm). For example, a radar system using a 76 GHz charged wave is well known and has a feature that it can be used even in fog, during rainfall, and during snowfall. Millimeter wave radar has various modulation methods such as FM-CW (Frequency-Modulated Continuous Waves), two-frequency CW, pulse, and spread spectrum method. In particular, the two-frequency CW radar has a feature that it can be detected at a close distance and hardly interferes with other radars.
In the present embodiment, it is possible to measure the speed of the moving object Z by using a two-frequency CW radar system and also using a Doppler radar. It may be used.

  As shown in FIG. 1, the moving body measurement system S1 includes two distance sensors 10a and 10b, and distances L1 and L2 from the distance sensors 10a and 10b to the moving body Z are measured. The distance L0 between the distance sensors 10a and 10b is known information. Therefore, the calculation unit 21 of the control device 20 can obtain the position of the moving body Z (planar position of the measurement region in FIG. 1) based on the information of these distances L0, L1, and L2.

  By the way, if transmission and reception of millimeter waves from the distance sensors 10a and 10b are performed at the same time, interference between the distance sensors 10a and 10b occurs, which may cause erroneous measurement. Therefore, the distance measurement of the distance sensors 10a and 10b is performed in a time division manner. That is, it is possible to easily and reliably avoid interference between the distance sensors 10a and 10b by alternately switching the distance measurement of the moving body Z by the distance sensors 10a and 10b every short time.

  Then, in the storage unit 22 of the control device 20, the position information of the moving body Z obtained by the calculation unit 21 is stored as time. Therefore, the movement trajectory of the moving body Z can be obtained from the information stored in the storage unit 22.

  Thus, since the moving body measurement system S1 includes the two distance sensors 10a and 10b, the position of the moving body Z can be easily and reliably measured. In particular, the position of the moving body Z can be measured without using a method such as scanning the transmission direction of the millimeter wave from the distance sensor 10, and the system cost can be reduced.

The distance sensors 10a and 10b may have a function of directing the millimeter wave transmission direction in a predetermined direction, that is, a function of switching the measurement range, thereby improving the accuracy of distance measurement to the moving body Z. Is possible.
That is, at the beginning of measurement, the millimeter waves are transmitted over a wide range without limiting the measurement ranges of the distance sensors 10a and 10b. After the moving body Z is detected, the measurement range (millimeter wave transmission direction) of the distance sensors 10a and 10b is determined based on the position information immediately before the moving body Z stored in the storage unit 22. The direction is limited to Further, as the moving body Z moves, the transmitting direction of the millimeter waves from the distance sensors 10a and 10b is caused to follow the moving body Z. This eliminates the influence of reflected waves from other regions, so that the distance to the moving body Z and the moving speed can be measured with high accuracy. Therefore, the position and movement trajectory of the moving body Z can be measured with high accuracy.

[Second Embodiment]
Next, a second embodiment of the moving body measurement system of the present invention will be described with reference to the drawings.
FIG. 3 is a diagram showing a schematic configuration of the moving body measurement system S2. In addition, about the component etc. which are the same as the mobile body measurement system S1, the same code | symbol is attached | subjected and the description is abbreviate | omitted.

The moving body measurement system S2 includes three distance sensors 10 (10a, 10b, 10c) and a control device 20 (not shown).
Since the moving body measurement system S2 includes the three distance sensors 10a, 10b, and 10c, it is possible to measure the positions of the plurality of moving bodies Z1, Z2, and Z3.

Here, the reason why the three distance sensors 10a, 10b, and 10c are used when measuring the positions of the plurality of moving bodies Z1, Z2, and Z3 will be described with reference to FIG.
First, when the positions of a plurality of moving bodies Z1, Z2 are to be measured using the two distance sensors 10a, 10b, the distances La1, La2, Lb1 from the distance sensors 10a, 10b to the moving bodies Z1, Z2 are measured. , Lb2. And the position of the mobile bodies Z1 and Z2 is calculated | required from the relationship between these distance information and distance L0 of distance sensor 10a, 10b.
However, even if the distances La1, La2, Lb1, and Lb2 are measured, the positions of the moving bodies Z1 and Z2 cannot be determined. This is because there are a plurality of places where the mobile bodies Z1 and Z2 may exist.

The distance sensors 10a and 10b transmit the millimeter wave from the antenna 11 and receive the reflected waves from the mobile bodies Z1 and Z2, respectively, and measure the distance to the mobile bodies Z1 and Z2. The reflected waves from the bodies Z1 and Z2 are caused by being indistinguishable.
That is, the distance sensor 10a can recognize that the object to be measured exists at the points of the distances La1 and La2, but cannot recognize whether the object to be measured is the moving body Z1 or the moving body Z2. Similarly, the distance sensor 10b cannot recognize whether the object to be measured existing at the points of the distances Lb1 and Lb2 is the moving body Z1 or the moving body Z2. For this reason, the place where the mobile bodies Z1 and Z2 exist cannot be determined.

Specifically, as shown in FIG. 4, when determining the position of the moving body Z1, a circle Ca1 having a radius La1 centered on the distance sensor 10a and a circle Cb1 having a radius Lb1 centered on the distance sensor 10b Must be recognized as the position of the moving body Z1.
Similarly, when the position of the moving body Z2 is obtained, an intersection B between a circle Ca2 having a radius La2 centered on the distance sensor 10a and a circle Cb2 having a radius LB2 centered on the distance sensor 10b is set as the position of the moving body Z2. It is necessary to certify.

  However, the distance sensors 10a and 10b can only recognize that the object to be measured exists at the points of the distances La1, La2, Lb1, and Lb2. For this reason, as shown in FIG. 4, it cannot be denied that there is a possibility that an object to be measured exists at the intersection C between the circle Ca1 and the circle Cb2 or at the intersection D between the circle Ca2 and the circle Cb1. That is, it cannot be determined which of the intersections A to D the moving bodies Z1 and Z2 exist.

Thus, when the two distance sensors 10a and 10b are used, the positions of the plurality of moving bodies Z1 and Z2 cannot be measured.
Therefore, as shown in FIG. 3, by providing the three distance sensors 10a, 10b, and 10c, the above-described inconvenience can be avoided, and the positions of a plurality of moving bodies Z1, Z2, and Z3 can be measured simultaneously. It becomes. It is assumed that the positional relationship between the three distance sensors 10a, 10b, and 10c is already known.
That is, when obtaining the position of the object to be measured, the position of the object can be reliably recognized by obtaining the intersection of three circles centered on the three distance sensors 10a, 10b, and 10c.
Therefore, even when there are a plurality of moving bodies that are measured objects, these positions can be obtained reliably.

  In order to measure the positions of the plurality of moving bodies Z1, Z2, and Z3 with high accuracy, an arrangement in which the distance sensors 10a, 10b, and 10c are positioned on the same straight line should be avoided. As shown in FIG. 3, the distance sensors 10a, 10b, and 10c are arranged so that the measurement moving bodies Z1 to Z3, which are objects to be measured, exist in the region surrounded by the three distance sensors 10a, 10b, and 10c. By doing so, it becomes possible to satisfactorily perform the position measurement of the measurement movable bodies Z1 to Z3.

Also in the moving body measurement system S2, it is preferable to avoid interference between the distance sensors 10a, 10b, and 10c by performing distance measurement using the distance sensors 10a, 10b, and 10c in a time division manner.
In addition, the moving body measurement system S2 can also obtain the movement locus of the moving bodies Z1 to Z3 from the position information of the moving bodies Z1 to Z3 stored in the storage unit 22 of the control device 20.

  Further, the distance sensors 10a, 10b, and 10c may be provided with a function of directing the millimeter wave transmission direction in a predetermined direction. This is because it becomes possible to improve the accuracy of distance measurement to the moving body. In particular, when there are a plurality of objects to be measured, by transmitting a millimeter wave from each of the distance sensors 10a, 10b, 10c toward the specific object to be measured, the position, locus, etc. of the object to be measured can be increased. It becomes possible to measure with high accuracy.

  As described above, since the moving body measurement system S2 includes the three distance sensors 10a, 10b, and 10c, the positions of the plurality of moving bodies Z1 to Z3 can be easily and reliably measured. In particular, the position of the moving body Z can be measured without using a method such as scanning the transmission direction of the millimeter wave from the distance sensor 10, and the system cost can be reduced.

Applications of the mobile body measurement systems S1 and S2 described above include an intruder detection system (security system) in a building, a ship monitoring system in a harbor, etc., but are not limited to this. Any device that measures the position may be used.
Further, not only when the position of the object to be measured changes with respect to the moving object measuring systems S1 and S2, but also when the position of the moving object measuring systems S1, S2 changes with respect to the object to be measured, And the moving body measurement systems S1 and S2 may move together. In such a case, the relative position of the object to be measured with respect to the moving body measurement systems S1 and S2 is obtained.

It is a figure which shows schematic structure of the mobile body measurement system S1. 2 is a diagram illustrating a circuit configuration of a distance sensor 10. FIG. It is a figure which shows schematic structure of the mobile body measurement system S2. It is a figure for demonstrating the position measurement method of several moving body Z1-Z3.

Explanation of symbols

S1, S2 ... Moving body measurement system Z, Z1-Z3 ... Moving body (object to be measured)
10 (10a to 10c): Distance sensor 20 ... Control device 21 ... Calculation unit 22 ... Storage unit

Claims (5)

A plurality of distance sensors that measure the distance to the object to be measured by radio waves;
A calculation unit for determining the position of the object to be measured based on measurement information from each of the plurality of distance sensors and arrangement information of the plurality of distance sensors.
A moving body measuring system comprising:   The mobile body measuring system according to claim 1, comprising three distance sensors arranged on a non-straight line as the plurality of distance sensors.   The mobile body measurement system according to claim 1, further comprising a storage unit that stores a position of the object to be measured.   The said several distance sensor performs the distance measurement of the said to-be-measured object alternately, The mobile body measuring system as described in any one of Claims 1-3 characterized by the above-mentioned. 5. The distance sensor according to claim 1, wherein the distance sensor switches a measurement range based on the immediately preceding measurement information when measuring the distance of the object to be measured. 6. Mobile measurement system.

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