JP4633072B2 - Radar scanning mechanism design support system - Google Patents

Description

  The present invention includes a rotating body that rotates around a rotation axis that is a predetermined distance away from the oscillation axis of the antenna, a first link that is pivotally supported by an eccentric pin that is radially spaced from the axis of the rotating body, One end is pin-connected to the other end of the first link, and the other end includes a four-link mechanism including a second link fixed to the antenna so as to be swingable around the swing shaft. The present invention relates to a design support device for a radar scanning mechanism that performs scanning so that the swing angle of the antenna becomes maximum at a half rotation period.

  As a conventional radar scanning mechanism, as shown in FIG. 1A, a first non-circular gear 100 attached to an input shaft, and a second non-circular gear 200 meshing with the first non-circular gear, The first non-circular gear 200 is provided with a four-bar link mechanism having one end connected to an eccentric pin 410 and the other end connected to an antenna transmission / reception unit 300. Rotating motion as indicated by a broken line in the figure is transmitted to the antenna transmission / reception unit 300 by transmitting the non-uniform rotation motion by the first non-circular gear 100 to the antenna transmission / reception unit 300 through the connection link 400. A scanning mechanism for an on-vehicle radar device that executes the above has been proposed (Patent Document 1).

  In recent years, in order to expand the range that can be detected by a radar, there has been a strong demand for a wider angle and a smaller size of a radar scanning mechanism of a radar apparatus including the radar. For example, the radar scanning mechanism needs to increase the swing angle of the antenna transmission / reception unit in order to cope with a wide angle, and the length of the link link and the length between the shaft centers of each gear to cope with the downsizing. Etc. need to be shortened. In order to satisfy such demands, the design opportunities for the radar scanning mechanism are increasing.

When designing such a radar scanning mechanism, as shown in FIG. 1 (a) and FIG. 1 (b), for example, as shown in FIGS. From the input shaft S2 of the first non-circular gear and the shaft S3 corresponding to the other end of the connecting link, the position of the remaining shaft S4 whose position is not determined by design is determined, in other words, the shaft S1. From the length d between the axes S2 and the length a between the axes S1 and S3, the length c between the axes S2 and S4 and the length b between the axes S3 and S4 are determined and determined. A design support apparatus is used to calculate whether or not a swing angle necessary for the radar scanning mechanism to be designed and an appropriate swing cycle are satisfied by a to d.
JP-A-11-38132

  However, in order to design a radar scanning mechanism using the design support apparatus as described above, the length c and the length b are set until the radar scanning mechanism satisfies a necessary swing angle and an appropriate swing period. There was a problem that it took time and trial to input various lengths, and it took time.

  In view of the above-described conventional problems, an object of the present invention is to provide a design support device for a radar scanning mechanism that can reduce the trial and error and can efficiently design the size of the four-bar linkage mechanism. is there.

In order to achieve the above-described object, the radar scanning mechanism design support apparatus according to the present invention is characterized in that a rotating body that rotates around a rotation axis that is a predetermined distance away from an oscillation axis of an antenna, and an axis of the rotating body that has one end. A first link pivotally supported by an eccentric pin radially separated from the center, one end is pin-coupled to the other end of the first link, and the other end is fixed so that the antenna can swing around the swinging shaft. Comprising a four-link mechanism comprising a second link and a design support device for a radar scanning mechanism that scans so as to maximize the swing angle of the antenna in a half rotation period of the rotating body, The length d of the third link from the swing shaft to the rotating shaft, the length a of the fourth link from the rotating shaft to the eccentric pin, the length b of the first link, the length of the second link The length of two links of length c and the maximum swing angle U Based on the input means for inputting as a variable, and the variable input by the input means, the other two lengths and the angle R formed by the second link and the third link when the swing angle is zero are determined. The calculation means for calculating based on the conditional expressions shown in the following equations 1 to 4, and the antenna angle for evaluating the linear approximation region for detecting the target by the antenna based on the calculation result by the calculation means This is in that a trajectory calculating means for calculating the trajectory is provided.

  According to the above-described configuration, the arithmetic means receives two lengths among the lengths a to d so as to satisfy the formula 1, and further receives the maximum swing angle U, so that the formula 2 The remaining two lengths of each of the lengths a to d and the angle R are calculated by the following three formulas, i.e., the dimensions of the four-bar linkage mechanism of the radar scanning mechanism.

  As described above, according to the present invention, it is possible to provide a design support device for a radar scanning mechanism that can reduce the trial and error in the calculation of the size of the four-bar linkage mechanism and can be designed efficiently. It was.

  Embodiments of a design support apparatus for a radar scanning mechanism according to the present invention mounted on a radar apparatus will be described below.

  As shown in FIG. 2A, the radar scanning mechanism 1 includes a rotating body 3 that rotates around a rotating shaft 31 that is separated from the swing shaft 21 of the antenna 2 by a predetermined distance d, and one end of the rotating body 3. A first link 4 pivotally supported by an eccentric pin 32 that is radially separated from the shaft 31, one end is connected to the other end of the first link 4 by a pin 41, and the other end is around the swing shaft 21. And a second link 5 fixed to the antenna 2 so that the antenna 2 can swing, and a scanning operation is performed so that the swing angle of the antenna 2 is maximized in a half rotation period of the rotating body 3. Is configured to do.

  Here, as shown in the front view of FIG. 2B, the second link 5 is formed integrally with the antenna fixing plate 51, and as shown in FIG. The antenna 2 is made swingable by fixing the antenna 2 via a support member 52 provided at the apex position of the plate 51.

  The antenna 2 is provided at two locations of the swing shaft 21 and a second swing shaft (not shown) provided in the antenna 2 at a position symmetrical to the swing shaft 21 with respect to the swing shaft center direction. 2 is coupled to the radar scanning mechanism body 6 and oscillates at a maximum swing angle U about a line connecting the oscillating shaft 21 and the second oscillating shaft as illustrated in FIG. 2C. . FIG. 5A is a graph showing the locus of the swing angle of the antenna when the antenna 2 swings around one rotation T of the rotating body 3.

  The rotating body 3 and a drive motor 61 for driving the rotating body 3 are connected by the shaft center 31 via a shielding plate 62 formed integrally with the radar scanning mechanism main body 6. The power supply circuit for operating the drive motor 61 and a printed circuit board (not shown) on which circuit elements constituting a control circuit are mounted are provided.

  In the design support apparatus of the radar scanning mechanism 1 described above, an application program (software) that executes various controls of the design support apparatus is installed in a computer (hardware) that operates under the management of a general-purpose operating system. The computer is configured to include a display unit such as a liquid crystal monitor as an operation interface with an operator who is a designer of the radar scanning mechanism 1, a keyboard, a mouse, and the like.

  A design support process of the radar scanning mechanism 1 executed by cooperation of hardware and software of the design support apparatus will be described in function blocks. The design support process includes the length d of the third link from the swing shaft 21 to the rotating shaft 31, the length a of the fourth link from the rotating shaft 31 to the eccentric pin 32, the first link Input means for inputting the length b of the link 4, the length of the two links out of the length c of the second link 5, and the maximum swing angle U as variables, and the variables input by the input means Based on the other two lengths and the angle R formed by the second link 5 and the third link when the swing angle is zero based on the conditional expressions shown in the following equations 1 to 4. And a trajectory calculating means for calculating a trajectory of the antenna angle based on a calculation result by the calculating means. The input unit displays a variable input screen that prompts an operator to input the variable, and sends variable information input by the operator using a mouse or a keyboard to the calculation unit. The calculation by the calculation means and the locus calculation means is realized by, for example, commercially available spreadsheet software.

  Hereinafter, the design support process of the design support apparatus will be described based on the flowchart shown in FIG.

  When the power supply of the design support apparatus is turned on, an operating system is started, and thereafter, an application program for executing the design support process is started by an operator's operation or automatically. Then, the input means displays a variable input screen as shown in FIG. 4A on the display unit of the design support apparatus, and prompts the operator to input variables (S1).

  As shown in FIG. 4B, the operator inputs a predetermined variable on the variable input screen using a keyboard, mouse, or the like (S2). There are six types of variables, the above-mentioned lengths a to d, the maximum swing angle U, and the angle R. Of these six types of variables, the length a and the length d are preset lengths depending on the diameter of the rotating body 3 to be used, that is, preset lengths in design, and the operator determines the lengths. Enter the length a and the length d. At this time, the length b and the length c remain blank. Similarly, the maximum swing angle U is also a value determined based on the swing angle of the antenna 2 desired to be realized by the radar scanning mechanism 1 to be designed, and the operator inputs the determined maximum swing angle U.

  For the maximum swing angle U, for example, the maximum swing angle U of the antenna 2 is set as large as possible in order to realize a wide angle of the radar scanning mechanism 1, that is, the locus of the swing angle of the antenna 2 is shown in FIG. Is determined from the standpoint of setting the linear approximation region S, which is a region where the antenna 2 detects a target, as large as possible. The straight line approximation region is a region that is determined to be a substantially straight line in the locus of the swing angle of the antenna 2 that draws a sine curve.

  The variable input in the input unit is sent to the calculation unit, and the variable is applied to Equations 1 to 4 in the calculation unit, and as shown in FIG. 4C, the variable not input in Step S2. (Length b, length c, and angle R) are calculated (S3).

  Specifically, when applied to Equations 2 to 4, the variables (length a, length d, and maximum swing angle U) input in the input unit are clear and input in the input unit. The variables that were not done (length b, length c, and angle R) are unknown. That is, since there are three unknown variables and three equations, unknown variables (length b, length c, and angle R) can be calculated.

  Next, it is determined whether or not each length a to d including the calculated variable satisfies the condition of Equation 1 (S4). If satisfied, the process proceeds to step S5. If not satisfied, the process returns to step S2, and redesign is performed by inputting variables (length a, length d, and maximum swing angle U) different from the previous one. Do.

  Hereinafter, Formulas 1 to 4 will be described in detail. A quadrangle constituting the four-bar linkage mechanism represented by the four sides of lengths a to d as shown in FIG. 2A has a shape as shown in FIG. 6A shows a state where the swing angle of the antenna 2 is zero, and the angle formed by the second link 5 and the third link is an angle R. FIG.

  Here, since the radar scanning mechanism 1 is configured to scan so that the swing angle of the antenna 2 becomes the maximum swing angle U in a half rotation period of the rotating body 3, FIG. As shown, when the eccentric pin 32 draws a circular trajectory as shown by a one-dot chain line, the pin 41 draws an arc trajectory as shown by a two-dot chain line, and the eccentric pin 32 is at the position 32A and the pin 41 When the eccentric pin 32 is at the position 32B and the pin 41 is at the position 41B, the swing angle is the maximum swing angle U, and the eccentric pin 32 is at the position 32C and the pin 41 is at the position. The swing angle is zero when the pin is at 41C and when the eccentric pin 32 is at the position 32D and the pin 41 is at the position 41D.

  At this time, the quadrangle constituting the four-bar linkage mechanism needs to satisfy the first formula (a + b ≦ c + d) of Formula 1 because the state shown in FIG. ) Needs to satisfy the second formula (a + c ≦ b + d) of the formula 2, and the third formula (a + d) of the formula 2 needs to satisfy the status shown in FIG. ≦ b + c) must be satisfied.

  In detail, the second equation of Equation 2 is described. From FIG. 7B, since a ≦ b1 + d1 and c ≦ b2 + d2 are satisfied, the condition of the second equation is satisfied.

  Further, by applying the cosine theorem to the triangle ABE and the triangle ABF in FIG. 6B, Equations 5 and 6 are established, and Equation 2 is derived by eliminating the angle θ from Equations 5 and 6. .

  Further, by applying the cosine theorem to the triangle BEF in FIG. 6B, Equation 7 is established, and Equation 3 is derived by transforming Equation 7.

  Further, by applying the cosine theorem to the triangle ABE in FIG. 6B, Formula 8 is established, and Formula 4 is derived by transforming Formula 8.

  The variable input by the input means and the variable calculated by the calculation means are sent to the trajectory calculation means, and the maximum swing angle U is determined by the length a to d and the angle R of the variables sent by the trajectory calculation means. The radar scanning mechanism 1 is simulated and the angle trajectory of the antenna 2 is calculated and derived by the simulated radar scanning mechanism 1 (S5).

  The operator analyzes the trajectory of the angle of the antenna 2 and ends the design when the objective is achieved by the pseudo-designed radar scanning mechanism 1, for example, when the target linear approximation region is obtained, If the objective is not achieved, for example, if the target linear approximation region cannot be obtained, the procedure from step S2 to step S6 is repeated until the target linear approximation region is obtained.

  According to the configuration described above, since the unknown variable is calculated by the calculation unit with respect to the variable input by the input unit, it is possible to reduce the number of trial and error in which the input of various variables is repeated. it can.

  In addition, the radar scanning mechanism 1 using the four-bar link mechanism described above uses trial and error of each value in order to determine the optimum values of the lengths a to d, the maximum swing angle U, and the angle R of each link. This is a preferred application example of the design support apparatus according to the present invention.

  The design support apparatus for the radar scanning mechanism 1 according to the present invention described above includes a rotating body 3 that rotates around a rotating shaft 31 that is a predetermined distance away from the swing shaft 21 of the antenna 2, and an axial center 31 of the rotating body 3 at one end. A first link 4 pivotally supported by an eccentric pin 32 radially separated from the other end, one end of which is connected to the other end of the first link 4 by a pin 41, and the other end around the swinging shaft 21. A radar scan that includes a four-bar linkage mechanism that includes a second link 5 that is fixed so as to be capable of swinging, and that scans so that the swing angle of the antenna 2 is maximized in a half rotation period of the rotating body 3. A design support program for the mechanism 1, wherein the computer is connected to the third link length d from the swing shaft 21 to the rotation shaft 31, and the fourth link from the rotation shaft 31 to the eccentric pin 32. Length a, first link 4 length b, front Based on the input means for inputting the length of the two links out of the length c of the second link 5 and the maximum swing angle U as a variable, and the other two lengths based on the variable input by the input means. And an arithmetic means for calculating an angle R formed by the second link 5 and the third link when the swing angle is zero based on the conditional expressions shown in the above equations 1 to 4, and the arithmetic means A design support program for the radar scanning mechanism 1 that is operated as a trajectory calculating means for calculating the trajectory of the antenna angle based on the calculation result is easily implemented by being installed in the computer.

  Hereinafter, another embodiment will be described. In the above-described embodiment, the configuration has been described in which the length a and the length d are input as the length preset in the design in the input unit, and the length b and the length c are calculated in the calculation unit. The two lengths may be other combinations. For example, the length a and the length c may be input in the input unit, and the length b and the length d may be calculated in the calculation unit.

  In addition, the above-mentioned embodiment is only an example of this invention, and it cannot be overemphasized that the concrete structure of each block etc. can be changed and designed suitably in the range with the effect of this invention.

Explanatory drawing showing a scanning mechanism of a conventional in-vehicle radar device (A) shows the appearance of the radar scanning mechanism, (b) shows the second link of the radar scanning mechanism, and (c) is an explanatory diagram showing the antenna of the radar scanning mechanism. Flowchart for explaining a design support process of the design support apparatus according to the present invention. (A) shows the variable input screen before variable input, (b) shows the variable input screen after variable input, (c) is an explanatory diagram showing the variable input screen after calculation of uninput variables (A) shows the trajectory of the swing angle of the antenna, and (b) is a graph showing the linear approximation region in the trajectory of the antenna swing angle. (A) shows the square which comprises a four-bar linkage mechanism, (b) is explanatory drawing which shows the locus | trajectory of each pin which comprises a four-bar linkage mechanism (A) shows the state of the four-bar linkage mechanism for explaining the first equation of Equation 1, (b) shows the state of the four-bar linkage mechanism for explaining the second equation of Equation 1, (C) is explanatory drawing which shows the state of the four-bar linkage mechanism for demonstrating the 3rd type | formula of Formula 1.

1: Radar scanning mechanism 2: Antenna 21: Oscillating shaft 3: Rotating body 31: Rotating shaft 32: Eccentric pin 4: First link 5: Second link

Claims (3)

A rotating body that rotates about a rotation axis that is a predetermined distance away from the oscillation axis of the antenna; a first link that is pivotally supported by an eccentric pin that is radially spaced from the axis of the rotating body; A four-link mechanism comprising a second link that is pin-coupled to the other end of one link and whose other end is fixed so that the antenna can be swung around the swinging shaft, and has a half rotation of the rotating body. A design support device for a radar scanning mechanism that scans so that the swing angle of the antenna is maximized in a cycle,
The length d of the third link from the swing shaft to the rotation shaft, the length a of the fourth link from the rotation shaft to the eccentric pin, the length b of the first link, the second link Input means for inputting the length of the two links of the length c and the maximum swing angle U as a variable, the other two lengths based on the variable input by the input means, and Calculation means for calculating an angle R formed by the second link and the third link when the swing angle is zero based on conditional expressions shown in the following equations 1 to 4, and based on a calculation result by the calculation means A radar scanning mechanism design support apparatus comprising a locus calculating means for calculating a locus of an antenna angle for evaluating a linear approximation region in which a target is detected by the antenna.

A rotating body that rotates about a rotation axis that is a predetermined distance away from the oscillation axis of the antenna; a first link that is pivotally supported by an eccentric pin that is radially spaced from the axis of the rotating body; A four-link mechanism comprising a second link that is pin-coupled to the other end of one link and whose other end is fixed so that the antenna can be swung around the swinging shaft, and has a half rotation of the rotating body. A design support program for a radar scanning mechanism that performs scanning so that the swing angle of the antenna is maximized in a cycle,
The computer is provided with a length d of the third link from the swing shaft to the rotation shaft, a length a of the fourth link from the rotation shaft to the eccentric pin, a length b of the first link, Based on the input means for inputting the length of the two links out of the length c of the second link and the maximum swing angle U as a variable, and the other two lengths based on the variable input by the input means. And an arithmetic means for calculating an angle R formed by the second link and the third link when the swing angle is zero based on the conditional expressions shown in the following expressions 1 to 4, and an operation by the arithmetic means: A radar scanning mechanism design support program that operates as a trajectory calculating means for calculating a trajectory of an antenna angle for evaluating a linear approximation region in which a target is detected by the antenna based on a result.

A four-bar linkage mechanism calculated by a design support device for a radar scanning mechanism according to claim 1 corresponding to an antenna angle trajectory in which a linear approximation region in which a target is detected by the antenna is a target linear approximation region. The radar scanning mechanism design method used.

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