JPS6256445B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a velocity processing device used in a moving object tracking device or the like.

Conventionally, a wide variety of tracking devices for moving objects have been developed and are used, for example, to prevent collisions of ships, aircraft, etc., and to monitor robots. However, all conventional devices only determine the position and velocity of a moving object, and cannot know the past movement of the moving object. For this reason, even when used for collision prevention, for example, it is only possible to know the current position and moving speed, and it is not possible to know whether the past movement was normal or the past movement tendency, for example, if the eyelids moved quickly. The disadvantage is that it is not possible to know whether it is moving in a zigzag pattern or moving in a zigzag pattern.

An object of the present invention is to provide a speed processing device that can extract features related to the motion of an object that could not be obtained with conventional tracking devices, that is, how a moving object moves as a numerical value or as a trend. It is in.

The speed processing device of the present invention includes a speed quantization circuit that samples and quantizes the moving speed and direction of an object to be processed at fixed time intervals, and a speed quantization circuit that inputs the quantized data output from the speed quantization circuit and inputs the quantized data outputted from the speed quantization circuit. A shift register that shifts every
a selection circuit that selects different integrators corresponding to the combination of the output value of the shift register and the output value of the speed quantization circuit and inputs the signals; and a selection circuit that respectively stores the input signals given from the selection circuit. and a plurality of integrators.

Next, the present invention will be explained in detail with reference to the drawings.

FIG. 1 is a block diagram showing one embodiment of the present invention. That is, information regarding the moving direction and speed of the object to be processed is input to the speed quantization circuit 1. For example, as shown in Fig. 2, the moving direction is classified into five directions on the plane: up, right, down, left, and no movement, and the numbers are "1", "2", and "2", respectively.
Assign “3”, “4”, and “5”. Furthermore, it is possible to classify in multiple directions, and the speed can also be quantized in two or more stages, but in order to simplify the explanation, in this embodiment, the case of the above five classifications will be explained. In this case, encoding is easier to understand than quantization, so encoding will be used in the following explanation. That is, the codes "1", "2", "3", "4", etc. correspond to the direction and speed of movement.
Let's assign "5". The quantization circuit 1 samples input information at fixed time intervals ΔT,
One of the above codes corresponding to the input information is output and given to the register 2 and the selection circuit (selector) 3. The register 2 accumulates the input code for a certain period of time ΔT and outputs it to the selector 3. Selector 3 is
One of the integrators of the integrator group 4 is selected in accordance with the combination of the current input code given from the quantization circuit 1 and the code past the time ΔT given from the register 2. In this example, there are 5 types of classified codes, so the combinations are 5×5
= 25 ways. Therefore, the integrator group 4 can accommodate all combinations with 25 integrators.

The integrator is constructed, for example, as shown in FIG. That is, the input signal is input to the adder 5, and the output of the adder 5 is stored in the memory 6.
The stored contents of the memory 6 are multiplied by a constant K by a multiplier 7, and the output value of the multiplier 7 is given to the adder 5. The adder 5 adds the above-mentioned input value and the output value of the multiplier, and stores the result in the memory 6 again. This calculation is performed for the specified time △
This is done every T. That is, an integral effect is obtained by adding the current input value and K times the currently stored value and storing the result as a new value. The constant K determines the time constant of the integrator. For example, if K is set to 1, the cumulative value of all past inputs will be stored, and if K is decreased, inputs from the recent past will remain, but as time passes, the value will be stored. The impact will be less.

The aforementioned integrator group 4 shown in FIG. 1 includes 25 integrators as described above. That is, integrator 4
-1 to 4-25. Then, the selection circuit 3 inputs the numerical value "1" to the selected integrator. The value "0" is given to integrators that are not selected. By repeating the above operation every fixed time △T,
The memory 6 of each integrator stores features related to the movement of the target moving object, that is, information indicating how the object moved. For example, when an object moves to the right at a constant speed, the output code of the quantization circuit 1 is the code "2" at each sampling time, so the memory contents of a specific integrator, for example 4-7, are numerical values at each sampling time. "1" is the input and integrated numerical value, and the memory contents of the other integrators are numerical values "0". That is, by outputting the memory contents of each integrator, it is possible to know that the robot has moved to the right at a constant speed. In addition, for example, when moving left or right, the memory contents of each integrator 4-1 to 4-25 exhibit a corresponding pattern, so past movement information is determined by the output pattern of the integrator group. can be understood. Note that the constant K may be appropriately set depending on how far back information is desired to be grasped. It is also possible to detect abnormal operation by monitoring the contents of the integrator that correspond to code combinations that do not occur during normal operation. When used for collision prevention of ships and aircraft, control of object movement by robots, etc., it is much more useful than conventional devices that can only know the current position and speed.

In the above example, the speed and direction were classified into five types, but if the speed is classified into two or more levels, the direction is further classified into multiple directions, and the quantization number is increased as a whole, even more detailed information can be obtained. Information can be accumulated.

As described above, in the present invention, velocity (direction and speed) is quantized, and each integrator corresponding to a combination of a current quantization code and a quantization code past a certain time ΔT is The system is structured so that the number ``1'' is input each time such a combination occurs, and the characteristics related to motion, that is, information about how the object moves, are accumulated, so the history of movement can be extracted as a numerical value from the integrator. A speed processing device is provided. It is also possible to detect an abnormality in movement based on the contents of a specific integrator, and it is also possible to grasp an outline of the type and characteristics of the movement based on the output pattern of the integrator group.

[Brief explanation of the drawing]

FIG. 1 is a block diagram showing one embodiment of the present invention;
FIG. 2 is a diagram showing an example of the correspondence between speed and quantization codes used in the above embodiment, and FIG. 3 is a block diagram showing an example of the configuration of the integrator of the above embodiment. In the figure, 1... Speed quantization circuit, 2... Shift register, 3... Selection circuit, 4... Integrator group, 4-1 to 4-25... Integrator, 5... Adder, 6... ...memory, 7...multiplier.

Claims (1)

[Claims] 1. A speed quantization circuit that samples and quantizes the moving speed and direction of the object to be processed at fixed time intervals, and a shift register that inputs the quantized data output from the speed quantization circuit and shifts it at each sampling time. , a selection circuit that selects different integrators corresponding to the combination of the output value of the shift register and the output value of the speed quantization circuit and inputs the signals; and a selection circuit that inputs the input signals from the selection circuit. A speed processing device comprising: a plurality of integrators for accumulating.