KR102122761B1 - Shuttle Apparatus of Linear Movable Antenna - Google Patents

Abstract

The present invention relates to a shuttle device for realizing an improved resolution for a measurement image of a measurement object while linearly reciprocating an antenna in which a single transmitting antenna and a receiving antenna are installed. The shuttle device comprises a moving body (1), a pair of a first frame (11) and a second frame (12), a first guide rail (20), a second guide rail (30), a motor (14), a transfer belt (21), limit switches (22, 23), a first support member (25), a plurality of second support members (31), a transception antenna (200), and a control unit (100). The radio interference can be minimized by the single transmitting antenna and the receiving antenna transmitting and receiving a radar of a certain frequency, and the horizontal resolution of the measured image is improved while the antenna is linearly reciprocated in a certain direction in proportion to the travel time.

Description

Shuttle Apparatus of Linear Movable Antenna

The present invention relates to a linear mobile antenna, and more particularly, to a shuttle device for realizing an improved resolution for a measurement image of a measurement object while linearly reciprocating an antenna having a single transmitting antenna and a receiving antenna.

In general, a ground penetration radar (GPR) is a radar that probes the surface of a surface using a broadband impulse waveform. The surface transmission radar receives broadband waves from the surface of the structure or the surface of the structure, and then receives waves that return from the boundary of the medium continuously and image the properties of the medium. Finding is the latest physics exploration technique. Depending on the medium through which electromagnetic waves pass, the thickness and position of the object, the interface between the medium, the presence of internal cracks and cavities, etc. can be known by using the principle in which the propagation speed, wavelength, and reflection characteristics of the electromagnetic waves are different. It is used in fields such as internal condition investigation, geological structure and condition investigation, and underground ruins investigation. Recently, radars that use the ultra-wideband technology to see the surface are also appearing.

In FIG. 1, a transmission/reception antenna (A), which is conventionally applied to, for example, an indicator transmission radar, is composed of a transmission antenna (TX) generating a transmission signal and a reception antenna (RX) receiving a response signal, and each transmission antenna ( TX) and the reception antenna (RX) are fixed. At this time, a plurality of transmitting antennas (TX) and receiving antennas (RX) are arranged at fixed intervals in order to improve the horizontal resolution for the images of underground buried or pupils detected from the transmitting and receiving antenna (A) for the surface transmission radar. do. Moreover, since the interference between the antenna and the antenna occurs in the arrangement of the transmitting antenna (TX) and the receiving antenna (RX) in the transmitting/receiving antenna (A), the distance between the antenna and the antenna must be secured in correspondence to the probe frequency to minimize this. .

Moreover, the width between the antennas requires approximately 30 cm of space. In addition, the required isolation (Isolation) is approximately 50dB and the insulation between the antennas can be ensured only when the absorber I is disposed in the space between the antennas. When using a reinforcing material other than the absorber (I), the gap should be wider to secure insulation.

Therefore, the conventional surface transmission radar has a problem in that a plurality of transmitting antennas and receiving antennas must be installed to increase the horizontal resolution in the detected image, and the spacing between antennas is minimized to minimize radio interference depending on the frequency of the probe. There was a problem that had to be adjusted and installed.

As a prior art related to the present invention, the frequency change system of the surface transmission radar for improving the detection speed of Patent Document 1 includes a transmitter for generating each transmission signal, a transmission antenna 10 for emitting the generated transmission signal, It consists of a receiving antenna 20 for receiving a response signal reflected by the transmission signal from the medium, and a plurality of ground transmission radars (GPRs) 1 composed of a receiver for processing the received signal, and a plurality of An indicator transmission radar unit 100 formed by arranging two indicator transmission radars 1 in a horizontal aggregate form; Frequency control unit 200 for simultaneously setting the frequency of the transmission signal and the frequency of the response signal for each of the plurality of indicator transmission radars 1, so that the plurality of indicator transmission radars 1 operate simultaneously at different frequencies. ); And a signal processing unit 300 for analyzing the response signal obtained from the indicator transmission radar unit 100, wherein the frequency control unit 200 is different for each of the plurality of indicator transmission radars 1. It is disclosed that the frequency of the transmission signal and the frequency of the response signal are set to control simultaneous operation, and the frequency of the transmission signal and the frequency of the response signal are set so that harmonics do not overlap with each other.

In addition, the broadside-based cross-type GPR antenna array device of Patent Document 2 is a broadside-based cross-type antenna in which the transmitting antenna 11 and the receiving antenna 13 are cross-arranged so as to have a broad-side (BD) array. Part 10; A GPR radio wave generator 20 which generates and outputs GPR radio waves; A transmitting antenna switch unit 30 sequentially switching the transmitting antennas 11 at predetermined time division intervals and outputting the GPR radio waves to the switched transmitting antenna 11; A reception antenna switch unit 60 for switching adjacent reception antennas 13 of the switched transmission antenna 11 at the predetermined time division intervals to receive and output GPR radio waves reflected from a measurement object; And a control unit 70 for controlling the starter and switching of the transmitting antenna switch unit 30 and the receiving antenna switch unit 60.

Republic of Korea Registered Patent Publication No. 10-1627346 (2016.06.07. Republic of Korea Registered Patent Publication No. 10-1758364 (announced on July 31, 2017)

The present invention is to solve the above problems, by installing a single transmitting and receiving antennas that transmit and receive radars of a certain frequency to minimize radio interference and measure while the antenna is linearly reciprocated in a certain direction in proportion to the moving time. The aim is to improve the horizontal resolution of the image.

The present invention to achieve the above object, a mobile body capable of autonomous driving; A pair of first and second frames installed on the movable body and facing each other at a predetermined distance from side to side; A first guide rail installed horizontally between the first frame and the rear of the second frame; A second guide rail installed horizontally below the front surface of the first frame and the second frame; A motor installed on the bracket provided on the first frame and rotating forward and reverse; A drive roller coupled to the rotation shaft of the motor, and wound between the driven roller and a driven roller installed at a predetermined distance to be transferred to the left and right according to the rotation of the motor; A limit switch installed on the left and right sides of the second guide rail to switch forward and reverse rotation of the motor; A first support member having one end fixedly coupled to the transport belt and the first guide rail, respectively; A plurality of second support members having an upper end fixedly coupled to the second guide rail; A transmission/reception antenna having a first support member and a second support member coupled to an upper surface and outputting a transmission signal and receiving a response signal; A motor driver that outputs a signal for controlling the driving of the motor, and outputs a transmission signal through a transmission signal processing unit to the transmission and reception antenna, receives a response signal received from the transmission and reception antenna through a response signal processing unit, and receives the response Providing a linear mobile antenna shuttle device that includes a control unit that allows signals to be processed by the signal processing unit and the image processing unit, controls the moving object, controls the transmission/reception antenna, and outputs a signal to control the motor driver. It is characteristic.

In addition, in the present invention, the motor may further include an encoder that senses the rotational value of the motor and transmits it to the motor driver.

In addition, in the present invention, the motor may be configured as a stepping motor or a servo motor.

In addition, in the present invention, the transmission signal processing unit is a transmission signal output from the control unit is converted to an analog signal from an analog signal converter and output, the modulated signal through the modulator is amplified to a certain level in the amplifier, and then the transmission signal from the transmission and reception antenna Output, and the response signal processing unit amplifies the response signal received from the transmit/receive antenna to a certain level of voltage in the low-voltage amplifier, and then the signal demodulated by the demodulator goes through the amplifier, amplifies to a certain level, and then digitally converts it from the digital signal converter. Can be converted to a signal.

In addition, in the present invention, the image processing unit receives the image data from the signal processing unit and extracts the image data in the horizontal direction, from left to right according to the forward and reverse rotation of the motor corresponding to the horizontal axis of the extracted image data. And calculating coordinates of the points measured from the right to the left, calculating the coordinates corresponding to the vertical axis for the velocity displacement of the moving object, and performing the centerline interpolation algorithm from the calculated horizontal and vertical coordinates. Interpolated images can be processed.

In addition, in the present invention, the control unit of the control unit may further include a moving object control unit for outputting a signal for controlling the movement of the moving object, a moving object driving unit for operating the moving object, and a transmitting and receiving antenna control unit for controlling the transmitting and receiving antenna.

In addition, the present invention, using the linear mobile antenna shuttle device as a linear mobile living body radar, the linear mobile living body radar is a first step of determining the presence and location of the measurement object within the recognition range, and according to the position of the measurement object A feature of the present invention is to provide a linear mobile antenna shuttle device comprising a second step of measuring a biosignal of a measurement object after the position of the linear mobile biological radar is fixed.

According to the present invention, the surface transmission radar, which is a non-destructive inspection equipment, can measure the surface or underground facilities or pupils without interference with only a single transmitting antenna and a receiving antenna, and can obtain an improved resolution in the horizontal direction among the measured images. In addition, it is possible to adjust the linear movement speed of the antenna in response to the reception frequency, so that more accurate information on the surface or underground facilities or pupils can be obtained, thus ensuring the accuracy and reliability of the surface transmission radar and shortening the time required for measurement. In addition, when applied as a linear mobile bio radar, there are various advantages that can measure bio signals.

1 is a perspective view showing an array antenna of a general transmission radar antenna.
Figure 2 is an embodiment according to the present invention, a perspective view showing a linear mobile antenna shuttle device.
3 is a block diagram showing a configuration for processing a signal transmitted and received in the linear mobile antenna shuttle device according to the present invention.
4 is an exemplary diagram of image processing of measurement data in a linear mobile antenna shuttle device according to the present invention.
5 is an exemplary view showing a definition of a measurement point in a linear mobile antenna shuttle device according to the present invention.
6 is a graph showing a simulation for verifying a mathematical expression of a measurement point in a linear mobile antenna shuttle device according to the present invention.
7 is an exemplary view showing acquiring a centerline interpolation image in a linear mobile antenna shuttle device according to the present invention.
8 is an exemplary view showing a B-SCAN image aligned according to a moving object in a linear mobile antenna shuttle device according to the present invention.
9 is an exemplary view showing centerline interpolation in a linear mobile antenna shuttle device according to the present invention.
10 is a flowchart of processing an image of image data received from a receiving antenna in a linear mobile antenna shuttle device according to the present invention.
11 is a view showing an example of applying a linear mobile antenna shuttle device as a linear mobile living body radar that detects a human body signal according to another embodiment of the present invention.

Hereinafter, an embodiment of the linear mobile antenna shuttle device according to the present invention will be described in detail with reference to the accompanying drawings.

2 and 3, the movable body 1 is a combination of wheels that can be moved in the front-rear direction, and is movable by a worker manually or by wire or wireless adjustment. Moreover, the moving object 1 is preferably a robot capable of autonomous driving by a built-in program.

The first frame 11 and the second frame 12 are installed to protrude forward of the moving body 1, but are installed facing each other with a predetermined distance to the front left and right sides of the moving body 1. It is preferable that the first frame 11 and the second frame 12 are substantially flat.

The first guide rail 20 is horizontally installed between the first frame 11 and the rear of the second frame 12. A first support member 25 is coupled to the first guide rail 20. The first guide rail 20 is made of a coupling structure in which the first support member 25 is transported while sliding from side to side. In addition, the second guide rail 30 is horizontally installed under the front of the first frame 11 and the second frame 12. A plurality of second support members 31 are coupled to the second guide rail 30. The second guide rail 30 is formed of a coupling structure in which the second support member 31 is transferred while sliding from side to side. Moreover, the first guide rail 20 has a structure in which the first support member 25 is coupled from the side, and the second guide rail 30 has a structure in which the second support member 31 is coupled from the bottom surface.

The motor 14 is installed on the bracket 13 provided at a predetermined interval on the first frame 11. The motor 14 is a motor that rotates forward and reverse, and a stepping motor or a servo motor is preferably applied. In addition to the reduction gear, the motor 14 is provided with an encoder that senses the rotation value of the motor and transmits it to the motor driver 40. A driving roller 15 is coupled to the rotation shaft of the motor 14, and a driven roller 16 is coupled with a certain distance from the driving roller 15.

The conveying belt 21 is wound between the driving roller 15 and the driven roller 16 and is left and right conveyed according to the rotation of the motor 14. The feed belt 21 is formed with teeth protruding at regular intervals on one side. The conveying belt 21 is also coupled to the driving roller 15 and the driven roller 16 formed with teeth protruding on the surface, so that it does not slip, can maintain a constant speed ratio, and is characterized by low noise. A first support member 25 is coupled to the transfer belt 21.

The limit switches 22 and 23 are respectively installed on the left and right sides of the second guide rail 30 to switch forward and reverse rotation of the motor 14. That is, the limit switches 22 and 23 are intended to limit the movement of the first support member 25 to which the transfer belt 21 is fixed, to a position above the set position on the left or right, and the first support member 25 It is in contact with the side so that the rotation of the motor 14 is switched.

The first support member 25 has one end fixedly coupled to the transfer belt 21 and the first guide rail 20, respectively. The lower end of the first support member 25 is coupled to the surface of the enclosure of the transmitting and receiving antenna 200. And the second support member 31, the upper end is fixedly coupled to the second guide rail 30, the lower end of the second support member 31 is coupled to the surface of the enclosure of the transmitting and receiving antenna 200. Moreover, the first support member 25 is fixedly coupled to the back of the housing surface of the transmitting and receiving antenna 200, and the plurality of second supporting members 31 are fixedly coupled to both front sides of the housing surface of the transmitting and receiving antenna 200, respectively. Therefore, the transmitting and receiving antenna 200 is fixedly supported in a three-point manner on the surface of the enclosure by the first supporting member 25 and the second supporting member 31. The first support member 25 and the second support member 31 are suitable for a linear reciprocating motion, so that the endless circulation motion is efficiently performed by a plurality of balls arranged in the interior, and wear heat due to the sliding guide is prevented. It is good to apply LM guide suitable for small and high-speed movement.

The transmitting and receiving antenna 200 is provided with a pair of transmitting antennas TX and receiving antennas RX for outputting a transmission signal and receiving a response signal. The transmitting and receiving antenna 200 is installed facing downward in the enclosure, but may be installed at an angle changed according to the direction in which the measurement object is measured.

The motor driver 40 outputs a signal for controlling the driving of the motor 14. The motor driver 40 drives the motor 14 with the detection signals of the limit switches 22 and 23 and the signals of the transmission/reception antenna control unit 142.

The control unit 100 controls the operation of the linear mobile antenna shuttle device 10 and inputs and outputs control signals for controlling the signal processing of the transmitting and receiving antenna 200. The control unit 100 outputs the transmission signal through the transmission signal processing unit 110 to the transmission/reception antenna 200, receives the response signal received from the transmission/reception antenna 200 through the response signal processing unit 120, and receives the received response The signal is controlled so that the signal processing unit 130 and the image processing unit 131 can respectively process the signal. In addition, the control unit 100 controls the moving object 1, controls the transmission/reception antenna 200, and outputs a signal for controlling the motor driver 40.

Also, the transmission signal processing unit 110 includes an analog signal converter (D/A converter) 111 for converting a transmission signal output from the control unit 100 into an analog signal, and a modulator for modulating the transmission signal converted into an analog signal ( 112), and an amplifier 113 for amplifying the modulated signal in the modulator to a signal of a certain level. The transmission signal amplified by the amplifier 113 is radiated to the outside through the transmission antenna TX of the transmission/reception antenna 200. The transmission signal includes, for example, a radar signal passing through the ground surface.

The response signal processing unit 120 includes a low voltage amplifier 121 that amplifies the response signal received from the reception antenna RX of the transmission and reception antenna 200 to a voltage of a predetermined level, and a demodulator 122 that demodulates the signal amplified by the low voltage. And, an amplifier 123 for amplifying the demodulated signal to a signal of a certain level, and a digital signal converter (A/D Converter) 124 for converting the amplified response signal into a digital signal and outputting it to the control unit 100 do.

In addition, the control unit 100, the control unit 141 for outputting a signal for controlling the movement of the moving object as a control signal, the moving object driving unit for operating the moving object 142 and the transmitting and receiving antenna for controlling the transmitting and receiving antenna 200 It includes an antenna control unit 143.

The operation of the linear mobile antenna shuttle device of the present invention made as described above will be described.

First, the motor driver 40 is operated by the control signal of the transmission/reception antenna control unit 143 to reciprocate the transmission/reception antenna 200 at a predetermined distance and speed. The motor driver 40 rotates the motor 14 forward to rotate the drive roller 15 coupled with the motor shaft. The rotation of the driving roller 15 is rotated by a driven roller 16 connected to the conveyance belt 21. Therefore, the forward belt 21 that transmits power between the drive roller 15 and the driven roller 16 is also rotated forward by the forward rotation of the motor 14. At this time, the first support member 25 coupled to one side of the conveyance belt 21 is conveyed along the conveyance belt 21. Moreover, if the first support member 25 is transferred from left to right when the motor 14 rotates forward, the enclosure 201 containing the transmitting and receiving antenna 200 coupled with the first support member 25 is also left. Will be transferred to the right. In addition, since the second support member 31 is coupled to the second guide rail 30 on the surface of the housing 201, the second support member 31 is also transferred from left to right along the second guide rail 30. . Therefore, the housing 201 incorporating the transmitting and receiving antenna 200 coupled with the first supporting member 25 and the second supporting member 31 is right along the first guide rail 20 and the second guide rail 30. Is transferred to.

On the other hand, the limit switch installed on the right surface of the first guide rail 20 while the enclosure 201 containing the transmitting and receiving antenna 200 is transferred to the right along the first guide rail 20 and the second guide rail 30. When the first support member 25 is in contact with the 22, the motor driver 40 stops the forward rotation of the motor 14 and then outputs a control signal so that the motor 14 is reversed. Thereafter, the conveying belt 21 coupled between the driving roller 15 and the driven roller 16 is also reversely rotated by the reverse rotation of the motor 14, and the first supporting member 25 coupled to the conveying belt 21 is also rotated. The enclosure 201 built into the transmitting and receiving antenna 200 is transferred from right to left. Moreover, the second support member 31 coupled to the surface of the housing 201 will also be transferred from right to left along the second guide rail 30. In addition, the limit switch installed on the left surface of the first guide rail 20 while the enclosure 201 having the transmitting and receiving antenna 200 is transferred to the left along the first guide rail 20 and the second guide rail 30. When the first support member 25 is in contact with 23, the motor driver 40 stops the reverse rotation of the motor 14 and then outputs a control signal so that the motor 14 is rotated forward. Therefore, the first guide rail 20 and the second guide rail 30, the first support member 25 and the second support member 31 coupled to the housing 201 is repeated left and right movement.

In addition, by detecting the number of revolutions of the motor 14 from the encoder provided in the motor 14, it is possible to know the transport distance of the housing 201 in which the transmission/reception antenna 200 is embedded.

In addition, the linear mobile antenna shuttle device 10 of the present invention is mounted on the moving object 1 moving forward or backward, while the forward/reverse antenna transmits/receives the antenna 200 transmits an infinitely repeatable transmission signal in the horizontal direction and responds. You will receive a signal.

Next, a process of processing the transmission signal of the transmission/reception antenna 200 and the response signal returned from the measurement object at a certain distance will be described.

First, unlike the array antenna of FIG. 1, in the case of the linear mobile antenna of the present invention, signal processing must be distinguished. For example, the array antenna is configured to switch and control the arrayed antennas to separate the transmission and reception signals for each array into groups for each antenna and process the signals. That is, No. 1 transmission antenna (TX) and No. 1 reception antenna (RX) form one group, and n groups of signal classifications of n to Tx-n RX are configured to process signals.

However, when the linear mobile antenna is composed of a single antenna that is not arranged, it is not a structure controlled by a switch, but a signal processing by dividing the unit distance due to the linear movement and speed of the transmitting and receiving antenna 200 according to the driving of the motor into moving coordinates. Synchronize.

In FIG. 4, signal processing is performed by classifying received data for each coordinate, and image processing may be performed in a combination of the data. The speed of the motor is defined as 1m/s, and when the antenna moves 1m, the movement of the antenna can be monitored by an encoder for every 5cm movement to synchronize the transmission/reception period to process the signal received from the antenna. That is, it receives the detected measurement data at 5 cm intervals. When the horizontal resolution is 5cm, 21 antenna coordinates are determined based on 1m. As the speed changes, the resolution may be higher.

In addition, as a measurement method according to the feed rate and distance of the linear mobile antenna, the vehicle speed information and B-SCAN data are synchronized to calculate the slope information according to the vehicle speed offset and to accurately estimate the actual measurement point.

In FIG. 5, the definition of the measurement point of the linear mobile antenna when the mobile body 1 is stopped is W/(N-1), etc. for N total measurement points when the total travel distance of the linear mobile antenna is W. Measurement points are defined at intervals.

In FIG. 6, a simulation was performed to verify a mathematical expression for a measurement point using a linear mobile antenna when the mobile body 1 was stopped. That is, when the vehicle speed of the mobile body 1 is 1 m/s and the speed of the linear mobile antenna is 0.5 m/s, it is a simulation result for W=1 and N=21. In FIG. 6, the horizontal axis and the vertical axis are the movement direction of the linear mobile antenna and the moving direction of the mobile body 1, respectively, and the area indicated by a circle is a measurement position of the linear mobile antenna.

In FIG. 7, when a center-line interpolated image is obtained, one straight center-line interpolation B-SCAN image is obtained from two inclined images. Therefore, in FIG. 8, the centerline B-SCAN image is aligned according to the progress of the moving object. Moreover, in FIG. 9, as the moving object progresses, a centerline B-SCAN image is generated. When the linear mobile antenna reciprocates M times, (2M-1) centerline B-SCAN images are generated.

Next, in FIG. 10, the image of the image data received from the receiving antenna RX of the transmitting and receiving antenna 200 is processed. That is, the image data (B-SCAN) output from the control unit 100 to the signal processing unit 130 is input to the image processing unit 131 (S1). The image processing unit 131 extracts zero-answer data in the horizontal direction from the image data (S2). Then, each coordinate of a point measured in a left-to-right direction according to the normal rotation of the motor 14 corresponding to the horizontal axis of the extracted response data is calculated (S3), and from right to left according to the reverse rotation of the motor 14 Each coordinate of the measured point is calculated (S4). In addition, coordinates corresponding to the vertical axis with respect to the speed displacement of the moving body 1 are calculated (S5). Then, after performing the alignment of the center line interpolation algorithm from the calculated horizontal and vertical coordinates (S6), the interpolated image is processed (S7).

In FIG. 11, as another embodiment of the linear mobile antenna shuttle device of the present invention, the linear mobile antenna shuttle device may be applied to a non-contact microwave Doppler biological radar. In other words, in the case of a biological radar, it is a radar system capable of measuring heart rate and breathing by pointing toward the chest of the human body in a fixed form, and predicting cardiovascular disease and stress due to changes in heart rate and breathing.

Therefore, when a linear mobile antenna is applied as a biological radar, not only a general biosignal can be detected, but also can be used for measurement of various measurement objects. As the antenna moves, a wide range of scans are possible, which can be used for occupancy detection or motion detection.

Moreover, when the position of the human body, which is a measurement target, is sensed, the antenna stops and stops, and changes to a state in which a biological signal is measured by pointing toward the human body. Also, the reason why you should not move when measuring the biosignal is to measure the heart rate and breathing, so it must be fixed when measuring the biosignal because it detects and measures the phase change of the Doppler signal for the minute movement of the chest. However, the fixed biological radar has a fixed recognition range according to the direction of the antenna in a fixed position, and has a disadvantage that it can be recognized only when it is within a limited range.

On the other hand, a mobile living radar using a linear mobile antenna has an advantage in that a recognition range is determined according to the movement of the antenna. However, the biometric radar using a linear mobile antenna differs from the biometric radar using a fixed antenna. That is, the linear mobile biometric radar is recognized in two stages. Step 1 determines the presence and location of the measurement object within the recognition range. If the presence and location of the object to be measured is determined in step 1, the linear movable bio radar is fixed to the position of the object to be measured. After the linear movable bio-radar is fixed, the bio-signal of the measurement object is measured in two steps to determine the state of the measurement object. This configuration and measurement method show a distinct difference from a stationary living radar.

As such, the linear mobile antenna shuttle device of the present invention may be applied to a linear mobile living body radar. Therefore, the control unit 100 controls the motor driver 40 through the transmit/receive antenna control unit 142 when measuring a living body, which is a measurement target, and the transmitted signal output from the transmit antenna TX of the transmit/receive antenna 200 from the living body. If the receiving antenna RX receives the returning response signal, the image data may be processed and processed after signal processing.

In the above description, the present invention has been illustrated and described in connection with specific embodiments, but it is understood in the art that various modifications and changes are possible without departing from the spirit and scope of the invention as indicated by the claims. Anyone who has it will know it easily.

1: Moving body 10: Shuttle device 11: First frame 12: Second frame 13: Bracket 14: Motor 15: Drive roller 16: Follower roller 20: First guide rail 21: Transfer belt 22, 23: Limit switch 25: No 1 support member 30: second guide rail 31: second support member 40: motor driver 100: control unit 110: transmission signal processing unit 111: analog signal converter 112: modulator 113: amplifier 120: response signal processing unit 121: low voltage amplifier 122: demodulator 123: amplifier 124: digital signal converter 130: signal processing unit 131: image processing unit 140: moving object control unit 141: moving object driving unit 142: transmitting and receiving antenna control unit 200, A: transmitting and receiving antenna 201: enclosure TX: transmitting antenna RX: receiving antenna I: insulator

Claims (7)

A moving object 1 capable of autonomous driving;
A pair of first frames 11 and second frames 12 installed on the movable body 1 and facing each other at a predetermined distance from side to side;
A first guide rail 20 horizontally installed between the rear surfaces of the first frame 11 and the second frame 12;
A second guide rail 30 horizontally installed under the front surface of the first frame 11 and the second frame 12;
A motor 14 installed on the bracket 13 provided on the first frame 11 and rotating forward and reverse;
The drive roller 15 is coupled to the rotation axis of the motor 14, and is wound between the drive roller 15 and the driven roller 16 installed at a predetermined distance, and the transfer belt is fed to the left and right according to the rotation of the motor 14 (21);
Limit switches 22 and 23 installed on left and right sides of the second guide rail 30 to switch between forward and reverse rotation of the motor 14;
A first support member 25 having one end fixedly coupled to the transport belt 21 and the first guide rail 20;
A plurality of second support members 31 having a top fixedly coupled to the second guide rail 30;
The first support member 25 and the second support member 31 are coupled to the upper surface, the transmission and reception antenna 200 for outputting a transmission signal and receiving a response signal;
Motor driver 40 for outputting a signal for controlling the driving of the motor 14, and
Outputs a transmission signal through the transmission signal processing unit 110 to the transmission and reception antenna 200, receives the response signal received from the transmission and reception antenna 200 through the response signal processing unit 120, and signals the received response signal A control unit for processing the processing unit 130 and the image processing unit 131, controlling the moving object 1, controlling the transmitting and receiving antenna 200, and outputting a signal for controlling the motor driver 40 ( 100), including a linear mobile antenna shuttle device.
According to claim 1,
The motor 14 is further provided with an encoder that detects the rotation value of the motor and transmits it to the motor driver 40, a linear mobile antenna shuttle device.
The method according to claim 1 or 2,
The motor 14 is made of a stepping motor or a servo motor, a linear mobile antenna shuttle device.
According to claim 1,
In the transmission signal processing unit 110, the transmission signal output from the control unit 100 is converted into an analog signal by the analog signal converter 111 and output, and the signal modulated through the modulator 112 is at a constant level in the amplifier 113. After being amplified by, the transmitting and receiving antenna 200 outputs a transmission signal,
The response signal processing unit 120 is a response signal received from the transmission and reception antenna 200 is amplified to a voltage of a certain level in the low-voltage amplifier 121 and then demodulated signal from the demodulator 122 passes through the amplifier 123 A linear mobile antenna shuttle device that is amplified to a certain level and then converted to a digital signal by the digital signal converter 124.
According to claim 1,
The image processing unit 131 receives the image data from the signal processing unit 130 and extracts the image data in the horizontal direction, and the left according to the forward and reverse rotation of the motor 14 corresponding to the horizontal axis of the extracted image data. Calculates each coordinate of the point measured from right to right and from left to right, calculates coordinates corresponding to the vertical axis for the speed displacement of the movable body 1, and calculates the coordinates of the centerline from the calculated horizontal and vertical coordinates. After performing the interpolation algorithm, a linear mobile antenna shuttle device that processes an interpolated image.
According to claim 1,
A moving object control unit 141 for outputting a signal for controlling the movement of the moving object with a control signal of the control unit 100, a moving object driving unit 142 for operating the moving object 1, and a transmitting and receiving antenna for controlling the transmitting and receiving antenna 200 Further comprising a control unit 143, a linear mobile antenna shuttle device.
The linear mobile antenna shuttle device of claim 1 is used as a linear mobile biometric radar, wherein the linear mobile biometric radar comprises a first step of determining the presence and location of a measurement object within a recognition range, and the linear mobile living body according to the position of the measurement object. After the position of the radar is fixed, comprising a second step of measuring the bio-signal of the measurement object, the linear mobile antenna shuttle device.

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