TW202319633A - Anti-pinch detection device for bus doors - Google Patents
Anti-pinch detection device for bus doors Download PDFInfo
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本發明係關於一種微波雷達偵測技術,特別是關於一種用於大客車車門之防夾偵測裝置。The invention relates to a microwave radar detection technology, in particular to an anti-pinch detection device for a bus door.
現行大客車車門之防夾偵測與警示系統之作法,通常是在車門畫出「禁止站立區」(KEEP CLEAR),安裝車內廣播器,提供駕駛員以語音提醒乘客勿站立在禁止區。在駕駛員控制車門打開及關閉時,先發出警告語音、聲音及閃燈,駕駛員由右後視鏡監視;若車內有架設視訊監視器時,駕駛員可由監視畫面觀看車門的上下車區域,然後開門及關門。The current method of anti-pinch detection and warning system for bus doors is usually to draw a "no standing zone" (KEEP CLEAR) on the door, install an in-car broadcaster, and provide the driver with a voice to remind passengers not to stand in the forbidden zone. When the driver controls the opening and closing of the door, the warning voice, sound and flashing light will be issued first, and the driver will be monitored by the right rearview mirror; if there is a video monitor installed in the car, the driver can watch the door getting on and off the car area from the monitoring screen , then open and close the door.
駕駛員監視乘客上下車,可使用視訊,但視訊監視器較容易遭受氣候(如雨、霧)及光線之影響。如使用紅外線偵測器或超聲波偵測器,容易遭受溫差或強風等氣候因素影響,光達則是價格昂貴。Drivers can use video to monitor passengers getting on and off the car, but video monitors are more susceptible to weather (such as rain, fog) and light. If infrared detectors or ultrasonic detectors are used, they are easily affected by climate factors such as temperature differences or strong winds, while LiDAR is expensive.
現行大客車車門的防夾偵測,駕駛員必須專注監視畫面,或觀看照後鏡。極有可能因為疏忽、乘客太多或路況複雜等因素而注意力不集中,進而發生生車門夾到乘客或物件的事件。In the anti-pinch detection of the current bus door, the driver must concentrate on monitoring the screen or look at the rear mirror. It is very likely that due to factors such as negligence, too many passengers, or complicated road conditions, you will not be able to concentrate, and then the accident that the door will pinch passengers or objects occurs.
另一種防夾偵測作法,係在大客車安裝接觸式防夾偵測裝置,在車門門框加裝氣壓防夾偵測感應管,若車門夾到乘客或無法關妥,車門會自動打開,且持續發出警示聲音以提醒駕駛員,進而保障乘客上下車安全。其缺點是使用一段時間之後,防夾偵測感應管接觸部位的靈敏度可能不均勻,或因氣壓不足而導致車門無法正常開啟。乘客可能被夾,同時接觸式感應在運作時,乘客容易受到驚嚇,直覺的反射動作,很可能造成乘客本身的傷害,或對其他乘客造成傷害。Another anti-pinch detection method is to install a contact type anti-pinch detection device on the bus, and install an air pressure anti-pinch detection sensor tube on the door frame. If the door is caught by a passenger or cannot be closed properly, the door will automatically open. Continuously emit a warning sound to remind the driver, thereby ensuring the safety of passengers getting on and off the car. The disadvantage is that after a period of use, the sensitivity of the contact part of the anti-pinch detection sensing tube may be uneven, or the door cannot be opened normally due to insufficient air pressure. Passengers may be caught. At the same time, when the contact sensor is in operation, the passengers are easily frightened, and the intuitive reflex action may cause harm to the passengers themselves or cause harm to other passengers.
故,有必要提供一種利用微波訊號監視車門附近上下車區域,且經過改良之用於大客車車門之防夾偵測裝置,以解決習用技術所存在的問題。Therefore, it is necessary to provide an improved anti-pinch detection device for coach doors that utilizes microwave signals to monitor the area of getting on and off the car door, so as to solve the problems existing in the conventional technology.
本發明之動機在於提供一種用於大客車車門之防夾偵測裝置,旨在解決並改善前述先前技術之問題與缺點。The motivation of the present invention is to provide an anti-pinch detection device for the door of a bus, aiming to solve and improve the problems and shortcomings of the aforementioned prior art.
本發明之主要目的在於提供一種用於大客車車門之防夾偵測裝置,藉由發射第一調頻連續波訊號、接收回跡之第二調頻連續波訊號及執行訊號及數據處理,以偵測大客車車門內外的上下車空間是否有乘客或物品,可以有效確保在駕駛員控制車門關閉的過程中,不致於發生夾到人體或物體等意外事件,進而達到確實提升安全性的功效。The main purpose of the present invention is to provide an anti-pinch detection device for the door of a bus, which can detect Whether there are passengers or objects in the boarding and exiting spaces inside and outside the doors of the bus can effectively ensure that accidents such as human body or objects will not be caught when the driver controls the closing of the doors, thereby achieving the effect of truly improving safety.
本發明之另一主要目的在於提供一種用於大客車車門之防夾偵測裝置,透過架設於大客車車門上方,由上往下照射乘客上下車涵蓋的目標區域。當車門開啟後,偵測該目標區域是否被佔有,如果目標區域被佔有即表示乘客上車或下車。Another main purpose of the present invention is to provide an anti-pinch detection device for the bus door, which is installed above the bus door to illuminate the target area covered by passengers getting on and off the bus from top to bottom. When the door is opened, it detects whether the target area is occupied. If the target area is occupied, it means that the passengers get on or off the bus.
本發明之另一主要目的在於提供一種用於大客車車門之防夾偵測裝置,具有對大件物體/小件物體(如大人、小孩、傘,包包)的偵測能力,對於微小物件,在設計上使用延遲時間的機制作為補強。Another main purpose of the present invention is to provide an anti-pinch detection device for bus doors, which has the ability to detect large objects/small objects (such as adults, children, umbrellas, bags), and is capable of detecting small objects , use the mechanism of delay time as a reinforcement in the design.
本發明之另一主要目的在於提供一種用於大客車車門之防夾偵測裝置,於設計上著重快速的反應時間、高偵測率及低誤警率。Another main purpose of the present invention is to provide an anti-pinch detection device for a bus door, which focuses on fast response time, high detection rate and low false alarm rate in design.
為達上述之目的,本發明提供一種防夾偵測裝置,用於一大客車車門,包括:一處理器,提供一時序控制訊號與進行防夾偵測;一射頻產生器,與該處理器電性連接,用以將該時序控制訊號產生一第一調頻連續波訊號;一功率放大器,與該射頻產生器電性連接,用以放大該第一調頻連續波訊號;一射頻收發模組,與該功率放大器電性連接,用以對一目標區域發射該第一調頻連續波訊號及接收該目標區域反射之一第二調頻連續波訊號,並產生該第一調頻連續波訊號及該第二調頻連續波訊號之一差頻訊號;以及一類比數位轉換器,與該射頻收發模組及該處理器電性連接,用以將該差頻訊號轉換為一數據,並將該數據傳送至該處理器,以使該處理器根據該數據進行該防夾偵測,判斷該目標區域是否存在乘客或物品;其中,該射頻收發模組發射之該第一調頻連續波訊號之半功率波束寬為40 o×20 o,且該目標區域為涵蓋該大客車車門內外的一上下車空間。 In order to achieve the above-mentioned purpose, the present invention provides an anti-pinch detection device for a large bus door, including: a processor, which provides a timing control signal and performs anti-pinch detection; a radio frequency generator, and the processor Electrically connected to generate a first FM continuous wave signal from the timing control signal; a power amplifier electrically connected to the radio frequency generator to amplify the first FM continuous wave signal; a radio frequency transceiver module, Electrically connected with the power amplifier for transmitting the first FM continuous wave signal to a target area and receiving a second FM continuous wave signal reflected by the target area, and generating the first FM continuous wave signal and the second FM continuous wave signal A difference frequency signal of an FM continuous wave signal; and an analog-to-digital converter electrically connected to the radio frequency transceiver module and the processor for converting the difference frequency signal into a data and sending the data to the processor, so that the processor performs the anti-pinch detection according to the data, and judges whether there are passengers or objects in the target area; wherein, the half-power beamwidth of the first FM continuous wave signal transmitted by the radio frequency transceiver module is 40 o × 20 o , and the target area is a boarding and disembarking space covering the inside and outside of the bus door.
在本發明之一實施例中,防夾偵測裝置更包括一通訊及電源單元,其中該通訊及電源單元與該處理器電性連接且提供與一車輛電源之一界面,且當該防夾偵測之判斷結果判斷該目標區域存在乘客或物品時,該通訊及電源單元將一防夾訊息傳送至一駕駛控制台。In one embodiment of the present invention, the anti-pinch detection device further includes a communication and power supply unit, wherein the communication and power supply unit is electrically connected to the processor and provides an interface with a vehicle power supply, and when the anti-pinch When the result of the detection judges that there are passengers or objects in the target area, the communication and power supply unit transmits an anti-pinch message to a driving console.
在本發明之一實施例中,該射頻收發模組包括一耦合器、一濾波器、一發射天線、一低雜訊放大器、一接收天線以及一混頻器與中頻放大器,其中該耦合器將經過該功率放大器放大後之該第一調頻連續波訊號分配至該濾波器及該混頻器與中頻放大器,該發射天線將經過該濾波器濾波之該第一調頻連續波訊號發射至該目標區域,該接收天線接收該目標區域反射之該第二調頻連續波訊號,該低雜訊放大器將該第二調頻連續波訊號低雜訊放大,且該混頻器與中頻放大器將該第一調頻連續波訊號及該第二調頻連續波訊號混頻及濾波,並產生該差頻訊號。In one embodiment of the present invention, the radio frequency transceiver module includes a coupler, a filter, a transmitting antenna, a low noise amplifier, a receiving antenna, a mixer and an intermediate frequency amplifier, wherein the coupler distributing the first FM continuous wave signal amplified by the power amplifier to the filter, the mixer and the intermediate frequency amplifier, and the transmitting antenna transmits the first FM continuous wave signal filtered by the filter to the target area, the receiving antenna receives the second FM continuous wave signal reflected by the target area, the low noise amplifier amplifies the second FM continuous wave signal with low noise, and the mixer and intermediate frequency amplifier amplify the second FM continuous wave signal An FM continuous wave signal and the second FM continuous wave signal are mixed and filtered to generate the difference frequency signal.
進一步地,該耦合器與該功率放大器電性連接,該發射天線與該濾波器電性連接,該接收天線與該低雜訊放大器電性連接,且該混頻器與中頻放大器與該低雜訊放大器及該類比數位轉換器電性連接。Further, the coupler is electrically connected to the power amplifier, the transmitting antenna is electrically connected to the filter, the receiving antenna is electrically connected to the low noise amplifier, and the mixer and the intermediate frequency amplifier are electrically connected to the low noise amplifier. The noise amplifier and the analog-to-digital converter are electrically connected.
進一步地,至少該接收天線及該發射天線係設置於該大客車車門之外側上方,且該接收天線及該發射天線於朝向地面的垂直方向上具有一最近偵測距離及一最遠偵測距離。在一實施例中,該最近偵測距離為0.3至0.7公尺,且該最遠偵測距離為1至2.2公尺。Further, at least the receiving antenna and the transmitting antenna are arranged above the outer side of the bus door, and the receiving antenna and the transmitting antenna have a shortest detection distance and a furthest detection distance in the vertical direction towards the ground . In one embodiment, the shortest detection distance is 0.3 to 0.7 meters, and the farthest detection distance is 1 to 2.2 meters.
在本發明之一實施例中,該處理器包括一預處理單元、一快速傅立葉轉換單元、一雜波移除單元、一二元積分偵測單元以及一狀態輸出單元,該預處理單元處理該數據且對該數據中的離群值進行校正,該快速傅立葉轉換單元接收處理後之該數據,執行漢明窗函數後,執行快速傅立葉轉換,以得到一一維頻譜,該雜波移除單元擷取該目標區域的一背景頻譜,再將該一維頻譜減去該背景頻譜,以得到一取樣頻譜並提供至該二元積分偵測單元,該二元積分偵測單元對該取樣頻譜執行一二元積分偵測,以得到一偵測狀態,且該狀態輸出單元根據該偵測狀態進行輸出。In one embodiment of the present invention, the processor includes a preprocessing unit, a fast Fourier transform unit, a clutter removal unit, a binary integral detection unit, and a state output unit, and the preprocessing unit processes the data and correct the outliers in the data, the fast Fourier transform unit receives the processed data, executes the Hamming window function, and performs fast Fourier transform to obtain a one-dimensional frequency spectrum, the clutter removal unit extracting a background spectrum of the target area, and then subtracting the background spectrum from the one-dimensional spectrum to obtain a sampled spectrum and providing it to the binary integral detection unit, and the binary integral detection unit executes on the sampled spectrum A binary integral detection is used to obtain a detection state, and the state output unit outputs according to the detection state.
進一步地,該二元積分偵測為一N中取M的偵測,N為設定的框的數目,且M為設定偵測得到的目標物的框的數目。此外,當該二元積分偵測的一加總值為0時,該偵測狀態為一第一狀態,且該狀態輸出單元輸出邏輯0的訊號;當該二元積分偵測開始計數時,該加總值大於0且小於M,該偵測狀態為一第二狀態,且該狀態輸出單元輸出邏輯0與1交替的時脈波;以及當該二元積分偵測之該加總值大於或等於M時,該偵測狀態為一第三狀態,且該狀態輸出單元輸出邏輯1的訊號。Further, the binary integral detection is an M-out-of-N detection, where N is the number of frames set, and M is the number of frames of the target object obtained by setting the detection. In addition, when a total value of the binary integral detection is 0, the detection state is a first state, and the state output unit outputs a signal of
在本發明之一實施例中,防夾偵測裝置更包括一圓柱形本體,其中該處理器、該射頻產生器、該功率放大器、該射頻收發模組及該類比數位轉換器係設置於該圓柱形本體內,該圓柱形本體之半徑為3.5公分,該圓柱形本體之高度為11公分,該圓柱形本體係設置於該大客車車門之外側上方,且該圓柱形本體突出安裝有該大客車車門之一車體之長度為7公分。In one embodiment of the present invention, the anti-pinch detection device further includes a cylindrical body, wherein the processor, the radio frequency generator, the power amplifier, the radio frequency transceiver module and the analog-to-digital converter are arranged on the In the cylindrical body, the radius of the cylindrical body is 3.5 cm, and the height of the cylindrical body is 11 cm. The length of one body of the passenger car door is 7 centimeters.
本發明相較於習知技術,於車門上方架設車門防夾偵測裝置,利用發射微波訊號、接收回跡訊號及執行訊號處理,以偵測車門關閉過程之中是否發生夾到人體或物體等意外事件,屬於非接觸性感測器,具有提升乘客安全,使乘客安心的效果。Compared with the conventional technology, the present invention installs a door anti-pinch detection device on the top of the car door to detect whether a human body or object is caught during the closing process of the car door by transmitting microwave signals, receiving trace signals and performing signal processing. Accidents, which are non-contact sensors, have the effect of improving passenger safety and reassuring passengers.
為了讓本發明之上述及其他目的、特徵、優點能更明顯易懂,下文將特舉本發明較佳實施例,並配合所附圖式,作詳細說明如下。再者,本發明所提到的方向用語,例如上、下、頂、底、前、後、左、右、內、外、側面、周圍、中央、水平、橫向、垂直、縱向、軸向、徑向、最上層或最下層等,僅是參考附加圖式的方向。因此,使用的方向用語是用以說明及理解本發明,而非用以限制本發明。In order to make the above and other objects, features, and advantages of the present invention more comprehensible, preferred embodiments of the present invention will be exemplified below in detail together with the attached drawings. Furthermore, the directional terms mentioned in the present invention are, for example, up, down, top, bottom, front, back, left, right, inside, outside, side, surrounding, central, horizontal, transverse, vertical, longitudinal, axial, The radial direction, the uppermost layer or the lowermost layer, etc. are only directions referring to the attached drawings. Therefore, the directional terms used are used to illustrate and understand the present invention, but not to limit the present invention.
請參照第1圖,其係顯示本案一實施例之一防夾偵測裝置之方塊圖。如第1圖所示,根據本案之一實施例,防夾偵測裝置100係用於大客車車門。防夾偵測裝置100包括處理器110、射頻產生器120、功率放大器130、射頻收發模組140及類比數位轉換器150。處理器110提供時序控制訊號與進行防夾偵測。射頻產生器120與處理器110電性連接,用以將時序控制訊號產生第一調頻連續波訊號。功率放大器130與射頻產生器120電性連接,用以放大第一調頻連續波訊號至例如1mW。射頻收發模組140與功率放大器130電性連接,用以對目標區域發射第一調頻連續波訊號及接收目標區域反射之第二調頻連續波訊號,並產生第一調頻連續波訊號及第二調頻連續波訊號之差頻訊號。類比數位轉換器150與射頻收發模組140及處理器110電性連接,用以將差頻訊號轉換為數據,並將數據傳送至處理器110,以使處理器110根據數據進行防夾偵測,判斷目標區域是否存在乘客或物品。其中,射頻收發模組140發射之第一調頻連續波訊號之半功率波束寬為40
o×20
o,且目標區域為涵蓋大客車車門內外的上下車空間。
Please refer to FIG. 1, which shows a block diagram of an anti-pinch detection device according to an embodiment of the present case. As shown in FIG. 1 , according to one embodiment of the present case, the
在一些實施例中,本案之防夾偵測裝置100更包括通訊及電源單元160。通訊及電源單元160與處理器110電性連接且提供與車輛電源之界面,且當防夾偵測之判斷結果判斷目標區域存在乘客或物品時,通訊及電源單元160將防夾訊息傳送至駕駛控制台170。In some embodiments, the
在一些實施例中,射頻收發模組140包括耦合器141、濾波器142、發射天線143、接收天線144、低雜訊放大器145以及混頻器與中頻放大器146。耦合器141將經過功率放大器130放大後之第一調頻連續波訊號分配至濾波器142及混頻器與中頻放大器146。發射天線143將經過濾波器142濾波之第一調頻連續波訊號發射至目標區域。接收天線144接收目標區域反射之第二調頻連續波訊號。低雜訊放大器145將第二調頻連續波訊號低雜訊放大,且混頻器與中頻放大器146將第一調頻連續波訊號及第二調頻連續波訊號混頻及濾波,並產生差頻訊號。較佳地,耦合器141與功率放大器130電性連接,發射天線143與濾波器142電性連接,接收天線144與低雜訊放大器145電性連接,且混頻器與中頻放大器146與低雜訊放大器145及類比數位轉換器150電性連接,然皆不以此為限。In some embodiments, the
請參照第2圖並配合第1圖,其中第2圖係顯示本案一實施例之一防夾偵測裝置之發射訊號、回跡訊號及其相差的頻率-時間對應圖。如第1圖及第2圖所示,本案之防夾偵測裝置100係使用調頻連續波(FMCW)技術,對目標區域發射調頻連續波並接收其目標回跡(echo),接收的回跡訊號經處理後,獲得目標(人、物件等)的距離參數。防夾偵測裝置100藉由發射訊號頻率(
)並接收由目標區域所反射的回跡訊號頻率(
),兩者經混波處理後得到相差的頻率即差頻(
),可用以估計目標物的距離 ,算式如下列方程式(a)與方程式(b)。
(a)
(b)
Please refer to Figure 2 and cooperate with Figure 1, wherein Figure 2 shows the frequency-time correspondence diagram of the transmission signal, return signal and their phase difference of an anti-pinch detection device according to an embodiment of the present case. As shown in Figures 1 and 2, the
其中, 為回跡訊號與發射訊號的差頻, 為入侵物與雷達的距離, 是調頻連續波發射訊號的掃描頻寬, 是調頻連續波發射訊號的掃描週期, 為光的速度。 in, is the difference frequency between the trace signal and the transmit signal, is the distance between the intruder and the radar, is the scanning bandwidth of the FM continuous wave transmitting signal, is the scanning period of the FM continuous wave transmitting signal, for the speed of light.
請參照第3圖,其係顯示本案一實施例之一防夾偵測裝置之天線涵蓋示意圖。如第3圖所示,本案之防夾偵測裝置架設時,XYZ三軸座標的原點是該防夾偵測裝置的天線中心點,該防夾偵測裝置架設之後的天線之半功率波束寬為40 o×20 o,然不以此為限,所涵蓋目標區域,即大客車車門內外的上下車空間。 Please refer to FIG. 3 , which is a schematic diagram showing the coverage of the antenna of an anti-pinch detection device according to an embodiment of the present case. As shown in Figure 3, when the anti-pinch detection device in this case is erected, the origin of the XYZ three-axis coordinates is the center point of the antenna of the anti-pinch detection device, and the half-power beam of the antenna after the anti-pinch detection device is erected The width is 40o × 20o , but it is not limited to this, and the target area covered is the boarding and disembarking space inside and outside the door of the bus.
請參照第4圖並配合第1圖,其中第4圖係顯示本案一實施例之一防夾偵測裝置之一處理器之方塊圖。如第1圖及第4圖所示,本案之防夾偵測裝置100之處理器110包含預處理單元1101、快速傅立葉轉換(FFT)單元1102、雜波移除單元1103、二元積分偵測單元1104及狀態輸出單元1105。預處理單元1101將類比數位轉換器150輸出的數據執行處理,對數據中的離群值(outlier)進行校正。之後數據輸入快速傅立葉轉換單元1102,快速傅立葉轉換單元1102執行漢明窗函數(Hamming window)後,再執行快速傅立葉轉換,以得到一維頻譜。雜波移除單元1103擷取目標區域的背景頻譜,再將一維頻譜減去背景頻譜,以得到取樣頻譜並提供取樣頻譜至二元積分偵測單元1104;二元積分偵測單元1104對雜波移除單元1103提供的取樣頻譜執行二元積分偵測,以得到偵測狀態,且狀態輸出單元1105根據偵測狀態進行輸出。Please refer to FIG. 4 and cooperate with FIG. 1, wherein FIG. 4 shows a block diagram of a processor of an anti-pinch detection device according to an embodiment of the present case. As shown in Figure 1 and Figure 4, the
在一些實施例中,二元積分偵測為N中取M的偵測,即一M-of-N偵測,其中N為設定的框(frame)的數目,M為設定偵測得到的目標物的框的數目。M-Of-N表示如果在連續的N框之中有M框偵測得目標物,則判定目標物存在。本案之防夾偵測裝置100的偵測結果為二元的狀態事件,其結果為1或0。結果為1,表示空間被佔有;結果為0,表示空間未被佔。M為一可設定的整數值。In some embodiments, the binary integral detection is a detection of M out of N, that is, an M-of-N detection, where N is the number of frames to be set, and M is the target obtained from the set detection. The number of boxes for objects. M-Of-N means that if the target is detected in M frames among the consecutive N frames, it is determined that the target exists. The detection result of the
在一些實施例中,狀態輸出單元1105與二元積分偵測單元1104電性連接,一旦二元積分偵測單元1104啟動,狀態輸出單元1105輸出正負交替的時脈波,當二元積分條件成立(例如完成N中取M),則狀態輸出單元1105輸出邏輯1的訊號,即空間被佔有。In some embodiments, the
請參照第5圖(A)及第5圖(B)並配合第4圖,其係顯示本案一實施例之一防夾偵測裝置於振幅-頻率窗口對應圖上顯示移除雜波、最近偵測距離與最遠偵測距離之示意圖。如4圖、第5圖(A)及第5圖(B)所示,雜波移除單元1103係在無目標物的環境安排一量測時間,發射一特定連續波、接收及處理,將頻譜減去特定連續波譜線,得到背景的雜波,訂出參考值如第5圖(B),再將所偵測的頻譜減去背景的雜波,同時,依據設定的最近偵測距離R
min與最遠偵測距離R
max,將小於最近偵測距離與大於最遠偵測距離的頻譜的譜線移除,如虛線所示,如第5圖(A)的區域C。
Please refer to Figure 5 (A) and Figure 5 (B) together with Figure 4, which shows that an anti-trap detection device in an embodiment of this case shows the removal of clutter, the nearest Schematic diagram of detection distance and maximum detection distance. As shown in Figure 4, Figure 5 (A) and Figure 5 (B), the
使用二元積分偵測(M-Of-N偵測)的目的在於保持防夾偵測裝置的高偵測率及極低的誤警率,避免過低的偵測率,即空間被佔用而被判斷為未被佔用,或過高的誤警率,即空間未被佔用而被判斷為被佔用。其邏輯是,在N次連續的偵測之中,有M次以上為真,則為真。The purpose of using binary integral detection (M-Of-N detection) is to maintain a high detection rate and a very low false alarm rate of the anti-pinch detection device, and to avoid a too low detection rate, that is, the space is occupied and the It is judged as unoccupied, or the false alarm rate is too high, that is, the space is judged as occupied because it is not occupied. Its logic is that among N consecutive detections, if there are more than M times true, then it is true.
進一步說明使用二元積分偵測(M-Of-N偵測)的模擬實驗設計的考量如下:N涉及防夾偵測裝置的反應時間,如果設計為1秒提出一次偵測結果報告,在1秒之內執行10次偵測(包括發射、接收及處理),N=10。依據相關資料,在不同反射特性條件(Swerling 0至Swerling IV),其M可選自3至6中的任何一者,故較保守地選擇M=6;M-Of-N偵測輸出的偵測率(
)與誤警率(
)以下列方程式(c)至(e)表示,其中
為單次偵測的偵測率,
為單次偵測的誤警率。
Further explain the design considerations of the simulated experiment using binary integral detection (M-Of-N detection) as follows: N involves the response time of the anti-trap detection device, if the design is to report a detection result in 1 second, in 1
以模擬實驗為例,假設條件訊號-雜訊比SNR=9dB, = 0.8000, = 0.0100, N=10,M=6,則M-Of-N偵測得到 =0.9672, = ,故M-Of-N的偵測率及誤警率皆符合要求。 Taking the simulation experiment as an example, assuming that the signal-to-noise ratio SNR=9dB, = 0.8000, = 0.0100, N=10, M=6, then M-Of-N can be detected =0.9672, = , so the detection rate and false alarm rate of M-Of-N meet the requirements.
請參照第6圖,其係顯示本案一實施例之一防夾偵測裝置之二元積分偵測單元之工作流程。如第6圖所示,防夾偵測裝置之二元積分偵測單元之工作流程包含以下部分:Please refer to FIG. 6, which shows the workflow of the binary integral detection unit of an anti-pinch detection device according to an embodiment of the present case. As shown in Figure 6, the workflow of the binary integral detection unit of the anti-pinch detection device includes the following parts:
(A) 比較取樣頻譜的大小與設定門檻值,如果取樣頻譜之中有任何頻率的信號(譜線)超越門檻值,即快速傅立葉轉換(FFT)的絕對值大於或等於門檻值(Thres),則基本偵測位元pri_det = 1,否則基本偵測位元pri_det = 0,該基本偵測位元輸出至一維的N位元向右移位緩衝區。(A) Compare the size of the sampling spectrum with the set threshold value. If any frequency signal (spectral line) in the sampling spectrum exceeds the threshold value, that is, the absolute value of the fast Fourier transform (FFT) is greater than or equal to the threshold value (Thres), Then the basic detection bit pri_det = 1, otherwise the basic detection bit pri_det = 0, and the basic detection bit is output to a one-dimensional N-bit right shift buffer.
(B) 基本偵測位元由該N位元向右移位緩衝區的左端輸入,每一週期T 1(防夾偵測裝置完整工作一次的時間)向右移一位元,並進行該N位元向右移位緩衝區的加總,亦即將最新的N位元加總,以得到加總值(sum),如下列方程式(f): sum(i) = pri_det(i) + pri_det(i-1) + … + pri_det(i-N-1) (f) (B) The basic detection bit is input from the left end of the right shift buffer by the N bit, and each cycle T 1 (the time when the anti-pinch detection device works once) is shifted to the right by one bit, and the The sum of N bits shifting the buffer to the right, that is, summing up the latest N bits to obtain the sum value (sum), as shown in the following equation (f): sum(i) = pri_det(i) + pri_det (i-1) + ... + pri_det(iN-1) (f)
(C) 狀態判斷,若加總值= 0,則為第一狀態(state = I);若0 <加總值<M,則為第二狀態(state = J);若加總值≧M,則為第三狀態(state = K)。(C) State judgment, if the total value = 0, it is the first state (state = I); if 0 < total value < M, then it is the second state (state = J); if the total value ≧ M , then it is the third state (state = K).
本案之防夾偵測裝置定義的偵測狀態至少有三種狀態(state)。其中,第一狀態I表示起始狀態,其具體動作為駕駛員啟動關門動作,此時的加總值=0;如果0<加總值<M則進入第二狀態J,表示有人上車或下車;當加總值≧M則進入第三狀態K,表示有人等候(空間被佔有)。The detection state defined by the anti-pinch detection device in this case has at least three states. Among them, the first state I represents the initial state, and its specific action is that the driver initiates the action of closing the door, and the total value at this time=0; if 0<total value<M, then enter the second state J, indicating that someone gets on the car or Get off the bus; when the total value≧M, enter the third state K, which means someone is waiting (the space is occupied).
請再參照第1圖、第4圖及第6圖。狀態輸出單元1105,依據二元積分偵測單元1104的偵測程序,輸出二進位訊號,在起始狀態時(加總值=0),狀態輸出單元1105得到邏輯0的訊號,並輸出邏輯0的訊號。一旦加總值大於0且小於M(0<加總值<M),狀態輸出單元1105輸出邏輯0與1交替的時脈波,使駕駛控制台170的顯示燈開始閃爍;當M-of-N條件成立,完成N中取M(加總值≧M),狀態輸出單元1105得到邏輯1的訊號,再加上0.5秒的延遲時間,輸出邏輯1的訊號至駕駛控制台170使顯示燈長亮。換言之,本案防夾偵測裝置可於駕駛控制台170設置顯示燈。顯示燈不亮,表示偵測區沒人;顯示燈閃爍,表示偵測區有人上車或下車;顯示燈長亮,表示偵測區有人。必要時,可加上聲音,提醒駕駛員。Please refer to Figure 1, Figure 4 and Figure 6 again. The
防夾偵測裝置100的偵測距離範圍小於2公尺,距離解析度必須有合適的設定,使具有合適的動態範圍(dynamic range),使偵測裝置能夠適應目標物因距離產生的變化,而進行偵測結果的計數,例如動態範圍16dB。The detection distance range of the
請參照第7圖,其係顯示本案一實施例之一防夾偵測裝置之控制時序圖。如第7圖所示,T ref為防夾偵測裝置的背景偵測時間,致能背景偵測,發射一特定連續波、接收及處理,得到背景的頻譜,使用在後續的頻譜刪除背景。T 1是防夾偵測裝置完整工作一次的時間,T 2為備便時間,完成處理參數的設定。T 3為功率放大器的致能時間。T 4為防夾偵測裝置的工作時間,包含執行發射一調頻連續波、接收及處理。T 1=T 2+T 4。T 5為連續偵測的時間,預設T 5的時間是10倍的T 1,如果T 1預設為0.1秒,設定T ref=T 1,且安排1次背景偵測接著10次的正常工作時間,則一偵測任務週期時間T C略等於1.1秒,其方程式如下所示: T C= T ref+10T 1= 11T 1(g) Please refer to FIG. 7, which shows a control sequence diagram of an anti-pinch detection device according to an embodiment of the present case. As shown in Fig. 7, T ref is the background detection time of the anti-pinch detection device, enable background detection, transmit a specific continuous wave, receive and process, obtain the background spectrum, and use the subsequent spectrum to delete the background. T 1 is the time for the anti-pinch detection device to work once, and T 2 is the time for toilet preparation to complete the setting of processing parameters. T 3 is the enabling time of the power amplifier. T 4 is the working time of the anti-pinch detection device, including the execution of transmitting-FM continuous wave, receiving and processing. T 1 =T 2 +T 4 . T 5 is the time of continuous detection, the default time of T 5 is 10 times of T 1 , if T 1 is preset to 0.1 second, set T ref =T 1 , and arrange 1 background detection followed by 10 normal The working time, then a detection task cycle time T C is slightly equal to 1.1 seconds, the equation is as follows: T C = T ref +10T 1 = 11T 1 (g)
但不以此為限。實務上,為因應不同背景的雜波與乘客上下車的速度,可以調整1次背景偵測之後,接著連續偵測的模式。But not limited to this. In practice, in response to different background clutter and the speed of passengers getting on and off the bus, it is possible to adjust the mode of one background detection followed by continuous detection.
請再參照第1圖及第7圖。本案之防夾偵測裝置100的控制時序係由處理器110產生的控制訊號。第7圖中的致能時間T
3的鋸齒波係提供射頻產生器120,使射頻產生器120產生第一調頻連續波,經功率放大器130、耦合器141、濾波器142,一直到發射天線143發射第一調頻連續波訊號。工作時間T
4包含運算時間與休眠時間,其中運算時間為接收天線144接收第二調頻連續波訊號,經低雜訊放大器145、混頻器與中頻放大器146、類比數位轉換器150,一直到處理器110的處理及運算完成,並經通訊與電源單元160傳送數據的時間。休眠時間為此次致能時間T
3的後緣到下次致能時間T
3的前緣,由處理器110發出控制指令使功率放大器130暫停放大功能,以節省電源的消耗。
Please refer to Figure 1 and Figure 7 again. The control timing of the
請參照第8圖,其係顯示於一大客車架設本案一實施例之一防夾偵測裝置之正視示意圖。在此實施例中,本案之防夾偵測裝置100係架設於大客車200的前門與中門的外側上方,但不以此為限。Please refer to Fig. 8, which is a schematic front view showing an anti-trap detection device of an embodiment of the present case erected on a large bus. In this embodiment, the
請參照第9圖、第10圖並配合第1圖,其中第9圖係顯示本案一實施例之一防夾偵測裝置之一圓柱形本體之架設俯視圖,以及第10圖係顯示本案一實施例之一防夾偵測裝置之一圓柱形本體之架設側視圖。如第1圖、第9圖及第10圖所示,本案之防夾偵測裝置100進一步具有圓柱形本體180,其中至少處理器110、射頻產生器120、功率放大器130、射頻收發模組140及類比數位轉換器150係設置於圓柱形本體180內。圓柱形本體180之半徑較佳為3.5公分,且圓柱形本體之高度較佳為11公分,但不以此為限。圓柱形本體180係相對於大客車車廂220設置於大客車車門210之外側上方,大客車車門210依照不同車型可具有不同寬度W,此寬度W範圍約在75公分至150公分,且圓柱形本體180突出安裝有大客車車門210之一車體之長度L為7公分。Please refer to Figure 9 and Figure 10 and cooperate with Figure 1, where Figure 9 shows a top view of the installation of a cylindrical body of an anti-pinch detection device according to an embodiment of the present case, and Figure 10 shows an implementation of this case A side view of erection of a cylindrical body of an anti-pinch detection device in an example. As shown in Figure 1, Figure 9 and Figure 10, the
在一些實施例中,至少接收天線144及發射天線143係設置於大客車車門210之外側上方,且接收天線144及發射天線143於朝向地面的垂直方向上具有最近偵測距離及最遠偵測距離。較佳地,最近偵測距離為0.3至0.7公尺,且最遠偵測距離為1至2.2公尺,但不以此為限。In some embodiments, at least the receiving
在一些實施例中,防夾偵測裝置100架設之後的座標的原點為防夾偵測裝置100的天線面的中心位置。選擇第一高度H
1與第二高度H
2使天線波束在X軸及Y軸的涵蓋約成不同的橢圓。例如:H
1=0.5m,對應的長軸與短軸,(x1,y1)=(0.17m, 0.34m)。H
2=2.2m,對應的長軸與短軸,(x2,y2)=(0.76m, 1.5m)。在三軸(X、Y及Z軸)的涵蓋約成一扁圓柱,第一高度H
1定義最近偵測距離R
min,且第二高度H
2定義最遠偵測距離R
max。因為車輛類型的不同,與工作環境的不同,第一高度H
1及第二高度H
2應有不同選擇。為使天線涵蓋符合要求,架設後須配合量測進行位置的調整,在處理器參數的設定時,亦須調整最近偵測距離與最遠偵測距離。
In some embodiments, the origin of the coordinates after the
調整最近偵測距離,因接近防夾偵測裝置100的距離對應於很低頻率甚至接近直流,而對防夾偵測而言,接近防夾偵測裝置100的較近距離,即車門頂部,其優先順序低於較遠距離,即車門底部。因此,最近偵測距離應有界定;最遠偵測距離因為接近地面,例如:柏油路面或水泥路面,有較強反射、折射或散射等形成雜散波,會影響到訊號雜訊比,因此在中頻的處理電路,即混頻器與中頻放大器146,具有靈敏度時間控制(Sensitivity Time Control, STC)功能,使距離愈遠即頻率愈高之處的增益愈大。Adjust the shortest detection distance, because the distance close to the
實務上,小型物件,例如:大衣衣襬、皮包或部分的雨傘,曾經有被夾的事件發生。因此,本案之防夾偵測裝置100以延遲時間的方式作為因應,也就是當防夾偵測裝置100偵測到目標區域被佔之事件時啟動警示,而在事件停止時,將延遲一段時間再取消警示。In practice, small objects, such as the hem of a coat, a purse, or a part of an umbrella, have been caught in the past. Therefore, the
綜上所述,本發明提供一種用於大客車車門之防夾偵測裝置,藉由發射第一調頻連續波訊號、接收回跡之第二調頻連續波訊號及執行訊號及數據處理,以偵測大客車車門內外的上下車空間是否有乘客或物品,可以有效確保在駕駛員控制車門關閉的過程中,不致於發生夾到人體或物體等意外事件,進而達到確實提升安全性的功效。To sum up, the present invention provides an anti-pinch detection device for the door of a bus, by transmitting the first FM continuous wave signal, receiving the second FM continuous wave signal of the return trace, and performing signal and data processing to detect Detecting whether there are passengers or objects in the boarding and disembarking spaces inside and outside the doors of the bus can effectively ensure that accidents such as human body or objects will not be caught when the driver controls the door to close, thereby achieving the effect of truly improving safety.
雖然本發明已以較佳實施例揭露,然其並非用以限制本發明,任何熟習此項技藝之人士,在不脫離本發明之精神和範圍內,當可作各種更動與修飾,因此本發明之保護範圍當視後附之申請專利範圍所界定者為準。Although the present invention has been disclosed with preferred embodiments, it is not intended to limit the present invention. Anyone skilled in this art can make various changes and modifications without departing from the spirit and scope of the present invention. Therefore, the present invention The scope of protection shall be determined by the scope of the attached patent application.
100:防夾偵測裝置 110:處理器 1101:預處理單元 1102:快速傅立葉轉換單元 1103:雜波移除單元 1104:二元積分偵測單元 1105:狀態輸出單元 120:射頻產生器 130:功率放大器 140:射頻收發模組 141:耦合器 142:濾波器 143:發射天線 144:接收天線 145:低雜訊放大器 146:混頻器與中頻放大器 150:類比數位轉換器 160:通訊與電源單元 170:駕駛控制台 180:圓柱形本體 200:大客車 210:大客車車門 220:大客車車廂 B:掃描頻寬 C:區域 FFT:快速傅立葉轉換 f b:差頻 f r:回跡訊號頻率 f t:發射訊號頻率 H 1:第一高度 H 2:第二高度 L:長度 M:設定偵測得到的目標物的框的數目 pri_det:基本偵測位元 R min:最近偵測距離 R max:最遠偵測距離 sum:加總值 T:掃描週期 T 1:防夾偵測裝置完整工作一次的時間 T 2:備便時間 T 3:致能時間 T 4:工作時間 T 5:連續運算時間 T C:偵測任務週期時間 Thres:門檻值 T ref:背景偵測時間 W:寬度 X:軸 Y:軸 Z:軸 100: anti-pinch detection device 110: processor 1101: preprocessing unit 1102: fast Fourier transform unit 1103: clutter removal unit 1104: binary integral detection unit 1105: state output unit 120: radio frequency generator 130: power Amplifier 140: RF transceiver module 141: Coupler 142: Filter 143: Transmitting antenna 144: Receiving antenna 145: Low noise amplifier 146: Mixer and intermediate frequency amplifier 150: Analog-to-digital converter 160: Communication and power supply unit 170: driving console 180: cylindrical body 200: bus 210: bus door 220: bus compartment B: scanning bandwidth C: area FFT: fast Fourier transform f b : difference frequency f r : trace signal frequency f t : frequency of transmitting signal H 1 : first height H 2 : second height L: length M: set the number of frames of the detected target pri_det: basic detection bit R min : shortest detection distance R max : The farthest detection distance sum: total value T: scan cycle T 1 : time for the anti-pinch detection device to work once T 2 : toilet preparation time T 3 : enabling time T 4 : working time T 5 : continuous operation time T C : Detection task cycle time Thres: Threshold value T ref : Background detection time W: Width X: Axis Y: Axis Z: Axis
第1圖:本案一實施例之一防夾偵測裝置之方塊圖。 第2圖:本案一實施例之一防夾偵測裝置之發射訊號、回跡訊號及其相差的頻率-時間對應圖。 第3圖:本案一實施例之一防夾偵測裝置之天線涵蓋示意圖。 第4圖:本案一實施例之一防夾偵測裝置之一處理器之方塊圖。 第5圖(A)及第5圖(B):本案一實施例之一防夾偵測裝置於振幅-頻率窗口對應圖上顯示移除雜波、最近偵測距離與最遠偵測距離之示意圖。 第6圖:本案一實施例之一防夾偵測裝置之二元積分偵測單元之工作流程。 第7圖:本案一實施例之一防夾偵測裝置之控制時序圖。 第8圖:於一大客車架設本案一實施例之一防夾偵測裝置之正視示意圖。 第9圖:本案一實施例之一防夾偵測裝置之一圓柱形本體之架設俯視圖。 第10圖:本案一實施例之一防夾偵測裝置之一圓柱形本體之架設側視圖。 Figure 1: A block diagram of an anti-pinch detection device according to an embodiment of this case. Figure 2: The frequency-time correspondence diagram of the transmission signal, return signal and their phase difference of an anti-pinch detection device according to an embodiment of the present case. Figure 3: A schematic diagram of the antenna coverage of an anti-pinch detection device according to an embodiment of the present case. Figure 4: A block diagram of a processor of an anti-pinch detection device according to an embodiment of the present case. Fig. 5 (A) and Fig. 5 (B): An anti-trap detection device according to an embodiment of this case displays the relationship between the removal of clutter, the shortest detection distance and the furthest detection distance on the amplitude-frequency window correspondence graph schematic diagram. Figure 6: The workflow of the binary integral detection unit of an anti-pinch detection device according to an embodiment of this case. Fig. 7: A control timing diagram of an anti-pinch detection device according to an embodiment of the present case. Figure 8: A schematic diagram of the front view of an anti-pinch detection device of an embodiment of this case erected on a large bus. Figure 9: A top view of the erection of a cylindrical body of an anti-pinch detection device according to an embodiment of the present case. Figure 10: A side view of the installation of a cylindrical body of an anti-pinch detection device according to an embodiment of this case.
100:防夾偵測裝置 100: Anti-pinch detection device
110:處理器 110: Processor
120:射頻產生器 120: RF generator
130:功率放大器 130: Power Amplifier
140:射頻收發模組 140: RF transceiver module
141:耦合器 141: coupler
142:濾波器 142: filter
143:發射天線 143: Transmitting antenna
144:接收天線 144: Receiving antenna
145:低雜訊放大器 145: Low noise amplifier
146:混頻器與中頻放大器 146: Mixer and IF Amplifier
150:類比數位轉換器 150:Analog to digital converter
160:通訊與電源單元 160: Communication and power supply unit
170:駕駛控制台 170: Driving Console
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