WO2013128820A1 - 侵入物検知装置及び侵入物検知方法 - Google Patents
侵入物検知装置及び侵入物検知方法 Download PDFInfo
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- WO2013128820A1 WO2013128820A1 PCT/JP2013/000794 JP2013000794W WO2013128820A1 WO 2013128820 A1 WO2013128820 A1 WO 2013128820A1 JP 2013000794 W JP2013000794 W JP 2013000794W WO 2013128820 A1 WO2013128820 A1 WO 2013128820A1
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- 238000000034 method Methods 0.000 title description 20
- 238000001514 detection method Methods 0.000 claims abstract description 265
- 230000003111 delayed effect Effects 0.000 claims abstract description 10
- 238000006243 chemical reaction Methods 0.000 claims abstract description 8
- 230000015572 biosynthetic process Effects 0.000 abstract description 10
- 238000003786 synthesis reaction Methods 0.000 abstract description 10
- 230000005540 biological transmission Effects 0.000 description 34
- 238000010586 diagram Methods 0.000 description 6
- 230000007274 generation of a signal involved in cell-cell signaling Effects 0.000 description 5
- 238000009434 installation Methods 0.000 description 5
- 230000010354 integration Effects 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000002194 synthesizing effect Effects 0.000 description 2
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/41—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L23/00—Control, warning or like safety means along the route or between vehicles or trains
- B61L23/04—Control, warning or like safety means along the route or between vehicles or trains for monitoring the mechanical state of the route
- B61L23/041—Obstacle detection
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L29/00—Safety means for rail/road crossing traffic
- B61L29/24—Means for warning road traffic that a gate is closed or closing, or that rail traffic is approaching, e.g. for visible or audible warning
- B61L29/28—Means for warning road traffic that a gate is closed or closing, or that rail traffic is approaching, e.g. for visible or audible warning electrically operated
- B61L29/30—Supervision, e.g. monitoring arrangements
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/04—Systems determining presence of a target
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/06—Systems determining position data of a target
- G01S13/42—Simultaneous measurement of distance and other co-ordinates
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/03—Details of HF subsystems specially adapted therefor, e.g. common to transmitter and receiver
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/28—Details of pulse systems
- G01S7/285—Receivers
- G01S7/295—Means for transforming co-ordinates or for evaluating data, e.g. using computers
Definitions
- the present invention relates to an intruder detection apparatus and an intruder detection method.
- an intruder detection apparatus using a millimeter wave radar has been proposed for the purpose of detecting an intruder in an area such as a railroad crossing.
- a radar antenna and a reflection reference point are arranged at predetermined positions in a detection target region, and the detection processing unit includes a reflected wave (measured reflected wave) to be measured and a reflected wave from the reflection reference point.
- the presence of intruders is determined by the relationship.
- Patent Literature 1 a plurality of reflection reference points and antennas are arranged and input to a detection processing unit so that there is no region (undetected region) where intruders cannot be detected in a detection target region such as a railroad crossing. Intruders are detected over the entire detection target area by appropriately switching the antenna that receives the signal.
- Patent Document 1 when switching an antenna that receives a signal input to the detection processing unit, depending on the antenna switching timing and the location or timing at which the object has entered the detection target area, Intruders may be missed. Moreover, in patent document 1, the process part for switching the antenna which receives the signal input into a detection process part is needed, and it will cause the cost increase of an intruder detection apparatus.
- An object of the present invention is to provide an intruder detection apparatus and an intruder detection method capable of detecting an intruder without requiring antenna switching.
- An intruder detection apparatus is an intruder detection apparatus that detects intrusion of an object into a detection target region, and a plurality of signals reflected by the same object existing in the detection target region are received.
- Input means for receiving at least two antennas, delay means for delaying signals received at each of the plurality of antennas using different delay amounts, and each delayed signal Combining means for synthesizing the signal, frequency converting means for converting the frequency of the synthesized signal to baseband, detecting means for detecting the frequency converted signal, and using the detected signal, Generating means for generating a profile composed of a distance and a signal intensity for each distance from the antenna; and the signal intensity is preset in the profile.
- the sense target area object that has entered the comprising a detection processing means for determining whether or not there, the based on the detected peak.
- an intruder can be detected without requiring antenna switching.
- the figure which shows the intrusion detection boundary which concerns on Embodiment 1 of this invention, and the receiving area of each receiving antenna The figure which uses for description of the intrusion detection process which concerns on Embodiment 1 of this invention.
- the figure which shows an example of the radar profile which concerns on Embodiment 1 of this invention The figure which uses for description of the peak detection process which concerns on Embodiment 1 of this invention
- the figure which uses for description of the intrusion detection process which concerns on Embodiment 1 of this invention The figure which uses for description of the peak detection process which concerns on Embodiment 1 of this invention
- the figure which shows the intrusion detection boundary which concerns on Embodiment 2 of this invention, and the receiving area of each receiving antenna The flowchart which shows the flow of the production
- the figure with which it uses for description of the peak detection process which concerns on Embodiment 2 of this invention The figure with which it uses for description of the peak detection process which concerns on Embodiment 2 of this invention
- the figure with which it uses for description of the peak detection process which concerns on Embodiment 2 of this invention The figure with which it uses for description of the peak detection process which concerns on Embodiment 2 of this invention.
- FIG. 1 shows a main configuration of an intruder detection system 10 according to Embodiment 1 of the present invention.
- the intruder detection system 10 includes an intruder detection apparatus 100, n reception antennas 110-1 to 110-n, a transmission signal generation unit 200, and a transmission antenna 210.
- the intruder detection apparatus 100 detects the intrusion of an object into the “intruder detection area” based on the reflected wave of the transmission signal radiated from the transmission antenna 210 (the signal reflected by the intruder).
- the transmission signal generating unit 200 generates a pulse, and periodically radiates the generated pulse (transmission signal) toward the “intruder detection area” via the transmission antenna 210.
- the transmission signal generation unit 200 notifies the intruder detection apparatus 100 of the timing for periodically emitting the transmission signal.
- the “intruder detection area” is a detection target area of the intruder, and a boundary of the detection target area (hereinafter referred to as “intruder detection boundary”) and the intruder detection system 10 are installed.
- FIGS. 2 and 3 show an example of installation of the intruder detection system 10.
- FIG. 2 shows an example in which the intruder detection system 10 is installed at a railroad crossing.
- the intruder detection system 10 is a system that detects an object that enters the railroad crossing. That is, in FIG. 2, the “intruder detection boundary” is a line segment connecting one end point 10A and the other end point 10B of the railroad crossing, and the “intruder detection area” is the point where the intruder detection system 10 is installed. The region is surrounded by a line segment connecting the end point 10A and the end point 10B.
- FIG. 3 shows an example in which the intruder detection system 10 is installed at the platform of a railway station.
- the intruder detection system 10 is a system that detects an object that enters the track from the home. That is, in FIG. 3, the “intruder detection boundary” is a straight line connecting one end point 10 ⁇ / b> A and the other end point 10 ⁇ / b> B of the boundary between the home and the track, and the “intruder detection area” is the intruder detection system 10. This is a region connecting the installed point, the end point 10A, and the end point 10B with a straight line.
- the transmission antenna 210 is installed and designed so as to cover the entire intruder detection area described above.
- the directivity direction (the center of the radiation direction) of the transmission antenna 210 is designed toward the center of the intruder detection area (the intermediate point between the end point 10A and the end point 10B shown in FIG. 2 or 3).
- the half-value angle of the transmission antenna 210 is designed based on the angle formed by the end point 10A, the intruder detection system 10, and the end point 10B. Thereby, the transmission antenna 210 periodically radiates a transmission signal toward the entire intruder detection area.
- FIG. 4 shows the configuration of the intruder detection apparatus 100 according to Embodiment 1 of the present invention.
- the intruder detection apparatus 100 includes a reflected wave input unit 101, a delay unit 102, a signal synthesis unit 103, a frequency conversion unit 106, a quadrature detection unit 107, a radar profile generation unit 104, and a detection process. Part 105.
- a plurality of reflected wave input units 101 and delay units 102 are provided according to the number of receiving antennas 110 (n in FIG. 4). Specifically, the reflected wave input unit 101-1 and the delay unit 102-1 are provided corresponding to the reception antenna 110-1, and the reflected wave input unit 101-n and the delay unit 102-n are provided for the reception antenna 110-n. It is provided corresponding to.
- Each reflected wave input unit 101 receives, as a received signal, a reflected wave from an object that has received the transmission signal radiated from the transmitting antenna 210 via the corresponding receiving antenna 110.
- the reflected wave input unit 101 outputs the received signal to the delay unit 102.
- Each delay unit 102 delays the received signal input from the corresponding reflected wave input unit 101 using a different delay amount.
- the delay unit 102 may generate a delay by providing a transmission line or a delay element therein.
- each delay unit 102 is provided between a corresponding reflected wave input unit 101 and a signal synthesis unit 103 described later.
- each delay unit 102 is configured such that the path length between each intersection of the intruder detection boundary and the directivity direction of each reception antenna 110 and the signal synthesis unit 103 is equal among the plurality of reception antennas 110.
- the different delay amounts are set respectively. More specifically, each delay unit 102 performs signal combining unit 103 after a transmission signal is radiated from transmission antenna 210 to an object existing at each intersection between the intruder detection boundary and the directivity direction of each reception antenna 110.
- a different delay amount is set for each received signal input from each reflected wave input unit 101 so that the path lengths until the received signal (reflected wave) reaches are equal.
- the signal synthesis unit 103 synthesizes the reception signals input from the delay units 102 and outputs the synthesized reception signals to the frequency conversion unit 106.
- the frequency conversion unit 106 inputs the high frequency band signal output from the signal synthesis unit 103, down-converts the input high frequency band signal to baseband, and outputs the down-converted signal to the detection unit 107. To do.
- the detection unit 107 detects the signal generated by the transmission signal generation unit 200 from the baseband signal output by the frequency conversion unit 106, and outputs the detected signal to the radar profile generation unit 104.
- the radar profile generation unit 104 receives the signal output from the detection unit 107, and receives information related to the emission timing of the transmission signal from the transmission signal generation unit 200 (FIG. 1).
- the radar profile generation unit 104 generates a radar profile using the emission timing of the transmission signal and the reception signal.
- the “radar profile” is composed of the distance of the receiving antenna 110 and the reflection intensity (signal intensity) for each distance.
- the radar profile generation unit 104 first digitizes the signal output from the detection unit 107.
- the radar profile generation unit 104 calculates the cross-correlation between the digitized baseband signal and the transmission signal, thereby delaying the reception signal with respect to the transmission timing of the transmission signal. And how strong the received signal is received.
- the radar profile generation unit 104 does not use the signal received during the period from the start of emission of the transmission signal to the end of emission of the transmission signal for generation of the radar profile. Determine the length.
- the “distance” indicating how late the received signal is received by the reflected wave input unit 101 with respect to the emission timing of the transmission signal, and which received signal at each distance is determined.
- a radar profile composed of “reflection intensity” indicating whether the signal has been received with a certain level of strength is periodically generated in accordance with the transmission cycle of the transmission signal.
- the detection processing unit 105 detects a peak whose reflection intensity exceeds a preset threshold (boundary detection threshold) in the radar profile input from the radar profile generation unit 104, and detects an intruder based on the detected peak. It is determined whether or not there is an object that has entered the area. In the present embodiment, the detection processing unit 105 compares the signal intensity (reflection intensity) in the radar profile with a threshold value, and when a signal intensity (peak) exceeding the threshold value is detected, an object that has entered the intruder detection area is detected. Judge that it existed. When detecting the presence of an intruder, the detection processing unit 105 outputs information indicating that the presence of the intruder has been detected. Information indicating that an intruder has been detected may be output to a control device (not shown) such as a traffic signal control device and utilized.
- a control device not shown
- the number of receiving antennas 110 is not limited to three and may be two or more.
- FIG. 5 is a diagram illustrating an example of a method of installing the receiving antennas 110-1 to 110-3.
- FIG. 5 shows a state in which the point 10H where the intruder detection system 10 is installed (the installation point of the receiving antenna 110) and the intruder detection boundary 10C are viewed from above.
- the intruder detection system 10 and the receiving antenna 110 are described as being integrated.
- the intruder detection system 10 and the receiving antenna 110 may not be integrated.
- Receiving antennas 110-1 to 110-3 have the same characteristics.
- the half-value angles of the receiving antennas 110-1 to 110-3 are each 10G.
- a point 10D on the intruder detection boundary 10C is an intersection of the directivity direction of the receiving antenna 110-1 and the intruder detection boundary 10C.
- a point 10E on the intruder detection boundary 10C is an intersection of the directivity direction of the reception antenna 110-2 and the intrusion detection boundary 10C
- a point 10F on the intrusion detection boundary 10C is a directivity of the reception antenna 110-3. This is the intersection of the direction and the intruder detection boundary 10C.
- the receiving antennas 110-1 to 110-3 are installed toward the intruder detection boundary 10C so that the antenna directivity directions do not overlap each other. Further, the receiving antennas 110-1 to 110-3 are installed so that the intervals between the above-described intersections (10D, 10E, 10F) are less than or equal to half the width of the reflecting surface of the object to be detected as intrusion. For example, as shown in FIG. 5, the distance between the intersections (10D, 10E) between the directional directions of the receiving antenna 110-1 and the receiving antenna 110-2 adjacent to each other and the intruder detection boundary 10C is determined as the intrusion detection. This is less than half the width of the reflection surface of the target object (that is, the surface that can reflect the transmission signal).
- the intrusion detection target object existing on the intruder detection boundary 10C always exists over the reception area of the two or more reception antennas 110.
- the reflected wave input unit 101 receives signals (reflected waves) reflected by the same intrusion detection target object existing in the intruder detection area (here, on the intruder detection boundary 10C) from the plurality of receiving antennas 110. Are received by at least two receiving antennas 110 respectively.
- the distance between the point 10H and the point 10D is a distance A
- the distance between the point 10H and the point 10E is a distance B
- the distance between the point 10H and the point 10F is a distance C.
- the delay unit 102 corresponding to each reception antenna 110 sets a delay amount to be added to the reception signal based on the difference between the distances A, B, and C.
- the delay amount in the delay unit 102-3 corresponding to the reception antenna 110-3 is set to 0 with the reception antenna 110-3 as a reference will be described.
- the delay unit 102-2 corresponding to the reception antenna 110-2 sets a delay amount corresponding to twice the difference between the distance B and the distance C.
- the delay unit 102-1 corresponding to the reception antenna 110-1 sets a delay amount corresponding to twice the difference between the distance A and the distance C.
- the delay units 102-1 to 102-3 are arranged between the receiving antennas 110-1 to 110-3 and the intersections (10D, 10E, 10F) corresponding to the receiving antennas 110 on the intruder detection boundary 10C. Each delay amount is set according to the difference in distance. Accordingly, the transmission signal (pulse) radiated from the point 10H shown in FIG. 5 is reflected on the points 10D, 10E, and 10F, respectively, and the reflected wave input units 101-1 to 101-3 and the delay units are reflected. The path lengths to reach the signal combining unit 103 via 102-1 to 102-3 are equal among the plurality of receiving antennas 110.
- FIG. 6 shows a case where the intruder 21 exists on the intrusion detection boundary 10C.
- the intruder 21 is, for example, a vehicle.
- FIG. 7 shows an example of a radar profile generated by the radar profile generation unit 104 in the state shown in FIG.
- the horizontal axis represents the distance from the installation point 10H of the intruder detection system 10
- the vertical axis represents the reflection intensity (that is, the signal intensity of the received signal).
- the reflected wave from the intruder 21 forms a peak at a distance 32.
- the intruder 21 exists over the receiving area of the receiving antennas 110-2 and 110-3, and therefore the reflected wave from the intruder 21 is reflected wave input units 101-2 and 101. -3 are received via the reception antennas 110-2 and 110-3.
- the reflected wave from the intruder 21 on the intruder detection boundary 10C received by the reflected wave input unit 101-2 is reflected from the intruder 21 received by the reflected wave input unit 101-3.
- the vehicle arrives earlier by an amount corresponding to twice the difference between the distance B and the distance C.
- the delay amount is set to 0 in the delay unit 102-3, and the delay amount corresponding to twice the difference between the distance B and the distance C is set in the delay unit 102-2.
- the signals received by the two reflected wave input units 101-2 and 101-3 are synthesized as signals received through the same path length.
- the signal synthesis unit 103 converts the signals received by the reflected wave input units 101-2 and 101-3 to the points 10F and 10H shown in FIG. Synthesized as a signal received via the path between.
- the radar profile generated by the radar profile generation unit 104 has a peak indicating a state in which the signals received by the two reflected wave input units 101-2 and 101-3 are combined as signals of the same distance. Appears. That is, as shown in FIG. 7, one peak centering on the distance 32 corresponding to the point 10F shown in FIG. 6 appears in the radar profile.
- the intruder 21 on the intruder detection boundary 10 ⁇ / b> C shown in FIG. 6 exists over the reception area of at least two receiving antennas 110. Therefore, the received signals received by the plurality of reflected wave input units 101 corresponding to the at least two receiving antennas 110 are combined at the same distance in the radar profile to form a peak. That is, in the case of the reflected wave from the intruder 21 on the intruder detection boundary 10C, the magnitude of the peak appearing in the radar profile (reflection intensity) is determined by the reflected wave from the intruder 21 received by one receiving antenna 110. Greater than possible reflection intensity.
- the threshold value Th (d) may be set within a range that satisfies the condition of Expression (1). Th (d)> K ⁇ / d 4 (1)
- K represents signal power and is a constant determined by the characteristics of the receiving antenna 110 and the like.
- the value on the right side of Equation (1) is regarded as the reflection intensity from the intruder received by one reflected wave input unit 101.
- the detection processing unit 105 determines whether or not there is a peak whose reflection intensity exceeds a threshold in the radar profile generated by the radar profile generation unit 104. Specifically, when detecting a peak whose reflection intensity exceeds a threshold in the radar profile, the detection processing unit 105 determines that there is an intruded object in the intruder detection area (here, on the intruder detection boundary 10C). To do.
- FIG. 8 is a diagram showing a threshold 40 (broken line) for the radar profile shown in FIG. In FIG. 8, the detection processing unit 105 detects a peak at which the reflection intensity exceeds the threshold at the distance 32 and detects the presence of the intruder at the intruder detection boundary 10 ⁇ / b> C.
- FIG. 9 shows a case where the reflection surface of the intruder 21 exists in the intrusion detection region beyond the intruder detection boundary 10C.
- FIG. 10 shows an example of a radar profile generated by the radar profile generation unit 104 in the state shown in FIG.
- the size of the peak appearing at the distances 31 and 33 shown in FIG. 10 corresponds to the reflection intensity from the intruder received by one reflected wave input unit 101. Therefore, in FIG. 10, the detection processing unit 105 does not detect the presence of an intruder on the intrusion detection boundary 10C because both the peak at the distance 31 and the peak at the distance 33 are smaller than the threshold value 40.
- the detection processing unit 105 can detect the intrusion of the target object only when the intrusion detection target object exists on the intruder detection boundary 10C. By doing so, the intruder detection apparatus 100 detects only the time when the intruder enters the intruder detection boundary 10C without requiring processing for comparing the distance between the peak and the intruder detection boundary. It becomes possible.
- the intruder detection apparatus 100 can detect only the intrusion of an object existing on the intruder detection boundary 10C. Further, the intruder detection apparatus 100 receives the reflected waves from the object to be detected by the intrusion at the at least two receiving antennas 110 so that the object can enter the intruder detection boundary 10C without switching the receiving antennas 110. Can be detected. As a result, intruders can be detected without requiring antenna switching. Moreover, in this Embodiment, since the process part for switching an antenna is unnecessary, the cost increase of the intruder detection apparatus 100 can be avoided.
- the antenna directivity direction of the receiving antenna 110 may be set based on the width of the person. In this way, even for an object such as a person whose width is smaller than that of the vehicle, a plurality of reflected wave input units 101 can receive reflected waves from the same object, and intrude in the same manner as in this embodiment. It is possible to detect a person entering the object detection boundary. Thereby, for example, when a person enters the track side from the white line by setting the white line of the platform of the station shown in FIG. 3 as a boundary (intruder detection boundary), the intruder detection apparatus 100 detects the intruder. Can be notified.
- the reception areas of the plurality of reception antennas included in the intruder detection system are set so as not to overlap with each other, whereas in the present embodiment, the plurality of reception antennas included in the intrusion detection system is configured. A case where reception areas are set to overlap each other will be described.
- FIG. 11 shows an intruder detection apparatus 300 according to Embodiment 2 of the present invention.
- the same components as those in the first embodiment (FIG. 4) are denoted by the same reference numerals, and the description thereof is omitted.
- the operation of the detection processing unit 301 is different from that of the intruder detection device 100 shown in FIG. 4, and an object positioning unit 302 is newly provided.
- the intruder detection system 10 according to the present embodiment includes an intruder detection apparatus 300 instead of the intruder detection apparatus 100 shown in FIG.
- FIG. 12 is a diagram for explaining the installation conditions of the receiving antenna 110 in the present embodiment.
- the half-value angles of the receiving antennas 110-1, 110-2, and 110-3 shown in FIG. 12 are an angle 93, an angle 94, and an angle 95, respectively.
- the reception area of each reception antenna 110 overlaps with the reception areas of the other reception antennas 110.
- the half of the reception area of each reception antenna 110 is installed so as to overlap the reception area of the adjacent reception antenna 110.
- the receiving antenna 110 is installed toward the intruder detection boundary 10C so that the area that does not overlap any of the receiving areas of the other receiving antennas 110 is outside the intruder detection target area. ing.
- the reception area of the reception antenna 110-1 does not overlap with the reception area of the reception antenna 110-2
- the reception area of the reception antenna 110-3 does not overlap with the reception area of the reception antenna 110-2.
- the area is outside the intruder detection target area. That is, the intruder detection area is set in an area where reception areas of at least two reception antennas 110 among a plurality of reception antennas 110 overlap each other.
- intruder detection apparatus 300 (reflected wave input unit 101) has the same intrusion through at least two reception antennas 110 among a plurality of reception antennas 110 in the intrusion detection area, as in the first embodiment. Each of the reflected waves from the object to be detected is received.
- the detection processing unit 301 exceeds a preset threshold in the radar profile generated by the radar profile generation unit 104, as in the first embodiment (detection processing unit 105). Detect peaks. However, as the threshold set in the detection processing unit 301, a value smaller than the reflection intensity that can be taken by the reflected wave received by one receiving antenna 110 is set.
- the reflected waves from the same object are received by the plurality of receiving antennas 110, and delay processing of different delay amounts is performed on each received signal.
- the path length of the reflected wave received by each receiving antenna 110 differs by the difference in the delay amount of the delay processing applied to each received signal. That is, in the radar profile generated by the radar profile generation unit 104, the peak corresponding to the reflected wave from the same object is the difference in delay amount in the delay processing performed for each reflected wave received by each receiving antenna 110. Appears separated by a corresponding distance. That is, two peaks separated by a distance corresponding to the difference in delay amount set in each delay unit 102 indicate peaks due to reflected waves from the same object.
- the detection processing unit 301 when the detection processing unit 301 detects at least two peaks whose reflection intensity exceeds the threshold in the radar profile, the detection processing unit 301 operates as follows. That is, the detection processing unit 301 corresponds to a difference in distance between at least two detected peaks and a delay amount with respect to a reflected wave received by at least two specific reception antennas 110 among the plurality of reception antennas 110. When the distance matches, it is determined that there is an intruded object in the intruder detection area. For example, in FIG. 12, the distance corresponding to the difference in the delay amount with respect to the reflected wave received by at least two specific receiving antennas 110 is as follows.
- the distance corresponding to the difference between the delay amount set by the delay unit 102-1 and the delay amount set by the delay unit 102-2, and the delay amount set by the delay unit 102-2 and the delay unit 102 can be mentioned.
- the detection processing unit 301 When the presence of the intruder is detected, the detection processing unit 301 outputs information indicating that the presence of the intruder has been detected. Further, the detection processing unit 301 outputs peak position information indicating a distance corresponding to the detected peak to the object positioning unit 302 for each detected peak.
- the object positioning unit 302 based on the peak position information input from the detection processing unit 301 and the difference in delay amount set in each delay unit 102, the position (direction and direction) of the object existing in the intruder detection area. Distance) is estimated, and object positioning information representing the position of the object is generated.
- the information indicating that the intruder has been detected and the object positioning information thus obtained may be output to a control device (not shown) such as a traffic signal control device and utilized.
- FIG. 13 is a flowchart showing an example of the flow of object positioning information generation processing in the object positioning unit 302.
- the object positioning unit 302 extracts one unprocessed peak position information from the peak position information acquired from the detection processing unit 301.
- the object positioning unit 302 uses the extracted peak position information as the peak position information to be processed in S102 and S103 described later.
- the object positioning unit 302 is a distance away from the distance indicated by the peak position information to be processed (the distance from the intruder detection system 10) by a distance corresponding to the delay amount set in the delay unit 102. It is determined whether or not there is other peak position information indicating.
- the process proceeds to S104.
- the object positioning unit 302 obtains the other peak position information from the same object as the object corresponding to the peak position information to be processed.
- the peak position information corresponding to the reflected wave is considered.
- the object positioning unit 302 indicates the two peak position information.
- the difference in delay amount is specified according to the difference in distance between the peaks.
- the object positioning unit 302 estimates in which reception area of the reception antenna 110 the object corresponding to the peak position information exists (the direction of the object).
- the object positioning unit 302 estimates the actual distance from the intruder detection device 300 to the object by subtracting the distance corresponding to the specified delay amount from the peak distance indicated in the peak position information. Then, the object positioning unit 302 outputs object positioning information including the estimated direction of the object and the distance to the object as an object positioning result.
- the threshold 41 shown in FIGS. 14 to 16 is set to a value smaller than the reflection intensity that can be taken by the reflected wave received by one receiving antenna 110.
- FIG. 14 shows an example of a radar profile when only the object 90 exists in FIG.
- the object 90 is located in an area where the receiving area of the receiving antenna 110-1 and the receiving area of the receiving antenna 110-2 overlap. Therefore, the reflected wave from the object 90 is input to the reflected wave input units 101-1 and 101-2 via the receiving antennas 110-1 and 110-2. Further, the difference between the distance 34 of one peak and the distance 35 of the other peak shown in FIG. 14 is the difference between the delay amount set in the delay unit 102-1 and the delay amount set in the delay unit 102-2. Is equal to the distance corresponding to.
- the detection processing unit 301 matches the distance difference between the two peaks shown in FIG. 14 with the distance corresponding to the difference between the delay amounts set in the delay units 102-1 and 102-2. It is determined that there is an intruded object in the intruder detection area.
- the object positioning unit 302 subtracts a distance corresponding to a small delay amount (large delay amount) from among the delay amounts set in the delay unit 102-1 or the delay unit 102-2 from the distance 34 (distance 35). The resulting distance is estimated as the distance to the intruder.
- FIG. 15 shows an example of a radar profile when only the object 91 exists in FIG.
- the delay amount set in the delay unit 102-1 is the largest, and the delay amount set in the delay unit 102-3 is the smallest.
- the distance of the peak corresponding to the reflected wave received via the receiving antenna 110-1 among the three peaks corresponding to the reflected wave from the same object is the longest (distance 38)
- the distance of the peak corresponding to the reflected wave received via the receiving antenna 110-3 is the shortest (distance 36).
- the difference between the distance 36 and the distance 37 is equal to the distance corresponding to the difference in the delay amount of the delay units 102-2 and 102-3, and the difference between the distance 37 and the distance 38 is It is equal to the distance corresponding to the difference in delay amount between the delay units 102-1 and 102-2.
- the detection processing unit 301 matches the distance difference between the three peaks shown in FIG. 15 with the distance corresponding to the difference in delay amount set in each of the delay units 102-1 to 102-3. It is determined that there is an intruded object in the intruder detection area.
- FIG. 16 shows an example of a radar profile in the case where only the object 92 exists in FIG.
- the object 92 is located in a region that does not overlap the reception region of the reception antenna 110-2 in the reception region of the reception antenna 110-3. Therefore, the reflected wave from the object 92 is received only by the reflected wave input unit 101-3 via the receiving antenna 110-3. Therefore, only one peak appears in the radar profile shown in FIG. Therefore, the detection processing unit 301 determines that there is no object that has entered the intruder detection area.
- the object positioning unit 302 determines that the object positioning information is not generated because the object 92 corresponding to one peak shown in FIG. 16 is located outside the intruder detection area.
- the intruder detection apparatus 300 can identify the position of the object by detecting the object that has entered the intruder detection area and estimating the direction and distance of the object.
- the reflected wave from the object to be intrusion detected is received by at least two receiving antennas 110, so that the intruder detection area can be switched without switching the receiving antennas 110. It is possible to detect the intrusion of an object inside. As a result, intruders can be detected without requiring antenna switching. Moreover, in this Embodiment, since the process part for switching an antenna is unnecessary similarly to Embodiment 1, the cost increase of the intruder detection apparatus 100 can be avoided.
- the intruder detection device 300 is configured to detect the distance difference between the peaks and the delay units. It is only necessary to compare the delay amount difference set in 102 and specify a matching peak combination. That is, the intruder detection apparatus 300 specifies that the peaks of the specified combination are peaks representing reflected waves from the same object. By doing so, the intruder detection device 300 can discriminate each of the plurality of objects in the intruder detection area and estimate the direction and distance of each object.
- intruder detection apparatus 300 determines whether the peak represents a reflected wave from the same object based on whether the distance between the peaks and the delay amount match.
- the intruder detection apparatus 300 determines whether the plurality of peaks appearing in the radar profile are peaks representing reflected waves from the same object, or the similarity of the reflection intensity of each peak or each peak. It is also possible to determine whether or not they are peaks representing reflected waves from the same object.
- each functional block used in the description of each of the above embodiments is typically realized as an LSI which is an integrated circuit. These may be individually made into one chip, or may be made into one chip so as to include a part or all of them.
- the name used here is LSI, but it may also be called IC, system LSI, super LSI, or ultra LSI depending on the degree of integration.
- the intruder detection apparatus is an intruder detection apparatus that detects an intrusion of an object into a detection target area, and a plurality of antennas receive signals reflected by the same object existing in the detection target area.
- the input means for receiving at least two antennas, the delay means for delaying the signals received by each of the plurality of antennas using different delay amounts, and the delayed signals are combined.
- the reception areas of the at least two antennas do not overlap each other, and between the respective intersections of the directivity directions of the at least two antennas and the boundary line of the detection target area Is equal to or less than half the width of the reflecting surface of the object to be detected, and the different delay amounts are between the intersection on the boundary line corresponding to each of the at least two antennas and the combining means.
- the path lengths are set to be equal, and the threshold value is set to a value larger than the signal strength that can be taken by a signal received by any one of the at least two antennas.
- the detection processing unit detects a peak in which the signal intensity exceeds the threshold in the profile, and the distance in the profile corresponding to the detected peak is the boundary line. Is determined to be present in the vicinity of the detection target area.
- the detection target area is set in an area where the reception areas of the at least two antennas overlap each other.
- the threshold value is set to a value smaller than a signal strength that can be taken by a signal received by any one of the at least two antennas.
- the detection processing unit determines that there is an object that has entered the detection target area
- the direction of the area where the reception areas of the at least two antennas overlap each other is A distance obtained by subtracting a distance corresponding to a delay amount with respect to a signal received by the at least two antennas from a distance in the profile corresponding to the at least two peaks from the antenna is estimated as the existing direction Positioning means for estimating the distance to the
- the intruder detection method of the present disclosure is an intruder detection method for detecting an intrusion of an object into a detection target region, and a signal reflected by the same object existing in the detection target region is transmitted to a plurality of antennas.
- a signal reflected by the same object existing in the detection target region is transmitted to a plurality of antennas.
- the signals received by each of the plurality of antennas are respectively delayed using different delay amounts, and the delayed signals are synthesized and synthesized.
- the frequency of the received signal is converted to baseband, the frequency-converted signal is detected, and the detected signal is used to form a profile composed of the distance from the antenna and the signal strength for each distance from the antenna
- detecting a peak in which the signal intensity exceeds a preset threshold in the profile and intrudes into the detection target region based on the detected peak. Determining whether the object is present.
- the intruder detection apparatus and the intruder detection method of the present invention are useful as those capable of detecting an intruder without switching the antenna.
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Abstract
Description
[侵入物検知システムの構成]
図1は、本発明の実施の形態1に係る侵入物検知システム10の主な構成を示す。侵入物検知システム10は、侵入物検知装置100と、n個の受信アンテナ110-1~110-nと、送信信号生成部200と、送信アンテナ210とにより構成される。
図4は、本発明の実施の形態1に係る侵入物検知装置100の構成を示す。図4において、侵入物検知装置100は、反射波入力部101と、遅延部102と、信号合成部103と、周波数変換部106と、直交検波部107と、レーダプロファイル生成部104と、検知処理部105とを有する。
以上の構成を有する侵入物検知装置100の動作について説明する。
図5は、受信アンテナ110-1~110-3の設置方法の一例を示す図である。図5は、侵入物検知システム10を設置した点10H(受信アンテナ110の設置点)と、侵入物検知境界10Cとを上空から見た状態を示す。ここでは、侵入物検知システム10と、受信アンテナ110とは一体化されているものとして記述している。なお、侵入物検知システム10と受信アンテナ110は一体化されていなくてもよい。
図5において、点10Hと点10Dとの距離を距離Aとし、点10Hと点10Eとの距離を距離Bとし、点10Hと点10Fとの距離を距離Cとする。この場合、各受信アンテナ110に対応する遅延部102は、距離A,B,Cの差に基づいて、受信信号に付加する遅延量を設定する。
図6は、侵入物21が侵入検知境界10C上に存在する場合を示す。侵入物21は例えば車両である。
上述したように、図6に示す侵入物検知境界10C上の侵入物21は少なくとも2つの受信アンテナ110の受信領域内に跨って存在する。よって、当該少なくとも2つの受信アンテナ110に対応する複数の反射波入力部101で受信された受信信号は、レーダプロファイルにおいて同一距離で合成されてピークを形成する。すなわち、侵入物検知境界10C上の侵入物21からの反射波の場合、レーダプロファイルに現れるピークの大きさ(反射強度)は、1つの受信アンテナ110において受信される侵入物21からの反射波が取り得る反射強度よりも大きい。
Th(d) > Kσ/ d4 …(1)
実施の形態1では、侵入物検知システムが備える複数の受信アンテナの受信領域がそれぞれ重複しないように設定されたのに対して、本実施の形態では、侵入物検知システムが備える複数の受信アンテナの受信領域が互いに重複するように設定される場合について説明する。
100,300 侵入物検知装置
110 受信アンテナ
200 送信信号生成部
210 送信アンテナ
101 反射波入力部
102 遅延部
103 信号合成部
104 レーダプロファイル生成部
105,301 検知処理部
106 周波数変換部
107 検波部
302 物体測位部
Claims (6)
- 検知対象領域への物体の侵入を検知する侵入物検知装置であって、
前記検知対象領域内に存在する同一の物体で反射した信号を、複数のアンテナのうち、少なくとも2つのアンテナでそれぞれ受信する入力手段と、
互いに異なる遅延量を用いて、前記複数のアンテナの各々で受信された信号をそれぞれ遅延させる遅延手段と、
遅延させた各々の信号を合成する合成手段と、
合成して得られた信号をベースバンドに周波数変換する周波数変換手段と、
周波数変換された信号を検波する検波手段と、
検波された信号を用いて、前記アンテナからの距離と、前記アンテナからの距離毎の信号強度とから構成されるプロファイルを生成する生成手段と、
前記プロファイルにおいて前記信号強度が予め設定された閾値を超えるピークを検出して、検出されたピークに基づいて前記検知対象領域に侵入した物体が存在するか否かを判断する検知処理手段と、
を具備する侵入物検知装置。 - 前記少なくとも2つのアンテナの受信領域は互いに重複せず、かつ、前記少なくとも2つのアンテナの各指向方向と前記検知対象領域の境界線とのそれぞれの交点間の間隔が、検知対象の物体の反射面の幅の半分以下であって、
前記互いに異なる遅延量は、前記少なくとも2つのアンテナの各々に対応する前記境界線上の交点と前記合成手段との間の経路長が等しくなるように設定され、
前記閾値は、前記少なくとも2つのアンテナのうちいずれか1つのアンテナにおいて受信される信号が取り得る信号強度よりも大きい値が設定され、
前記検知処理手段は、前記プロファイルにおいて前記信号強度が前記閾値を超えるピークを検出した場合、前記検知対象領域に侵入した物体が存在すると判断する、
請求項1記載の侵入物検知装置。 - 前記検知処理手段は、前記プロファイルにおいて前記信号強度が前記閾値を超えるピークを検出した場合、かつ、検出したピークに対応する前記プロファイルにおける距離が前記境界線の近傍に相当する場合に、前記検知対象領域に侵入した物体が存在すると判断する、
請求項2記載の侵入物検知装置。 - 前記少なくとも2つのアンテナの受信領域の少なくとも一部は互いに重複し、
前記検知対象領域は、前記少なくとも2つのアンテナの受信領域が互いに重複する領域内に設定され、
前記閾値は、前記少なくとも2つのアンテナのうちいずれか1つのアンテナにおいて受信される信号が取り得る信号強度よりも小さい値が設定され、
前記検知処理手段は、前記プロファイルにおいて前記信号強度が前記閾値を超えるピークを少なくとも2つ検出した場合、検出した少なくとも2つのピーク間の距離差と、前記少なくとも2つのアンテナで受信された信号に対する遅延量の差に相当する距離と、が一致する場合、前記検知対象領域に侵入した物体が存在すると判断する、
請求項1記載の侵入物検知装置。 - 前記検知処理手段において前記検知対象領域に侵入した物体が存在すると判断された場合、前記少なくとも2つのアンテナの受信領域が重複する領域の方向を、物体が存在する方向として推定し、前記少なくとも2つのピークに対応する前記プロファイルにおける距離から、前記少なくとも2つのアンテナで受信される信号に対する遅延量に相当する距離を差し引いて得られる距離を、前記アンテナから物体までの距離として推定する測位手段、を更に具備する、
請求項4記載の侵入物検知装置。 - 検知対象領域への物体の侵入を検知する侵入物検知方法であって、
前記検知対象領域内に存在する同一の物体で反射した信号を、複数のアンテナのうち、少なくとも2つのアンテナでそれぞれ受信し、
互いに異なる遅延量を用いて、前記複数のアンテナの各々で受信された信号をそれぞれ遅延させ、
遅延させた各々の信号を合成し、
合成して得られた信号をベースバンドに周波数変換し、
周波数変換された信号を検波し、
検波された信号を用いて、前記アンテナからの距離と、前記アンテナからの距離毎の信号強度とから構成されるプロファイルを生成し、
前記プロファイルにおいて前記信号強度が予め設定された閾値を超えるピークを検出して、検出されたピークに基づいて前記検知対象領域に侵入した物体が存在するか否かを判断する、
侵入物検知方法。
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JPS55151279A (en) * | 1979-05-14 | 1980-11-25 | Tech Res & Dev Inst Of Japan Def Agency | Digital beam former |
JPS61272671A (ja) * | 1985-05-29 | 1986-12-02 | Toshiba Corp | 電子フオ−カス装置 |
JP2005233615A (ja) * | 2004-02-17 | 2005-09-02 | Kyosan Electric Mfg Co Ltd | 障害物検知装置及び検知方法 |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
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JP2021523380A (ja) * | 2018-05-17 | 2021-09-02 | ロベルト・ボッシュ・ゲゼルシャフト・ミト・ベシュレンクテル・ハフツングRobert Bosch Gmbh | レーダセンサシステムおよびレーダセンサシステムの製造方法 |
WO2023106134A1 (ja) * | 2021-12-09 | 2023-06-15 | 株式会社デンソー | レーダシステム |
JP7501512B2 (ja) | 2021-12-09 | 2024-06-18 | 株式会社デンソー | レーダシステム |
Also Published As
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JPWO2013128820A1 (ja) | 2015-07-30 |
JP6005052B2 (ja) | 2016-10-12 |
US9297887B2 (en) | 2016-03-29 |
US20140159941A1 (en) | 2014-06-12 |
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