WO2013128878A1 - 信号処理装置、物体検知装置、物体検知機能付き装置および物体検知方法 - Google Patents
信号処理装置、物体検知装置、物体検知機能付き装置および物体検知方法 Download PDFInfo
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- WO2013128878A1 WO2013128878A1 PCT/JP2013/001072 JP2013001072W WO2013128878A1 WO 2013128878 A1 WO2013128878 A1 WO 2013128878A1 JP 2013001072 W JP2013001072 W JP 2013001072W WO 2013128878 A1 WO2013128878 A1 WO 2013128878A1
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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
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
- G01S15/04—Systems determining presence of a target
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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
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
- G01S15/06—Systems determining the position data of a target
- G01S15/08—Systems for measuring distance only
- G01S15/32—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated
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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
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar 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
- G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
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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
- G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
- G01S7/534—Details of non-pulse systems
- G01S7/536—Extracting wanted echo signals
Definitions
- the present invention relates to a technique for detecting an object.
- Non-Patent Document 1 proposes a technique for measuring the distance to an object.
- a device for measuring a distance to an object transmits a sound wave, receives a sound wave reflected by the object, and receives the received sound wave. The distance is measured using a cross-correlation function between the waveform and the waveform of the transmitted sound wave.
- the waveform of the sound wave transmitted from the distance measuring device has a similar waveform periodically.
- a peak called a side lobe or a grating lobe (hereinafter referred to as such)
- a large peak is referred to as a sub-peak).
- the distance measuring device uses the main peak in the cross-correlation function.
- the sub peak may be as high as the main peak. In such a case, the distance measuring device using the main peak may output an inaccurate result due to the sub-peak. That is, the distance measuring device using the technique of Non-Patent Document 1 has a problem that the detection accuracy decreases due to the sub-peak in the correlation.
- a main object of the present invention is to provide a technique for detecting an object with higher accuracy.
- the signal processing apparatus of the present invention provides: Generating means for generating a modulated wave whose frequency changes non-repetitively as a transmission signal; Based on the correlation between the received signal received by the receiving means capable of receiving the reflected signal due to reflection of the transmitted signal by the object and the transmitted signal, the presence of the object, the distance to the object, Detecting means for detecting at least one of the moving speed of the object.
- the object detection device of the present invention is The signal processing apparatus of the present invention; Transmitting means for transmitting the transmission signal generated by the generating means of the signal processing device; Receiving means capable of receiving a reflection signal resulting from reflection of the transmission signal by an object.
- the apparatus with an object detection function of the present invention is The object detection device of the present invention; And a control device that controls the operation of the device using the object detection result of the object detection device.
- the object detection method of the present invention includes: Generate a modulated wave whose frequency changes non-repetitively as a transmission signal, Based on the correlation between the received signal received by the receiving means capable of receiving the reflected signal due to reflection of the transmitted signal by the object and the transmitted signal, the presence of the object, the distance to the object, At least one of the moving speed of the object is detected.
- the present invention can detect an object with higher accuracy.
- FIG. 1 is a block diagram showing a simplified configuration of the signal processing apparatus according to the first embodiment of the present invention.
- the signal processing device 1 of the first embodiment is realized by a computer device including a CPU (central processing unit), for example.
- the signal processing apparatus 1 includes a generation unit (generation unit) 2 and a detection unit (detection unit) 3.
- the generation unit 2 has a function of generating a modulated wave whose frequency changes non-repetitively as a transmission signal.
- the detection unit 3 has a function of capturing a reception signal received by a receiving unit capable of receiving a reflection signal resulting from reflection of the transmission signal by an object and the transmission signal. Further, the detection unit 3 has a function of detecting at least one of the presence of the object, the distance to the object, and the moving speed of the object based on the correlation between the reception signal and the transmission signal. It has.
- the signal processing apparatus 1 generates a modulated wave whose frequency changes non-repetitively as a transmission signal. For this reason, unnecessary data (for example, sub-peak) in the signal processing using the correlation between the transmission signal and the reception signal is suppressed. Thereby, the signal processing apparatus 1 can suppress the problem that detection accuracy falls due to the unnecessary data (sub-peak). In other words, the signal processing device 1 according to the first embodiment can detect an object with higher accuracy.
- FIG. 2 is a simplified block diagram illustrating a configuration of an embodiment of the object detection device according to the present invention in which the signal processing device 1 is incorporated.
- the object detection device 5 includes a transmission unit (transmission unit) 7 and a reception unit (reception unit) 8.
- the transmission unit 7 has a function of transmitting the transmission signal generated by the generation unit 2 of the signal processing device 1.
- the receiving unit 8 has a function capable of receiving a reflection signal resulting from reflection of a transmission signal by an object. Since the object detection device 5 includes the signal processing device 1, the effect obtained by the configuration of the signal processing device 1 (that is, the effect that an object can be detected with high accuracy) can be obtained.
- FIG. 3 is a block diagram showing a simplified configuration of an embodiment of the apparatus with an object detection function according to the present invention.
- the device 10 with an object detection function includes an object detection device 5 and a control device 11 that controls the operation of the device 10 using an object detection result by the object detection device 5. Since the apparatus 10 with an object detection function includes the object detection apparatus 5 including the signal processing apparatus 1 according to the first embodiment, the accuracy is based on the object detection result accurately detected by the object detection apparatus 5. Can work well.
- FIG. 4 is a block diagram showing a simplified configuration of the object detection device of the second embodiment.
- the object detection device 20 of the second embodiment includes a signal processing device 21, a transmission unit (transmission unit) 22, a reception unit (reception unit) 23, a notification unit (notification unit) 24, and a storage device 25.
- a signal processing device 21 a transmission unit (transmission unit) 22, a reception unit (reception unit) 23, a notification unit (notification unit) 24, and a storage device 25.
- the transmission unit 22 is a transmitter, and the transmitter includes a conversion element (for example, a transducer).
- This conversion element has a function of generating an elastic vibration wave propagating through an elastic body regardless of gas, liquid, or solid.
- an elastic vibration wave a sound wave (an elastic vibration wave that vibrates at an audible frequency), an ultrasonic wave (an elastic vibration wave that vibrates at a high frequency that cannot be heard by the human ear), or an ultra-low frequency sound wave (in the human ear). May be any elastic vibration wave that vibrates at a low frequency that cannot be heard.
- the transmission unit 22 converts the transmission signal into an elastic vibration wave by driving the conversion element based on the transmission signal (electric signal) generated by the signal processing device 21, and uses the elastic vibration wave as a transmission signal. A function to transmit (output) is provided.
- the receiving unit 23 is a receiver, and the receiver has an antenna function capable of receiving a reflected signal resulting from reflection of a transmission signal transmitted from the transmitting unit 22 by an object.
- the storage device 25 has a function of storing a computer program (may be abbreviated as a program for short) and various data.
- the storage device 25 stores a program for causing the signal processing device 21 to generate a transmission signal.
- the signal processing device 21 is a computer device including a CPU, and executes signal processing based on a computer program stored in the storage device 25.
- the signal processing device 21 includes a generation unit (generation unit) 30 and a detection unit (detection unit) 40 as functional units based on a computer program.
- the generating unit 30 has a function of generating a modulated wave whose frequency changes non-repetitively as a transmission signal.
- the generation unit 30 includes, for example, a sine wave generation unit (sine wave generation unit) 31 and a frequency control unit (frequency control unit) 32.
- the sine wave generation unit 31 has a function of generating a sine wave.
- the frequency control unit 32 has a function of controlling the sine wave generation unit 31 so that the frequency of the sine wave generated by the sine wave generation unit 31 changes non-repetitively.
- the frequency control unit 32 controls the frequency of the sine wave generated by the sine wave generation unit 31 so that the waveform representing the frequency change of the sine wave does not repeat.
- the detection unit 40 has a function of detecting an object based on the correlation between the transmission signal transmitted from the transmission unit 22 and the reception signal received by the reception unit 23.
- the function of detecting an object includes at least a function of detecting the presence (presence / absence) of an object, a function of detecting (measuring) a distance to the object, and a function of detecting (measuring) the moving speed of the object. Including one.
- the detection unit 40 includes a correlation calculation unit 41, an analysis unit 42, and a calculation unit 43.
- the correlation calculation unit 41 captures the transmission signal generated by the sine wave generation unit 31 as the transmission signal transmitted from the transmission unit 22, and cross-correlation between the captured transmission signal and the reception signal received by the reception unit 23. It has a function to calculate functions. Specifically, the correlation calculation unit 41 calculates a cross-correlation function by quantitatively evaluating the degree of identity between the expected received waveform and the waveform of the received signal.
- the expected received waveform is an expected received signal waveform that is assumed based on the waveform of the transmitted signal.
- the expected reception waveform is a transmission signal generated by the sine wave generation unit 31 when the object reflecting the transmission signal is stationary and the distortion of the signals in the transmission unit 22 and the reception unit 23 is sufficiently small. The waveform is the same.
- the analysis unit 42 has a function of obtaining a reflection position (reflection wave generation position) where the transmission signal is reflected based on the cross-correlation function calculated by the correlation calculation unit 41.
- the analysis unit 42 can calculate the propagation delay from the time difference that maximizes the absolute value of the cross-correlation function, and can determine the reflection position based on the calculation result and the sound speed.
- the calculation unit 43 has a function of detecting an object using the reflection position obtained by the analysis unit 42. Specifically, when the calculation unit 43 has a function of detecting the presence (presence / absence) of an object, it is assumed that the obtained reflection position and a predetermined position (infinity or an object exist). For example, the position of the wall, etc., which is farther away from the place where it is to be performed. Then, when the calculation unit 43 determines that the obtained reflection position is closer than the predetermined position, the calculation unit 43 determines that an object is present. In addition, since the analysis unit 42 has a function of counting the number of peaks in the cross-correlation function, the calculation unit 43 can detect (measure) the number of existing objects based on the number of peaks. .
- the calculation unit 43 When the calculation unit 43 has a function of detecting (measuring) the distance to the object, the calculation unit 43 measures the distance to the detected object based on the obtained reflection position.
- the calculating unit 43 detects the moving speed of the object as follows. In this case, a plurality of moving speeds of the object are assumed, an expected reception waveform considering the Doppler effect is calculated for each of the assumed speeds, and information on the expected reception waveform is given to the object detection device 20. Further, the correlation calculation unit 41 calculates a cross-correlation function between the expected received waveform and the received waveform for each speed. The analysis unit 42 compares these cross-correlation functions and finds an expected received waveform in which the peak of the cross-correlation function is the strongest. The calculation unit 43 detects (measures) the speed used when calculating the expected received waveform as the moving speed of the object.
- the calculation unit 43 has a function of detecting (measuring) at least one of the presence of the object, the distance to the object, and the moving speed of the object as described above.
- the notification unit 24 has a function of notifying the result detected (measured) by the calculation unit 43.
- the notification unit 24 includes one or both of a display and a speaker.
- the object detection device 20 of the second embodiment can obtain a specific effect by including a configuration that generates a modulated wave whose frequency changes non-repetitively as a transmission signal.
- the performance of receiving a reflected signal returned by reflecting a transmitted signal by an object varies greatly depending on the waveform of the transmitted signal. Further, it differs depending on the characteristics of an element (transducer) that generates a transmission signal built in the transmitter and a receiving element (antenna) built in the receiver.
- a transmission element that uses resonance has a limit in the frequency range that can be generated.
- the transmitting element has a limit in the amplitude and power of a signal that can be transmitted. If this limit is exceeded, the waveform of the transmission signal may be significantly deformed from the desired waveform, or the transmission element may be damaged due to an increased load.
- the transmitter in consideration of increasing the ratio (SN (Signal-Noise) ratio) of the received signal (reflected signal reflected by the object) compared to the environmental noise (noise), the transmitter It is desirable to transmit signals with large power. It is difficult to make the restrictions and requirements compatible.
- the waveform of the transmission signal when white Gaussian noise is used as the waveform of the transmission signal, a sharp correlation function based on the transmission signal and the reception signal (reflection signal) can be obtained without considering the characteristics of the transmission element, and It is easy to detect that the object is moving.
- the power of the entire waveform is small with respect to the maximum value of the amplitude of the waveform in the transmission signal, the S / N ratio is deteriorated in an environment where the noise is large, thereby significantly reducing the performance of detecting an object.
- tone burst There is a waveform called tone burst as the waveform of the transmission signal.
- This waveform is a waveform obtained by cutting a sine wave for a certain period of time.
- the transmission element can efficiently generate a transmission signal.
- the sine wave is partially correlated, a sharp peak cannot be obtained in the correlation function based on the transmission signal and the reception signal (reflection signal). For this reason, it is difficult to detect the position of the object with high accuracy using the correlation function.
- SFM Seusoidal Frequency Modulation
- SFM is a waveform obtained by frequency-modulating a sine wave with a sine wave.
- the resonant frequency of the transmitting element is set as a carrier frequency, and frequency modulation is performed with a sine wave having a frequency lower than that of the carrier frequency.
- the range of frequency modulation is set so as not to greatly deviate from the resonance frequency of the transmitting element.
- ti represents the sample number (that is, time).
- len represents the length of the signal.
- phi represents a phase.
- sig (ti) represents the waveform of the transmission signal.
- pi represents the circumference ratio.
- f1 represents the frequency of the modulated sine wave (transmission signal).
- beta represents the bandwidth. * Is a multiplication symbol. The same applies to the programs shown below.
- FIG. 5 is a diagram based on the spectrogram of the SFM generated by the program 1 described above. That is, in FIG. 5, a solid line A is added to the spectrogram obtained by the simulation in order to make the explanation easy to understand.
- a solid line A represents how the frequency of the SFM generated by the program 1 changes with time.
- the center frequency is 40 kHz
- the modulation bandwidth is plus or minus 2 kHz
- the waveform length is 50 mSec (milliseconds).
- the horizontal axis of the graph shown in FIG. 5 is time, and the vertical axis is frequency.
- FIG. 5 it can be seen that the SFM changes so that the frequency draws a sine wave with time.
- a drawing based on a spectrogram is used in addition to FIG. In these drawings, as in FIG. 5, lines are added to the spectrogram for easy understanding.
- the correlation function based on the transmission signal using SFM and its reflection signal (reception signal) has a sharp peak. For this reason, the precision of the object detection which detects the position of an object based on the transmission signal using SFM and its reflected signal (reception signal) is high. Further, the accuracy of object detection (speed detection) for detecting the speed of an object using the Doppler effect is not low. For this reason, a technique of using SFM as a transmission signal is used in a radar or the like (see, for example, US Pat. No. 4,271,412).
- a sub peak occurs in addition to the main peak in the correlation function.
- This sub-peak may be as high as the main peak in an environment with environmental noise.
- the sub-peak may cause false detection in the object detection (a situation in which the presence or absence of the object is wrong or a detection result in which the distance to the object or the moving speed of the object is incorrect) is output. .
- Sub-peaks are identified by an ambiguity function.
- the ambiguity function is as described in "Yokota Yasunari Lecture Material Signal Processing Part 3 Unsteady Signal Analysis / Cepstrum Analysis http://www1.gifu-u.ac.jp/ ⁇ yktlab/sp3.pdf" For example, it is defined by Formula (1).
- a ( ⁇ , ⁇ ) represents the ambiguity function.
- ⁇ represents a time difference.
- ⁇ represents a frequency shift amount (Doppler effect).
- U (t) represents the waveform at time t. * Represents a complex conjugate.
- e represents the base of the logarithm.
- i represents an imaginary unit.
- ⁇ represents the circumference ratio.
- FIG. 6 is a diagram illustrating a portion where the value of the correlation function is large based on a spectrogram representing the ambiguity function of SFM.
- the vertical axis of the graph shown in FIG. 6 represents the frequency shift (corresponding to the moving speed), and the horizontal axis represents the time difference (corresponding to the distance).
- a horizontal line B represents a position corresponding to the value of the correlation function between the transmission signal and the reception signal when the moving speed of the object is zero.
- the horizontal line B has some peaks (a portion having a large correlation function value) other than the central portion. These peaks are sub-peaks. There is a case where the sub-peak is erroneously detected as the main peak (the center in this figure). When detecting the moving speed of an object, the moving speed of the object may be erroneously measured due to the sub-peak.
- the following program is a program that generates an SFM whose frequency change with time is three times faster than the SFM generated by the program 1.
- Program to generate SFM (Program 2)
- FIG. 7 is a diagram representing how the frequency of the SFM changes with time based on the spectrogram of the SFM by the program 2 by a solid line C.
- FIG. 8 is a diagram showing a portion with a large correlation function value between the SFM (transmission signal) and the reflected signal (reception signal) based on the spectrogram representing the ambiguity function related to SFM generated by the program 2.
- SFM transmission signal
- reflected signal reception signal
- the transmission signal is a modulated wave whose frequency changes non-repetitively. For this reason, the transmission signal can suppress the sub-peak in the correlation function with the reception signal (reflected signal), thereby preventing the above-described erroneous detection problem.
- non-repetitive changes in frequency in the transmitted signal include gradually increasing the speed of frequency change, gradually decreasing the speed of frequency change, and gradually increasing the speed of frequency change. It is conceivable to slow down the frequency change, or to gradually slow down the speed of frequency change.
- the following program is a program for generating a transmission signal as a specific example 1 of the transmission signal in which the frequency change rate gradually increases.
- FIG. 9 is a diagram showing, by a solid line D, how the frequency of the transmission signal changes with time based on the spectrogram of the transmission signal by the program 3.
- the frequency change in the transmission signal of the specific example 1 is gradually faster. That is, the transmission signal of the first specific example is generated by changing the angular frequency representing the frequency modulation f1 of the sine wave with a quadratic function (tilen + 5 ⁇ (Tilen) 2 ) with respect to the time tilen.
- FIG. 10 is a diagram showing a portion where the value of the correlation function between the transmission signal and the reflected signal (reception signal) is large, based on the spectrogram representing the ambiguity function related to the transmission signal of Example 1.
- the main peak the central portion shown in FIG. 10
- the velocity of the object is zero.
- sub-peaks are suppressed.
- the vertical line F where the time is zero, there are few portions where the value of the correlation function is large. From these facts, it can be seen that the transmission signal of the specific example 1 has an effect of preventing erroneous detection in object detection.
- the transmission signal of the first specific example suppresses the sub-peak in the correlation function with the reflected signal (received signal) by changing the frequency of the sine wave continuously and in one direction (here, the direction in which the frequency change becomes faster). Is able to.
- FIG. 11 is a diagram showing how the frequency of the transmission signal changes with time based on the spectrogram of the transmission signal of Example 2 by the program 4 by a solid line E.
- FIG. 11 the frequency change in the transmission signal of the specific example 2 is gradually increased after being gradually decreased. That is, the transmission signal of the specific example 2 is generated by changing the angular frequency representing the frequency modulation f1 of the sine wave with a cubic function (2 ⁇ til + 5 ⁇ (Tilen) 3 ) with respect to the time til.
- FIG. 12 is a diagram illustrating a portion where the value of the correlation function between the transmission signal and the reflected signal (reception signal) is large, based on the spectrogram representing the ambiguity function related to the transmission signal in the second specific example.
- the main peak the center portion shown in FIG. 12
- the velocity of the object is zero.
- the sub-peak is suppressed. That is, the state shown in FIG. 12 represents that there are few false detections of detecting the presence of an object, and the measurement error when measuring the distance to the object can be reduced.
- the transmission signal of the specific example 2 suppresses the sub-peak in the correlation function with the reflected signal (reception signal) by continuously changing the frequency of the sine wave (here, the frequency changes faster after the frequency change becomes slower). Is able to.
- FIG. 13 is a diagram showing how the frequency of the transmission signal changes with time based on the spectrogram of the transmission signal of Example 3 by the program 5 as a solid line G.
- the frequency change in the transmission signal of the specific example 3 is gradually faster.
- the frequency change of the transmission signal of the specific example 3 is slower than the specific example 1, it is non-repetitive like the specific example 1. That is, the transmission signal of the specific example 3 is generated by changing the angular frequency representing the frequency modulation f1 of the sine wave with a quadratic function (tilen + (Tilen) 2 ) with respect to the time tilen.
- FIG. 14 is a diagram illustrating a portion where the value of the correlation function between the transmission signal and the reflected signal (reception signal) is large based on the spectrogram representing the ambiguity function related to the transmission signal of the third specific example.
- the main peak the center portion shown in FIG. 14
- the velocity of the object is zero.
- the sub-peak is suppressed. That is, the state shown in FIG. 14 indicates that, as in the first and second examples, there are few false detections of detecting the presence of an object, and the measurement error when measuring the distance to the object can be reduced. ing.
- the transmission signal of the specific example 3 suppresses the sub-peak in the correlation function with the reflected signal (reception signal) by changing the frequency of the sine wave continuously and in one direction (here, the direction in which the frequency change becomes faster). Is able to.
- program 6 Program for generating a transmission signal of specific example 4.
- FIG. 15 is a diagram showing, by a solid line H, how the frequency of the transmission signal changes with time based on the spectrogram of the transmission signal of Example 4 by the program 6.
- the frequency change in the transmission signal of Example 4 is gradually faster.
- the frequency change of the transmission signal of the specific example 4 is slower than the specific example 1, but is faster than the specific example 3 and is non-repetitive as in the specific example 1-3. That is, the transmission signal of the specific example 4 is obtained by changing the angular frequency representing the frequency modulation f1 of the sine wave with respect to the time tile by a quadratic function (tilen + 2.5 ⁇ (Tilen) 2 + 2 ⁇ (Tilen) 3 ). Has been generated.
- FIG. 16 is a diagram showing a portion where the value of the correlation function between the transmission signal and the reflected signal (reception signal) is large based on the spectrogram representing the ambiguity function related to the transmission signal of Example 4.
- the main peak the central portion shown in FIG. 16
- the velocity of the object is zero.
- the sub-peak is suppressed. That is, the state shown in FIG. 16 represents that, as in Example 1-3, there are few false detections of detecting the presence of an object, and the measurement error when measuring the distance to the object can be reduced. ing.
- the transmission signal of the fourth specific example suppresses the sub-peak in the correlation function with the reflected signal (received signal) by changing the frequency of the sine wave continuously and in one direction (here, the direction in which the frequency change becomes faster). Is able to.
- program 7 Program for generating a transmission signal of specific example 5.
- FIG. 17 is a diagram showing how the frequency of the transmission signal changes with time based on the spectrogram of the transmission signal of Example 5 by the program 7 as a solid line I.
- the frequency in the transmission signal of Example 5 changes in a complex manner within a range of a center frequency of 40 kHz and a change width plus or minus 2 kHz. That is, the transmission signal of the specific example 5 is also a signal whose frequency changes non-repetitively.
- FIG. 18 is a diagram showing a portion where the value of the correlation function between the transmission signal and the reflected signal (reception signal) is large based on the spectrogram representing the ambiguity function related to the transmission signal of Example 5.
- the main peak the center portion shown in FIG. 18
- the velocity of the object is zero.
- the sub-peak is suppressed. That is, the state shown in FIG. 18 indicates that, as in Example 1-4, there are few false detections of detecting the presence of an object, and the measurement error when measuring the distance to the object can be reduced. ing.
- specific examples 1-5 of the transmission signal described in the second embodiment are a specific example in which the frequency change of the transmission signal is gradually slowed down and then fast, and a specific example in which the frequency change is gradually fastened.
- the apparatus or method according to the present invention may generate a transmission signal that slows down after the frequency change gradually increases as long as the frequency changes non-repetitively.
- a transmission signal in which the change in the speed gradually decreases may be generated.
- the angular frequency representing the frequency modulation of the sine wave changes with an n-order function (n is an integer of 2 or more) with respect to time.
- An expression representing the change can be expressed by a polynomial with respect to time ti, til, and tile.
- the change in the frequency of the transmission signal generated by the apparatus or method according to the present invention may be a change expressed using an exponential function, a logarithmic function, a trigonometric function, or the like.
- the change in the frequency of the transmission signal generated by the apparatus or method according to the present invention is not a smooth change but may be a non-smooth change.
- attention should be paid because the spectrum is widened and may be a burden on the transmitting element.
- a band limiting filter is passed.
- windowing tape processing, Raised Cosine processing
- the transmission signal described in the second embodiment has a waveform obtained by deforming the SFM.
- the transmission signal generated by the apparatus or method according to the present invention is a signal whose frequency changes so that a high peak does not occur other than in the central part in the ambiguity function, a waveform in which the SFM is deformed is used. It may be a signal other than the signal it has. In order not to place a burden on the transmitting element, it is desirable that the power, the waveform amplitude, and the frequency are within the range in which the transmitting element normally generates a signal.
- a method for detecting an object uses a cross-correlation function between a received waveform and an expected received waveform.
- the method of detecting an object according to the present invention may be a method of using another index representing the degree of coincidence between the expected received waveform and the received waveform.
- the signal processing apparatus and the object detection apparatus using such a method also generate the transmission signals shown in the first and second embodiments, and thus have the same effects as those described in the first and second embodiments. The effect of can be obtained.
- the transmission signal transmitted from the object detection device is a sound wave or an ultrasonic wave, but may be an electromagnetic wave (for example, a radio wave) other than the sound wave and the ultrasonic wave.
- the technology for detecting an object using sound waves or ultrasonic waves can be adopted as a technology for passing robots without colliding with each other (without colliding) or a technology for avoiding a vehicle collision.
- the present invention is a technique for monitoring an intruder in an office, a technique for detecting a person's movement in a gymnasium, a technique for monitoring an obstacle in water, etc. It is also possible to adopt.
- ultrasonic waves are often attenuated and cannot be used in many cases.
- the signal processing device and the object detection device according to the present invention are not limited to having a function of transmitting one type of transmission signal.
- the signal processing device and the object detection device hold a program for generating a plurality of types of transmission signals, and The transmission signal selected from the above may be generated.
- a signal processing apparatus as another embodiment according to the present invention is as follows.
- Generating means for generating a modulated wave whose frequency changes non-repetitively for transmission as a transmission signal;
- Detecting means for detecting at least one of It has.
- an object detection method as another embodiment according to the present invention includes: A generating step for generating a modulated wave whose frequency changes non-repetitively; A transmission step of transmitting the modulated wave as a transmission signal; A reception step of receiving a reflection signal obtained by reflecting the transmission signal on a target object; A detection step of detecting at least one of the presence of the target object, a distance to the target object, and a moving speed of the target object by calculating and analyzing a correlation between the transmission signal and the reflected signal; , including.
- the programs included in the signal processing device, the object detection device, and the device with the object detection function as other embodiments according to the present invention are: A generating step for generating a modulated wave whose frequency changes non-repetitively; A transmission step of transmitting the modulated wave as a transmission signal; A reception step of receiving a reflection signal obtained by reflecting the transmission signal on a target object; A detection step of detecting at least one of the presence of the target object, a distance to the target object, and a moving speed of the target object by calculating and analyzing a correlation between the transmission signal and the reflected signal; , The control procedure for causing the computer to execute is shown.
- the present invention can be used in various fields that use technology for detecting an object.
Abstract
Description
周波数が非反復的に変化する変調波を送信信号として生成する生成手段と、
前記送信信号が物体で反射したことによる反射信号を受信可能な受信手段によって受信された受信信号と、前記送信信号との相関関係に基づいて、前記物体の存在と、前記物体までの距離と、前記物体の移動速度とのうちの少なくとも一つを検知する検知手段と
を備える。
上記本発明の信号処理装置と、
前記信号処理装置の生成手段により生成された送信信号を送信する送信手段と、
前記送信信号が物体で反射したことによる反射信号を受信可能な受信手段と
を備える。
上記本発明の物体検知装置と、
当該物体検知装置による物体検知結果を利用して、自装置の動作を制御する制御装置と
を有する。
周波数が非反復的に変化する変調波を送信信号として生成し、
前記送信信号が物体で反射したことによる反射信号を受信可能な受信手段によって受信された受信信号と、前記送信信号との相関関係に基づいて、前記物体の存在と、前記物体までの距離と、前記物体の移動速度とのうちの少なくとも一つを検知する。
図1は、本発明に係る第1実施形態の信号処理装置の構成を簡略化して表すブロック図である。第1実施形態の信号処理装置1は、例えばCPU(central processing unit)等を含むコンピュータ装置により実現される。この信号処理装置1は、生成部(生成手段)2と、検知部(検知手段)3とを有する。
以下に、本発明に係る第2実施形態を説明する。
送信した信号が物体で反射されることによって戻ってきた反射信号を受信する性能は、送信信号の波形によって大きく異なる。また、送信器に内蔵される送信信号を発生する素子(トランスデューサ)と、受信器に内蔵される受信素子(アンテナ)との特性によっても異なる。特に共振を利用する送信素子は、発生できる周波数範囲に制限がある。また、当該送信素子は、送信できる信号の振幅と電力に限界がある。この限界を超えると、送信信号の波形が所望の波形から著しく変形したり、あるいは、負担増に因り送信素子が破損する虞がある。一方、環境の雑音(ノイズ)に比する受信信号(物体で反射して戻ってきた反射信号)の大きさの比(SN(Signal-Noise)比)を高めることを考慮すると、送信器は、大きな電力でもって信号を送信することが望ましい。前記制限と要求を両立させることは難しい。
以上、実施形態を参照して本願発明を説明したが、本願発明は上記実施形態に限定されるものではない。本願発明の構成や詳細には、本願発明のスコープ内で当業者が理解し得る様々な変更をすることができる。
送信信号として送信するため、周波数が非反復的に変化する変調波を生成する生成手段と、
前記送信信号が対象物体で反射することによって得られた反射信号と前記送信信号との相関を計算および分析することにより、前記対象物体の存在、前記対象物体までの距離および前記対象物体の移動速度の少なくともいずれか一つを検出する検出手段と、
を備えている。
周波数が非反復的に変化する変調波を生成する生成ステップと、
前記変調波を送信信号として送信する送信ステップと、
前記送信信号が対象物体で反射することによって得られた反射信号を受信する受信ステップと、
前記送信信号と前記反射信号との相関を計算および分析することにより、前記対象物体の存在、前記対象物体までの距離、および前記対象物体の移動速度の少なくともいずれか一つを検出する検出ステップと、
を含む。
周波数が非反復的に変化する変調波を生成する生成ステップと、
前記変調波を送信信号として送信する送信ステップと、
前記送信信号が対象物体で反射することによって得られた反射信号を受信する受信ステップと、
前記送信信号と前記反射信号との相関を計算および分析することにより、前記対象物体の存在、前記対象物体までの距離、および前記対象物体の移動速度の少なくともいずれか一つを検出する検出ステップと、
をコンピュータに実行させる制御手順が表されている。
2,30 生成部
3,40 検知部
5,20 物体検知装置
7,22 送信部
8,23 受信部
31 正弦波生成部
32 周波数制御部
Claims (10)
- 周波数が非反復的に変化する変調波を送信信号として生成する生成手段と、
前記送信信号が物体で反射したことによる反射信号を受信可能な受信手段によって受信された受信信号と、前記送信信号との相関関係に基づいて、前記物体の存在と、前記物体までの距離と、前記物体の移動速度とのうちの少なくとも一つを検知する検知手段と
を備える信号処理装置。 - 前記生成手段は、
正弦波を生成する正弦波生成手段と、
前記正弦波の周波数を変化させることによって、前記正弦波に基づいた前記変調波を生成する周波数制御手段と
を有する請求項1記載の信号処理装置。 - 前記周波数制御手段は、前記正弦波の角周波数を連続的に変化させることによって、前記正弦波に基づいた前記変調波を生成する請求項2記載の信号処理装置。
- 前記周波数制御手段は、前記正弦波の角周波数を連続的かつ一方向に変化させることによって、前記正弦波に基づいた前記変調波を生成する請求項3記載の信号処理装置。
- 前記周波数制御手段は、前記正弦波の角周波数を時間に対してn次関数(nは2以上の整数)で変化させることによって、前記正弦波に基づいた前記変調波を生成する請求項2乃至請求項4の何れか一つに記載の信号処理装置。
- 前記周波数制御手段は、前記正弦波の角周波数を時間に対して指数関数又は対数関数又は三角関数で変化させることによって、前記正弦波に基づいた前記変調波を生成する請求項2乃至請求項4の何れか一つに記載の信号処理装置。
- 前記検知手段は、前記送信信号から生成した期待受信波形と前記受信信号の波形との同一度を定量評価する請求項1乃至請求項6の何れか一つに記載の信号処理装置。
- 請求項1乃至請求項7の何れか一つに記載の信号処理装置と、
前記信号処理装置の生成手段により生成された送信信号を送信する送信手段と、
前記送信信号が物体で反射したことによる反射信号を受信可能な受信手段と
を備える物体検知装置。 - 請求項8記載の物体検知装置と、
当該物体検知装置による物体検知結果を利用して、自装置の動作を制御する制御装置と
を有する物体検知機能付き装置。 - 周波数が非反復的に変化する変調波を送信信号として生成し、
前記送信信号が物体で反射したことによる反射信号を受信可能な受信手段によって受信された受信信号と、前記送信信号との相関関係に基づいて、前記物体の存在と、前記物体までの距離と、前記物体の移動速度とのうちの少なくとも一つを検知する物体検知方法。
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