WO2019012745A1 - Moving body detection system - Google Patents

Moving body detection system Download PDF

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Publication number
WO2019012745A1
WO2019012745A1 PCT/JP2018/012232 JP2018012232W WO2019012745A1 WO 2019012745 A1 WO2019012745 A1 WO 2019012745A1 JP 2018012232 W JP2018012232 W JP 2018012232W WO 2019012745 A1 WO2019012745 A1 WO 2019012745A1
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WO
WIPO (PCT)
Prior art keywords
unit
radar
measurement
mobile object
traveling path
Prior art date
Application number
PCT/JP2018/012232
Other languages
French (fr)
Japanese (ja)
Inventor
健太郎 大久保
高橋　昌義
秋山　仁
Original Assignee
株式会社日立製作所
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Publication of WO2019012745A1 publication Critical patent/WO2019012745A1/en

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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
    • 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
    • G01S13/91—Radar or analogous systems specially adapted for specific applications for traffic control
    • 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 vehicle trains
    • 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
    • G01S7/40—Means for monitoring or calibrating
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles

Definitions

  • the present invention relates to a mobile detection system, and is suitably applied to, for example, a mobile detection system that detects a mobile.
  • the radar In order to execute monitoring, control and the like using a radar, it is essential to ensure the reliability and safety of the system, and for that purpose it is necessary to constantly verify whether the radar is operating normally.
  • the radar is a method of detecting only the reflection of the object, there is a problem that the absence of the reflection can not be distinguished from the state in which the reflection is lost due to the failure of the radar because there is no object.
  • Patent Document 1 Although the technique described in Patent Document 1 can detect an obstacle in a crossing using signals of reflected radio waves from a reflecting plate, a method for detecting a moving object traveling on a traveling path is described in Patent Document 1 There is a possibility that it is not possible to detect a moving object separately from the obstacle in the level crossing.
  • the present invention has been made in consideration of the above points, and an object thereof is to propose a highly reliable mobile object detection system capable of detecting a mobile object on a traveling road.
  • the present invention is a mobile object detection system for detecting a mobile object on a traveling road, comprising: a reflection unit for reflecting a transmission wave; and emitting a transmission wave toward the reflection unit; A measuring unit that measures a reflected wave of the wave; and a data processing unit that processes measurement data of the measuring unit, and the reflecting unit and the measuring unit are configured to move the movable body at a predetermined place on the traveling path.
  • the data processing unit is provided across the traveling path, and the data processing unit determines, based on measurement data of the measurement unit, a predetermined amount of the reflected wave of the transmission wave emitted toward the reflection unit by the measurement unit.
  • the measurement unit Receive waves above the specified amount If it is determined that no, and so determines that the moving body is present in the predetermined location.
  • the reliability of the mobile object detection system can be secured.
  • the moving body since the moving body is detected when the reflected wave can not be received by a predetermined amount or more, the moving body can be detected even when the reflecting portion is broken or lost.
  • a highly reliable mobile object detection system can be realized.
  • FIG. 1 shows an installation example of a radar 100 and a reflector 200 according to a first embodiment.
  • the moving body 910 travels (moves) the radar 100 (the radars 100A, 100B, 100C%) And the reflecting plate 200 (the reflecting plates 200A, 200B,...) ) Is installed across the traveling path 920.
  • the radar 100 transmits the reflected waves of the transmission waves 400 (transmission waves 400A, 400B, 400C,...) Which the radar 100 and the reflecting plate 200 are blocked by the moving body 910 and transmitted (sent) by the radar 100. Detects that the mobile unit 910 can not receive a predetermined amount or more.
  • the radar 100 and the reflecting plate 200 are placed on the traveling path 920 so that the radar 100 and the reflecting plate 200 can be detected by at least one pair of the radar 100 and the reflecting plate 200 on the traveling path 920. Repeat installation along the way.
  • the radar 100A and the reflecting plate 200A and the radar 100B at an interval where the moving body 910 does not enter completely. And install the reflection plate 200B.
  • the radar 100A and the reflector 200A the moving object 910 traveling on the traveling path 920 does not enter between the detection range 500A and the detection range 500B (undetectable range) on the traveling path 920.
  • the radar 100B and the reflector 200C are installed.
  • the detection range 500A indicates a range (section) in which the radar 100A detects the leading end of the moving body 910 on the traveling path 920
  • the detection range 500B indicates the beginning of the moving body 910 on the traveling path 920 Indicates the range (section) in which a part is detected.
  • the reflection plate 200 is described as an example, but if there is one that can be used as a mark, it may be used instead of the reflection plate 200.
  • FIG. 2 shows an example of the configuration of the mobile object detection system 1.
  • the mobile detection system 1 includes a plurality of sets of radars 100 (an example of a measurement unit), a reflector 200 (an example of a reflection unit), and a mobile detection apparatus 700 (an example of an abnormality detection unit). .
  • the radar 100A is a millimeter wave radar, a laser radar, or the like, emits a transmission wave 400A toward the reflecting plate 200A, and measures a reflection wave 600A of the transmission wave 400A. More specifically, the radar 100A includes a transmission circuit 130 and a transmission antenna 140 for transmitting (irradiating) a transmission wave 400A such as an electromagnetic wave from the radar 100A, and the transmission wave 400A transmitted from the radar 100A as a reflector 200A, a mobile body 910, etc. A receiving antenna 150 and a receiving circuit 160 for receiving the reflected wave 600A reflected by the object of.
  • the radar 100A receives the output data (measurement data) of the receiving circuit 160 via the control unit 120 for controlling the transmitting circuit 130 and the receiving circuit 160, and the control unit 120, and reaches an object such as the moving body 910. And a communication unit 110 for communicating with the mobile object detection apparatus 700 via the communication line 930A.
  • the functions (the control unit 120, the data processing unit 170, etc.) of the radar 100A may be realized by hardware such as a circuit, or may be realized by software in which a controller reads a program to a memory and executes it.
  • the hardware and software may be implemented in combination.
  • the other radars 100B, radars 100C, ..., other reflectors 200B, reflectors 200C, ..., other communication lines 930B, communication lines 930C, ... are the same as in the case of the radar 100A. Since there are, the illustration of their configuration and the description thereof will be omitted.
  • the mobile object detection device 700 is a host system and is a computer or the like.
  • the moving object detection device 700 detects the detection value of each radar 100 (for example, the presence or absence of the reflected wave 600, the distance from the radar 100 to the moving object 910, the speed of the moving object 910, the presence or absence of the moving object 910, the radio wave of the reflected wave 600 Detection data indicating the strength and the like) is taken in, and the presence or absence of the moving object 910 in the detection range 500 of each radar 100, the normal operation of the radar 100, and the like are determined as the entire system.
  • the detection value of each radar 100 for example, the presence or absence of the reflected wave 600, the distance from the radar 100 to the moving object 910, the speed of the moving object 910, the presence or absence of the moving object 910, the radio wave of the reflected wave 600 Detection data indicating the strength and the like
  • the mobile detection device 700 when the mobile detection device 700 receives a detection value (for example, information indicating the presence of the mobile 910) indicating the detection of the mobile 910 from each of the radars 100 in a predetermined order, all the radars 100 receive the detection value. It can be determined that the operation is normal. Also, for example, when the mobile object detection apparatus 700 receives a detection value indicating the detection of the mobile object 910 from only one radar 100, it may determine that there is an abnormality related to the radar 100 and the corresponding reflection plate 200. it can. Further, in this case, the moving object detection apparatus 700 can determine that the moving object 910 does not exist in the detection range of the radar 100.
  • a detection value for example, information indicating the presence of the mobile 910
  • the mobile object detection apparatus 700 specifies a detection value having no consistency based on the detection value acquired from each radar 100 and the installation information related to the installation order of the radar 100 and the reflector 200, An abnormality relating to the pair of radars 100 and the reflecting plate 200 corresponding to the detected value is detected.
  • the detection operation of the mobile unit 910 in the mobile unit detection system 1 will be described. As shown in FIG. 1, for example, when the leading end of the mobile unit 910 enters the detection range 500B, the radar 100B can not receive a fixed amount of reflected wave from the reflection plate 200B, whereby the detection range of the mobile unit 910 is detected. The mobile object detection apparatus 700 is notified of the entry into 500 B.
  • the radar 100A can not receive a certain amount of reflected wave from the reflection plate 200A, whereby the detection range 500A of the mobile unit 910 is detected.
  • the mobile object detection apparatus 700 is notified of entry into the vehicle. At this time, the mobile object detection device 700 recognizes that the mobile object 910 straddles the detection range 500B and the detection range 500A.
  • the radar 100B can receive a fixed amount of reflected wave from the reflection plate 200B, and from the detection range 500B of the mobile unit 910. Is notified to the mobile object detection apparatus 700. At this time, the mobile object detection device 700 recognizes that the mobile object 910 has completely exited from the detection range 500B. It should be noted that since the mobile unit 910 can be detected by any of the radars 100 at any position on the traveling path 920, the mobile unit can be detected even when the mobile unit detection system 1 starts up. You will not miss the 910.
  • the mobile object detection apparatus 700 receives the detection value from each of the radars 100 and determines which radar 100 has a detection range of the head of the mobile object 910. Also, the moving object detection apparatus 700 confirms the velocity, the presence / absence of movement, and the like of the moving object 910 from the detection value (the distance to the moving object 910, the velocity of the moving object 910, etc.) from the radar 100 that detected the moving object 910. be able to.
  • the operation at the time of abnormality in the mobile object detection system 1 will be described.
  • the radar 100B can detect the abnormality by not being able to receive a certain amount of reflected wave from the reflection plate 200B.
  • the mobile object detection apparatus 700 can detect the abnormality by not being able to receive the detection value from the radar 100B, the detection value becoming an invalid value, etc. it can.
  • the mobile object detection device 700 is not only the detection value from the radar 100B but also the detection values from other radars 100 (for example, a value indicating that only the detection value from the radar 100B has detected the mobile object 910).
  • the mobile object detection device 700 detects an abnormality, it outputs that an abnormality has occurred, etc. (displays on a display not shown, lights up a warning light not shown, sends an e-mail to a designated e-mail address, illustrated Not be able to notify other systems etc).
  • transmission wave 400 is transmitted from the front to traveling mobile body 910, but transmission wave 400 may be transmitted from the rear to traveling mobile body 910. .
  • the detection value from the radar 100 in which the rear portion of the moving body 910 exists in the detection range is used to determine the speed of the moving body 910, the presence or absence of movement, and the like.
  • the radar 100 and the reflecting plate 200 are disposed on both sides so as to sandwich the traveling path 920.
  • the arrangement method is not limited to this, and between the radar 100 and the reflecting plate 200 An arrangement may be employed as appropriate such that the vehicle is blocked by the mobile body 910.
  • the radar 100 and the reflecting plate 200 may be disposed below and above the traveling path 920, or may be disposed obliquely above and obliquely below the traveling path 920.
  • the mobile body 910 may be present within the detection range, except when the radar 100 can receive the reflected wave 600 from the reflection plate 200 by a predetermined amount or more. It becomes possible to apply to the system which secured safety and reliability, such as a vehicle position detection system on a rail in a railway.
  • the details of the moving body 910 are further detected by detecting the reflected wave 600 from the moving body 910 itself. Position and velocity can be recognized.
  • finer position information can be detected as compared with the conventional track circuit method in which vehicle position detection is performed in fixed interval units, and in the track circuit method Speed information that could not be detected can be detected.
  • the mobile unit 910 can be detected by any of the radars 100, and the mobile unit 910 can not be missed. Furthermore, since the abnormality can be detected by the mobile object detection device 700 based on the detection values of the plurality of radars 100, the soundness of the entire mobile object detection system 1 can be secured.
  • the mobile unit 911 travels in the direction of the arrow 941 on the traveling path 921 and the mobile unit 912 travels in the direction of the arrow 942 (the opposite direction to the traveling direction of the mobile 911) on the traveling path 922
  • the installation example of the radar 100 and the reflecting plate 200 in the case of doing is shown.
  • the mobile unit 911 is detected when the radar 100 can not receive a reflected wave of (the transmitted waves 400D, 400E, 400F,...) More than a predetermined amount (predetermined amount).
  • the radar 100 and the reflecting plate 200 are placed on the traveling path 921 so that the radar 100 and the reflecting plate 200 can detect the mobile object 911 on the traveling path 921 with at least one pair of the radar 100 and the reflecting plate 200. Repeat installation along the way. At this time, the radar 100 and the reflecting plate 200 are installed between the straight lines 300 (straight lines 300 D, 300 E,...) Connecting the radar 100 and the reflecting plate 200 at an interval where the moving object 911 does not enter completely.
  • the mobile unit 912 is detected when the radar 100 can not receive the reflected wave of the wave 400 (transmission waves 400G, 400H, 400I,...) More than a predetermined amount (predetermined amount).
  • the radar 100 and the reflecting plate 200 can be used as the traveling path 922 so that the radar 100 and the reflecting plate 200 can be detected by at least one pair of the radar 100 and the reflecting plate 200 on the traveling path 922. Repeat installation along the way. At this time, the radar 100 and the reflecting plate 200 are installed between the straight lines 300 (straight lines 300H, 300I,...) Connecting the radar 100 and the reflecting plate 200 at an interval where the moving body 912 does not completely enter.
  • the radar 100 ⁇ / b> D is installed so that the irradiation range of the transmission wave 400 ⁇ / b> D is opposite to the traveling direction of the mobile object 911.
  • the radar 100D detects the front position in the traveling direction of the mobile unit 911 when the mobile unit 911 moves in the traveling direction in the traveling path 921 in the detection range 500D of the mobile unit 911.
  • the radar 100E is installed for the purpose of detecting the mobile object 911 in the detection range 500E of the mobile object 911 and for the purpose of detecting the mobile object 911 in the detection range 500F (not shown) of the mobile object 911. Install the radar 100F.
  • the radar 100 ⁇ / b> G is installed so that the irradiation range of the transmission wave 400 ⁇ / b> G is opposite to the traveling direction of the moving body 912.
  • the radar 100G detects the front position in the traveling direction of the moving body 912 when the moving body 912 moves in the traveling direction on the traveling path 922 in a detection range 500G (not shown) of the moving body 912.
  • the radar 100H is installed for the purpose of detecting the mobile object 912 in the detection range 500H of the mobile object 912
  • the radar 100I is provided for the purpose of detecting the mobile object 912 in the detection range 500I of the mobile object 912. Install.
  • the distance between the radar 100D and the radar 100I is adjusted (positioned), the polarization time is different, and the irradiation time is used. Measures are taken to prevent mutual interference. The same applies to the other radars 100.
  • the radar 100 and the reflecting plate 200 are disposed on both sides so as to sandwich the traveling path 921 or the traveling path 922.
  • the arrangement method is not limited to this. An arrangement may be adopted as appropriate such that a gap is blocked by the mobile units 911 and 912.
  • the radar 100 and the reflecting plate 200 may be disposed below and above the traveling paths 921 and 922, and may be disposed obliquely above and obliquely below the traveling paths 921 and 922.
  • the reflecting plate 200 for example, reflecting plates 200D and 200E
  • the reflecting plate 200 for example, reflecting plates 200H and 200I
  • the traveling path 921 and the traveling path 922 are combined with the traveling path 921 and the traveling path.
  • the movable bodies 911 and 912 travel Even when the roads 921 and 922 travel in different directions, it is possible to detect the mobiles 911 and 912, detect the speed of the mobiles 911 and 912, and detect whether or not the mobiles 911 and 912 move.
  • FIG. 1 An installation example of the radar 100 and the reflecting plate 200 in the present embodiment is shown in FIG.
  • the radar 100 is installed to transmit the transmission wave 400 obliquely to the traveling paths 920, 921, and 922.
  • the traveling paths 923 and 924 are used.
  • the radar 100 is installed to transmit the transmission wave 400 from the side.
  • differences from the first embodiment will be mainly described.
  • the moving body 913 travels in the direction of the arrow 943 on the traveling path 923, and the moving body 914 travels in the direction of the arrow 944 (the opposite direction to the traveling direction of the moving body 913) on the traveling path 924.
  • the installation example of the radar 100 and the reflecting plate 200 in the case of doing is shown.
  • the radars 100 radars 100J, 100K, 100L, 100M, 100N, 100O, 100P, 100Q
  • the reflectors 200 reflectors 200J, 200K, 200L, 200M, 200N, 200O, 200P, 200Q
  • a straight line 300 (straight line 300J, 300K, 300L, 300M, 300N, 300O, 300P, 300Q) connecting the radar 100 and the reflecting plate 200 is orthogonal to the traveling paths 923, 924 and the moving body 913, 914
  • the reflectors 200 are arranged to be cut off.
  • the radar 100J is installed so that the irradiation range of the transmission wave 400J is orthogonal to the traveling path 923.
  • the radar 100J detects the position of the moving body 913 on a straight line 300J connecting the radar 100J and the reflecting plate 200J.
  • the radar 100J, the reflector 200J, and the radar 100K are spaced at a distance such that the moving body 913 does not completely enter between the straight line 300J connecting the radar 100J and the reflector 200J and the straight line 300K connecting the radar 100K and the reflector 200K.
  • And install the reflector 200K The same applies to the other radars 100 and the reflectors 200.
  • the moving body 913 is completely between the straight lines 300 connecting the radar 100 and the reflecting plate 200 so that the moving body 913 on the traveling path 923 can be detected by at least one pair of the radar 100 and the reflecting plate 200.
  • a pair of radars 100 and reflectors 200 are installed at intervals which do not enter.
  • the radar 100 and the reflector 200 are similarly installed on the traveling path 924 as well.
  • the straight line 300 connecting the radar 100 and the reflecting plate 200 is orthogonal to the traveling paths 923 and 924 (the traveling directions of the moving bodies 913 and 914). It is an advantage that the positions of the mobile bodies 913 and 914 can be determined by points, not the detection section as described in the second embodiment but the detection points. It is also possible to apply to a check-in and check-out system that monitors the entry and exit of the mobile unit 913, 914 to a section by taking advantage of this advantage.
  • the detection accuracy can be enhanced by narrowing the installation interval of the radar 100 and the reflection plate 200.
  • the straight line 300 connecting the radar 100 and the reflecting plate 200 is orthogonal to the traveling paths 923 and 924, and the moving body 913 and 914
  • An arrangement in which 200 is blocked can be employed as appropriate.
  • the radar 100 and the reflecting plate 200 may be disposed below and above the traveling paths 923 and 924, and may be disposed obliquely above and obliquely below the traveling paths 923 and 924.
  • the reflecting plate 200 (for example, reflecting plates 200J, 200K, 200L, 200M) related to the traveling path 923 and the reflecting plate 200 (for example, reflecting plates 200N, 200O, 200P, 200Q) related to the traveling path 924 Can be reduced (suppression of the change in background data) due to a car or the like running on the road provided along the travel paths 923 and 924 by disposing the) between the travel path 923 and the travel path 924.
  • the reflecting plate 200 related to the traveling path 923 and the reflecting plate 200 related to the traveling path 924 may be installed separately.
  • the radar 100 since the radar 100 detects the mobiles 913 and 914 at a point (pinpoint), the traveling (moving into / from a predetermined section, etc.) of the mobiles 913 and 914 is accurately performed. It can be detected. Further, according to the present embodiment, by using detection values from a plurality of radars 100, it is possible to more accurately detect the speeds of the moving bodies 913 and 914.
  • FIG. 10 An installation example of the radar 100 and the reflecting plate 200 in the present embodiment is shown in FIG.
  • a plurality of travel paths 925, 926, 927, 928 are provided, and the moving body 915 travels the travel paths 925, 926, 927, 928 freely (both directions).
  • the mobile body 915 can travel on the traveling path 925 in the direction of the arrow 945 and in the direction of the arrow 946 opposite to the arrow 945. And run on the runway 926 through the runway 928.
  • differences from the first embodiment will be mainly described.
  • the radar 100 radars 100R, 100S, 100T, 100U, 100V
  • the reflector 200 reflectors 200R, 200S, 200T, 200U, 200V
  • the transmission waves 400 are arranged to be transmitted from the side.
  • the radar 100 detects the moving object 915 on a straight line 300 (straight line 300R, 300S, 300T, 300U, 300V) connecting the radar 100 and the reflecting plate 200.
  • the radar 100 and the reflectors can be detected so that the radar 100 and the reflectors 200 can be detected by at least one pair of the radars 100 and the reflectors 200 on the traveling paths 925, 926, 927, 928. 200 are repeatedly installed along the parallel running paths 925, 926.
  • the radar 100R is installed so that the irradiation range of the transmission wave 400R is orthogonal to the traveling paths 925, 926.
  • the radar 100R detects the position of the moving body 915 on a straight line 300R connecting the radar 100R and the reflecting plate 200R. Also, the distance between the straight line 300R connecting the radar 100R and the reflecting plate 200R and the straight line 300S connecting the radar 100S and the reflecting plate 200S does not allow the moving object 915 on the traveling paths 925, 926, 927, 928 to completely enter
  • the radar 100R, the reflector 200R and the radar 100S and the reflector 200S are installed. The same applies to the other radars 100 and the reflectors 200.
  • the traveling path 925 and the traveling path 926, the traveling path 927 connecting the traveling path 925 and the traveling path 926, and the moving body 915 on the traveling path 928 are at least one of the radar 100 and the reflecting plate 200.
  • the radar 100 and the reflector 200 are continuously installed at an interval where the moving body 915 does not completely enter between the straight lines 300 connecting the radar 100 and the reflector 200.
  • the presence or absence of the mobile object 915 on the traveling paths 925, 926, 927, 928 can be detected by any of the radars 100R, 100S, 100T, 100U,.
  • the arrangement of the radar 100 and the reflecting plate 200 in the present embodiment is determined by crossing the straight line 300 connecting the radar 100 and the reflecting plate 200 to the traveling paths 925, 926, 927, 928, and moving the radar 100 and An arrangement in which the reflection plates 200 are blocked can be employed as appropriate.
  • the radar 100 and the reflecting plate 200 may be disposed below and above the traveling paths 925, 926, 927, 928, and disposed obliquely above and obliquely below the traveling paths 925, 926, 927, 928 It is also good.
  • mobile body 915 traveling on traveling path 925, traveling on traveling path 926 through traveling path 927, or traveling on traveling path 926 through traveling path 928 Can be detected.
  • the present invention is applied to the mobile object detection system 1.
  • the present invention is not limited to this, and various other movements may be made. It can be widely applied to body detection systems.
  • the present invention is not limited to this, the radar 100 and the mobile object detection device 700 , May be connected via the Internet, or may be connected by wireless communication.
  • processing concerning mobile object detection system 1 can be performed by arbitrary components.
  • the data processing unit 170 may be provided not in the radar 100 but in the mobile object detection device 700, or may be provided in another information processing device (not shown).
  • the embodiments described above can be combined as appropriate without departing from the scope of the invention.
  • the case has been described in which all the radars 100 and the reflectors 200 are provided to be orthogonal to the travel paths 923 and 924, but the present invention is not limited thereto.
  • the radar 100 and the reflecting plate 200 are provided orthogonal to the travel paths 923 and 924 at the entrance only, at the exit only, or at the entrance of the yard, and the other places are the radar 100 as in the second embodiment.
  • the reflecting plate 200 may be disposed.
  • 1 mobile object detection system, 100 ... radar, 200 ... reflector, 700 ... mobile object detection device.

Abstract

This moving body detection system is for detecting a moving body on a travel path, and comprises a reflection part for reflecting transmission waves, a measurement unit for emitting transmission waves toward the reflection part and measuring reflected transmission waves, and a data processing unit for processing measurement data from the measurement unit. The reflection part and measurement unit are provided on opposite sides of the travel path for the purpose of detecting a moving body at a prescribed location on the travel path. If, on the basis of the measurement data from the measurement unit, the data processing unit determines that the measurement unit has received a prescribed amount or more of transmission waves that have been emitted by the measurement unit toward the reflection unit and reflected, the data processing unit determines that the moving body is not at the prescribed location and that measurement using the reflection part and measurement unit is normal, whereas if, on the basis of the measurement data from the measurement unit, the data processing unit determines that the measurement unit has not received the prescribed amount or more of the reflected waves, the data processing unit determines that the moving body is at the prescribed location.

Description

移動体検知システムMobile object detection system
　本発明は移動体検知システムに関し、例えば、移動体を検知する移動体検知システムに適用して好適なものである。 The present invention relates to a mobile detection system, and is suitably applied to, for example, a mobile detection system that detects a mobile.
　近年、自動車、鉄道などの移動体を用いた交通システムにおいて、レーダを用いて車両などの速度、距離などを計測し、障害物監視、運行管理、または移動体の自動制御を構築する取り組みが注目されている。検知を行うレーダとしては、ミリ波レーダ、レーザーレーダなどがあり、高精度で信頼性の高いレーダの開発が進んでいる。 In recent years, in traffic systems using moving objects such as cars and railways, efforts to measure obstacles, operation control, or automatic control of moving objects by using radar to measure the speed, distance, etc. It is done. As a radar which detects, there are a millimeter wave radar, a laser radar, etc., and development of a highly accurate and highly reliable radar is in progress.
　レーダを用いて監視、制御などを実行するには、システムの信頼性および安全性の確保が必須であり、そのためにはレーダが正常に動作しているかを常時検証する必要がある。レーダが対象物の反射のみを検知する手法である場合、対象物が存在しないため、反射が無い状態と、レーダの故障により反射が無くなった状態とが区別できないという問題が発生する。 In order to execute monitoring, control and the like using a radar, it is essential to ensure the reliability and safety of the system, and for that purpose it is necessary to constantly verify whether the radar is operating normally. When the radar is a method of detecting only the reflection of the object, there is a problem that the absence of the reflection can not be distinguished from the state in which the reflection is lost due to the failure of the radar because there is no object.
　この点、レーダの送信波を反射する反射板をレーダの照射領域に設置し、反射板の反射が存在するかを検証することでシステムの信頼性および安全性を向上させる手法が知られている（特許文献１参照）。また、特許文献１に記載の技術では、踏切道の領域を検知範囲とし、反射板による反射電波の信号を処理することによって、障害物検知および動作の自己判断を図っている。 In this respect, there is known a method of improving the reliability and safety of the system by installing a reflection plate for reflecting the transmission wave of the radar in the irradiation area of the radar and verifying whether the reflection of the reflection plate exists. (See Patent Document 1). Further, in the technology described in Patent Document 1, the obstacle detection and operation self-determination are attempted by processing the signal of the reflected radio wave by the reflection plate, with the area of the crossing road as the detection range.
特開２０１５－１８２７１１号公報JP, 2015-182711, A
　かかる特許文献１に記載の技術では、反射板による反射電波の信号を用いて踏切内の障害物を検知することはできるが、走行路を走行する移動体を検知する方法についての記載が特許文献１にはなく、踏切内の障害物とは別に移動体を検知することはできない可能性がある。 Although the technique described in Patent Document 1 can detect an obstacle in a crossing using signals of reflected radio waves from a reflecting plate, a method for detecting a moving object traveling on a traveling path is described in Patent Document 1 There is a possibility that it is not possible to detect a moving object separately from the obstacle in the level crossing.
　本発明は以上の点を考慮してなされたもので、走行路上の移動体を検知可能な信頼性の高い移動体検知システムを提案しようとするものである。 The present invention has been made in consideration of the above points, and an object thereof is to propose a highly reliable mobile object detection system capable of detecting a mobile object on a traveling road.
　かかる課題を解決するため本発明においては、走行路上の移動体を検知する移動体検知システムであって、送信波を反射させる反射部と、前記反射部に向けて送信波を発射し、前記送信波の反射波を測定する測定部と、前記測定部の測定データを処理するデータ処理部と、を備え、前記反射部と前記測定部とは、前記走行路上の所定の場所で前記移動体を検知するために、前記走行路を挟んで設けられ、前記データ処理部は、前記測定部の測定データに基づいて、前記測定部が前記反射部に向けて発射した送信波の反射波を所定量以上受信したと判定した場合、前記所定の場所に前記移動体が存在しないと判定し、かつ、前記反射部および前記測定部における測定が正常動作していると判定し、前記測定部が前記反射波を前記所定量以上受信しなかったと判定した場合、前記所定の場所に前記移動体が存在すると判定するようにした。 In order to solve such problems, the present invention is a mobile object detection system for detecting a mobile object on a traveling road, comprising: a reflection unit for reflecting a transmission wave; and emitting a transmission wave toward the reflection unit; A measuring unit that measures a reflected wave of the wave; and a data processing unit that processes measurement data of the measuring unit, and the reflecting unit and the measuring unit are configured to move the movable body at a predetermined place on the traveling path. For detection, the data processing unit is provided across the traveling path, and the data processing unit determines, based on measurement data of the measurement unit, a predetermined amount of the reflected wave of the transmission wave emitted toward the reflection unit by the measurement unit. If it is determined that the mobile object has been received, it is determined that the movable body is not present at the predetermined place, and it is determined that the measurement in the reflection unit and the measurement unit is operating normally, and the measurement unit Receive waves above the specified amount If it is determined that no, and so determines that the moving body is present in the predetermined location.
　上記構成によれば、反射波を所定量以上受信できたときに反射部および測定部の正常動作を確認するので、移動体検知システムの信頼性を確保することができる。他方、反射波を所定量以上受信できないときに移動体を検知するので、反射部が破損したり無くなったりした場合でも、移動体を検知することができる。 According to the above configuration, since the normal operation of the reflection unit and the measurement unit is confirmed when the reflected wave can be received by a predetermined amount or more, the reliability of the mobile object detection system can be secured. On the other hand, since the moving body is detected when the reflected wave can not be received by a predetermined amount or more, the moving body can be detected even when the reflecting portion is broken or lost.
　本発明によれば、信頼性の高い移動体検知システムを実現することができる。 According to the present invention, a highly reliable mobile object detection system can be realized.
第１の実施の形態によるレーダおよび反射板の設置例を示す図である。It is a figure which shows the example of installation of the radar by 1st Embodiment, and a reflecting plate. 第１の実施の形態による移動体検知システムの構成の一例を示す図である。It is a figure showing an example of composition of a mobile detection system by a 1st embodiment. 第２の実施の形態によるレーダおよび反射板の設置例を示す図である。It is a figure which shows the example of installation of the radar by 2nd Embodiment, and a reflecting plate. 第３の実施の形態によるレーダおよび反射板の設置例を示す図である。It is a figure which shows the example of installation of the radar by 3rd Embodiment, and a reflecting plate. 第４の実施の形態によるレーダおよび反射板の設置例を示す図である。It is a figure which shows the example of installation of the radar by 4th Embodiment, and a reflecting plate.
　以下図面について、本発明の一実施の形態を詳述する。 An embodiment of the present invention will now be described in detail with reference to the drawings.
（１）第１の実施の形態
　図１は、第１の実施の形態に係るレーダ１００および反射板２００の設置例を示す。図１に示すように、本実施の形態では、レーダ１００（レーダ１００Ａ，１００Ｂ，１００Ｃ・・・）および反射板２００（反射板２００Ａ，２００Ｂ、・・・）は、移動体９１０が走行（移動）する走行路９２０を挟んで設置される。本実施の形態では、レーダ１００および反射板２００間が移動体９１０によって遮断され、レーダ１００が送信（発射）した送信波４００（送信波４００Ａ，４００Ｂ，４００Ｃ・・・）の反射波をレーダ１００が一定量（所定量）以上受信できないことで移動体９１０を検知する。 (1) First Embodiment FIG. 1 shows an installation example of a radar 100 and a reflector 200 according to a first embodiment. As shown in FIG. 1, in the present embodiment, the moving body 910 travels (moves) the radar 100 (the radars 100A, 100B, 100C...) And the reflecting plate 200 (the reflecting plates 200A, 200B,...) ) Is installed across the traveling path 920. In the present embodiment, the radar 100 transmits the reflected waves of the transmission waves 400 ( transmission waves 400A, 400B, 400C,...) Which the radar 100 and the reflecting plate 200 are blocked by the moving body 910 and transmitted (sent) by the radar 100. Detects that the mobile unit 910 can not receive a predetermined amount or more.
　また、複数対のレーダ１００および反射板２００を、走行路９２０上の移動体９１０を少なくとも何れか一対のレーダ１００および反射板２００で検知できるように、レーダ１００および反射板２００を走行路９２０に沿って繰り返し設置する。 Also, the radar 100 and the reflecting plate 200 are placed on the traveling path 920 so that the radar 100 and the reflecting plate 200 can be detected by at least one pair of the radar 100 and the reflecting plate 200 on the traveling path 920. Repeat installation along the way.
　例えば、レーダ１００Ａおよび反射板２００Ａを結んだ直線３００Ａと、レーダ１００Ｂおよび反射板２００Ｂを結んだ直線３００Ｂとの間に、移動体９１０が完全に入り込まない間隔でレーダ１００Ａおよび反射板２００Ａ並びにレーダ１００Ｂおよび反射板２００Ｂを設置する。換言するならば、走行路９２０上の検知範囲５００Ａと検知範囲５００Ｂとの間（検出不可能範囲）に、走行路９２０を走行する移動体９１０が入り込まないように、レーダ１００Ａおよび反射板２００Ａとレーダ１００Ｂおよび反射板２００Ｃとを設置する。ここで、検知範囲５００Ａは、レーダ１００Ａが走行路９２０上の移動体９１０の先頭部を検知する範囲（区間）を示し、検知範囲５００Ｂは、レーダ１００Ｂが走行路９２０上の移動体９１０の先頭部を検知する範囲（区間）を示す。 For example, between the straight line 300A connecting the radar 100A and the reflecting plate 200A and the straight line 300B connecting the radar 100B and the reflecting plate 200B, the radar 100A and the reflecting plate 200A and the radar 100B at an interval where the moving body 910 does not enter completely. And install the reflection plate 200B. In other words, with the radar 100A and the reflector 200A, the moving object 910 traveling on the traveling path 920 does not enter between the detection range 500A and the detection range 500B (undetectable range) on the traveling path 920. The radar 100B and the reflector 200C are installed. Here, the detection range 500A indicates a range (section) in which the radar 100A detects the leading end of the moving body 910 on the traveling path 920, and the detection range 500B indicates the beginning of the moving body 910 on the traveling path 920 Indicates the range (section) in which a part is detected.
　上述した構成によれば、走行路９２０上の移動体９１０を連続的に検知することができる。 According to the configuration described above, the moving body 910 on the traveling path 920 can be continuously detected.
　なお、本実施の形態では、反射板２００を例に挙げて説明するが、目印として使用できるものがある場合、それを反射板２００の代わりとして用いてもよい。 In the present embodiment, the reflection plate 200 is described as an example, but if there is one that can be used as a mark, it may be used instead of the reflection plate 200.
　図２は、移動体検知システム１の構成の一例を示す。移動体検知システム１は、複数組のレーダ１００（測定部の一例）および反射板２００（反射部の一例）と、移動体検知装置７００（異常検知部の一例）と、を含んで構成される。 FIG. 2 shows an example of the configuration of the mobile object detection system 1. The mobile detection system 1 includes a plurality of sets of radars 100 (an example of a measurement unit), a reflector 200 (an example of a reflection unit), and a mobile detection apparatus 700 (an example of an abnormality detection unit). .
　レーダ１００Ａは、ミリ波レーダ、レーザーレーダなどであり、反射板２００Ａに向けて送信波４００Ａを発射し、送信波４００Ａの反射波６００Ａを測定する。より具体的には、レーダ１００Ａは、レーダ１００Ａから電磁波等の送信波４００Ａを送信（照射）するための送信回路１３０および送信アンテナ１４０と、送信した送信波４００Ａが反射板２００Ａ、移動体９１０などの物体で反射された反射波６００Ａを受信するための受信アンテナ１５０および受信回路１６０と、を備える。 The radar 100A is a millimeter wave radar, a laser radar, or the like, emits a transmission wave 400A toward the reflecting plate 200A, and measures a reflection wave 600A of the transmission wave 400A. More specifically, the radar 100A includes a transmission circuit 130 and a transmission antenna 140 for transmitting (irradiating) a transmission wave 400A such as an electromagnetic wave from the radar 100A, and the transmission wave 400A transmitted from the radar 100A as a reflector 200A, a mobile body 910, etc. A receiving antenna 150 and a receiving circuit 160 for receiving the reflected wave 600A reflected by the object of.
　また、レーダ１００Ａは、送信回路１３０および受信回路１６０を制御するための制御部１２０と、制御部１２０を介して受信回路１６０の出力データ（測定データ）を受け取って移動体９１０などの対象物までの距離、移動体９１０の速度などを算出するデータ処理部１７０と、移動体検知装置７００と通信線９３０Ａを介して通信を行うための通信部１１０と、を備える。レーダ１００Ａの機能（制御部１２０、データ処理部１７０等）は、回路などのハードウェアにより実現されてもよいし、コントローラがメモリにプログラムを読み出して実行するソフトウェアにより実現されてもよいし、ハードウェアとソフトウェアとが組み合わされて実現されてもよい。 Further, the radar 100A receives the output data (measurement data) of the receiving circuit 160 via the control unit 120 for controlling the transmitting circuit 130 and the receiving circuit 160, and the control unit 120, and reaches an object such as the moving body 910. And a communication unit 110 for communicating with the mobile object detection apparatus 700 via the communication line 930A. The functions (the control unit 120, the data processing unit 170, etc.) of the radar 100A may be realized by hardware such as a circuit, or may be realized by software in which a controller reads a program to a memory and executes it. The hardware and software may be implemented in combination.
　なお、他のレーダ１００Ｂ、レーダ１００Ｃ、・・・、他の反射板２００Ｂ、反射板２００Ｃ、・・・、他の通信線９３０Ｂ、通信線９３０Ｃ・・・については、レーダ１００Ａの場合と同じであるので、それらの構成の図示およびその説明を省略する。 The other radars 100B, radars 100C, ..., other reflectors 200B, reflectors 200C, ..., other communication lines 930B, communication lines 930C, ... are the same as in the case of the radar 100A. Since there are, the illustration of their configuration and the description thereof will be omitted.
　移動体検知装置７００は、上位システムであり、コンピュータ等である。移動体検知装置７００は、各レーダ１００の検出値（例えば、反射波６００の有無、レーダ１００から移動体９１０までの距離、移動体９１０の速度、移動体９１０の存在有無、反射波６００の電波強度などを示す検出データ）を取り込み、各レーダ１００の検知範囲５００における移動体９１０の存在有無、レーダ１００の正常動作などをシステム全体として判定する。 The mobile object detection device 700 is a host system and is a computer or the like. The moving object detection device 700 detects the detection value of each radar 100 (for example, the presence or absence of the reflected wave 600, the distance from the radar 100 to the moving object 910, the speed of the moving object 910, the presence or absence of the moving object 910, the radio wave of the reflected wave 600 Detection data indicating the strength and the like) is taken in, and the presence or absence of the moving object 910 in the detection range 500 of each radar 100, the normal operation of the radar 100, and the like are determined as the entire system.
　例えば、移動体検知装置７００は、移動体９１０の検出を示す検出値（例えば、移動体９１０が存在することを示す情報）を各レーダ１００から所定の順序で受信した場合、全てのレーダ１００が正常動作していると判断することができる。また、例えば、移動体検知装置７００は、一のレーダ１００のみから移動体９１０の検出を示す検出値を受信した場合、当該レーダ１００および対応する反射板２００に係る異常があると判定することができる。また、この場合、移動体検知装置７００は、当該レーダ１００の検出範囲に移動体９１０は存在しないと判定することができる。 For example, when the mobile detection device 700 receives a detection value (for example, information indicating the presence of the mobile 910) indicating the detection of the mobile 910 from each of the radars 100 in a predetermined order, all the radars 100 receive the detection value. It can be determined that the operation is normal. Also, for example, when the mobile object detection apparatus 700 receives a detection value indicating the detection of the mobile object 910 from only one radar 100, it may determine that there is an abnormality related to the radar 100 and the corresponding reflection plate 200. it can. Further, in this case, the moving object detection apparatus 700 can determine that the moving object 910 does not exist in the detection range of the radar 100.
　このように、移動体検知装置７００は、各レーダ１００から取得した検出値と、レーダ１００および反射板２００の設置順序に係る設置情報とに基づいて整合性のない検出値を特定した場合、当該検出値に対応する一対のレーダ１００および反射板２００に係る異常を検知する。 As described above, when the mobile object detection apparatus 700 specifies a detection value having no consistency based on the detection value acquired from each radar 100 and the installation information related to the installation order of the radar 100 and the reflector 200, An abnormality relating to the pair of radars 100 and the reflecting plate 200 corresponding to the detected value is detected.
（検知動作）
　移動体検知システム１における移動体９１０の検知動作について説明する。図１に示すように、例えば、移動体９１０の先頭部が検知範囲５００Ｂに進入したとき、レーダ１００Ｂは、反射板２００Ｂからの反射波を一定量受信できなくなることにより、移動体９１０の検知範囲５００Ｂへの進入を移動体検知装置７００に通知する。 (Detection operation)
The detection operation of the mobile unit 910 in the mobile unit detection system 1 will be described. As shown in FIG. 1, for example, when the leading end of the mobile unit 910 enters the detection range 500B, the radar 100B can not receive a fixed amount of reflected wave from the reflection plate 200B, whereby the detection range of the mobile unit 910 is detected. The mobile object detection apparatus 700 is notified of the entry into 500 B.
　移動体９１０がさらに走行し、移動体９１０の先頭部が検知範囲５００Ａに進入したとき、レーダ１００Ａは、反射板２００Ａからの反射波を一定量受信できなくなることにより、移動体９１０の検知範囲５００Ａへの進入を移動体検知装置７００に通知する。このとき、移動体検知装置７００は、移動体９１０が検知範囲５００Ｂおよび検知範囲５００Ａに跨っていると認識する。 When the mobile unit 910 further travels and the leading end of the mobile unit 910 enters the detection range 500A, the radar 100A can not receive a certain amount of reflected wave from the reflection plate 200A, whereby the detection range 500A of the mobile unit 910 is detected. The mobile object detection apparatus 700 is notified of entry into the vehicle. At this time, the mobile object detection device 700 recognizes that the mobile object 910 straddles the detection range 500B and the detection range 500A.
　移動体９１０がさらに走行し、移動体９１０の後部が検知範囲５００Ｂを退出したとき、レーダ１００Ｂは、反射板２００Ｂからの反射波を一定量受信できるようになり、移動体９１０の検知範囲５００Ｂからの退出を移動体検知装置７００に通知する。このとき、移動体検知装置７００は、移動体９１０が検知範囲５００Ｂから退出完了したと認識する。なお、走行路９２０上のどの位置に移動体９１０があっても、何れかのレーダ１００で移動体９１０を検知できるため、仮に移動体検知システム１の立ち上げ時であったとしても、移動体９１０を見失うことはない。 When the mobile unit 910 further travels and the rear portion of the mobile unit 910 leaves the detection range 500B, the radar 100B can receive a fixed amount of reflected wave from the reflection plate 200B, and from the detection range 500B of the mobile unit 910. Is notified to the mobile object detection apparatus 700. At this time, the mobile object detection device 700 recognizes that the mobile object 910 has completely exited from the detection range 500B. It should be noted that since the mobile unit 910 can be detected by any of the radars 100 at any position on the traveling path 920, the mobile unit can be detected even when the mobile unit detection system 1 starts up. You will not miss the 910.
　ここで、移動体検知装置７００は、各レーダ１００から検出値を受信し、移動体９１０の先頭部がどのレーダ１００の検知範囲にあるかを判断する。また、移動体検知装置７００は、移動体９１０を検出したレーダ１００からの検出値（移動体９１０までの距離、移動体９１０の速度など）から、移動体９１０の速度、移動有無などを確認することができる。 Here, the mobile object detection apparatus 700 receives the detection value from each of the radars 100 and determines which radar 100 has a detection range of the head of the mobile object 910. Also, the moving object detection apparatus 700 confirms the velocity, the presence / absence of movement, and the like of the moving object 910 from the detection value (the distance to the moving object 910, the velocity of the moving object 910, etc.) from the radar 100 that detected the moving object 910. be able to.
（異常時動作）
　移動体検知システム１における異常時の動作について説明する。例えば、反射板２００Ｂにおいて位置、向きにずれが生じる等の異常が発生したとき、レーダ１００Ｂは、反射板２００Ｂからの反射波を一定量受信できなくなることにより、異常を検知することができる。このとき、レーダ１００Ｂで移動体９１０自体の検知ができないことで、移動体９１０の検知範囲５００Ｂへの進入ではないと判定することも可能である。 (Operation at abnormal time)
The operation at the time of abnormality in the mobile object detection system 1 will be described. For example, when an abnormality such as a shift in position or direction occurs in the reflection plate 200B, the radar 100B can detect the abnormality by not being able to receive a certain amount of reflected wave from the reflection plate 200B. At this time, it is also possible to determine that it is not an entry into the detection range 500B of the moving body 910 because the radar 100B can not detect the moving body 910 itself.
　また、例えば、レーダ１００Ｂに故障等の異常が発生したとき、移動体検知装置７００は、レーダ１００Ｂからの検出値が受信できない、検出値が不正な値になる等により、異常を検知することができる。この際、移動体検知装置７００は、レーダ１００Ｂからの検出値のみならず、他のレーダ１００からの検出値（例えば、レーダ１００Ｂからの検出値のみ移動体９１０を検知したことを示す値となっている等）を加味することで、より正確に異常を検知することができる。また、移動体検知装置７００は、異常を検知した場合、異常が発生していること等を出力（図示しないディスプレイに表示、図示しない警告灯を点灯、予め指定されたメールアドレスにメール送信、図示しない他のシステムに通知など）することができる。 Also, for example, when an abnormality such as a failure occurs in the radar 100B, the mobile object detection apparatus 700 can detect the abnormality by not being able to receive the detection value from the radar 100B, the detection value becoming an invalid value, etc. it can. At this time, the mobile object detection device 700 is not only the detection value from the radar 100B but also the detection values from other radars 100 (for example, a value indicating that only the detection value from the radar 100B has detected the mobile object 910). Can be detected more accurately by taking account of Also, when the mobile object detection device 700 detects an abnormality, it outputs that an abnormality has occurred, etc. (displays on a display not shown, lights up a warning light not shown, sends an e-mail to a designated e-mail address, illustrated Not be able to notify other systems etc).
　なお、本実施の形態では、走行する移動体９１０に対して前方から送信波４００を送信しているが、走行する移動体９１０に対して後方から送信波４００を送信する構成であってもよい。その場合、移動体９１０の速度、移動有無などの判断については、移動体９１０の後部が検知範囲内に存在するレーダ１００からの検出値が用いられる。 In the present embodiment, transmission wave 400 is transmitted from the front to traveling mobile body 910, but transmission wave 400 may be transmitted from the rear to traveling mobile body 910. . In that case, the detection value from the radar 100 in which the rear portion of the moving body 910 exists in the detection range is used to determine the speed of the moving body 910, the presence or absence of movement, and the like.
　また、本実施の形態では、レーダ１００と反射板２００とを走行路９２０を挟むように両側に配置したが、配置方法は、これに限定するものではなく、レーダ１００と反射板２００との間が移動体９１０によって遮断されるような配置を適宜に採用することができる。例えば、レーダ１００および反射板２００については、走行路９２０の下方および上方に配置してもよいし、走行路９２０の斜め上および斜め下に配置してもよい。 Further, in the present embodiment, the radar 100 and the reflecting plate 200 are disposed on both sides so as to sandwich the traveling path 920. However, the arrangement method is not limited to this, and between the radar 100 and the reflecting plate 200 An arrangement may be employed as appropriate such that the vehicle is blocked by the mobile body 910. For example, the radar 100 and the reflecting plate 200 may be disposed below and above the traveling path 920, or may be disposed obliquely above and obliquely below the traveling path 920.
　上述の構成によれば、例えば、レーダ１００で反射板２００からの反射波６００を一定量以上受信できるとき以外は、検知範囲内に移動体９１０が存在する可能性があると判断することにより、鉄道におけるレール上の車両位置検知システムといった安全性と信頼性とを確保したシステムに適用することが可能となる。 According to the above-described configuration, for example, by determining that the mobile body 910 may be present within the detection range, except when the radar 100 can receive the reflected wave 600 from the reflection plate 200 by a predetermined amount or more. It becomes possible to apply to the system which secured safety and reliability, such as a vehicle position detection system on a rail in a railway.
　また、上述の構成によれば、例えば、反射板２００からの反射波６００が一定量以上受信できない状況においては、さらに移動体９１０自体からの反射波６００を検知することにより、移動体９１０の詳細な位置および速度を認識することができる。これにより、鉄道車両の位置検知システムに適用する場合、従来の一定区間単位での車両位置検知を行う軌道回路方式と比較して、より細かい位置情報を検知することができ、また軌道回路方式では検知できなかった速度情報を検知することができる。 Further, according to the above-described configuration, for example, in a situation where the reflected wave 600 from the reflecting plate 200 can not be received by a fixed amount or more, the details of the moving body 910 are further detected by detecting the reflected wave 600 from the moving body 910 itself. Position and velocity can be recognized. As a result, when applied to a position detection system of a railway vehicle, finer position information can be detected as compared with the conventional track circuit method in which vehicle position detection is performed in fixed interval units, and in the track circuit method Speed information that could not be detected can be detected.
　また、上述の構成によれば、例えば、決められた走行路９２０上を走行する移動体９１０を連続的に位置検知することができるので、移動体検知システム１の立ち上げ時であっても、何れかのレーダ１００で移動体９１０を検知でき、移動体９１０を見失うことがない。更には、移動体検知装置７００により複数のレーダ１００の検出値に基づいて異常を検知できるので、移動体検知システム１全体として健全性を担保することができる。 Further, according to the above-described configuration, for example, since the position of the moving body 910 traveling on the determined traveling path 920 can be continuously detected, even when the moving body detection system 1 is started, The mobile unit 910 can be detected by any of the radars 100, and the mobile unit 910 can not be missed. Furthermore, since the abnormality can be detected by the mobile object detection device 700 based on the detection values of the plurality of radars 100, the soundness of the entire mobile object detection system 1 can be secured.
（２）第２の実施の形態
　本実施の形態におけるレーダ１００および反射板２００の設置例を図３に示す。本実施の形態では、走行路９２１，９２２が並んでいる場合でも、移動体９１１，９１２が走行路９２１，９２２を互いに異なる方向に走行する場合でも、移動体９１１，９１２を検知することができる。なお、本実施の形態では、第１の実施の形態と異なる点を主に説明する。 (2) Second Embodiment An installation example of the radar 100 and the reflecting plate 200 in the present embodiment is shown in FIG. In the present embodiment, even when the traveling paths 921 and 922 are aligned, the moving bodies 911 and 912 can be detected even when the movable bodies 911 and 912 travel in the directions different from each other. . In the present embodiment, differences from the first embodiment will be mainly described.
　図３は、走行路９２１上を移動体９１１が矢印９４１の方向に走行し、走行路９２２上を移動体９１２が矢印９４２の方向（移動体９１１が走行する方向とは反対の方向）に走行する場合のレーダ１００および反射板２００の設置例を示す。 In FIG. 3, the mobile unit 911 travels in the direction of the arrow 941 on the traveling path 921 and the mobile unit 912 travels in the direction of the arrow 942 (the opposite direction to the traveling direction of the mobile 911) on the traveling path 922 The installation example of the radar 100 and the reflecting plate 200 in the case of doing is shown.
　本実施の形態では、レーダ１００（レーダ１００Ｄ，１００Ｅ，１００Ｆ・・・）および反射板２００（反射板２００Ｄ，２００Ｅ・・・）間が移動体９１１によって遮断され、レーダ１００が送信した送信波４００（送信波４００Ｄ，４００Ｅ，４００Ｆ・・・）の反射波をレーダ１００が一定量（所定量）以上受信できないことで移動体９１１を検知する。また、複数対のレーダ１００および反射板２００を、走行路９２１上の移動体９１１を少なくとも何れか一対のレーダ１００および反射板２００で検知できるように、レーダ１００および反射板２００を走行路９２１に沿って繰り返し設置する。この際、レーダ１００および反射板２００を結んだ各直線３００（直線３００Ｄ，３００Ｅ・・・）間に、移動体９１１が完全に入り込まない間隔でレーダ１００および反射板２００を設置する。 In the present embodiment, a transmission wave 400 transmitted between the radar 100 (the radars 100D, 100E, 100F,...) And the reflecting plate 200 (the reflecting plates 200D, 200E,. The mobile unit 911 is detected when the radar 100 can not receive a reflected wave of (the transmitted waves 400D, 400E, 400F,...) More than a predetermined amount (predetermined amount). In addition, the radar 100 and the reflecting plate 200 are placed on the traveling path 921 so that the radar 100 and the reflecting plate 200 can detect the mobile object 911 on the traveling path 921 with at least one pair of the radar 100 and the reflecting plate 200. Repeat installation along the way. At this time, the radar 100 and the reflecting plate 200 are installed between the straight lines 300 ( straight lines 300 D, 300 E,...) Connecting the radar 100 and the reflecting plate 200 at an interval where the moving object 911 does not enter completely.
　また、本実施の形態では、レーダ１００（レーダ１００Ｇ，１００Ｈ，１００Ｉ・・・）および反射板２００（反射板２００Ｈ，２００Ｉ・・・）間が移動体９１２によって遮断され、レーダ１００が送信した送信波４００（送信波４００Ｇ，４００Ｈ，４００Ｉ・・・）の反射波をレーダ１００が一定量（所定量）以上受信できないことで移動体９１２を検知する。また、複数対のレーダ１００および反射板２００を、走行路９２２上の移動体９１２を少なくとも何れか一対のレーダ１００および反射板２００で検知できるように、レーダ１００および反射板２００を走行路９２２に沿って繰り返し設置する。この際、レーダ１００および反射板２００を結んだ各直線３００（直線３００Ｈ，３００Ｉ・・・）間に、移動体９１２が完全に入り込まない間隔でレーダ１００および反射板２００を設置する。 Further, in the present embodiment, the transmission between the radar 100 (the radars 100G, 100H, 100I,...) And the reflecting plate 200 (the reflecting plates 200H, 200I,. The mobile unit 912 is detected when the radar 100 can not receive the reflected wave of the wave 400 (transmission waves 400G, 400H, 400I,...) More than a predetermined amount (predetermined amount). Also, the radar 100 and the reflecting plate 200 can be used as the traveling path 922 so that the radar 100 and the reflecting plate 200 can be detected by at least one pair of the radar 100 and the reflecting plate 200 on the traveling path 922. Repeat installation along the way. At this time, the radar 100 and the reflecting plate 200 are installed between the straight lines 300 (straight lines 300H, 300I,...) Connecting the radar 100 and the reflecting plate 200 at an interval where the moving body 912 does not completely enter.
　例えば、図３に示すように、レーダ１００Ｄは、送信波４００Ｄの照射範囲が移動体９１１の進行方向と反対側に向かうように設置される。かかるレーダ１００Ｄは、移動体９１１の検知範囲５００Ｄにおいて移動体９１１が走行路９２１を進行方向に移動しているときの移動体９１１の進行方向正面位置を検知する。これと同様に、移動体９１１の検知範囲５００Ｅにおいて移動体９１１の検知を行う目的でレーダ１００Ｅを設置し、移動体９１１の検知範囲５００Ｆ（図示せず）において移動体９１１の検知を行う目的でレーダ１００Ｆを設置する。 For example, as shown in FIG. 3, the radar 100 </ b> D is installed so that the irradiation range of the transmission wave 400 </ b> D is opposite to the traveling direction of the mobile object 911. The radar 100D detects the front position in the traveling direction of the mobile unit 911 when the mobile unit 911 moves in the traveling direction in the traveling path 921 in the detection range 500D of the mobile unit 911. Similarly, the radar 100E is installed for the purpose of detecting the mobile object 911 in the detection range 500E of the mobile object 911 and for the purpose of detecting the mobile object 911 in the detection range 500F (not shown) of the mobile object 911. Install the radar 100F.
　また、例えば、レーダ１００Ｇは、送信波４００Ｇの照射範囲が移動体９１２の進行方向と反対側に向かうように設置される。かかるレーダ１００Ｇは、移動体９１２の検知範囲５００Ｇ（図示せず）において移動体９１２が走行路９２２を走行方向に移動するときの移動体９１２の進行方向正面位置を検知する。これと同様に、移動体９１２の検知範囲５００Ｈでの移動体９１２の検知を行う目的でレーダ１００Ｈを設置し、移動体９１２の検知範囲５００Ｉでの移動体９１２の検知を行う目的でレーダ１００Ｉを設置する。 Also, for example, the radar 100 </ b> G is installed so that the irradiation range of the transmission wave 400 </ b> G is opposite to the traveling direction of the moving body 912. The radar 100G detects the front position in the traveling direction of the moving body 912 when the moving body 912 moves in the traveling direction on the traveling path 922 in a detection range 500G (not shown) of the moving body 912. Similarly to this, the radar 100H is installed for the purpose of detecting the mobile object 912 in the detection range 500H of the mobile object 912, and the radar 100I is provided for the purpose of detecting the mobile object 912 in the detection range 500I of the mobile object 912. Install.
　ここで、例えば、送信波４００Ｄと送信波４００Ｉとは照射範囲が重複しているが、レーダ１００Ｄおよびレーダ１００Ｉ間の距離を調整（位置決め）する、偏波角度が異なる偏波を用いる、照射時間を異ならせる等して相互干渉を抑止する対策が取られている。なお、他のレーダ１００についても同様である。 Here, for example, although the irradiation ranges of the transmission wave 400D and the transmission wave 400I overlap, the distance between the radar 100D and the radar 100I is adjusted (positioned), the polarization time is different, and the irradiation time is used. Measures are taken to prevent mutual interference. The same applies to the other radars 100.
　本実施の形態では、レーダ１００および反射板２００を走行路９２１または走行路９２２を挟むように両側に配置したが、配置方法は、これに限定するものではなく、レーダ１００と反射板２００との間が移動体９１１，９１２によって遮断されるような配置を適宜に採用することができる。例えば、レーダ１００および反射板２００については、走行路９２１，９２２の下方および上方に配置してもよく、走行路９２１，９２２の斜め上および斜め下に配置してもよい。 In the present embodiment, the radar 100 and the reflecting plate 200 are disposed on both sides so as to sandwich the traveling path 921 or the traveling path 922. However, the arrangement method is not limited to this. An arrangement may be adopted as appropriate such that a gap is blocked by the mobile units 911 and 912. For example, the radar 100 and the reflecting plate 200 may be disposed below and above the traveling paths 921 and 922, and may be disposed obliquely above and obliquely below the traveling paths 921 and 922.
　また、本実施の形態では、走行路９２１に係る反射板２００（例えば、反射板２００Ｄ，２００Ｅ）および走行路９２２に係る反射板２００（例えば、反射板２００Ｈ，２００Ｉ）を走行路９２１と走行路９２２との間に配置することで、走行路９２１，９２２に沿って設けられる道路上を走る自動車などによるノイズを低減する（背景データの変化を抑える）ことができる。また、かかる配置において、走行路９２１に係る反射板２００と走行路９２２に係る反射板２００とを一体とすることで、設備削減を図ることができる。付言するならば、走行路９２１に係る反射板２００と走行路９２２に係る反射板２００とは、別々に設置してもよい。 Further, in the present embodiment, the reflecting plate 200 (for example, reflecting plates 200D and 200E) related to the traveling path 921 and the reflecting plate 200 (for example, reflecting plates 200H and 200I) related to the traveling path 922 are combined with the traveling path 921 and the traveling path By arranging between 922 and 922, it is possible to reduce the noise (suppress the change of the background data) by the car or the like running on the road provided along the traveling paths 921 and 922. Further, in such an arrangement, by integrating the reflecting plate 200 related to the traveling path 921 and the reflecting plate 200 related to the traveling path 922, equipment can be reduced. In addition, the reflecting plate 200 related to the traveling path 921 and the reflecting plate 200 related to the traveling path 922 may be installed separately.
　本実施の形態によれば、走行路９２１，９２２が１つである場合（単線の場合）でも、走行路９２１，９２２が並んでいる場合（複線の場合）でも、移動体９１１，９１２が走行路９２１，９２２を互いに異なる方向に走行する場合でも、移動体９１１，９１２の検知、および移動体９１１，９１２の速度の検知、移動体９１１，９１２の移動有無の検知が可能となる。 According to the present embodiment, even when the number of travel paths 921 and 922 is one (in the case of a single line), even when the travel paths 921 and 922 are lined up (in the case of multiple lines), the movable bodies 911 and 912 travel Even when the roads 921 and 922 travel in different directions, it is possible to detect the mobiles 911 and 912, detect the speed of the mobiles 911 and 912, and detect whether or not the mobiles 911 and 912 move.
（３）第３の実施の形態
　本実施の形態におけるレーダ１００および反射板２００の設置例を図４に示す。上述の実施の形態では、走行路９２０，９２１，９２２に対して斜めに送信波４００を送信するようにレーダ１００を設置する例を示したが、本実施の形態では、走行路９２３，９２４に対して真横から送信波４００を送信するようにレーダ１００を設置する。なお、本実施の形態では、第１の実施の形態と異なる点を主に説明する。 (3) Third Embodiment An installation example of the radar 100 and the reflecting plate 200 in the present embodiment is shown in FIG. In the above embodiment, the radar 100 is installed to transmit the transmission wave 400 obliquely to the traveling paths 920, 921, and 922. However, in the present embodiment, the traveling paths 923 and 924 are used. On the other hand, the radar 100 is installed to transmit the transmission wave 400 from the side. In the present embodiment, differences from the first embodiment will be mainly described.
　図４は、走行路９２３上を移動体９１３が矢印９４３の方向に走行し、走行路９２４上を移動体９１４が矢印９４４の方向（移動体９１３が走行する方向とは反対の方向）に走行する場合のレーダ１００および反射板２００の設置例を示す。 In FIG. 4, the moving body 913 travels in the direction of the arrow 943 on the traveling path 923, and the moving body 914 travels in the direction of the arrow 944 (the opposite direction to the traveling direction of the moving body 913) on the traveling path 924. The installation example of the radar 100 and the reflecting plate 200 in the case of doing is shown.
　本実施の形態では、レーダ１００（レーダ１００Ｊ，１００Ｋ，１００Ｌ，１００Ｍ，１００Ｎ，１００Ｏ，１００Ｐ，１００Ｑ）および反射板２００（反射板２００Ｊ，２００Ｋ，２００Ｌ，２００Ｍ，２００Ｎ，２００Ｏ，２００Ｐ，２００Ｑ）は、走行路９２３，９２４に対してレーダ１００と反射板２００を結ぶ直線３００（直線３００Ｊ，３００Ｋ，３００Ｌ，３００Ｍ，３００Ｎ，３００Ｏ，３００Ｐ，３００Ｑ）が直交し、かつ移動体９１３，９１４によってレーダ１００および反射板２００間が遮断されるように配置される。 In the present embodiment, the radars 100 ( radars 100J, 100K, 100L, 100M, 100N, 100O, 100P, 100Q) and the reflectors 200 ( reflectors 200J, 200K, 200L, 200M, 200N, 200O, 200P, 200Q) A straight line 300 ( straight line 300J, 300K, 300L, 300M, 300N, 300O, 300P, 300Q) connecting the radar 100 and the reflecting plate 200 is orthogonal to the traveling paths 923, 924 and the moving body 913, 914 And the reflectors 200 are arranged to be cut off.
　例えば、図４に示すように、レーダ１００Ｊは、送信波４００Ｊの照射範囲が走行路９２３に直交するように設置される。かかるレーダ１００Ｊは、レーダ１００Ｊおよび反射板２００Ｊを結ぶ直線３００Ｊ上の移動体９１３の位置を検知する。また、レーダ１００Ｊおよび反射板２００Ｊを結んだ直線３００Ｊと、レーダ１００Ｋおよび反射板２００Ｋを結んだ直線３００Ｋとの間に移動体９１３が完全に入り込まない間隔で、レーダ１００Ｊおよび反射板２００Ｊ並びにレーダ１００Ｋおよび反射板２００Ｋを設置する。なお、このことは、他のレーダ１００および反射板２００についても同様である。 For example, as shown in FIG. 4, the radar 100J is installed so that the irradiation range of the transmission wave 400J is orthogonal to the traveling path 923. The radar 100J detects the position of the moving body 913 on a straight line 300J connecting the radar 100J and the reflecting plate 200J. The radar 100J, the reflector 200J, and the radar 100K are spaced at a distance such that the moving body 913 does not completely enter between the straight line 300J connecting the radar 100J and the reflector 200J and the straight line 300K connecting the radar 100K and the reflector 200K. And install the reflector 200K. The same applies to the other radars 100 and the reflectors 200.
　このように、走行路９２３上の移動体９１３を少なくとも何れか一対のレーダ１００および反射板２００で検知できるように、レーダ１００および反射板２００を結んだ各直線３００の間に移動体９１３が完全に入り込まない間隔で一対のレーダ１００および反射板２００を設置する。また、走行路９２４に対しても、同様にレーダ１００および反射板２００を設置する。 As described above, the moving body 913 is completely between the straight lines 300 connecting the radar 100 and the reflecting plate 200 so that the moving body 913 on the traveling path 923 can be detected by at least one pair of the radar 100 and the reflecting plate 200. A pair of radars 100 and reflectors 200 are installed at intervals which do not enter. The radar 100 and the reflector 200 are similarly installed on the traveling path 924 as well.
　なお、送信波４００Ｊおよび送信波４００Ｎ、送信波４００Ｋおよび送信波４００Ｏ、送信波４００Ｌおよび送信波４００Ｐ、・・・、送信波４００Ｍおよび送信波４００Ｑは、照射範囲が重複しているが、第２の実施形態と同様に、相互干渉を抑止する対策が取られているものとする。 Although the transmission ranges of the transmission wave 400J, the transmission wave 400N, the transmission wave 400K, the transmission wave 400O, the transmission wave 400L and the transmission wave 400P,..., The transmission wave 400M and the transmission wave 400Q overlap, As in the embodiment of the above, it is assumed that measures to suppress mutual interference are taken.
　上述した構成では、走行路９２３，９２４（移動体９１３，９１４の進行方向）に対して、レーダ１００と反射板２００とを結ぶ直線３００が直交するため、レーダ１００の検知範囲は、第１および第２の実施の形態で示したような検知区間ではなく検知点となり、移動体９１３，９１４の位置を点で判定できることが利点となる。この利点を活かし、ある区間への移動体９１３，９１４の進入および退出を監視するチェックイン、チェックアウトのシステムに適用することも可能である。 In the configuration described above, the straight line 300 connecting the radar 100 and the reflecting plate 200 is orthogonal to the traveling paths 923 and 924 (the traveling directions of the moving bodies 913 and 914). It is an advantage that the positions of the mobile bodies 913 and 914 can be determined by points, not the detection section as described in the second embodiment but the detection points. It is also possible to apply to a check-in and check-out system that monitors the entry and exit of the mobile unit 913, 914 to a section by taking advantage of this advantage.
　また、上位システムである移動体検知装置７００で、隣接するレーダ１００からの検出値と合わせて判定することにより、移動体９１３，９１４の速度、移動有無を検知することも可能である。この場合、レーダ１００および反射板２００の設置間隔を狭くすることで検知精度を高めることができる。 In addition, it is also possible to detect the speed of the moving bodies 913 and 914 and the presence or absence of movement by making judgment with the detection value from the adjacent radar 100 by the moving body detection device 700 which is the upper system. In this case, the detection accuracy can be enhanced by narrowing the installation interval of the radar 100 and the reflection plate 200.
　本実施の形態でのレーダ１００および反射板２００の配置は、走行路９２３，９２４に対してレーダ１００と反射板２００を結ぶ直線３００が直交し、かつ移動体９１３，９１４によってレーダ１００および反射板２００間が遮断されるような配置を適宜に採用できる。例えば、レーダ１００および反射板２００については、走行路９２３，９２４の下方および上方に配置してもよく、走行路９２３，９２４の斜め上および斜め下に配置してもよい。 In the arrangement of the radar 100 and the reflecting plate 200 in the present embodiment, the straight line 300 connecting the radar 100 and the reflecting plate 200 is orthogonal to the traveling paths 923 and 924, and the moving body 913 and 914 An arrangement in which 200 is blocked can be employed as appropriate. For example, the radar 100 and the reflecting plate 200 may be disposed below and above the traveling paths 923 and 924, and may be disposed obliquely above and obliquely below the traveling paths 923 and 924.
　また、本実施の形態では、走行路９２３に係る反射板２００（例えば、反射板２００Ｊ，２００Ｋ，２００Ｌ，２００Ｍ）および走行路９２４に係る反射板２００（例えば、反射板２００Ｎ，２００Ｏ，２００Ｐ，２００Ｑ）を走行路９２３と走行路９２４との間に配置することで、走行路９２３，９２４に沿って設けられる道路上を走る自動車などによるノイズを低減する（背景データの変化を抑える）ことができる。また、かかる配置において、走行路９２３に係る反射板２００と走行路９２４に係る反射板２００とを一体とすることで、設備削減を図ることができる。付言するならば、走行路９２３に係る反射板２００と走行路９２４に係る反射板２００とは、別々に設置してもよい。 Moreover, in the present embodiment, the reflecting plate 200 (for example, reflecting plates 200J, 200K, 200L, 200M) related to the traveling path 923 and the reflecting plate 200 (for example, reflecting plates 200N, 200O, 200P, 200Q) related to the traveling path 924 Can be reduced (suppression of the change in background data) due to a car or the like running on the road provided along the travel paths 923 and 924 by disposing the) between the travel path 923 and the travel path 924. . Further, in such an arrangement, by integrating the reflecting plate 200 related to the traveling path 923 and the reflecting plate 200 related to the traveling path 924, equipment can be reduced. In addition, the reflecting plate 200 related to the traveling path 923 and the reflecting plate 200 related to the traveling path 924 may be installed separately.
　本実施の形態によれば、レーダ１００が移動体９１３，９１４を点（ピンポイント）で検知するので、移動体９１３，９１４の走行（所定の区間への進入、退出、通過など）を正確に検知することができる。また、本実施の形態によれば、複数のレーダ１００からの検出値を用いることで、移動体９１３，９１４の速度をより正確に検知することができる。 According to the present embodiment, since the radar 100 detects the mobiles 913 and 914 at a point (pinpoint), the traveling (moving into / from a predetermined section, etc.) of the mobiles 913 and 914 is accurately performed. It can be detected. Further, according to the present embodiment, by using detection values from a plurality of radars 100, it is possible to more accurately detect the speeds of the moving bodies 913 and 914.
（４）第４の実施の形態
　本実施の形態におけるレーダ１００および反射板２００の設置例を図５に示す。本実施の形態では、複数の走行路９２５，９２６，９２７，９２８が設けられ、かつ移動体９１５が走行路９２５，９２６，９２７，９２８を自在（両方向）に走行する。例えば、移動体９１５は、走行路９２５上を矢印９４５の方向にも、矢印９４５とは反対方向の矢印９４６の方向にも走行することが可能であり、走行路９２７を通って走行路９２６上を走行したり、走行路９２８を通って走行路９２６上を走行したりする。なお、本実施の形態では、第１の実施の形態と異なる点を主に説明する。 (4) Fourth Embodiment An installation example of the radar 100 and the reflecting plate 200 in the present embodiment is shown in FIG. In the present embodiment, a plurality of travel paths 925, 926, 927, 928 are provided, and the moving body 915 travels the travel paths 925, 926, 927, 928 freely (both directions). For example, the mobile body 915 can travel on the traveling path 925 in the direction of the arrow 945 and in the direction of the arrow 946 opposite to the arrow 945. And run on the runway 926 through the runway 928. In the present embodiment, differences from the first embodiment will be mainly described.
　本実施の形態では、レーダ１００（レーダ１００Ｒ，１００Ｓ，１００Ｔ，１００Ｕ，１００Ｖ）および反射板２００（反射板２００Ｒ，２００Ｓ，２００Ｔ，２００Ｕ，２００Ｖ）は、並行する走行路９２５，９２６を横断するように真横から送信波４００（送信波４００Ｒ，４００Ｓ，４００Ｔ，４００Ｕ，４００Ｖ）を送信するように配置される。かかるレーダ１００は、レーダ１００および反射板２００を結ぶ直線３００（直線３００Ｒ，３００Ｓ，３００Ｔ，３００Ｕ，３００Ｖ）上の移動体９１５を検知する。また、複数対のレーダ１００および反射板２００を、走行路９２５，９２６，９２７，９２８上の移動体９１５を少なくとも何れか一対のレーダ１００および反射板２００で検知できるように、レーダ１００および反射板２００を並行する走行路９２５，９２６に沿って繰り返し設置する。 In the present embodiment, the radar 100 ( radars 100R, 100S, 100T, 100U, 100V) and the reflector 200 ( reflectors 200R, 200S, 200T, 200U, 200V) cross the parallel traveling paths 925, 926. The transmission waves 400 (transmission waves 400R, 400S, 400T, 400U, 400V) are arranged to be transmitted from the side. The radar 100 detects the moving object 915 on a straight line 300 ( straight line 300R, 300S, 300T, 300U, 300V) connecting the radar 100 and the reflecting plate 200. Further, the radar 100 and the reflectors can be detected so that the radar 100 and the reflectors 200 can be detected by at least one pair of the radars 100 and the reflectors 200 on the traveling paths 925, 926, 927, 928. 200 are repeatedly installed along the parallel running paths 925, 926.
　例えば、図５に示すように、レーダ１００Ｒは、送信波４００Ｒの照射範囲が走行路９２５，９２６に直交するように設置される。かかるレーダ１００Ｒは、レーダ１００Ｒおよび反射板２００Ｒを結ぶ直線３００Ｒ上の移動体９１５の位置を検知する。また、レーダ１００Ｒおよび反射板２００Ｒを結んだ直線３００Ｒと、レーダ１００Ｓおよび反射板２００Ｓを結んだ直線３００Ｓとの間に走行路９２５，９２６，９２７，９２８上の移動体９１５が完全に入り込まない間隔でレーダ１００Ｒおよび反射板２００Ｒ並びにレーダ１００Ｓおよび反射板２００Ｓを設置する。なお、このことは、他のレーダ１００および反射板２００についても同様である。 For example, as shown in FIG. 5, the radar 100R is installed so that the irradiation range of the transmission wave 400R is orthogonal to the traveling paths 925, 926. The radar 100R detects the position of the moving body 915 on a straight line 300R connecting the radar 100R and the reflecting plate 200R. Also, the distance between the straight line 300R connecting the radar 100R and the reflecting plate 200R and the straight line 300S connecting the radar 100S and the reflecting plate 200S does not allow the moving object 915 on the traveling paths 925, 926, 927, 928 to completely enter The radar 100R, the reflector 200R and the radar 100S and the reflector 200S are installed. The same applies to the other radars 100 and the reflectors 200.
　このように、走行路９２５および走行路９２６、並びに、走行路９２５と走行路９２６とを接続する走行路９２７および走行路９２８上の移動体９１５を少なくとも何れか一対のレーダ１００および反射板２００で検知できるように、レーダ１００および反射板２００を結んだ各直線３００の間に移動体９１５が完全に入り込まない間隔で、レーダ１００および反射板２００を連続的に設置する。 Thus, the traveling path 925 and the traveling path 926, the traveling path 927 connecting the traveling path 925 and the traveling path 926, and the moving body 915 on the traveling path 928 are at least one of the radar 100 and the reflecting plate 200. In order to be able to detect, the radar 100 and the reflector 200 are continuously installed at an interval where the moving body 915 does not completely enter between the straight lines 300 connecting the radar 100 and the reflector 200.
　上述した構成によれば、レーダ１００Ｒ，１００Ｓ，１００Ｔ，１００Ｕ，・・・，１００Ｖの何れかにより走行路９２５，９２６，９２７，９２８上の移動体９１５の存在有無を検知することができる。 According to the configuration described above, the presence or absence of the mobile object 915 on the traveling paths 925, 926, 927, 928 can be detected by any of the radars 100R, 100S, 100T, 100U,.
　本実施の形態では、走行路９２５，９２６，９２７，９２８のうち、どの走行路９２５，９２６，９２７，９２８に移動体９１５が存在するかを検知することはできないが、走行路９２５，９２６，９２７，９２８ごとにレーダ１００および反射板２００を設置する場合などと比べて少ない設備数（例えば最小限の設備数）で、所定の区間内における移動体９１５の存在有無を検知することが可能であり、例えば、鉄道における分岐箇所での移動体検知に有用である。 In the present embodiment, it is not possible to detect which traveling path 925, 926, 927, 928 among the traveling paths 925, 926, 927, 928, the traveling path 925, 926, 928, It is possible to detect the presence or absence of the mobile object 915 within a predetermined section with a smaller number of facilities (for example, the minimum number of facilities) compared to the case of installing the radar 100 and the reflector 200 every 927, 928 For example, it is useful for mobile object detection at a branch point in a railway.
　本実施の形態でのレーダ１００および反射板２００の配置は、走行路９２５，９２６，９２７，９２８に対してレーダ１００および反射板２００を結ぶ直線３００が横断し、かつ移動体９１５によってレーダ１００および反射板２００間が遮断されるような配置を適宜に採用できる。例えば、レーダ１００および反射板２００については、走行路９２５，９２６，９２７，９２８の下方および上方に配置してもよく、走行路９２５，９２６，９２７，９２８の斜め上および斜め下に配置してもよい。 The arrangement of the radar 100 and the reflecting plate 200 in the present embodiment is determined by crossing the straight line 300 connecting the radar 100 and the reflecting plate 200 to the traveling paths 925, 926, 927, 928, and moving the radar 100 and An arrangement in which the reflection plates 200 are blocked can be employed as appropriate. For example, the radar 100 and the reflecting plate 200 may be disposed below and above the traveling paths 925, 926, 927, 928, and disposed obliquely above and obliquely below the traveling paths 925, 926, 927, 928 It is also good.
　本実施の形態によれば、走行路９２５上を走行したり、走行路９２７を通って走行路９２６上を走行したり、走行路９２８を通って走行路９２６上を走行したりする移動体９１５を検知することができる。 According to the present embodiment, mobile body 915 traveling on traveling path 925, traveling on traveling path 926 through traveling path 927, or traveling on traveling path 926 through traveling path 928 Can be detected.
（５）他の実施の形態
　なお上述の実施の形態においては、本発明を移動体検知システム１に適用するようにした場合について述べたが、本発明はこれに限らず、この他種々の移動体検知システムに広く適用することができる。 (5) Other Embodiments In the above embodiment, the present invention is applied to the mobile object detection system 1. However, the present invention is not limited to this, and various other movements may be made. It can be widely applied to body detection systems.
　また上述の実施の形態においては、鉄道車両に適用する場合について述べたが、本発明はこれに限らず、ゴム輪の新交通システム、リニア、モノレール、バス（ＢＲＴ：Bus　Rapid　Transit）、自動車等にも適用してもよい。 In the above embodiment, although the case of applying to a railway vehicle has been described, the present invention is not limited to this, and a new traffic system of rubber wheels, linear, monorail, bus (BRT: Bus Rapid Transit), automobile, etc. It may be applied to
　また上述の実施の形態においては、レーダ１００と移動体検知装置７００とが通信線９３０により接続される場合について述べたが、本発明はこれに限らず、レーダ１００と移動体検知装置７００とは、インターネットを介して接続されてもよいし、無線通信により接続されてもよい。 In the above embodiment, although the case where the radar 100 and the mobile object detection device 700 are connected by the communication line 930 has been described, the present invention is not limited to this, the radar 100 and the mobile object detection device 700 , May be connected via the Internet, or may be connected by wireless communication.
　上述の実施の形態において、移動体検知システム１に係る処理は、任意の構成要素で行うことができる。例えば、データ処理部１７０は、レーダ１００ではなく、移動体検知装置７００に設けられてもよいし、図示しない他の情報処理装置に設けられてもよい。 In the above-mentioned embodiment, processing concerning mobile object detection system 1 can be performed by arbitrary components. For example, the data processing unit 170 may be provided not in the radar 100 but in the mobile object detection device 700, or may be provided in another information processing device (not shown).
　上述の実施の形態は、発明の要旨を変更しない範囲内で適宜に組み合わせることができる。例えば、上述の第３の実施の形態においては、全てのレーダ１００および反射板２００を走行路９２３，９２４に対して直交するように設ける場合について述べたが、本発明はこれに限らず、駅の構内の入口のみ、出口のみ、または出入口に、レーダ１００および反射板２００を走行路９２３，９２４に対して直交するように設け、その他の場所は、第２の実施の形態のようにレーダ１００および反射板２００を配置するように設けるようにしてもよい。 The embodiments described above can be combined as appropriate without departing from the scope of the invention. For example, in the third embodiment described above, the case has been described in which all the radars 100 and the reflectors 200 are provided to be orthogonal to the travel paths 923 and 924, but the present invention is not limited thereto. The radar 100 and the reflecting plate 200 are provided orthogonal to the travel paths 923 and 924 at the entrance only, at the exit only, or at the entrance of the yard, and the other places are the radar 100 as in the second embodiment. And the reflecting plate 200 may be disposed.
　１……移動体検知システム、１００……レーダ、２００……反射板、７００……移動体検知装置。 1 ... mobile object detection system, 100 ... radar, 200 ... reflector, 700 ... mobile object detection device.

Claims (6)

  1. 　走行路上の移動体を検知する移動体検知システムであって、
    　送信波を反射させる反射部と、
    　前記反射部に向けて送信波を発射し、前記送信波の反射波を測定する測定部と、
    　前記測定部の測定データを処理するデータ処理部と、
    　を備え、
    　前記反射部と前記測定部とは、前記走行路上の所定の場所で前記移動体を検知するために、前記走行路を挟んで設けられ、
    　前記データ処理部は、前記測定部の測定データに基づいて、前記測定部が前記反射部に向けて発射した送信波の反射波を所定量以上受信したと判定した場合、前記所定の場所に前記移動体が存在しないと判定し、かつ、前記反射部および前記測定部における測定が正常動作していると判定し、前記測定部が前記反射波を前記所定量以上受信しなかったと判定した場合、前記所定の場所に前記移動体が存在すると判定する、
    　ことを特徴とする移動体検知システム。     A mobile object detection system for detecting a mobile object on a traveling road, comprising:
    A reflector for reflecting the transmission wave;
    A measurement unit configured to emit a transmission wave toward the reflection unit and measure a reflection wave of the transmission wave;
    A data processing unit that processes measurement data of the measurement unit;
    Equipped with
    The reflection unit and the measurement unit are provided across the traveling path to detect the movable body at a predetermined place on the traveling path.
    When the data processing unit determines that the measurement unit has received a reflected wave of the transmission wave emitted toward the reflection unit based on the measurement data of the measurement unit, the data processing unit is located in the predetermined place. If it is determined that there is no moving object, and that the measurement in the reflection unit and the measurement unit is operating normally, and the measurement unit is determined not to receive the reflected wave by more than the predetermined amount, Determining that the mobile object is present at the predetermined place;
    Mobile object detection system characterized by
  2. 　前記反射部と前記測定部との対が複数設けられ、
    　前記複数の対は、各対の前記反射部と前記測定部とを結ぶ各直線の間に前記走行路を走行する前記移動体が入り込まない間隔で配置される、
    　ことを特徴とする請求項１に記載の移動体検知システム。     A plurality of pairs of the reflection unit and the measurement unit are provided,
    The plurality of pairs are disposed at intervals at which the moving body traveling on the traveling path does not enter between straight lines connecting the reflective portion of each pair and the measurement portion.
    The mobile object detection system according to claim 1, wherein the mobile object detection system comprises:
  3. 　前記反射部および前記測定部に係る異常を検知する異常検知部を備え、
    　前記データ処理部は、前記複数の対の各々に対応して設けられ、
    　前記異常検知部は、前記データ処理部の各々による前記移動体の存在有無の結果と、前記複数の対の設置順序に係る設置情報とに基づいて整合性のない前記移動体の存在有無の結果を特定した場合、前記結果の判定の基になった測定データを測定した一対の前記反射部および前記測定部に係る異常を検知する、
    　ことを特徴とする請求項２に記載の移動体検知システム。     And an abnormality detection unit that detects an abnormality related to the reflection unit and the measurement unit.
    The data processing unit is provided corresponding to each of the plurality of pairs.
    The abnormality detection unit is a result of presence / absence of the moving object having no consistency based on a result of the presence / absence of the moving object by each of the data processing units and installation information according to the installation order of the plurality of pairs. When a specified value is specified, the abnormality related to the pair of the reflecting portion and the measuring portion which measure the measurement data based on the determination of the result is detected.
    The mobile object detection system according to claim 2, wherein the mobile object detection system comprises:
  4. 　前記複数の対は、前記走行路と並行して設けられる他の走行路に対しても設けられ、
    　前記走行路に係る前記反射部および前記他の走行路に係る前記反射部は、前記走行路と前記他の走行路との間に設けられる、
    　ことを特徴とする請求項２に記載の移動体検知システム。     The plurality of pairs are also provided for other travel paths provided parallel to the travel path,
    The reflecting portion according to the traveling path and the reflecting portion according to the other traveling path are provided between the traveling path and the other traveling path.
    The mobile object detection system according to claim 2, wherein the mobile object detection system comprises:
  5. 　前記反射部と前記測定部とは、前記反射部と前記測定部とを結ぶ直線と前記走行路とが直交するように設けられる、
    　ことを特徴とする請求項１に記載の移動体検知システム。     The reflection unit and the measurement unit are provided such that a straight line connecting the reflection unit and the measurement unit is orthogonal to the traveling path.
    The mobile object detection system according to claim 1, wherein the mobile object detection system comprises:
  6. 　前記反射部と前記測定部とは、前記所定の場所での前記移動体の検知に加え、前記走行路とは異なる他の走行路における特定の場所で前記移動体を検知するために、前記走行路と共に前記他の走行路を挟んで設けられ、
    　前記反射部と前記測定部との対が複数設けられ、
    　前記複数の対は、各対の前記反射部と前記測定部とを結ぶ各直線の間に、前記走行路を走行する前記移動体が入り込まない間隔、かつ、前記他の走行路を走行する前記移動体が入り込まない間隔で配置され、
    　前記データ処理部は、前記測定部の測定データに基づいて、前記測定部が前記反射部に向けて発射した送信波の反射波を前記所定量以上受信したと判定した場合、前記所定の場所および前記特定の場所に前記移動体が存在しないと判定し、かつ、前記反射部および前記測定部における測定が正常動作していると判定し、前記測定部が前記反射波を前記所定量以上受信しなかったと判定した場合、前記所定の場所または前記特定の場所に前記移動体が存在すると判定する、
    　ことを特徴とする請求項１に記載の移動体検知システム。     In addition to the detection of the movable body at the predetermined place, the reflection unit and the measurement unit may travel in order to detect the movable body at a specific place on another traveling path different from the traveling path. Provided along the road with the other running road,
    A plurality of pairs of the reflection unit and the measurement unit are provided,
    The plurality of pairs travel between the straight lines connecting the reflection portion of each pair and the measurement portion, at intervals at which the moving body traveling on the traveling path does not enter, and travel on the other traveling path. Placed at intervals that the moving object does not enter,
    When the data processing unit determines that the reflected wave of the transmission wave emitted toward the reflection unit has been received by the predetermined amount or more based on the measurement data of the measurement unit, the predetermined place and the data processing unit It is determined that the moving body is not present at the specific place, and it is determined that the measurement in the reflection unit and the measurement unit is operating normally, and the measurement unit receives the reflected wave in the predetermined amount or more. If it is determined that the mobile unit is not present, it is determined that the mobile object is present at the predetermined place or the specific place;
    The mobile object detection system according to claim 1, wherein the mobile object detection system comprises:
PCT/JP2018/012232 2017-07-14 2018-03-26 Moving body detection system WO2019012745A1 (en)

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Citations (6)

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JPH0840272A (en) * 1994-07-29 1996-02-13 Sunx Ltd Train approach alarming device
JP2001270440A (en) * 2000-03-24 2001-10-02 Mitsubishi Electric Corp Train detection apparatus
JP2006021558A (en) * 2004-07-06 2006-01-26 Wire Device:Kk Monitoring system
JP2007015644A (en) * 2005-07-11 2007-01-25 East Japan Railway Co Train detecting device
JP2007139650A (en) * 2005-11-21 2007-06-07 Fujitsu Ltd Moving direction detection radar system
JP2010095193A (en) * 2008-10-17 2010-04-30 Nippon Signal Co Ltd:The Railroad crossing obstacle detecting device

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0840272A (en) * 1994-07-29 1996-02-13 Sunx Ltd Train approach alarming device
JP2001270440A (en) * 2000-03-24 2001-10-02 Mitsubishi Electric Corp Train detection apparatus
JP2006021558A (en) * 2004-07-06 2006-01-26 Wire Device:Kk Monitoring system
JP2007015644A (en) * 2005-07-11 2007-01-25 East Japan Railway Co Train detecting device
JP2007139650A (en) * 2005-11-21 2007-06-07 Fujitsu Ltd Moving direction detection radar system
JP2010095193A (en) * 2008-10-17 2010-04-30 Nippon Signal Co Ltd:The Railroad crossing obstacle detecting device

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