WO2021117304A1 - 電波センサを設置する方法、電波センサ、及び調整装置 - Google Patents
電波センサを設置する方法、電波センサ、及び調整装置 Download PDFInfo
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- WO2021117304A1 WO2021117304A1 PCT/JP2020/033814 JP2020033814W WO2021117304A1 WO 2021117304 A1 WO2021117304 A1 WO 2021117304A1 JP 2020033814 W JP2020033814 W JP 2020033814W WO 2021117304 A1 WO2021117304 A1 WO 2021117304A1
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- Prior art keywords
- radio wave
- wave sensor
- target area
- reference object
- angle
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- 238000000034 method Methods 0.000 title claims abstract description 30
- 230000005855 radiation Effects 0.000 claims abstract description 88
- 238000001514 detection method Methods 0.000 abstract description 6
- 238000009434 installation Methods 0.000 description 61
- 238000010586 diagram Methods 0.000 description 8
- 230000005540 biological transmission Effects 0.000 description 6
- 238000004590 computer program Methods 0.000 description 5
- 230000006870 function Effects 0.000 description 4
- 230000004397 blinking Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
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Classifications
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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
-
- 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
- G01S7/04—Display arrangements
- G01S7/06—Cathode-ray tube displays or other two dimensional or three-dimensional displays
- G01S7/064—Cathode-ray tube displays or other two dimensional or three-dimensional displays using a display memory for image processing
- G01S7/066—Cathode-ray tube displays or other two dimensional or three-dimensional displays using a display memory for image processing with means for showing the history of the radar trails, e.g. artificial remanence
-
- 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
- G01S7/4004—Means for monitoring or calibrating of parts of a radar system
- G01S7/4008—Means for monitoring or calibrating of parts of a radar system of transmitters
-
- 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
- G01S7/4052—Means for monitoring or calibrating by simulation of echoes
- G01S7/4082—Means for monitoring or calibrating by simulation of echoes using externally generated reference signals, e.g. via remote reflector or transponder
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0137—Measuring and analyzing of parameters relative to traffic conditions 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
- 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
- G01S13/92—Radar or analogous systems specially adapted for specific applications for traffic control for velocity measurement
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S2013/0236—Special technical features
- G01S2013/0245—Radar with phased array antenna
- G01S2013/0254—Active array antenna
Definitions
- This disclosure relates to a method of installing a radio wave sensor, a radio wave sensor, and an adjusting device.
- This application claims priority based on Japanese Application No. 2019-22380 filed on December 10, 2019, and incorporates all the contents described in the Japanese application.
- Patent Document 1 discloses a radio wave sensor that radiates radio waves to a target area set to include a pedestrian crossing and detects an object.
- Patent Document 2 discloses that the deviation of the direction of the radio wave sensor is recognized by measuring the direction of the reference object installed in the target area set to include the pedestrian crossing.
- the method of disclosure is a method of installing a radio wave sensor for radiating radio waves in a range including a target area set for detecting an object, based on a step of installing a reference object and the reference object.
- the reference object is installed at a first position outside the target area, including a step of adjusting the radio wave radiation direction of the radio wave sensor.
- the disclosed radio wave sensor is a radio wave sensor for radiating radio waves in a range including a target area set for detecting an object, and has an aiming direction angled with respect to the radio wave radiation direction of the radio wave sensor.
- the aiming device is provided, and the aiming direction is a direction from the radio wave sensor to a position outside the target area when the radio wave radiation direction is directed to the target area.
- the disclosed radio wave sensor is a radio wave sensor for radiating radio waves inside and outside the target area set for detecting an object, and is used for adjusting the radio wave radiation direction of the radio wave sensor and installed outside the target area.
- a display for displaying a screen including a first image showing a position of radio wave reflection from a reference object and a second image showing a direction for adjustment, and an operation for setting the direction for adjustment are executed.
- the adjustment direction is a direction forming a first angle with respect to the radio wave radiation direction, and the first angle is a reference direction from the radio wave sensor toward the reference object and the above. It is the same angle as the second angle formed by the target direction from the radio wave sensor toward the target area.
- the disclosed adjusting device is an adjusting device for adjusting the radio wave radiation direction of the radio wave sensor for radiating radio waves inside and outside the target area set for detecting an object, and is used for adjusting the radio wave radiation direction of the radio wave sensor.
- a display displaying a screen including a first image showing a radio wave reflection position from a reference object installed outside the target area and a second image showing an adjustment direction, and an operation of setting the adjustment direction.
- the adjustment direction is a direction forming a first angle with respect to the radio wave radiation direction, and the first angle is from the radio wave sensor toward the reference object. It is the same angle as the second angle formed by the reference direction and the target direction from the radio wave sensor toward the target area.
- FIG. 1 is a perspective view of a radio wave sensor.
- FIG. 2 is a hardware configuration diagram of the radio wave sensor.
- FIG. 3 is a flowchart showing the sensor installation procedure.
- FIG. 4 is an explanatory diagram showing a target area, a reference object installation position, a reference position in the target area, and a radio wave sensor installation position.
- FIG. 5 is a diagram showing a state in which the radio wave sensor before orientation adjustment is attached to the radio wave sensor installation position.
- FIG. 6 is a flowchart showing a procedure for adjusting the orientation of the radio wave sensor.
- FIG. 7 is a diagram showing a screen displayed on the display of the adjusting device.
- FIG. 8 is a diagram showing a radio wave sensor whose orientation has been adjusted.
- FIG. 9 is a flowchart showing another example of the orientation adjustment procedure of the radio wave sensor.
- FIG. 10 is a perspective view showing another example of the radio wave sensor.
- FIG. 11 is a diagram showing a state in which the radio wave sensor before orientation adjustment is attached to the radio wave sensor installation position.
- FIG. 12 is a diagram showing a state in which the front direction of the radio wave sensor is directed to the reference direction.
- FIG. 13 is a diagram showing a radio wave sensor whose orientation has been adjusted.
- the radio wave radiation direction of the radio wave sensor is incorrect, it will hinder the original performance of the radio wave sensor. For example, if the radio wave radiation direction of the radio wave sensor is incorrect, the reflection intensity of the radio wave is lowered. Further, if the radio wave radiation direction of the radio wave sensor is incorrect, a part of the target area may be out of the detectable range of the radio wave sensor.
- the radio wave radiation direction can be accurately directed to the target area. Therefore, the use of the reference object is advantageous for adjusting the radio wave radiation direction.
- the radio wave radiation direction of the radio wave sensor can be easily adjusted even when the target area of the radio wave sensor is set in a place where it is not easy for the operator to enter.
- the method according to the embodiment is a method of installing a radio wave sensor for radiating radio waves in a range including a target area set for detecting an object.
- the method of installing the radio wave sensor includes a step of installing a reference object and a step of adjusting the radio wave radiation direction of the radio wave sensor with reference to the reference object.
- the radio wave radiation direction means the direction in which the radio wave radiated with directivity travels.
- the radio wave radiation direction corresponds to, for example, the front direction of the radio wave sensor when the surface on which the radio wave is radiated in the radio wave sensor is the front surface of the radio wave sensor.
- the reference object is installed at a first position outside the target area.
- the operator does not need to enter the target area to install the reference object. Therefore, even when the target area is set in a place where it is not easy for the operator to enter, the reference object can be easily installed. As a result, it becomes easy to adjust the radio wave radiation direction of the radio wave sensor.
- the first distance from the radio wave sensor to the first position is preferably the same distance as the second distance from the radio wave sensor to the second position in the target area.
- the distance from the radio wave sensor to the reference object becomes about the same as the distance from the radio wave sensor to the target area, and the position of the reference object is optimized.
- the second position may be any position in the target area, but if a predetermined position for determining the radio wave radiation direction of the radio wave sensor (for example, a reference position described later) exists in the target area, the predetermined position is specified. It is preferably the position of.
- the step of adjusting the radio wave radiation direction preferably includes adjusting the elevation angle of the radio wave sensor based on the radio wave reflected power from the reference object.
- the elevation angle of the radio wave sensor is optimized.
- the elevation angle of the radio wave sensor is adjusted based on the radio wave reflected power from the reference object outside the target area, so that the object from the target area can be reached. The radio wave reflected power increases.
- the step of adjusting the radio wave radiation direction can include adjusting the adjustment direction forming the first angle with respect to the radio wave radiation direction to the reference direction from the radio wave sensor to the reference object. ..
- the radio wave radiation direction depends on the directivity of the radio wave sensor, but is generally the front direction of the radio wave sensor.
- the first angle is preferably the same as the second angle formed by the reference direction and the target direction from the radio wave sensor toward the second position in the target area. In this case, by aligning the adjustment direction with the reference direction, it is possible to align the radio wave radiation direction with the target direction.
- the first position is preferably a position where the radio wave sensor can detect the position of radio wave reflection from the reference object when the adjustment direction is aligned with the reference direction.
- the step of adjusting the radio wave radiation direction preferably further includes displaying the radio wave reflection position from the reference object and the adjustment direction on the screen. In this case, by referring to the screen, it is possible to confirm the match / mismatch between the radio wave reflection position and the adjustment direction.
- the device for calculating the difference between the adjustment direction and the direction of the radio wave reflection position from the reference object outputs information on the difference via the user interface. It is preferable to further include the above. In this case, it is easy to grasp the difference.
- the output of the information regarding the difference may be a display on the screen, a lamp display, or a sound output.
- Aligning the adjustment direction with the reference direction can include aligning the sight of the sight provided with the radio wave sensor with the reference object.
- the adjustment direction is preferably the same as the aiming direction of the sighting device. In this case, by directing the aiming direction toward the reference object, the adjustment direction can be adjusted to the reference direction.
- the radio wave radiation direction is aligned with the reference direction from the radio wave sensor toward the reference object, the radio wave radiation direction is aligned with the reference direction, and then the radio wave radiation is performed.
- the radio wave radiation direction can be aligned with the target direction from the radio wave sensor toward the second position.
- the rotation angle when rotating the radio wave radiation direction preferably has a size corresponding to the angle formed by the reference direction and the target direction. In this case as well, the radio wave radiation direction can be adjusted to the target direction.
- the target area is preferably set to a range including a lane for traveling the vehicle.
- the reference object is preferably installed outside the lane in which the target area is set. In this case, the operator does not need to enter the lane in which the target area is set in order to install the reference object.
- the term "outside the lane” may mean outside the road, or may be inside the road but within a lane other than the lane in which the target area is set.
- the target area is preferably set to a range including a road on which a vehicle travels.
- the reference object is preferably installed outside the road. In this case, the operator does not need to enter the road on which the vehicle travels in order to install the reference object.
- the radio wave sensor is preferably installed on the outside of one of the left and right outsides of the road. In this case, it is not necessary for the worker to enter the road to install the radio wave sensor.
- the reference object is preferably placed outside the one. In this case, since the reference object and the radio wave sensor are installed on the same side of the left and right outer sides of the road, the operator does not need to cross the road.
- the radio wave sensor according to the embodiment is used to radiate radio waves to a range including a target area set for detecting an object.
- the radio wave sensor preferably includes a sighting device having an aiming direction at an angle with respect to the radio wave radiation direction of the radio wave sensor.
- the aiming direction is preferably a direction from the radio wave sensor to a position outside the target area when the radio wave radiation direction is directed to the target area.
- the sight can be aimed at a reference object installed outside the target area.
- the sighting device can have one or more aiming directions. When the sighting device has a plurality of aiming directions, it is sufficient that at least one aiming direction is a direction toward the outside of the target area.
- the radio wave sensor according to the embodiment is used to radiate radio waves inside and outside the target area set for detecting an object.
- the radio wave sensor is used for adjusting the radio wave radiation direction of the radio wave sensor, and has a first image showing a radio wave reflection position from a reference object installed outside the target area and a second image showing the adjustment direction.
- a display for displaying the including screen and a controller configured to perform the operation of setting the adjustment direction can be provided.
- the adjustment direction is preferably a direction forming a first angle with respect to the radio wave radiation direction.
- the first angle is preferably the same angle as the second angle formed by the reference direction from the radio wave sensor to the reference object and the target direction from the radio wave sensor to the target area.
- the controller is preferably configured to calculate the difference between the adjustment direction and the direction of the radio wave reflection position and output the difference.
- the adjusting device is used for adjusting the radio wave radiation direction of the radio wave sensor for radiating radio waves inside and outside the target area set for detecting an object.
- the adjusting device displays a screen including a first image showing the position of radio wave reflection from a reference object installed outside the target area and a second image showing the adjusting direction, which is used for adjusting the radio wave radiation direction.
- a display to be displayed and a controller configured to perform the operation of setting the adjustment direction can be provided.
- the adjustment direction is preferably a direction forming a first angle with respect to the radio wave radiation direction.
- the first angle is preferably the same angle as the second angle formed by the reference direction from the radio wave sensor toward the reference object and the target direction from the radio wave sensor toward the position in the target area.
- the controller is configured to calculate the difference between the adjustment direction and the direction of the radio wave reflection position and output the difference.
- the computer program according to the embodiment includes an instruction for operating the computer as the controller.
- Computer programs are stored on computer-readable, non-temporary storage media. The computer program is read and executed by the processor of the computer.
- the radio wave sensor 10 detects an object by radiating radio waves and receiving reflected waves from the object.
- the radio wave sensor 10 of the embodiment is a millimeter wave radar.
- the radio wave sensor 10 of the embodiment is used to detect a vehicle traveling on a road.
- the vehicle detection result is used, for example, for traffic flow measurement or vehicle running support.
- the radio wave sensor 10 includes a radio wave sensor main body 20 covered with a housing 26.
- a transmitting antenna 21, a receiving antenna 22, a transmitting / receiving circuit 23, a signal processing circuit 24, and an interface 25 are provided in the housing 26.
- the housing 26 has a front surface 27 through which radio waves 600 are transmitted and received.
- the front surface 27 exists on the back side of the housing 26.
- the transmitting antenna 21 is arranged inside the housing 26 so as to radiate the radio wave 600 to the D12 in the direction orthogonal to the front surface 27 of the housing 26 (front of the radio wave sensor 10). Therefore, in the embodiment, the front direction D12 of the housing 26 is the radio wave radiation direction.
- the receiving antenna 22 is arranged inside the housing 26 so as to receive the reflected wave on the front surface 27.
- the transmitting antenna 21 has a plurality of antenna elements 21A and 21B.
- the number of antenna elements 21A and 21B constituting the transmitting antenna 21 is, for example, 2.
- the plurality of antenna elements 21A and 21B are arranged in the horizontal direction.
- the radio wave radiated from the transmitting antenna 21 is reflected by the object.
- the receiving antenna 22 receives the reflected wave from the object.
- the receiving antenna 22 has a plurality of antenna elements 22A, 22B, 22C, 22D.
- the number of antenna elements 22A, 22B, 22C, and 22D constituting the receiving antenna 22 is, for example, 4.
- the plurality of antenna elements 22A, 22B, 22C, and 22D are arranged in the horizontal direction.
- the transmitting antenna 21 and the receiving antenna 22 are connected to the transmission / reception circuit 23.
- the transmission / reception circuit 23 outputs a signal radiated as a radio wave to the transmission antenna 21.
- the signal radiated as a radio wave is, for example, a frequency-modulated continuous wave (FMCW).
- FMCW frequency-modulated continuous wave
- the transmission / reception circuit 23 outputs the signal of the reflected wave received by the reception antenna 22 to the signal processing circuit 24.
- the signal processing circuit 24 detects the distance, direction, speed, etc. from the reflected wave signal to the object.
- the detection result including the distance, direction, speed, etc. to the object can be output to the outside of the radio wave sensor main body 20 via the interface 25.
- the interface 25 is used for connecting to an external device such as the adjusting device 30 described later.
- the radio wave sensor 10 further includes an adjusting device 30.
- the adjusting device 30 is used by being connected to the interface 25 of the radio wave sensor main body 20 when the radio wave sensor main body 20 is installed.
- the adjusting device 30 is used to adjust the radio wave radiation direction by adjusting the direction of the radio wave sensor main body 20.
- the adjusting device 30 receives the detection result of the object from the radio wave sensor main body 20 in order to adjust the orientation of the radio wave sensor main body 20.
- the adjustment device 30 is disconnected from the radio wave sensor main body 20.
- the connection between the radio wave sensor main body 20 and the adjusting device 30 may be a wired connection using a cable 40 or a wireless connection.
- the adjusting device 30 is composed of a computer including a processor 31 and a memory 32 connected to the processor 31.
- the processor 31 operates as a controller for adjusting the orientation of the radio wave sensor main body 20.
- the memory 32 stores a computer program including an instruction for causing the processor 31 to execute an operation for adjusting the orientation of the radio wave sensor main body 20.
- the processor 31 operates as a controller for adjusting the orientation of the radio wave sensor main body 20 by reading a computer program from the memory 32 and executing the program.
- the operation of the controller includes an operation of setting the adjustment direction D11 (described later).
- the adjusting device 30 includes a display 33.
- the display 33 displays a screen used for adjusting the orientation of the radio wave sensor main body 20.
- the display content of the display 33 is controlled by the processor 31 that functions as a controller.
- the radio wave sensor main body 20 includes a sighting device 45 used for adjusting the orientation of the radio wave sensor main body 20.
- the sighting device 45 is used to visually align the direction of the radio wave sensor main body 20 with the predetermined aiming directions D31, D32, and D33.
- the sight 45 shown in FIG. 1 includes a single rear sight 46 and front sights 47, 48, 49.
- the aiming device 45 shown in FIG. 1 includes a plurality of front sights 47, 48, 49 in order to obtain a plurality of aiming directions D31, D32, D33.
- the plurality of front sites 47, 48, 49 include a first front site 47, a second front site 48, and a third front site 49.
- the plurality of aiming directions D31, D32, and D33 are different directions in a horizontal plane, for example, and are at an angle with respect to the front direction (radio wave radiation direction) D12 of the radio wave sensor main body 20.
- the horizontal plane is the XY plane of FIG.
- the Z direction in FIG. 1 is a vertical direction.
- the angle (first angle ⁇ 1) formed by the first aiming direction D31 with respect to the front direction (radio wave radiation direction) D12 is 10 °.
- the angle (first angle ⁇ 1) formed by the second aiming direction D32 with respect to the front direction (radio wave radiation direction) D12 is 20 °.
- the angle (first angle ⁇ 1) formed by the third aiming direction D33 with respect to the front direction (radio wave radiation direction) D12 is 30 °.
- the first angle ⁇ 1 is an angle in the horizontal plane.
- All or at least one of the plurality of aiming directions D31, D32, and D33 is the target area 100 when the front direction (radio wave radiation direction) D12 of the radio wave sensor 10 is directed to the target area 100 for object detection.
- the direction is toward the reference object 200, which will be described later, installed outside. More specifically, all or at least one of the plurality of aiming directions D31, D32, and D33 is the target area 100 when the front direction (radio wave radiation direction) D12 of the radio wave sensor 10 is directed to the position P2 described later.
- the direction is toward the reference object 200 installed outside the.
- the specific directions of the aiming directions D31, D32, and D33 are not particularly limited.
- a plurality of rear sights and a single front sight may be used in order to obtain a plurality of aiming directions.
- a mechanism for changing the aiming directions formed by a single rear sight and a single front sight may be used.
- a mechanism for changing the aiming direction for example, a function of rotating a set of a rear sight and a front sight with respect to the housing 26 is adopted.
- FIG. 3 shows the installation procedure of the radio wave sensor 10 (radio wave sensor main body 20).
- the target area 100 is set.
- the target area 100 is set, for example, on the road 300 on which the vehicle, which is the object to be detected, travels (see FIG. 4).
- the place and range in which the target area 100 should be set are described in, for example, the specifications relating to the installation of the radio wave sensor 10.
- the adjusting device 30 When setting the target area 100, the adjusting device 30 displays a map of the area including the road 300 in which the target area 100 is set on the display 33. The operator of the adjusting device 30 performs an operation on the adjusting device 30 to specify the target area 100 on the map. The adjusting device 30 accepts an operation for specifying the target area 100, and saves data related to the target area 100 in the memory 32.
- the target area 100 is set to a range including the road 300 for traveling the vehicle.
- Road 300 is, for example, a highway.
- Road 300 includes one or more lanes 301, 302 for vehicle travel.
- the target area 100 may be set to a range including all of the plurality of lanes 301 and 302, or may be set to a range including only a part of the plurality of lanes 301 and 302.
- the target area 100 is set to include only one lane 301 out of the two lanes 301 and 302.
- step S12 the installation position P3 of the radio wave sensor 10 is determined (see FIG. 4).
- the installation position P3 is set in the vicinity of the target area 100 so that the radio wave sensor 10 can detect an object in the target area 100.
- the operator of the adjusting device 30 refers to the above-mentioned map in which the target area 100 is set, and performs an operation on the adjusting device 30 to specify the installation position P3 of the radio wave sensor 10.
- the adjusting device 30 accepts an operation for specifying the installation position P3, and saves data related to the installation position P3 in the memory 32.
- the installation position P3 is set to 311, 312 outside the road 300. More specifically, the radio wave sensor 10 is installed on the outer side 311 of one of the left and right outer sides 311, 312 of the road 300. By setting the installation position P3 of the radio wave sensor 10 to 311, 312 outside the road 300, it is not necessary for the operator to enter the road 300 for the installation work of the radio wave sensor 10. Further, it is not necessary to close the road 300 for the installation work of the radio wave sensor 10.
- the reference position P2 in the target area 100 is determined (see FIG. 4).
- the reference position P2 is determined as an appropriate position within the target area 100.
- the reference position P2 is a position to which the radio wave radiation direction (front direction) D12 of the radio wave sensor 10 should be directed.
- the reference position P2 is set so that, for example, the entire target area 100 is within the detectable range of the radio wave sensor 10.
- the reference position P2 is determined as a position where the reflected power from the target area 100 becomes high as a whole, based on, for example, the directivity of the radio wave sensor 10 and the installation position P3.
- the reference position P2 may be calculated by the adjusting device 30 based on the directivity of the radio wave sensor 10 and the installation position P3, or may be determined by the operator and input to the adjusting device 30.
- the adjusting device 30 stores the data related to the reference position P2 in the memory 32.
- the adjusting device 30 stores data regarding the target direction D22 in the memory 32.
- the target direction D22 is the direction in which the radio wave radiation direction (front direction) D12 of the radio wave sensor 10 should be directed.
- step S14 the installation position P1 of the reference object 200 is determined (see FIG. 4).
- the reference object 200 is an object that serves as a reference for determining the orientation of the radio wave sensor 10.
- the reference object 200 functions as a reflector that reflects radio waves radiated from the radio wave sensor 10 when the direction of the radio wave sensor 10 is adjusted. Further, the reference object 200 functions as an object to be aimed by the sighting device 45 when adjusting the orientation of the radio wave sensor 10.
- the installation position P1 of the reference object 200 is set outside the target area 100.
- the installation position P1 of the reference object 200 is set outside the target area 100 and outside the road 300. Since the installation position P1 of the reference object 200 is set outside the road 300 for traveling the vehicle, the installation worker of the reference object 200 does not need to enter the road 300. Further, it is not necessary to close the road 300 for the installation work of the reference object 200.
- the installation position P1 of the reference object 200 is set to 311 on the same side as the installation position P3 of the radio wave sensor 10 among the left and right outer sides 311, 312 of the road 300.
- the installation position P1 of the reference object 200 and the installation position P3 of the radio wave sensor 10 are set on the same side 311 of the left and right outer sides 311, 312 of the road 300. Therefore, the operator does not need to cross the road 300.
- radio wave sensor 10 it is also possible to install the radio wave sensor 10 on one outer side 311 of the road 300 and the reference object 200 on the other outer side 312 of the road 300. However, in this case, the operator needs to cross the road 300 in order to install the reference object 200 and the radio wave sensor 10.
- the installation position P1 of the reference object 200 may be inside the road 300 as long as it is outside the target area 100.
- the installation position P1 of the reference object 200 may be set on the lane 302 outside the lane 301 in which the target area 100 is installed.
- the reference object 200 can be installed by closing only the lane 302 without closing the lane 301 in which the target area 100 is set.
- the installation position (first position) P1 of the reference object 200 is preferably installed at the same distance as the reference position (second position) P2 in the target area 100 from the installation position P3 of the radio wave sensor 10. That is, the distance L1 from the position P3 to the position P1 is preferably the same as the distance L2 from the position P3 to the position P2. Since the distance L1 and the distance L2 are the same distance, the elevation angle of the radio wave sensor 10 can be appropriately adjusted. This point will be described later.
- the operator of the adjusting device 30 refers to the above-mentioned map in which the target area 100, the reference position P2 in the target area, and the radio wave sensor installation position P3 are set, and performs an operation of specifying the installation position P1 of the reference object 200 on the adjustment device 30. Do it against.
- the adjusting device 30 accepts an operation for specifying the installation position P1 and saves the data related to the installation position P1 in the memory 32.
- the data regarding the installation position P1 includes data indicating the distance L1.
- the adjusting device 30 displays one or more candidates for the installation position P1 of the reference object 200 on the display 33.
- Candidates for the installation position P1 are displayed, for example, on the map described above.
- Candidates for the installation position P1 may be indicated by dots or lines.
- a candidate point for the installation position P1 is, for example, a predetermined angle (for example, 10 °, 20 °, or 30) with respect to the direction D22 from P3 to P2 on an arc 350 having a radius L2 centered on the position P3. Represented as one or more points forming °).
- the line that is a candidate for the installation position P1 is represented as, for example, an arc 350 or a circle having a radius L2 centered on the position P3.
- the operator of the adjusting device 30 can refer to one or more candidates for the installation position P1 displayed on the map and determine the installation position P1 of the reference object 200 in consideration of the terrain and the like.
- the direction from the installation position P3 to the installation position P1 is determined as the reference direction (quasi-reference direction) D21.
- the reference direction D21 is a direction forming a predetermined angle (second angle) ⁇ 2 with respect to the target direction D22.
- the second angle ⁇ 2 is an angle in the horizontal plane.
- the adjusting device 30 obtains the reference direction D21 and the second angle ⁇ 2 based on the operator's installation position P1 specific operation, and stores the data regarding the reference direction D21 and the second angle ⁇ 2 in the memory 32.
- step S15 the operator attaches the radio wave sensor 10 to the support column 50 or the like provided at the installation position P3 (see FIG. 5). At this point, the front direction D12 of the radio wave sensor 10 does not have to face the target area 100. As shown in FIG. 5, the radio wave sensor 10 has a detectable range of 500.
- the detectable range 500 is a range in which an object can be detected by the radio wave sensor 10.
- step S16 the operator installs the reference object 200 at the installation position P1 (see FIG. 5).
- the operator of the adjusting device 30 and the installer of the radio wave sensor 10 and the reference object 200 may be different persons or the same person.
- step S17 the work of adjusting the orientation of the radio wave sensor 10 with reference to the reference object 200 is performed.
- FIG. 6 shows the details of step S17.
- the sighting device 45 is not used in the adjustment work shown in FIG.
- the adjustment work using the sight 45 is described in FIG.
- the orientation of the radio wave sensor 10 is adjusted by using the adjustment device 30 connected to the radio wave sensor main body 20.
- the adjusting device 30 sets the adjusting direction D11 (see FIG. 5).
- the adjustment direction D11 is a direction forming an angle (first angle) ⁇ 1 with respect to the radio wave radiation direction D12 of the radio wave sensor 10.
- the first angle ⁇ 1 is set to the same angle as the second angle ⁇ 2.
- the adjusting device 30 determines the adjusting direction D11 from the radio wave radiation direction D12 set in the adjusting device 30 in advance and the second angle ⁇ 2 obtained earlier, and stores the data related to the adjusting direction D11 in the memory 32. To do.
- the radio wave sensor main body 20 installed at the installation position P3 transmits and receives radio waves so that an object can be detected.
- the detection result is acquired by the adjusting device 30 connected to the radio wave sensor main body 20 (step S182) and displayed on the display 33 (step S183).
- the adjusting device 30 has a mark (first image) 35 indicating the position of radio wave reflection from the reference object 200 and a mark indicating the adjusting direction D11 forming a first angle ⁇ 1 with respect to the radio wave radiation direction.
- the (second image) 37, the mark (third image) 38A indicating the radio wave radiation direction (front direction) D12, and the (fourth image) mark 38B indicating the radio wave sensor installation position P3 are output on the display 33.
- the adjusting device 30 can detect a position where the reflected power larger than the threshold value can be obtained as a radio wave reflection position from the reference object 200. Further, the adjusting device 30 may detect a position where the reflected power is obtained as a radio wave reflection position from the reference object 200 within a range where the distance from the radio wave sensor 10 is L1. Since the reference object 200 is stationary, the adjusting device 30 determines the position where the reflected power can be obtained and the position where the stationary object exists within the range where the distance from the radio wave sensor 10 is L1. It may be detected as a reflection position.
- a display 39A showing the difference (angle difference) between the adjustment direction D11 and the direction of the radio wave reflection position from the reference object 200 is also output.
- a display 39B indicating the reflected power from the reference object 200 is also output on the display 33.
- the user interface for outputting information regarding the difference is not limited to a graphical user interface such as the display 33 that displays a screen, and may be an audio interface that outputs sound.
- the sound may be a text voice indicating a difference, or may be a sound generated periodically. Differences in the intervals between sounds that occur periodically can indicate a difference.
- the user interface that outputs the sound may output a sound having a magnitude corresponding to the reflected power intensity.
- the user interface may be configured to show the difference depending on the difference in the blinking cycle of the lamp.
- the lamp may be configured to represent the reflected power intensity in terms of light intensity. In this way, the user interface makes it easy for the user to grasp the difference by outputting information about the difference.
- the user interface may output at least one of sound and light only when the difference is within a predetermined range of zero or near zero. Sound or light may be output in combination with the output from the display 33. For example, if the output of the difference by sound or light is not sufficient, the output by the display 33 may be used together.
- the mark 37 indicating the adjustment direction D11 is drawn as a line along the adjustment direction D11 in FIG. 7, it may be represented as a point existing on the adjustment direction D11.
- the mark 37 indicating the adjustment direction D11 may be indicated as a region having an extension centered on a line or a point indicating the adjustment direction.
- step S171 of FIG. 6 the adjusting worker of the radio wave sensor 10 roughly directs the radio wave sensor 10 to the target area 100.
- the detectable range 500 rotates, and the reference object 200 falls within the detectable range 500.
- a mark 35 indicating the position of radio wave reflection from the reference object 200 is displayed on the display 33 (see FIG. 7).
- FIG. 7 it can be seen that the direction of the mark 35 indicating the radio wave reflection position and the mark 37 indicating the adjustment direction D11 are misaligned, and there is a difference between the two (NO in step S172). This difference is numerically displayed on the display 39A indicating the angle difference.
- the adjustment worker adjusts the horizontal direction by rotating the radio wave sensor 10 left and right so that the mark 35 indicating the radio wave reflection position of the reference object 200 coincides with the position of the mark 37 indicating the adjustment direction D11. (Step S173).
- the adjustment direction D11 displayed on the display 33 is tilted about the first angle ⁇ 1 which is the same angle as the second angle ⁇ 2 with respect to the radio wave radiation direction D12. Therefore, by aligning the radio wave reflection position (reference direction D21) of the reference object 200 with the adjustment direction D11, the radio wave radiation direction D12 can be aligned with the target direction D22.
- the elevation angle of the radio wave sensor 10 is adjusted (steps S174 and S175).
- the elevation angle adjustment of the radio wave sensor 10 is performed by the adjusting worker adjusting the elevation angle at which the reflected power from the reference object 200 is the highest while referring to the display 39B indicating the reflected power.
- the vertical plane directivity of the radio wave sensor 10 is different between the radio wave radiation direction D12 and the adjustment direction D11.
- the elevation angle at which the reflected power is maximized is common to the radio wave radiation direction D12 and the adjustment direction D11. Therefore, if the elevation angle is adjusted to maximize the reflected power from the reference object 200 in the adjusting direction D11, the reflected power from the object on the radio wave radiation direction D12 (reference position P2) is maximized.
- the installation work of the radio wave sensor including the installation of the reference object 200 can be performed only on the outer side 311 of one side of the road 300. Therefore, it is not necessary to enter the road 300 and close the road 300.
- FIG. 9 shows a procedure of adjustment work using the sighting device 45 and the adjusting device 30 provided on the radio wave sensor main body 20.
- the orientation of the radio wave sensor 10 is adjusted visually by the operator using the sighting device 45.
- the sighting device 45 shown in FIG. 1 has three aiming directions D31, D32, and D33.
- the aiming directions D31, D32, and D33 corresponding to the second angle ⁇ 2 are selected.
- the first aiming direction D31 having an angle of 10 ° (first angle ⁇ 1) with respect to the radio wave radiation direction D12 is selected.
- the first aiming direction D31 becomes the adjustment direction D11.
- the operator adjusts the direction of the radio wave sensor main body 20 so that the first aiming direction D31, which is the adjustment direction D11, matches the direction (reference direction) D21 of the reference object 200 installed at the installation position P1. ..
- the radio wave radiation direction D12 can be aligned with the target direction D22.
- step S182 the adjustment of the orientation of the radio wave sensor 10 may be completed, but the step S182 may be subsequently performed for the fine adjustment of the orientation.
- step S182 the work of steps S171 to S175 shown in FIG. 6 is executed by using the adjusting device 30.
- FIGS. 10 to 13 show another example of the procedure for adjusting the orientation of the radio wave sensor 10.
- the radio wave radiation direction (front direction) D12 is once directed to the reference object 200, and then the radio wave sensor 10 is rotated at a rotation angle of the second angle ⁇ 2.
- the radio wave radiation direction D12 matches the target direction D22.
- the aiming direction of the sighting device 45 is the same as the radio wave radiation direction (front direction) D12.
- FIG. 11 shows a state in which steps S15 and S16 have been completed.
- the operator aligns the radio wave radiation direction D12 with the direction of the reference object 200 (reference direction D21). This work may be performed using the sight 45 shown in FIG. 10, or may be performed with reference to the display 33 of the adjusting device 30.
- the reference direction D21 is a direction forming a second angle ⁇ 2 ( ⁇ 2 is, for example, + 10 ° clockwise around the position P3) with respect to the target direction D22. It is known that the reference direction D1 forms a second angle ⁇ 2 with respect to the target direction D22. Therefore, if the radio wave sensor 10 is rotated counterclockwise at the rotation angle of the second angle ⁇ 2, the radio wave radiation direction D12 can be aligned with the target direction D22 (see FIG. 13). That is, the rotation angle (adjustment angle) when rotating the radio wave radiation direction of the radio wave sensor 10 from the state of FIG. 12 to the state of FIG. 13 is an angle having a size corresponding to the second angle ⁇ 2.
- the orientation of the radio wave sensor 10 is adjusted with reference to the reference object 200 installed outside the target area 100.
- Radio wave sensor 20 Radio wave sensor main body 21: Transmission antenna 21A: Antenna element 21B: Antenna element 22: Reception antenna 22A: Antenna element 22B: Antenna element 22C: Antenna element 22D: Antenna element 23: Transmission / reception circuit 24: Signal processing circuit 25: Interface 26: Housing 27: Front 30: Adjusting device 31: Processor 32: Memory 33: Display 35: Mark of radio wave reflection position from reference object 37: Mark of adjustment direction 38A: Mark of radio wave emission direction 38B: Radio wave sensor installation position mark 39A: Difference display between adjustment direction and radio wave reflection position direction 39B: Reflected power display 40: Cable 45: Aiming device 46: Rear site 47: 1st front site 48: 2nd front site 49 : Third front site 50: Support 100: Target area 200: Reference object 300: Road 301: Lane 302: Lane 311: Road outside 312: Road outside 350: Arc 500: Detectable range 600: Radio wave D: Target direction D11: Adjustment direction D12: Radio
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Abstract
Description
20 :電波センサ本体
21 :送信アンテナ
21A :アンテナ素子
21B :アンテナ素子
22 :受信アンテナ
22A :アンテナ素子
22B :アンテナ素子
22C :アンテナ素子
22D :アンテナ素子
23 :送受信回路
24 :信号処理回路
25 :インタフェース
26 :筐体
27 :正面
30 :調整装置
31 :プロセッサ
32 :メモリ
33 :ディスプレイ
35 :参照物体からの電波反射位置のマーク
37 :調整用方向のマーク
38A :電波放射方向のマーク
38B :電波センサ設置位置のマーク
39A :調整用方向と電波反射位置の方向との差分表示
39B :反射電力表示
40 :ケーブル
45 :照準器
46 :リアサイト
47 :第1フロントサイト
48 :第2フロントサイト
49 :第3フロントサイト
50 :支柱
100 :対象エリア
200 :参照物体
300 :道路
301 :車線
302 :車線
311 :道路外側
312 :道路外側
350 :円弧
500 :検知可能範囲
600 :電波
D :目標方向
D11 :調整用方向
D12 :電波放射方向
D21 :参照方向
D22 :目標方向
D31 :第1照準方向
D32 :第2照準方向
D33 :第3照準方向
L1 :第1距離
L2 :第2距離
P1 :参照物体設置位置
P2 :対象エリア内基準位置
P3 :電波センサ設置位置
θ1 :第1角度
θ2 :第2角度
Claims (16)
- 物体の検知のために設定された対象エリアを含む範囲に電波を放射するための電波センサの設置方法であって、
参照物体を設置する工程と、
前記参照物体を基準に、前記電波センサの電波放射方向を調整する工程と、
を含み、
前記参照物体は、前記対象エリア外の第1位置に設置される、
電波センサを設置する方法。 - 前記電波センサから前記第1位置までの第1距離は、前記電波センサから前記対象エリア内の第2位置までの第2距離と同距離である
請求項1に記載の電波センサを設置する方法。 - 前記電波放射方向を調整する前記工程は、前記参照物体からの電波反射電力に基づいて、前記電波センサの仰角を調整することを含む
請求項2に記載の電波センサを設置する方法。 - 前記電波放射方向を調整する前記工程は、前記電波放射方向に対して第1角度をなす調整用方向を、前記電波センサから前記参照物体へ向かう参照方向に合わせることを含み、
前記第1角度は、前記参照方向と、前記電波センサから前記対象エリア内の第2位置へ向かう目標方向と、がなす第2角度と同じである
請求項1から請求項3のいずれか1項に記載の電波センサを設置する方法。 - 前記電波放射方向を調整する前記工程は、前記参照物体からの電波反射位置と、前記調整用方向と、を画面上に表示することを更に含む
請求項4に記載の電波センサを設置する方法。 - 前記電波放射方向を調整する前記工程は、前記調整用方向と前記参照物体からの電波反射位置の方向との差分を算出する装置が、ユーザインタフェースを介して、前記差分に関する情報を出力することを更に含む
請求項4又は請求項5に記載の電波センサを設置する方法。 - 前記調整用方向を前記参照方向に合わせることは、前記電波センサに設けられた照準器の照準を前記参照物体に合わせることを含み、
前記調整用方向は、前記照準器の照準方向と同じである
請求項4から請求項6のいずれか1項に記載の電波センサを設置する方法。 - 前記電波放射方向を調整する前記工程は、
前記電波放射方向を、前記参照方向に合わせ、
前記電波放射方向を前記参照方向に合わせた後に、前記電波放射方向を回転させることで、前記電波放射方向を前記電波センサから前記第2位置に向かう目標方向に合わせる、
ことを含み、
前記電波放射方向を回転させるときの回転角は、前記参照方向と前記目標方向とがなす角度に応じた大きさを持つ
請求項4に記載の電波センサを設置する方法。 - 前記対象エリアは、車両走行用の車線を含む範囲に設定され、
前記参照物体は、前記対象エリアが設定された前記車線外に設置される
請求項1から請求項8のいずれか1項に記載の電波センサを設置する方法。 - 前記対象エリアは、車両走行用の道路を含む範囲に設定され、
前記参照物体は、前記道路外に設置される
請求項1から請求項9のいずれか1項に記載の電波センサを設置する方法。 - 前記電波センサは、前記道路の左右両外側のうちの一方の外側に設置され、
前記参照物体は、前記一方の外側に設置される
請求項10に記載の電波センサを設置する方法。 - 物体の検知のために設定された対象エリアを含む範囲に電波を放射するための電波センサであって、
前記電波センサの電波放射方向に対して角度をなす照準方向を持つ照準器を備え、
前記照準方向は、前記電波放射方向が前記対象エリアへ向けられた時に、前記電波センサから前記対象エリアの外の位置へ向かう方向である、
電波センサ。 - 物体の検知のために設定された対象エリア内外に電波を放射するための電波センサであって、
前記電波センサの電波放射方向の調整に用いられるとともに前記対象エリア外に設置される参照物体からの電波反射位置を示す第1イメージと、調整用方向を示す第2イメージと、を含む画面を表示するためのディスプレイと、
前記調整用方向を設定する動作を実行するよう構成されたコントローラと、
を備え、
前記調整用方向は、前記電波放射方向に対して第1角度をなす方向であり、
前記第1角度は、前記電波センサから前記参照物体へ向かう参照方向と、前記電波センサから前記対象エリアに向かう目標方向と、がなす第2角度と同じ角度である
電波センサ。 - 前記コントローラは、前記調整用方向と前記電波反射位置の方向との差分を算出し、ユーザインタフェースを介して、前記差分に関する情報を出力するよう構成されている
請求項13に記載の電波センサ。 - 物体の検知のために設定された対象エリア内外に電波を放射するための電波センサの電波放射方向の調整装置であって、
前記電波放射方向の調整に用いられるとともに前記対象エリア外に設置される参照物体からの電波反射位置を示す第1イメージと、調整用方向を示す第2イメージと、を含む画面を表示するディスプレイと、
前記調整用方向を設定する動作を実行するよう構成されたコントローラと、
を備え、
前記調整用方向は、前記電波放射方向に対して第1角度をなす方向であり、
前記第1角度は、前記電波センサから前記参照物体へ向かう参照方向と、前記電波センサから前記対象エリア内の位置に向かう目標方向と、がなす第2角度と同じ角度である
調整装置。 - 前記コントローラは、前記調整用方向と前記電波反射位置の方向との差分を算出し、ユーザインタフェースを介して、前記差分に関する情報を出力するよう構成されている
請求項15に記載の調整装置。
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JP2019132643A (ja) * | 2018-01-30 | 2019-08-08 | 住友電気工業株式会社 | 照準器、電波センサおよび調整方法 |
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WO2023162576A1 (ja) * | 2022-02-24 | 2023-08-31 | オムロン株式会社 | 照準器および測定装置 |
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