WO2021181506A1 - 異物検知システム - Google Patents

異物検知システム Download PDF

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Publication number
WO2021181506A1
WO2021181506A1 PCT/JP2020/010199 JP2020010199W WO2021181506A1 WO 2021181506 A1 WO2021181506 A1 WO 2021181506A1 JP 2020010199 W JP2020010199 W JP 2020010199W WO 2021181506 A1 WO2021181506 A1 WO 2021181506A1
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WO
WIPO (PCT)
Prior art keywords
radar
foreign matter
signal
processing unit
signal processing
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/JP2020/010199
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English (en)
French (fr)
Japanese (ja)
Inventor
亮喜 原本
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Kokusai Denki Electric Inc
Original Assignee
Hitachi Kokusai Electric Inc
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Hitachi Kokusai Electric Inc filed Critical Hitachi Kokusai Electric Inc
Priority to PCT/JP2020/010199 priority Critical patent/WO2021181506A1/ja
Priority to JP2022507035A priority patent/JP7263617B2/ja
Publication of WO2021181506A1 publication Critical patent/WO2021181506A1/ja
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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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
    • G01S13/87—Combinations of radar systems, e.g. primary radar and secondary radar
    • 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

Definitions

  • the present invention relates to a foreign matter detection system that detects foreign matter using a radar device.
  • a radar device has been used to detect an object existing on a road surface such as a road or a runway. There are usually no reflective objects such as falling objects or abandoned objects on roads and runways. Therefore, the radar device continues to send the radar transmission wave to the monitoring area where there is no reflecting object, and the received wave (reflected wave) is obtained only when some reflecting object appears in the monitoring area, and the object is detected. Will be done.
  • Patent Document 1 a millimeter-wave radar is installed on a moving body, the distance between the first reflector and the second reflector installed near the target position, and the distance from these reflectors.
  • An invention for measuring a distance to a target position based on a received result of a reflected wave is disclosed.
  • the present invention has been made in view of the above-mentioned conventional circumstances, and provides a foreign matter detection system capable of more accurately identifying the position of a foreign matter while suppressing an increase in the amount of data to be processed.
  • the purpose is.
  • the foreign matter detection system is configured as follows in the present invention. That is, based on one or more radar devices that transmit and receive radar signals and the data of the reception result of the radar signal output from the radar device, foreign matter is detected and the position of the foreign matter is specified, and the operation of the radar device is controlled. It is equipped with a control device.
  • the radar device has a first mode in which the radar operation is performed by applying the first distance resolution, and a second mode in which the radar operation is performed by applying the second distance resolution higher than the first distance resolution. ..
  • the control device operates the radar device in the first mode until the foreign matter is detected, and then operates the radar device in the second mode after the foreign matter is detected to identify the position of the foreign matter.
  • the radar device can be configured by, for example, the following aspects (1) to (3).
  • (1) Internal switching method The radar device has a first signal processing unit that processes a radar signal in the first frequency band corresponding to the first distance resolution, and a second frequency band corresponding to the second distance resolution.
  • the second signal processing unit that processes the radar signal of the above and the first signal processing unit or the second signal processing unit are selectively connected via a switch to the radar signal of one frequency band or the second signal processing unit. It is provided with a transmission / reception unit for transmitting / receiving radar signals in the frequency band of.
  • the radar device is connected to a first signal processing unit that processes a radar signal in the first frequency band corresponding to the first distance resolution and a first signal processing unit, and has a first frequency. It is connected to a first transmission / reception unit that transmits / receives radar signals in the band, a second signal processing unit that processes radar signals in the second frequency band corresponding to the second distance resolution, and a second signal processing unit. , A second transmission / reception unit for transmitting / receiving a radar signal in the second frequency band is provided.
  • the radar device has a signal processing unit that processes a radar signal in a first frequency band corresponding to a first distance resolution or a second frequency band corresponding to a second distance resolution, and a signal. It is connected to a processing unit and includes a transmission / reception unit that transmits / receives a radar signal in the first frequency band or a radar signal in the second frequency band.
  • the adjacent radar devices may be configured to use different frequency bands in the first mode.
  • control device may be configured to operate the radar device in which the foreign matter exists in the monitoring area in the second mode and stop the radar operation of the other radar device when the foreign matter is detected.
  • the present invention it is possible to provide a foreign matter detection system capable of more accurately identifying the position of a foreign matter while suppressing an increase in the amount of data to be processed.
  • FIG. 1 shows an outline of a foreign matter detection system according to an embodiment of the present invention.
  • the foreign matter detection system of this example includes one or more radar devices 10 of the FM-CW system and a control device 20 communicatively connected to each radar device 10.
  • five radar devices 10-1 to 10-5 are installed along the road surface such as a road or a runway to be monitored, but the number of radar devices 10 is arbitrary.
  • the radar devices 10-1 to 10-5 transmit a radar signal to each monitoring area, receive the reflected signal, and transmit the reception result data to the control device 20.
  • the radar devices 10-1 to 10-5 have a narrow band mode in which the radar operation is performed by applying the distance resolution ⁇ d1 and a wide band mode in which the radar operation is performed by applying the distance resolution ⁇ d2 higher than the distance resolution ⁇ d1. have.
  • the operation modes of the radar devices 10-1 to 10-5 are switched by the control of the control device 20.
  • FIG. 2 shows the relationship between the frequency band and the distance resolution in the FM-CW type radar device.
  • the FM-CW type radar device has a characteristic that the larger the frequency bandwidth, the higher the distance resolution.
  • the entire frequency band (bandwidth ⁇ f2) assigned to the system is divided into five channels CH1 to CH5 having a bandwidth ⁇ f1 corresponding to the distance resolution ⁇ d1.
  • the radar devices 10-1 to 10-5 perform radar operation with a distance resolution of ⁇ d1 using any of CH1 to CH5 in the narrow band mode, and use all of CH1 to CH5 in the wideband mode to obtain a distance resolution of ⁇ d2. Perform radar operation.
  • the radar devices 10-1 to 10-5 are assigned different channels as frequency bands used in the narrow band mode.
  • CH1 is assigned to the radar device 10-1
  • CH2 is assigned to the radar device 10-2
  • CH3 is assigned to the radar device 10-3
  • CH4 is assigned to the radar device 10-4
  • CH5 is assigned to the radar device 10-5. This makes it possible to prevent adjacent radar devices from interfering with each other.
  • the control device 20 processes the data of the reception result of the radar signal output from the radar devices 10-1 to 10-5.
  • the control device 20 has a data amount of 3,000 points per radar signal in the angular direction (transmission / reception direction). Need to be processed.
  • five radar devices 10-1 to 10-5 are used, so the total amount of data is 15,000 points.
  • the angular resolution of the radar device is set to 1 degree and the radar operation of one rotation is performed in 4 seconds, it is necessary to process the data of 15,000 points in 1/360 seconds.
  • the amount of data in the narrowband mode per radar device is 1/5 of the amount of data in the wideband mode.
  • the control device 20 controls the operation of the radar devices 10-1 to 10-5 in consideration of the above characteristics. Specifically, as shown in the upper part of FIG. 3, the control device 20 narrows all of the radar devices 10-1 to 10-5 until a foreign object is detected in the monitoring area of any of the radar devices. Operate in band mode. Further, as shown in the lower part of FIG. 3, the control device 20 operates the radar device in the broadband mode after a foreign matter is detected in any of the monitoring areas of the radar devices 10-1 to 10-5. The position of the foreign matter is specified and the operation of other radar devices is stopped.
  • the radar devices 10-1 to 10-5 are usually operated in the narrow band mode with low distance resolution (before the foreign matter is detected), so that a wide area is monitored. It is possible to detect foreign matter. Further, after the foreign matter is detected, only the radar device (radar device 10-2 in FIG. 3) in which the foreign matter exists in the monitoring area is switched to the wideband mode with high distance resolution, so that the position of the foreign matter can be specified in more detail. be able to. Moreover, since the radar operation (radar devices 10-1, 10-3, 10-4, 10-5 in FIG. 3) is stopped for the other radar devices, the overall amount of data processed by the control device 20 is increased. Is suppressed. Therefore, it is possible to monitor a wide area and identify the detailed position of the foreign matter while suppressing the processing load of the control device 20.
  • the radar devices 10-1 to 10-5 it is not necessary for all the radar devices 10-1 to 10-5 to use different frequency bands, and it is sufficient that adjacent radar devices are assigned different channels. That is, for example, CH1 may be assigned to the odd-numbered radar devices 10-1, 10-3, 10-5, and CH2 may be assigned to the even-numbered radar devices 10-2, 10-4.
  • the frequency band that can be used in the wideband mode is the frequency band formed by CH1 and CH2, so that the distance resolution is smaller than that when all of CH1 to CH5 are used.
  • FIG. 4A shows a configuration example of an internal switching type radar device.
  • the internal switching radar device includes a transmission / reception unit 31, a wideband signal processing unit 32A, a local signal generation unit 33A, a narrowband signal processing unit 32B, a local signal generation unit 33B, and a changeover switch 34. ..
  • the operation of the narrow band mode and the wide band mode can be switched by the changeover switch 34, and the common transmission / reception unit 31 is used.
  • the local signal generation unit 33B generates an FM-CW signal from the control signal from the narrow band signal processing unit 32B and transmits it from the transmission / reception unit 31, and the signal received by the transmission / reception unit 31 is processed for a narrow band signal.
  • the presence or absence of foreign matter is determined by processing in unit 32B.
  • the changeover switch 34 switches from the narrow band signal processing unit 32B to the wide band signal processing unit 32A.
  • the local signal generation unit 33A generates an FM-CW signal from the control signal from the wideband signal processing unit 32A and transmits the FM-CW signal from the transmission / reception unit 31, and the wideband signal processing unit 32A generates the signal received by the transmission / reception unit 31.
  • the detailed position of the foreign matter is identified by processing.
  • the internal switching type radar device includes a processing system corresponding to the wide band mode (broad band signal processing unit 32A, local signal generation unit 33A) and a processing system corresponding to the narrow band mode (narrow band signal processing unit 32B, local).
  • the signal generation unit 33B) is provided separately, and one of the processing systems is selectively connected to the common transmission / reception unit 31 via the changeover switch 34.
  • FIG. 4B shows a configuration example of a separation type radar device.
  • the separation type radar device includes a transmission / reception unit 41A, a wideband signal processing unit 42A, a local signal generation unit 43A, a transmission / reception unit 41B, a wideband signal processing unit 42B, and a local signal generation unit 43B.
  • the radar device shown in FIG. 4B has a completely separate configuration for the narrow band mode and the wide band mode. Normally, the transmission / reception unit 41B, the narrow band signal processing unit 42B, and the local signal generation unit 43B operate in the narrow band mode to determine the presence or absence of foreign matter. When a foreign matter is detected, the transmission / reception unit 41A, the wideband signal processing unit 42A, and the local signal generation unit 43A operate in the wideband mode to identify the detailed position of the foreign matter.
  • the separation type radar device includes a processing system (broadband signal processing unit 42A, local signal generation unit 43A) and a transmission / reception unit 41A corresponding to the wideband mode, and a processing system corresponding to the narrowband mode (narrowband signal processing).
  • the unit 42B, the local signal generation unit 43B) and the transmission / reception unit 41B are separately provided. The specific operation contents of each block will not be described.
  • FIG. 4C shows a configuration example of an internal setting change type radar device.
  • the internal setting change type radar device includes a transmission / reception unit 51, a signal processing unit 52, and a local signal generation unit 53.
  • the radar device shown in FIG. 4C has a configuration in which the high and low distance resolutions are switched by changing the internal settings.
  • the local signal generation unit 53 generates a narrowband mode FM-CW signal from the control signal from the signal processing unit 52 and transmits it from the transmission / reception unit 51, and the signal received by the transmission / reception unit 51 is transmitted by the signal processing unit 52.
  • the presence or absence of foreign matter is determined by processing with.
  • the internal setting of the signal processing unit 52 is changed, and the signal processing unit 52 outputs a control signal for generating the FM-CW signal in the wide band mode to the local signal generation unit 53. To do so.
  • the local signal generation unit 53 generates a wideband mode FM-CW signal from the control signal from the signal processing unit 52 and transmits it from the transmission / reception unit 51, and the signal processing unit 52 processes the signal received by the transmission / reception unit 51. By doing so, the detailed position of the foreign matter can be identified.
  • the radar device of the internal setting change type includes a signal processing unit 52 and a transmission / reception unit 51 common to the wideband mode and the narrowband mode, and by changing the internal setting of the signal processing unit 52, the wideband mode or the narrowband mode It is configured to perform operations adapted to.
  • FIGS. 4A to 4C The above configuration example (FIGS. 4A to 4C) is only an example, and a radar device capable of switching between a wide band mode and a narrow band mode may be realized by another configuration. Further, in the above description, the position of the foreign matter is specified in the broadband mode, but other information such as the shape and type of the foreign matter may be further specified.
  • the present invention has been described above based on one embodiment, it goes without saying that the present invention is not limited to the uses described here and can be widely applied to other uses.
  • the present invention also provides, for example, a method including a technical procedure relating to the above processing, a program for executing the above processing by a processor, a storage medium for storing such a program in a computer-readable manner, and the like. Is also possible.
  • the present invention can be used in a foreign matter detection system that detects foreign matter using a radar device.
  • 10-1 to 10-5 Radar device
  • 20 Control device
  • 31, 41A, 41B, 51 Transmission / reception unit
  • 52 Signal processing unit
  • 33A, 33B, 43A, 43B, 53 Local signal generator
  • 34 Changeover switch

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar Systems Or Details Thereof (AREA)
PCT/JP2020/010199 2020-03-10 2020-03-10 異物検知システム Ceased WO2021181506A1 (ja)

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PCT/JP2020/010199 WO2021181506A1 (ja) 2020-03-10 2020-03-10 異物検知システム
JP2022507035A JP7263617B2 (ja) 2020-03-10 2020-03-10 異物検知システム

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Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20040027273A1 (en) * 2000-10-26 2004-02-12 Joachim Flacke Method for adaptive target processing in a motor vehicle radar system
JP2017207418A (ja) * 2016-05-20 2017-11-24 株式会社日立製作所 監視システム及び監視方法
JP2018040663A (ja) * 2016-09-07 2018-03-15 日本無線株式会社 レーダシステム
JP2018185280A (ja) * 2017-04-27 2018-11-22 日立オートモティブシステムズ株式会社 レーダ回路、レーダシステム、及びレーダプログラム
WO2019181608A1 (ja) * 2018-03-23 2019-09-26 株式会社日立国際電気 レーダー装置、レーダーシステム及びレーダーアンテナ調整方法
JP2019190880A (ja) * 2018-04-19 2019-10-31 京セラ株式会社 電子機器、電子機器の制御方法、及び電子機器の制御プログラム

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20040027273A1 (en) * 2000-10-26 2004-02-12 Joachim Flacke Method for adaptive target processing in a motor vehicle radar system
JP2017207418A (ja) * 2016-05-20 2017-11-24 株式会社日立製作所 監視システム及び監視方法
JP2018040663A (ja) * 2016-09-07 2018-03-15 日本無線株式会社 レーダシステム
JP2018185280A (ja) * 2017-04-27 2018-11-22 日立オートモティブシステムズ株式会社 レーダ回路、レーダシステム、及びレーダプログラム
WO2019181608A1 (ja) * 2018-03-23 2019-09-26 株式会社日立国際電気 レーダー装置、レーダーシステム及びレーダーアンテナ調整方法
JP2019190880A (ja) * 2018-04-19 2019-10-31 京セラ株式会社 電子機器、電子機器の制御方法、及び電子機器の制御プログラム

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JP7263617B2 (ja) 2023-04-24

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