WO2022054160A1

WO2022054160A1 - Object detecting device, object detecting method, and program

Info

Publication number: WO2022054160A1
Application number: PCT/JP2020/034070
Authority: WO
Inventors: 慎吾山之内; 正行有吉; 俊之野村; 達哉住谷
Original assignee: 日本電気株式会社
Priority date: 2020-09-09
Filing date: 2020-09-09
Publication date: 2022-03-17
Also published as: JP7416275B2; JPWO2022054160A1

Abstract

The present invention is an object detecting device (1000) for detecting an object with radio waves, the object detecting device (1000) characterized by comprising: a transmitting unit (1101) provided with a transmitting antenna for irradiating an object with radio waves; a receiving unit (1102) provided with a receiving antenna for receiving the radio waves reflected from the object, the receiving unit further generating an intermediate frequency signal from a reception signal received with the receiving antenna; a reflection condition setting unit (1301) for setting a desired reflection direction of the radio waves reflected from the object; a required irradiation distribution calculating unit (1302) for calculating, on the basis of the set desired reflection direction, a required radiation distribution of radio waves for irradiating the object; a weighting coefficient calculating unit (1303) for calculating a weighting coefficient on the basis of the calculated required radiation distribution; a weighting coefficient applying unit (1304) for applying, to the radio waves or the intermediate frequency signal, a weight in accordance with the weighting coefficient calculated by the weighting coefficient calculating unit (1303); and a target detecting unit (1305) for detecting the object on the basis of the intermediate frequency signal.

Description

Object detection device, object detection method and program

The present invention relates to an object detection device and an object detection method for recognizing or identifying the existence of a detection object by irradiating the detection object with radio waves and detecting the reflected or radiated radio waves from the object.

Unlike light, radio waves (microwaves, millimeter waves, terahertz waves, etc.) have an excellent ability to pass through objects. Devices that image and inspect articles under clothes and in bags by utilizing the transmission capability of radio waves, and remote sensing technology that transmits clouds from satellites or aircraft to image the ground surface have been put into practical use.

An active antenna array system disclosed in Patent Document 1 has been proposed as an imaging device (object detection device) using radio waves. Here, the method will be described with reference to FIG. 24. In the array antenna system shown in the conceptual diagram of FIG. 24, a transmission / reception device 201 including transmission / reception antennas 202 ₁ , 202 ₂ , ..., 202 _N is used. The transmission / reception device 201 irradiates the transmission wave (radio wave) 204 toward the detection object 203 from one or more of the transmission / reception antennas 202 ₁ , 202 ₂ , ..., 202 _N and 202 _m . The transmitted wave 204 is reflected by the detection target object 203, and reflected waves 205 ₁ , 205 ₂ , ..., 205 _N are generated. The generated reflected waves 205 ₁ , 205 ₂ , ..., 205 _N are received by the transmission / reception antennas 202 ₁ , 202 ₂ , ..., 202 _N. The transmission / reception device 201 calculates the radio wave amplitude reflected from the detection object 203 based on the received reflected waves 205 ₁ , 205 ₂ , ..., 205 _N. By imaging the distribution of the radio wave amplitude, it is possible to obtain an image of the detection target object 203.

US2014 / 0167784 A1

The problems of the above-mentioned active antenna array method will be explained.

One of the problems with the active array antenna system is that the position of the detectable object 203 that can be detected is limited.

The above points will be explained concretely. The reflected wave 205 generated in the detection object 203 has an amplitude dependence on its reflection angle. In particular, when the reflection angle satisfies the specular reflection condition, that is, when the incident angle of the transmitted wave 204 on the detection target object 203 and the reflection angle of the reflected wave 205 from the detection target object 203 are equal, the amplitude of the reflected wave 205 becomes. Become the maximum. On the other hand, when the reflection angle does not satisfy the specular reflection condition, the amplitude of the reflected wave 205 becomes weak.

As shown in FIG. 25, when the position of the detection object 203 deviates from the range of the opening 207 formed by the transmission / reception antennas 202 ₁ , 202 ₂ , ..., 202 _N , the amplitude satisfying the specular reflection condition. Since the strong reflected wave 206 cannot be received by the transmission / reception antennas 202 ₁ , 202 ₂ , ..., 202 _N , it becomes difficult to detect the detection target 203. That is, the position of the detectable object 203 that can be detected is limited to the range of the opening 207. The opening 207 is the smallest area including all of the plurality of transmission / reception antennas 202 ₁ , 202 ₂ , ..., 202 _N. The shape of the opening 207 is determined based on the arrangement of the plurality of transmission / reception antennas 202 ₁ , 202 ₂ , ..., 202 _N. The shape of the opening 207 is, for example, rectangular, but is not limited thereto. Further, "the detection object 203 is out of the range of the opening 207" means that the opening 207 is moved in a direction perpendicular to the plane on which the plurality of transmission / reception antennas 202 ₁ , 202 ₂ , ..., 202 _N extend. It means that the detection object 203 does not exist in the space composed of the area through which the opening 207 sometimes passes. Further, "the detection object 203 is within the range of the opening 207" means that the detection object 203 exists in the space.

Therefore, when trying to widen the detectable position range of the detection target object 203, it is necessary to take a large opening length of the opening 207. However, increasing the opening length of the opening 207 leads to an increase in the size of the transmission / reception device 201, which impairs the ease of installation of the transmission / reception device 201. Further, when the size of the opening 207 is large, the number of transceivers connected to the transmission / reception antennas 202 ₁ , 202 ₂ , ..., 202 _N and the transmission / reception antenna 202, which are required, increases, which leads to an increase in the cost of the transmission / reception device 201. ..

As discussed above, in a general radio wave imaging device, the position range of a detectable object is restricted within the opening. As a result, it is necessary to take a large opening size, and there is a problem that the size and cost of the device become very large. Therefore, there is a problem that the uses and opportunities that can be actually used are limited.

According to the present invention
It is an object detection device for detecting objects by radio waves.
A transmitting means equipped with a transmitting antenna that irradiates radio waves toward the object,
A receiving antenna for receiving the radio wave reflected from the object, and a receiving means for generating an intermediate frequency signal from the received signal received by the receiving antenna.
A reflection condition setting means for setting a desired reflection direction of the radio wave reflected from the object, and
A required irradiation distribution calculation means for calculating the required irradiation distribution of the radio wave to be applied to the object based on the desired reflection direction set in the reflection condition unit setting unit.
A weighting coefficient calculating means for calculating a weighting coefficient based on the required irradiation distribution calculated by the required irradiation distribution calculating means, and a weighting coefficient calculating means.
A weighting coefficient applying means for applying the weighting by the weighting coefficient calculated by the weighting coefficient calculating means to the radio wave or the intermediate frequency signal, and a weighting coefficient applying means.
An object detecting means for detecting the object based on the intermediate frequency signal,
An object detection device characterized by being provided with the above is provided.

Further, according to the present invention,
It is an object detection method for detecting an object by radio waves.
The computer
The step of irradiating radio waves from the transmitting antenna toward the object,
In the receiving antenna, the step of receiving the radio wave reflected from the object by the receiving antenna and further generating an intermediate frequency signal from the received signal received by the receiving antenna.
A step of setting a desired reflection direction of the radio wave reflected from the object, and
A step of calculating the required irradiation distribution of the radio wave to be applied to the object based on the desired reflection direction set, and a step of calculating the required irradiation distribution.
The step of calculating the weighting coefficient based on the required irradiation distribution and
The step of applying the weighting by the weighting coefficient to the radio wave or the intermediate frequency signal, and
The step of detecting the object based on the intermediate frequency signal,
An object detection method characterized by performing the above is provided.

Further, according to the present invention,
A transmitting means equipped with a transmitting antenna that irradiates radio waves toward the object,
A receiving antenna for receiving the radio wave reflected from the object, and a receiving unit means for generating an intermediate frequency signal from the receiving signal received by the receiving antenna.
With the processor
An object detection device equipped with
Reflection condition setting means for setting a desired reflection direction of the radio wave reflected from the object,
A required irradiation distribution calculation means for calculating the required irradiation distribution of the radio wave to be applied to the object based on the desired reflection direction set in the reflection condition unit setting unit.
A weighting coefficient calculating means for calculating a weighting coefficient based on the required irradiation distribution calculated by the required irradiation distribution calculating means,
A weighting coefficient applying means that applies the weighting by the weighting coefficient calculated by the weighting coefficient calculating means to the radio wave or the intermediate frequency signal, and
An object detecting means for detecting an object based on the intermediate frequency signal,
A program is provided that functions as.

According to the object detection device and the object detection method according to the present invention, by controlling the reflection direction of the radio wave radiated to the object and enabling the detection of the object outside the range of the opening, the detectable object can be detected. It has the effect of eliminating restrictions on the position range and reducing the size of the device.

FIG. 1 is a configuration diagram showing a configuration of an object detection device according to an embodiment of the present invention. FIG. 2 is a block diagram showing an example of the configuration of the object detection device according to the embodiment of the present invention. FIG. 3 is a block diagram showing an example of the configuration of the object detection device according to the embodiment of the present invention. FIG. 4 is a block diagram showing an example of the configuration of the object detection device according to the embodiment of the present invention. FIG. 5 is a flowchart showing an object detection method according to the embodiment of the present invention. FIG. 6 is a diagram illustrating an example of a desired reflection direction of a reflected wave according to the embodiment of the present invention. FIG. 7 is a diagram illustrating an example of the positional relationship between the object detection device, the radio wave, and the object according to the embodiment of the present invention. FIG. 8 is a diagram illustrating an example of the reflection direction of the reflected wave in the general technique. FIG. 9 is a diagram illustrating an example of the reflection direction of the reflected wave in the embodiment of the present invention. FIG. 10 is a block diagram showing an example of the configuration of the object detection device according to the embodiment of the present invention. FIG. 11 is a block diagram showing an example of the configuration of the object detection device according to the embodiment of the present invention. FIG. 12 is a block diagram showing an example of the configuration of the object detection device according to the embodiment of the present invention. FIG. 13 is a flowchart showing an object detection method according to the embodiment of the present invention. FIG. 14 is a block diagram showing an example of the configuration of the object detection device according to the embodiment of the present invention. FIG. 15 is a block diagram showing an example of the configuration of the object detection device according to the embodiment of the present invention. FIG. 16 is a block diagram showing an example of the configuration of the object detection device according to the embodiment of the present invention. FIG. 17 is a flowchart showing an object detection method according to the embodiment of the present invention. FIG. 18 is a block diagram showing an example of the configuration of the object detection device according to the embodiment of the present invention. FIG. 19 is a diagram illustrating an example of the positional relationship between the object detection device and the object. FIG. 20 is a diagram showing the result of imaging the radio wave amplitude distribution of the reflected wave from the detection target in the conventional method. FIG. 21 is a diagram showing the result of imaging the radio wave amplitude distribution of the reflected wave from the detection object in the embodiment of the present invention. FIG. 22 is a block diagram showing an example of the configuration of the object detection device according to the embodiment of the present invention. FIG. 23 is a block diagram showing an example of a computer that realizes the object detection device according to the embodiment of the present invention. FIG. 24 is a conceptual diagram showing the concept of an imaging device (object detection device) using radio waves by an array antenna method in general technology. FIG. 25 is a conceptual diagram showing the position of an object and the reception status of radio waves in an imaging device (object detection device) using radio waves in general technology.

Hereinafter, preferred embodiments of the object detection device and the object detection method according to the present invention will be described with reference to the attached drawings. In each of the drawings shown below, the same or corresponding parts will be indicated by the same reference numerals, and the description thereof will not be repeated.

Hereinafter, the object detection device, the object detection method, and the program in the embodiment of the present invention will be described with reference to FIGS. 1 to 23. In the present embodiment, an object detection device, an object detection method, and an object detection method that expand the position range in which an object can be detected while avoiding an increase in the cost of the device and an increase in the size of the opening that impairs the ease of installation. The program will be disclosed.

In the present embodiment, the "opening" is the smallest area including all of the transmitting antenna 1202 and the receiving antenna 1203. The shape of the opening is determined based on how the plurality of transmitting antennas 1202 and the receiving antennas 1203 are arranged. The shape of the opening is, for example, rectangular, but is not limited to this. Further, "the object to be detected is out of the range of the opening" is composed of a region through which the opening passes when the opening is moved in a direction perpendicular to the plane on which the plurality of transmitting antennas 1202 and the receiving antenna 1203 extend. It means that there is no detection target in the space. Further, "the detection target is within the opening range" means that the detection target exists in the above space.

(First embodiment)
[Device configuration]
First, the configuration of the object detection device according to the first embodiment will be described with reference to FIG.

The object detection device 1000 in the present embodiment shown in FIG. 1 is a device for detecting an object by radio waves. As shown in FIG. 1, the object detection device 1000 includes a transmission unit 1101, a reception unit 1102, and an arithmetic unit 1211.

The transmission unit 1101 irradiates the radio wave 1002, which is a transmission signal, toward the object (hereinafter referred to as "object") 1003 that exists on the object placement surface 1005 and is to be detected. The receiving unit 1102 receives the radio wave 1004 reflected by the object 1003 as a receiving signal.

In the first embodiment, the receiving unit 1102 further mixes the transmitted signal generated by the transmitting unit 1101 with the received received signal, and is referred to as an intermediate frequency signal (hereinafter referred to as "IF (Intermediate Frequency) signal"). .) Is generated. Specifically, as shown in FIG. 1, the transmission unit 1101 outputs a transmission signal toward the reception unit 1102 via the terminal 1208. The receiving unit 1102 mixes the radio wave reflected and received from the object 1003 with the transmission signal obtained via the terminal 1208 to generate an IF signal. Further, the transmission unit 1101 outputs the generated IF signal to the arithmetic unit 1211.

Further, in FIG. 1, only one transmission unit 1101 and one reception unit 1102 are shown, but a plurality of transmission unit 1101 and reception unit 1102 may actually be provided. When a plurality of transmission units 1101 and reception units 1102 are provided, each of the plurality of reception units 1102 corresponds to any of the transmission units 1101.

Subsequently, in addition to FIG. 1, FIGS. 2 to 3 will be used to more specifically explain the configuration of the transmission / reception device 1001 in the object detection device 1000 according to the first embodiment. FIG. 2 is a diagram specifically showing the configuration of the transmission unit 1101 and the reception unit 1102 of the object detection device 1000 according to the first embodiment of the present invention. FIG. 3 is a diagram specifically showing the configuration of another example of the transmission unit 1101 and the reception unit 1102 of the object detection device 1000 according to the first embodiment of the present invention.

As shown in FIG. 2, in the first embodiment, in the transmission / reception device 1001, the transmission unit 1101 includes an oscillator 1201, a variable amplitude phase detector 1207, and a transmission antenna 1202. Further, the receiving unit 1102 includes a receiving antenna 1203, a mixer 1204, and an interface circuit 1205. Further, as shown in FIG. 1, the transmission unit 1101 and the reception unit 1102 are connected to each other via the terminal 1208.

In the present embodiment, for example, as shown in FIG. 3, one receiving unit 1102 may be provided with a plurality of receiving antennas 1203 and mixer 1204.

In the transmission unit 1101, the oscillator 1201 generates an RF signal (radio wave). The RF signal generated by the oscillator 1201 is output after changing the amplitude and phase to desired values in the variable amplitude phase detector 1207. The RF signal (radio wave) output from the variable amplitude phase device 1207 is applied to the object 1003 as a radio wave 1002 from the transmitting antenna 1202.

The radio wave 1004 reflected by the object 1003 is received by the receiving antenna 1203 in the receiving unit 1102. The mixer 1204 generates an IF signal by mixing the RF signal input from the oscillator 1201 via the terminal 1208 and the radio wave (received signal) received by the receiving antenna 1203. The IF signal generated by the mixer 1204 is transmitted to the arithmetic unit 1211 via the interface circuit 1205. The interface circuit 1205 has a function of converting an IF signal, which is an analog signal, into a digital signal that can be handled by the arithmetic unit 1211, and outputs the obtained digital signal to the arithmetic unit 1211.

Next, FIG. 4 shows the internal configuration of the arithmetic unit 1211 in the present embodiment. As shown in FIG. 4, the arithmetic unit 1211 in the present embodiment includes a reflection condition setting unit 1301, a required irradiation distribution calculation unit 1302, a weighting coefficient calculation unit 1303, a weighting coefficient application unit 1304, and an object detection unit. It is equipped with 1305.

[Device operation]
FIG. 5 is a flow chart showing the operation of the object detection device according to the first embodiment of the present invention. In the following description, FIGS. 1 to 4 will be referred to as appropriate. Further, in the first embodiment, the object detection method is implemented by operating the object detection device 1000. Therefore, the description of the object detection method in the first embodiment is replaced with the following description of the operation of the object detection device 1000.

First, I will briefly explain the overall flow.

As shown in FIG. 5, first, the reflection condition setting unit 1301 sets the reflection condition (step A1).

Next, the required irradiation distribution calculation unit 1302 calculates the required value of the irradiation distribution in the detection target object 1003 based on the information of the reflection condition output from the reflection condition setting unit 1301 (step A2).

Next, the weighting coefficient calculation unit 1303 calculates the weighting coefficient based on the required value of the irradiation distribution in the detection target object 1003 output by the required irradiation distribution calculation unit 1302 (step A3).

Next, the weighting coefficient application unit 1304 controls the variable amplitude phase detector 1207 in the transmission unit 1101 based on the weighting coefficient calculated by the weighting coefficient calculation unit 1303, and the amplitude and phase of the RF signal output from the oscillator 1201. Is set to a desired value (step A4).

Next, in the transmission / reception device 1001, the transmission unit 1101 irradiates the object 1003 with a radio wave that becomes a transmission signal (step A5). Further, the transmission unit 1101 outputs the transmission signal to the reception unit 1102 via the terminal 1208 at the same time as irradiating the radio wave that becomes the transmission signal.

Next, in the transmission / reception device 1001, the reception antenna 1203 of the reception unit 1102 receives the radio wave reflected from the object 1003 as a reception signal (step A6).

Next, the transmission / reception device 1001 mixes the transmission signal generated by the transmission unit 1101 with the reception signal received by each reception antenna 1203 of the reception unit 1102 to generate an IF signal (step A7).

Next, the object detection unit 1305 detects the object 1003 based on the IF signal generated by the reception unit 1102 (step A8).

Note that steps A1 to A4 are processes independent of measurement, and steps A5 to A8 are processes linked to measurement. Steps A1 to A4 need to be processed only once before the measurement unless the positions of the transmitting antenna 1202 and the receiving antenna 1203 and the RF frequency of the transmitting signal transmitted from the transmitting antenna 1202 are changed. On the other hand, steps A5 to A8 are executed for each measurement.

In order to reduce the amount of processing, the weighting coefficient calculated in step A3 may be stored in the recording device in the weighting coefficient application unit 1304, and the weighting coefficient may be read out from the recording device at the time of measurement executed in steps A5 to A8. good. That is, it is not necessary to recalculate the weighting coefficient for each measurement in steps A5 to A8.

Subsequently, among the steps shown in FIG. 5, the details of steps A1 to A7 performed by the arithmetic processing unit 1211 will be described.

[Step A1]
First, the scan position where the object detection device 1000 scans, the direction of the detection object 1003 assumed at each scan position, and the reflection direction of the radio wave 1004 reflected from the detection object 1003 desired at each scan position (desired). Information on reflection conditions including the reflection direction) is input in advance. The user can enter this information. The reflection condition setting unit 1301 sets the reflection condition indicated by the input information.

For example, as shown in FIG. 6, the x-axis is set with reference to the orientation of the detection target object 1003. Then, the scan position is specified by the x coordinate. Further, for each scan position, the desired reflection direction is specified by the rotation angle θ from the direction perpendicular to the x-axis. The scan position can be any position you want to scan. The desired reflection direction is set so that the installation positions of the plurality of transmitting antennas 1202 and the receiving antenna 1203 exist ahead of the direction.

[Step A2]
The operation of the required irradiation distribution calculation unit 1302 in step A2 will be described based on an example of the position (scan position) of the detection object 1003 shown in FIG. 6 and the desired reflection direction at that position. The radio wave 1002 is irradiated to the detection target object 1003, and the complex amplitude (hereinafter referred to as irradiation distribution) h'(x) at the position x on the detection target object 1003 of the irradiated radio wave 1002 satisfies the following equation (1). In this case, the radio wave 1004 is reflected in the desired reflection direction (angle θ).

Here, j is an imaginary unit, f is the frequency of the transmitted radio wave 1002, x is the value on the x-axis of the scan position on the detection object 1003, and c is the speed of light.

The required irradiation distribution calculation unit 1302 determines the desired reflection direction of the radio wave 1004 determined by the scan position x output from the reflection condition setting unit 1301, the assumed orientation of the detection object 1003, and the positional relationship between the transmitting antenna 1202 and the receiving antenna 1203. Using (angle θ), the required irradiation distribution h'(x) on the detection target 1003 is calculated according to the equation (1). The required irradiation distribution calculation unit 1302 can calculate the required irradiation distribution h'(x) for each scan position x based on the desired reflection direction at each scan position.

[Step A3]
Next, the operation of the weighting coefficient calculation unit 1303 in step A3 will be described. The direction matrix _ATX of the transmitting antenna 1202 is defined by the following equation (2).

Here, _LTX (m, x) is the distance from each transmitting antenna 1202 _m (m = 1, 2, ..., M, M are the number of transmitting antennas 1202) to the scan position x on the detection object 1003. Is. The weighting coefficient vector g = (g ₁ , g ₂ , ..., _{gram, ..., g M} ₎ ^T is defined by using the weighting coefficient g _m of each transmitting antenna 1202 _m . Here, the subscript T represents the transpose of the vector. At this time, there is a relationship of the following equation (3) between the irradiation distribution h (x) on the detection target object 1003, the direction matrix _ATX of the transmission antenna 1202, and the weighting coefficient vector g.

The weighting coefficient calculation unit 1303 calculates the weighting coefficient vector g based on the following equation (4) using the required irradiation distribution h'(x) on the detection object 1003 output from the required irradiation distribution calculation unit 1302. do.

Here, (A _TX ^T ) ^-1 is the inverse matrix of A _TX ^T. If the number M of the transmitting antenna 1202 and the score of the position x do not match, the generalized inverse matrix of _AT - ^T may be used instead of the _inverse matrix of AT- ^T .

[Step A4]
Next, the operation of the weighting coefficient calculation unit 1304 in step A4 will be described. The weighting coefficient application unit 1304 controls the amplitude gain and phase shift of the variable amplitude phase device 1207 _m connected to the transmitting antenna 1202 _m (m = 1, 2, ..., M), and transmits from the transmitting antenna 1202 _m . The complex amplitude of the radio wave 1002 to be generated is multiplied by g _m . That is, the amplitude of the radio wave 1002 is multiplied (absolute value of g _m ), and the phase of the radio wave 1002 is shifted by ∠ g _m .

[Step A5]
In step A5, each transmitting antenna 1202 _m ₍ _m = 1, 2, ... The radio wave 1002 is simultaneously transmitted from (M) to the object 1003.

[Step A6]
In step A6, the radio wave 1004 reflected from the object 1003 is received by each receiving antenna 1203 _n (n = 1, 2, ..., N, N are the number of receiving antennas). At this time, the complex amplitude s _RX (n) of the radio wave 1004 received by the receiving antenna 1203 _n is given by the following equation (5).

Here, σ (x) is the reflectance of the object 1003 at the position x. _LRX (n, x) is the distance from each receiving antenna 1203 _n (n = 1, 2, ..., N) to the scan position x on the detection object 1003.

[Step A7]
In step A7, the transmission / reception device 1001 mixes the transmission signal generated by the transmission unit 1101 with the reception signal received by each reception antenna 1203 of the reception unit 1102 to generate an IF signal. The _IF signal s'IF (n) generated via the receiving antenna 1203 _n has a complex amplitude of the radio wave 1004 received by the receiving antenna 1203 _n of the formula (5) as shown by the following formula (6). s Matches _RX (n).

After the above processes from steps A1 to A4, when the transmission unit 1101 irradiates the object 1003 with a radio wave to be a transmission signal in step A5, the radio wave 1004 reflected from the object 1003 is generated in step A1. It is reflected in the direction of the predetermined angle θ.

Therefore, if the angle θ is specified in step A1 in the direction in which the radio wave 1004 reflected from the object 1003 is received by the receiving antenna 1203, the object 1003 has the transmitting antenna 1202 and the receiving antenna 1203 as shown in FIG. The receiving antenna 1203 can receive the radio wave 1004 even if it is out of the range of the opening configured by. As a result, the object detection device 1000 can detect the object 1003 even when the object 1003 is out of the range of the opening composed of the transmitting antenna 1202 and the receiving antenna 1203.

Here, an example of the reflection direction of the radio wave 1004 in the conventional method in which the weighting by the weighting coefficient is not applied and the reflection direction of the radio wave 1004 controlled by applying the weighting by the weighting coefficient in the embodiment of the present invention are shown.

FIG. 8 shows the reflection direction of the radio wave 1004 in the conventional method. In FIG. 8, the transmitting antenna 1202 is installed at the position of x = 0 cm, and the object 1003 is installed at the position of x = 20 cm. In FIG. 8, the radio wave 1002 is irradiated from the transmitting antenna 1202 to the object 1003 without applying the weighting by the weighting coefficient used in the embodiment of the present invention. In the case of the conventional method shown in FIG. 8, the transmitted radio wave 1002 is reflected by the mirror surface of the object 1003, and the radio wave 1004 is reflected in the direction opposite to that of the transmitted radio wave 1002. Therefore, in order for the receiving antenna 1203 to receive the radio wave 1004, it is necessary to install the receiving antenna 1203 at a position away from the transmitting antenna 1202 (specifically, at a position of x = 40 cm). Therefore, in order to detect the object 1003, it is necessary to take a large opening width including the transmitting antenna 1202 and the receiving antenna 1203.

FIG. 9 shows the reflection direction of the radio wave 1004 when the embodiment of the present invention is applied. In FIG. 9, a plurality of transmitting antennas 1202 are installed between x = −10 cm and +10 cm. Further, the object 1003 is installed at the position of x = 20 cm. In FIG. 9, the weighting by the weighting coefficient used in the embodiment of the present invention is applied, and the radio wave 1002 is irradiated from the transmitting antenna 1202 to the object 1003. In this case, by applying the weighting by the weighting coefficient, the reflection direction of the radio wave 1004 can be directed to the existing direction of the transmitting antenna 1202. As a result, even if there is an object 1003 that is out of the range of the opening composed of the transmitting antenna 1202 and the receiving antenna 1203 installed at the same position, the receiving antenna 1203 can receive the radio wave 1004. That is, in the embodiment of the present invention, the detectable range of the object 1003 is extended to the outside of the opening by controlling the reflection direction of the radio wave 1004 in a direction that can be received by the receiving antenna 1203 by weighting with a weighting coefficient. .. Further, in the embodiment of the present invention, since the limitation of the detectable range by the opening size is removed, the opening size can be reduced, and the cost and size of the device can be reduced.

(Second embodiment)
Next, the configuration of the object detection device according to the second embodiment will be described. Also in the second embodiment, as in the first embodiment, the reflection direction of the radio wave 1004 reflected from the object 1003 is controlled in a desired direction by applying the weighting by the weighting coefficient. In the first embodiment, the variable amplitude phase detector 1207 mounted in the transmitting unit 1101 applies weighting by a weighting coefficient, whereas in the second embodiment, the variable amplitude phase mounted in the receiving unit 1102 is applied. The weighting by the weighting coefficient is applied by the device 1207.

[Device configuration]
The object detection device 1000 in the second embodiment is realized by the device having the configuration shown in FIG. 1, as in the first embodiment.

Subsequently, in addition to FIG. 1, FIGS. 10 to 11 will be used to more specifically explain the configuration of the transmission / reception device 1001 in the object detection device 1000 according to the second embodiment. FIG. 10 is a diagram specifically showing the configuration of the transmission unit 1101 and the reception unit 1102 of the object detection device 1000 according to the second embodiment of the present invention. FIG. 11 is a diagram specifically showing the configuration of another example of the transmission unit 1101 and the reception unit 1102 of the object detection device 1000 according to the second embodiment of the present invention.

As shown in FIG. 10, in the second embodiment, in the transmission / reception device 1001, the transmission unit 1101 includes an oscillator 1201, a transmission antenna 1202, and a switch 1206 for switching the transmission antenna 1202 to be used. Further, the receiving unit 1102 includes a receiving antenna 1203, a mixer 1204, an interface circuit 1205, and a variable amplitude phase detector 1207.

In the second embodiment, as shown in FIG. 10, the variable amplitude phase detector 1207 is provided in front of the mixer 1204. Alternatively, as shown in FIG. 11, the variable amplitude phase detector 1207 may be provided after the mixer 1204.

In the transmission unit 1101, the RF signal generated by the oscillator 1201 is transmitted as a transmission signal from at least one transmission antenna 1202 selected by the switch 1206, and is irradiated to the object 1003. The radio wave reflected by the object 1003 is received by the receiving antenna 1203 at the receiving unit 1102.

The mixer 1204 generates an IF signal by mixing the RF signal input from the oscillator 1201 via the terminal 1208 and the radio wave (received signal) received by the receiving antenna 1203. The amplitude or phase of the IF signal is set to a desired value by the variable amplitude phase detector 1207 provided in the front stage or the rear stage of the mixer 1204. The IF signal is transmitted to the arithmetic unit 1211 via the interface circuit 1205. The interface circuit 1205 has a function of converting an IF signal, which is an analog signal, into a digital signal that can be handled by the arithmetic unit 1211, and outputs the obtained digital signal to the arithmetic unit 1211.

Next, FIG. 12 shows the internal configuration of the arithmetic unit 1211 in the present embodiment. As shown in FIG. 12, the arithmetic unit 1211 in the present embodiment includes a reflection condition setting unit 1301, a required irradiation distribution calculation unit 1302, a weighting coefficient calculation unit 1303, a weighting coefficient application unit 1304, and an object detection unit. It is equipped with 1305.

[Device operation]
A flow chart showing the operation of the object detection device 1000 in the second embodiment is shown in FIG. In the flow chart of the second embodiment shown in FIG. 13, step B1 is added to the flow chart of the first embodiment shown in FIG.

Since steps A1 to A3 in the second embodiment are common to steps A1 to A3 described in FIG. 5 of the first embodiment, the description will not be repeated.

[Step A4]
Next, the operation of the weighting coefficient calculation unit 1304 in step A4 of the second embodiment will be described. The weighting coefficient application unit 1304 receives each receiving antenna 1203 _n (n = 1, 2, ..., N) before transmitting the radio wave 1002 from the transmitting antenna 1202 _m (m = 1, 2, ..., M). ), The amplitude gain and phase shift of the variable amplitude phase controller 1207 are set (that is, the complex amplitude of the IF signal is multiplied by _gm ) so that the amplitude and phase of the IF signal obtained via) become desired values. The amplitude gain and phase shift of the variable amplitude phase detector 1207 are reset each time the transmission antenna 1202 _m to be used is switched. Further, the same amount of amplitude gain and phase shift of the variable amplitude phase device 1207 is applied to all the receiving antennas 1203 _n (that is, the complex amplitude of the IF signal obtained via all the receiving antennas 1203 _n is uniformly applied. It is multiplied by g _m ).

[Step A5]
After step A4, the radio wave 1002 is transmitted to the object 1003 while switching each transmission antenna 1202 _m (m = 1, 2, ..., M) with the switch 1206 in step A5.

[Step A6]
In step A6, each receiving antenna 1203 _n (n =) receives the radio wave 1004 reflected from the object 1003 while transmitting the radio wave 1002 while switching each transmitting antenna 1202 _m (m = 1, 2, ..., M). Receive at 1, 2, ..., N).

[Step A7]
In step A7, the transmission / reception device 1001 mixes the transmission signal generated by the transmission unit 1101 with the reception signal received by each reception antenna 1203 of the reception unit 1102 to generate an IF signal. The IF signal s _IF (m, n) transmitted by the transmitting antenna 1202 _m and generated via the receiving antenna 1203 _n is given by the following equation (7).

[Step B1]
After step A7, in step B1, the weighting coefficient application unit 1304 takes the sum of the IF signals s _IF (m, n) obtained in step A7, and the weighted _IF signal s'IF (n) according to the following equation (8). ) Is generated.

By substituting the IF signal s _IF (m, n) of the equation (7) into the weighted IF signal _s'IF (n) of the equation (8), the weighted _IF signal s'IF (n) becomes the following equation (9). ) Can also be expressed.

The weighted IF signal _s'IF (n) of the second embodiment given by the formula (9) coincides with the _IF signal s'IF (n) of the first embodiment given by the formula (6).

[Step A8]
In step A8, the object detection unit 1305 detects the object 1003 based on the weighted _IF signal s'IF (n) obtained in step B1.

For the detection of the object 1003 in step A8, the _IF signal s'IF (n) of the formula (6) is used in the first embodiment, and the weighted IF signal of the formula (9) is used in the second embodiment. _s'IF (n) is used. As described in step B1 of the second embodiment, since the IF signal s'IF (n) of the equation (6) and the weighted _IF signal _s'IF (n) of the equation (9) are the same, in step A8. The detection result of the object 1003 is the same in the first embodiment and the second embodiment.

(Third embodiment)
Next, the configuration of the object detection device according to the third embodiment will be described. Also in the third embodiment, as in the first embodiment, the reflection direction of the radio wave 1004 reflected from the object 1003 is controlled in a desired direction by applying the weighting by the weighting coefficient. In the first embodiment, the weighting by the weighting coefficient is applied in the circuit mounted by the variable amplitude phase detector 1207, whereas in the third embodiment, the weighting by the weighting coefficient is applied in the signal processing in the arithmetic unit 1211. do.

[Device configuration]
The object detection device 1000 in the third embodiment is realized by the device having the configuration shown in FIG. 1, as in the first embodiment.

Subsequently, in addition to FIG. 1, FIGS. 14 to 15 will be used to more specifically explain the configuration of the transmission / reception device 1001 in the object detection device 1000 according to the third embodiment. FIG. 14 is a diagram specifically showing the configuration of the transmission unit 1101 and the reception unit 1102 of the object detection device 1000 according to the third embodiment of the present invention. FIG. 15 is a diagram specifically showing the configuration of another example of the transmission unit 1101 and the reception unit 1102 of the object detection device 1000 according to the third embodiment of the present invention.

As shown in FIG. 14, in the third embodiment, in the transmission / reception device 1001, the transmission unit 1101 includes an oscillator 1201, a transmission antenna 1202, and a switch 1206 for switching the transmission antenna 1202 to be used. Further, the receiving unit 1102 includes a receiving antenna 1203, a mixer 1204, and an interface circuit 1205.

In the third embodiment, for example, as shown in FIG. 15, one receiving unit 1102 may be provided with a plurality of receiving antennas 1203 and mixer 1204.

The mixer 1204 generates an IF signal by mixing the RF signal input from the oscillator 1201 via the terminal 1208 and the radio wave (received signal) received by the receiving antenna 1203. The IF signal generated by the mixer 1204 is transmitted to the arithmetic unit 1211 via the interface circuit 1205. The interface circuit 1205 has a function of converting an IF signal, which is an analog signal, into a digital signal that can be handled by the arithmetic unit 1211, and outputs the obtained digital signal to the arithmetic unit 1211.

Next, FIG. 16 shows the internal configuration of the arithmetic unit 1211 in the present embodiment. As shown in FIG. 4, the arithmetic unit 1211 in the present embodiment includes a reflection condition setting unit 1301, a required irradiation distribution calculation unit 1302, a weighting coefficient calculation unit 1303, a weighting coefficient application unit 1304, and an object detection unit. It is equipped with 1305.

[Device operation]
FIG. 17 is a flow chart showing the operation of the object detection device 1000 according to the third embodiment of the present invention. In the flow chart of the third embodiment shown in FIG. 17, step A4 is deleted from the flow chart of the first embodiment shown in FIG. 5, and step B2 is added.

Since steps A1 to A3 in the third embodiment are common to steps A1 to A3 described in FIG. 5 of the first embodiment, the description will not be repeated.

[Step A5]
In step A5 of the third embodiment, unlike the first embodiment, the variable amplitude phase controller 1207 _m is not used, and each transmission antenna 1202 _m (m = 1, 2, ..., M) is switched by the switch 1206. While transmitting the radio wave 1002 to the object 1003.

[Step A6]
In step A6 of the third embodiment, each of the radio waves 1004 reflected from the object 1003 is received while the radio waves 1002 are transmitted while switching each transmission antenna 1202 _m (m = 1, 2, ..., M). It is received by the antenna 1203 _n (n = 1, 2, ..., N). In step A6 of the third embodiment, the complex amplitude s _RX (m, n) of the radio wave 1004 received by the receiving antenna 1203 _n when the transmitting antenna 1202 _m transmits is given by the following equation (10).

[Step A7]
In step A7, the transmission / reception device 1001 mixes the transmission signal generated by the transmission unit 1101 with the reception signal received by each reception antenna 1203 of the reception unit 1102 to generate an IF signal. The IF signal s _IF (m, n) transmitted by the transmitting antenna 1202 _m and generated via the receiving antenna 1203 _n is a complex number of the radio wave 1004 of the equation (10) as shown by the following equation (11). Consistent with the amplitude s _RX (n).

[Step B2]
After step A7, in step B2, the weighting coefficient application unit 1304 uses the IF signal s _IF ( _m , n) obtained in step A7 and the weighting coefficient gm obtained in step A3 according to the following equation (12). The weighted _IF signal s'IF (n) is generated.

By substituting the IF signal s _IF (m, n) of the equation (11) into the weighted IF signal _s'IF (n) of the equation (12), the weighted _IF signal s'IF (n) becomes the following equation (13). ) Can also be expressed.

The weighted IF signal _s'IF (n) of the third embodiment given by the formula (13) coincides with the _IF signal s'IF (n) of the first embodiment given by the formula (6).

[Step A8]
In step A8, the object detection unit 1305 detects the object 1003 based on the weighted _IF signal s'IF (n) obtained in step B2.

For the detection of the object 1003 in step A8, the _IF signal s'IF (n) of the formula (6) is used in the first embodiment, and the weighted IF signal of the formula (13) is used in the third embodiment. _s'IF (n) is used. As described in step B2 of the third embodiment, since the IF signal s'IF (n) of the equation (6) and the weighted _IF signal _s'IF (n) of the equation (13) are the same, in step A8. The detection result of the object 1003 is the same in the first embodiment and the third embodiment.

(Fourth Embodiment)
Next, the fourth embodiment will be described. In the fourth embodiment, an example of the object detection unit 1305 is disclosed. Other configurations of the object detection device 1000 of the present embodiment 4 are the same as those of the present embodiment 1 to the present embodiment 3.

As shown in FIG. 18, in the fourth embodiment, the object detection unit 1305 includes an object image generation unit 1401, an object image database 1402, and an object image collation unit 1403.

The object image generation unit 1401 generates an image of the object 1003 by using the _IF signal s'IF (n) in the first embodiment to the second embodiment.

The object image database 1402 stores data showing the relationship between the image of the object 1003 measured in advance and the type of the object 1003.

The object image collation unit 1403 collates the image of the object 1003 generated by the object image generation unit 1401 with the image of the object 1003 stored in the object image database 1402, and types of the object 1003. Is output as an object detection result.

As a modification of the fourth embodiment, the object image database 1402 and the object image collating unit 1403 may be omitted. Then, the object detection unit 1305 outputs an image of the object 1003 output from the object image generation unit 1401 via an output device such as a display, and then the type of the object 1003 included in the image from the user. You may accept the input of. The user visually confirms the output image, identifies the type of the object 1003, and inputs the identified result.

The following is an example of an image generation method for the object 1003 in the object image generation unit 1401. As an example of the image generation method of the object 1003, the beam former method can be mentioned. In the beam former method, the scan position x is used by using the _IF signal s'IF (n, f) in the first embodiment to the second embodiment obtained when the measurement is performed using the transmitted radio wave 1002 having the frequency f. The complex amplitude P (x) of the image of the object 1003 in the above is calculated according to the following equation (14).

Here, an example of the image intensity of the object 1003 in the conventional method in which the weighting by the weighting coefficient is not applied, and an example of the image intensity of the object 1003 in the case where the weighting by the weighting coefficient is applied in the fourth embodiment, respectively. show. Here, as shown in FIG. 19, the image intensities when the object 1003 ₁ exists in the opening composed of the transmitting antenna 1202 and the receiving antenna 1203 and when the object 1003 ₂ exists outside the opening are shown.

FIG. 20 shows the results of calculating the image intensities of the object 1003 ₁ in the opening and the object 1003 ₂ outside the opening by the conventional method to which the weighting by the weighting coefficient is not applied. In the case of the conventional method, the image intensity is correctly obtained in the range where the object 1003 ₁ in the opening exists (x = -10 to 10 cm), but the image intensity is correctly obtained in the range where the object 1003 ₂ outside the opening exists (x = 10). At ~ 30 cm), the image intensity disappears. In the conventional method, since the _IF signal s'IF (n, f) having sufficient intensity cannot be obtained from the reflected radio wave 1004 from the object 1003 ₂ outside the opening, the image intensity of the object 1003 ₂ outside the opening disappears. There is a problem.

FIG. 21 shows the results of calculating the image intensities of the object 1003 ₁ in the opening and the object 1003 ₂ outside the opening when weighting by a weighting coefficient is applied in the fourth embodiment. In the fourth embodiment, the image is in both the range in which the object 1003 ₁ in the opening exists (x = -10 to 10 cm) and the range in which the object 1003 ₂ outside the opening exists (x = 10 to 30 cm). There is no loss of intensity and the image is taken correctly. In the fourth embodiment, the _IF signal s'IF (n,) having sufficient strength from the reflected radio wave 1004 for both the object 1003 ₁ in the opening and the object 1003 ₂ outside the opening is weighted by the weighting coefficient. By making it possible to obtain f), the loss of image intensity is prevented.

(Fifth embodiment)
Next, the fifth embodiment will be described. In the fifth embodiment, an example of the object detection unit 1305 is disclosed. Other configurations of the object detection device 1000 of the fifth embodiment are the same as those of the first to third embodiments of the present embodiment.

As shown in FIG. 22, in the fifth embodiment, the object detection unit 1305 includes an object IF signal database 1501 and an object IF signal collation unit 1502.

The object IF signal database 1501 stores data showing the relationship between the measurement result of the IF signal of the object 1003 obtained in advance and the type of the object 1003. Here, it is desirable to use the _IF signal s'IF (n) in the first embodiment to the second embodiment.

The object IF signal collation unit 1502 is input with the _IF signal s'IF (n) in the first embodiment to the second embodiment obtained by the measurement. The object IF signal collation unit 1502 collates the IF signal obtained by the measurement with the IF signal stored in the object IF signal database 1501, and outputs the type of the object 1003 as the object detection result.

[program]
Here, a computer (arithmetic logic unit) that realizes the object detection device 1000 by executing the program according to the embodiment of the present invention will be described with reference to FIG. 23. FIG. 23 is a block diagram showing an example of a computer that realizes the object detection device 1000 according to the embodiment of the present invention.

As shown in FIG. 23, the computer 110 includes a CPU 111, a main memory 112, a storage device 113, an input interface 114, a display controller 115, a data reader / writer 116, and a communication interface 117. Each of these parts is connected to each other via a bus 121 so as to be capable of data communication.

The CPU 111 expands the program (code) in the present embodiment stored in the storage device 113 into the main memory 112, and executes these in a predetermined order to perform various operations. The main memory 112 is typically a volatile storage device such as a DRAM (Dynamic Random Access Memory). Further, the program in the present embodiment is provided in a state of being stored in a computer-readable recording medium 120. The program in the present embodiment may be distributed on the Internet connected via the communication interface 117.

Further, specific examples of the storage device 113 include a semiconductor storage device such as a flash memory in addition to a hard disk drive. The input interface 114 mediates data transmission between the CPU 111 and an input device 118 such as a keyboard and mouse. The display controller 115 is connected to the display device 119 and controls the display on the display device 119. The computer 110 may include a GPU (Graphics Processing Unit) or an FPGA (Field-Programmable Gate Array) in addition to the CPU 111 or in place of the CPU 111.

The data reader / writer 116 mediates the data transmission between the CPU 111 and the recording medium 120, reads the program from the recording medium 120, and writes the processing result in the computer 110 to the recording medium 120. The communication interface 117 mediates data transmission between the CPU 111 and another computer.

Specific examples of the recording medium 120 include a general-purpose semiconductor storage device such as CF (CompactFlash (registered trademark)) and SD (SecureDigital), a magnetic recording medium such as a flexible disk, or a CD-. Examples include optical recording media such as ROM (CompactDiskReadOnlyMemory).

The object detection device 1000 in the present embodiment can also be realized by using hardware corresponding to each part instead of the computer in which the program is installed. Further, the object detection device may be partially realized by a program and the rest may be realized by hardware.

[effect]
The effects of embodiments of the present invention are summarized below.

In the embodiment of the present invention, the radio wave 1002 is irradiated to the object 1003 so that the reflection direction of the radio wave 1004 reflected from the object 1003 becomes a desired value. The weighting coefficient calculation unit 1303 and the weighting application unit 1304 weight the radio waves 1002 emitted from the transmitting antenna 1202 and the radio waves 1004 to IF signals received by the receiving antenna 1203 so that the irradiation state is realized. By the above means, the reflection direction of the radio wave 1004 reflected from the object 1003 can be controlled to a desired value. As a result, even if there is an object 1003 that is out of the range of the opening composed of the transmitting antenna 1202 and the receiving antenna 1203, the radio wave 1004 reflected from the object 1003 can be received by the receiving antenna 1203, so that the object 1003 The detectable range of is extended to the outside of the opening. Further, in the embodiment of the present invention, since the limitation of the detectable range by the opening size is removed, the opening size can be reduced, and the size and cost of the device can be reduced.

The configuration of a preferred embodiment of the present invention has been described above. However, the contents disclosed in the above-mentioned patent documents and the like can be incorporated into the present invention by citation. Within the framework of the entire disclosure (including the scope of claims) of the present invention, it is possible to change or adjust the embodiment based on the basic technical idea. In addition, various combinations or selections of various disclosed elements are possible within the scope of the claims of the present invention. That is, it goes without saying that the present invention includes various modifications and modifications that can be made by those skilled in the art in accordance with the entire disclosure including the scope of claims and the technical idea.

Some or all of the above embodiments may also be described, but not limited to:
1. 1. It is an object detection device for detecting objects by radio waves.
A transmitting means equipped with a transmitting antenna that irradiates radio waves toward the object,
A receiving antenna for receiving the radio wave reflected from the object, and a receiving means for generating an intermediate frequency signal from the received signal received by the receiving antenna.
A reflection condition setting means for setting a desired reflection direction of the radio wave reflected from the object, and
A required irradiation distribution calculation means for calculating the required irradiation distribution of the radio wave to be applied to the object based on the desired reflection direction set in the reflection condition unit setting unit.
A weighting coefficient calculating means for calculating a weighting coefficient based on the required irradiation distribution calculated by the required irradiation distribution calculating means, and a weighting coefficient calculating means.
A weighting coefficient applying means for applying the weighting by the weighting coefficient calculated by the weighting coefficient calculating means to the radio wave or the intermediate frequency signal, and a weighting coefficient applying means.
An object detecting means for detecting the object based on the intermediate frequency signal,
An object detection device characterized by being equipped with.
2. 2. The object detecting means includes an object image generating means for generating an image of the object from the intermediate frequency signal.
The object detection device according to 1, characterized in that.
3. 3. The object detecting means includes an object image database and an object image collating means.
The object image database holds data showing the relationship between the image of the object and the type of the object obtained in advance.
The object image collating means outputs the type of the object by collating the image of the object generated by the object image generating means with the image of the object held by the object image database.
2. The object detection device according to 2.
4. The object detecting means includes an object intermediate frequency signal database and an object intermediate frequency signal collating means.
The object intermediate frequency signal database holds data showing the relationship between the measurement result of the intermediate frequency signal of the object obtained in advance and the type of the object.
The object intermediate frequency signal matching means outputs the type of the object by collating the intermediate frequency signal of the object obtained by measurement with the intermediate frequency signal of the object held by the object intermediate frequency signal database. do,
The object detection device according to 1, characterized in that.
5. The transmission means includes a variable amplitude phase detector.
The weighting coefficient applying means controls the variable amplitude phase device in the transmitting means, and applies the weighting by the weighting coefficient calculated by the weighting coefficient calculating means to the radio wave transmitted by the transmitting antenna.
The object detection device according to 1 to 4, wherein the object is detected.
6. The receiving means includes a variable amplitude phase detector.
The weighting coefficient applying means controls the variable amplitude phase device in the receiving means, and the radio wave received by the receiving antenna or the receiving means generates the weighting by the weighting coefficient calculated by the weighting coefficient calculating means. Applies to intermediate frequency signals
The object detection device according to 1 to 4, wherein the object is detected.
7. The receiving means includes an interface circuit for digitizing the intermediate frequency signal.
The weighting coefficient applying means applies the weighting by the weighting coefficient calculated by the weighting coefficient calculating means to the intermediate frequency signal digitized in the interface circuit.
The object detection device according to 1 to 4, wherein the object is detected.
8. The weighting coefficient applying means includes a recording device for storing the weighting coefficient.
The weighting coefficient applying means reads out the weighting coefficient stored from the recording device when applying the weighting by the weighting coefficient.
The object detection device according to 1 to 7, wherein the object is detected.
9. Detecting the object outside the range of the opening composed of the transmitting antenna and the receiving antenna.
The object detection device according to 1 to 8, wherein the object is detected.
10. It is an object detection method for detecting an object by radio waves.
The computer
The step of irradiating radio waves from the transmitting antenna toward the object,
In the receiving antenna, the step of receiving the radio wave reflected from the object by the receiving antenna and further generating an intermediate frequency signal from the received signal received by the receiving antenna.
A step of setting a desired reflection direction of the radio wave reflected from the object, and
A step of calculating the required irradiation distribution of the radio wave to be applied to the object based on the desired reflection direction set, and a step of calculating the required irradiation distribution.
The step of calculating the weighting coefficient based on the required irradiation distribution and
The step of applying the weighting by the weighting coefficient to the radio wave or the intermediate frequency signal, and
The step of detecting the object based on the intermediate frequency signal,
An object detection method characterized by executing.
11. A transmitting means equipped with a transmitting antenna that irradiates radio waves toward the object,
A receiving antenna for receiving the radio wave reflected from the object, and a receiving unit means for generating an intermediate frequency signal from the receiving signal received by the receiving antenna.
With the processor
An object detection device equipped with
Reflection condition setting means for setting a desired reflection direction of the radio wave reflected from the object,
A required irradiation distribution calculation means for calculating the required irradiation distribution of the radio wave to be applied to the object based on the desired reflection direction set in the reflection condition unit setting unit.
A weighting coefficient calculating means for calculating a weighting coefficient based on the required irradiation distribution calculated by the required irradiation distribution calculating means,
A weighting coefficient applying means that applies the weighting by the weighting coefficient calculated by the weighting coefficient calculating means to the radio wave or the intermediate frequency signal, and
An object detecting means for detecting an object based on the intermediate frequency signal,
A program that functions as.

110 computer 111 CPU
112 Main memory 113 Storage device 114 Input interface 115 Display controller 116 Data reader / writer 117 Communication interface 118 Input device 119 Display device 120 Recording medium 121 Bus 1000 Object detection device 1001 Transmission / reception device 1002 Radio wave (transmission signal)
1003 Object (object to be detected)
1004 radio wave (received signal)
1005 Object placement surface 1101 Transmitter 1102 Receiver 1201 Oscillator 1202 Transmitter antenna 1203 Receiver antenna 1204 Mixer 1205 Interface circuit 1206 Switch 1207 Variable amplitude phase device 1208 Terminal 1211 Computing device 1301 Reflection condition setting unit 1302 Requested irradiation distribution calculation unit 1303 Weighting coefficient Calculation unit 1304, 1306 Weighting coefficient application unit 1305 Object detection unit 1401 Object image generation unit 1402 Object image database 1403 Object image collation unit 1501 Object IF signal database 1502 Object IF signal collation unit

Claims

It is an object detection device for detecting objects by radio waves.
A transmitting means equipped with a transmitting antenna that irradiates radio waves toward the object,
A receiving antenna for receiving the radio wave reflected from the object, and a receiving means for generating an intermediate frequency signal from the received signal received by the receiving antenna.
A reflection condition setting means for setting a desired reflection direction of the radio wave reflected from the object, and
A required irradiation distribution calculation means for calculating the required irradiation distribution of the radio wave to be applied to the object based on the desired reflection direction set in the reflection condition unit setting unit.
A weighting coefficient calculating means for calculating a weighting coefficient based on the required irradiation distribution calculated by the required irradiation distribution calculating means, and a weighting coefficient calculating means.
A weighting coefficient applying means for applying the weighting by the weighting coefficient calculated by the weighting coefficient calculating means to the radio wave or the intermediate frequency signal, and a weighting coefficient applying means.
An object detecting means for detecting the object based on the intermediate frequency signal,
An object detection device characterized by being equipped with.
The object detecting means includes an object image generating means for generating an image of the object from the intermediate frequency signal.
The object detection device according to claim 1, wherein the object is detected.
The object detecting means includes an object image database and an object image collating means.
The object image database holds data showing the relationship between the image of the object and the type of the object obtained in advance.
The object image collating means outputs the type of the object by collating the image of the object generated by the object image generating means with the image of the object held by the object image database.
The object detection device according to claim 2, wherein the object is detected.
The object detecting means includes an object intermediate frequency signal database and an object intermediate frequency signal collating means.
The object intermediate frequency signal database holds data showing the relationship between the measurement result of the intermediate frequency signal of the object obtained in advance and the type of the object.
The object intermediate frequency signal matching means outputs the type of the object by collating the intermediate frequency signal of the object obtained by measurement with the intermediate frequency signal of the object held by the object intermediate frequency signal database. do,
The object detection device according to claim 1, wherein the object is detected.
The transmission means includes a variable amplitude phase detector.
The weighting coefficient applying means controls the variable amplitude phase device in the transmitting means, and applies the weighting by the weighting coefficient calculated by the weighting coefficient calculating means to the radio wave transmitted by the transmitting antenna.
The object detection device according to claim 1 to 4, wherein the object is detected.
The receiving means includes a variable amplitude phase detector.
The weighting coefficient applying means controls the variable amplitude phase device in the receiving means, and the radio wave received by the receiving antenna or the receiving means generates the weighting by the weighting coefficient calculated by the weighting coefficient calculating means. Applies to intermediate frequency signals
The object detection device according to claim 1 to 4, wherein the object is detected.
The receiving means includes an interface circuit for digitizing the intermediate frequency signal.
The weighting coefficient applying means applies the weighting by the weighting coefficient calculated by the weighting coefficient calculating means to the intermediate frequency signal digitized in the interface circuit.
The object detection device according to claim 1 to 4, wherein the object is detected.
The weighting coefficient applying means includes a recording device for storing the weighting coefficient.
The weighting coefficient applying means reads out the weighting coefficient stored from the recording device when applying the weighting by the weighting coefficient.
The object detection device according to claim 1 to 7, wherein the object is detected.
Detecting the object outside the range of the opening composed of the transmitting antenna and the receiving antenna.
The object detection device according to claim 1 to 8, wherein the object is detected.
It is an object detection method for detecting an object by radio waves.
The computer
The step of irradiating radio waves from the transmitting antenna toward the object,
In the receiving antenna, the step of receiving the radio wave reflected from the object by the receiving antenna and further generating an intermediate frequency signal from the received signal received by the receiving antenna.
A step of setting a desired reflection direction of the radio wave reflected from the object, and
A step of calculating the required irradiation distribution of the radio wave to be applied to the object based on the desired reflection direction set, and a step of calculating the required irradiation distribution.
The step of calculating the weighting coefficient based on the required irradiation distribution and
The step of applying the weighting by the weighting coefficient to the radio wave or the intermediate frequency signal, and
The step of detecting the object based on the intermediate frequency signal,
An object detection method characterized by executing.
A transmitting means equipped with a transmitting antenna that irradiates radio waves toward the object,
A receiving antenna for receiving the radio wave reflected from the object, and a receiving unit means for generating an intermediate frequency signal from the receiving signal received by the receiving antenna.
With the processor
An object detection device equipped with
Reflection condition setting means for setting a desired reflection direction of the radio wave reflected from the object,
A required irradiation distribution calculation means for calculating the required irradiation distribution of the radio wave to be applied to the object based on the desired reflection direction set in the reflection condition unit setting unit.
A weighting coefficient calculating means for calculating a weighting coefficient based on the required irradiation distribution calculated by the required irradiation distribution calculating means,
A weighting coefficient applying means that applies the weighting by the weighting coefficient calculated by the weighting coefficient calculating means to the radio wave or the intermediate frequency signal, and
An object detecting means for detecting an object based on the intermediate frequency signal,
A program that functions as.