WO2022113294A1 - レーダ装置、イメージング方法、およびプログラム - Google Patents

レーダ装置、イメージング方法、およびプログラム Download PDF

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Publication number
WO2022113294A1
WO2022113294A1 PCT/JP2020/044319 JP2020044319W WO2022113294A1 WO 2022113294 A1 WO2022113294 A1 WO 2022113294A1 JP 2020044319 W JP2020044319 W JP 2020044319W WO 2022113294 A1 WO2022113294 A1 WO 2022113294A1
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WIPO (PCT)
Prior art keywords
imaging
radar
dimensional
policy
projection
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Ceased
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PCT/JP2020/044319
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English (en)
French (fr)
Japanese (ja)
Inventor
達哉 住谷
一峰 小倉
正行 有吉
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NEC Corp
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NEC Corp
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Priority to JP2022564957A priority Critical patent/JP7435824B2/ja
Priority to PCT/JP2020/044319 priority patent/WO2022113294A1/ja
Priority to US18/038,076 priority patent/US12510653B2/en
Publication of WO2022113294A1 publication Critical patent/WO2022113294A1/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
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/89—Radar or analogous systems specially adapted for specific applications for mapping or imaging
    • 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
    • G01S13/003—Bistatic radar systems; Multistatic radar systems
    • 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
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/887—Radar or analogous systems specially adapted for specific applications for detection of concealed objects, e.g. contraband or weapons
    • 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
    • G01S7/03—Details of HF subsystems specially adapted therefor, e.g. common to transmitter and receiver

Definitions

  • the present invention relates to a radar device, an imaging method, and a program that receives an electromagnetic wave reflected by an object and performs imaging.
  • Radar devices that realize body scanners have been introduced at airports and the like.
  • the transmitting antenna irradiates an object (such as the subject's human body or belongings) in a predetermined area with electromagnetic waves such as millimeter waves, and the receiving antenna receives the electromagnetic wave reflected by the object as a radar signal. ..
  • the body scanner system generates a radar image (imaging) based on the radar signal, and performs a process using the result of this imaging, for example, an inspection as to whether or not the subject possesses a suspicious object.
  • Radar images are generally obtained as a three-dimensional image that reflects the shape of an object in three-dimensional space.
  • the three-dimensional radar image is made two-dimensional. Processing is useful.
  • Patent Document 1 describes a body scanner system in which antennas are arranged on a plurality of panels.
  • Non-Patent Document 1 describes a method of projecting (projecting) a radar image in a specific direction to make it two-dimensional in order to apply an object detection algorithm for a two-dimensional image to a three-dimensional radar image.
  • Non-Patent Document 2 and Non-Patent Document 3 describe a technique for generating (imaging) a radar image of an object by receiving an electromagnetic wave reflected by the object with an antenna and generating an image based on the received signal. Have been described.
  • Patent Document 2 describes that three sets of facing panels are used to see the front, side, and back of the inspection target.
  • An example of an object of the present invention is to accurately detect the belongings possessed by an object.
  • a radar signal transmitting / receiving means for acquiring a radar signal generated by using a plurality of transmitting antennas and a plurality of receiving antennas, Information on a set of a set of a transmit antenna and a receive antenna used to generate the three-dimensional radar image, the projection direction indicating the direction in which the inspection target is viewed, the imaging area indicating the area in which the three-dimensional radar image should be generated, and the information.
  • a projection direction / imaging policy control means that holds an imaging policy including a certain set of information
  • An imaging means that generates the three-dimensional radar image from the radar signal according to the imaging policy
  • a projection processing means for projecting the generated three-dimensional radar image in the projection direction indicated by the imaging policy to make it two-dimensional.
  • a radar device is provided that comprises.
  • the computer Radar signal transmission / reception processing to acquire radar signals generated using multiple transmitting antennas and multiple receiving antennas, Information on a set of a set of a transmit antenna and a receive antenna used to generate the three-dimensional radar image, the projection direction indicating the direction in which the inspection target is viewed, the imaging area indicating the area in which the three-dimensional radar image should be generated, and the information.
  • Projection direction / imaging policy control processing that holds an imaging policy including a certain set of information
  • Imaging processing that generates the three-dimensional radar image from the radar signal according to the imaging policy
  • the computer A radar signal transmission / reception function that acquires radar signals generated using multiple transmitting antennas and multiple receiving antennas, Information on a set of a set of a transmit antenna and a receive antenna used to generate the three-dimensional radar image, the projection direction indicating the direction in which the inspection target is viewed, the imaging area indicating the area in which the three-dimensional radar image should be generated, and the information.
  • a projection direction / imaging policy control function that holds an imaging policy that includes a certain set of information
  • An imaging function that generates the three-dimensional radar image from the radar signal according to the imaging policy
  • a projection processing function that projects the generated three-dimensional radar image in the projection direction indicated by the imaging policy to make it two-dimensional.
  • FIG. 1 is a block diagram showing a configuration example of a general radar device.
  • the radar device 800 shown in FIG. 1 includes a radar signal transmission / reception unit 803, an imaging unit 804, a projection direction control unit 805, and a projection processing unit 806.
  • the radar signal transmission / reception unit 803 controls the emission (specifically, emission timing, etc.) of the electromagnetic wave of the transmission antenna (Tx) 801 that emits the electromagnetic wave, and also receives the reflected wave or the like from the object (reception antenna).
  • Rx) Acquires a radar signal from 802.
  • the imaging unit 804 generates a three-dimensional radar image from the radar signal.
  • the projection direction control unit 805 holds the setting of the projection direction for making the three-dimensional radar image two-dimensional.
  • the number of projection direction settings may be one or more.
  • the projection processing unit 806 projects the radar image generated by the imaging processing unit 804 in each projection direction set in the projection direction control unit 805, and generates a two-dimensional image corresponding to each projection direction.
  • one transmitting antenna (Tx) 801 and one receiving antenna (Rx) 802 are exemplified in FIG. 1, a plurality of Tx and a plurality of Rx are actually installed.
  • the projection processing unit 806 performs projection processing based on the sum of the intensities of the radar image, for example, as in Non-Patent Document 1.
  • the projection processing unit 806 takes an orthogonal coordinate system XYZ so that the projection direction is the Z axis, and the radar image at that time is expressed as I (X, Y, Z).
  • I (X, Y, Z) is converted into a two-dimensional image I'(X, Y) according to Eq. (1).
  • the projection processing unit 806 When a three-dimensional radar image as shown on the left in FIG. 2 is obtained, the projection processing unit 806 generates a two-dimensional image projected on the Z axis as shown on the right in FIG. 2 by this conversion. This two-dimensional image corresponds to how the object looks when viewed according to the projection direction.
  • Non-Patent Document 1 works well for radar images obtained from a device as shown in FIG. 3 in which Tx and Rx are arranged on the same panel.
  • Tx and Rx are arranged on the same panel.
  • the radar image obtained in FIG. 3 shows only the surface of the human body on the panel side, and does not show the surface opposite to the panel side or both sides where Rx cannot receive the reflected wave. Therefore, by projecting in a direction perpendicular to the panel as shown by the arrow in FIG.
  • FIG. 3 a two-dimensional image corresponding to the situation where the human body is viewed from a certain position of the panel can be obtained as shown in FIG.
  • a suspicious object such as a knife or a gun is hidden on the surface on the panel side as shown in FIG. 3, it is expected to appear in the image of FIG.
  • a device for performing a full-scale inspection of the human body by arranging Tx and Rx on a plurality of panels is also conceivable. For example, by arranging the panels on both sides as shown in FIG. 5 and acquiring the transmitted / received wave from one panel to the other panel, it is possible to capture the reflection from the object in the direction perpendicular to the panel. Reflections from an object oriented parallel to the panel can also be captured in the same manner as in the device of FIG.
  • Non-Patent Document 1 cannot be applied to a radar image showing the entire surface of the human body obtained from a device as shown in FIG. This is because the information on the front and back of the human body, or the information on the right and left sides is mixed and projected.
  • a suspicious object is hidden in the front of the human body, and a large metal object such as a notebook computer is carried on the back.
  • the shape of the suspicious object may be buried in a large metal object and disappear as shown in FIG. 7.
  • the information on the surface viewed from the originally desired direction may be erased by the opposite surface. As a result, the accuracy of suspicious object inspection is reduced.
  • FIG. 8 is a block diagram showing a configuration example of the radar device of the first embodiment.
  • the radar device 100 of the first embodiment includes a radar signal transmission / reception unit 103, a projection direction / imaging policy control unit 107, an imaging unit 104, and a projection processing unit 106.
  • the radar signal transmission / reception unit 103 includes a transmission antenna (Tx) 101 and a reception antenna (Rx) 102.
  • the appearance of the radar device is an arrangement of a plurality of (for example, two) panels as shown in FIG. 9, and the subject to be inspected passes between these panels.
  • a coordinate system with the traveling direction of the subject as the y-axis is used.
  • the radar signal transmission / reception unit 103 controls the emission (specifically, emission timing, etc.) of the electromagnetic wave of the transmission antenna (Tx) 101 that emits electromagnetic waves such as millimeter waves, and receives the reflected wave from the object.
  • the radar signal is acquired from the antenna (Rx) 102.
  • one transmitting antenna (Tx) 101 and one receiving antenna (Rx) 102 are exemplified in FIG. 8, there are actually a plurality of Tx and a plurality of Rx, as shown in FIG. It is installed in at least two panels.
  • the radar signal transmission / reception unit 103 controls transmission (emission) of electromagnetic waves by the transmission antenna (Tx) 101, and acquires a radar signal based on the reception wave by the reception antenna (Rx) 102. Specifically, for example, Tx emits in order according to a predetermined emission order of Tx, and all Rx receive the reflected wave to acquire radar signals for all Tx and Rx pairs. This is output to the imaging unit 104 as a set of radar signals. If there is a set of Tx and Rx that does not require a radar signal, the radar signal of that set may not be acquired. The radar signal transmission / reception unit 103 repeatedly acquires and outputs a set of radar signals at regular time intervals and the like.
  • the projection direction / imaging policy control unit 107 holds the imaging policy.
  • the imaging policy includes information such as a projection direction for making a three-dimensional radar image two-dimensional, an imaging region for each projection direction, and a set (aggregate information) of Tx and Rx pairs used for imaging.
  • the projection direction corresponds to from which direction the human body is viewed when generating a two-dimensional image.
  • a plurality of projection directions may be set in one imaging policy.
  • the imaging region indicates a spatial region in which a radar image is generated (imaging). In general, when generating an image of a human body viewed from a specific direction, the position of the human body in a device suitable for projecting a surface in that direction and the set of Tx and Rx pairs used for imaging are in that direction. It will be different depending on. Imaging policies are set for each projection direction according to the difference.
  • the projection directions include four directions at 90 ° intervals, and these four directions are perpendicular or parallel to the two panels.
  • the two panels are arranged parallel to the traveling direction of the inspection target in FIG. 9, they may be installed in parallel in this way or may be installed in a non-parallel arrangement.
  • the y coordinate of the center position of the panel is y 0 .
  • the imaging region is set as in the quadrangular region of FIG. 10, and both Tx and Rx are imaged only by the set in the radar panel (1).
  • the imaging policy is set. The same applies to the right side surface of the human body.
  • the imaging region is set as in the rectangular region of FIG. 11, and both Tx and Rx are in the radar panel (2).
  • An imaging policy is set to image only a certain set.
  • the imaging regions in FIGS. 10 and 11 may be the same or different.
  • the back surface of the human body is almost the same, and the imaging policy regarding the projection direction indicated by the arrow in FIG. 13 can be set in the same manner.
  • a set having Tx or Rx at the position of y ⁇ y U may not be used for imaging.
  • the radar signal transmission / reception unit 103 acquires radar signals at a cycle in which a subject walking at a assumed speed acquires at least one set of radar signals while passing through each imaging region.
  • the imaging unit 104 exists separately for the number of projection directions set in the projection direction / imaging policy control unit 107, and each of them is in charge of each projection direction.
  • Each of the imaging units 104 receives a necessary radar signal from the radar signal transmission / reception unit 103 according to the set of Tx and Rx pairs defined by the imaging policy in the projection direction in charge. From the received radar signal, a three-dimensional radar image is generated (imaging) in the imaging region specified by the imaging policy.
  • An example of a procedure (imaging algorithm) for calculating (generating) a radar image from a radar signal is described in Non-Patent Document 2 and Non-Patent Document 3.
  • Each of the imaging units 104 outputs the generated radar image to the projection processing unit 106.
  • all the signals necessary for imaging may be collected before the radar signal transmission / reception unit 103 acquires one set of radar signals for all Tx and Rx pairs.
  • Each of the imaging units 104 may receive the radar signal and start imaging even before the radar signal transmission / reception unit 103 acquires a set of radar signals.
  • the appropriate imaging algorithm may change depending on the imaging region and the set of Tx and Rx pairs used.
  • the method described in Non-Patent Document 3 has excellent calculation speed, but there is a restriction that all Tx and Rx must be installed on the same plane, so that it corresponds to FIGS. 10 and 11. However, it cannot be applied to the imaging corresponding to FIGS. 12 and 13.
  • the method described in Non-Patent Document 2 has no restrictions on the arrangement of antennas, it can also be applied to the imaging corresponding to FIGS. 12 and 13. Based on such differences in imaging algorithms, information that specifies the imaging algorithm (the imaging algorithm itself may be included) is added to the imaging policy for each projection direction and set in the projection direction / imaging policy control unit 107. Then, it may be instructed to the imaging unit 104.
  • the projection processing unit 106 exists separately for the number of projection directions set in the projection direction / imaging policy control unit 107, and each of them is in charge of each projection direction.
  • Each of the projection processing units 106 receives a three-dimensional radar image from the imaging unit 104 in charge of the same projection direction, and performs projection processing according to the set projection direction to make it two-dimensional.
  • the orthogonal coordinate system XYZ is taken so that the projection direction is the Z axis, and the radar image at that time is expressed as I (X, Y, Z).
  • the projection process is converted into a two-dimensional image I'(X, Y) according to the equation (1) as in Non-Patent Document 1, for example.
  • a method as shown in Eq. (2) can be considered.
  • Each of the projection processing units 106 outputs the generated two-dimensional image to a display, an image processing engine, or the like.
  • step S101 a projection direction indicating from which direction the human body is viewed when generating a two-dimensional image is determined, and this setting is held in the projection direction / imaging policy control unit 107.
  • This setting is performed, for example, by the user or administrator of the radar device 100. Further, the imaging unit 104 and the projection processing unit 106 are prepared for the number of set projection directions.
  • each information included in the imaging policy is determined for each projection direction set in step S101.
  • the information defined here includes an imaging region suitable for generating an image of a human body viewed from that direction, and set information indicating a set of Tx and Rx pairs. This information is held in the projection direction / imaging policy control unit 107. In this way, the projection direction / imaging policy control unit 107 holds the imaging policy for each projection direction.
  • step S103 the radar signal transmission / reception unit 103 emits an electromagnetic wave to the transmission antenna (Tx) 101, acquires a radar signal based on the received wave by the reception antenna (Rx) 102, and outputs the radar signal to the imaging unit 104.
  • each of the imaging units 104 generates a three-dimensional radar image from the radar signal according to the projection direction imaging policy held by the projection direction / imaging policy control unit 107 and is in charge of the imaging unit 104. It is output to the projection processing unit 106.
  • each of the projection processing units 106 receives a three-dimensional radar image from the imaging unit 104 in charge of the same projection direction, performs projection processing according to the set projection direction, and makes it two-dimensional. Each generated two-dimensional image is output to a display, an image processing engine, or the like.
  • FIG. 19 is a diagram showing a hardware configuration example of the radar device 100.
  • the radar device 100 includes a bus 1010, a processor 1020, a memory 1030, a storage device 1040, an input / output interface 1050, and a network interface 1060.
  • the bus 1010 is a data transmission path for the processor 1020, the memory 1030, the storage device 1040, the input / output interface 1050, and the network interface 1060 to transmit and receive data to and from each other.
  • the method of connecting the processors 1020 and the like to each other is not limited to the bus connection.
  • the processor 1020 is a processor realized by a CPU (Central Processing Unit), a GPU (Graphics Processing Unit), or the like.
  • the memory 1030 is a main storage device realized by a RAM (RandomAccessMemory) or the like.
  • the storage device 1040 is an auxiliary storage device realized by an HDD (Hard Disk Drive), SSD (Solid State Drive), memory card, ROM (Read Only Memory), or the like.
  • the storage device 1040 stores a program module that realizes each function of the radar device 100.
  • the processor 1020 reads each of these program modules into the memory 1030 and executes them, each function corresponding to the program module is realized.
  • the input / output interface 1050 is an interface for connecting the radar device 100 and various input / output devices.
  • the network interface 1060 is an interface for connecting the radar device 100 to the network.
  • This network is, for example, LAN (Local Area Network) or WAN (Wide Area Network).
  • the method of connecting the network interface 1060 to the network may be a wireless connection or a wired connection.
  • the radar apparatus 100 uses the imaging region and the set of Tx and Rx pairs used for imaging properly in each projection direction so that the surface in that direction is well reflected. Information on the surface, especially the back surface, can be prevented from appearing in the radar image. Therefore, the radar device 100 can accurately create an image of the human body viewed from each projection direction. As a result, the detection accuracy of the belongings (for example, suspicious objects) possessed by the object is improved.
  • FIG. 15 is a block diagram showing a configuration example of the radar device of the second embodiment.
  • the radar device 200 of the second embodiment includes a radar signal transmission / reception unit 103, a projection direction / imaging policy control unit 207, a plurality of imaging units 204, and a plurality of projection processing units 106.
  • the radar signal transmission / reception unit 103 includes a transmission antenna (Tx) 101 and a reception antenna (Rx) 102.
  • each of the imaging units 104 always performs imaging processing even when there is no subject in the imaging region.
  • each of the imaging units 204 performs the imaging process only when the subject is in the imaging region. The details of the imaging process performed by the imaging unit 204 are the same as those performed by the imaging unit 104.
  • each block other than the projection direction / imaging policy control unit 207 and the imaging unit 204 are the same as the functions of the blocks in the first embodiment. However, the radar signal transmission / reception unit 103 has been changed so that the radar signal is also output to the projection direction / imaging policy control unit 207.
  • the projection direction / imaging policy control unit 207 has a subject in the imaging region corresponding to each projection direction based on the radar signal received from the radar signal transmission / reception unit 103. It is responsible for the function of determining whether or not. Each of the determination results is output to the imaging unit 204.
  • the determination method a method in which a region including all of each imaging region is imaged to generate a three-dimensional radar image for existence determination, and the distribution of the reflection intensity of electromagnetic waves in the radar image for existence determination is used.
  • the radar image for determining the existence is an image different from the finally generated radar image.
  • Let the radar image for existence determination be I 0 (x, y, z). Since this radar image is used only for determining the presence of the subject, it is not necessary to include detailed information on the shape, and it is sufficient that the radar image is calculated only at sparse sample points. Further, the calculation may be performed using all radar signals, or may be calculated using only the radar signals of some Tx and Rx pairs.
  • Each of the imaging units 204 performs the same processing as in the first embodiment only when the projection direction / imaging policy control unit 207 determines that the subject exists in the imaging region in the projection direction in charge. On the other hand, when it is determined that the subject does not exist in the imaging region corresponding to the projection direction in charge of the imaging unit 204, the imaging unit 204 skips the process.
  • step S101 and S102 is the same as that of the first embodiment.
  • step S103 is the same as that of the first embodiment.
  • the radar signal is also output to the projection direction / imaging policy control unit 207.
  • step S207 the projection direction / imaging policy control unit 207 determines whether or not the subject exists in the imaging region corresponding to each projection direction based on the radar signal received from the radar signal transmission / reception unit 103. Each determination result is output to the imaging unit 204.
  • step S204 when the projection direction / imaging policy control unit 207 determines that the subject exists in the imaging area in the projection direction in charge of each of the imaging units 204, the projection direction / imaging policy control unit 207 determines that the imaging unit is present. According to the imaging policy set for 204, a three-dimensional radar image is generated from the radar signal and output to the projection processing unit 106.
  • step S105 is the same as that of the first embodiment.
  • FIG. 17 is a block diagram showing a configuration example of the radar device of the third embodiment.
  • the radar device 300 of the third embodiment includes a radar signal transmission / reception unit 103, a projection direction / imaging policy control unit 307, a plurality of imaging units 204, a plurality of projection processing units 106, and an external sensor 308. There is.
  • the radar signal transmission / reception unit 103 includes a transmission antenna (Tx) 101 and a reception antenna (Rx) 102.
  • a radar signal was used to determine whether or not a subject was present in each imaging region.
  • the presence of the subject is determined by an external sensor 308 that can acquire information on the presence of the subject such as a pressure sensor or a camera.
  • the functions of the blocks other than the projection direction / imaging policy control unit 307, the imaging unit 204, and the external sensor 308 are the same as the functions in the first embodiment.
  • the imaging unit 204 has the same function as in the second embodiment.
  • the external sensor 308 acquires the measurement information of the sensor at the same timing as the radar signal acquisition by the radar signal transmission / reception unit 103, and outputs the measurement information to the projection direction / imaging policy control unit 307.
  • An example of the external sensor 308 is a pressure sensor installed on the floor. In that case, the external sensor 308 outputs information indicating which position is stepped on by the subject to the projection direction / imaging policy control unit 307.
  • the projection direction / imaging policy control unit 307 determines whether or not a subject is present in the imaging region corresponding to each projection direction based on the information received from the external sensor 308.
  • the external sensor 308 responsible for the function of When a pressure sensor installed on the floor is used as the external sensor 308 as in the above example, the subject is present if the vicinity of the position directly below the imaging region is stepped on (for example, the external sensor 308 is responding). Then, there is a method of determining. Each of the determination results is output to the imaging unit 204.
  • step S303 the radar signal transmission / reception unit 103 emits an electromagnetic wave to the transmission antenna (Tx) 101, acquires a radar signal based on the received wave by the reception antenna (Rx) 102, and outputs the radar signal to the imaging unit 104.
  • the external sensor 308 acquires measurement information and outputs it to the projection direction / imaging policy control unit 307.
  • step S307 the projection direction / imaging policy control unit 307 determines whether or not the subject exists in the imaging region corresponding to each projection direction based on the measurement information received from the external sensor 308. Each determination result is output to the imaging unit 204.
  • step S204 is the same as that of the second embodiment. Further, the process of step S105 is the same as that of the first embodiment.
  • a radar signal transmitter / receiver that acquires radar signals generated using multiple transmitting antennas and multiple receiving antennas, Information on a set of a set of a transmit antenna and a receive antenna used to generate the three-dimensional radar image, the projection direction indicating the direction in which the inspection target is viewed, the imaging area indicating the area in which the three-dimensional radar image should be generated, and the information.
  • a projection direction / imaging policy control unit that holds an imaging policy including a certain set of information
  • An imaging unit that generates the three-dimensional radar image from the radar signal according to the imaging policy
  • a projection processing unit that projects the generated three-dimensional radar image in the projection direction indicated by the imaging policy to make it two-dimensional.
  • the imaging policy includes an algorithm for generating the three-dimensional radar image from the radar signal or information specifying the algorithm.
  • the radar device according to 1 above wherein the imaging unit generates the three-dimensional laser image by using the algorithm.
  • 3. The radar device according to 1 or 2 above, wherein the transmitting antenna and the receiving antenna are arranged in at least two panels facing each other across a passage to be inspected. 4.
  • the imaging policy is set for each of the plurality of projection directions, and the imaging policy is set.
  • the imaging policy is set for each of the plurality of projection directions.
  • the projection directions include four directions at 90 ° intervals.
  • the projection direction / imaging policy control unit determines whether or not the inspection target exists in the imaging region, and determines whether or not the inspection target exists.
  • the projection direction / imaging policy control unit determines whether or not the inspection target exists in the imaging region based on the radar signal.
  • the projection direction / imaging policy control unit generates a radar image for determining the existence of the inspection target in the region including the imaging region from the radar signal in determining whether the inspection target exists in the imaging region, and the provisional radar.
  • the radar device according to 8 above which is performed based on the distribution of the reflection intensity of electromagnetic waves in an image. 10.
  • the projection direction / imaging policy control unit determines whether or not the inspection target exists in the imaging region by using the measurement result of a sensor capable of grasping the existence of the inspection target. .. 11.
  • the sensor is a pressure sensor installed on the floor. 12.
  • the computer Radar signal transmission / reception processing to acquire radar signals generated using multiple transmitting antennas and multiple receiving antennas, Information on a set of a set of a transmit antenna and a receive antenna used to generate the three-dimensional radar image, the projection direction indicating the direction in which the inspection target is viewed, the imaging area indicating the area in which the three-dimensional radar image should be generated, and the information.
  • Projection direction / imaging policy control processing that holds an imaging policy including a certain set of information
  • Imaging processing that generates the three-dimensional radar image from the radar signal according to the imaging policy
  • a projection process in which the generated three-dimensional radar image is projected in the projection direction indicated by the imaging policy to make it two-dimensional.
  • An imaging method characterized by comprising. 13.
  • the imaging policy includes an algorithm for generating the three-dimensional radar image from the radar signal or information specifying the algorithm. 12. The imaging method according to 12 above, wherein in the imaging process, the computer uses the algorithm to generate the three-dimensional laser image. 14. 12. The imaging method according to 12 or 13, wherein the transmitting antenna and the receiving antenna are arranged in at least two panels facing each other across a passage to be inspected. 15. The imaging method according to 14 above, wherein the two panels are parallel to each other. 16. The imaging policy is set for each of the plurality of projection directions, and the imaging policy is set. The imaging method according to any one of 12 to 15, wherein the plurality of projection directions include the front surface, the back surface, the left side surface, and the right back surface of the inspection target. 17.
  • the imaging policy is set for each of the plurality of projection directions.
  • the projection directions include four directions at 90 ° intervals. 15.
  • the computer determines whether or not the inspection target exists in the imaging region.
  • the computer determines whether or not the inspection target exists in the imaging region based on the radar signal. 20.
  • the computer In the projection direction / imaging policy control process, the computer generates a radar image for determining the presence of the inspection target in the region including the imaging region from the radar signal in determining whether the inspection target exists in the imaging region. 19. The imaging method according to 19 above, which is performed based on the distribution of the reflection intensity of electromagnetic waves in the provisional radar image. 21. In the projection direction / imaging policy control process, the computer determines whether or not the inspection target exists in the imaging region by using the measurement result of a sensor capable of grasping the existence of the inspection target. The imaging method described. 22. 21. The imaging method according to 21 above, wherein the sensor is a pressure sensor installed on the floor. 23.
  • a radar signal transmission / reception function that acquires radar signals generated using multiple transmitting antennas and multiple receiving antennas, Information on a set of a set of a transmit antenna and a receive antenna used to generate the three-dimensional radar image, the projection direction indicating the direction in which the inspection target is viewed, the imaging area indicating the area in which the three-dimensional radar image should be generated, and the information.
  • a projection direction / imaging policy control function that holds an imaging policy that includes a certain set of information, An imaging function that generates the three-dimensional radar image from the radar signal according to the imaging policy, and A projection processing function that projects the generated three-dimensional radar image in the projection direction indicated by the imaging policy to make it two-dimensional.
  • the imaging policy includes an algorithm for generating the three-dimensional radar image from the radar signal or information specifying the algorithm.
  • the imaging policy is set for each of the plurality of projection directions, and the imaging policy is set.
  • the imaging policy is set for each of the plurality of projection directions.
  • the projection directions include four directions at 90 ° intervals. 26.
  • the projection direction / imaging policy control function determines whether or not the inspection target exists in the imaging region.
  • 30. The program according to 29, wherein the projection direction / imaging policy control function determines whether or not the inspection target exists in the imaging region based on the radar signal. 31.
  • the projection direction / imaging policy control function generates a radar image for determining the existence of the inspection target in the region including the imaging region from the radar signal in determining whether the inspection target exists in the imaging region, and the provisional radar.
  • the program according to 30 above which is performed based on the distribution of the reflection intensity of electromagnetic waves in an image.
  • 32. The program according to 29 above, wherein the projection direction / imaging policy control function determines whether or not the inspection target exists in the imaging region by using the measurement result of a sensor capable of grasping the existence of the inspection target.
  • the sensor is a pressure sensor installed on the floor.

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  • Engineering & Computer Science (AREA)
  • Remote Sensing (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Radar Systems Or Details Thereof (AREA)
PCT/JP2020/044319 2020-11-27 2020-11-27 レーダ装置、イメージング方法、およびプログラム Ceased WO2022113294A1 (ja)

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