WO2023073819A1 - Radio wave sensor device - Google Patents

Radio wave sensor device Download PDF

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Publication number
WO2023073819A1
WO2023073819A1 PCT/JP2021/039580 JP2021039580W WO2023073819A1 WO 2023073819 A1 WO2023073819 A1 WO 2023073819A1 JP 2021039580 W JP2021039580 W JP 2021039580W WO 2023073819 A1 WO2023073819 A1 WO 2023073819A1
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Prior art keywords
unit
reception
radio wave
wave sensor
sensor device
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PCT/JP2021/039580
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French (fr)
Japanese (ja)
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壮志 野村
篤規 平野
黎治 西垣
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株式会社Fuji
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Priority to JP2023555940A priority Critical patent/JPWO2023073819A1/ja
Priority to PCT/JP2021/039580 priority patent/WO2023073819A1/en
Publication of WO2023073819A1 publication Critical patent/WO2023073819A1/en

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/40—Means for monitoring or calibrating

Definitions

  • This specification discloses a radio wave sensor device.
  • this type of radio wave sensor device has an antenna radome covering a transmitting antenna and a receiving antenna, and detects a short-range reflected wave from the antenna radome by a receiving unit to diagnose the normal operation of the sensor. and a high-frequency circuit unit to which a receiving antenna, a transmitting unit, and a receiving unit are connected.
  • a detection circuit detects a low-frequency signal generated by a short-range reflected wave from the antenna radome or high-frequency circuit. If no signal is detected, it is determined that the sensor is operating abnormally.
  • the above-described device requires an antenna radome and a high-frequency circuit to detect short-distance reflected waves, which increases the size and complexity of the device.
  • the main purpose of the present disclosure is to appropriately diagnose antenna performance with a simple configuration.
  • the radio wave sensor device of the present disclosure is a housing having an opening; A transmitting antenna unit that is housed inside the housing and that can transmit radio waves through the opening and a receiving antenna unit that can receive reflected waves through the opening, and at least one of transmitting and receiving radio waves a transmitting/receiving unit having directivity to a directionality control unit that controls at least one of a transmission direction and a reception direction of radio waves by the transmission/reception unit; a reflector provided on the inner surface of the housing for reflecting radio waves; The directionality control unit sets the direction of radio waves toward the reflecting unit, transmits radio waves from the transmitting antenna unit, and transmits the radio waves from the transmitting antenna unit based on the reception state of the reflected waves received by the receiving antenna unit.
  • a diagnosis unit that performs deterioration diagnosis to determine the deterioration state of the receiving antenna; The gist is to provide
  • the radio wave sensor device of the present disclosure includes a transmitting/receiving unit having a transmitting antenna unit and a receiving antenna unit inside a housing having an opening, and a directionality control unit that controls at least one of the transmitting direction and the receiving direction of radio waves.
  • a transmitting/receiving unit having a transmitting antenna unit and a receiving antenna unit inside a housing having an opening
  • a directionality control unit that controls at least one of the transmitting direction and the receiving direction of radio waves.
  • a reflector is provided on the inner surface of the housing.
  • the directivity control section sets the direction of radio waves toward the reflecting section.
  • the antenna performance can be properly diagnosed with a simple configuration in which the reflector is provided on the inner surface of the housing.
  • FIG. 1 is a schematic configuration diagram of a radio wave sensor device according to an embodiment
  • FIG. It is a functional block diagram of a radio wave sensor device.
  • 3 is a schematic configuration diagram of a transmitting antenna section and a receiving antenna section;
  • FIG. 4 is an explanatory diagram for explaining the transmission direction and the reception direction of radio waves during a detection operation;
  • FIG. 4 is an explanatory diagram for explaining the transmission direction and the reception direction of radio waves during diagnostic operation; 4 is a flowchart showing an example of diagnostic processing;
  • FIG. 1 is a schematic configuration diagram of the radio wave sensor device 10 of this embodiment.
  • FIG. 2 is a functional block diagram of the radio wave sensor device 10.
  • the radio wave sensor device 10 of the present embodiment is mounted on a moving object such as an automatic guided vehicle or a self-propelled robot, and can be used to detect surrounding obstacles.
  • the radio wave sensor device 10 includes a housing 11, a radio wave reflector 12, and a radio wave sensor main body 20, as shown in FIG.
  • the housing 11 is a box-shaped member with an opening 11o formed in the front, and has a bottom portion 11b, a side wall portion 11s, and a tapered portion 11t.
  • the tapered portion 11t extends inward from the upper end portion of the side wall portion 11s so as to surround the opening 11o, and is inclined away from the bottom portion 11b toward the opening 11o (center).
  • the radio wave reflector 12 is a sheet-like metal plate having a reflecting surface that reflects radio waves on its surface, and the vertical direction of the reflecting surface is the direction toward the radio wave sensor main body 20 (the transmitting antenna section 22 and the receiving antenna section 23). , is attached to the inner surface of the tapered portion 11t.
  • the radio wave sensor main body 20 is configured as a MIMO (Multi-Input Multi-Output) radar sensor in this embodiment.
  • the radio wave sensor body 20 includes, as shown in FIG.
  • the transmitting antenna unit 22 has a plurality of (M) transmitting antennas arranged in an array at predetermined intervals dt.
  • the receiving antenna unit 23 has a plurality of (N) receiving antennas arranged in an array in the same direction as the transmitting antennas at an interval dr different from the interval dt between the transmitting antennas.
  • the transmission/reception unit 21 branches the transmission signal from the processing unit 30 into M transmission signals, which is the number of transmission antennas of the transmission antenna unit 22, and outputs the signals to each transmission antenna. Further, the transmitting/receiving section 21 inputs N received signals from the respective receiving antennas of the receiving antenna section 23 and outputs them to the processing section 30 .
  • the processing unit 30 includes a microcomputer and an IC including a CPU, ROM, RAM, input/output interface, and the like.
  • the processing unit 30 includes at least one of hardware such as a CPU, ROM, RAM, and IC, and software installed in the ROM. 33 and a diagnostic unit 34 are constructed.
  • the directionality control unit 31 controls the transmission direction and reception direction of radio waves of the transmission/reception unit 21 by beamforming.
  • the transmission direction is controlled by adjusting the phase difference of the radio waves (transmission signals) transmitted from the M transmission antennas of the transmission antenna section 22 so that the radio waves to be transmitted are concentrated in a specific direction.
  • the control of the receiving direction is performed by receiving radio waves coming from a specific direction with the N receiving antennas of the receiving antenna section 23 and detecting the phase difference of the received signals. Note that the directionality control section 31 may control only one of the transmission direction and the reception direction.
  • the detection unit 32 transmits radio waves from the front opening 11 o of the housing 11 by the transmission/reception unit 21 and receives reflected waves entering the opening 11 o from the object (interfering object). The presence or absence of an object and its position are detected based on the received signal.
  • FIG. 4 is an explanatory diagram for explaining the transmission direction and reception direction of radio waves during detection operation. As shown in the figure, in the detection operation, in order to secure a detection range, the directivity has a certain spread ⁇ s, ⁇ r and the directivity is set so that radio waves are transmitted and received toward the front (11o). and transmission/reception directions are set. Directivity can be adjusted by setting the number of transmitting antennas for transmitting radio waves and the number of receiving antennas for receiving radio waves.
  • FIG. 5 is an explanatory diagram for explaining the transmission direction and reception direction of radio waves during diagnostic operation. As shown in the figure, during the diagnostic operation, the directivity and the transmission/reception direction are set so that the spreads ⁇ s and ⁇ r of the directivity are smaller than those during the detection operation, and the radio waves are transmitted/received toward the radio wave reflector 12. be done.
  • FIG. 6 is a flowchart showing an example of diagnostic processing.
  • the CPU of the processing unit 30 first determines whether or not a predetermined period has passed since the previous diagnosis (step S100).
  • the predetermined period is determined, for example, as 3 months or 6 months.
  • the diagnosis unit 34 determines that the predetermined period has not passed since the previous diagnosis, as shown in FIG. setting (step S110), controls the directionality control unit 31 so that radio waves are transmitted in the set transmission direction with the set directivity from the transmission antenna unit 22, and outputs a transmission signal to the transmission/reception unit 21 (step S120). .
  • the diagnosis unit 34 determines whether or not a reflected wave has been received from the reception direction set by the reception antenna unit 23 (step S130).
  • the diagnosis unit 34 determines that the reflected wave is received from the set reception direction, it acquires the reception intensity ⁇ from the received signal (step S140), and determines whether the acquired reception intensity ⁇ is greater than the threshold ⁇ ref.
  • the threshold value ⁇ ref is a threshold value for determining whether or not the antenna performance of the transmitting antenna unit 22 and the receiving antenna unit 23 is sufficient, and is determined in advance through experiments or the like.
  • diagnosis unit 34 determines that the reception intensity ⁇ is greater than the threshold value ⁇ ref, it determines that the antenna performance is sufficient and that the transmission antenna unit 22 and the reception antenna unit 23 have not deteriorated over time (step S160). End diagnostic processing. On the other hand, when the diagnosis unit 34 determines that the reception intensity ⁇ is equal to or less than the threshold value ⁇ ref, it determines that the antenna performance is insufficient and that the transmission antenna unit 22 and the reception antenna unit 23 have deteriorated over time (step S170). ), output a signal to the effect that aged deterioration has occurred (step S180), and terminate the diagnostic process.
  • the radio wave sensor device 10 transmits and receives radio waves toward the front through the opening 11o during the detection operation to detect surrounding objects, and during the diagnosis operation, the transmission and reception direction is directed toward the radio wave reflector 12.
  • the radio wave reflector 12 By transmitting and receiving radio waves directed to the antenna, self-diagnosis of aged deterioration of the transmission antenna section 22 and the reception antenna section 23 is performed. This makes it possible to perform self-diagnosis of the antenna performance with a simple configuration in which the radio wave reflector 12 is provided on the tapered portion 11t of the housing 11.
  • the opening 11o corresponds to the opening
  • the housing 11 corresponds to the housing
  • the directionality control section 31 corresponds to the directionality control section
  • the radio wave reflector 12 corresponds to the reflection section
  • the diagnosis section 34 corresponds to the diagnosis. equivalent to the department.
  • the radio wave sensor device of the present disclosure described above includes a transmission/reception unit having a transmission antenna unit and a reception antenna unit inside a housing having an opening, and a directionality control unit that controls at least one of the transmission direction and the reception direction of radio waves. and A reflector is provided on the inner surface of the housing. Then, in the radio wave sensor device, when diagnosing the deterioration of the transmitting antenna section or the receiving antenna section, the directivity control section sets the direction of radio waves toward the reflecting section. As a result, the antenna performance can be properly diagnosed with a simple configuration in which the reflector is provided on the inner surface of the housing.
  • the housing extends inwardly from the end of the side portion toward the opening and moves away from the transmitting antenna section and the receiving antenna section toward the opening. and the reflecting portion may be provided on an inner surface of the tapered portion.
  • the transmitting antenna section and the receiving antenna section may be provided on the same printed circuit board.
  • the diagnosis unit may automatically perform the deterioration diagnosis at predetermined timing. In this way, deterioration of antenna performance can be automatically diagnosed at arbitrary timing.
  • the present disclosure can be used in the manufacturing industry of radio wave sensor devices.
  • Radio wave sensor device 11 Housing, 11b Bottom, 11o Opening, 11s Side wall, 11t Tapered portion, 12 Radio wave reflector, 20 Radio wave sensor body, 21 Transmission/reception unit, 22 Transmission antenna unit, 23 Reception antenna unit, 25 Printed circuit board , 30 processing unit, 31 direction control unit, 32 detection unit, 33 storage unit, 34 diagnosis unit.

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  • Engineering & Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Geophysics And Detection Of Objects (AREA)

Abstract

This radio wave sensor device comprises: a housing having an opening; a transmission/reception unit accommodated in the housing and having a transmission antenna unit capable of transmitting radio waves through the opening, and a reception antenna unit capable of receiving reflected waves through the opening, the transmission/reception unit having directivity for at least one of transmission and reception of the radio waves; a directional control unit; a reflection unit; and a diagnostic unit. The directional control unit controls at least one of the transmission direction and reception direction of the radio waves by the transmission/reception unit. The reflection unit is provided on the inner surface of the housing. The diagnostic unit sets the direction of radio waves to a direction toward the reflection unit by the directional control unit, transmits the radio waves from the transmission antenna unit, and determines a deterioration state of the transmission antenna unit or reception antenna unit on the basis of a reception state of the reflected waves received by the reception antenna unit.

Description

電波センサ装置Radio wave sensor device
　本明細書は、電波センサ装置について開示する。 This specification discloses a radio wave sensor device.
　従来、この種の電波センサ装置としては、送信アンテナおよび受信アンテナを覆うアンテナレドームを備え、アンテナレドームからの近距離反射波を受信部により検波してセンサの正常動作を診断するものや、送信アンテナと受信アンテナと送信部と受信部が接続される高周波回路部を備え、高周波回路部において生じる反射波を近距離反射波として受信部により検波してセンサの正常動作を診断するものが提案されている（例えば、特許文献１参照）。この装置では、アンテナレドームや高周波回路部における近距離反射波によって生じる低周波信号を検出回路にて検出し、低周波信号が検出されていればセンサが正常動作していると判断し、低周波信号が検出されていなければセンサは異常動作していると判断している。 Conventionally, this type of radio wave sensor device has an antenna radome covering a transmitting antenna and a receiving antenna, and detects a short-range reflected wave from the antenna radome by a receiving unit to diagnose the normal operation of the sensor. and a high-frequency circuit unit to which a receiving antenna, a transmitting unit, and a receiving unit are connected. (See Patent Document 1, for example). In this device, a detection circuit detects a low-frequency signal generated by a short-range reflected wave from the antenna radome or high-frequency circuit. If no signal is detected, it is determined that the sensor is operating abnormally.
特開２００１－９９９１２号公報JP-A-2001-99912
　しかしながら、上述した装置では、近距離反射波を検波するためにアンテナレドームや高周波回路部が必要となり、装置が大型化したり複雑化したりする。 However, the above-described device requires an antenna radome and a high-frequency circuit to detect short-distance reflected waves, which increases the size and complexity of the device.
　本開示は、簡易な構成によりアンテナ性能を適切に診断することを主目的とする。 The main purpose of the present disclosure is to appropriately diagnose antenna performance with a simple configuration.
　本開示は、上述の主目的を達成するために以下の手段を採った。 This disclosure has taken the following means to achieve the above-mentioned main objectives.
　本開示の電波センサ装置は、
　開口を有する筐体と、
　前記筐体の内部に収容され、前記開口を介して電波を送信可能な送信アンテナ部と前記開口を介して反射波を受信可能な受信アンテナ部とを有し、電波の送信および受信の少なくとも一方に指向性を有する送受信部と、
　前記送受信部による電波の送信方向および受信方向の少なくとも一方を制御する方向性制御部と、
　前記筐体の内面に設けられ、電波を反射する反射部と、
　前記方向性制御部により電波の方向を前記反射部に向かう方向に設定し、前記送信アンテナ部から電波を送信し、前記受信アンテナ部に受信される反射波の受信状態に基づいて前記送信アンテナ部または前記受信アンテナの劣化状態を判定する劣化診断を行なう診断部と、
　を備えることを要旨とする。 The radio wave sensor device of the present disclosure is
a housing having an opening;
A transmitting antenna unit that is housed inside the housing and that can transmit radio waves through the opening and a receiving antenna unit that can receive reflected waves through the opening, and at least one of transmitting and receiving radio waves a transmitting/receiving unit having directivity to
a directionality control unit that controls at least one of a transmission direction and a reception direction of radio waves by the transmission/reception unit;
a reflector provided on the inner surface of the housing for reflecting radio waves;
The directionality control unit sets the direction of radio waves toward the reflecting unit, transmits radio waves from the transmitting antenna unit, and transmits the radio waves from the transmitting antenna unit based on the reception state of the reflected waves received by the receiving antenna unit. Alternatively, a diagnosis unit that performs deterioration diagnosis to determine the deterioration state of the receiving antenna;
The gist is to provide
　この本開示の電波センサ装置は、開口を有する筐体の内部に送信アンテナ部と受信アンテナ部とを有する送受信部と、電波の送信方向および受信方向の少なくとも一方を制御する方向性制御部とを備える。筐体の内面には、反射部が設けられる。そして、電波センサ装置は、送信アンテナ部または受信アンテナ部の劣化診断を行なう場合に、方向性制御部により電波の方向を反射部に向かう方向に設定する。これにより、筐体の内面に反射部を設ける簡易な構成により、アンテナ性能を適切に診断することができる。 The radio wave sensor device of the present disclosure includes a transmitting/receiving unit having a transmitting antenna unit and a receiving antenna unit inside a housing having an opening, and a directionality control unit that controls at least one of the transmitting direction and the receiving direction of radio waves. Prepare. A reflector is provided on the inner surface of the housing. Then, in the radio wave sensor device, when diagnosing the deterioration of the transmitting antenna section or the receiving antenna section, the directivity control section sets the direction of radio waves toward the reflecting section. As a result, the antenna performance can be properly diagnosed with a simple configuration in which the reflector is provided on the inner surface of the housing.
本実施形態の電波センサ装置の概略構成図である。1 is a schematic configuration diagram of a radio wave sensor device according to an embodiment; FIG. 電波センサ装置の機能ブロック図である。It is a functional block diagram of a radio wave sensor device. 送信アンテナ部および受信アンテナ部の概略構成図である。3 is a schematic configuration diagram of a transmitting antenna section and a receiving antenna section; FIG. 検知動作時の電波の送信方向および受信方向を説明する説明図である。FIG. 4 is an explanatory diagram for explaining the transmission direction and the reception direction of radio waves during a detection operation; 診断動作時の電波の送信方向および受信方向を説明する説明図である。FIG. 4 is an explanatory diagram for explaining the transmission direction and the reception direction of radio waves during diagnostic operation; 診断処理の一例を示すフローチャートである。4 is a flowchart showing an example of diagnostic processing;
　次に、本開示を実施するための形態について図面を参照しながら説明する。 Next, a mode for carrying out the present disclosure will be described with reference to the drawings.
　図１は、本実施形態の電波センサ装置１０の概略構成図である。図２は、電波センサ装置１０の機能ブロック図である。図１に示すように、本実施形態の電波センサ装置１０は、例えば無人搬送車や自走式ロボットといった移動体に搭載され、周囲の干渉物を検知するのに用いることができる。 FIG. 1 is a schematic configuration diagram of the radio wave sensor device 10 of this embodiment. FIG. 2 is a functional block diagram of the radio wave sensor device 10. As shown in FIG. As shown in FIG. 1, the radio wave sensor device 10 of the present embodiment is mounted on a moving object such as an automatic guided vehicle or a self-propelled robot, and can be used to detect surrounding obstacles.
　電波センサ装置１０は、図１に示すように、筐体１１と、電波反射体１２と、電波センサ本体２０と、を備える。 The radio wave sensor device 10 includes a housing 11, a radio wave reflector 12, and a radio wave sensor main body 20, as shown in FIG.
　筐体１１は、正面に開口１１ｏが形成された箱型の部材であり、底部１１ｂと側壁部１１ｓとテーパ部１１ｔとを有する。テーパ部１１ｔは、開口１１ｏを囲むように側壁部１１ｓの上端部から内向きに延在すると共に、開口１１ｏ（中央）に向かうにつれて底部１１ｂから離間するように傾斜する。 The housing 11 is a box-shaped member with an opening 11o formed in the front, and has a bottom portion 11b, a side wall portion 11s, and a tapered portion 11t. The tapered portion 11t extends inward from the upper end portion of the side wall portion 11s so as to surround the opening 11o, and is inclined away from the bottom portion 11b toward the opening 11o (center).
　電波反射体１２は、表面に電波を反射する反射面を有するシート状の金属板であり、反射面の鉛直方向が電波センサ本体２０（送信アンテナ部２２および受信アンテナ部２３）に向かう方向となるように、テーパ部１１ｔの内面に貼り付けられている。 The radio wave reflector 12 is a sheet-like metal plate having a reflecting surface that reflects radio waves on its surface, and the vertical direction of the reflecting surface is the direction toward the radio wave sensor main body 20 (the transmitting antenna section 22 and the receiving antenna section 23). , is attached to the inner surface of the tapered portion 11t.
　電波センサ本体２０は、本実施形態では、ＭＩＭＯ（Multi-Input Multi-Output）レーダセンサとして構成される。この電波センサ本体２０は、図２に示すように、送信アンテナ部２２と受信アンテナ部２３とを含む送受信部２１と、処理部３０と、を備える。 The radio wave sensor main body 20 is configured as a MIMO (Multi-Input Multi-Output) radar sensor in this embodiment. The radio wave sensor body 20 includes, as shown in FIG.
　送信アンテナ部２２は、予め定められた間隔ｄｔでアレイ状に配列された複数個（Ｍ個）の送信アンテナを有する。受信アンテナ部２３は、送信アンテナの間隔ｄｔとは異なる間隔ｄｒで送信アンテナと同方向にアレイ状に配列された複数個（Ｎ個）の受信アンテナを有する。Ｍ個の送信アンテナから信号を送信し、Ｎ個の受信アンテナで同時に受信することにより、１個の送信アンテナに対してＭ×Ｎ個の仮想受信アンテナで受信するレーダ装置と見なすことができる。本実施形態では、図３に示すように、送信アンテナ部２２および受信アンテナ部２３は、同一のプリント基板２５上に形成されている。なお、送信アンテナ部２２および受信アンテナ部２３は、それぞれ別々のプリント基板上に形成されてもよい。 The transmitting antenna unit 22 has a plurality of (M) transmitting antennas arranged in an array at predetermined intervals dt. The receiving antenna unit 23 has a plurality of (N) receiving antennas arranged in an array in the same direction as the transmitting antennas at an interval dr different from the interval dt between the transmitting antennas. By transmitting signals from M transmitting antennas and receiving them simultaneously with N receiving antennas, it can be regarded as a radar apparatus receiving with M×N virtual receiving antennas for one transmitting antenna. In this embodiment, as shown in FIG. 3, the transmitting antenna section 22 and the receiving antenna section 23 are formed on the same printed circuit board 25 . The transmitting antenna section 22 and the receiving antenna section 23 may be formed on separate printed circuit boards.
　送受信部２１は、処理部３０からの送信信号を送信アンテナ部２２の送信アンテナの数であるＭ個の送信信号に分岐して各送信アンテナに出力する。また、送受信部２１は、受信アンテナ部２３の各受信アンテナからのＮ個の受信信号を入力して処理部３０へ出力する。 The transmission/reception unit 21 branches the transmission signal from the processing unit 30 into M transmission signals, which is the number of transmission antennas of the transmission antenna unit 22, and outputs the signals to each transmission antenna. Further, the transmitting/receiving section 21 inputs N received signals from the respective receiving antennas of the receiving antenna section 23 and outputs them to the processing section 30 .
　処理部３０は、ＣＰＵやＲＯＭ、ＲＡＭ、入出力インタフェース等を含むマイクロコンピュータやＩＣを備える。処理部３０には、ＣＰＵやＲＯＭ、ＲＡＭ、ＩＣ等のハードウエアと、ＲＯＭにインストールされたソフトウエアとの少なくとも一方により、機能ブロックとして、方向性制御部３１と、検知部３２と、記憶部３３と、診断部３４と、が構築される。 The processing unit 30 includes a microcomputer and an IC including a CPU, ROM, RAM, input/output interface, and the like. The processing unit 30 includes at least one of hardware such as a CPU, ROM, RAM, and IC, and software installed in the ROM. 33 and a diagnostic unit 34 are constructed.
　方向性制御部３１は、ビームフォーミングにより送受信部２１の電波の送信方向および受信方向を制御するものである。送信方向の制御は、送信する電波が特定の方向へ集中するように送信アンテナ部２２のＭ個の送信アンテナから送信する電波（送信信号）の位相差を調整することにより行なわれる。また、受信方向の制御は、特定の方向から来る電波を受信アンテナ部２３のＮ個の受信アンテナで受信し、受信信号の位相差を検出することにより行なわれる。なお、方向性制御部３１は、送信方向および受信方向のいずれか一方のみを制御するようにしてもよい。 The directionality control unit 31 controls the transmission direction and reception direction of radio waves of the transmission/reception unit 21 by beamforming. The transmission direction is controlled by adjusting the phase difference of the radio waves (transmission signals) transmitted from the M transmission antennas of the transmission antenna section 22 so that the radio waves to be transmitted are concentrated in a specific direction. The control of the receiving direction is performed by receiving radio waves coming from a specific direction with the N receiving antennas of the receiving antenna section 23 and detecting the phase difference of the received signals. Note that the directionality control section 31 may control only one of the transmission direction and the reception direction.
　検知部３２は、送受信部２１により筐体１１の正面の開口１１ｏから電波を送信すると共に対象物（干渉物）から開口１１ｏに入って来る反射波を受信することにより、送受信部２１で受信した受信信号に基づいて対象物の有無やその位置を検知する。図４は、検知動作時の電波の送信方向および受信方向を説明する説明図である。図示するように、検知動作時においては、検知範囲を確保するために、指向性に一定の広がりθｓ，θｒを有し、且つ、正面（１１ｏ）に向かって電波が送受信されるように指向性と送受信方向とが設定される。なお、指向性は、電波を送信する送信アンテナの本数や受信する受信アンテナの本数を設定することにより調整することができる。 The detection unit 32 transmits radio waves from the front opening 11 o of the housing 11 by the transmission/reception unit 21 and receives reflected waves entering the opening 11 o from the object (interfering object). The presence or absence of an object and its position are detected based on the received signal. FIG. 4 is an explanatory diagram for explaining the transmission direction and reception direction of radio waves during detection operation. As shown in the figure, in the detection operation, in order to secure a detection range, the directivity has a certain spread θs, θr and the directivity is set so that radio waves are transmitted and received toward the front (11o). and transmission/reception directions are set. Directivity can be adjusted by setting the number of transmitting antennas for transmitting radio waves and the number of receiving antennas for receiving radio waves.
　診断部３４は、送信アンテナ部２２や受信アンテナ部２３のアンテナ性能（アンテナゲインやインピーダンス）の経年劣化を定期的に自己診断するものである。図５は、診断動作時の電波の送信方向および受信方向を説明する説明図である。図示するように、診断動作時においては、検知動作時よりも指向性の広がりθｓ，θｒが小さく、且つ、電波反射体１２に向かって電波が送受信されるように指向性と送受信方向とが設定される。 The diagnosis unit 34 periodically self-diagnoses deterioration of the antenna performance (antenna gain and impedance) of the transmission antenna unit 22 and the reception antenna unit 23 over time. FIG. 5 is an explanatory diagram for explaining the transmission direction and reception direction of radio waves during diagnostic operation. As shown in the figure, during the diagnostic operation, the directivity and the transmission/reception direction are set so that the spreads θs and θr of the directivity are smaller than those during the detection operation, and the radio waves are transmitted/received toward the radio wave reflector 12. be done.
　次に、こうして構成された電波センサ装置１０の動作について説明する。特に、診断部３４により実行される診断処理について説明する。図６は、診断処理の一例を示すフローチャートである。診断処理では、処理部３０のＣＰＵは、まず、前回の診断から所定期間が経過したか否かを判定する（ステップＳ１００）。所定期間は、例えば、３ヶ月や６ヶ月などのように定められる。診断部３４は、前回の診断から所定期間が経過していないと判定すると、図５に示すように、電波の送信方向と受信方向とを電波反射体１２に向かう方向に設定すると共に指向性を設定し（ステップＳ１１０）、送信アンテナ部２２から設定した指向性で設定した送信方向に電波が送信されるよう方向性制御部３１を制御すると共に送信信号を送受信部２１へ出力する（ステップＳ１２０）。次に、診断部３４は、受信アンテナ部２３で設定した受信方向から反射波を受信したか否かを判定する（ステップＳ１３０）。診断部３４は、設定した受信方向から反射波を受信したと判定すると、受信信号から受信強度δを取得し（ステップＳ１４０）、取得した受信強度δが閾値δｒｅｆよりも大きいか否かを判定する（ステップＳ１５０）。ここで、閾値δｒｅｆは、送信アンテナ部２２や受信アンテナ部２３のアンテナ性能が十分であるか否かを判定するための閾値であり、実験等により予め求められた値が定められる。診断部３４は、受信強度δが閾値δｒｅｆよりも大きいと判定すると、アンテナ性能は十分であり、送信アンテナ部２２や受信アンテナ部２３に経年劣化は生じていないと判定して（ステップＳ１６０）、診断処理を終了する。一方、診断部３４は、受信強度δが閾値δｒｅｆ以下であると判定すると、アンテナ性能は不十分であり、送信アンテナ部２２や受信アンテナ部２３に経年劣化が生じていると判定し（ステップＳ１７０）、経年劣化が生じている旨の信号を外部へ出力して（ステップＳ１８０）、診断処理を終了する。 Next, the operation of the radio wave sensor device 10 configured in this manner will be described. In particular, diagnostic processing executed by the diagnostic unit 34 will be described. FIG. 6 is a flowchart showing an example of diagnostic processing. In the diagnosis process, the CPU of the processing unit 30 first determines whether or not a predetermined period has passed since the previous diagnosis (step S100). The predetermined period is determined, for example, as 3 months or 6 months. When the diagnosis unit 34 determines that the predetermined period has not passed since the previous diagnosis, as shown in FIG. setting (step S110), controls the directionality control unit 31 so that radio waves are transmitted in the set transmission direction with the set directivity from the transmission antenna unit 22, and outputs a transmission signal to the transmission/reception unit 21 (step S120). . Next, the diagnosis unit 34 determines whether or not a reflected wave has been received from the reception direction set by the reception antenna unit 23 (step S130). When the diagnosis unit 34 determines that the reflected wave is received from the set reception direction, it acquires the reception intensity δ from the received signal (step S140), and determines whether the acquired reception intensity δ is greater than the threshold δref. (Step S150). Here, the threshold value δref is a threshold value for determining whether or not the antenna performance of the transmitting antenna unit 22 and the receiving antenna unit 23 is sufficient, and is determined in advance through experiments or the like. When the diagnosis unit 34 determines that the reception intensity δ is greater than the threshold value δref, it determines that the antenna performance is sufficient and that the transmission antenna unit 22 and the reception antenna unit 23 have not deteriorated over time (step S160). End diagnostic processing. On the other hand, when the diagnosis unit 34 determines that the reception intensity δ is equal to or less than the threshold value δref, it determines that the antenna performance is insufficient and that the transmission antenna unit 22 and the reception antenna unit 23 have deteriorated over time (step S170). ), output a signal to the effect that aged deterioration has occurred (step S180), and terminate the diagnostic process.
　このように、電波センサ装置１０は、検知動作時は、正面に向けて開口１１ｏを介して電波を送受信して周囲の対象物を検知し、診断動作時は、送受信方向を電波反射体１２に向けて電波を送受信することにより送信アンテナ部２２や受信アンテナ部２３の経年劣化を自己診断する。これにより、筐体１１のテーパ部１１ｔに電波反射体１２を設けるだけの簡易な構成により、アンテナ性能を自己診断することが可能となる。 In this way, the radio wave sensor device 10 transmits and receives radio waves toward the front through the opening 11o during the detection operation to detect surrounding objects, and during the diagnosis operation, the transmission and reception direction is directed toward the radio wave reflector 12. By transmitting and receiving radio waves directed to the antenna, self-diagnosis of aged deterioration of the transmission antenna section 22 and the reception antenna section 23 is performed. This makes it possible to perform self-diagnosis of the antenna performance with a simple configuration in which the radio wave reflector 12 is provided on the tapered portion 11t of the housing 11. FIG.
　ここで、実施形態の主要な要素と請求の範囲に記載した本開示の主要な要素との対応関係について説明する。即ち、開口１１ｏが開口に相当し、筐体１１が筐体に相当し、方向性制御部３１が方向性制御部に相当し、電波反射体１２が反射部に相当し、診断部３４が診断部に相当する。 Here, the correspondence between the main elements of the embodiment and the main elements of the present disclosure described in the claims will be described. That is, the opening 11o corresponds to the opening, the housing 11 corresponds to the housing, the directionality control section 31 corresponds to the directionality control section, the radio wave reflector 12 corresponds to the reflection section, and the diagnosis section 34 corresponds to the diagnosis. equivalent to the department.
　なお、本開示は上述した実施形態に何ら限定されることはなく、本開示の技術的範囲に属する限り種々の態様で実施し得ることはいうまでもない。 It goes without saying that the present disclosure is by no means limited to the above-described embodiments, and can be implemented in various forms as long as they fall within the technical scope of the present disclosure.
　以上説明した本開示の電波センサ装置は、開口を有する筐体の内部に送信アンテナ部と受信アンテナ部とを有する送受信部と、電波の送信方向および受信方向の少なくとも一方を制御する方向性制御部とを備える。筐体の内面には、反射部が設けられる。そして、電波センサ装置は、送信アンテナ部または受信アンテナ部の劣化診断を行なう場合に、方向性制御部により電波の方向を反射部に向かう方向に設定する。これにより、筐体の内面に反射部を設ける簡易な構成により、アンテナ性能を適切に診断することができる。 The radio wave sensor device of the present disclosure described above includes a transmission/reception unit having a transmission antenna unit and a reception antenna unit inside a housing having an opening, and a directionality control unit that controls at least one of the transmission direction and the reception direction of radio waves. and A reflector is provided on the inner surface of the housing. Then, in the radio wave sensor device, when diagnosing the deterioration of the transmitting antenna section or the receiving antenna section, the directivity control section sets the direction of radio waves toward the reflecting section. As a result, the antenna performance can be properly diagnosed with a simple configuration in which the reflector is provided on the inner surface of the housing.
　こうした本開示の電波センサ装置において、前記筐体は、側面部の端部から前記開口に向かって内向きに延在すると共に前記開口に向かうにつれて前記送信アンテナ部および前記受信アンテナ部から離間するように傾斜するテーパ部を有し、前記反射部は、前記テーパ部の内面に設けられてもよい。こうすれば、送信アンテナ部および受信アンテナ部の正面に電波を送受信するための十分な開口を確保しつつ、必要に応じて反射部に対して電波を送受信してアンテナ性能を自己診断することができる。 In such a radio wave sensor device of the present disclosure, the housing extends inwardly from the end of the side portion toward the opening and moves away from the transmitting antenna section and the receiving antenna section toward the opening. and the reflecting portion may be provided on an inner surface of the tapered portion. By doing so, it is possible to self-diagnose the performance of the antenna by transmitting and receiving radio waves to and from the reflecting section as necessary while securing a sufficient opening for transmitting and receiving radio waves in front of the transmitting antenna section and the receiving antenna section. can.
　また、本開示の電波センサ装置において、前記送信アンテナ部と前記受信アンテナ部とは、同一のプリント基板上に設けられてもよい。こうすれば、電波センサ装置をより簡易な構成にすることができ、装置の小型化を図ることができる。 Further, in the radio wave sensor device of the present disclosure, the transmitting antenna section and the receiving antenna section may be provided on the same printed circuit board. By doing so, the radio wave sensor device can have a simpler configuration, and the size of the device can be reduced.
　さらに、本開示の電波センサ装置において、前記診断部は、予め定められた所定のタイミングで前記劣化診断を自動的に行なってもよい。こうすれば、任意のタイミングによりアンテナ性能の劣化を自動診断することができる。 Furthermore, in the radio wave sensor device of the present disclosure, the diagnosis unit may automatically perform the deterioration diagnosis at predetermined timing. In this way, deterioration of antenna performance can be automatically diagnosed at arbitrary timing.
　本開示は、電波センサ装置の製造産業などに利用可能である。 The present disclosure can be used in the manufacturing industry of radio wave sensor devices.
　１０　電波センサ装置、１１　筐体、１１ｂ　底部、１１ｏ　開口、１１ｓ　側壁部、１１ｔ　テーパ部、１２　電波反射体、２０　電波センサ本体、２１　送受信部、２２　送信アンテナ部、２３　受信アンテナ部、２５　プリント基板、３０　処理部、３１　方向性制御部、３２　検知部、３３　記憶部、３４　診断部。 10 Radio wave sensor device, 11 Housing, 11b Bottom, 11o Opening, 11s Side wall, 11t Tapered portion, 12 Radio wave reflector, 20 Radio wave sensor body, 21 Transmission/reception unit, 22 Transmission antenna unit, 23 Reception antenna unit, 25 Printed circuit board , 30 processing unit, 31 direction control unit, 32 detection unit, 33 storage unit, 34 diagnosis unit.

Claims (4)

  1. 　開口を有する筐体と、
    　前記筐体の内部に収容され、前記開口を介して電波を送信可能な送信アンテナ部と前記開口を介して反射波を受信可能な受信アンテナ部とを有し、電波の送信および受信の少なくとも一方に指向性を有する送受信部と、
    　前記送受信部による電波の送信方向および受信方向の少なくとも一方を制御する方向性制御部と、
    　前記筐体の内面に設けられ、電波を反射する反射部と、
    　前記方向性制御部により電波の方向を前記反射部に向かう方向に設定し、前記送信アンテナ部から電波を送信し、前記受信アンテナ部に受信される反射波の受信状態に基づいて前記送信アンテナ部または前記受信アンテナの劣化状態を判定する劣化診断を行なう診断部と、
    　を備える電波センサ装置。     a housing having an opening;
    A transmitting antenna unit that is housed inside the housing and that can transmit radio waves through the opening and a receiving antenna unit that can receive reflected waves through the opening, and at least one of transmitting and receiving radio waves a transmitting/receiving unit having directivity to
    a directionality control unit that controls at least one of a transmission direction and a reception direction of radio waves by the transmission/reception unit;
    a reflector provided on the inner surface of the housing for reflecting radio waves;
    The directionality control unit sets the direction of radio waves toward the reflecting unit, transmits radio waves from the transmitting antenna unit, and transmits the radio waves from the transmitting antenna unit based on the reception state of the reflected waves received by the receiving antenna unit. Alternatively, a diagnosis unit that performs deterioration diagnosis to determine the deterioration state of the receiving antenna;
    A radio wave sensor device comprising:
  2. 　請求項１に記載の電波センサ装置であって、
    　前記筐体は、側面部の端部から前記開口に向かって内向きに延在すると共に前記開口に向かうにつれて前記送信アンテナ部および前記受信アンテナ部から離間するように傾斜するテーパ部を有し、
    　前記反射部は、前記テーパ部の内面に設けられている、
    　電波センサ装置。     The radio wave sensor device according to claim 1,
    The housing has a tapered portion extending inwardly from the end of the side portion toward the opening and inclined away from the transmitting antenna portion and the receiving antenna portion toward the opening,
    The reflecting portion is provided on the inner surface of the tapered portion,
    Radio wave sensor device.
  3. 　請求項１または２に記載の電波センサ装置であって、
    　前記送信アンテナ部と前記受信アンテナ部とは、同一のプリント基板上に設けられている、
    　電波センサ装置。     The radio wave sensor device according to claim 1 or 2,
    The transmitting antenna unit and the receiving antenna unit are provided on the same printed circuit board,
    Radio wave sensor device.
  4. 　請求項１ないし３いずれか１項に記載の電波センサ装置であって、
    　前記診断部は、予め定められた所定のタイミングで前記劣化診断を自動的に行なう、
    　電波センサ装置。     The radio wave sensor device according to any one of claims 1 to 3,
    The diagnosis unit automatically performs the deterioration diagnosis at a predetermined timing,
    Radio wave sensor device.
PCT/JP2021/039580 2021-10-27 2021-10-27 Radio wave sensor device WO2023073819A1 (en)

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JP2011117800A (en) * 2009-12-02 2011-06-16 Tokyo Denki Univ Device for inspecting onboard radar and method therefor
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JP2021043189A (en) * 2019-09-03 2021-03-18 株式会社デンソー Optical range finder

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2001033550A (en) * 1999-07-21 2001-02-09 Toyota Motor Corp Device and system for detecting object
JP2001099912A (en) * 1999-09-30 2001-04-13 Matsushita Electric Works Ltd Sensor with function for self-diagnosing normal operation
JP2011117800A (en) * 2009-12-02 2011-06-16 Tokyo Denki Univ Device for inspecting onboard radar and method therefor
US20150309165A1 (en) * 2014-04-23 2015-10-29 Ford Global Technologies, Llc Detecting Radar Blockage Based on Drive History
JP2018144505A (en) * 2017-03-01 2018-09-20 株式会社日立製作所 System to detect existence of article and device for the same
JP2021043189A (en) * 2019-09-03 2021-03-18 株式会社デンソー Optical range finder

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