JP5544701B2 - Aiming method of radio wave type object detection device - Google Patents

Description

  A technique for attaching a radio wave type object detection device to a vehicle has been put into practical use. The radio wave type object detection device includes a radio wave transmitter and a radio wave receiver. The radio wave is transmitted from the radio wave transmitter, reflected by an object existing in the traveling direction of the radio wave, and the reflected radio wave is received by the radio wave receiver. Receive at. When the radio wave type object detection device is attached to the vehicle, it is necessary to adjust the mounting angle of the radio wave type object detection device with respect to the vehicle to a certain angle. If the mounting angle is not adjusted to a fixed angle, the positional relationship of the object detected by the radio wave type object detection device with respect to the vehicle cannot be calculated. The article to which the radio wave type object detection device is attached is not limited to the vehicle. In this specification, articles to which a radio wave type object detection device is attached are collectively referred to as a platform. In addition, adjusting the mounting angle of the radio wave object detection device with respect to the platform is called aiming. The present invention relates to a method for adjusting the mounting angle of a radio wave type object detection device with respect to a platform, that is, an aiming method.

  Patent Document 1 discloses a laser radar aiming method. In this aiming method, a reference reflection surface is installed in front of the vehicle, the relative positional relationship between the vehicle and the reference reflection surface is adjusted to be constant, and the emission direction of the laser light emitted from the on-board laser device is changed. The intensity of the laser beam received by the light receiving device mounted on the vehicle is measured. According to this method, the emission direction of the laser beam from which the relationship in which the laser beam emitted from the laser device is reflected by the reference reflecting surface and received by the light receiving device is obtained from the received light intensity of the light receiving device. Since the relative positional relationship between the vehicle and the reference reflecting surface is adjusted to be constant, the laser light emission direction with respect to the vehicle is adjusted to a constant angle by fixing the vehicle in the emission direction.

In order to accurately adjust the laser beam emission direction by the above method, it is necessary to ensure a long distance between the vehicle and the reference reflecting surface. Therefore, Patent Document 2 describes a technique for shortening the distance using a reflecting mirror. Even if the distance between the vehicle and the reference reflecting surface is shortened by reciprocating the laser beam between the vehicle and the reference reflecting surface by using a reflecting mirror, a long optical path length from the laser device to the light receiving device is ensured. can do.
JP 2002-131434 A JP-A-7-218618

In the conventional aiming method, the radar apparatus is aimed using a directional beam called laser light. Laser radar has high directivity, so it can measure up to a long distance, but has a problem that the field of view is narrow.
On the other hand, radio wave type object detection devices using radio waves (for example, millimeter waves) have been developed. Since the radio wave type object detection device transmits radio waves in a wide angle range, it covers a wide range.
The conventional aiming method provides several problems when aiming a radio wave type object detection device that uses radio waves that spread widely.
When aiming a radio wave type object detection device that uses a wide spread radio wave, it is necessary to install a large reflecting surface corresponding to the wide spread radio wave. However, it is often impossible to install a large reflecting surface. When aiming at a small radio wave reflecting surface, a part of the widely spread radio wave is irregularly reflected outside the radio wave reflecting surface and received by the radio wave receiver. FIG. 8 is a plan view when the mounting angle of the radio wave type object detection device 2 mounted on the platform 4 is aiming by a conventional aiming method, and the surface of the object 10 other than the radio wave reflection surface 8 is irregular. Since even the radio wave reflected by the radio wave type object detection device 2 is received by the radio wave type object detection device 2, the mounting angle of the radio wave type object detection device 2 in the horizontal plane is deviated. FIG. 9 shows a side view when the mounting angle of the radio wave type object detection device 2 mounted on the platform 4 is aiming by a conventional aiming method, and the surface of the object 12 other than the radio wave reflection surface 8 is irregular. Since even the radio wave reflected by the radio wave type object detection device 2 is received by the radio wave type object detection device 2, the mounting angle of the radio wave type object detection device 2 in the vertical plane is deviated.

The radio wave type object detection device aiming at the present invention includes a radio wave transmitter and a radio wave receiver. The radio wave receiver receives a radio wave reflected by an object existing in the traveling direction of the radio wave traveling from the radio wave transmitter.
The present invention relates to a method for adjusting the mounting angle of a radio wave type object detection apparatus with respect to a platform. The platform here refers to an article on which a radio wave type object detection device is mounted, such as a vehicle.
The aiming method of the present invention includes a step of positioning a relative positional relationship between an adjustment device including a radio wave lens and a radio wave reflection surface and a platform, and a step of transmitting a radio wave from a radio wave transmitter and receiving the radio wave by a radio wave receiver. And a step of changing the mounting angle of the radio wave type object detection device with respect to the platform based on the radio wave intensity received by the radio wave receiver. The radio wave lens includes a diverging lens that diverges radio waves. Radio waves traveling from the radio wave transmitter include radio waves that diverge by passing through the diverging lens and radio waves that do not diverge. The non-divergent radio wave is reflected by the radio wave reflection surface and received by the radio wave reflection surface. Receive with the instrument.

Radio lenses that change the traveling direction of radio waves are known. For example, when a radio wave passes through a dielectric having a different thickness depending on the location, the radio wave changes its traveling direction. Among radio waves, radio waves having a wavelength close to that of visible light (for example, millimeter waves) converge or diverge by passing through a lens, as in the case of visible light. There are radio lenses that converge radio waves, and there are radio lenses that emit radio waves.
When a radio wave lens that converges radio waves is used, wide radio waves can be converted into directional beams. If the radio wave is converted into a directional beam, a conventional aiming method can be used. Position the relative positional relationship between the adjustment device equipped with the radio wave lens and radio wave reflection surface and the platform in a certain positional relationship, send the radio wave from the radio wave transmitter, receive the radio wave with the radio wave receiver, receive the radio wave The aiming can be performed by changing the mounting angle of the radio wave type object detection device with respect to the platform based on the radio wave intensity received by the instrument. The center axis of the radio wave spreading from the radio wave transmitter or the direction in which the radio wave spreading from the radio wave transmitter travels at the maximum intensity can be aimed so as to take a predetermined direction with respect to the vehicle.
Conversely, a radio wave lens that diverges radio waves can also be used. When a radio wave lens that diverges radio waves is used, the deviation of aiming can be enlarged, and aiming can be performed with high accuracy.
In this method, a converging lens, a diverging lens, a combination of a converging lens and a diverging lens, or a combination of these and a reflecting mirror can be used.

  According to the present invention, when aiming a radio wave type object detection device that uses radio waves that spread widely, a small radio wave reflection surface is sufficient, and the range required for aiming work can be narrow.

The main features of the embodiments described below are listed first.
(Feature 1) The radio wave lens and the radio wave reflection surface are fixed. By positioning the platform with respect to the fixed equipment, the positional relationship between the platform, the radio wave lens, and the radio wave reflection surface is adjusted to a predetermined positional relationship.
(Feature 2) Positioning the radio wave lens and the radio wave reflection surface with respect to the stationary platform adjusts the positional relationship between the platform, the radio wave lens, and the radio wave reflection surface to a predetermined positional relationship.
(Feature 3) The platform is a vehicle.
(Feature 4) Aiming is performed by adjusting both the mounting angle of the radio wave type object detection device in the horizontal plane and the mounting angle in the vertical plane.
(Feature 5) The radio wave type object detection apparatus includes a radio wave transmitter and a radio wave receiver. The radio wave receiver receives a radio wave reflected by an object existing in the traveling direction of the radio wave traveling from the radio wave transmitter.

In the following embodiments, a vehicle is adopted as the platform. FIG. 1 schematically shows an attachment angle of the radio wave type object detection device 2 with respect to the vehicle 4 to be adjusted in the embodiment. The x-axis indicates the front-rear axis of the vehicle 4, y indicates the left-right axis of the vehicle 4, and z indicates the vertical axis of the vehicle 4.
The illustrated arrow 5 indicates the direction in which the radio wave transmitted by the radio wave object detection device 2 propagates at the maximum intensity, that is, the direction that penetrates the point having the maximum radio wave intensity within a spherical surface that is equidistant from the radio wave object detection device 2. Show. The maximum intensity direction 5 is equal to the central axis of the radio wave propagation range that spreads widely.
In the following embodiment, the angle θ1 that the maximum intensity direction 5 makes with the x axis in the xy plane is made coincident with the target angle α1, and the angle θ2 that the maximum intensity direction 5 makes with the x axis in the xz plane coincides with the target angle α2. Let Matching the angle θ1 with the target angle α1 and matching the angle θ2 with the target angle α2 is called aiming.
When the aiming is completed, the position of the object detected by the radio wave type object detection device 2 (position with respect to the radio wave type object detection device 2) can be converted into the position of the object with respect to the vehicle 4.

(First embodiment)
FIG. 2 is a plan view of the aiming method of the first embodiment, and FIG. 3 is a side view thereof.
In FIG. 2, reference numeral 2 indicates a radio wave type object detection device, which includes a radio wave transmitter and a radio wave receiver. The radio wave receiver receives a radio wave reflected by an object existing in the traveling direction of the radio wave traveling from the radio wave transmitter. The same antenna transmits and receives radio waves.
Reference numeral 6 denotes a radio wave lens that converges a radio wave that spreads widely from the radio wave type object detection device 2 and converts it into a directional beam 7. The radio wave lens 6 that converges radio waves can be formed by a dielectric that is thick at the periphery and thin at the center. Reference numeral 8 is a radio wave reflecting surface, which is only slightly larger than the directional beam 7. Despite handling a wide spread radio wave, the entire radio wave can be reflected by the small radio wave reflecting surface 8. Reference numeral 10 exemplifies an object that exists on the side of the radio wave reflecting surface 8, and the object 10 does not affect the aiming.
If the relative positional relationship between the vehicle 4, the radio wave lens 6 and the radio wave reflecting surface 8 is adjusted to a predetermined positional relationship, the radio wave type is obtained when the mounting angle θ1 in the horizontal plane in FIG. 1 is adjusted to the target angle α1. The maximum radio wave intensity is measured by the radio wave receiver of the object detection device 2. Therefore, the relative positional relationship between the vehicle 4, the radio lens 6 and the radio wave reflecting surface 8 is adjusted to a predetermined positional relationship, and the radio wave is transmitted by the radio wave transmitter, and the radio wave receiver is used to measure the radio wave intensity while mounting in the horizontal plane If the angle θ1 is changed and fixed at the mounting angle in the horizontal plane when the maximum radio field intensity is measured, the mounting angle θ1 in the horizontal plane is adjusted to the target angle α1. Since the radio wave lens 6 is provided, by using the small radio wave reflecting surface 8, the mounting angle θ1 in the horizontal plane of the radio wave type object detection device 2 can be matched with the target angle α1 without being affected by the object 10. Can do.

FIG. 3 shows that the object 12 existing in the vertical direction of the radio wave reflecting surface 8 does not affect the aiming.
If the relative positional relationship between the vehicle 4, the radio wave lens 6, and the radio wave reflecting surface 8 is adjusted to a predetermined positional relationship, the radio wave is detected when the mounting angle θ2 in the vertical plane in FIG. 1 is adjusted to the target angle α2. The maximum radio wave intensity is measured by the radio wave receiver of the object detection device 2. Accordingly, the relative positional relationship between the vehicle 4, the radio wave lens 6 and the radio wave reflecting surface 8 is adjusted to a predetermined positional relationship, while the radio wave is transmitted by the radio wave transmitter and the radio wave receiver is used to measure the radio wave intensity, If the mounting angle θ2 is changed and fixed at the mounting angle in the vertical plane when the maximum radio field intensity is measured, the mounting angle θ2 in the vertical plane is adjusted to the target angle α2. Since the radio wave lens 6 is provided, by using the small radio wave reflection surface 8, the mounting angle θ2 in the vertical plane of the radio wave type object detection device 2 is matched with the target angle α2 without being affected by the object 12. be able to.

(Second embodiment)
FIG. 4 shows a plan view of the aiming method of the second embodiment. The same members as those in the first embodiment are given the same reference numerals, and redundant description is omitted.
Reference numeral 14 denotes a radio wave lens that diverges a radio wave that spreads widely from the radio wave type object detection device 2 and changes it to a beam 15 that spreads further and spreads further. For example, it is assumed that the maximum intensity direction 5 of the radio wave transmitted from the radio wave type object detection device 2 is perpendicularly incident on the radio wave reflection surface 8 through the center of the radio wave lens 14. At this time, the traveling direction of the radio wave incident on the radio wave lens 14 at an angle θ3 with respect to the maximum intensity direction 5 from the radio wave transmitter changes to an orientation of θ4 with respect to the maximum intensity direction 5 as indicated by a straight line 17. . The radio wave lens 14 that diverges radio waves can be configured by a dielectric that is thin at the periphery and thick at the center. Reference numeral 8 is a radio wave reflecting surface that reflects radio waves not diverged by the radio wave lens 14. By using the small radio wave reflection surface 8, the radio wave emitted from the radio wave lens 14 does not reach the radio wave reflection surface 8. When the maximum intensity direction 5 slightly swings from the direction toward the radio wave reflecting surface 8, the radio wave intensity received by the radio wave receiver changes sensitively. Since the radio wave intensity changes sensitively, aiming with high accuracy is possible.
If the relative positional relationship between the vehicle 4, the radio wave lens 14, and the radio wave reflecting surface 8 is adjusted to a predetermined positional relationship, the radio wave type is obtained when the mounting angle θ1 in the horizontal plane in FIG. 1 is adjusted to the target angle α1. The maximum radio wave intensity is measured by the radio wave receiver of the object detection device 2. Accordingly, the relative positional relationship between the vehicle 4, the radio lens 14 and the radio wave reflecting surface 8 is adjusted to a predetermined positional relationship, and the radio wave is transmitted by the radio wave transmitter, and the radio wave receiver is used to measure the radio wave intensity while mounting in the horizontal plane. If the angle θ1 is changed and fixed at the mounting angle in the horizontal plane when the maximum radio field intensity is measured, the mounting angle in the horizontal plane is adjusted to the target angle α1. Although not shown, aiming in the vertical plane can be similarly performed.
In the aiming method shown in FIG. 4, since the radio wave lens 14 is a diverging lens, the aiming deviation can be enlarged. High precision aiming is possible.

(Third embodiment)
FIG. 5 shows a side view of the aiming method of the third embodiment. In the third embodiment, the reflecting mirror 18 is added to the first embodiment. By using the reflecting mirror 18, the distance between the radio wave object detection device 2 and the radio wave reflection surface 8 can be secured within a narrow work range. The same members as those in FIGS. 2 and 3 are given the same reference numerals, and redundant description is omitted.
In FIG. 5, reference numeral 18 denotes a reflecting mirror, which is slightly larger in diameter than the directional beam 7 from the radio wave lens 6. The reflecting mirror 18 changes the traveling direction of the directional beam 7 traveling from the radio wave type object detection device 2 vertically upward. The radio wave reflecting surface 8 is installed downward at a position vertically above the reflecting mirror 18 and reflects the directional beam 7 traveling vertically upward from the reflecting mirror 18 vertically downward. The reflecting mirror 18 reflects the directional beam 7 reflected by the radio wave reflecting surface 8 and traveling vertically downward toward the radio wave lens 6. The directional beam 7 traveling toward the radio wave lens 6 converges by passing through the radio wave lens 6 and returns to the radio wave type object detection device 2. The radio wave receiver of the radio wave type object detection apparatus 2 receives the converged directional beam 7 and thus receives a large radio wave intensity. By using the reflecting mirror 18, it is possible to ensure a long radio wave propagation distance within a narrow work range when viewed in plan.
In the aiming method according to FIG. 5, since the radio wave lens 6 is provided, it is not affected by unnecessary reflected radio waves from objects other than the radio wave reflection surface 8. Further, by using the reflecting mirror 18, a long radio wave propagation distance can be secured. Thereby, aiming accuracy can be improved.

(Fourth embodiment)
FIG. 6 shows a side view of the aiming method of the fourth embodiment. The fourth embodiment secures a long distance between the radio wave object detection device 2 and the radio wave reflection surface 8 by adding the reflecting mirror 18 to the second embodiment. The same members as those in FIG. 4 and FIG.
The reflecting mirror 18 travels from the radio wave type object detection device 2 and changes the traveling direction of the radio waves not diverging by the radio wave lens 14 vertically upward. Further, the radio wave reflected by the radio wave reflecting surface 8 is returned to the direction of the radio wave lens 14. That is, the reflecting mirror 18 can increase the propagation distance of the radio wave from the radio wave transmitter to the radio wave receiver within a narrow plane range. Since the radio wave emitted from the radio wave lens 14 does not reach the radio wave reflecting surface 8, the radio wave intensity received by the radio wave receiver changes sensitively due to a slight shift in aiming angle, as in FIG. Furthermore, since the propagation distance of the radio wave from the radio wave transmitter to the radio wave receiver is ensured by using the reflecting mirror 18, the radio wave intensity received by the radio wave receiver due to a slight deviation of the aiming angle is more sensitive. To change. Aiming can be performed with high accuracy in a small work area.

(5th Example)
FIG. 7 shows a side view of the aiming method of the fifth embodiment. The fifth embodiment corresponds to a combination of the third embodiment and the second embodiment. The same members as those in FIGS. 5 and 4 are denoted by the same reference numerals, and redundant description is omitted.
The radio wave lens 6 converges the radio wave that spreads widely from the radio wave transmitter of the radio wave type object detection device 2 and changes it into a directional beam 7. The reflecting mirror 18 changes the traveling direction of the directional beam 7 vertically upward. The radio wave lens 14 diverges the directional beam 7 traveling vertically upward. The radio wave reflecting surface 8 reflects the radio wave traveling vertically upward through the radio wave lens 14 vertically downward. The radio wave reflected vertically downward is reflected by the reflecting mirror 18, passes through the radio wave lens 6, and returns to the radio wave receiver of the radio wave type object detection device 2.
FIG. 7 has both the advantages of the third embodiment and the advantages of the second embodiment. That is, since the radio wave lens 6 that converges the radio wave is used, it is difficult to be affected by reflection from other than the radio wave reflection surface 8. Further, since the radio wave lens 14 that diverges radio waves is used, the radio wave intensity received by the radio wave receiver changes sensitively due to a slight shift in aiming. Since aiming can be performed with a sensitively changing radio wave intensity, accurate aiming is possible. Further, since the reflecting mirror 18 is used, a long propagation distance of radio waves can be ensured within a narrow range. This also enables accurate aiming.

  The technical elements described in this specification or the drawings exhibit technical usefulness alone or in various combinations, and are not limited to the combinations described in the claims at the time of filing. In addition, the technology exemplified in this specification or the drawings achieves a plurality of objects at the same time, and has technical utility by achieving one of the objects.

It is the schematic which shows the attachment angle of the radio wave type object detection apparatus adjusted by aiming. It is a top view which shows typically the aiming method of 1st Example. It is a side view which shows typically the aiming method of 1st Example. It is a top view which shows typically the aiming method of 2nd Example. It is a side view which shows typically the aiming method of 3rd Example. It is a side view which shows typically the aiming method of 4th Example. It is a side view which shows typically the aiming method of 5th Example. It is a top view which illustrates the conventional aiming method typically. It is a side view which illustrates the conventional aiming method typically.

Explanation of symbols

2 Radio wave type object detection device 4 Vehicle 6 Radio wave lens 7 Directional beam 8 Radio wave reflection surface 10 Object 12 Object 14 Radio wave lens 15 Beam 18 Reflector θ1 Horizontal plane angle θ2 Vertical plane angle θ3 Vertical plane angle θ4 Vertical plane angle

Claims (1)

A method of adjusting the mounting angle of a radio wave object detector equipped with a radio wave transmitter and a radio wave receiver that receives a radio wave reflected by an object existing in the traveling direction of the radio wave transmitted by the radio wave transmitter. Yes,
Positioning the relative positional relationship between the adjustment device including the radio wave lens and the radio wave reflection surface and the platform;
A process of transmitting radio waves from a radio wave transmitter and receiving radio waves by a radio wave receiver;
A step of changing the mounting angle of the radio wave object detection device with respect to the platform based on the radio wave intensity received by the radio wave receiver;
The radio wave lens includes a diverging lens that diverges radio waves,
Radio waves traveling from the radio wave transmitter include radio waves that diverge by passing through the diverging lens and radio waves that do not diverge.
A method of adjusting an attachment angle, wherein a non-diverging radio wave is reflected by a radio wave reflection surface, and the radio wave reflected by the radio wave reflection surface is received by a radio wave receiver.

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