JP6386426B2 - Moving body detection device and detection device program - Google Patents

Description

  The present invention relates to a moving body detection apparatus that periodically detects a moving body that appears periodically, and a program thereof.

  As a detection device that detects a moving body, there are a detection device that receives and detects light from the moving body, and a detection device that detects by various methods such as a radar device using radio wave radar. (For example, refer to Patent Documents 1 and 2.) Patent Document 1 is a detection device that detects the movement of an object moving in a space, and in order to detect a moving body that moves in a limited space, a light receiver is installed in the space. ing. Patent Document 2 is a moving object detection device using a radio wave radar, which detects a reflected wave from the target by emitting radio waves to a detection target such as an animal or a ship existing on the ground surface or water surface. Detect objects.

  None of the patent documents disclose that the moving body appears periodically or that the observation of the moving body of the detection apparatus is periodic, and it is assumed that the moving body can be detected.

Japanese Patent Laid-Open No. 10-082636 Japanese Patent Laid-Open No. 05-113478

  However, in a situation where the mobile body itself appears periodically and the detection device itself also periodically observes the mobile body, as shown in FIG. 9, the appearance period and the observation period are in opposite phases, There is a possibility that it cannot be observed at all. In other words, depending on the observation start timing of the detection device, the detection device may not observe while the moving body appears, and the moving body may not appear while the detection device observes. In such a case, the moving body cannot be detected permanently.

  Moreover, even if the appearance cycle and the appearance period of the mobile object are known in advance, the concern that the mobile object cannot be observed as described above cannot be wiped away unless the time when the mobile object appears is known. Furthermore, it is not obvious that the observation start timing for reliably detecting the moving object is determined.

  The present invention has been made in order to solve the above-described problems. When both the moving body and the detection device periodically and asynchronously operate, the observation can be performed at any timing. It is an object to provide a detection device and a program capable of detecting a moving body appearing on the screen.

The moving body detection device of the present invention is a moving body detection device that periodically and periodically detects a moving body that appears periodically, and includes a detector that detects the moving body, and an operation of the detector. And a control unit that controls, and has the following configuration.
- the control unit, the occurrence cycle of the mobile unit p _a, the appearance period of the mobile s _a, the minimum observation period s _ol the detection device detects the moving _object, the detection device is the mobile observing the maximum observation period s _om, wherein the detecting device is an observation period p _o to observe the moving object, preset the occurrence period p _a, relative to the occurrence period s _a, the parameter s _{ol, s} om, _{p o is, s a + s om -2s ol} ≧ gcd (p a, p o) ... (1)
To meet, to observe the moving object to the detector,
The moving body detection device comprises:
A storage unit for storing the appearance period, the appearance period, the observation period, the minimum observation period, and the maximum observation period;
An external I / F for communicating with the outside,
Further comprising
In the storage unit, at least one of the appearance period, the appearance period, the observation period, the minimum observation period, and the maximum observation period is stored via the external I / F,
The said control part makes the said detector observe the said mobile body based on these periods and periods memorize | stored in the said memory | storage part, and the said Formula (1).

  The present invention can also be understood as a program that causes a computer to execute the functions of the control unit.

  According to the present invention, when both a moving body and a detection device periodically and asynchronously operate, it is possible to obtain a detection device capable of detecting a moving body that appears periodically regardless of the timing of observation. Can do.

1 is a conceptual diagram of a system to which a detection device according to an embodiment is applied. It is a figure for demonstrating the system with which the detection apparatus which concerns on embodiment was applied. (A) is a figure which shows the example in case a moving body is a tangible thing, and moves spatially, (b) is a figure which shows the example in case a moving body is an intangible thing and generate | occur | produces and disappears regularly. It is. It is a figure which shows the relationship between a moving body and a detection apparatus. It is a figure which shows the relationship between appearance of a mobile body and observation of a detection apparatus. It is a figure for demonstrating the period which can detect a mobile body. It is a figure for demonstrating the relationship between the appearance point of a moving body and the observation start timing of a detection apparatus. It is a figure for demonstrating the conditions which can be detected irrespective of the observation start timing of a moving body. It is an example of the operation | movement flowchart of a detection apparatus. It is a figure for demonstrating the relationship between the appearance period of a mobile body, and the observation period of a detection apparatus.

  Hereinafter, with reference to the drawings, description will be given of a detection device for periodically detecting a mobile body that appears periodically according to an embodiment of the present invention.

[1. Embodiment]
[1-1. Constitution]
FIG. 1 is a conceptual diagram of a system to which the detection apparatus according to this embodiment is applied. FIG. 2 is a diagram for explaining a system to which the detection device is applied. The system includes a moving body 1 and a detection device 2 that detects the moving body 1.

  The moving body 1 is a target to be detected by the detection device 2. The moving body 1 may be a tangible object or an intangible object as long as it appears periodically. “Appearance” refers to a state in which the mobile device 1 can be observed by the detection device 2.

  Examples of the moving body 1 include an object that physically moves in space, electromagnetic waves, sound waves, or information that is periodically generated and disappeared. More specifically, the moving body 1 is a vehicle that periodically moves, radio waves periodically transmitted from a wireless transmitter, information such as temperature, humidity, and gas concentration that is detected and periodically transmitted by an environmental sensor. And so on. “Movement” in this specification includes not only physical movement of tangible objects but also propagation, irradiation, radiation, transmission, etc. of intangible objects such as electromagnetic waves and information.

  The moving body 1 has an appearance period and an appearance period. FIG. 3 is a diagram illustrating the relationship between the moving body 1 and the detection device 2. As shown in FIG. 3, the appearance period is a period from the appearance of the mobile body 1 to the next appearance, and the appearance period is a period in which the mobile body 1 appears. For example, as shown in FIG. 2A, when the moving body 1 spatially moves periodically, the moving body 1 periodically appears from the gap 12 of the barrier 11. The period from once appearing from the gap 12 to appearing next is the appearance cycle, and the period from appearing from the gap 12 to disappearing is the appearance period. In addition, as shown in FIG. 2 (b), when the mobile body 1 is a radio wave or information that periodically occurs and disappears, the period from one occurrence to the next is the appearance period, The period until it disappears is the appearance period.

  In this specification, radio waves generated from a wireless transmitter and information obtained by sensors are assumed and described as the mobile body 1.

  The moving body 1 has an identifier 1a for identifying itself. The identifier 1a is detected by the detection device 2 when the moving body 1 is detected. When the moving body 1 is, for example, radio waves or information, the identifier 1a is superimposed on these and detected by the detection device 2.

  The detection device 2 observes the moving body 1 at regular observation intervals. This regular observation cycle is realized, for example, when the detection device 2 periodically moves, rotates, or intermittently operates. An observation period within each cycle is determined, and the moving object 1 can be observed only during this period. Therefore, basically, the observation period is shorter than the observation period. If the observation period is longer than the observation period, the observation state is always established.

  Specifically, the detection device 2 includes a detector 2a that detects the moving body 1, an actuator 2b that mechanically drives the detector 2a, a control unit 2c that controls the detector 2a and the actuator 2b, and a detection An external I / F 2d for exchanging information with the outside of the apparatus 2 and a storage unit 2e for storing predetermined values and information are provided.

The external I / F 2d is connected to the control unit 2c and the storage unit 2e. The external I / F 2d is an interface that outputs detection information detected by the detector 2a to the outside of the detection device 2 and receives input from the outside of the detection device 2. Storage unit 2e emergence period _{p a} of the moving body 1, the observation period _{p o} of the detection device 2, the minimum observation period _{s ol,} and stores in advance the maximum observation period _{s om,} or the outside via the external I / F2d The information input from is stored. Moreover, the memory | storage part 2e may memorize | store the detection information detected by the detector 2a.

Here, as shown in FIG. 3, the observation period _po is a period from the start of observation of a certain mobile object 1 by the detection device 2 to the start of the next observation of the mobile object 1. The minimum observation period _sol is the minimum observation time required for detection of the mobile body 1, and the maximum observation period s _om is the maximum time that allows the detection of the mobile body 1 by the detection device 2. In this specification, “observation” means trying to detect the moving body 1, and “detection” means that the detection apparatus 2 has found the moving body 1 as a result of the observation of the moving body 1. Say.

  The detector 2a is a device that detects the moving body 1, for example, a camera that detects light (electromagnetic waves), a sonar that detects an object by sound waves, a wireless receiver that detects radio waves, temperature, humidity, gas concentration, and the like. Examples include environmental sensors to detect. The detector 2a is attached to the actuator 2b. The actuator 2b is a drive mechanism that mechanically drives the detector 2a.

  The control unit 2c is connected to the detector 2a, the actuator 2b, the external I / F 2d, and the storage unit 2e. The control unit 2c controls the operation of the detector 2a based on the preset observation cycle and observation period of the detector 2a. As the observation period and the observation time of the detector 2a, an initial value stored in the storage unit 2e or a value input from the outside via the external I / F 2d can be used.

  The control unit 2c includes a drive control unit 21 that controls the operation of the actuator 2b. The drive control unit 21 generates a signal for controlling the operation of the actuator 2b and outputs the signal to the actuator 2b. Thereby, the operation of the detector 2a is controlled, for example, the detector 2a is periodically directed in a specific direction.

  As an example of the operation control of the detector 2a, as shown in FIGS. 2A and 2B, the actuator 2b has a rotating shaft 23, and the detector 2a is attached to the rotating shaft 23. As the rotary shaft 23 rotates, the detector 2a is periodically directed in a specific direction. When the two detectors 2a are attached back to back about the rotation axis 23, the detection direction is different by 180 degrees, so the detector 2a is directed twice in one rotation in a specific direction. In this case, the observation period is a time for which the detector 2a rotates once, and the observation period is a time during which the moving body 1 can be observed during the one rotation.

  Note that the actuator 2b is not necessary when the detection device 2 operates intermittently, that is, when the moving body 1 is periodically detected without moving physically and without moving. In this case, the drive control unit 21 of the control unit 2 controls the detection of the detector 2a to be intermittent.

Detector 2, the occurrence period p _a of the moving body _1, the appearance period s _a mobile _1, the minimum observation time the s _ol which the detection device 2 for detecting the moving body _1, the detection apparatus 2 observes the moving body 1 maximum observed time _{s om} which, when the detector 2 for the observation period for observing the moving body 1 and _{p o,} preset _p a, relative to _{s a,} parameter _{s ol, s om, p o} is, _{s a + s om -2s ol ≧} gcd (p a, p o) ··· (※) meet to observe the moving body 1. However, the observation period _{p o} between the occurrence period _{p a} mobile 1 detector 2 are real numbers, gcd _(p a, _{p o)} is the occurrence period _{p a} and the detector 2 of the moving body 1 observation period p _The greatest common divisor expanded to a real number of _o . The formula (*) is the following formula (8).

Control unit 2c satisfies a formula (※), comprises the parameter s _{ol, s om,} under the constraint of a fixed one of p _o, the calculation unit 22 for solving the optimization problem detection time is minimized. Parameters to be changed other than the fixed parameters are set, for example, via the external I / F 2d. A known method can be adopted as a solution to the optimization problem.

  The control unit 2c outputs information detected by the detector 2a to the outside of the detection device 2 via the external I / F 2d. This output may be performed voluntarily sequentially by the control unit 2c, or may be stored in the storage unit 2e in time series and output in response to an external request.

  The control unit 2c controls the operation of each unit at a predetermined timing. When the control unit 2c detects an external reset request or an abnormality in the internal state of the detection device 2 via the external I / F 2d, the control unit 2c initializes the detection device 2. The initialization process is setting or resetting the observation period and observation period of the detection device 2. For example, the observation period and the observation period stored in advance in the storage unit 2e are set as initial values. Alternatively, the observation period and the observation period received from the outside via the external I / F 2d are set values for the detection apparatus 2 to operate. By the initialization process, the detection apparatus 2 becomes operable.

[1-2. Detection principle of moving object]
The detection principle of the mobile body 1 when the detection apparatus 2 of the present invention observes the mobile body 1 asynchronously with the mobile body 1 will be described below. Since the moving body 1 and the detection device 2 move, rotate, or intermittently operate asynchronously, the moving body 1 is not detected permanently unless the observation period of the detection apparatus 2 and the movement period of the moving body 1 overlap. become. Therefore, a condition for detecting the moving body 1 is determined no matter what timing the observation is started.

なお、ｓ_ａ＝ｐ_ａならば、移動体１は常時観測可能な状態となる。 [1-2-1. Prerequisites for moving objects]
When the appearance period of the moving body 1 p _a, the occurrence period and s _a, it is assumed that Equation (1) is satisfied.

_{Incidentally,} if s _a = _p a, the moving body 1 is always observable state.

ｓ_ｏｌ＝０，ｓ_ｏｍ＝ｐ_ｏならば、検出装置２は常時観測状態となる。 [1-2-2. Prerequisites for detection equipment]
Observation cycle _{p o} of the detection device 2, the minimum observation period _{s ol,} when the maximum observation period was _{s om,} it is assumed that equation (2) is satisfied. Here, the minimum observation period is the minimum observation period necessary for detection of the mobile object 1, and the maximum observation period is the maximum time during which the mobile object 1 can be observed. It is assumed that the detection device 2 can continuously observe from the minimum observation period to the maximum observation period.

If _{s ol = 0, s om =} p o, the detection device 2 is always observed state.

[1-2-3. Prerequisites for detection]
To detect the moving body 1, the detection device 2, it takes a period of minimum s _ol, the relationship of the formula (3) between the occurrence period s _a mobile 1 must hold.

Further, the appearance period s _a mobile 1, the detection device 2 of the observation period from s _ol to s _om, if possible observe moving body 1 over a period of at least s _ol, the moving body 1 Can be detected. Due to the relationship between these periods, a period s _{d in} which the moving body 1 can be detected can be obtained as shown in FIG.

That is, starting the occurrence period s _a is the period from the occurrence start time t _a until the advent end time t _b, from the minimum period required for detection is s _ol, the observation from the previous s _ol from the appearance end time t _b Then, the moving body 1 can be detected (s _a -s _ol ). On the other hand, be started appearing starting time t _a simultaneously with the observation can detect the moving body 1 in a minimum time s _ol, the observation from the appearance start time t _a from s _ol advanced time than s _om before time Even if it starts, the moving body 1 can be detected. In other words, it can detect the moving body 1 be started observed at from occurrence start time _{t a (s} om _{-s ol)} previous time.

This detectable period s _d can be expressed by Equation (4), and s _d is called a moving object detection margin.

This moving object detection margin s _d can be interpreted as the maximum observation start timing width at which the detecting device 2 can detect the moving object 1 in each appearance period of the moving object 1.

From the equations (2) and (3), the moving object detection margin _sd is determined to be 0 or a positive number. When s _d = 0, as is clear from equation (4), when A (= s _a -s _ol ) and B (= s _om -s _ol ) shown in FIG. (2) and Eq. (3), when considering that A ≧ 0 and B ≧ 0, this is the case when s _a = s _ol = s _om , and the appearance timing of the moving body 1 and the observation timing of the detection device 2 are exactly A critical state in which the moving body 1 can be detected only when it is aligned at the same time is shown.

If the appearance timing of the mobile body 1 and the observation timing of the detection device 2 are not in an appropriate relationship, the mobile body 1 cannot be detected or even observed. Furthermore, if it can be observed, the mobile body 1 cannot be detected unless both timings satisfy further conditions according to the mobile body detection margin _sd .

Therefore, when seeking for detectable time conditions the moving body 1, if the occurrence start time of the moving body 1 and a t _a, the detection device 2 observation start time t _o, the formula (5).

That is, the moving body 1 can be detected only when the difference between the appearance timing and the observation timing is equal to or less than the moving body detection margin _sd . This equation (5) is called a dynamic detection condition.

[1-2-4. Possibility of moving object detection]
Regardless of whether the appearance start timing of the mobile body 1 and the observation start timing of the detection device 2 are synchronous or asynchronous, the maximum detection time from the time when the mobile body 1 is detected until the next time the mobile body 1 is detected is known. This is necessary for expressing the characteristics of the detection system of the moving body 1.

  Furthermore, no matter what timing the detection device 2 starts observation, the detection device 2 is not complete unless the target mobile body 1 can be detected. For this reason, it is necessary to obtain a condition capable of detecting the moving body 1 even when observation is started at an arbitrary timing. This condition is called a static condition.

Based on the dynamic detection condition of Equation (5), if the appearance start time ta of the mobile object 1 is used as _a reference, a relatively instantaneous mobile object appearance point (mobile object appearance start point) is a mobile object detection margin period. If this is observed, the moving body 1 can be detected. As shown in FIG. 5, the mobile appearance point, for each application cycle p _a for the emergence starting point of the moving body 1, the moving body detection margin s _d is obtained by calculation in one occurrence period s _a Therefore, it can be interpreted as periodically occurring at every observation period _po .

[1-2-5. Maximum detection time]
Considering the maximum detection time, since the mobile body 1 and the detection device 2 operate periodically at regular intervals, the period from the time when a mobile body 1 is detected until the mobile body 1 can be detected next is the maximum detection time. It will be time.

Here, the greatest common divisor of the occurrence period _{p a} the observation period _{p o G = gcd (p a} , p o), the _{L = lcm (p a, p} o) and the least common multiple. These can be extended to real numbers as well as integers. For example, gcd (5.0, 2.7) = 0.1, 1 cm (5.0, 2.7) = 135 can be obtained.

Maximum detection time, the nature of the problem, it can be seen equal to the least common multiple L of the occurrence period p _a of the moving body 1 and the observation period p _o of the detection device 2.

[1-2-6. Static detection condition]
Next, consider a static detection condition in which the moving body 1 can be detected no matter what timing the detection device 2 starts observation. When the appearance start point of the moving body 1 is referred to as a mobile appearance point, relative observation time t _d existing between the moving object appearance point adjacent (i.e. the occurrence period p _a) it is not a suitable negative 2 integers a, By b, it can express as a formula (6). However, the relative time t _d is the reference mobile appearance point shall be measured as 0 ≦ t _{d <p a.}

Because of the property of the least common multiple, L = k _a × p _a = k _o × _po can be expressed by two prime integers k _a and k _o , so the relative time t _d can be expanded as shown in Equation (7). .

Factor molecules of the rightmost side p _a formula (7), since k _a, k _o are disjoint, a, by way of taking b, that can constitute an arbitrary integer not an integer theoretic negative Are known. Moreover, from the condition of maximum detection time, since the moving body 1 is detected by the _{k o} times observation, from further measurement conditions of relative time _{t d, 0 ≦ a × k} a -b × k o <k o Therefore, it can be said that the numerator of the coefficient takes an integer from 0 to k _o −1.

Here, when the 1 of the same factor molecules, since Equation (7) becomes _{t d = (1 / k o} ) × p a, as shown in FIG. 6, evenly _{k o} divided between mobile appearance point And it turns out that the detection of the moving body 1 is started in all the division points. Furthermore, the relation of the least common multiple and the greatest common divisor, from _{L = k a × k o ×} G = k a × p a, can lead to p a = _{k o} × G. From this equation, the appearance period p _a of the moving body 1, it can be said that for k _o divided by G unit which is the greatest common divisor of the observation period p _o and the appearance period p _a.

For this reason, as shown in FIG. 7, if it is possible to over all occurrences period p _a is disposed with no space mobile detection margin s _d based on the division point, undetectable mobile 1 probability It can be seen that can be set to zero.

Therefore, conditions that can detect the moving body 1 from any point is that the equation (8) as mobile detection margin s _d is the occurrence period p _a the observation period p _o greatest common divisor G or more . This condition is a static detection condition.

In other words, since the parameters p _a and s _a relating to the moving body 1 are fixed, the detection apparatus 2 satisfies the equation (8) using the minimum observable time s _ol , the maximum observable time s _om , and the observation period _po as parameters. If the observation is performed under the conditions, the moving body 1 can always be detected even if the observation is started at an arbitrary timing.

When satisfying this static detection condition, if the existence probability of the observation start time is uniform over the occurrence period p _a, the average number of observations to the detection of the moving body 1 <N _o> is formula (9 ). Using Equation (9), the average observation time is obtained as <N _o > × _po .

[1-3. Action]
The operation of the detection device of the present invention will be described with reference to FIG. FIG. 8 is an operation flowchart of the detection apparatus 2. Note that the operations and the order shown in FIG. 8 are merely examples, and the present invention is not limited to these.

The operation of the detection device 2 mainly includes reset, observation, detection of the moving body 1, and output of detection information. Given the time of observation start of the detection device 2, the moving body 1 is assumed to be operating at a predetermined occurrence period p _a and the appearance period s _a. The occurrence period p _a and the occurrence period s _a is assumed to be previously stored due via the external I / F2d in the storage unit 2e of the detection device 2.

First, reset is performed as an initialization process of the detection apparatus 2 (step S01). That is, the observation period p _o , the minimum observation period s _ol , and the maximum observation period s _om performed by the detection device 2 are set. This setting is set to each initial value stored in advance in the storage unit 2e of the detection device 2, or to each value stored in the storage unit 2e from the outside of the detection device 2 via the external I / F 2d. Here, the setting of each parameter is assumed to be the latter.

Next, the control unit 2c of the detection device 2, the actuator 2b is operated, the set observation cycle _{p o} and the observation period _{s ol,} based on _{s om,} starts observation of the moving body 1 at the detector 2a ( Step S02). At this time, the detection device 2 periodically moves or rotates. Alternatively, the actuator 2b may be eliminated, and the detector 2a may be directly operated intermittently by the controller 2c.

When the observation is started, the detector 2a detects the moving body 1 in an observation period within a predetermined number of times of the detection device 2 (step S03). Since the detection device 2 satisfies the above equation (8), it can be detected by the maximum detection time. For example, if the observation start is uniform, the moving object 1 is averaged by (k _o +1) / 2 observations. Is detected. The detector 2a outputs the detection information of the moving body 1 to the outside of the detection device 2 via the storage unit 2e or directly via the external I / F 2d (step S04). The output timing may be set for each observation period _po , or the detection information may be stored in time series in the storage unit 2e and in response to an external request.

  When the reset request from the outside or the control unit 2c detects an abnormality in the internal state (Yes in step S05), the process returns to step S01 to reset. If there is no request or abnormality detection (No in step S05), the presence or absence of an end request from the outside of the detection apparatus 2 is confirmed. If there is no end request (No in step S06), the process returns to step S02 and observation is continued. To do. If there is a termination request (Yes in step S06), the observation of the detection device 2 is terminated.

[1-4. Example]
Next, an application example of the detection device 2 of the present invention will be described. That is, while showing specific examples of the moving body 1 and the detection device 2, the operation examples and merits thereof will be described.

(1) Normal system 1
The moving body 1 is environmental information such as the temperature, humidity, and gas concentration of the measurement object detected by the environmental sensor. In other words, the environmental sensor is driven by a battery, and in order to reduce power consumption, it periodically senses intermittently, and the detected information is intermittently intermittently by the wireless I / F provided in the sensor. Output to the outside. The period of the intermittent operation is the appearance period of the moving body 1, and the time during which the detected environmental information is output is the appearance period. The wireless I / F has a plurality of channels, and one of the channels is selected prior to operation, and environmental information is output on the channel.

  The detection device 2 is an environmental information collection device. The environmental information collection device may receive environmental information output from the environmental sensor via the wireless I / F that is the detector 2a, and may perform storage in the storage unit 2e or processing in the control unit 2c. The environmental information collection device performs re-output such as analysis of received environmental information, distribution to the outside, and relay. Note that the detection device 2 does not require the actuator 2b, and the control unit 2c controls the wireless I / F, which is the detector 2a, to operate intermittently.

  The wireless I / F has a plurality of channels, and periodically switches the channels in order and tries to input environmental information, that is, to observe. For example, if the number of channels is 60 and the switching time is 1 second, the observation period is 1 minute and the observation period is 1 second.

  Note that it is preferable not to input from a plurality of channels at the same time because the apparatus configuration becomes complicated.

  When the intermittent operation of the environmental sensor and the channel switching period of the environmental information collection device are constant, the environmental information collection device can collect environmental information from a plurality of environmental sensors.

  According to the present invention, even if the output of environment information by the environment sensor and the channel switching of the environment information collection device are asynchronous, the output environment information can always be detected. In addition, since it is not necessary to provide a dedicated synchronization signal path for information transmission regardless of wired or wireless between the environmental sensor and the environmental information collecting apparatus, it is possible to realize infrastructure saving and low cost.

  Since the environmental sensor intermittently outputs not only sensing but also detected environmental information, it is energy saving and is particularly beneficial in situations where the battery capacity is limited. By using only a single channel, the environment information collection device does not input from all channels simultaneously, so that the device configuration can be simplified and the cost can be reduced.

(2) Normal system 2
Since the normal system 2 is basically the same as the normal system 1, only different points will be described. The wireless I / F of the environmental sensor and the wireless I / F of the environmental information collection device each have only a single channel, and these are the same channel. There are a plurality of environmental sensors, and the output cycle of each environmental sensor is the same intermittently. The output cycle of each environmental sensor may be synchronized or asynchronous. The output cycle is the appearance cycle of the moving body 1, and the time during output is the appearance period.

  The environmental information collection device is driven by a battery. In order to achieve low power consumption, intermittent operation is performed periodically. That is, the period of this intermittent operation is an observation period, and the time during operation is an observation period.

  Even in such an example, the environmental information collection device can collect environmental information from a plurality of environmental sensors.

(3) Normal system 3
The moving body 1 is light from a searchlight. A searchlight projects light by rotating the light at a constant cycle by an actuator provided in the searchlight. The rotation period of the searchlight is the light appearance period, and the period during which light can be observed is the appearance period.

  The detection device 2 is a searchlight maintenance device. The searchlight maintenance device is a device that includes a light receiver as the detector 2a and inspects whether or not the radiation light from the searchlight is correctly irradiated to the place where the device is installed. The light receiver is rotated by an actuator, and can move on the light receiving surface at a constant cycle, and receives radiation light from each direction. In this case, the rotation period of the light receiver by the actuator is an observation period, and a part thereof is an observation period.

  If each rotation period of the searchlight and the actuator of the searchlight maintenance device is constant, the searchlight maintenance device can receive the light emitted from the plurality of searchlights. Therefore, there is no need to provide a dedicated synchronization signal path for matching the normal lines of the radiation surface and the light receiving surface between the search light and its maintenance device, and it is possible to realize infrastructure saving and low cost. In addition, since a plurality of searchlights can be maintained by one maintenance device, the system can be simplified and low cost can be realized.

(4) Abnormal system The detection device 2 can also detect an abnormality. For example, in the normal system 1 described above, the period of the least common multiple of the intermittent output cycle (that is, the appearance cycle) of the environmental sensor and the channel switching cycle (that is, the observation cycle in one channel) of the environmental information collection device has passed. However, if the environmental information collection device cannot collect environmental information, it is suspected that the quality of the wireless channel may have deteriorated due to a failure of the environmental sensor or external noise. This is because the period of the least common multiple is the maximum detection time of the environmental information collection device as described above.

(5) adaptive example, in the normal system 2 of the system, the intermittent operation period of one environmental sensor (the occurrence period p _a) is assumed to be unknown. However, it is assumed that the appearance period s _a (environment information output period) is known.

The environmental information from the environmental sensor is stored in the storage unit 2e with the time when the environmental information collection device first inputs it via the wireless I / F and the time when it is input for the second time, and the control unit 2c calculates the difference between these times. Ask. When this difference is referred to as a detection interval time tau, the control unit 2c, the detection interval time tau and the known occurrence period s _a, observation period p based on _o, intermittent operation period satisfy equation (8) (the occurrence period p _a ) is obtained.

An example of how to obtain this will be described. The detection interval time τ is equal to or shorter than the maximum detection time L (τ ≦ L). Maximum detection time in order that L represented by _{L = k o × p o =} k a × p a, the inequality to be _{τ ≦ k o × p o =} k a × p a is led, a plurality of intermittent operation satisfying the inequality A period (appearance period p _a ) is assumed. In other words, the combination product of the integer k _a and the intermittent operation period p _a satisfies L is several assumptions. However, since there is a restriction that k _o and k _a are relatively prime integers, the number of assumed intermittent operation periods (appearance periods p _a ) is limited.

In addition, there are the following restrictions. That is, the intermittent operation period _{p a} which is assumptions given above formula _{(1) (s a ≦ p} a), formula _{(8) (s d ≧ G} ), from _{p a = k 0 × G,} s a ≦ p _a ≦ k _o × s _d must be satisfied. If rewritten using inequality τ ≦ _{k o} × _{p o} detection interval time tau and the maximum detection time L, it must fulfill _{s a ≦ p a ≦ (τ} / p o) × s d.

Here, the appearance period s _a lower limit value is known. Furthermore, the moving object detection margin s _d is known because it is represented by _a known appearance period s _a , maximum observation period s _om , and minimum observation period _sol . Further, the detection interval time τ and the observation period _po are known. Therefore, the upper limit value (τ / p _o ) × s _d is also known. Therefore, because it is sandwiched by the known lower limit and the upper limit value, the candidate of the hypothesized intermittent operation period p _a is further narrowed.

Intermittent operation period p _a is assumed from these limitations. The assumed intermittent operation period p _a is, checks whether to satisfy the equation (8). That is, the inspection can be performed by substituting p _a ′ assumed in the greatest common divisor G = gcd (p _a ′, p _o ). Only assumptions that satisfy equation (8) are extracted.

The environmental information input time difference, assumption, inspection, and extraction are performed by the control unit 2c of the environmental information collection apparatus. The control unit 2c, for example, calculation unit for obtaining the difference, and the inequality _{(τ ≦ k o × p o} = k a × p a) derived from the above difference and the observation period _{p o,} and each constraint _{(k o} k _a is to be relatively prime _{integers, s a ≦ p a ≦ (} τ / p o) × s d) the occurrence period _{p a} satisfying of 'assuming assuming part, assumed the occurrence period _{p a'} And an extraction unit for extracting the appearance period p _a ′ satisfying Expression (8).

  When the extracted assumption is one, it is assumed that the intermittent operation cycle of the environmental sensor whose appearance cycle is unknown can be estimated. On the other hand, a plurality of assumptions may be extracted. In that case, the test actually detected in each assumed appearance period is performed a plurality of times. The extraction unit checks whether each of the above formulas (for example, formulas (1) and (8)) is satisfied. One appearance period is estimated. For example, a detection test can be performed a plurality of times, an average of the number of observations until the detection can be obtained, whether the equation (9) is met, and narrowed down to one appearance period.

[1-5. effect]
(1) The mobile body 1 detection device 2 of the present embodiment is a mobile body detection device that periodically and periodically detects mobile bodies that appear periodically, and a detector 2a that detects the mobile body 1; The detector 2a is attached, and includes an actuator 2b that drives the detector 2a, and a controller 2c that controls the actuator 2b and controls the operation of the detector 2a. The appearance cycle is p _a , the appearance period of the moving body 1 is s _a , the minimum observation period in which the detection device 2 detects the moving body 1 is _sol , and the maximum observation period in which the detection device 2 observes the moving body is s _om When the observation period the apparatus 2 observes the moving body 1 and _{p o,} preset the occurrence period _{p a,} with respect to the appearance period _{s a,} the parameter _{s ol, s om, p o} it _{is, s} a ₊ s _{om -2s ol ≧ gcd (p a,} p o The actuator 2b is controlled so as to satisfy ... (8), and so as to observe the moving body 1 to the detector 2a. However, the observation period _{p o} between the occurrence period _{p a} mobile 1 detector 2 are real numbers, gcd _(p a, _{p o)} is the occurrence period _{p a} and the detector 2 of the moving body 1 observation period p _The greatest common divisor expanded to a real number of _o .

  Alternatively, the actuator 2b may be eliminated, and the control unit 2c may control the operation of the detection unit 2a so that the detector 2a observes the moving body 1 so as to satisfy Expression (8).

  As a result, the moving body 1 can always be detected no matter what timing the moving body 1 is observed. Further, since it is not necessary to provide a dedicated synchronization signal path, it is possible to realize infrastructure saving and low cost.

(2) the occurrence period _{p a,} the appearance period _{s a,} observation cycle _{p o,} the minimum observation period _{s ol,} and a storage unit 2e for storing the maximum observation period _{s om,} external I / F2d for communicating with the outside When provided with, in the storage unit 2e, the occurrence period _{p a,} the appearance period _{s a,} observation cycle _{p o,} the minimum observation period _{s ol,} and the maximum observation period _s at least one of _om via the external I / F2d Based on these periods and periods stored in the storage unit 2e and the above equation (8), the control unit 2c causes the detector 2a to observe the moving body 1.

Thus, as a parameter necessary for the detection of the moving body 1, preset the occurrence period _{p a,} the appearance period _{s a,} observation cycle _{p o,} and the observation period _{s ol, s om} well, these external Since the input can be received, detection suitable for an external request can be performed.

(3) In the storage unit 2e, the appearance period of the moving body 1 is stored, and when the appearance period of the moving body 1 is unknown and not stored, the storage unit 2e detects the moving body 1 by the detector 2a. The time and the time when the mobile body 1 is detected next are stored, and the control unit 2c calculates the difference between the two times stored in the storage unit 2e, and based on the difference and the observation period _po It was to determine the occurrence period p _a satisfying equation (8).

  Thereby, even if it is a case where the appearance period of the mobile body 1 of a detection target is unknown, the appearance period of the said mobile body 1 can be estimated from the detection time information of the mobile body 1. Since the estimated appearance period satisfies the equation (8), even when observation is started at an arbitrary timing, the mobile body 1 can be detected without fail.

(4) When the detector 2a does not detect the moving body 1 within the maximum detection time that is the least common multiple of the appearance period of the moving body 1 and the observation period of the detection device 2, the control unit 2c A signal that informs the outside of the abnormality is output.

  Accordingly, since the detection device 2 can detect the moving body 1 within the maximum detection time, if the detection device 2 does not detect within the time, whether the detection target moving body 1 has failed or the detector 2a It can be determined that there is an abnormality such as being affected by external noise. Therefore, other measures can be taken without observing the moving body 1 indefinitely.

(5) The storage unit 2e stores any two of the observation period, the minimum observation period, and the maximum observation period via the external I / F 2d, and the control unit 2c stores the appearance period stored in the storage unit 2e, The remaining observation period that satisfies the above equation (8) and has the minimum detection time of the moving object 1 under the constraint that any two of the appearance period, the observation period, the minimum observation period, and the maximum observation period are fixed The operation unit 22 for obtaining either the minimum observation period or the maximum observation period is provided.

  Thereby, the time for detecting the moving body 1 can be minimized.

[2. Other Embodiments]
The present invention is not limited to the above-described embodiments as they are, and can be embodied by modifying the constituent elements without departing from the scope of the invention in the implementation stage. In addition, various inventions can be formed by appropriately combining a plurality of components disclosed in the embodiment. For example, some components may be deleted from all the components shown in the embodiment.

  In the above-described embodiment, the present invention has been described as the detection device 2 for the moving body 1, but can also be understood as a program for the detection device 2. That is, it is a program for executing control performed by the control unit 2c of the detection device 2.

For example, the following program is included in the aspect of the present invention. That is, it is a program of the detection device 2 that periodically detects the mobile body 1 that appears periodically, and the detection device 2 includes a detector 2a that detects the mobile body 1 and a detector 2a. an actuator 2b for driving the detector 2a, and a computer, on the computer, the appearance period of the moving body 1 p _a, the appearance period s _a moving body _1, the detector 2 detects the moving body 1 minimum observation period s _ol, the maximum observation period of s _om the detection apparatus 2 observes the moving body _1, when the observation period in which the detection apparatus 2 observes the moving body 1 and p _o, preset the occurrence period p _a for emergence period _{s a,} the parameter _{s ol, s om, p o is, s a + s om -2s ol} ≧ gcd (p a, p o) ... controls the detector 2a so as to satisfy (8) Generate a signal to It is a program that executes the process.

In addition, a program for executing the processing of the arithmetic unit 22, a program for estimating the unknown appearance period p _a is also an aspect of the present invention.

DESCRIPTION OF SYMBOLS 1 Mobile body 1a Identifier 2 Detection apparatus 2a Detector 2b Actuator 2c Control part 21 Drive control part 22 Calculation part 2d External I / F
2e storage unit

Claims (5)

A moving body detection device for periodically detecting a moving body that appears periodically, asynchronously,
A detector for detecting the moving body;
A control unit for controlling the operation of the detector;
With
The controller is
The occurrence period of p _a of the moving _body, appearance period s _a of the movable _body, the maximum observation period minimum observation period of s _ol the detection device detects the moving _object, the detector observes the moving object S _om , and the observation period in which the detection device observes the moving body is p _o, and the parameters s _ol , s _om , p for the appearance period p _a and the appearance period s _a set in advance. _{o
s a + s om -2s ol ≧} gcd (p a, p o) ... (1)
To meet, to observe the moving object to the detector,
The moving body detection device comprises:
A storage unit for storing the appearance period, the appearance period, the observation period, the minimum observation period, and the maximum observation period;
An external I / F for communicating with the outside,
Further comprising
In the storage unit, at least one of the appearance period, the appearance period, the observation period, the minimum observation period, and the maximum observation period is stored via the external I / F,
The control unit causes the detector to observe the moving body based on the period and period stored in the storage unit and the equation (1).
An apparatus for detecting a moving body. In the storage unit, the appearance period of the moving object is stored, and when the appearance period of the moving object is unknown and not stored,
The storage unit stores a time when the detector detects the moving body, and a time when the moving body is detected next,
The controller is
Calculating a difference between both times stored in the storage unit, and determining the appearance period satisfying the expression (1) based on the difference and the observation period;
The moving body detection device according to claim 1 . When the detector does not detect the moving body within the maximum detection time that is the least common multiple of the appearance period of the moving body and the observation period of the detection device, the control unit is configured to pass through the external I / F. Output a signal to notify the outside
Moving object detection apparatus according to claim 1 or 2, characterized in. In the storage unit, any two of the observation period, the minimum observation period, and the maximum observation period are stored via the external I / F,
The controller is
The expression (1) is satisfied under the constraint that any two of the appearance period, the appearance period, the observation period, the minimum observation period, and the maximum observation period stored in the storage unit are satisfied, and A calculation unit that obtains one of the remaining observation period, the minimum observation period, and the maximum observation period in which the detection time of the moving object is minimized;
The apparatus for detecting a moving body according to any one of claims 1 to 3 , wherein A program for a detection device that periodically detects a moving body that appears periodically, the detection device comprising:
A detector for detecting the moving body;
With
On the computer,
The occurrence period of p _a of the moving _body, appearance period s _a of the movable _body, the maximum observation period minimum observation period of s _ol the detection device detects the moving _object, the detector observes the moving object S _om , and the observation period in which the detection device observes the moving body is p _o, and the parameters s _ol , s _om , p for the appearance period p _a and the appearance period s _a set in advance. _{o
s a + s om -2s ol ≧} gcd (p a, p o) ... (1)
A process of generating a signal for controlling the detector so as to satisfy ,
The detection device includes:
A storage unit for storing the appearance period, the appearance period, the observation period, the minimum observation period, and the maximum observation period;
An external I / F for communicating with the outside,
Further comprising
In the storage unit, at least one of the appearance period, the appearance period, the observation period, the minimum observation period, and the maximum observation period is stored via the external I / F,
Causing the computer to execute a process of generating a signal for controlling the detector based on the period and the period stored in the storage unit and the equation (1),
A detection apparatus program characterized by the above.

Images