Object detection device

Abstract

To provide a relocatable object detection device that fully utilizes the performance of the radar system. [Solution] The object detection device is a movable object detection device installed to detect an object located in the gap between a first member and a second member that are positioned side by side in a first direction intersecting vertically, and comprises a first housing, a second housing, at least one radar device, and a plurality of reflectors. The first housing is adjacent to the first member, and the second housing is adjacent to the second member. The radar device is provided in the first housing and is configured to transmit radio waves and receive reflected waves of the transmitted radio waves. The plurality of reflectors are provided at different heights in the vertical direction of the second housing and are configured to reflect radio waves emitted from the radar device.

Description

Technical Field

[0001] The present disclosure relates to an object detection device.

Background Art

[0002] Patent Document 1 discloses a safety and startup device for an automatic door in which a transmissive non-contact proximity switch is provided on a movable opening / closing door of the automatic door.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] The safety and startup device of Patent Document 1 does not take into consideration the relocation to different automatic doors and the guarantee of the performance of the transmissive non-contact proximity switch associated with this relocation.

[0005] An object of the present disclosure is to provide a relocatable object detection device that can fully exhibit the performance of a radar device.

Means for Solving the Problems

[0006] An object detection device according to one aspect of the present disclosure is a relocatable object detection device installed so as to be able to detect an object located in a gap between a first member and a second member arranged side by side in a first direction intersecting the vertical direction, a first housing adjacent to the first member, a second housing adjacent to the second member at least one radar device provided in the first housing and configured to transmit radio waves and receive reflected waves of the transmitted radio waves, A plurality of reflectors are provided at different heights in the vertical direction of the second housing and are configured to reflect radio waves emitted from at least one radar device. It is equipped with. [Effects of the Invention]

[0007] According to this disclosure, it is possible to realize a relocatable object detection device while fully utilizing the performance of the radar device. [Brief explanation of the drawing]

[0008] [Figure 1] A perspective view illustrating a mode of use of an object detection device according to one aspect of the present disclosure. [Figure 2] A first perspective view showing the object detection device of Figure 1. [Figure 3] A second perspective view showing the object detection device of Figure 1. [Figure 4] A cross-sectional view along line IV-IV in Figure 2. [Figure 5] A plan view showing a first modified example of the object detection device shown in Figure 1. [Figure 6] A plan view showing a second modified example of the object detection device shown in Figure 1. [Figure 7] A plan view showing a third modified example of the object detection device shown in Figure 1. [Figure 8] A first perspective view showing a first modified example of the object detection device of Figure 1. [Figure 9] A second perspective view showing a first modified example of the object detection device of Figure 1. [Figure 10] A plan view showing a first modified example of the object detection device shown in Figure 1. [Figure 11] A perspective view showing a second modified example of the object detection device shown in Figure 1. [Figure 12] A perspective view showing the first housing of the object detection device in Figure 11. [Figure 13] A perspective view showing the second housing of the object detection device in Figure 11. [Modes for carrying out the invention]

[0009] Various aspects of the present disclosure will be described.

[0010] The object detection device according to the first aspect is A relocatable object detection device that is installed so as to be able to detect an object located in a gap between a first member and a second member arranged side by side in a first direction intersecting the vertical direction, A first housing adjacent to the first member, A second housing adjacent to the second member At least one radar device provided in the first housing and configured to transmit radio waves and receive reflected waves of the transmitted radio waves, A plurality of reflectors provided at different heights in the vertical direction of the second housing and configured to reflect the radio waves emitted from the at least one radar device respectively And comprising.

[0011] The object detection device according to the second aspect is the object detection device according to the first aspect, The first housing and the second housing are a first support column and a second support column extending along the vertical direction respectively, A first claw portion for fixing the first support column to the first member, A second claw portion for fixing the second support column to the second support column And comprising.

[0012] The object detection device according to the third aspect is the object detection device according to the first aspect or the second aspect, The first housing has a first opposing surface facing the second housing in the first direction, The second housing has a second opposing surface facing the first housing in the first direction, When viewed along the vertical direction, the first opposing surface has a convex shape protruding toward the second opposing surface, and the second opposing surface has a concave shape recessing in a direction away from the first opposing surface, or the first opposing surface has a concave shape recessing in a direction away from the second opposing surface, and the second opposing surface has a convex shape protruding toward the first opposing surface.

[0013] The object detection device of the fourth embodiment is an object detection device of the first to third embodiments, The number of the plurality of reflectors is greater than the number of the at least one radar device.

[0014] The object detection device of the fifth embodiment is an object detection device of the first to fourth embodiments, The at least one radar device includes a first radar device located at the upper vertical end of the first housing, The first housing includes a covering member configured to cover one side of the first radar device in the vertical direction and a second direction intersecting the first direction, thereby limiting the detection range of the first radar device.

[0015] The object detection device of the sixth embodiment is an object detection device of the first to fifth embodiments, The aforementioned at least one radar device, A transmitting unit that transmits radio waves toward the plurality of reflectors, A receiving unit that receives radio waves reflected by the aforementioned plurality of reflectors Includes, The transmitting unit and the receiving unit are adjacent to each other.

[0016] The object detection device of the seventh embodiment is an object detection device of the first to sixth embodiments, At least one of the radar devices or at least one of the plurality of reflectors is located higher than the first member or the second member in the vertical direction.

[0017] The object detection device of the eighth embodiment is an object detection device of the first to seventh embodiments, The first housing and the second housing are located on one side of the first member and the second member in a second direction that intersects the vertical direction and the first direction.

[0018] The object detection device of the ninth embodiment is an object detection device of the first to seventh embodiments, The first housing is fixed to the upper vertical end of the first member, The second housing is fixed to the upper vertical end of the second member.

[0019] The embodiments of this disclosure will be described below with reference to the drawings. The following description is not limiting to this disclosure and is essentially illustrative, and may be modified as appropriate without departing from the spirit of this disclosure. The drawings are schematic, and the proportions of the dimensions, etc., do not necessarily correspond to those of reality.

[0020] An object detection device 1 in one aspect of the present disclosure is configured to detect objects (e.g., people, luggage) located in gaps 120 and 130 where platform doors (or platform fences) are installed in wall members 111, 112, and 113 installed along the tracks 210 of a station platform 100 of a train 200, as shown in Figure 1. The wall members 111, 112, and 113 are located along a first direction (e.g., the X direction) intersecting the vertical direction (e.g., the Z direction). Gap 120 is located between wall member 111 (an example of a first member) and wall member 112 (an example of a second member), and gap 130 is located between wall member 112 (an example of a first member) and wall member 113 (an example of a second member). The object detection device 1 is configured to be repositionable, for example, from a state in which it is configured to detect objects located in a certain gap (e.g., gap 120) to a state in which it is configured to detect objects located in a different gap (e.g., gap 130).

[0021] As shown in Figures 2 and 3, the object detection device 1 comprises a first support column 10 of an example of a first housing, a second support column 20 of an example of a second housing, at least one radar device 30, and a plurality of reflectors 40. The radar device 30 is provided on the first support column 10, and the reflectors 40 are provided on the second support column 20. In this embodiment, the object detection device 1 comprises one radar device 30 (hereinafter referred to as the first radar device 31), five reflectors 40, a connecting member 50 connecting the first support column 10 and the second support column 20, a first claw portion 11, and a second claw portion 21. In other words, the number of reflectors 40 is greater than the number of at least one radar device 30.

[0022] The first support column 10 is adjacent to the wall member 111 and extends along the vertical direction Z. In this embodiment, the first support column 10 includes a screen member 12 and has a plate-like shape that extends from the platform 100 to the upper end of the wall member 111 in the vertical direction Z, and is in contact with the end face in the first direction X that constitutes the gap 120 of the wall member 111. The dimensions of the first support column 10 in the vertical direction Z and in a second direction (e.g., the Y direction) intersecting the first direction X are slightly larger than those of the wall member 111.

[0023] The concealing member 12 is configured to cover one side of the first radar device 31 in the second direction Y, thereby limiting the detection range of the first radar device 31. In this embodiment, as shown in Figure 4, the concealing member 12 is located midway in the second direction Y at the upper end 101 in the vertical direction Z of the first support column 10 (for example, approximately in the center of the upper end surface of the first support column 10 in the second direction Y). The first claw portion 11 is located at the lower end in the vertical direction Z of the first support column 10. The first claw portion 11 is configured to fix the first support column 10 to the wall member 111.

[0024] The second support column 20 is adjacent to the wall member 111 and extends along the vertical direction Z. In this embodiment, the second support column 20 has a plate-like shape that extends from the platform 100 to the upper end of the wall member 112 in the vertical direction Z, and contacts the end face in the first direction X that constitutes the gap 120 of the wall member 112. The dimension of the second support column 20 in the second direction Y is slightly larger than that of the wall member 112. A second claw portion 21 is located at the lower end of the second support column 20 in the vertical direction Z. The second claw portion 21 is configured to fix the second support column 20 to the wall member 112.

[0025] The first radar device 31 is configured to emit radio waves and receive reflected waves of the emitted radio waves, and to detect objects located in the gap 120. In this embodiment, as shown in Figure 4, the first radar device 31 is located in a part of the upper end 101 of the first support column 10 that is closer to the train 200 than the blind member 12 in the second direction Y. The first radar device 31 is located higher than the wall member 111 (an example of the first member) in the vertical direction and includes a transmitting unit 32 that emits radio waves toward a plurality of reflectors 40 and a receiving unit 33 that receives radio waves reflected by the plurality of reflectors 40. The transmitting unit 32 and the receiving unit 33 are adjacent to each other. The direction of the receiving unit 33's proximity to the transmitting unit 32 can be set arbitrarily.

[0026] As shown in Figure 3, the multiple reflectors 40 are installed at different heights in the vertical direction Z of the second support column 20 and are configured to reflect radio waves emitted from the first radar device 31. In this embodiment, the multiple reflectors 40 are located at the end of the second support column 20 closer to the train 200, and are arranged at approximately equal intervals downward in the vertical direction Z from the upper end of the second support column 20 in the vertical direction Z. As an example, all reflectors 40 are located above the center C in the vertical direction Z of the second support column 20. The reflectors 40 located at the upper end in the vertical direction are at a higher position in the vertical direction than the wall member 112 (an example of the second member).

[0027] The first radar system 31 stores, for example, the reference position of each reflector 40. The reference position of each reflector 40 is set, for example, based on the orientation and position of the first support column 10 and the second support column 20 that allow the first radar system 31 to perform optimally. The first radar system 31 can detect axial misalignment between the first support column 10 and the second support column 20 by comparing the position of each reflector 40, estimated based on the radio waves reflected from each reflector 40, with the reference position of each reflector 40. This makes it easy to adjust the orientation and position of the first support column 10 and the second support column 20 as necessary to allow the radar system 30 to perform optimally.

[0028] The first radar device 31 can detect not only the presence or absence of reflection of radio waves originating from an object located in the gap 120 between the first support 10 and the second support 20, but also whether the reflection of radio waves from each reflector 40 is blocked by an object located in the gap 120 and can no longer be acquired. This allows for a more accurate determination of whether or not an object is located in the gap 120.

[0029] The first radar device 31 can detect the reflection point of each reflector 40. This allows for a highly accurate determination of whether or not there is an object in the gap 120 on the train 200 side as viewed from the first support column 10 (or second support column 20).

[0030] As shown in Figures 2 and 3, the connecting member 50 connects the lower ends of the first support column 10 and the second support column 20 in the vertical direction Z. The upper end of the connecting member 50 in the vertical direction Z is provided with a slope 51 that slopes upward in the vertical direction Z as it approaches the train 200 in the second direction Y. The connecting member 50 is configured so that its length can be changed depending on the size of the gap in which it is installed. For example, by installing the first support column 10 and the second support column 20 in the gap with the connecting member 50 physically connected, the first support column 10 and the second support column 20 naturally face each other. This makes it easy to adjust the orientation and position of the first support column 10 and the second support column 20, which is necessary to fully utilize the performance of the radar device 30.

[0031] The object detection device 1 can achieve the following effects:

[0032] The object detection device 1 is a movable object detection device installed to detect an object located in the gap 120 between wall members 111 and 112 positioned side by side in a first direction X. It comprises a first support column 10 of an example of a first housing, a second support column 20 of an example of a second housing, at least one radar device 30, and a plurality of reflectors 40. The first support column 10 is adjacent to the wall member 111 and extends along the vertical direction Z. The second support column 20 is adjacent to the wall member 112 and extends along the vertical direction Z. The radar device 30 is mounted on the first support column 10 and is configured to emit radio waves and receive reflected waves of the emitted radio waves. The plurality of reflectors 40 are mounted at different heights in the vertical direction of the second support column 20 and are configured to reflect radio waves emitted from the radar device 30. With this configuration, a movable object detection device 1 can be realized while fully utilizing the performance of the radar device 30.

[0033] The object detection device 1 includes a first claw portion 11 for fixing the first support column 10 to the wall member 111, and a second claw portion 21 for fixing the second support column 20 to the wall member 112. This configuration prevents the first support column 10 and / or the second support column 20 from tipping over and prevents the first support column 10 and the second support column 20 from shifting position.

[0034] The number of reflectors 40 is greater than the number of at least one radar device 30. This configuration eliminates the need for calibration after relocation. Furthermore, compared to the case where the number of radar devices 30 is greater than or equal to the number of reflectors 40, the power consumption of the object detection device 1 can be reduced, and the manufacturing cost of the object detection device 1 can be reduced.

[0035] The first support column 10 includes a screen member 12 configured to cover one side of the first radar device 31 in the second direction Y, thereby limiting the detection range of the first radar device 31. This configuration prevents, for example, the first radar device 31 from detecting an object in the area opposite to the train 200.

[0036] At least one radar device 30 includes a transmitting unit 31 that transmits radio waves toward a plurality of reflectors 40 and a receiving unit 32 that receives radio waves reflected by the plurality of reflectors 40, with the transmitting unit 31 and the receiving unit 32 being adjacent to each other. With this configuration, a reduction in the detection accuracy of the radar device 30 can be suppressed without calibration.

[0037] At least one radar device 30 or at least one of the multiple reflectors 40 is positioned higher in the vertical direction than the wall member 111 of an example of the first member or the wall member 112 of an example of the second member. This configuration allows for an expanded object detection range.

[0038] The object detection device 1 can be configured as follows:

[0039] The shapes of the first support column 10 and the second support column 20 are not limited to plate shapes. The first support column 10 and the second support column 20 may be configured as shown in Figures 5 and 6, for example. In Figures 5 and 6, the first support column 10 has a first opposing surface 13 that faces the second support column 20 in a first direction X, and the second support column 20 has a second opposing surface 23 that faces the first support column 10 in a first direction X. In Figure 5, when viewed along the vertical direction Z, the first opposing surface 13 has a convex shape that protrudes toward the second opposing surface 23, and the second opposing surface 23 has a concave shape that is recessed toward the direction away from the first opposing surface 13. As an example, the first opposing surface 13 has a convex shape that is approximately a semicircular arc, and the second opposing surface 23 has a concave shape that is approximately a semicircular arc. In Figure 6, when viewed along the vertical direction Z, the first opposing surface 13 has a concave shape that curves away from the second opposing surface 23, and the second opposing surface 23 has a convex shape that protrudes toward the first opposing surface 13. For example, the first opposing surface 13 has a roughly triangular concave shape, and the second opposing surface 23 has a roughly triangular convex shape. This configuration makes it easier to compactly pack the object detection device 1 when carrying or storing it. As shown in Figure 5, by making the second opposing surface 23 of the second support column 20 on which the reflector 40 is provided a concave shape, the radar device 30 can more easily acquire the reflection of radio waves other than the reflector 40 portion, and the accuracy of estimating the position of the second support column 20 is improved.

[0040] The slope 51 of the connecting member 50 is not limited to being a flat surface without irregularities, but may also be a mesh-like structure containing multiple irregularities, as shown in Figure 7. The object detection device 1 in Figure 7 comprises a pair of first claws 11 and a pair of second claws 21, and the first support column 10 does not include a blind member 12. The first claws 11 and the second claws 21 are located on both sides in the second direction Y relative to the wall members 111 and 112, respectively.

[0041] The object detection device 1 may include other radar devices 30 in addition to the first radar device 31.

[0042] The first claw portion 11 and the second claw portion 21 can be omitted.

[0043] The number of reflectors 40 is not limited to being greater than the number of radar devices 30; it may be the same as the number of radar devices 30, or it may be less than the number of radar devices 30.

[0044] The first enclosure is not limited to the first support column 10, and the second enclosure is not limited to the second support column 20. Other examples of the first and second enclosures are shown in Figures 8 to 13.

[0045] The object detection device 1 shown in Figures 8 to 10 comprises a first housing 60 and a second housing 70, both roughly rectangular in shape and of different sizes. In the object detection device 1 shown in Figures 8 to 10, the first housing 60 is provided on a wall member 112, and the second housing 70 is provided on a wall member 111. In other words, wall member 112 is an example of a first member, and wall member 111 is an example of a second member. The first housing 60 and the second housing 70 are located on one side of wall members 111 and 112, respectively, in the second direction Y. Specifically, the first housing 60 is detachably fixed to the wall member 112 approximately midway in the vertical direction on the side of the wall member 112 closer to the train 200, out of both sides in the second direction Y. The second housing 70 is detachably fixed to the side of the wall member 111 closer to the train 200, out of both sides in the second direction Y. By configuring it in this way, for example, the first enclosure 60 and the second enclosure 70 can not be seen from the platform 100.

[0046] The object detection device 1 shown in Figures 11 to 13 comprises a first housing 80 and a second housing 90 fixed to the upper ends of wall members 111 and 112 in the vertical Z direction. The first housing 80 and the third housing 90 are connected by, for example, an aluminum connecting part 50.

[0047] The first housing 80 includes a horizontal member 81 extending in a second direction and two vertical members 82 and 83 extending downward in the vertical direction Z from the horizontal member 81, respectively. The two vertical members 82 and 83 (hereinafter referred to as the first vertical member 82 and the second vertical member 83) are positioned with a gap 84 in the second direction Y, and the wall member 111 is housed in this gap 84. A radar device 30 is provided in the portion of the first vertical member 82 that is in the second direction Y and away from the second vertical member 83. The first vertical member 82 is configured to perform the same function as the blind member 12. The first housing 80 has a fixing portion 85 provided at the connection portion between the horizontal member 81 and the second vertical member 83. The fixing portion 85 is configured to house one end 501 of the connection portion 50 and hold it, for example, by a magnet.

[0048] The second housing 90 includes a horizontal member 91 extending in a second direction and two vertical members 92 and 93 extending downward in the vertical direction Z from the horizontal member 91. The two vertical members 92 and 93 (hereinafter referred to as the third vertical member 92 and the fourth vertical member 93) are positioned with a gap 94 in the second direction Y, and a wall member 112 is housed in this gap 94. Multiple reflectors 40 are provided on the portion of the third vertical member 92 that is in the second direction Y and away from the fourth vertical member 93. The length of the third vertical member 92 in the vertical direction Z is set according to the number of reflectors 40. The length of the fourth vertical member 93 in the vertical direction Z may be the same as or different from that of the third vertical member 92. The second housing 90 has a fixing portion 95 provided at the connection portion between the horizontal member 91 and the fourth vertical member 93. The fixing portion 95 is configured to accommodate the other end 502 of the connecting portion 50 (the end opposite to one end 501 of the connecting portion 50 in the direction in which the connecting portion 50 extends) and to be held, for example, by a magnet.

[0049] The first housing 80 and the second housing 90 may, if possible, be provided at the lower vertical ends of the wall members 111 and 112. The connecting portion 50 can be omitted.

[0050] As shown in Figures 1 to 13, the object detection device 1 can be equipped with various configurations of first and second housings, thus enabling the realization of an object detection device 1 that can meet a wide range of needs.

[0051] The embodiments and variations of this disclosure can be combined with each other, or with each other, or with each other. Features included in the embodiments and variations of this disclosure can also be combined with each other.

[0052] As will be apparent to those skilled in the art, many modifications and variations of this disclosure can be realized without departing from the scope and spirit of this disclosure. This disclosure is limited only by the terms of the claims, along with the entire scope of the equivalents to which the claims are entitled. [Explanation of Symbols]

[0053] 1. Object detection device 10 1st pillar 101 Top 11 1st claw part 12. Concealing material 13. First opposing surface 20 Second pillar 21 2nd claw part 23. Second opposing surface 30 Radar equipment 31. First Radar System 40 Reflectors 50 Connecting Members 51 Slope 100 Platforms 111, 112, 113 Wall members 120, 130 gap 200 trains 210 railroad track

Claims

1. A movable object detection device installed to detect an object located in the gap between a first member and a second member that are positioned side by side in a first direction intersecting the vertical direction, A first housing adjacent to the first member, A second housing adjacent to the second member and The first housing is provided with at least one radar device configured to transmit radio waves and receive reflected waves of the transmitted radio waves, A plurality of reflectors are provided at different heights in the vertical direction of the second housing and are configured to reflect radio waves emitted from at least one radar device. An object detection device equipped with the following features.

2. The first housing and the second housing are, respectively, first and second support columns extending in the vertical direction. A first claw portion that fixes the first support column to the first member, A second claw portion that fixes the second support column to the second support column and The object detection device according to claim 1, comprising:

3. The first housing has a first opposing surface that faces the second housing in the first direction, The second housing has a second opposing surface that faces the first housing in the first direction, The object detection device according to claim 1 or 2, wherein, when viewed along the vertical direction, the first opposing surface has a convex shape that protrudes toward the second opposing surface, and the second opposing surface has a concave shape that is recessed toward the direction away from the first opposing surface, or the first opposing surface has a concave shape that is recessed toward the direction away from the second opposing surface, and the second opposing surface has a convex shape that protrudes toward the first opposing surface.

4. The object detection device according to any one of claims 1 to 3, wherein the number of the plurality of reflectors is greater than the number of at least one radar device.

5. The at least one radar device includes a first radar device located at the upper vertical end of the first housing, The object detection device according to any one of claims 1 to 4, wherein the first housing includes a blind member configured to cover one side of the first radar device in a second direction intersecting the vertical direction and the first direction, thereby limiting the detection range of the first radar device.

6. The aforementioned at least one radar device, A transmitting unit that transmits radio waves toward the plurality of reflectors, A receiving unit that receives radio waves reflected by the aforementioned plurality of reflectors Includes, The object detection device according to any one of claims 1 to 5, wherein the transmitting unit and the receiving unit are adjacent to each other.

7. The object detection device according to any one of claims 1 to 6, wherein at least one of the at least one radar device or the plurality of reflectors is located at a higher position than the first member or the second member in the vertical direction.

8. The object detection device according to any one of claims 1 to 7, wherein the first housing and the second housing are located on one side of the first member and the second member in a second direction intersecting the vertical direction and the first direction.

9. The first housing is provided at the upper vertical end of the first member, The object detection device according to any one of claims 1 to 7, wherein the second housing is provided at the upper vertical end of the second member.

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