OBJECT DETECTION DEVICE, OBJECT DETECTION METHOD, AND PROGRAM

Abstract

This object-sensing device (1000) comprises a transmission unit (1101) for irradiating a subject (1003) with electric waves (1002) using a transmission antenna, a reception unit (1102) for receiving an electric wave reflected by the subject (1003) using a reception antenna and generating an intermediate-frequency signal, and a computation device (1211). The computation device (1211) detects the reflection intensity of the subject (1003) from the intermediate-frequency signal, and furthermore detects the positional distribution of the subject (1003) from the reflection intensity. The computation device (1211) next calculates the dependence of the reflection intensity on the positional distribution of the subject as a reflection intensity correction amount from the detected positional distribution. The computation device (1211) corrects the reflection intensity using the reflection intensity correction amount, thereby removing the dependence on the positional distribution of the subject from the reflection intensity and calculating a corrected reflection intensity that depends on only characteristics (e.g., reflectance and permittivity) that are inherent to the material of the subject (1003).

Description

[Technical field]

[0001] The present invention relates to an object detection device, an object detection method, and a program for irradiating an object to be detected with radio waves and recognizing or identifying the presence of the object based on the radio waves reflected from the object. [Background technology]

[0002] Unlike light, radio waves (microwaves, millimeter waves, terahertz waves, etc.) have an excellent ability to penetrate objects. As an example of utilizing the penetration ability of radio waves, a device has been proposed in which a radar device irradiates an object hidden under clothing or in a bag with radio waves that penetrate the clothing or bag, receives the radio waves reflected by the object with the radar device, and inspects the item based on the received radio waves. In particular, a method of using radio waves to measure physical properties of an object, such as the reflectivity or dielectric constant of the object against radio waves, is useful in detecting or identifying illegal chemical substances such as explosives and drugs. Reflectivity and dielectric constant are physical properties that are related to each other, and one value can be derived from the other value.

[0003] Non-Patent Document 1 and Patent Document 1 propose a technique for remotely measuring the dielectric constant of an object using radio waves as a method for detecting or identifying chemical substances using radio waves.

[0004] Non-Patent Document 1 proposes a method in which a radar device irradiates an object with radio waves, the radar device receives the radio waves reflected from the object, an intermediate frequency signal is generated based on the received radio waves, and the dielectric constant of the object is estimated from the intermediate frequency signal. Specifically, a geometric optics modeling is used in which the dielectric constant of the object to be measured is an unknown variable. The geometric optics model can calculate an intermediate frequency signal by providing the value of the dielectric constant, which is an unknown variable. Then, the dielectric constant of the object is estimated from the value of the dielectric constant of the geometric optics model that best reproduces the measured value of the intermediate frequency signal. However, Non-Patent Document 1 derives a geometric optics model only for the case where a dielectric material has a configuration in which multiple layers are arranged in parallel, and therefore there is a problem that the dielectric constant of an object of an arbitrary shape cannot be measured.

[0005] Patent Document 1 proposes a method for measuring the dielectric constant using an object detection device equipped with a radar and a camera. Specifically, a radar device irradiates an object and a background reflector with radio waves, and generates a three-dimensional microwave image based on the radio waves reflected from the object and the background reflector. The object detection device measures the distance from the object detection device to the object and the background reflector using the three-dimensional microwave image and camera image, and further estimates the dielectric constant from the measured distance. Patent Document 1 discloses that the dielectric constant of an object of any shape can be measured when a predetermined distance can be measured using the three-dimensional microwave image and camera image. [Prior art documents] [Patent documents]

[0006] [Patent Document 1] Patent No. 5260799 [Non-patent literature]

[0007] [Non-Patent Document 1] K. Haddadi et al,. "Geometrical Optics-Based Model for Dielectric Constant and Loss Tangent Free-Space Measurement", IEEE Trans. Instrum. Meas., vol. 63, no. 7, pp. 1818-1823, Jul. 2014. Summary of the Invention [Problem to be solved by the invention]

[0008] The present invention solves the following problems in a method for measuring the dielectric constant of an object as a means for detecting or identifying a chemical substance with an object detection device.

[0009] The method of Non-Patent Document 1 has a problem in that it cannot measure the dielectric constant of an object of an arbitrary shape.

[0010] The method of Patent Document 1 is premised on the assumption that radio waves penetrate an object. Therefore, when the reflectance or absorptance of an object is high, the amount of radio waves penetrating the object is small, and there is a problem that the permittivity of the object cannot be measured correctly. Furthermore, the method of Patent Document 1 requires a camera in addition to a radar. In particular, since the radar and the camera must operate in synchronous operation, there is a problem that when the object to be measured moves, a synchronization error between the radar and the camera will result in a measurement error of the permittivity. [Means for solving the problem]

[0011] One aspect of the present invention is an object detection device for detecting an object using radio waves, the object detection device comprising: a transmitting means having a plurality of transmitting antennas that irradiate radio waves toward the object; and a plurality of receiving antennas that receive the radio waves reflected from the object, and further comprising: a receiving means for generating an intermediate frequency signal from a received signal received by the receiving antennas; an arbitrary position reflection intensity detecting means for detecting a reflection intensity (arbitrary position reflection intensity) at an arbitrary position of the radio waves from the intermediate frequency signal; an object position detecting means for detecting a position of the object (object position) from the arbitrary position reflection intensity detected by the arbitrary position reflection intensity detecting means; an object reflection intensity detecting means for detecting a reflection intensity (object reflection intensity) at the object position from the arbitrary position reflection intensity detected by the arbitrary position reflection intensity detecting means; an intensity correction amount calculating means for calculating a correction amount of reflection intensity based on the object position detected by the object position detecting means; and a corrected reflection intensity calculating means for calculating a corrected reflection intensity based on the object reflection intensity detected by the object reflection intensity detecting means and the correction amount calculated by the intensity correction amount calculating means.

[0012] Another aspect of the present invention is an object detection method for detecting an object by radio waves, comprising the steps of: irradiating radio waves toward the object from a transmitting means having a plurality of transmitting antennas; receiving the radio waves reflected from the object with a receiving means having a plurality of receiving antennas, and generating an intermediate frequency signal from the received signal received by the receiving antenna; detecting a reflection intensity (arbitrary position reflection intensity) of the radio waves at an arbitrary position from the intermediate frequency signal with an arbitrary position reflection intensity detection means; and determining a position of the object ( a step of detecting an arbitrary position reflection intensity (an arbitrary position reflection intensity) at the object position from the arbitrary position reflection intensity detected by the arbitrary position reflection intensity detection means by an object reflection intensity detection means; a step of calculating a correction amount for the reflection intensity based on the object position detected by the object position detection means by an intensity correction amount calculation means; and a step of calculating a corrected reflection intensity based on the object reflection intensity detected by the object reflection intensity detection means and the correction amount calculated by the intensity correction amount calculation means.

[0013] Moreover, one aspect of the present invention is a program for causing an object detection device including a transmitting means having a plurality of transmitting antennas that irradiate radio waves toward the object, a receiving means having a plurality of receiving antennas that receive the radio waves reflected from the object, and further including a processor, to execute the following steps: detecting a reflection intensity (arbitrary position reflection intensity) at an arbitrary position of the radio waves from the intermediate frequency signal using an arbitrary position reflection intensity detection means; detecting a position of the object (object position) from the arbitrary position reflection intensity detected by the arbitrary position reflection intensity detection means using an object reflection intensity detection means; detecting a reflection intensity (object reflection intensity) at the object position from the arbitrary position reflection intensity detected by the arbitrary position reflection intensity detection means using an object reflection intensity detection means; calculating a correction amount for the reflection intensity based on the object position detected by the object position detection means using an intensity correction amount calculation means; and calculating a corrected reflection intensity based on the object reflection intensity detected by the object reflection intensity detection means and the correction amount calculated by the intensity correction amount calculation means. Effect of the Invention

[0014] According to the present invention, it is possible to measure the dielectric constant of an object of any shape as a means for detecting or identifying a chemical substance. Also, according to the present invention, since the characteristic characteristic of the material is calculated using the reflected wave on the surface of the object, it is possible to calculate the characteristic characteristic of the material of the object even when the amount of radio wave transmission through the dielectric (object) is small. Also, according to the present invention, it is possible to calculate the dielectric constant of an object of any shape using only a radar device without using a camera, which is effective in solving the problem of measurement errors caused by synchronization error between the radar and the camera. [Brief description of the drawings]

[0015] [Figure 1] FIG. 1 is a diagram showing the configuration of an object detection device according to an embodiment of the present invention. [Diagram 2]FIG. 2 is a block diagram showing an example of a configuration of an object detection device according to an embodiment of the present invention. [Diagram 3] FIG. 3 is a block diagram showing an example of a configuration of an object detection device according to an embodiment of the present invention. [Figure 4] FIG. 4 is a flowchart showing an object detection method according to an embodiment of the present invention. [Diagram 5] FIG. 5 is a diagram illustrating an example of the positional relationship between the object detection device and an object in the embodiment of the present invention. [Figure 6] FIG. 6 is a diagram illustrating an example of the positional relationship between the object detection device and an object in the embodiment of the present invention. [Figure 7] FIG. 7 is a block diagram showing an example of a computer that realizes an object detection device according to an embodiment of the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0016] Hereinafter, preferred embodiments of a transmitting device and a transmitting method according to the present invention will be described with reference to the accompanying drawings. In the following drawings, the same or corresponding parts are designated by the same reference numerals, and the description thereof will not be repeated.

[0017] An object detection device, an object detection method, and a program according to an embodiment of the present invention will be described below with reference to Fig. 1 to Fig. 7. In the present embodiment, an object detection device, an object detection method, and a program are disclosed that eliminate errors caused by sensors other than radar and enable measurement of the inherent material characteristics (reflectance or dielectric constant) of an object of any shape, even for an object with low radio wave penetration.

[0018] (First embodiment) [Device configuration] First, the configuration of the object detection device according to the first embodiment will be described with reference to FIG.

[0019] 1, an object detection device 1000 according to the first embodiment is a device for detecting an object 1003 by radio waves. As shown in FIG. 1, the object detection device 1000 includes a transmitting unit 1101, a receiving unit 1102, and a calculation device 1211.

[0020] Next, Fig. 2 shows the internal configuration of the transmitting unit 1101 and the receiving unit 1102 in the present embodiment 1. As shown in Fig. 2, in the transmitting / receiving device 1001 in the present embodiment 1, the transmitting unit 1101 includes an oscillator 1201 and a transmitting antenna 1202. The receiving unit 1102 includes a receiving antenna 1203, a mixer 1204, and an interface circuit 1205. Furthermore, as shown in Fig. 1, the transmitting unit 1101 and the receiving unit 1102 are connected via a terminal 1208. The transmitting antenna 1202 and the receiving antenna 1203 are an antenna array composed of a plurality of antennas.

[0021] Next, Fig. 3 shows the internal configuration of arithmetic device 1211 in this embodiment 1. As shown in Fig. 3, arithmetic device 1211 in this embodiment 1 comprises an arbitrary position reflection intensity detection unit 1301, an object position detection unit 1302, an object reflection intensity detection unit 1303, an intensity correction amount calculation unit 1304, a corrected reflection intensity calculation unit 1305, a feature amount calculation unit 1306 and an object detection and identification unit 1307.

[0022] [Device operation] Fig. 4 is a flow diagram showing the operation of object detection device 1000 in the present embodiment 1. In the following description, Figs. 1 to 3 will be referred to as appropriate. In addition, in the present embodiment 1, an object detection method is implemented by operating object detection device 1000. Therefore, the description of the object detection method in the present embodiment 1 will be replaced with the following description of the operation of object detection device 1000.

[0023] First, the overall flow of Fig. 4 will be explained, followed by a detailed explanation of each step.

[0024] -Overall flow- In the device configuration shown in FIG. 1, a transmission unit 1101 irradiates radio waves 1002, which are a transmission signal, toward an object to be detected (hereinafter, referred to as an "object") 1003 (step A1).

[0025] The receiving unit 1102 in FIG. 1 receives the radio wave 1004 reflected by the object 1003 as a received signal (step A2).

[0026] The receiving unit 1102 further mixes the received signal with the transmission signal generated by the transmitting unit 1101 to generate an intermediate frequency signal (hereinafter referred to as an "IF (Intermediate Frequency) signal"). The receiving unit 1102 also outputs the generated IF signal to the arithmetic unit 1211 (step A3).

[0027] Next, the arbitrary position reflection intensity detection unit 1301 in the arithmetic device 1211 shown in Fig. 3 detects the reflection intensity at an arbitrary position (arbitrary position reflection intensity) based on the IF signal (step A4). The arbitrary position means that the position range to be measured is not limited to the object position and is any position. The position range to be measured (arbitrary position) is usually a three-dimensional space.

[0028] Next, the object position detection unit 1302 in the calculation device 1211 shown in FIG. 3 detects the object position z(x, y), which is the position of the object 1003, using the arbitrary position reflection intensity detected in the arbitrary position reflection intensity detection unit 1301 (step A5).

[0029] Furthermore, the object reflection intensity detection unit 1303 in the calculation device 1211 shown in FIG. 3 calculates the object reflection intensity p opj (x, y) is detected (step A6).

[0030] 3 calculates an intensity correction amount based on the object position z(x, y) detected by the object position detection unit 1302 (step A7). The intensity correction amount corresponds to the object reflection intensity that depends on the object position z(x, y).

[0031] Next, the corrected reflection intensity calculation unit 1305 in the arithmetic unit 1211 shown in FIG. 3 calculates the intensity correction amount calculated by the intensity correction amount calculation unit 1304 and the object reflection intensity p detected by the object reflection intensity detection unit 1303. opj Based on (x, y), a corrected reflection intensity is calculated (step A8). The corrected reflection intensity corresponds to a reflection intensity that depends on the inherent characteristics (dielectric constant or reflectance) of the material of the object 1003.

[0032] Next, feature amount calculation section 1306 in arithmetic device 1211 shown in FIG. 3 calculates feature amounts based on the corrected reflection intensity calculated in corrected reflection intensity calculation section 1305 (step A9).

[0033] Next, the object detection / identification unit 1307 in the arithmetic unit 1211 shown in FIG. 3 detects or identifies the object 1003 based on the feature amount calculated in the feature amount calculation unit 1306 (step A10).

[0034] -Details of each step- Next, among the steps shown in FIG. 4, steps A1 to A3 performed by the transmitting / receiving device 1001 will be described in detail.

[0035] [Step A1] 2, an oscillator 1201 generates an RF signal (radio wave). The RF signal (radio wave) generated by the oscillator 1201 is irradiated to an object 1003 as a radio wave 1002 from a transmission antenna 1202.

[0036] [Step A2] In the receiving unit 1102 whose internal configuration is shown in FIG. 2, the radio wave 1004 reflected by the object 1003 is received by the receiving antenna 1203 .

[0037] [Step A3] 2, the mixer 1204 generates an IF signal by mixing the RF signal input from the oscillator 1201 via the terminal 1208 with the radio wave (received signal) received by the receiving antenna 1203. The IF signal generated by the mixer 1204 is transmitted to the arithmetic unit 1211 via the interface circuit 1205. The interface circuit 1205 has a function of converting the IF signal, which is an analog signal, into a digital signal that can be handled by the arithmetic unit 1211, and outputs the obtained digital signal to the arithmetic unit 1211.

[0038] Next, among the steps shown in FIG. 4, steps A4 to A10 executed by the arithmetic device 1211 shown in the internal configuration in FIG. 3 will be described in detail.

[0039] [Step A4] In the arithmetic unit 1211, the IF signal output from the receiver 1102 is input to an arbitrary position reflection intensity detector 1301. The arbitrary position reflection intensity detector 1301 calculates the reflection intensity, defined as the intensity of a reflected wave reflected at an arbitrary position (x, y, z), based on the IF signal output from the receiver 1102 as an arbitrary position reflection intensity p arb The reflection intensity at an arbitrary position is detected as (x, y, z). For example, the beamformer method can be used as a method for detecting the reflection intensity at an arbitrary position. The coordinate axes of the position (x, y, z) may be set arbitrarily. As one example, the x-axis and y-axis may be set parallel to the antenna array surface composed of the transmitting antenna 1202 and the receiving antenna 1203, and the z-axis may be set perpendicular to the antenna array surface.

[0040] [Step A5] The object position detection unit 1302 detects the arbitrary position reflection intensity p arb(x, y, z) is input. The object position detection unit 1302 calculates the object position z(x, y) indicating the position of the object 1003 in the z-axis direction using the two-dimensional position (x, y) as an argument. Specifically, as shown in formula (1), the arbitrary position reflection intensity p arb It is calculated as the z-axis position that maximizes (x,y,z).

[0041]

number

[0042] [Step A6] The object reflection intensity detection unit 1303 detects the arbitrary position reflection intensity p arb (x, y, z) is input. The object reflection intensity detection unit 1303 detects the arbitrary position reflection intensity p arb Based on (x, y, z), the object reflection intensity p of the object 1003 at the object position z(x, y) is calculated using the two-dimensional position (x, y) as an argument. obj (x, y) is detected. Specifically, the reflection intensity p obj (x, y) is the reflection intensity at any position p when z is changed at each point of the two-dimensional position (x, y) as shown in equation (2). arb It is calculated as the maximum of (x,y,z).

[0043]

number

[0044] [Step A7] Next, the operation of the intensity correction amount calculation unit 1304 will be described.

[0045] The object reflection intensity p detected in step A6 obj (x, y) depends on the reflectance, which is a value specific to the material of the object 1003 located at the position z(x, y). Furthermore, the object reflection intensity p obj (x,y) depends not only on the reflectance of the object 1003 but also on the object position z(x,y) of the object 1003 .

[0046] More specifically, as shown in equation (3), the measured object reflection intensity p obj (x, y) is the object reflection intensity p, which is determined only by the reflectance at the object position z(x, y) of the object 1003. mat (x, y) and the object reflection intensity p loc It is given by the product of (x,y).

[0047]

number

[0048] Figures 5 and 6 show the reflection intensity of the object p obj 10 is a conceptual diagram illustrating why (x, y) also depends on the object position z(x, y) of the object 1003.

[0049] 5 and 6, radio waves 1002 irradiated from a transmitting antenna 1202 are reflected as radio waves 1004 at a reflection point 1401a or 1401b on an object 1003. The reflection direction of the radio waves 1004 is determined so that the angle of incidence and the angle of reflection are the same with respect to a tangent plane 1402 of the object 1003 at the reflection point 1401a or 1401b.

[0050] As shown in FIG. 5, when the receiving antenna 1203 is present in the direction of travel of the radio wave 1004 reflected by the reflection point 1401a, the object reflection intensity p obj On the other hand, if the receiving antenna 1203 does not exist in the direction of travel of the radio wave 1004 reflected by the reflection point 1401b as shown in FIG. 6, the radio wave 1004 cannot be received, and the object reflection intensity p obj In this way, regardless of the reflectance determined by the material of the object 1003, there are reflection points 1401a that can receive the radio wave 1004 and reflection points 1401b that cannot receive the radio wave 1004 depending on the shape (position distribution) of the object 1003. Therefore, the object reflection intensity pobj (x, y) depends not only on the reflectance of the object 1003 but also on the shape of the object 1003, that is, the object position z(x, y).

[0051] The intensity correction amount calculation unit 1304 calculates the object reflection intensity component p loc Calculate (x,y) and output it as the intensity correction amount.

[0052] Specifically, the intensity correction amount calculation unit 1304 receives the position distribution z(x,y) of the object 1003 detected by the object position detection unit 1302 in step A5 as an input, and calculates the reflection intensity at any position by, for example, a beamformer method when the object is distributed at the object position z(x,y) and the reflectance of the object does not have position dependency. Furthermore, the object reflection intensity p loc Output (x,y) as the intensity correction amount.

[0053] [Step A8] The corrected reflection intensity calculation unit 1305 calculates the object reflection intensity p obj (x, y) and the intensity correction amount p output from the intensity correction amount calculation unit 1304 loc With (x, y) as input, the target reflection intensity p, which is determined only by the reflectance mat (x, y) is calculated using the following equation (4) and output as the corrected reflection intensity.

[0054]

number

[0055] Corrected reflection intensity p mat Since (x,y) depends only on the reflectance, which is a value specific to the material, the corrected reflectance intensity p mat From (x, y), the inherent material properties of the object 1003 can be accurately estimated.

[0056] On the other hand, the uncorrected target reflection intensity p objWhen directly estimating material-specific characteristics such as reflectance from (x, y), the object reflection intensity component p loc (x, y) causes an error in the estimated value of the material's inherent properties. In the process of equation (4), the object reflection intensity component p loc By eliminating (x,y), the error in the estimated value of the material's inherent properties can also be eliminated.

[0057] [Step A9] The feature amount calculation unit 1306 calculates the corrected reflection intensity p mat Calculate the material-specific feature based on (x, y). Specific examples of the feature include (1) corrected reflection intensity p mat The reflectance of the object 1003 is calculated by a function having as arguments either the reflectance of the object 1003 or the dielectric constant of the object. mat The dielectric constant can be calculated from the reflectance of the object 1003 by using the relational expression between the reflectance and the dielectric constant described in Non-Patent Document 1.

[0058] [Step A10] The object detection and identification unit 1307 detects or identifies the object 1003 based on the feature output from the feature calculation unit 1306, and outputs the detection result or identification result of the object 1003. The object detection and identification unit 1307 outputs, for example, corrected reflection intensity, feature, or object detection result or identification result. As an example of a method for detecting the object 1003, the object 1003 may be detected from a change in a feature specific to a material, such as reflectance or dielectric constant, against the background. As an example of identifying the object 1003, the type of material may be identified by comparing the measured value of the feature specific to the material, such as reflectance or dielectric constant, with a database.

[0059] [program] Here, a computer (arithmetic device) that realizes the object detection device 1000 by executing the program in the first embodiment will be described with reference to Fig. 7. Fig. 7 is a block diagram showing an example of a computer that realizes the object detection device 1000 in the first embodiment.

[0060] 7, the computer 110 includes a CPU 111, a main memory 112, a storage device 113, an input interface 114, a display controller 115, a data reader / writer 116, and a communication interface 117. These components are connected to each other via a bus 121 so as to be able to communicate data with each other.

[0061] The CPU 111 loads the programs (codes) in the first embodiment stored in the storage device 113 into the main memory 112 and executes them in a predetermined order to perform various calculations. The main memory 112 is typically a volatile storage device such as a DRAM (Dynamic Random Access Memory). The programs in the first embodiment are provided in a state stored in a computer-readable recording medium 120. The programs in the first embodiment may be distributed on the Internet connected via the communication interface 117.

[0062] Specific examples of the storage device 113 include a hard disk drive and a semiconductor storage device such as a flash memory. The input interface 114 mediates data transmission between the CPU 111 and an input device 118 such as a keyboard and a mouse. The display controller 115 is connected to a display device 119 and controls the display on the display device 119. The computer 110 may include a GPU (Graphics Processing Unit) or an FPGA (Field-Programmable Gate Array) in addition to or instead of the CPU 111.

[0063] The display device 119 also displays the results detected or calculated by the arithmetic unit 1211, i.e., the arbitrary position reflection intensity p detected by the arbitrary position reflection intensity detection unit 1301. arb (x, y, z), or the position distribution z(x, y) detected by the object position detection unit 1302, or the object reflection intensity p detected by the object reflection intensity detection unit 1303. obj (x, y), or the intensity correction amount p calculated in the intensity correction amount calculation unit 1304 loc (x, y), or the corrected reflection intensity p calculated by the corrected reflection intensity calculation unit 1305 mat (x, y), or the feature amount calculated in the feature amount calculation unit 1306, or the detection result or classification result of the object 1003 obtained in the object detection / classification unit 1307 may be displayed as an output.

[0064] Data reader / writer 116 mediates data transmission between CPU 111 and recording medium 120, reads programs from recording medium 120, and writes processing results in computer 110 to recording medium 120. Communication interface 117 mediates data transmission between CPU 111 and other computers.

[0065] Specific examples of the recording medium 120 include general-purpose semiconductor storage devices such as CF (Compact Flash (registered trademark)) and SD (Secure Digital), magnetic recording media such as a flexible disk, or optical recording media such as a CD-ROM (Compact Disk Read Only Memory).

[0066] The object detection device in the first embodiment can be realized by using hardware corresponding to each part, instead of a computer with a program installed. Furthermore, the object detection device may be partially realized by a program and the remaining part by hardware.

[0067] [effect] The effects of the first embodiment will be summarized below.

[0068] According to the object detection device 1000 and the object detection method of the first embodiment, the object reflection intensity detection unit 1303 detects the object reflection intensity p obj In addition, the intensity correction amount calculation unit 1304 calculates the object reflection intensity component that depends only on the object position z(x, y) of the object 1003 as the intensity correction amount p loc (x, y). The corrected reflection intensity calculation unit 1305 calculates the object reflection intensity p obj (x, y) is the intensity correction amount p loc Corrected reflection intensity p mat Calculate (x,y) and corrected reflection intensity p mat Since (x, y) depends only on the reflectance, which is a value specific to the material of the object 1003, the feature amount calculation unit 1306 calculates the corrected reflection intensity p mat From (x,y), the material-specific properties (reflectivity, dielectric constant, etc.) of an object of any shape can be calculated.

[0069] According to the object detection device 1000 and the object detection method of the present embodiment 1, the characteristics specific to the material of the object are calculated using the reflected wave on the surface of the object, which has the advantage that, unlike Patent Document 1, the characteristics specific to the material of the object can be calculated even when the amount of radio wave transmission through the dielectric (object) is small.

[0070] Furthermore, according to the object detection device 1000 and object detection method of this embodiment 1, it is possible to calculate the inherent characteristics of the material of an object of any shape using only a radar device that uses radio waves, without using a camera, which has the effect of solving the problem of measurement errors caused by a synchronization error between the radar and the camera in Patent Document 1.

[0071] The configuration of the preferred embodiment of the present invention has been described above. However, the contents disclosed in the above-mentioned patent documents can be incorporated into the present invention by citation. Modifications and adjustments of the embodiment are possible within the scope of the entire disclosure of the present invention (including the scope of the claims), and further based on the basic technical idea. Various combinations or selections of various disclosed elements are also possible within the scope of the claims of the present invention. In other words, the present invention naturally includes various modifications and corrections that a person skilled in the art can make in accordance with the entire disclosure, including the scope of the claims, and the technical idea.

[0072] A part or all of the above-described embodiments can be described as, but are not limited to, the following supplementary notes. 1. A transmitting means having a plurality of transmitting antennas for irradiating radio waves toward an object; a receiving means for generating an intermediate frequency signal from a signal received by the receiving antennas; an arbitrary position reflection intensity detection means for detecting an arbitrary position reflection intensity, which is a reflection intensity at an arbitrary position of the radio wave from the intermediate frequency signal; an object position detection means for detecting an object position, which is a position of the object, from the arbitrary position reflection intensity detected by the arbitrary position reflection intensity detection means; an object reflection intensity detection means for detecting an object reflection intensity, which is a reflection intensity at the object position, from the arbitrary position reflection intensity detected by the arbitrary position reflection intensity detection means; an intensity correction amount calculation means for calculating a correction amount of reflection intensity based on the object position detected by the object position detection means; a corrected reflection intensity calculation means for calculating a corrected reflection intensity based on the object reflection intensity detected by the object reflection intensity detection means and the correction amount calculated by the intensity correction amount calculation means; An object detection device comprising: 2. The object detection device according to 1, further comprising a feature calculation means for calculating a feature specific to the material of the object from the corrected reflection intensity. 3. The object detection device according to claim 2, further comprising an object detection / identification means for detecting or identifying the object using the feature amount. 4. The object detection device according to claim 3, wherein the object detection and identification means outputs the corrected reflection intensity, the feature amount, or the object detection result or identification result. 5. An object detection device as described in any one of 2 to 4, characterized in that the feature quantity is the corrected reflection intensity, a reflectance calculated from the corrected reflection intensity, a dielectric constant calculated from the reflectance, or a quantity obtained from any one of the corrected reflection intensity, the reflectance, and the dielectric constant. 6. An object detection method for detecting an object by radio waves, comprising: A step of irradiating radio waves from a transmitting means having a plurality of transmitting antennas toward the object; receiving the radio waves reflected from the object with a receiving means having a plurality of receiving antennas, and generating an intermediate frequency signal from the received signals received by the receiving antennas; a step of detecting a reflection intensity (any position reflection intensity) at any position of the radio wave from the intermediate frequency signal by an arbitrary position reflection intensity detection means; detecting, by a target object position detecting means, a position of the object (target object position) from the arbitrary position reflection intensity detected by the arbitrary position reflection intensity detecting means; detecting, by an object reflection intensity detection means, a reflection intensity (object reflection intensity) at the object position from the arbitrary position reflection intensity detected by the arbitrary position reflection intensity detection means; a step of calculating a correction amount of reflection intensity based on the object position detected by the object position detection means, using an intensity correction amount calculation means; a step of calculating a corrected reflection intensity by a corrected reflection intensity calculation means based on the object reflection intensity detected by the object reflection intensity detection means and the correction amount calculated by the intensity correction amount calculation means; The object detection method according to the present invention is characterized in that 7. The object detection method according to claim 6, further comprising a step of calculating a feature quantity specific to the material of the object from the corrected reflection intensity using a feature quantity calculation means. 8. The object detection method according to 7, further comprising a step of detecting or identifying the object using the feature amount by an object detection / identification means. 9. A transmitting means having a plurality of transmitting antennas for irradiating radio waves toward an object; a receiving means for generating an intermediate frequency signal from a signal received by the receiving antennas; An object detection device comprising: a step of detecting a reflection intensity (any position reflection intensity) at any position of the radio wave from the intermediate frequency signal by an arbitrary position reflection intensity detection means; detecting, by a target object position detecting means, a position of the object (target object position) from the arbitrary position reflection intensity detected by the arbitrary position reflection intensity detecting means; detecting, by an object reflection intensity detection means, a reflection intensity (object reflection intensity) at the object position from the arbitrary position reflection intensity detected by the arbitrary position reflection intensity detection means; a step of calculating a correction amount of reflection intensity based on the object position detected by the object position detection means, using an intensity correction amount calculation means; a step of calculating a corrected reflection intensity by a corrected reflection intensity calculation means based on the object reflection intensity detected by the object reflection intensity detection means and the correction amount calculated by the intensity correction amount calculation means; A program that executes the following. 10. The program according to 9, further causing the object detection device to execute a step of calculating a feature quantity specific to the material of the object from the corrected reflection intensity using a feature quantity calculation means. 11. The program according to 10, further causing an object detection / identification means in the object detection device to execute a step of detecting or identifying the object using the feature amount. [Explanation of symbols]

[0073] 110 Computer 111 CPU 112 Main memory 113 Storage device 114 Input Interface 115 Display Controller 116 Data Reader / Writer 117 Communication Interface 118 Input Devices 119 Display device 120 Recording media 121 Bus 1000 Object detection device 1001 Transmitting and receiving equipment 1002 Radio waves (transmitted signals) 1003 Object (object to be detected) 1004 Radio waves (received signals) 1101 Transmitter 1102 Receiving unit 1201 Oscillator 1202 Transmitting Antenna 1203 Receiving antenna 1204 Mixer 1205 Interface Circuit 1208 Terminal 1211 Arithmetic equipment 1301 Arbitrary position reflection intensity detector 1302 Object position detection unit 1303 Object reflection intensity detection unit 1304 Intensity correction amount calculation section 1305 Corrected reflection intensity calculation unit 1306 Feature Calculation Unit 1307 Object detection and identification unit 1401a Reflection point 1401b Reflection point 1402 Tangent plane

Claims

1. A transmitting means having a plurality of transmitting antennas for irradiating radio waves toward an object; a receiving means for generating an intermediate frequency signal from a signal received by the receiving antennas; an arbitrary position reflection intensity detection means for detecting an arbitrary position reflection intensity, which is a reflection intensity at an arbitrary position of the radio wave from the intermediate frequency signal; an object position detection means for detecting an object position, which is the position of the object, from the arbitrary position reflection intensity detected by the arbitrary position reflection intensity detection means; an object reflection intensity detection means for detecting an object reflection intensity, which is a reflection intensity at the object position, from the arbitrary position reflection intensity detected by the arbitrary position reflection intensity detection means; an intensity correction amount calculation means for calculating a correction amount of reflection intensity based on the object position detected by the object position detection means; a corrected reflection intensity calculation means for calculating a corrected reflection intensity based on the object reflection intensity detected by the object reflection intensity detection means and the correction amount calculated by the intensity correction amount calculation means; An object detection device comprising:

2. 2. The object detection device according to claim 1, further comprising a feature amount calculation means for calculating a feature amount specific to a material of the object from the corrected reflection intensity.

3. 3. The object detection device according to claim 2, further comprising an object detection / identification means for detecting or identifying the object by using the feature amount.

4. 4. The object detection device according to claim 3, wherein the object detection / identification means outputs the corrected reflection intensity, the feature amount, or the object detection result or identification result.

5. 5. The object detection device according to claim 2, wherein the feature amount is a quantity obtained from the corrected reflection intensity, a reflectance calculated from the corrected reflection intensity, a dielectric constant calculated from the reflectance, or the corrected reflection intensity, the reflectance, and the dielectric constant.

6. An object detection method for detecting an object by radio waves, comprising: A step of irradiating radio waves from a transmitting means having a plurality of transmitting antennas toward the object; receiving the radio waves reflected from the object with a receiving means having a plurality of receiving antennas, and generating an intermediate frequency signal from the received signal received by the receiving antennas; detecting an arbitrary position reflection intensity, which is a reflection intensity at an arbitrary position of the radio wave, from the intermediate frequency signal by an arbitrary position reflection intensity detection means; detecting an object position, which is the position of the object, from the arbitrary position reflection intensity detected by the arbitrary position reflection intensity detection means, using an object position detection means; detecting an object reflection intensity, which is the reflection intensity at the object position, from the arbitrary position reflection intensity detected by the arbitrary position reflection intensity detection means, using an object reflection intensity detection means; a step of calculating a correction amount of reflection intensity based on the object position detected by the object position detection means, using an intensity correction amount calculation means; a step of calculating a corrected reflection intensity by a corrected reflection intensity calculation means based on the object reflection intensity detected by the object reflection intensity detection means and the correction amount calculated by the intensity correction amount calculation means; An object detection method comprising:

7. 7. The object detection method according to claim 6, further comprising a step of calculating, with a feature amount calculation means, a feature amount specific to a material of the object from the corrected reflection intensity.

8. 8. The object detection method according to claim 7, further comprising a step of detecting or identifying the object by using the feature amount with an object detection / identification means.

9. A transmitting means having a plurality of transmitting antennas for irradiating radio waves toward an object; a receiving means for generating an intermediate frequency signal from a signal received by the receiving antennas; An object detection device comprising: detecting an arbitrary position reflection intensity, which is a reflection intensity at an arbitrary position of the radio wave, from the intermediate frequency signal by an arbitrary position reflection intensity detection means; detecting an object position, which is the position of the object, from the arbitrary position reflection intensity detected by the arbitrary position reflection intensity detection means, using an object position detection means; detecting an object reflection intensity, which is the reflection intensity at the object position, from the arbitrary position reflection intensity detected by the arbitrary position reflection intensity detection means, using an object reflection intensity detection means; a step of calculating a correction amount of reflection intensity based on the object position detected by the object position detection means, using an intensity correction amount calculation means; a step of calculating a corrected reflection intensity by a corrected reflection intensity calculation means based on the object reflection intensity detected by the object reflection intensity detection means and the correction amount calculated by the intensity correction amount calculation means; A program that executes the following.

10. The program according to claim 9 , further causing the object detection device to execute a step of calculating, by a feature amount calculation means, a feature amount specific to a material of the object from the corrected reflection intensity.

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