Electromagnetic wave information processing device, electromagnetic wave information processing program, and electromagnetic wave information processing method

Abstract

An electromagnetic wave information processing device (100, 200, 300) is provided with: an installation direction information acquisition unit (13, 23) that acquires information pertaining to the orientation of an array antenna (AN1) comprising a plurality of antennas arranged to form an array; a direction setting unit (12, 22) that sets at least one of the direction of transmission and the direction of reception of an electromagnetic wave by the array antenna (AN1) on the basis of the information acquired by the installation direction information acquisition unit (13, 23); and an information processing unit (11, 14) that, on the basis of at least one of the transmission direction and the reception direction set by the direction setting unit (12, 22), performs processing pertaining to at least one of a transmission signal and a reception signal on an electromagnetic wave transmitted or received by the array antenna (AN1).

Description

Electromagnetic wave information processing device, electromagnetic wave information processing program, and electromagnetic wave information processing method

[0001] The present disclosure relates to an electromagnetic wave information processing device, an electromagnetic wave information processing program, and an electromagnetic wave information processing method.

[0002] A vehicle safety device that decelerates the vehicle when an object that may collide with the vehicle is detected has been disclosed (see, for example, Patent Document 1). This device detects the relative distance between the vehicle and an object present in a predetermined detection area by having an object detection means transmit electromagnetic waves to the detection area and receive the reflected waves.

[0003] Japanese Patent Application Laid-Open No. 2007-118763

[0004] However, the device described in Patent Document 1 has the problem that when an object detection means that transmits and receives electromagnetic waves is attached to the main body of a vehicle, if there are individual differences in the orientation of the object detection means relative to the main body of the vehicle, there will be individual differences in the direction of the electromagnetic waves transmitted from the object detection means, which may result in variations in the detection accuracy of objects depending on the vehicle.

[0005] The present disclosure was made in response to the recognition of the above-mentioned problems, and aims to provide an electromagnetic wave information processing device, an electromagnetic wave information processing program, and an electromagnetic wave information processing method that can reduce detection variability more than conventional methods when detecting an object to be detected using electromagnetic waves.

[0006] The electromagnetic wave information processing device according to the present disclosure is characterized by comprising an installation direction information acquisition unit that acquires information regarding the orientation of an array antenna consisting of a plurality of antennas arranged in an array, a direction setting unit that sets at least one of the transmission direction and reception direction of electromagnetic waves by the array antenna based on the information acquired by the installation direction information acquisition unit, and a signal processing unit that processes at least one of the transmission signal and reception signal of the electromagnetic waves by the array antenna toward at least one of the transmission direction and reception direction set by the direction setting unit.

[0007] The electromagnetic wave information processing device of the present disclosure acquires information regarding the orientation of the array antenna and performs signal processing focusing on the direction set based on the acquired information, thereby enabling accurate detection of the object to be detected and suppressing detection variation.

[0008] 1 is a block diagram showing a schematic configuration of an object detection device according to embodiment 1. FIG. 2 is a block diagram showing an example of the hardware configuration of an object detection device according to embodiment 1. FIG. 3 is a block diagram showing an example of the hardware configuration of an object detection device according to embodiment 1. FIG. 4 is a flowchart showing an example of processing performed by an object detection device according to embodiment 1. FIG. 5 is a schematic diagram showing the installation positions of antenna units according to embodiment 1 installed in a house and the detection ranges of reflected radio waves from each antenna unit. FIG. 6 is a flowchart showing an example of processing performed by an object detection device according to embodiment 2. FIG. 7 is a schematic diagram showing the detection ranges of reflected radio waves from an antenna unit according to embodiment 2 installed in a vehicle. FIG. 8 is a schematic diagram showing the detection ranges of reflected radio waves from an antenna unit according to embodiment 2 installed on a ship. FIG. 9 is a block diagram showing a schematic configuration of an object detection device according to embodiment 3.

[0009] Embodiments of the present disclosure will be described in detail below with reference to the drawings. Embodiment 1. First, a schematic configuration of an object detection device 100 according to embodiment 1 will be described with reference to FIG. 1. FIG. 1 is a block diagram showing a schematic configuration of the object detection device 100 according to embodiment 1. The object detection device 100, which serves as an electromagnetic wave information processing device, is a device for detecting an object by receiving reflected waves of radio waves transmitted from an array antenna AN1 consisting of multiple antennas 101, 102, ..., 10(N-1), 10N arranged in an array on a straight line, a flat surface, or a curved surface. Note that in embodiment 1, N in the multiple antennas 101, 102, ..., 10(N-1), 10N represents a natural number equal to or greater than 2. The object detection device 100 includes a transmitter / receiver 10 that transmits and receives radio waves from the array antenna AN1, a signal processor 11, a direction setting unit 12, an installation direction information acquirer 13 that acquires signals from an installation direction sensor 15, and an object detector 14, all of which are electrically connected to each other so that they can transmit information to each other. The signal processor 11 and the object detector 14 constitute the information processor in the first embodiment.

[0010] The installation direction sensor 15 is a sensor for detecting information related to the orientation of the array antenna AN1 and receives signals from directions that change based on the orientation of the array antenna AN1. In other words, the installation direction sensor 15 is a sensor for detecting information related to the attitude of the array antenna AN1 and receives signals from directions that change based on the attitude of the array antenna AN1. For example, the installation direction sensor 15 receives signals corresponding to a specific direction that serves as a reference for the orientation of the array antenna AN1 or the orientation of the array antenna AN1 relative to a specific object that serves as a reference for the orientation of the array antenna AN1. In other words, the installation direction sensor 15 receives signals from a specific direction that serves as a reference for the orientation of the array antenna AN1 or a direction that corresponds to the tilt of the array antenna AN1 relative to a specific object that serves as a reference for the orientation of the array antenna AN1.

[0011] For example, specific directions that serve as a reference for the orientation of the array antenna AN1 include the vertical direction, the horizontal direction, and the direction from the array antenna AN1 toward an object that is the target of detection by the object detection device 100. Furthermore, specific objects that serve as a reference for the orientation of the array antenna AN1 include an object that supports the array antenna AN1 and an object that is the target of detection by the object detection device 100. For example, the installation direction sensor 15 is configured with an acceleration sensor and receives a signal from a direction that corresponds to the orientation of the array antenna AN1 relative to the vertical or horizontal direction. Note that the installation direction sensor may be configured to receive a signal from a direction that changes based on the orientation of the array antenna AN1 relative to some reference, and may be configured with a gyro sensor or other inertial sensor, or may be configured with an optical sensor or a rotary encoder.

[0012] The installation direction information acquisition unit 13 acquires information regarding the orientation of the array antenna AN1 based on a signal from the installation direction sensor 15. For example, the installation direction information acquisition unit 13 acquires information indicating the orientation of the array antenna AN1 by estimating a specific direction serving as a reference for the orientation of the array antenna AN1 or the orientation of the array antenna AN1 relative to a specific object serving as a reference for the orientation of the array antenna AN1 based on the signal from the installation direction sensor 15. For example, if the installation direction sensor 15 is a sensor that receives a signal from a direction corresponding to the orientation of the array antenna AN1 relative to the vertical direction, the installation direction information acquisition unit 13 acquires information indicating the orientation of the array antenna AN1 relative to the vertical direction based on the signal from the installation direction sensor 15.

[0013] The direction setting unit 12 sets at least one of the transmission direction and reception direction of radio waves from the array antenna AN1 based on the information acquired by the installation direction information acquisition unit 13. For example, the direction setting unit 12 sets the transmission direction of radio waves from the array antenna AN1 based on the information acquired by the installation direction information acquisition unit 13. In other words, the direction setting unit 12 sets the irradiation direction of radio waves from the array antenna AN1 based on the information acquired by the installation direction information acquisition unit 13. For example, in an object detection device capable of phased array transmission of transmitted waves, the direction setting unit 12 can also set the transmission direction of radio waves from the array antenna AN1 based on the information acquired by the installation direction information acquisition unit 13 so that the detection range of reflected radio waves from the array antenna AN1 includes a specific direction. Specifically, the direction setting unit 12 sets the transmission direction of radio waves from the array antenna AN1 based on the information acquired by the installation direction information acquisition unit 13 so that the detection range of reflected radio waves from the array antenna AN1 includes the vertical direction or the horizontal direction.

[0014] Furthermore, for example, the direction setting unit 12 sets the transmission direction of radio waves from the array antenna AN1 so that the boundary of the detection range of reflected radio waves from the array antenna AN1 is aligned along a specific direction, based on the information acquired by the installation direction information acquisition unit 13. Specifically, the direction setting unit 12 sets the transmission direction of radio waves from the array antenna AN1 so that the boundary of the detection range of reflected radio waves from the array antenna AN1 is aligned along the vertical or horizontal direction, based on the information acquired by the installation direction information acquisition unit 13.

[0015] Furthermore, for example, the direction setting unit 12 sets the transmission direction of radio waves from the array antenna AN1 so that the transmission direction of radio waves from the array antenna AN1 is along a specific direction, based on the information acquired by the installation direction information acquisition unit 13. Specifically, the direction setting unit 12 sets the transmission direction of radio waves from the array antenna AN1 so that the transmission direction of radio waves from the array antenna AN1 is along the vertical direction or the horizontal direction, based on the information acquired by the installation direction information acquisition unit 13.

[0016] Further, for example, the direction setting unit 12 calculates the difference between the preset orientation of the array antenna AN1 and the orientation of the array antenna AN1 indicated based on the information acquired by the installation direction information acquisition unit 13, and corrects the direction of transmitting radio waves from the array antenna AN1, which is preset relative to the orientation of the array antenna AN1, based on the calculation result. Alternatively, the direction setting unit 12 identifies the direction in which to focus on reflected radio waves based on the information from the installation direction information acquisition unit 13. In other words, the direction setting unit 12 sets the receiving direction (detection direction) of reflected radio waves from the array antenna AN1 based on the information acquired by the installation direction information acquisition unit 13. For example, the direction setting unit 12 sets the receiving direction of radio waves from the array antenna AN1 based on the information acquired by the installation direction information acquisition unit 13 so that the detection range of radio waves by the array antenna AN1 includes a specific direction. Specifically, the direction setting unit 12 sets the radio wave receiving direction of the array antenna AN1 so that the radio wave detection range of the array antenna AN1 includes the vertical direction or the horizontal direction, based on the information acquired by the installation direction information acquisition unit 13. Also, for example, the direction setting unit 12 sets the radio wave receiving direction of the array antenna AN1 so that the boundary of the radio wave detection range of the array antenna AN1 is aligned along a specific direction, based on the information acquired by the installation direction information acquisition unit 13. Specifically, the direction setting unit 12 sets the radio wave receiving direction of the array antenna AN1 so that the boundary of the radio wave detection range of the array antenna AN1 is aligned along the vertical direction or the horizontal direction, based on the information acquired by the installation direction information acquisition unit 13. Also, for example, the direction setting unit 12 sets the radio wave receiving direction of the array antenna AN1 so that the center direction of the radio wave detection range of the array antenna AN1 is aligned along a specific direction, based on the information acquired by the installation direction information acquisition unit 13. Specifically, the direction setting unit 12 sets the radio wave receiving direction of the array antenna AN1 based on the information acquired by the installation direction information acquisition unit 13 so that the center direction of the radio wave detection range of the array antenna AN1 is along the vertical or horizontal direction.In addition, the direction setting unit 12 may be configured to set at least one of the transmission direction and reception direction of radio waves by the array antenna AN1 based on the information acquired by the installation direction information acquisition unit 13, and for example, the direction setting unit 12 may be configured to set both the transmission direction and reception direction of radio waves by the array antenna AN1 based on the information acquired by the installation direction information acquisition unit 13.

[0017] The direction setting unit 12 may be configured to set the transmission and reception ranges of radio waves when setting the transmission and reception directions of radio waves from the array antenna AN1. For example, the direction setting unit 12 may be configured to set the transmission direction of radio waves from the array antenna AN1 and then change the detection range of reflected radio waves from the array antenna AN1 based on the transmission direction so that the detection range of reflected radio waves from the array antenna AN1 is a range that includes the transmission direction. Specifically, when the transmission direction of radio waves from the array antenna AN1 is horizontal, the direction setting unit 12 may be configured to set the detection range of reflected radio waves from the array antenna AN1 so that the detection range of reflected radio waves from the array antenna AN1 is a range that includes the horizontal direction. For example, when the transmission direction of radio waves from the array antenna AN1 is horizontal and the detection range of reflected radio waves from the array antenna AN1 is a range that does not include the horizontal direction, the direction setting unit 12 may be configured to expand the detection range of reflected radio waves from the array antenna AN1 so that the detection range of reflected radio waves from the array antenna AN1 is a range that includes the horizontal direction.

[0018] The signal processing unit 11 performs processing on at least one of the transmission signal and reception signal of the electromagnetic waves from the array antenna AN1 based on at least one of the transmission direction and reception direction of the radio waves set by the direction setting unit 12. For example, the signal processing unit 11 generates a signal for causing the transceiver unit 10 to transmit radio waves in the transmission direction set for the array antenna AN1 based on the transmission direction of the radio waves set by the direction setting unit 12. Furthermore, for example, the signal processing unit 11 generates a command value for the transceiver unit 10 to control the timing of transmission of radio waves from each of the antennas 101, 102, ..., 10(N-1), 10N based on the transmission direction of the radio waves set by the direction setting unit 12. Furthermore, the signal processing unit 11 performs processing on signals acquired from the transceiver unit 10 based on the radio waves received by the array antenna AN1. Details of the signal processing unit 11's processing of signals acquired from the transceiver unit 10 will be described later.

[0019] The transmitter / receiver unit 10, which functions as a transmitter and receiver, can improve signal processing efficiency and detection performance by focusing on received signal waves from a specific direction using beamforming from the array antenna AN1, which is a signal that is transmitted over a wide area and reflected by an object.

[0020] Furthermore, in an object detection device capable of beamforming transmission, the transceiver 10 causes the array antenna AN1 to transmit radio waves in a specific direction by beamforming based on a signal from the signal processing unit 11. For example, the transceiver 10 causes the array antenna AN1 to transmit radio waves by beamforming so as to follow the radio wave transmission direction set by the direction setting unit 12 based on the signal from the signal processing unit 11. In other words, the transceiver 10 causes the array antenna AN1 to transmit radio waves by beamforming based on the signal from the signal processing unit 11 so that the radio wave transmission direction set by the direction setting unit 12 overlaps with the center line of the detection range of reflected radio waves from the array antenna AN1.

[0021] The transceiver 10 also acquires information indicating the radio waves received by the array antenna AN1. In other words, when the array antenna AN1 receives waves of the radio waves transmitted from the array antenna AN1 that are reflected by an object, the transceiver 10 acquires a signal output based on the radio waves received by the array antenna AN1. For example, the transceiver 10 is configured with a high-frequency oscillator, a modulation circuit, a transmission power amplifier, a low-noise amplifier that amplifies the signal output from the array antenna AN1 based on the received radio waves, a mixer, etc.

[0022] The signal processing unit 11 generates information indicating the intensity distribution of the radio waves received by the array antenna AN1 based on the signal from the transmitting / receiving unit 10. For example, the signal processing unit 11 takes in a waveform obtained by demodulating the radio waves received by the array antenna AN1 based on the signal from the transmitting / receiving unit 10, and performs a fast Fourier transform (FFT) to map the spatial intensity distribution of the radio waves received by the array antenna AN1 so as to indicate the distance and direction from the array antenna AN1 to an object.

[0023] The object detection unit 14 detects a target object based on information indicating the intensity distribution of radio waves from the signal processing unit 11. In other words, the object detection unit 14 detects a target object based on information acquired by the transceiver unit 10. For example, the object detection unit 14 processes the electromagnetic wave reception signal from the array antenna AN1 based on the information from the signal processing unit 11. Specifically, the object detection unit 14 acquires information indicating the radio wave reception direction set by the direction setting unit 12 from the signal processing unit 11 and processes the electromagnetic wave reception signal from the array antenna AN1 based on the reception direction. For example, the object detection unit 14 performs clustering processing on the radio wave intensity distribution based on the information from the signal processing unit 11 and detects a target object within the detection range of reflected radio waves corresponding to the radio wave reception direction set by the direction setting unit 12. Note that the object detection unit 14 may detect a target object based on the information from the signal processing unit 11 and then identify the target object, calculate the distance and direction from the array antenna AN1 to the target object, or simply determine the presence or absence of the target object. The object detection unit 14 outputs the object detection result to an external device (not shown) that is electrically connected to the object detection device 100. For example, the object detection unit 14 outputs the object detection result to an external device (not shown) such as another computer, display device, storage device, or alarm device that is connected via an interface such as CAN (registered trademark), UART, or Ethernet (registered trademark).

[0024] Next, the hardware configuration of the object detection device 100 will be described with reference to Figures 2 and 3. Figure 2 is a diagram showing an example of the hardware configuration of the object detection device 100, and Figure 3 is a diagram showing an example of the hardware configuration of the object detection device 100 that is different from that shown in Figure 2. For example, as shown in Figure 2, the object detection device 100 is a computer having a processor 100a, a memory 100b, and an I / O port 100c, and is configured so that the processor 100a reads and executes a program stored in the memory 100b.

[0025] 3, the object detection device 100 is a computer that has a processing circuit 100d, which is dedicated hardware, and an I / O port 100c, and executes a program. The processing circuit 100d is configured, for example, by a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array), or a combination thereof. Each function of the object detection device 100 is realized by the processor 100a or the processing circuit 100d, which is dedicated hardware, executing a program. Note that the object detection device 100 may have hardware other than that described above.

[0026] Next, processing performed by the object detection device 100 will be described with reference to Fig. 4. Fig. 4 is a flowchart showing an example of processing performed by the object detection device 100. As shown in Fig. 4, when the object detection device 100 starts processing, it first acquires information about the direction of the array antenna AN1 (step ST01). In this processing, the object detection device 100 acquires information about the direction of the array antenna AN1 based on a signal from the installation direction sensor 15 at the time when the installation direction sensor 15 acquired information based on the orientation of the array antenna AN1.

[0027] After performing the processing of step ST01, the object detection device 100 estimates the direction of the array antenna AN1 based on the information acquired by the installation direction sensor 15 in the processing of step ST01 (step ST02). In this processing, the object detection device 100 estimates a specific direction that serves as a reference for the orientation of the array antenna AN1 or the orientation of the array antenna AN1 relative to a specific object that serves as a reference for the orientation of the array antenna AN1, based on the signal from the installation direction sensor 15.

[0028] After performing the processing of step ST02, the object detection device 100 sets the transmission and reception directions of radio waves from the array antenna AN1 based on the direction of the array antenna AN1 estimated in the processing of step ST02 (step ST03). In this processing, the object detection device 100, for example, sets the transmission direction of radio waves from the array antenna AN1 by beamforming based on the direction of the array antenna AN1 estimated in the processing of step ST02. In this processing, the object detection device 100 also sets the reception direction of radio waves from the array antenna AN1 based on the direction of the array antenna AN1 estimated in the processing of step ST02. In this processing, the object detection device 100 also sets the direction of the object detection range based on the radio waves received by the array antenna AN1 based on the direction of the array antenna AN1 estimated in the processing of step ST02. In this processing, the object detection device 100 also sets the transmission and reception directions of radio waves from the array antenna AN1 based on the direction of the array antenna AN1 estimated in the processing of step ST02.

[0029] After performing the processing of step ST03, the object detection device 100 transmits radio waves from the array antenna AN1 (step ST04). In this processing, the object detection device 100, for example, transmits radio waves from the array antenna AN1 by beamforming so that the waves are transmitted along the radio wave transmission direction set in the processing of step ST03. For example, in this processing, the object detection device 100 transmits millimeter waves from the array antenna AN1 by beamforming so that the waves are transmitted along the radio wave transmission direction set in the processing of step ST03. Also, for example, in this processing, the object detection device 100 transmits radio waves from the array antenna AN1 by beamforming so that the waves reflected from the radio wave reception direction set in the processing of step ST03 can be received. Also, for example, in this processing, the object detection device 100 transmits radio waves from the array antenna AN1 over a wide range so that the waves reflected from the radio wave reception direction set in the processing of step ST03 can be received.

[0030] After the processing of step ST04, the object detection device 100 determines whether or not a target object has been detected (step ST05). In this processing, the object detection device 100 determines whether or not a target object has been detected within the detection range of the reflected radio waves, based on the reflected waves received by the array antenna AN1. For example, in this processing, the object detection device 100 determines whether or not a target object has been detected within the detection range of the reflected radio waves according to the receiving direction set in the processing of step ST03, based on the reflected waves received by the array antenna AN1.

[0031] If no object is detected in the process of step ST05 (NO in step ST05), object detection device 100 returns the process to step ST04 and causes array antenna AN1 to transmit radio waves again.

[0032] If an object is detected in the processing of step ST05 (YES in step ST05), the object detection device 100 outputs the detection result to an external device (step ST06). In this processing, the object detection device 100 outputs to the external device, for example, information such as the fact that an object has been detected, the discrimination result of the detected object, the distance from the array antenna AN1 to the detected object, and the time when the object was detected. After performing the processing of step ST06, the object detection device 100 ends the processing. Note that the object detection device 100 may be configured to transmit radio waves from the array antenna AN1 even after the object has been detected, to detect changes in the state in which the object is being detected, and to detect new objects.

[0033] Next, an application example of the object detection device 100 using the array antenna AN1 will be described with reference to FIG. 5 . FIG. 5 is a schematic diagram showing the installation positions of antenna units according to embodiment 1 installed in a house 50 and the detection ranges of reflected radio waves from each antenna unit. As shown in FIG. 5 , antenna units 51, 53, 55, and 57 are installed in various parts of the house 50 and transmit radio waves to their respective transmission ranges 52, 54, 56, and 58. Each of the antenna units 51, 53, 55, and 57 includes an array antenna AN1 and an installation direction sensor 15. Note that each of the antenna units 51, 53, 55, and 57 may include all or some of the transmitter / receiver unit 10, signal processing unit 11, direction setting unit 12, installation direction information acquisition unit 13, and object detection unit 14.

[0034] The antenna units 51, 53, 55, and 57 obtain information from the installation direction sensor 15, limit the receiving area to 52, 54, 56, and 58, and ignore other areas as they are considered to contain noise components including clutter, thereby improving detection accuracy.

[0035] For example, when these antenna units 51, 53, 55, and 57 are installed in various parts of the house 50, errors may occur in the orientation of the array antenna AN1 due to distortion, deformation, and tilt of the ground surface of the house 50, as well as shape errors and variations in the installation work of the antenna units 51, 53, 55, and 57. Specifically, even if the antenna unit 53 installed on the wall surface of the house 50 is designed so that the array antenna AN1 is installed facing horizontally, the orientation of the array antenna AN1 after actual installation may not match the horizontal direction.

[0036] In such a case, the object detection device 100 according to the first embodiment acquires information about the orientation of the array antenna AN1 based on a signal from the installation direction sensor 15 and sets the transmission direction of radio waves from the array antenna AN1 based on the acquired information, thereby correcting any error occurring in the orientation of the array antenna AN1 and making it possible to transmit radio waves from the array antenna AN1 in the originally intended direction. For example, if the originally intended orientation of the array antenna AN1 when the antenna unit is installed is at an elevation angle of 0 degrees and the transmission direction of radio waves from the array antenna AN1 is at an elevation angle of 10 degrees, but the orientation of the array antenna AN1 when the antenna unit is actually installed is at an elevation angle of 15 degrees, the transmission direction of radio waves from the array antenna AN1 can be corrected to an elevation angle of 10 degrees.

[0037] Furthermore, for example, the object detection device 100 estimates the orientation of the array antenna AN1 based on a signal from the installation direction sensor 15, and by setting it in advance so that the detection range of the reflected radio waves is in accordance with the orientation of the array antenna AN1, it becomes possible to standardize the antenna units installed in various parts of the house and automatically set the transmission range in accordance with the installation position of the antenna unit.

[0038] Specifically, when the orientation of array antenna AN1 relative to the vertical downward direction is within 20 degrees (in the case of antenna units 51 and 57), array antenna AN1 transmits radio waves vertically downward; when the orientation of array antenna AN1 relative to the vertical downward direction is between 88 and 92 degrees (in the case of antenna unit 53), array antenna AN1 transmits radio waves so that one end of the detection range of reflected radio waves in a side view is vertically downward; and when the orientation of array antenna AN1 relative to the vertical downward direction is between 20 and 88 degrees, array antenna AN1 transmits radio waves so that one end of the detection range of reflected radio waves in a side view is horizontal. This allows antenna units installed in various parts of a house to be standardized and the transmission range to be automatically set according to the installation location of the antenna unit. Note that object detection device 100 may be configured to not transmit radio waves from array antenna AN1 when the orientation of array antenna AN1 relative to the vertical downward direction is 92 degrees or more, or may be configured to set the transmission range individually. Furthermore, the above angles are examples of setting values, and can be any value depending on the application of the array antenna AN1.

[0039] With this configuration, the object detection device 100 eliminates the need for highly accurate installation of the array antenna AN1, thereby improving installation efficiency compared to conventional devices. Furthermore, since the installation does not require the setting of the transmission direction of radio waves from the antenna, installation efficiency is improved compared to conventional devices. Furthermore, since multiple antenna units can be installed using a common device, productivity of the device can be improved and costs can be reduced. Note that when the antenna unit is installed on a building or structure such as a house or other object that does not normally move, the orientation of the array antenna AN1 does not change. Therefore, the processing from step ST01 to step ST03 shown in FIG. 4 only needs to be performed once: when the antenna unit is installed, when the device is powered on, or based on another specific trigger.

[0040] As described above, object detection device 100 according to the first embodiment includes installation direction information acquisition unit 13 that acquires information about the orientation of array antenna AN1 consisting of multiple antennas 101, 102, ..., 10(N-1), 10N arranged in an array, direction setting unit 12 that sets the transmission direction of radio waves from array antenna AN1 based on the information acquired by installation direction information acquisition unit 13, and transceiver unit 10 that causes array antenna AN1 to transmit radio waves in the transmission direction set by direction setting unit 12. With this configuration, object detection device 100 acquires information about the orientation of array antenna AN1 and causes array antenna AN1 to transmit radio waves in the direction set based on the acquired information, thereby suppressing variation in the transmission direction of radio waves due to the orientation of array antenna AN1.

[0041] Moreover, the object detection device 100 according to the first embodiment includes a transceiver 10 that acquires information indicating radio waves received by the array antenna AN1, and an object detection unit 14 that detects objects based on the information acquired by the transceiver 10. With this configuration, the object detection device 100 can detect objects using reflected waves while suppressing variations in the transmission direction of radio waves due to the orientation of the array antenna AN1. This makes it possible to optimize the beam pattern of the radio waves, thereby enabling improved object detection accuracy and resolution compared to conventional devices. Furthermore, it is possible to suppress transmission of radio waves to areas where object detection is not desired, thereby reducing the processing load on the device related to object detection.

[0042] In the first embodiment, object detection device 100 is configured to transmit radio waves from array antenna AN1 in a set direction and detect a target object based on the reflected waves of the radio waves, but is not limited to this. The object detection device may be configured to transmit electromagnetic waves from the array antenna in a set direction. For example, the electromagnetic waves transmitted from the array antenna may be microwaves, infrared rays, visible light, etc., in addition to radio waves. The object detection device may not include an object detection unit, or the transceiver may not have a function for receiving reflected waves. Furthermore, object detection device 100 may include one or both of an array antenna and an installation direction sensor.

[0043] Furthermore, in the first embodiment, the object detection device 100 is configured to acquire information indicating the orientation of the array antenna AN1 using the installation direction information acquisition unit 13 and set the transmission direction of radio waves from the array antenna AN1 based on the information, but this is not limiting. The object detection device may be configured to acquire information indicating the orientation of the array antenna and set the transmission direction of radio waves from the array antenna based on the information. For example, the object detection device may be configured to acquire, using the installation direction information acquisition unit, information indicating whether the orientation of the array antenna with respect to a specific, predetermined direction exceeds a predetermined threshold. When the object detection device is configured in this manner, for example, the object detection device may be configured to transmit radio waves to a predetermined first range when the orientation of the array antenna does not exceed the threshold, and to transmit radio waves to a second range different from the predetermined first range when the orientation of the array antenna exceeds the threshold.

[0044] Furthermore, in the first embodiment, the installation direction information acquisition unit 13 is configured to acquire information regarding the orientation of the array antenna AN1 based on a signal from the installation direction sensor 15, but is not limited to this. The installation direction information acquisition unit only needs to be configured to acquire information regarding the orientation of the array antenna, and the installation direction information acquisition unit may be configured to acquire information regarding the orientation of the array antenna based on information from a device other than the above-described installation direction sensor, for example, an imaging device such as a camera that acquires image information by imaging, or may be configured to acquire information regarding the orientation of the array antenna based on information from both the above-described installation direction sensor and a device other than the installation direction sensor.

[0045] Embodiment 2 Next, an object detection device 200 according to embodiment 2 will be described with reference to Fig. 1 and Fig. 6 to Fig. 8. Object detection device 200 according to embodiment 2 differs from object detection device 100 according to embodiment 1 in the processing related to the transmission direction of radio waves, but the configuration of each unit is the same, and components similar to those in embodiment 1 are given the same names and symbols as those in embodiment 1, and descriptions thereof will be omitted.

[0046] FIG. 6 is a flowchart illustrating an example of processing performed by the object detection device 200 according to the second embodiment. The object detection device 200 is designed to detect objects around a moving object, such as a vehicle or a ship, by transmitting radio waves from an array antenna AN1 installed on the moving object. As shown in FIG. 6 , after performing the processing of step ST04, the object detection device 200, which serves as an electromagnetic wave information processing device, determines whether or not a target object has been detected (step ST07). In this processing, the object detection device 200 determines whether or not a target object has been detected within the detection range of the reflected radio waves based on the reflected waves received by the array antenna AN1. If the object has not been detected in the processing of step ST07 (NO in step ST07), the object detection device 200 returns to step ST01 and again acquires information regarding the direction of the array antenna AN1 using the installation direction sensor 15. If the object has been detected in the processing of step ST07 (YES in step ST07), the object detection device 200 outputs the detection result to an external device (step ST06).

[0047] In this way, object detection device 200 according to the second embodiment is configured to repeat the processes from step ST01 to step ST07 at a preset frequency. For example, object detection device 200 according to the second embodiment is configured to repeat the processes from step ST01 to step ST07 at preset time intervals. This enables object detection device 200 according to the second embodiment to dynamically control the transmission direction of radio waves in accordance with the orientation of array antenna AN1 when the orientation of array antenna AN1 changes from moment to moment.

[0048] Next, an application example of the object detection device 200 using the array antenna AN1 will be described with reference to FIGS. 7 and 8 . FIG. 7 is a schematic diagram showing the detection range of reflected radio waves from an antenna unit according to embodiment 2 installed on a vehicle 60. As shown in FIG. 7 , when the vehicle 60 is positioned on an inclined surface, if radio waves are transmitted from the array antenna AN1 in the same direction as the direction in which radio waves are transmitted when the vehicle 60 is positioned on a horizontal surface, the target object may not be included in the detection range of the reflected radio waves, and the object may not be detected. For example, when the vehicle 60 is positioned on an inclined surface and radio waves are transmitted in the same range as the detection range 62 of the reflected radio waves by the array antenna AN1 when the vehicle 60 is positioned on a horizontal surface, the detection range 62 of the reflected radio waves may not include a worker 61, an example of a detection target, and the worker 61 may not be detected.

[0049] In such a case, the object detection device 200 acquires information about the inclination of the vehicle 60 with respect to the horizontal direction, in other words, information about the orientation of the array antenna AN1 with respect to the horizontal direction, and sets the transmission direction of the radio waves from the array antenna AN1 based on the acquired information, thereby improving the detection accuracy of the worker 61. At this time, the object detection device 200 acquires information about the orientation of the array antenna AN1 with respect to the horizontal direction and dynamically sets the transmission direction of the radio waves from the array antenna AN1 based on the acquired information, thereby correcting the detection range of the reflected radio waves from detection range 62 to detection range 63, which has moved in direction D1. Note that the vehicle may be a work vehicle or a passenger car, but the object detection device 200 is suitable for a work vehicle in which the orientation of the array antenna AN1 with respect to the horizontal direction is likely to change from moment to moment.

[0050] Figure 8 is a schematic diagram showing the detection range of reflected radio waves from an antenna unit according to embodiment 2 installed on a ship 70. Similar to the vehicle shown in Figure 7, the orientation of the array antenna AN1 relative to the horizontal direction also changes constantly in the ship 70. For this reason, the object detection device 200 acquires information regarding the orientation of the array antenna AN1 relative to the horizontal direction and dynamically sets the transmission direction of radio waves from the array antenna AN1 based on the acquired information, thereby correcting the detection range of reflected radio waves to a transmission range 73 that is moved in the direction D1 from the transmission range 72 so as to include another ship 71, which is an example of a detection target.

[0051] As described above, the object detection device 200 according to the second embodiment is configured so that the installation direction information acquisition unit 13 repeatedly acquires information about the orientation of the array antenna AN1 at a preset frequency. With this configuration, the object detection device 200 can dynamically control the transmission direction of radio waves from the array antenna AN1 in accordance with the orientation of the array antenna AN1, which changes from moment to moment.

[0052] In the second embodiment, the object detection device 200 is configured to repeat the processes from step ST01 to step ST07 at a preset frequency. However, if the antenna unit is installed on a mobile object, the frequency of the processes may be set according to the state of the mobile object. For example, the object detection device may be configured such that the installation direction information acquisition unit sets the frequency of acquiring information about the orientation of the array antenna or the frequency of correcting the transmission direction of radio waves from the array antenna based on the amount of change per unit time in the information about the orientation of the array antenna. With this configuration, the object detection device can frequently correct the transmission direction of radio waves from the array antenna, for example, when the amount of change per unit time in the orientation of the array antenna is large. Furthermore, the object detection device may be configured to newly set the transmission direction of radio waves from the array antenna AN1 when the amount of change in the orientation of the array antenna exceeds a preset threshold. Alternatively, the object detection device may be configured not to perform some or all of the processes from step ST01 to step ST07 when the mobile object is stopped, for example, when the vehicle is parked.

[0053] Third Embodiment Next, an object detection device 300 according to a third embodiment will be described with reference to Fig. 9. The object detection device 300 according to the third embodiment differs from the object detection device 100 according to the first embodiment in the configuration for setting the transmission direction of radio waves from the array antenna AN1, but the other configurations are the same, and the same configurations as those in the first embodiment are given the same names and symbols as those in the first embodiment, and the description thereof will be omitted.

[0054] As shown in Figure 9, the object detection device 300 as an electromagnetic wave information processing device includes a transmission / reception unit 10 that transmits and receives radio waves from the array antenna AN1, a signal processing unit 11, a direction setting unit 22, an image information acquisition unit 23 as an installation direction information acquisition unit that acquires image information from an imaging device 25, and an object detection unit 14, which are electrically connected so that they can transmit information to each other.

[0055] The imaging device 25 is a device for acquiring image information related to the orientation of the array antenna AN1 and outputs image information that changes based on the orientation of the array antenna AN1. For example, the imaging device 25 is disposed near the array antenna AN1, captures an image in a direction along the orientation of the array antenna AN1, and outputs image information obtained by the image capture. Alternatively, for example, the imaging device 25 is held by an object supporting the array antenna AN1, captures an image of the array antenna AN1 from a position where the orientation of the array antenna AN1 can be determined, and outputs image information obtained by the image capture. Alternatively, for example, the imaging device 25 captures an image of the array antenna AN1 and a target object, and outputs image information obtained by the image capture. Alternatively, for example, the imaging device 25 simultaneously captures multiple antenna arrays and outputs image information indicating the orientations of the multiple antenna arrays and the relative positions between the multiple antenna arrays.

[0056] The image information acquisition unit 23 acquires image information that changes based on the orientation of the array antenna AN1 from the imaging device 25. For example, the image information acquisition unit 23 acquires information indicating the orientation of the array antenna AN1 by estimating a specific direction that serves as a reference for the orientation of the array antenna AN1 or the orientation of the array antenna AN1 relative to a specific object that serves as a reference for the orientation of the array antenna AN1 based on the information from the imaging device 25. Also, for example, the image information acquisition unit 23 acquires information indicating the direction from the array antenna AN1 to the object based on the information from the imaging device 25, and also acquires information indicating the orientation of the array antenna AN1 relative to the direction from the array antenna AN1 to the object. Also, for example, the image information acquisition unit 23 acquires information regarding the orientations of multiple array antennas and the relative positions between multiple antenna arrays.

[0057] The direction setting unit 22 sets the transmission direction of radio waves from the array antenna AN1 based on the information acquired by the image information acquisition unit 23. For example, the direction setting unit 22 sets the transmission direction of radio waves from the array antenna AN1 based on the information acquired by the image information acquisition unit 23 so that the detection range of reflected radio waves from the array antenna AN1 includes a specific direction. Also, for example, the direction setting unit 22 sets the transmission direction of radio waves from the array antenna AN1 based on the information acquired by the image information acquisition unit 23 so that the boundary of the detection range of reflected radio waves from the array antenna AN1 is along a specific direction. Also, for example, the direction setting unit 22 sets the transmission direction of radio waves from the array antenna AN1 based on the information acquired by the image information acquisition unit 23 so that the transmission direction of radio waves from the array antenna AN1 is along a specific direction. With this configuration, the object detection device 300 according to the third embodiment can set the transmission direction of radio waves according to the orientation of the array antenna AN1 based on image information with a relatively large amount of information, thereby improving the accuracy of object detection.

[0058] Furthermore, for example, the direction setting unit 22 sets the transmission direction of radio waves from the array antenna AN1 so that the detection range of reflected radio waves from the array antenna AN1 includes the direction from the array antenna AN1 toward the object, based on the information acquired by the image information acquisition unit 23. Furthermore, for example, the direction setting unit 22 sets the transmission direction of radio waves from the array antenna AN1 so that the transmission direction of radio waves from the array antenna AN1 is along the direction from the array antenna AN1 toward the object, based on the information acquired by the image information acquisition unit 23.

[0059] Furthermore, for example, the direction setting unit 22 sets the transmission direction of radio waves from a specific array antenna so as to reduce the overlapping range between the transmission range of a specific array antenna and the transmission range of another array antenna among the multiple array antennas, based on the information acquired by the image information acquiring unit 23. With this configuration, the object detection device 300 according to the third embodiment can suppress interference between radio waves transmitted from the multiple array antennas and also suppress transmission of radio waves into unnecessary transmission ranges, thereby improving the object detection accuracy.

[0060] In addition, the direction setting unit 22 may be configured to set the transmission direction of radio waves from the array antenna AN1 based on information from other sensors in addition to or instead of the information acquired by the image information acquisition unit 23.

[0061] In addition, the present disclosure allows for free combination of the respective embodiments, modification of any of the components of the respective embodiments, or omission of any of the components of the respective embodiments.

[0062] The electromagnetic wave information processing device according to the present disclosure can be used, for example, to control the transmission direction of radio waves from an array antenna.

[0063] 10: Transmitter / receiver (transmitter, receiver), 11: Signal processor (information processor), 12: Direction setting unit, 13: Installation direction information acquisition unit, 14: Object detector (information processor), 15: Installation direction sensor, 22: Direction setting unit, 23: Image information acquisition unit (installation direction information acquisition unit), 25: Imaging device, 50: House, 51: Antenna unit, 52: Transmission range, 53: Antenna unit, 54: Transmission range, 55: Antenna unit, 56: Transmission range, 57: Antenna Antenna unit, 58: transmission range, 60: vehicle, 61: worker, 62: transmission range, 63: transmission range, 70: ship, 71: ship, 72: transmission range, 73: transmission range, 100: object detection device (electromagnetic wave information processing device), 101: antenna, 102: antenna, 10(N-1): antenna, 10N: antenna, 200: object detection device (electromagnetic wave information processing device), 300: object detection device (electromagnetic wave information processing device), AN1: array antenna.

Claims

1. An installation direction information acquisition unit acquires information regarding the orientation of an array antenna consisting of multiple antennas arranged in an array, A direction setting unit sets at least one of the transmission direction and reception direction of electromagnetic waves by the array antenna based on the information acquired by the installation direction information acquisition unit, The system includes an information processing unit that performs processing on at least one of the transmission signal and reception signal of electromagnetic waves from the array antenna based on at least one of the transmission direction and reception direction set by the direction setting unit. An electromagnetic wave information processing device characterized by the following features.

2. A receiving unit that acquires information indicating the electromagnetic waves received by the array antenna, The receiving unit includes an object detection unit that detects an object based on the information acquired by the receiving unit. The electromagnetic wave information processing device according to claim 1, characterized in that it is a feature of the present invention.

3. The aforementioned installation direction information acquisition unit acquires information indicating the orientation of the array antenna in the vertical or horizontal direction. The electromagnetic wave information processing device according to claim 1, characterized in that it is a feature of the present invention.

4. The aforementioned installation direction information acquisition unit acquires image information that changes based on the orientation of the array antenna. The electromagnetic wave information processing device according to claim 1, characterized in that it is a feature of the present invention.

5. The direction setting unit sets, based on the information acquired by the installation direction information acquisition unit, at least one of the transmission and reception directions of electromagnetic waves from the array antenna so that at least one of the transmission and reception ranges of electromagnetic waves from the array antenna includes the horizontal direction. The electromagnetic wave information processing device according to claim 1, characterized in that it is a feature of the present invention.

6. The direction setting unit sets at least one of the transmission direction and reception direction of electromagnetic waves from the array antenna so that, based on the information acquired by the installation direction information acquisition unit, at least one of the transmission direction and reception direction of electromagnetic waves from the array antenna is aligned horizontally. The electromagnetic wave information processing device according to claim 1, characterized in that it is a feature of the present invention.

7. The installation direction information acquisition unit acquires information indicating the orientation of the array antenna with respect to the direction from the array antenna toward the object, The direction setting unit sets at least one of the transmission direction and reception direction of electromagnetic waves from the array antenna, based on the information acquired by the installation direction information acquisition unit, such that at least one of the transmission range and reception range of electromagnetic waves from the array antenna includes the direction from the array antenna toward the object. The electromagnetic wave information processing device according to claim 2, characterized in that it is as described above.

8. The installation direction information acquisition unit acquires information indicating the orientation of the array antenna with respect to the direction from the array antenna toward the object, The direction setting unit sets at least one of the transmission direction and reception direction of electromagnetic waves from the array antenna, based on the information acquired by the installation direction information acquisition unit, such that at least one of the transmission direction and reception direction of electromagnetic waves from the array antenna is aligned with the direction from the array antenna toward the object. The electromagnetic wave information processing device according to claim 2, characterized in that it is as described above.

9. The aforementioned installation direction information acquisition unit repeats the acquisition of information regarding the orientation of the array antenna at a preset frequency. The electromagnetic wave information processing device according to any one of claims 1 to 8.

10. The installation direction information acquisition unit sets the frequency of acquiring information regarding the orientation of the array antenna based on the amount of change per unit time of the information regarding the orientation of the array antenna. The electromagnetic wave information processing apparatus according to feature 9.

11. The aforementioned installation direction information acquisition unit acquires information regarding the orientation and relative position of multiple array antennas, Based on the information acquired by the installation direction information acquisition unit, the direction setting unit sets at least one of the transmission and reception directions of electromagnetic waves from the specific array antenna such that the overlapping area between at least one of the transmission and reception ranges of the specific array antenna and at least one of the transmission and reception ranges of the other array antennas is reduced. The electromagnetic wave information processing device according to any one of claims 1 to 8.

12. Computers Installation direction information acquisition unit that acquires information regarding the orientation of an array antenna consisting of multiple antennas arranged in an array, A direction setting unit sets at least one of the transmission direction and reception direction of electromagnetic waves from the array antenna based on the information acquired by the installation direction information acquisition unit, and An information processing unit that performs processing on at least one of the transmission signal and reception signal of electromagnetic waves from the array antenna based on at least one of the transmission direction and reception direction set by the direction setting unit. An electromagnetic wave information processing program designed to function as such.

13. An electromagnetic wave information processing method performed by a device comprising an installation direction information acquisition unit, a direction setting unit, and an information processing unit, The installation direction information acquisition unit acquires information regarding the orientation of an array antenna, which consists of multiple antennas arranged in an array. The direction setting unit sets at least one of the transmission direction and reception direction of electromagnetic waves from the array antenna based on the information acquired by the installation direction information acquisition unit. The information processing unit performs processing on at least one of the transmission signal and reception signal of electromagnetic waves from the array antenna based on at least one of the transmission direction and reception direction set by the direction setting unit. A method for processing electromagnetic wave information, characterized by the following features.