Radar device and radar system

Abstract

[Problem] To provide a radar device capable of improving detection accuracy for a target, especially, for example, a prohibited article possessed by a person. [Solution] The present invention provides a radar device comprising: a transmission unit that has a transmission antenna for transmitting electromagnetic waves; a reception unit that has a reception antenna for receiving the electromagnetic waves; a two-dimensional image data acquisition unit that acquires two-dimensional image data based on the electromagnetic waves; and a two-dimensional image generation unit that generates a two-dimensional image according to the two-dimensional image data, wherein the transmission antenna transmits the electromagnetic waves toward a target, the target reflects the electromagnetic waves, the reception antenna receives the reflected electromagnetic waves, the two-dimensional image data acquisition unit acquires two-dimensional image data based on the received electromagnetic waves, the two-dimensional image generation unit generates the two-dimensional image according to the two-dimensional image data, and a first position angle of the position of the transmission antenna for the position of the target is different from a second position angle of the position of the reception antenna for the position of the target.

Description

Radar device and radar system

[0001] The present invention relates to a radar device and a radar system.

[0002] Conventionally, research and development on radar devices capable of detecting personal belongings held by a person have been actively conducted (see, for example, Patent Document 1).

[0003] Japanese Patent Application Laid-Open No. 2009-276331

[0004] However, with the technology proposed in Patent Document 1, there is a risk that the detection accuracy of the target, especially, for example, prohibited items held by a person, cannot be improved.

[0005] The present invention has been made in view of such a situation, and the main object is to provide a radar device and a radar system capable of improving the detection accuracy of the target, especially, for example, prohibited items held by a person.

[0006] As a result of intensive research to solve the above object, the inventors of the present invention have succeeded in developing a radar device and a radar system capable of improving the detection accuracy of the target, especially, for example, prohibited items held by a person, and have completed the present invention.

[0007] That is, in the present invention, as a first aspect, a transmission unit having a transmission antenna that transmits electromagnetic waves, a reception unit having a reception antenna that receives the electromagnetic waves, a two-dimensional image data acquisition unit that acquires two-dimensional image data based on the electromagnetic waves, and a two-dimensional image generation unit that generates a two-dimensional image according to the two-dimensional image data are provided. The transmission antenna transmits the electromagnetic waves toward the target, the target reflects the electromagnetic waves, the reception antenna receives the reflected electromagnetic waves, the two-dimensional image data acquisition unit acquires two-dimensional image data based on the received electromagnetic waves, the two-dimensional image generation unit generates the two-dimensional image according to the two-dimensional image data, and a radar device is provided in which a first position angle of the position of the transmission antenna with respect to the position of the target and a second position angle of the position of the reception antenna with respect to the position of the target are different.

[0008] In the first side radar device according to the present invention, the two-dimensional image generation unit may generate multiple types of two-dimensional images at multiple angle differences in which the angle difference between the first position angle and the second position angle is different from that of the other.

[0009] The radar device according to the first aspect of the present invention may further include an AI processing unit that performs artificial intelligence processing using the plurality of two-dimensional images, and a two-dimensional image feature point detection unit that detects two-dimensional image feature points from the plurality of two-dimensional images that have been processed by the AI ​​processing unit.

[0010] The first side radar device according to the present invention may further include a focus setting unit for setting a focus on any point on the target, and in the first side radar device according to the present invention, the two-dimensional image generation unit may generate a two-dimensional image based on the focus set by the focus setting unit.

[0011] In the radar device according to the first side of the present invention, the focus setting unit may have a lens function unit.

[0012] The first side radar device according to the present invention may further include: a focus setting unit for setting a focus on any point on the target; a distance calculation unit for calculating the distance between the transmitting antenna and the target, and / or the distance between the receiving antenna and the target; and a focus adjustment unit for adjusting the focus set by the focus setting unit according to the distance calculated by the distance calculation unit. Furthermore, in the first side radar device according to the present invention, the two-dimensional image generation unit may generate a two-dimensional image based on the focus adjusted by the focus adjustment unit.

[0013] In the radar device according to the first aspect of the present invention, the focus setting unit may have a lens function unit, the focus adjustment unit may have a movement function unit, the movement function unit may move the position of the transmitting antenna, or change the distance between the transmitting antenna and the lens function unit, the transmitting antenna may transmit the electromagnetic waves toward the target via the lens function unit, or the movement function unit may move the position of the receiving antenna, or change the distance between the receiving antenna and the lens function unit, and the receiving antenna may receive the reflected electromagnetic waves via the lens function unit.

[0014] In the radar device according to the first aspect of the present invention, the transmitting unit may have a plurality of transmitting antennas.

[0015] In the first side view radar device according to the present invention, the transmitting antenna may be moved to change the position of the transmitting antenna.

[0016] Furthermore, as a second aspect of the present invention, the present invention provides a radar system comprising a plurality of radar devices according to the first aspect of the present invention.

[0017] Furthermore, as a third aspect of the present invention, the present invention provides a radar device comprising: a transmitting unit having a transmitting antenna for transmitting electromagnetic waves; a receiving unit having a receiving antenna for receiving the electromagnetic waves; a three-dimensional image data acquisition unit for acquiring three-dimensional image data based on the electromagnetic waves; and a three-dimensional image generation unit for generating a three-dimensional image according to the three-dimensional image data, wherein the transmitting antenna transmits the electromagnetic waves toward an object, the object reflects the electromagnetic waves, the receiving antenna receives the reflected electromagnetic waves, the three-dimensional image data acquisition unit acquires three-dimensional image data based on the received electromagnetic waves, and the three-dimensional image generation unit generates a three-dimensional image according to the acquired three-dimensional image data, and the first position angle of the position of the transmitting antenna relative to the position of the object and the second position angle of the position of the receiving antenna relative to the position of the object are different.

[0018] In the radar device according to the third aspect of the present invention, the three-dimensional image generation unit may generate multiple types of three-dimensional images at multiple angle differences in which the angle difference between the first position angle and the second position angle is different from that of the others.

[0019] A radar device according to a third aspect of the present invention may further include an AI processing unit that performs artificial intelligence processing using the plurality of three-dimensional images, and a three-dimensional image feature point detection unit that detects three-dimensional image feature points from the plurality of three-dimensional images that have undergone artificial intelligence processing by the AI ​​processing unit.

[0020] The radar device of the third aspect according to the present invention may further include a focus setting unit that sets a focus on each of any multiple points of the target, and in the radar device of the third aspect according to the present invention, the three-dimensional image generation unit may generate a three-dimensional image based on the focus set by the focus setting unit.

[0021] In the radar device according to the third aspect of the present invention, the focus setting unit may have a lens function unit.

[0022] A radar device in a third aspect according to the present invention may further include: a focus setting unit that sets a focus on each of a plurality of arbitrary points on the target; a distance calculation unit that calculates the distance between the transmitting antenna and the target, and / or the distance between the receiving antenna and the target; and a focus adjustment unit that adjusts the focus set by the focus setting unit according to the distance calculated by the distance calculation unit. Furthermore, in the radar device in a third aspect according to the present invention, a three-dimensional image generation unit may generate a three-dimensional image based on the focus adjusted by the focus adjustment unit.

[0023] In a radar device according to a third aspect of the present invention, the focus setting unit may have a lens function unit, the focus adjustment unit may have a movement function unit, the movement function unit may move the position of the transmitting antenna, or change the distance between the transmitting antenna and the lens function unit, the transmitting antenna may transmit the electromagnetic waves toward the target via the lens function unit, or the movement function unit may move the position of the receiving antenna, or change the distance between the receiving antenna and the lens function unit, and the receiving antenna may receive the reflected electromagnetic waves via the lens function unit.

[0024] In the radar device according to the third aspect of the present invention, the transmitting unit may have a plurality of transmitting antennas.

[0025] In the radar device according to the third aspect of the present invention, the transmitting antenna may be moved to change the position of the transmitting antenna.

[0026] Furthermore, as a fourth aspect of the present invention, the present invention provides a radar system comprising a plurality of radar devices according to the third aspect of the present invention.

[0027] According to the present invention, it is possible to improve the accuracy of detecting objects, particularly prohibited items possessed by people. The effects described herein are not necessarily limited, and any of the effects described herein may also be present.

[0028] Figure 1 shows an example configuration 1 of a radar device according to the first embodiment to which the present invention is applied. Figure 2 shows an example configuration 2 of a radar device according to the first embodiment to which the present invention is applied. Figure 3 shows an example configuration 3 of a radar device according to the second embodiment to which the present invention is applied. Figure 4 shows an example configuration 4 of a radar device according to the fourth embodiment to which the present invention is applied. Figure 5 is a block diagram showing an example of the functional configuration of a radar device according to the present invention. Figure 6 is a block diagram showing an example of the electrical configuration of a server included in a radar device according to the present invention. Figure 7 shows an example configuration 5 of a radar device according to the fifth embodiment to which the present invention is applied. Figure 8 shows an example configuration 6 of a radar device according to the sixth embodiment to which the present invention is applied.

[0029] The following describes preferred embodiments for carrying out the present invention. The embodiments described below are examples of typical embodiments of the present invention and should not be interpreted as narrowing the scope of the present invention.

[0030] Unless otherwise specified, in drawings, "up" means the upper direction or upper side in the drawing, "down" means the lower direction or lower side in the drawing, "left" means the left direction or left side in the drawing, and "right" means the right direction or right side in the drawing. In addition, identical or equivalent elements or components are denoted by the same reference numeral in the drawings, and redundant explanations are omitted.

[0031] The explanation will proceed in the following order: 1. Outline of the present invention 2. First embodiment (Example 1 of radar device) 3. Second embodiment (Example 2 of radar device) 4. Third embodiment (Example 3 of radar device) 5. Fourth embodiment (Example 4 of radar device) 6. Fifth embodiment (Example 5 of radar device) 7. Sixth embodiment (Example 6 of radar device) 8. Seventh embodiment (Example 1 of radar system)

[0032] <1. Overview of the Invention> First, an overview of the present invention will be explained.

[0033] A radar device according to a first aspect of the present invention comprises a transmitting unit having a transmitting antenna for transmitting electromagnetic waves, a receiving unit having a receiving antenna for receiving electromagnetic waves, a two-dimensional image data acquisition unit for acquiring two-dimensional image data based on electromagnetic waves, and a two-dimensional image generation unit for generating a two-dimensional image according to the two-dimensional image data.

[0034] In a radar device according to a first aspect of the present invention, a transmitting antenna transmits electromagnetic waves toward an object, the object reflects the electromagnetic waves, and a receiving antenna receives the reflected electromagnetic waves. Here, the object is a target and is a concept that includes objects and people. Examples of objects include metallic prohibited items and non-metallic prohibited items. Examples of prohibited items include knives and firearms.

[0035] The two-dimensional image data acquisition unit acquires two-dimensional image data based on the received electromagnetic waves, and the two-dimensional image generation unit generates a two-dimensional image according to the two-dimensional image data acquired by the two-dimensional image data acquisition unit.

[0036] In a radar device according to a first aspect of the present invention, the first position angle of the transmitting antenna relative to the target location is different from the second position angle of the receiving antenna relative to the target location.

[0037] A radar system according to a second aspect of the present invention comprises a plurality (two or more) of radar devices according to a first aspect of the present invention.

[0038] A radar device according to a third aspect of the present invention comprises a transmitting unit having a transmitting antenna for transmitting electromagnetic waves, a receiving unit having a receiving antenna for receiving electromagnetic waves, a three-dimensional image data acquisition unit for acquiring three-dimensional image data based on electromagnetic waves, and a three-dimensional image generation unit for generating a two-dimensional image according to the three-dimensional image data.

[0039] In the radar device according to the third aspect of the present invention, the transmitting antenna transmits electromagnetic waves toward the target, the target reflects the electromagnetic waves, and the receiving antenna receives the reflected electromagnetic waves. Here, as described above, the target is a target and is a concept including objects and humans. Examples of the object include metal prohibited items and non-metallic prohibited items. Examples of the prohibited items include knives and firearms.

[0040] The three-dimensional image data acquisition unit acquires three-dimensional image data based on the received electromagnetic waves, and the three-dimensional image generation unit generates a three-dimensional image according to the three-dimensional image data acquired by the three-dimensional image data acquisition unit.

[0041] In the radar device according to the third aspect of the present invention, the first position angle of the position of the transmitting antenna with respect to the position of the target is different from the second position angle of the position of the receiving antenna with respect to the position of the target.

[0042] The radar system according to the fourth aspect of the present invention includes a plurality (two or more) of the radar devices according to the third aspect of the present invention.

[0043] According to the radar device according to the first aspect and the third aspect of the present invention, and the radar system according to the second aspect and the fourth aspect of the present invention, for example, the electromagnetic waves reflected from the first target (for example, humans, human clothes, etc.) and the second target (for example, knives, firearms, etc.) arranged inside the first target are two-dimensionally imaged and three-dimensionally imaged, and the second target is detected.

[0044] The present invention will be described in more detail.

[0045] As an example, a situation where a person has a knife or a pistol inside their clothes can be cited. When trying to discover a knife or a pistol non-contact in this situation, there is a problem that electromagnetic waves (radar waves) are reflected from both the person and the clothes, and further from the knife or pistol (firearm). The present invention can solve this problem.

[0046] As described above, electromagnetic waves (radar waves) are also reflected from knives and pistols (firearms) placed inside the clothes worn by humans (inside the clothes). However, they are also reflected from humans (human skin). Therefore, it is necessary to find features as images of knives and pistols (firearms) (two-dimensional image feature points or three-dimensional image feature points for knives and pistols (firearms)).

[0047] In the present invention, by arranging the transmission unit and the reception unit at different locations, electromagnetic waves reflected from humans (human skin) are not received by the reception unit (reception antenna), while electromagnetic waves reflected from the corners of a knife or a pistol are received by the reception unit (reception antenna).

[0048] Also, in the present invention, by setting a focus on the transmission side of the electromagnetic waves or the reception side of the electromagnetic waves that image a two-dimensional image or a three-dimensional image, the resolution of the two-dimensional image or the three-dimensional image can be improved.

[0049] Furthermore, in the present invention, using two-dimensional images of a plurality of types of knives or pistols at a plurality of angular differences where the angular difference between the first position angle of the position of the transmission antenna with respect to the position of the knife or pistol and the second position angle of the position of the reception antenna with respect to the position of the knife or pistol are different from each other, artificial intelligence processing is performed by the AI processing unit, whereby two-dimensional image feature points of the two-dimensional image of the knife or pistol can be found.

[0050] Moreover, in the present invention, using three-dimensional images of a plurality of types of knives or pistols at a plurality of angular differences where the angular difference between the first position angle of the position of the transmission antenna with respect to the position of the knife or pistol and the second position angle of the position of the reception antenna with respect to the position of the knife or pistol are different from each other, artificial intelligence processing is performed by the AI processing unit, whereby three-dimensional image feature points of the three-dimensional image of the knife or pistol can be found.

[0051] The explanation will be given using Figures 5 and 6. Figure 5 is a block diagram showing a functional configuration example of a radar device to which the present invention is applied, and more specifically, it is a block diagram showing the functional configuration of the radar device 104. Figure 6 is a block diagram showing a power supply configuration example of a server in a radar device to which the present invention is applied, and more specifically, it is a block diagram showing a power supply configuration example of the server 30 in the radar device 104.

[0052] As shown in Figure 5, the radar device 104 comprises a transmitting unit 1, a receiving unit 2 (receiving units 21, 22, and 23), a focus setting unit 41, a distance calculation unit 42, a focus adjustment unit 43, and a server 30 (computer). The details of the functional configurations of the transmitting unit 1, the receiving unit 2 (receiving units 21, 22, and 23), the focus setting unit 41, the distance calculation unit 42, and the focus adjustment unit 43 will be described in the first to seventh embodiments below.

[0053] The server 30 (computer) includes a two-dimensional image data acquisition unit 31, a two-dimensional image generation unit 32, a three-dimensional image data acquisition unit 33, a three-dimensional image generation unit 34, an AI processing unit 35, a two-dimensional image feature point detection unit 36, and a three-dimensional image feature point detection unit 37.

[0054] The two-dimensional image data acquisition unit 31 acquires two-dimensional image data based on electromagnetic waves, and the two-dimensional image generation unit 32 generates a two-dimensional image according to the two-dimensional image data acquired by the two-dimensional image data acquisition unit 31.

[0055] The three-dimensional image data acquisition unit 33 acquires three-dimensional image data based on electromagnetic waves, and the three-dimensional image generation unit 34 generates a three-dimensional image according to the three-dimensional image data acquired by the three-dimensional image data acquisition unit 33.

[0056] The AI ​​processing unit 35 performs artificial intelligence processing using multiple types of two-dimensional images generated by the two-dimensional image generation unit 32, where the angle difference between a first position angle (the angle of the transmitting antenna's position relative to the target's position) and a second position angle (the angle of the receiving antenna's position relative to the target's position) is different from that of the other. The two-dimensional image feature point detection unit 36 ​​then detects two-dimensional image feature points from the multiple types of two-dimensional images that have been processed by the AI ​​processing unit 35. The two-dimensional image feature points detected by the two-dimensional image feature point detection unit 36 ​​can improve the detection accuracy of targets, particularly, for example, prohibited items possessed by humans.

[0057] Furthermore, the AI ​​processing unit 35 performs artificial intelligence processing using multiple types of three-dimensional images generated by the three-dimensional image generation unit 34, where the angle difference between a first position angle (the angle of the transmitting antenna's position relative to the target's position) and a second position angle (the angle of the receiving antenna's position relative to the target's position) is different from that of the other. The three-dimensional image feature point detection unit 37 then detects three-dimensional image feature points from the multiple types of three-dimensional images that have been processed by the AI ​​processing unit 35. The three-dimensional image feature points detected by the three-dimensional image feature point detection unit 37 can improve the detection accuracy of targets, particularly, for example, prohibited items possessed by humans.

[0058] As shown in Figure 6, the server 30 includes a CPU (Central Processing Unit) 210, which is the main control unit that manages the operation of the entire server 30; a ROM (Read Only Memory) 220 in which various programs and data are pre-stored; a RAM (Random Access Memory) 230 used as a work area when the CPU 210 executes various programs; and an HDD (Hard Disk Drive) 240 as a storage means for storing various programs and data.

[0059] Furthermore, the server 30 includes an input unit 250 consisting of a keyboard, mouse, etc., which accepts input for various operations; a display unit 260, such as a liquid crystal display device, which displays various images; and a communication unit 310 which is connected wirelessly or wired to the transmission unit 1 and the reception unit 2 (receiving units 21, 22, and 23), as well as at least one of the focus setting unit 41, distance calculation unit 42, and focus adjustment unit 43, and which transmits and receives various data between the transmission unit 1 and the reception unit 2 (receiving units 21, 22, and 23), as well as at least one of the focus setting unit 41, distance calculation unit 42, and focus adjustment unit 43.

[0060] In server 30, the CPU 210, ROM 220, RAM 230, HDD 240, input unit 250, display unit 260, and communication unit 310 are electrically connected to each other via the system bus 200. Therefore, in server 30, the CPU 210 can access the ROM 220, RAM 230, and HDD 240, understand the operation status of the input unit 250, display images on the display unit 260, and transmit and receive various data via the communication unit 310 to the transmission unit 1 and reception unit 2 (reception units 21, 22, and 23), and to at least one of the focus setting unit 41, distance calculation unit 42, and focus adjustment unit 43.

[0061] The server 30 performs predetermined processing by, for example, loading a program stored in the ROM 220 into the RAM 230 and executing the program loaded into the RAM 230 using the CPU 210. Specifically, for example, the server 30 loads a predetermined program stored in the ROM 220 into the RAM 230 and executes the predetermined program loaded into the RAM 230 using the CPU 210, thereby performing processing related to two-dimensional images, three-dimensional images, and AI (artificial intelligence), as described later, and realizing the respective functions of the two-dimensional image data acquisition unit 31, the two-dimensional image generation unit 32, the three-dimensional image data acquisition unit 33, the three-dimensional image generation unit 34, the AI ​​processing unit 35, the two-dimensional image feature point detection unit 36, and the three-dimensional image feature point detection unit 37.

[0062] The embodiments of the present invention will be described below in a specific and detailed manner.

[0063] <2. First Embodiment (Example 1 of Radar Device)> The radar device of the first embodiment (Example 1 of Radar Device) according to the present invention will be described with reference to Figure 1.

[0064] Figure 1 is a diagram showing an example configuration of a radar device according to a first embodiment to which the present invention is applied, and specifically, it is a diagram showing the configuration of the radar device 100.

[0065] The radar device 100 comprises a transmitting unit 1 consisting of a transmitting antenna 4 that transmits electromagnetic waves, and a receiving unit 2 having a receiving box 50 and a receiving antenna disposed within the receiving box 50 to receive electromagnetic waves. Although the transmitting unit 1 shown in Figure 1 consists of a transmitting antenna 4, the transmitting unit 1 may have a transmitting box (not shown) and the transmitting antenna 4 may be disposed within the transmitting box, so that the receiving unit 2 has a receiving box 50 and the receiving antenna 5 is disposed within the receiving box 50. The receiving antenna 5 is disposed within the receiving box 50 on the YZ plane 51 side of the receiving box 50 that faces the human 1000 (target).

[0066] The transmitting unit 1 (transmitting antenna 4) and the receiving unit 2 (the left XZ plane 52 of the receiving box 50) are electrically connected via cable 3. The transmitting antenna 4 transmits electromagnetic waves toward the person 1000, the clothing 1001, and the pistol 1002 (targets), and the receiving antenna 5 receives the electromagnetic waves reflected from the person 1000, the clothing 1001, and the pistol 1002 (targets).

[0067] Although not shown in Figure 1, the radar device 100 includes a two-dimensional image data acquisition unit that acquires two-dimensional image data based on electromagnetic waves, and a two-dimensional image generation unit that generates a two-dimensional image according to the two-dimensional image data acquired by the two-dimensional image data acquisition unit, or it includes a three-dimensional image data acquisition unit that acquires three-dimensional image data based on electromagnetic waves, and a three-dimensional image generation unit that generates a three-dimensional image according to the three-dimensional image data acquired by the three-dimensional image data acquisition unit.

[0068] The two-dimensional image data acquisition unit and the two-dimensional image generation unit may be provided in the transmission unit 1, or they may be provided in the receiving unit 2.

[0069] Furthermore, the three-dimensional image data acquisition unit and the three-dimensional image generation unit may be provided in the transmission unit 1, or they may be provided in the receiving unit 2.

[0070] As shown in Figure 1, human 1000 is wearing clothing 1001, and human 1000 is concealing a pistol 1002 inside the clothing 1001.

[0071] Then, the receiving unit 2, which has a receiving antenna 5, observes a two-dimensional or three-dimensional image of the pistol 1002. As shown in Figure 1, the transmitting unit 1 and the receiving unit 2 are located at separate locations.

[0072] Electromagnetic waves (radar waves) are emitted from the transmitting antenna 4 of the transmitting unit 1 onto the person 1000, the clothing 1001, and the pistol 1002.

[0073] The two-dimensional or three-dimensional image of the pistol 1002 is clearer when the transmitter 1 and receiver 2 are located at a distance from each other than when the transmitter 1 and receiver 2 are located at close proximity. The electromagnetic waves (intensity of electromagnetic waves) reflected from the person 1000 and clothing 1001 are smaller when the transmitter 1 and receiver 2 are located at a distance from each other than when the transmitter 1 and receiver 2 are located at close proximity.

[0074] Then, by changing the first position angle of the position of the transmitting unit 1 relative to the position of the pistol 1002 several times (for example, five times), a two-dimensional or three-dimensional image of the pistol 1002 becomes clear at a predetermined first position angle.

[0075] Furthermore, even if the second position angle of the receiving unit 2 relative to the position of the pistol 1002 is changed several times (for example, five times), the two-dimensional or three-dimensional image of the pistol 1002 remains clear at a predetermined second position angle.

[0076] Furthermore, even if the first position angle of the position of the transmitting unit 1 relative to the position of the pistol 1002 is changed several times (for example, five times), and the second position angle of the position of the receiving unit 2 relative to the position of the pistol 1002 is changed several times (for example, five times), the two-dimensional or three-dimensional image of the pistol 1002 remains clear at the predetermined first position angle and the predetermined second position angle.

[0077] A radar device according to the first embodiment of the present invention (Example 1 of a radar device) will be further described with reference to Figure 2.

[0078] Figure 2 is a diagram showing an example configuration of a radar device according to a first embodiment to which the present invention is applied, and specifically, it is a diagram showing the configuration of the radar device 101.

[0079] The radar device 101 comprises a transmitting unit 1 consisting of a transmitting antenna 4 that transmits electromagnetic waves, and a receiving unit 21 having a receiving box 50 and a receiving antenna disposed within the receiving box 50 to receive electromagnetic waves. Although the transmitting unit 1 shown in Figure 2 consists of a transmitting antenna 4, the transmitting unit 1 may have a transmitting box (not shown) and the transmitting antenna 4 disposed within the transmitting box, so that the receiving unit 21 has a receiving box 50 and the receiving antenna 5 is disposed within the receiving box 50. The receiving antenna 5 is disposed within the receiving box 50 on the YZ plane 51 side of the receiving box 50 that faces the human 1000 (target).

[0080] The transmitting unit 1 (transmitting antenna 4) and the receiving unit 21 (the left XZ plane 52 of the receiving box 50) are electrically connected via cable 3. The transmitting antenna 4 transmits electromagnetic waves toward the person 1000, the clothing 1001, and the pistol 1002 (targets), and the receiving antenna 5 receives the electromagnetic waves reflected from the person 1000, the clothing 1001, and the pistol 1002 (targets).

[0081] The receiving unit 21 (receiving box 50) can be freely moved in the P direction (X-axis direction, Y-axis direction, or any direction within the plane of the X and Y axes) and the Q direction (Z-axis direction) by a drive device for the receiving unit (not shown in Figure 2), and the second position angle of the receiving antenna 5 relative to the position of the human 1000 (target) can be freely changed. As a result, multiple types of two-dimensional and three-dimensional images at multiple angle differences where the angle difference between the first position angle and the second position angle is different from each other can be generated by the two-dimensional image generation unit and the three-dimensional image generation unit, respectively.

[0082] Although not shown in Figure 2, similar to the receiving unit 21 (receiving box 50), the transmitting unit 1 may be moved at will in the P direction (X-axis direction, Y-axis direction, or any direction within the plane of the X and Y axes) and the Q direction (Z-axis direction) by a drive device for the transmitting unit, and the first position angle of the transmitting antenna 4 relative to the position of the human 1000 (target) may be changed at will. As a result, multiple types of two-dimensional and three-dimensional images at multiple angle differences where the angle difference between the first position angle and the second position angle is different from each other can be generated by the two-dimensional image generation unit and the three-dimensional image generation unit, respectively.

[0083] The contents described above regarding the first embodiment of the present invention (Example 1 of a radar device) can be applied to the second to seventh embodiments of the present invention, which will be described later, unless there are any particular technical inconsistencies.

[0084] <3. Second Embodiment (Example 2 of Radar Device)> A radar device according to the second embodiment (Example 2 of Radar Device) of the present invention will be described.

[0085] A radar device according to a second embodiment of the present invention comprises: a transmitting unit having a transmitting antenna that transmits electromagnetic waves; a receiving unit having a receiving antenna that receives electromagnetic waves; a two-dimensional image data acquisition unit that acquires two-dimensional image data based on electromagnetic waves; a two-dimensional image generation unit that generates a two-dimensional image according to the acquired two-dimensional image data; a focus setting unit that sets a focus on any point on an object; a distance calculation unit that calculates the distance between the transmitting antenna and the object, and / or the distance between the receiving antenna and the object; and a focus adjustment unit that adjusts the focus set by the focus setting unit according to the distance calculated by the distance calculation unit; or a transmitting unit having a transmitting antenna that transmits electromagnetic waves; a receiving unit having a receiving antenna that receives electromagnetic waves; a three-dimensional image data acquisition unit that acquires three-dimensional image data based on electromagnetic waves; a three-dimensional image generation unit that generates a three-dimensional image according to the acquired three-dimensional image data; a focus setting unit that sets a focus on each of a plurality of arbitrary points on an object; a distance calculation unit that calculates the distance between the transmitting antenna and the object, and / or the distance between the receiving antenna and the object; and a focus adjustment unit that adjusts the focus set by the focus setting unit according to the distance calculated by the distance calculation unit.

[0086] In a radar device according to a second embodiment of the present invention, a transmitting antenna transmits electromagnetic waves toward a target, the target reflects the electromagnetic waves, a receiving antenna receives the reflected electromagnetic waves, a two-dimensional image data acquisition unit acquires two-dimensional image data based on the received electromagnetic waves, a two-dimensional image generation unit generates a two-dimensional image according to the acquired two-dimensional image data, wherein the first position angle of the transmitting antenna relative to the position of the target and the second position angle of the receiving antenna relative to the position of the target are different, or, a transmitting antenna transmits electromagnetic waves toward a target, the target reflects the electromagnetic waves, a receiving antenna receives the reflected electromagnetic waves, a three-dimensional image data acquisition unit acquires three-dimensional image data based on the received electromagnetic waves, a three-dimensional image generation unit generates a three-dimensional image according to the acquired three-dimensional image data, wherein the first position angle of the transmitting antenna relative to the position of the target and the second position angle of the receiving antenna relative to the position of the target are different.

[0087] Furthermore, in the radar device of the second embodiment according to the present invention, a two-dimensional image generation unit generates a two-dimensional image or a three-dimensional image generation unit generates a three-dimensional image based on the focus adjusted by the focus adjustment unit.

[0088] A radar device according to a second embodiment of the present invention (Example 2 of a radar device) will be further described with reference to Figure 3.

[0089] Figure 3 is a diagram showing an example of the configuration of a radar device according to a second embodiment to which the present invention is applied, and specifically, it is a diagram showing the configuration of the radar device 102.

[0090] The radar device 102 comprises a transmitting unit 1 consisting of a transmitting antenna 4 that transmits electromagnetic waves, a receiving unit 22 having a receiving box 50 and a receiving antenna 5 disposed within the receiving box 50 to receive electromagnetic waves, and a lens function unit 6. Although the transmitting unit 1 shown in Figure 3 consists of a transmitting antenna 4, the transmitting unit 1 may have a transmitting box (not shown) and the transmitting antenna 4 disposed within the transmitting box, just as the receiving unit 22 has a receiving box 50 and the receiving antenna 5 is disposed within the receiving box 50. The receiving antenna 5 is disposed within the receiving box 50 on the YZ plane 51 side of the receiving box 50 that faces the human 1000 (target).

[0091] The lens function unit 6 is located outside the receiving box 50, on the YZ plane 51 side of the receiving box 50 that is on the human 1000 (target) side. The lens function unit 6 may consist of a lens or a component having a lens. The shape of the lens can be any shape, but in Figure 3, the shape of the lens is a hemisphere (it may be a hemisphere without a base), and the base of the hemisphere (or the circular edge portion (end) in the case of a hemisphere without a base) may be connected to the outer surface of the YZ plane 51.

[0092] The transmitting unit 1 (transmitting antenna 4) and the receiving unit 21 (the left XZ plane 52 of the receiving box 50) are electrically connected via cable 3. The transmitting antenna 4 transmits electromagnetic waves toward the human 1000 (target), and the receiving antenna 5 receives the electromagnetic waves reflected from the human 1000 (target) via lens function unit 6.

[0093] The two-dimensional image data acquisition unit acquires two-dimensional image data based on electromagnetic waves received by the receiving antenna 5, based on a focus set by the lens function unit 6 at an arbitrary point on the person 1000, clothing 1001 and / or pistol 1002 (target), and the two-dimensional image generation unit generates a two-dimensional image according to the acquired two-dimensional image data.

[0094] Furthermore, the three-dimensional image data acquisition unit acquires three-dimensional image data based on electromagnetic waves received by the receiving antenna 5, based on the focus set at any multiple points on the human 1000, clothing 1001 and / or pistol 1002 (object) by the lens function unit 6, and the three-dimensional image generation unit generates a three-dimensional image according to the acquired three-dimensional image data.

[0095] The receiving unit 22 (receiving box 50) can be freely moved in the P direction (X-axis direction, Y-axis direction, or any direction within the plane of the X and Y axes) and the Q direction (Z-axis direction) by a drive device for the receiving unit (not shown in Figure 3), and the second position angle of the receiving antenna 5 relative to the position of the human 1000 (target) can be freely changed. As a result, multiple types of two-dimensional and three-dimensional images at multiple angle differences where the angle difference between the first position angle and the second position angle is different from each other can be generated by the two-dimensional image generation unit and the three-dimensional image generation unit, respectively.

[0096] Although not shown in Figure 3, similar to the receiving unit 22 (receiving box 50), the transmitting box 1 may be moved at will in the P direction (X-axis direction, Y-axis direction, or any direction within the plane of the X and Y axes) and the Q direction (Z-axis direction) by a drive device for the transmitting unit, and the first position angle of the transmitting antenna 4 relative to the position of the human 1000 (target) may be changed at will. As a result, multiple types of two-dimensional and three-dimensional images at multiple angle differences where the angle difference between the first position angle and the second position angle is different from each other can be generated by the two-dimensional image generation unit and the three-dimensional image generation unit, respectively.

[0097] Furthermore, although not shown in Figure 3, the radar device 102 may further include a distance calculation unit that calculates the distance between the transmitting antenna 4 and the person 1000, the clothing 1001 and / or the pistol 1002 (target), and / or the distance between the receiving antenna 5 and the person 1000, the clothing 1001 and / or the pistol 1002 (target), and a focus adjustment unit that adjusts the focus set by the focus setting unit according to the distance calculated by the distance calculation unit.

[0098] According to the radar device of the second embodiment of the present invention, it is possible to sharpen the three-dimensional image of the target pistol, thereby improving the detection accuracy of the target pistol.

[0099] The contents described above regarding the second embodiment of the present invention (Example 2 of the radar device) can be applied to the first embodiment of the present invention described above and the third to seventh embodiments of the present invention described later, unless there are any particular technical inconsistencies.

[0100] <4. Third Embodiment (Example 3 of Radar Device)> A radar device according to the third embodiment (Example 3 of Radar Device) of the present invention will be described.

[0101] A radar device according to a third embodiment of the present invention comprises a transmitting unit having a transmitting antenna for transmitting electromagnetic waves, a receiving unit having a receiving antenna for receiving electromagnetic waves, a two-dimensional image data acquisition unit for acquiring two-dimensional image data based on electromagnetic waves, and a two-dimensional image generation unit for generating a two-dimensional image according to the two-dimensional image data; or a transmitting unit having a transmitting antenna for transmitting electromagnetic waves, a receiving unit having a receiving antenna for receiving electromagnetic waves, a three-dimensional image data acquisition unit for acquiring three-dimensional image data based on electromagnetic waves, and a three-dimensional image generation unit for generating a three-dimensional image according to the three-dimensional image data.

[0102] In a radar device according to a third embodiment of the present invention, a transmitting antenna transmits electromagnetic waves toward a target, the target reflects the electromagnetic waves, a receiving antenna receives the reflected electromagnetic waves, a two-dimensional image data acquisition unit acquires two-dimensional image data based on the received electromagnetic waves, a two-dimensional image generation unit generates a two-dimensional image according to the two-dimensional image data, wherein the first position angle of the transmitting antenna relative to the position of the target and the second position angle of the receiving antenna relative to the position of the target are different, or, a transmitting antenna transmits electromagnetic waves toward a target, the target reflects the electromagnetic waves, a receiving antenna receives the reflected electromagnetic waves, a three-dimensional image data acquisition unit acquires three-dimensional image data based on the received electromagnetic waves, a three-dimensional image generation unit generates a three-dimensional image according to the three-dimensional image data, wherein the first position angle of the transmitting antenna relative to the position of the target and the second position angle of the receiving antenna relative to the position of the target are different.

[0103] A radar device according to a third embodiment of the present invention further comprises an AI processing unit that performs artificial intelligence processing using a plurality of types of two-dimensional images, and a two-dimensional image feature point detection unit that detects two-dimensional image feature points from the plurality of two-dimensional images that have been processed by the AI ​​processing unit, or further comprises an AI processing unit that performs artificial intelligence processing using a plurality of types of three-dimensional images, and a three-dimensional image feature point detection unit that detects three-dimensional image feature points from the plurality of three-dimensional images that have been processed by the AI ​​processing unit. The AI ​​processing unit may have a machine learning unit. The machine learning unit can perform machine learning using various artificial intelligence technologies. Examples of artificial intelligence technologies that can be used include neural networks, genetic programming, functional logic programming, support vector machines, clustering, regression, classification, Bayesian networks, reinforcement learning, representation learning, decision trees, and k-means algorithms. Furthermore, machine learning technologies using neural networks can include deep learning technologies.

[0104] Multiple types of two-dimensional images are generated by a two-dimensional image generation unit, based on multiple angle differences between a first position angle and a second position angle, each of which is different from the others.

[0105] Multiple types of three-dimensional images are generated by a three-dimensional image generation unit, based on multiple angle differences between a first position angle and a second position angle, each of which is different from the others.

[0106] The system generates only the two-dimensional or three-dimensional images of the target object, such as a pistol 1002 or a knife, using a two-dimensional or three-dimensional image generation unit. These generated two-dimensional or three-dimensional images are then used as training data (labels) to construct a learning model. Following this learning model, the AI ​​processing unit performs artificial intelligence processing using multiple types of two-dimensional or three-dimensional images.

[0107] By detecting two-dimensional image feature points from multiple types of two-dimensional images that have undergone artificial intelligence processing, the two-dimensional image feature point detection unit can enhance the clarity of the two-dimensional image of the target object, such as a pistol or knife, thereby improving the detection level of the target object, such as a pistol or knife.

[0108] Furthermore, by detecting three-dimensional image feature points from multiple types of three-dimensional images that have undergone artificial intelligence processing using a three-dimensional image feature point detection unit, it becomes possible to sharpen the three-dimensional image of the target, such as a pistol or knife, and improve the detection level of the target, such as a pistol or knife.

[0109] The contents described above regarding the third embodiment of the present invention (Example 3 of the radar device) can be applied to the first and second embodiments of the present invention described above and the fourth to seventh embodiments of the present invention described later, unless there are any particular technical inconsistencies.

[0110] <5. Fourth Embodiment (Example 4 of Radar Device)> A radar device according to the fourth embodiment (Example 4 of Radar Device) of the present invention will be described.

[0111] A radar device according to a fourth embodiment of the present invention comprises a transmitting unit having a transmitting antenna for transmitting electromagnetic waves, a receiving unit having a receiving antenna for receiving electromagnetic waves, a two-dimensional image data acquisition unit for acquiring two-dimensional image data based on electromagnetic waves, and a two-dimensional image generation unit for generating a two-dimensional image according to the two-dimensional image data; or a transmitting unit having a transmitting antenna for transmitting electromagnetic waves, a receiving unit having a receiving antenna for receiving electromagnetic waves, a three-dimensional image data acquisition unit for acquiring three-dimensional image data based on electromagnetic waves, and a three-dimensional image generation unit for generating a three-dimensional image according to the three-dimensional image data.

[0112] In a radar device according to a fourth embodiment of the present invention, a transmitting antenna transmits electromagnetic waves toward a target, the target reflects the electromagnetic waves, a receiving antenna receives the reflected electromagnetic waves, a two-dimensional image data acquisition unit acquires two-dimensional image data based on the received electromagnetic waves, a two-dimensional image generation unit generates a two-dimensional image according to the two-dimensional image data, wherein the first position angle of the transmitting antenna relative to the position of the target and the second position angle of the receiving antenna relative to the position of the target are different, or, a transmitting antenna transmits electromagnetic waves toward a target, the target reflects the electromagnetic waves, a receiving antenna receives the reflected electromagnetic waves, a three-dimensional image data acquisition unit acquires three-dimensional image data based on the received electromagnetic waves, a three-dimensional image generation unit generates a three-dimensional image according to the three-dimensional image data, wherein the first position angle of the transmitting antenna relative to the position of the target and the second position angle of the receiving antenna relative to the position of the target are different.

[0113] A radar device according to a fourth embodiment of the present invention further comprises: a focus setting unit that sets a focus on any point on an object; a distance calculation unit that calculates the distance between a transmitting antenna and an object, and / or the distance between a receiving antenna and an object; and a focus adjustment unit that adjusts the focus set by the focus setting unit according to the distance calculated by the distance calculation unit. The distance calculation unit includes, for example, a rangefinder, and the distance can be calculated by the rangefinder.

[0114] In the radar device of the fourth embodiment according to the present invention, a two-dimensional image generation unit generates a two-dimensional image based on the focus adjusted by the focus adjustment unit, or a three-dimensional image generation unit generates a three-dimensional image based on the focus adjusted by the focus adjustment unit.

[0115] The focus setting unit has a lens function unit, and the focus adjustment unit has a movement function unit. The movement function unit changes the distance between the transmitting antenna and the lens function unit by moving the position of the lens function unit between the transmitting antenna and the object, or changes the distance between the receiving antenna and the lens function unit by moving the position of the lens function unit between the receiving antenna and the object.

[0116] In the radar device of the fourth embodiment according to the present invention, a lens function unit, which is positioned in the direction of the target in front of the receiving unit, is moved by a moving function unit so that the focus is adjusted to a point between the target (e.g., a person, a pistol) and the receiving unit, and the focus is adjusted to a point 2 m from the target (e.g., a person, a pistol).

[0117] A radar device according to a fourth embodiment of the present invention (Example 4 of a radar device) will be further described with reference to Figure 4.

[0118] Figure 4 is a diagram showing an example of the configuration of a radar device according to a fourth embodiment to which the present invention is applied, and specifically, it is a diagram showing the configuration of the radar device 103.

[0119] The radar device 103 comprises a transmitting unit 1 consisting of a transmitting antenna 4 that transmits electromagnetic waves, a receiving unit 23 having a receiving box 50 and a receiving antenna 5 disposed within the receiving box 50 to receive electromagnetic waves, a lens function unit 6, and a rangefinder 7. Although the transmitting unit 1 shown in Figure 4 consists of a transmitting antenna 4, the transmitting unit 1 may have a transmitting box (not shown) and the transmitting antenna 4 disposed within the transmitting box, just as the receiving unit 23 has a receiving box 50 and the receiving antenna 5 is disposed within the receiving box 50. The receiving antenna 5 is disposed within the receiving box 50 on the YZ plane 51 side of the receiving box 50, on the side of the people 1000-1 and 1000-2 (moving objects) walking in the R direction (the direction towards the receiving unit 23).

[0120] The lens function unit 6 is located outside the receiving box 50, on the YZ plane 51 side of the receiving box 50, on the side of the walking people 1000-1 and 1000-2 (moving objects). The lens function unit 6 may consist of a lens or be a component having a lens. The shape of the lens can be any shape, but in Figure 3, the shape of the lens is a hemisphere (it may be a hemisphere without a base), and the base of the hemisphere (or the circular edge in the case of a hemisphere without a base) may be connected to the outer surface of the YZ plane 51.

[0121] The distance meter 7 (which is a distance calculation unit; the same applies hereinafter) is positioned outside the receiving box 50, on the upper XY plane 53 of the receiving box 50. The distance meter 7 calculates the distance between the receiving antenna 5 (receiving unit 23) and a walking person 1000-1, and the distance between the receiving antenna 5 (receiving unit 23) and a walking person 1000-2.

[0122] According to the distance calculated by the rangefinder 7, the movement function unit (not shown in Figure 4), which is the focus adjustment unit, moves the position of the receiving antenna 5 in the direction of arrow S (X-axis direction), changing the distance between the receiving antenna 5 and the lens function unit 6, and the focus set by the lens function unit 6 is adjusted by the movement function unit.

[0123] The transmitting unit 1 (transmitting antenna 4) and the receiving unit 23 (the left XZ plane 52 of the receiving box 50) are electrically connected via cable 3. The transmitting antenna 4 transmits electromagnetic waves toward walking human 1000-1 (clothing 1001 and pistol 1002, hereinafter the same) (target) and walking human 1000-2 (clothing 1001 and pistol 1002, hereinafter the same) (target), and the receiving antenna 5 receives the electromagnetic waves reflected from walking human 1000-1 (clothing 1001 and pistol 1002) (target) and walking human 1000-2 (clothing 1001 and pistol 1002) (target).

[0124] The two-dimensional image data acquisition unit acquires two-dimensional image data based on electromagnetic waves received by the receiving antenna 5, based on a focus adjusted by the movement function unit (focus setting unit) to an arbitrary point on the walking humans 1000-1 and 1000-2 (targets). The two-dimensional image generation unit generates a two-dimensional image according to the acquired two-dimensional image data.

[0125] Furthermore, the three-dimensional image data acquisition unit acquires three-dimensional image data based on electromagnetic waves received by the receiving antenna 5, based on a focus adjusted by the movement function unit (focus setting unit) to any of several points on the walking humans 1000-1 and 1000-2 (targets). The three-dimensional image generation unit then generates a three-dimensional image according to the acquired three-dimensional image data.

[0126] The receiving unit 23 (receiving box 50) can move freely in the P direction (X-axis direction, Y-axis direction, or any direction in the plane of the X and Y axes) and the Q direction (Z-axis direction) by a drive device for the receiving unit (not shown in Figure 4), and the second position angle of the receiving antenna 5, which moves in the S direction (X-axis direction), relative to the respective positions of the walking people 1000-1 and 1000-2 (objects), can be freely changed. As a result, multiple types of two-dimensional and three-dimensional images at multiple angular differences where the angular difference between the first position angle and the second position angle is different from each other can be generated by the two-dimensional image generation unit and the three-dimensional image generation unit, respectively.

[0127] Although not shown in Figure 4, similar to the receiving unit 23 (receiving box 50), the transmitting unit 1 may be moved at will in the P direction (X-axis direction, Y-axis direction, or any direction within the plane of the X and Y axes) and the Q direction (Z-axis direction) by a drive device for the transmitting unit, and the first position angle of the transmitting antenna 4, which moves in a predetermined direction (for example, the Y-axis direction) relative to the respective positions of the walking people 1000-1 and 1000-2 (objects), may be changed at will. As a result, multiple types of two-dimensional or three-dimensional images at multiple angle differences where the angle difference between the first position angle and the second position angle is different from each other can be generated by the two-dimensional image generation unit and the three-dimensional image generation unit, respectively.

[0128] According to the radar device of the fourth embodiment of the present invention, by adjusting the focus, the entire object (e.g., a person, a pistol) (both vertically and horizontally) is scanned, making it possible to sharpen the two-dimensional or three-dimensional image of the object (e.g., a person, a pistol), and thereby improving the detection level of the object (e.g., a person, a pistol).

[0129] The contents described above regarding the fourth embodiment of the present invention (Example 4 of the radar device) can be applied to the first to third embodiments of the present invention described above and the fifth to seventh embodiments of the present invention described later, unless there are any particular technical inconsistencies.

[0130] <6. Fifth Embodiment (Example 5 of Radar Device)> The radar device of the fifth embodiment (Example 5 of Radar Device) according to the present invention will be described with reference to Figure 7.

[0131] Figure 7 is a diagram showing a configuration example 5 of a radar device according to a fifth embodiment to which the present invention is applied, and specifically, it is a diagram showing the configuration of the radar device 107.

[0132] The radar device 107 comprises a transmitting unit 1 consisting of transmitting antennas 4, 4-1, and 4-2 that transmit electromagnetic waves, and a receiving unit 21 having a receiving box 50 and a receiving antenna disposed within the receiving box 50 to receive electromagnetic waves. Although the transmitting unit 1 shown in Figure 7 consists of transmitting antennas 4, 4-1, and 4-2, the transmitting unit 1 may have a transmitting box (not shown) in which transmitting antennas 4, 4-1, and 4-2 are each disposed within the transmitting box, so that the receiving unit 21 has a receiving box 50 in which the receiving antenna 5 is disposed within the receiving box 50. The receiving antenna 5 is disposed within the receiving box 50 on the YZ plane 51 side of the receiving box 50 that faces the human 1000 (target).

[0133] The transmitting antenna 4 and the receiving unit 21 (the left XZ plane 52 of the receiving box 50) are electrically connected via cable 3, the transmitting antenna 4-1 and the receiving unit 21 (the left XZ plane 52 of the receiving box 50) are electrically connected via cable 3-1, and the transmitting antenna 4-2 and the receiving unit 21 (the right XZ plane 53 of the receiving box 50) are electrically connected via cable 3-2. Each of the transmitting antennas 4, 4-1, and 4-2 transmits electromagnetic waves toward the person 1000, the clothing 1001, and the pistol 1002 (the target), and the receiving antenna 5 receives the electromagnetic waves reflected from the person 1000, the clothing 1001, and the pistol 1002 (the target).

[0134] As shown in Figure 7, the transmitting unit 1 is composed of multiple (three) transmitting antennas 4, transmitting antenna 4-1, and transmitting antenna 4-2. Therefore, the transmitting unit 1 can irradiate the target (person 100, clothing 1001, and pistol 1002) with electromagnetic waves (radar waves, radio waves) from various directions. This reduces the possibility of the target (especially the pistol 1002 that person 1000 is concealing inside the clothing 1001) being invisible.

[0135] The receiving unit 21 (receiving box 50) can be freely moved in the P direction (X-axis direction, Y-axis direction, or any direction within the plane of the X and Y axes) and the Q direction (Z-axis direction) by a drive device for the receiving unit (not shown in Figure 7), and the second position angle of the receiving antenna 5 relative to the positions of the person 1000, clothing 1001, and pistol 1002 (target) can be freely changed. As a result, multiple types of two-dimensional and three-dimensional images at multiple angle differences where the angle difference between the first position angle and the second position angle is different from each other can be generated by the two-dimensional image generation unit and the three-dimensional image generation unit, respectively.

[0136] Although not shown in Figure 7, similar to the receiving unit 21 (receiving box 50), the transmitting unit 1 (transmitting antenna 4, transmitting antenna 4-1, and transmitting antenna 4-2) can be moved at will in the P direction (X-axis direction, Y-axis direction, or any direction within the plane of the X and Y axes) and the Q direction (Z-axis direction) by a drive device for the transmitting unit, and the first position angles of the respective positions of the transmitting antenna 4, transmitting antenna 4-1, and transmitting antenna 4-2 relative to the positions of the person 1000, clothing 1001, and pistol 1002 (targets) can be changed at will. As a result, multiple types of two-dimensional and three-dimensional images at multiple angle differences where the angle difference between the first position angle and the second position angle is different from each other can be generated by the two-dimensional image generation unit and the three-dimensional image generation unit, respectively.

[0137] Although not shown in Figure 7, the radar device 107 includes a two-dimensional image data acquisition unit that acquires two-dimensional image data based on electromagnetic waves, and a two-dimensional image generation unit that generates a two-dimensional image according to the two-dimensional image data acquired by the two-dimensional image data acquisition unit, or it includes a three-dimensional image data acquisition unit that acquires three-dimensional image data based on electromagnetic waves, and a three-dimensional image generation unit that generates a three-dimensional image according to the three-dimensional image data acquired by the three-dimensional image data acquisition unit.

[0138] The two-dimensional image data acquisition unit and the two-dimensional image generation unit may be provided in the transmission unit 1, or they may be provided in the receiving unit 21.

[0139] Furthermore, the three-dimensional image data acquisition unit and the three-dimensional image generation unit may be provided in the transmission unit 1, or they may be provided in the receiving unit 21.

[0140] As shown in Figure 7, human 1000 is wearing clothing 1001, and human 1000 is concealing a pistol 1002 inside the clothing 1001.

[0141] Then, the receiving unit 21, which has a receiving antenna 5, observes a two-dimensional or three-dimensional image of the pistol 1002. As shown in Figure 7, the transmitting unit 1 (transmitting antenna 4, transmitting antenna 4-1, and transmitting antenna 4-2) and the receiving unit 21 are located at separate locations.

[0142] Electromagnetic waves (radar waves) are irradiated onto the person 1000, the clothing 1001, and the pistol 1002 from each of the transmitting antennas 4, 4-1, and 4-2 of the transmitting unit 1.

[0143] The two-dimensional or three-dimensional image of the pistol 1002 is clearer when the transmitting unit 1 (transmitting antenna 4, transmitting antenna 4-1, and transmitting antenna 4-2) and the receiving unit 21 are located at a distance from each other than.

[0144] Then, by changing the first position angle of the position of the transmitting unit 1 (transmitting antenna 4, transmitting antenna 4-1, and transmitting antenna 4-2) relative to the position of the pistol 1002 several times (for example, five times), a two-dimensional or three-dimensional image of the pistol 1002 becomes clear at a predetermined first position angle. Since the transmitting unit 1 has multiple (three) transmitting antennas 4, transmitting antenna 4-1, and transmitting antenna 4-2, the first position angle of the position of transmitting antenna 4 relative to the position of the pistol 1002, the first position angle of the position of transmitting antenna 4-1 relative to the position of the pistol 1002, and the first position angle of the position of transmitting antenna 4-2 relative to the position of the pistol 1002 can be acquired simultaneously.

[0145] Furthermore, even if the second position angle of the receiving unit 21 relative to the position of the pistol 1002 is changed several times (for example, five times), the two-dimensional or three-dimensional image of the pistol 1002 remains clear at a predetermined second position angle.

[0146] Furthermore, even if the first position angle of the position of the transmitting unit 1 (transmitting antenna 4, transmitting antenna 4-1, and transmitting antenna 4-2) relative to the position of the pistol 1002 is changed several times (for example, five times), and the second position angle of the position of the receiving unit 21 relative to the position of the pistol 1002 is changed several times (for example, five times), the two-dimensional or three-dimensional image of the pistol 1002 remains clear at the predetermined first position angle and the predetermined second position angle.

[0147] The contents described above regarding the fifth embodiment of the present invention (Example 5 of the radar device) can be applied to the first to fourth embodiments of the present invention described above and the fifth to seventh embodiments of the present invention described later, unless there are any particular technical inconsistencies.

[0148] <7. Sixth Embodiment (Example 6 of Radar Device)> The radar device of the sixth embodiment (Example 6 of Radar Device) according to the present invention will be described with reference to Figure 8.

[0149] Figure 8 is a diagram showing an example of the configuration of a radar device according to a sixth embodiment to which the present invention is applied, and specifically, it is a diagram showing the configuration of the radar device 108.

[0150] The radar device 108 comprises a transmitting unit 1 consisting of a transmitting antenna 4 that transmits electromagnetic waves, and a receiving unit 21 having a receiving box 50 and a receiving antenna disposed within the receiving box 50 to receive electromagnetic waves. Although the transmitting unit 1 shown in Figure 8 consists of a transmitting antenna 4, the transmitting unit 1 may have a transmitting box (not shown) and the transmitting antenna 4 disposed within the transmitting box, so that the receiving unit 21 has a receiving box 50 and the receiving antenna 5 is disposed within the receiving box 50. The receiving antenna 5 is disposed within the receiving box 50 on the YZ plane 51 side of the receiving box 50 that faces the human 1000 (target).

[0151] The transmitting antenna 4 and the receiving unit 21 (the left XZ plane 52 of the receiving box 50) are electrically connected via cable 3. The transmitting antenna 4 transmits electromagnetic waves toward the human 1000 (target), and the receiving antenna 5 receives electromagnetic waves reflected from the human 1000, clothing 1001, and pistol 1002 (targets).

[0152] The transmitting antenna 4 (transmitting unit 1) shown in Figure 8 can be moved according to arrow P-8, and its position can be changed. The transmitting antenna 4 (transmitting unit 1) may also be moved by a movement function (not shown in Figure 8) of the focus adjustment unit. By moving the transmitting antenna 4 (transmitting unit 1), the transmitting antenna (transmitting unit 1) can irradiate the target (person 100, clothing 1001 and pistol 1002) with electromagnetic waves (radar waves, radio waves) from various directions. This reduces the possibility of the target (especially the pistol 1002 that person 1000 is concealing inside the sub-1001) being invisible.

[0153] The receiving unit 21 (receiving box 50) can move freely in the P direction (X-axis direction, Y-axis direction, or any direction in the plane of the X and Y axes) and the Q direction (Z-axis direction) by a drive device for the receiving unit (not shown in Figure 8), and the second position angle of the receiving antenna 5 relative to the positions of the person 1000, clothing 1001, and pistol 1002 (target) can be changed freely. As a result, multiple types of two-dimensional and three-dimensional images at multiple angle differences where the angle difference between the first position angle and the second position angle is different from each other can be generated by the two-dimensional image generation unit and the three-dimensional image generation unit, respectively.

[0154] Although not shown in Figure 8, similar to the receiving unit 21 (receiving box 50), the transmitting unit 1 (transmitting antenna 4 or the moved transmitting antenna 4) may be moved at will in the P direction (X-axis direction, Y-axis direction, or any direction in the plane of the X and Y axes) and the Q direction (Z-axis direction) by a drive device for the transmitting unit, and the first position angle of the transmitting antenna 4 or the moved transmitting antenna 4 with respect to the positions of the person 1000, clothing 1001 and pistol 1002 (target) may be changed at will. As a result, multiple types of two-dimensional and three-dimensional images at multiple angle differences where the angle difference between the first position angle and the second position angle is different from each other can be generated by the two-dimensional image generation unit and the three-dimensional image generation unit, respectively.

[0155] Although not shown in Figure 8, the radar device 108 includes a two-dimensional image data acquisition unit that acquires two-dimensional image data based on electromagnetic waves, and a two-dimensional image generation unit that generates a two-dimensional image according to the two-dimensional image data acquired by the two-dimensional image data acquisition unit, or it includes a three-dimensional image data acquisition unit that acquires three-dimensional image data based on electromagnetic waves, and a three-dimensional image generation unit that generates a three-dimensional image according to the three-dimensional image data acquired by the three-dimensional image data acquisition unit.

[0156] The two-dimensional image data acquisition unit and the two-dimensional image generation unit may be provided in the transmission unit 1, or they may be provided in the receiving unit 21.

[0157] Furthermore, the three-dimensional image data acquisition unit and the three-dimensional image generation unit may be provided in the transmission unit 1, or they may be provided in the receiving unit 21.

[0158] As shown in Figure 8, human 1000 is wearing clothing 1001, and human 1000 is concealing a pistol 1002 inside the clothing 1001.

[0159] Then, the receiving unit 21, which has a receiving antenna 5, observes a two-dimensional or three-dimensional image of the pistol 1002. As shown in Figure 8, the transmitting unit 1 (transmitting antenna 4 and the transmitted antenna 4 after movement) and the receiving unit 21 are located at separate locations.

[0160] Electromagnetic waves (radar waves) are emitted from the transmitting antenna 4 of the transmitting unit 1 and the transmitting antenna 4 after it has been moved, onto the person 1000, the clothing 1001, and the pistol 1002.

[0161] The two-dimensional or three-dimensional image of the pistol 1002 is clearer when the transmitting unit 1 (transmitting antenna 4 and the relocated transmitting antenna 4) and the receiving unit 21 are located at a distance from each other than when the transmitting unit 1 (transmitting antenna 4 and the relocated transmitting antenna 4) and the receiving unit 21 are located at a distance from each other than when the transmitting unit 1 (transmitting antenna 4 and the relocated transmitting antenna 4) and the receiving unit 21 are located at a distance from each other than when the transmitting unit 1 (transmitting antenna 4 and the relocated transmitting antenna 4) and the receiving unit 21 are located at a distance from each other than when the transmitting unit 1 (transmitting antenna 4 and the relocated transmitting antenna 4) and the receiving unit 21 are located at a distance from each other.

[0162] Since the transmitting antenna 4 moves, if the first position angle of the transmitting unit 1 (transmitting antenna 4) relative to the position of the pistol 1002 is changed several times (for example, five times), a clear two-dimensional or three-dimensional image of the pistol 1002 is obtained at a predetermined first position angle.

[0163] Furthermore, even if the second position angle of the receiving unit 21 relative to the position of the pistol 1002 is changed several times (for example, five times), the two-dimensional or three-dimensional image of the pistol 1002 remains clear at a predetermined second position angle.

[0164] Furthermore, even if the first position angle of the position of the transmitting unit 1 (transmitting antenna 4 and the moved transmitting antenna 4) relative to the position of the pistol 1002 is changed several times (for example, five times), and the second position angle of the position of the receiving unit 21 relative to the position of the pistol 1002 is changed several times (for example, five times), the two-dimensional or three-dimensional image of the pistol 1002 remains clear at the predetermined first position angle and the predetermined second position angle.

[0165] The contents described above regarding the sixth embodiment of the present invention (Example 6 of a radar device) can be applied to the first to fifth embodiments of the present invention described above and the seventh embodiment of the present invention described later, unless there are any particular technical inconsistencies.

[0166] <8. Seventh Embodiment (Example 1 of Radar System)> The radar system according to the seventh embodiment (Example 1 of Radar System) of the present invention will now be described.

[0167] The radar system of the seventh embodiment according to the present invention comprises a plurality of radar devices (for example, three) of at least one embodiment from the radar devices of the first to fourth embodiments according to the present invention, arranged around an object (for example, a person, clothing, a pistol, etc.).

[0168] In each of the multiple radar devices, the electromagnetic wave frequencies are made different from each other to prevent interference between them.

[0169] According to the radar system of the seventh embodiment of the present invention, it is possible to sharpen two-dimensional or three-dimensional images of an object (e.g., a person, clothing, a pistol, etc.), thereby improving the detection level of the object (e.g., a person, clothing, a pistol, etc.).

[0170] The contents described above regarding the seventh embodiment of the present invention (Example 1 of a radar system) can be applied to the first to sixth embodiments of the present invention described above, unless there is a particular technical inconsistency.

[0171] It should be noted that the present invention is not limited to the embodiments described above, and various modifications are possible without departing from the spirit of the invention.

[0172] The present invention can take the following configuration: [1] A radar device comprising: a transmitting unit having a transmitting antenna that transmits electromagnetic waves; a receiving unit having a receiving antenna that receives the electromagnetic waves; a two-dimensional image data acquisition unit that acquires two-dimensional image data based on the electromagnetic waves; and a two-dimensional image generation unit that generates a two-dimensional image according to the two-dimensional image data, wherein the transmitting antenna transmits the electromagnetic waves toward an object, the object reflects the electromagnetic waves, the receiving antenna receives the reflected electromagnetic waves, the two-dimensional image data acquisition unit acquires two-dimensional image data based on the received electromagnetic waves, and the two-dimensional image generation unit generates a two-dimensional image according to the two-dimensional image data, and the first position angle of the position of the transmitting antenna with respect to the position of the object and the second position angle of the position of the receiving antenna with respect to the position of the object are different.

[0173] [2] The radar device according to [1], wherein the two-dimensional image generation unit generates multiple types of two-dimensional images at multiple angular differences in which the angular difference between the first position angle and the second position angle is different from each other.

[0174] [3] The radar device according to [2], further comprising: an AI processing unit that performs artificial intelligence processing using the plurality of two-dimensional images; and a two-dimensional image feature point detection unit that detects two-dimensional image feature points from the plurality of two-dimensional images on which the AI ​​processing unit has performed artificial intelligence processing.

[0175] [4] The radar device according to any one of [1] to [3], further comprising a focus setting unit for setting a focus on any point of the target, wherein the two-dimensional image generation unit generates a two-dimensional image based on the focus set by the focus setting unit.

[0176] [5] The radar device according to [4], wherein the focus setting unit has a lens function unit.

[0177] [6] The radar device according to any one of [1] to [3], further comprising: a focus setting unit for setting a focus on any point on the target; a distance calculation unit for calculating the distance between the transmitting antenna and the target, and / or the distance between the receiving antenna and the target; and a focus adjustment unit for adjusting the focus set by the focus setting unit according to the distance calculated by the distance calculation unit, wherein the two-dimensional image generation unit generates a two-dimensional image based on the focus adjusted by the focus adjustment unit.

[0178] [7] The radar device according to [6], wherein the focus setting unit has a lens function unit, the focus adjustment unit has a movement function unit, the movement function unit moves the position of the transmitting antenna to change the distance between the transmitting antenna and the lens function unit, so that the transmitting antenna transmits the electromagnetic waves toward the target via the lens function unit, or the movement function unit moves the position of the receiving antenna to change the distance between the receiving antenna and the lens function unit, so that the receiving antenna receives the reflected electromagnetic waves via the lens function unit.

[0179] [8] A radar device according to any one of [1] to [7], wherein the transmitting unit has a plurality of transmitting antennas.

[0180] [9] The radar device according to any one of [1] to [8], wherein the transmitting antenna is moved and the position of the transmitting antenna is changed.

[0181]

[10] A radar system comprising multiple radar devices as described in any one of [1] to [9].

[0182]

[11] A radar device comprising: a transmitting unit having a transmitting antenna that transmits electromagnetic waves; a receiving unit having a receiving antenna that receives the electromagnetic waves; a three-dimensional image data acquisition unit that acquires three-dimensional image data based on the electromagnetic waves; and a three-dimensional image generation unit that generates a three-dimensional image according to the three-dimensional image data, wherein the transmitting antenna transmits the electromagnetic waves toward an object, the object reflects the electromagnetic waves, the receiving antenna receives the reflected electromagnetic waves, the three-dimensional image data acquisition unit acquires three-dimensional image data based on the received electromagnetic waves, and the three-dimensional image generation unit generates a three-dimensional image according to the acquired three-dimensional image data, and the first position angle of the position of the transmitting antenna with respect to the position of the object and the second position angle of the position of the receiving antenna with respect to the position of the object are different.

[0183]

[12] The radar device according to

[11] , wherein the three-dimensional image generation unit generates multiple types of three-dimensional images at multiple angular differences in which the angular difference between the first position angle and the second position angle is different from each other.

[0184]

[13] The radar device according to

[12] , further comprising: an AI processing unit that performs artificial intelligence processing using the plurality of three-dimensional images; and a three-dimensional image feature point detection unit that detects three-dimensional image feature points from the plurality of three-dimensional images on which the AI ​​processing unit has performed artificial intelligence processing.

[0185]

[14] The radar device according to any one of

[11] to

[13] , further comprising a focus setting unit that sets a focus on each of a plurality of arbitrary points on the target, wherein the three-dimensional image generation unit generates a three-dimensional image based on the focus set by the focus setting unit.

[0186]

[15] The radar device according to

[14] , wherein the focus setting unit has a lens function unit.

[0187]

[16] A radar device according to any one of

[11] to

[13] , further comprising: a focus setting unit that sets a focus on each of a plurality of arbitrary points on the target; a distance calculation unit that calculates the distance between the transmitting antenna and the target, and / or the distance between the receiving antenna and the target; and a focus adjustment unit that adjusts the focus set by the focus setting unit according to the distance calculated by the distance calculation unit, wherein the three-dimensional image generation unit generates a three-dimensional image based on the focus adjusted by the focus adjustment unit.

[0188]

[17] The radar device according to

[16] , wherein the focus setting unit has a lens function unit, the focus adjustment unit has a movement function unit, the movement function unit moves the position of the transmitting antenna to change the distance between the transmitting antenna and the lens function unit, so that the transmitting antenna transmits the electromagnetic waves toward the target via the lens function unit, or the movement function unit moves the position of the receiving antenna to change the distance between the receiving antenna and the lens function unit, so that the receiving antenna receives the reflected electromagnetic waves via the lens function unit.

[0189]

[18] The radar device according to any one of

[11] to

[17] , wherein the transmitting unit has a plurality of transmitting antennas.

[0190]

[19] The radar device according to any one of

[11] to

[18] , wherein the transmitting antenna is moved and the position of the transmitting antenna is changed.

[0191]

[20] A radar system comprising multiple radar devices as described in any one of

[11] to

[19] .

[0192] 1...Transmitter, 2, 21, 22, 23...Receiver, 3...Cable, 3-1, 3-2...Cable, 4...Transmitting antenna, 4-1, 4-2...Transmitting antenna, 5...Receiving antenna, 6...Lens function unit, 7...Rangefinder, 30...Server, 31...Two-dimensional image data acquisition unit, 32...Two-dimensional image generation unit, 33...Three-dimensional image data acquisition unit, 34...Three-dimensional image generation unit, 35...AI processing unit, 36...Two-dimensional image feature point detection unit, 37...Three-dimensional image feature point detection unit, 41...Focus setting unit, 42...Distance calculation unit, 43...Focus adjustment unit, 50...Receiver box, 210...CPU, 220...ROM, 230...RAM, 240...HDD, 250...Input unit, 260...Display unit, 310...Communication unit 100, 101, 102, 103, 104... Radar device, 1000... Human (target), 1000-1, 1000-2... Walking human (target), 1001... Clothing (target), 1003... Pistol (firearm) (target), P, Q... Direction of movement of the receiver, P-8... Direction of movement of the transmitter (transmitting antenna), R... Direction of walking human, S... Direction of movement of the receiving antenna.

Claims

1. A radar device comprising: a transmitting unit having a transmitting antenna for transmitting electromagnetic waves; a receiving unit having a receiving antenna for receiving the electromagnetic waves; a two-dimensional image data acquisition unit for acquiring two-dimensional image data based on the electromagnetic waves; and a two-dimensional image generation unit for generating a two-dimensional image according to the two-dimensional image data, wherein the transmitting antenna transmits the electromagnetic waves toward an object, the object reflects the electromagnetic waves, the receiving antenna receives the reflected electromagnetic waves, the two-dimensional image data acquisition unit acquires two-dimensional image data based on the received electromagnetic waves, and the two-dimensional image generation unit generates a two-dimensional image according to the acquired two-dimensional image data, and the first position angle of the position of the transmitting antenna relative to the position of the object and the second position angle of the position of the receiving antenna relative to the position of the object are different.

2. The radar device according to claim 1, wherein the two-dimensional image generation unit generates multiple types of two-dimensional images at multiple angular differences in which the angular difference between the first position angle and the second position angle is different from each other.

3. The radar device according to claim 2, further comprising: an AI processing unit that performs artificial intelligence processing using the plurality of two-dimensional images; and a two-dimensional image feature point detection unit that detects two-dimensional image feature points from the plurality of two-dimensional images that have been processed by the AI ​​processing unit.

4. The radar device according to claim 1 or 2, further comprising a focus setting unit for setting a focus on any point on the target, wherein the two-dimensional image data acquisition unit acquires two-dimensional image data based on the received electromagnetic waves based on the focus set by the focus setting unit, and the two-dimensional image generation unit generates a two-dimensional image according to the acquired two-dimensional image data.

5. The radar device according to claim 4, wherein the focus setting unit has a lens function unit.

6. The radar device according to claim 1 or 2, further comprising: a focus setting unit for setting a focus on any point on the target; a distance calculation unit for calculating the distance between the transmitting antenna and the target, and / or the distance between the receiving antenna and the target; and a focus adjustment unit for adjusting the focus set by the focus setting unit according to the distance calculated by the distance calculation unit, wherein the two-dimensional image generation unit generates a two-dimensional image based on the focus adjusted by the focus adjustment unit.

7. The radar device according to claim 6, wherein the focus setting unit has a lens function unit, the focus adjustment unit has a movement function unit, the movement function unit moves the position of the transmitting antenna to change the distance between the transmitting antenna and the lens function unit, the transmitting antenna transmits the electromagnetic waves toward the target via the lens function unit, or the movement function unit moves the position of the receiving antenna to change the distance between the receiving antenna and the lens function unit, the receiving antenna receives the reflected electromagnetic waves via the lens function unit.

8. The radar device according to claim 1 or 2, wherein the transmitting unit has a plurality of transmitting antennas.

9. The radar device according to claim 1 or 2, wherein the transmitting antenna moves, thereby changing the position of the transmitting antenna.

10. A radar system comprising a plurality of radar devices as described in claim 1 or 2.

11. A radar device comprising: a transmitting unit having a transmitting antenna for transmitting electromagnetic waves; a receiving unit having a receiving antenna for receiving the electromagnetic waves; a three-dimensional image data acquisition unit for acquiring three-dimensional image data based on the electromagnetic waves; and a three-dimensional image generation unit for generating a three-dimensional image according to the three-dimensional image data, wherein the transmitting antenna transmits the electromagnetic waves toward an object, the object reflects the electromagnetic waves, the receiving antenna receives the reflected electromagnetic waves, the three-dimensional image data acquisition unit acquires three-dimensional image data based on the received electromagnetic waves, and the three-dimensional image generation unit generates a three-dimensional image according to the acquired three-dimensional image data, and the first position angle of the position of the transmitting antenna relative to the position of the object and the second position angle of the position of the receiving antenna relative to the position of the object are different.

12. The radar device according to claim 11, wherein the three-dimensional image generation unit generates multiple types of three-dimensional images at multiple angular differences in which the angular difference between the first position angle and the second position angle is different from each other.

13. The radar device according to claim 12, further comprising: an AI processing unit that performs artificial intelligence processing using the plurality of three-dimensional images; and a three-dimensional image feature point detection unit that detects three-dimensional image feature points from the plurality of three-dimensional images on which the AI ​​processing unit has performed artificial intelligence processing.

14. The radar device according to claim 11 or 12, further comprising a focus setting unit for setting a focus on each of a plurality of arbitrary points on the target, wherein the three-dimensional image generation unit generates a three-dimensional image based on the focus set by the focus setting unit.

15. The radar device according to claim 14, wherein the focus setting unit has a lens function unit.

16. The radar device according to claim 11 or 12, further comprising: a focus setting unit for setting a focus on each of a plurality of arbitrary points on the target; a distance calculation unit for calculating the distance between the transmitting antenna and the target, and / or the distance between the receiving antenna and the target; and a focus adjustment unit for adjusting the focus set by the focus setting unit according to the distance calculated by the distance calculation unit, wherein the three-dimensional image generation unit generates a three-dimensional image based on the focus adjusted by the focus adjustment unit.

17. The radar device according to claim 16, wherein the focus setting unit has a lens function unit, the focus adjustment unit has a movement function unit, the movement function unit moves the position of the transmitting antenna to change the distance between the transmitting antenna and the lens function unit, the transmitting antenna transmits the electromagnetic waves toward the target via the lens function unit, or the movement function unit moves the position of the receiving antenna to change the distance between the receiving antenna and the lens function unit, the receiving antenna receives the reflected electromagnetic waves via the lens function unit.

18. The radar device according to claim 11 or 12, wherein the transmitting unit has a plurality of transmitting antennas.

19. The radar device according to claim 11 or 12, wherein the transmitting antenna moves, thereby changing the position of the transmitting antenna.

20. A radar system comprising a plurality of radar devices according to claim 11 or 12.

Images