WO2015087867A1 - Speed/angle measurement device for mobile object - Google Patents

Abstract

A speed/angle measurement device for a mobile object is provided with a plurality of antennas (18-1 to 18-N) having different directivities, and on the basis of the temporal transition of the signal intensity of a reflected wave, detects, as the moving direction of the mobile object, a direction in which the signal intensity becomes maximum. Consequently, a speed closer to the true speed of the mobile object than in the prior art can be detected, and the moving direction of the mobile object can be detected. Further, the connection between the respective antennas (18-1 to 18-N) and a transmission/reception unit (15) is switched by a switching unit (16) composed of a semiconductor element. Consequently, unlike the conventional example, a complicated rotation mechanism or a plurality of phase shifters and distributors/synthesizers do not have to be used, and therefore high-speed switching and driving becomes possible, and a complicated connection circuit becomes unnecessary, thereby enabling cost reduction.

Description

Speed / angle measurement device for moving objects

The present invention relates to a measuring device that measures the speed and angle of a moving body that moves in a space such as a golf ball.

Conventionally, a measuring device with a name such as a speed gun or an automatic speed regulator (ORBIS) is known as a measuring device for measuring the speed of a moving body or traveling vehicle such as a golf ball or a baseball.

As such a measuring device, for example, the one shown in FIG. 3 is known. The measuring device 20 shown in FIG. 3 performs an arithmetic process by an MCU (microcomputer) 21 based on an input instruction from the operation unit 23. The transmission / reception timing is switched, and the transmission / reception circuit 25 radiates, for example, a 24 GHz band radio wave from the directional antenna 26, receives the reflected wave from the moving body 1, and detects the frequency of the transmission radio wave and the frequency of the reception radio wave Then, the speed of the moving body is measured using the Doppler method from the change in the transmission / reception frequency. The measured speed of the moving body 1 is displayed on the display of the display circuit 22. The MCU 21 is supplied with driving power from the power source 22.

However, in this case, the speed of the moving body 1 that can be measured is the speed in the radio wave radiation direction, and in FIG. 3, not the true speed V of the mobile body 1 but the speed Vcosθ in the radio wave radiation direction. That is, assuming that the true velocity of the moving body 1 is V, the frequency of the radio wave radiated from the antenna 26 toward the moving body is f ₀ , the Doppler frequency is f _d , and the radio wave speed is c, the frequency of the received radio wave is f _0. + F _d , and the speed of the moving body in the radio wave radiation direction is obtained by Vcos θ = cf _d / 2f ₀ . As an example of an apparatus for measuring the speed of the moving body 1 using the Doppler method as described above, an apparatus disclosed in Japanese Patent Application Laid-Open No. 2002-71802 (Patent Document 1) is known.

As a method for measuring the true speed of a moving body, a method is known in which radio waves can be radiated in the same direction as the moving body travels. A mechanical type is known as the first and a phase type is known as the second.

In the mechanical measurement device 30 shown in FIG. 4, transmission and reception are performed by changing the radiation direction of radio waves while rotating the antenna 26 having directivity by the rotation mechanism 31, and the measured speed of the moving body 1 becomes the fastest. It is assumed that the direction is the moving direction of the moving body 1 and the speed at this time is a true speed.

However, the mechanical measurement device 30 requires a rotation mechanism 31 for rotating the antenna 26 at high speed and a means for detecting the radiation direction from the antenna 26 by the MCU 21. For this reason, since a complicated rotation mechanism is required, the cost is high and there is a limit to high-speed driving.

5 includes a plurality of distributor / synthesizers 41a to 41c and phase shifters 42a to 42d provided for each of the plurality of antennas 26a to 26c, and radiates from the antennas 26a to 26d. By changing the phase of the radio wave, the radio wave is transmitted and received while changing the radiation direction of the radio wave as shown in FIGS. It is assumed that the speed at this time is a true speed.

As described above, since the phase type measuring device does not need to be provided with a mechanical driving mechanism, the radiation direction of the radio wave can be changed at high speed.

JP 2002-71802 A

However, in the phase-type measuring device 40, since a plurality of distributors / synthesizers 41a to 41c and phase shifters 42a to 42d are connected in series, attenuation of a signal propagating between the transmission / reception circuit 25 and the antennas 26a to 26d is reduced. growing. Further, there is a problem that the connection circuit of the plurality of distributor / synthesizers 41a to 41c and the phase shifters 42a to 42d becomes complicated and the cost is increased.

SUMMARY OF THE INVENTION In view of the above problems, the object of the present invention is the speed and angle of a moving body capable of measuring the speed of the moving body and the angle of the moving direction by changing the radiation direction of the radio wave at high speed without using a mechanical drive mechanism. It is to provide a measuring device.

In order to achieve the above object, the present invention supplies a high-frequency signal having a predetermined frequency to an antenna having directivity, radiates a radio wave of the frequency from the antenna toward the moving body, and reflects the reflected wave from the moving body. Is a speed / angle measurement apparatus for a moving body that detects the frequency of the high-frequency signal of the reflected wave and measures the speed of the moving body using the Doppler method, and the radiation direction of the radio waves is different A plurality of antennas having directivity set as described above, transmitting means for transmitting a high-frequency signal to be the radiated wave based on a control signal, receiving means for receiving the high-frequency signal of the reflected wave, and the transmitting means A high-frequency signal output terminal and a high-frequency signal input terminal of the receiving means and a switching element comprising a semiconductor element that switches connection between the plurality of antenna power supply terminals based on the control signal. Based on the switching timing of the switch by the control signal, antenna direction data storage means storing data of the directionality of each antenna with respect to a reference direction, and data storage means Immediately after radiating from the antenna, a high-frequency signal of a reflected wave reflected by the moving body and incident on the antenna is input from the receiving means, and the signal strength of the high-frequency signal and the speed of the moving body are obtained, and the obtained signal strength Detection value acquisition means for storing data in the temporary storage means in association with the speed data, and data stored in the antenna direction data storage means and the temporary storage means at every predetermined number of times of the switching timing. The direction in which the signal strength is maximized based on the time transition of the signal strength within the predetermined number of times using the signal strength data A detection result acquisition means for obtaining an angle of the movement direction of the moving body and a speed of the moving body corresponding to the angle as a moving direction of the moving body with respect to the reference direction, and storing in the data storage means. We propose a speed and angle measurement device for moving objects.

According to the moving body speed / angle measuring apparatus of the present invention, the transmission means and the reception means are sequentially switched to each antenna by the switch based on the control signal. Also, based on the switching timing of the switch by the control signal, the high-frequency signal of the reflected wave that is reflected by the moving body and incident on the antenna immediately after radiating the radio wave from the antenna is input from the receiving means, and the speed of the moving body is obtained. The obtained speed data is stored in the temporary storage means. Further, at every predetermined number of switching timings, the signal is based on the time transition of the signal strength within the predetermined number based on the data stored in the antenna direction data storage unit and the speed data stored in the temporary storage unit. The direction in which the intensity is the largest is the moving direction of the moving body relative to the reference direction, and the angle of the moving body and the speed of the moving body corresponding to the angle are obtained and stored in the data storage means.

According to the velocity / angle measuring apparatus for a moving body of the present invention, a plurality of antennas having different directivities are provided, and the direction in which the signal intensity is the largest based on the time transition of the signal intensity of the reflected wave is set as the moving direction of the moving body. Since it detects, it can detect the speed close | similar to the true speed of a moving body compared with the past, and can detect the moving direction of a moving body. In addition, since the connection switching between each antenna and the transmission / reception means is performed by a switching device made of a semiconductor element, it is not necessary to use a complicated rotating mechanism or a plurality of phase shifters or distributors / combiners as in the conventional example. In addition, high-speed switching driving is possible, and a complicated connection circuit is not necessary, thereby reducing costs.

The block diagram of the electric system circuit which shows the speed and angle measuring device of the moving body in one Embodiment of this invention The flowchart explaining operation | movement of the speed and angle measuring apparatus of the moving body in one Embodiment of this invention. Block diagram of an electric circuit showing a speed measuring device using the Doppler method in the conventional example The block diagram of the electric system circuit which shows the speed measuring device which has a mechanical rotary machine rear part in a prior art example Block diagram of an electric circuit showing a phase-type speed measuring device in a conventional example The figure explaining operation | movement of the phase type velocity measuring apparatus in a prior art example The figure explaining operation | movement of the phase type velocity measuring apparatus in a prior art example

Next, an embodiment of the present invention will be described with reference to the drawings.

In this embodiment, as a specific example of the present invention, a golf ball shot on a golf course will be described as a moving body, and a device for measuring the speed of the golf ball and the angle in the moving direction will be described.

As shown in FIG. 1, a moving body speed / angle measuring device (hereinafter referred to as this device) 10 of this embodiment includes an MCU (microcomputer) 11, a power supply unit 12, an operation unit 13, a display unit 14, and transmission / reception. Unit 15, signal switcher 16, storage unit 17, and N (N is a natural number) antennas 18-1 to 18 -N.

The MCU 11 is operated by electric power supplied from the power supply unit 12 and operates based on an instruction input from the operation unit 13. The MCU 11 controls transmission and reception by the transmission / reception unit 15 while switching the signal switch 15 based on an instruction input via the operation unit 13. Further, the MCU 11 uses the frequency of the radio wave radiated from the antennas 18-1 to 18-N by the transmission / reception unit 15 and the frequency of the high-frequency signal input from the transmission / reception unit 15 via the antennas 18-1 to 18-N (the moving body 1). The velocity of the moving body 1 and the angle of the moving direction of the moving body 1 are obtained by using the Doppler method based on the frequency of the reflected wave from (1) and stored in the storage unit 17 and displayed on the display unit 14.

The operation unit 13 includes a switch or a touch panel, and allows the operator to input an instruction to the MCU 11.

The display unit 14 displays the speed and angle of the moving body 1 based on the display instruction from the MCU 11.

The transmission / reception unit 15 supplies a high-frequency signal having a frequency f1 in the 24 GHz band to the antennas 18-1 to 18-N via the signal switch 16 based on an instruction from the MCU 11, and is received by the antennas 18-1 to 18-N. The speed of the moving body 1 is calculated by the Doppler method from the frequency f1 of the transmitted high-frequency signal and the frequency f2 of the received high-frequency signal, and the calculated speed value and the intensity of the received high-frequency signal are calculated. The value is sent to the MCU 11 as digital data.

The signal switch 16 is made of a semiconductor element such as MESFET (Metal-Semiconductor Field Effect Transistor) or MEMS (Micro Electro Mechanical System), and includes antennas 18-1 to 18-N based on a control signal CS input from the MCU 11. Is connected to the transmission / reception unit 15.

The storage unit 17 includes a rewritable nonvolatile ROM, a magnetic disk device, and the like, and includes a temporary storage area, an antenna directivity information storage area, and a data storage area such as a speed. The temporary storage area is an area in which data is temporarily stored by the MCU 11. The speed data storage area stores speed data and angle data obtained by the MCU 11. Also, the antenna directivity data storage area stores in advance angle data of the directivity direction of each antenna when the angle of the reference direction is 0 degree.

Each of the antennas 18-1 to 18-N is an antenna having directivity, and is one surface of a rectangular parallelepiped casing or one surface of a planar antenna fixing substrate so that the directivity directions thereof are different from each other. Etc. are fixed. In this embodiment, the reference direction is set in a direction perpendicular to the surface to which the antennas 18-1 to 18-N are fixed, and the apparatus 10 is installed so that the reference direction is located in a horizontal plane. The antennas 18-1 to 18-N are provided with a plurality of antennas 18-1 to 18-N so that the directivity directions of the antennas 18-1 to 18-N have both or either one of the angle in the horizontal plane and the angle in the vertical plane. Yes.

Next, the detailed operation of the apparatus 10 will be described with reference to the flowchart of FIG.

When measuring the speed and angle of the golf ball (moving body 1) at the time of shot using the apparatus 10, the operator sets the reference direction of the apparatus 10 in consideration of the direction in which the golf ball flies. After the apparatus 10 is fixed, the apparatus 10 is driven. Here, when the antennas 18-1 to 18-N are fixed on the same plane as described above and the reference direction of the device 10 is set in consideration of the direction in which the golf ball flies, the flying golf Since the distance from the ball to each of the antennas 18-1 to 18-N becomes substantially equal, an error in the measured signal strength can be reduced.

When the operation of the apparatus 10 is started by the operator, the MCU 11 starts the timer (SA1) and sets the variable i to 1 (SA2).

Next, the MCU 11 outputs a control signal CS to the signal switch 16 to connect the transmission / reception unit 15 to the i-th antenna 18-i (SA3), and outputs a transmission command to the transmission / reception unit 15 (SA4). As a result, a high-frequency signal is supplied from the transmission / reception unit 15 to the antenna 18-i for a predetermined time, and radio waves are radiated from the antenna 18-i.

In addition, after the high frequency signal is supplied from the transmission / reception unit 15 to the antenna 18-i, the transmission / reception unit 15 stands by as a reception state, and when the high frequency signal of the reflected wave from the moving body 1 is input via the antenna 18-i. In addition, the signal strength of the high-frequency signal is detected, and the speed of the moving body 1 is calculated by using the Doppler method from the frequency f1 of the transmitted high-frequency signal and the frequency f2 of the received high-frequency signal. The digital data of the value is output to the MCU 11.

The MCU 11 that has input the digital data of the signal strength value and the speed value from the transmission / reception unit 15 (SA5) stores these data in the temporary storage area of the storage unit 17 (SA6), and then adds 1 to the variable i. (SA7), it is determined whether or not the variable i is equal to (N + 1) (SA8). As a result of this determination, when the variable i is not equal to (N + 1), the process proceeds to SA3. When the variable i is equal to (N + 1), the MCU 11 reads the value of the signal intensity and the value of the velocity stored in the temporary storage area of the data storage unit 17, and these data and the known beam former method. Is used to determine the angle in the moving direction of the golf ball relative to the reference direction and the speed at that time (SA9), and the obtained angle and speed data are associated with each other and stored in the data storage area such as the speed of the data storage unit 17 and temporarily. Data stored in the storage area is erased (SA10).

Next, the MCU 11 determines whether or not the time measured by the timer has elapsed the time T1 (SA11), and when the time T1 has not elapsed, the MCU 11 proceeds to the processing of SA2. When the time measured by the timer has passed the time T1, the MCU 11 displays the largest speed data among the speed data stored in the data storage area such as the speed and the corresponding angle data on the display unit 14. And the data stored in the data storage area such as speed are deleted (SA12). Thereafter, the process proceeds to SA1.

In the present embodiment, the signal switcher 16 can be switched in units of ns (1 × 10 ⁻⁹ seconds) and the operator can change the switching interval time via the operation unit 13. By changing the switching interval time in this way, the antenna can be appropriately switched even if the speed of the moving body differs depending on the type of the moving body 1. For example, when measuring the speed and angle of a baseball ball or softball instead of a golf ball, the speed of each ball is different, and therefore the antenna switching interval time can be set according to the speed. Thereby, even if the type of the moving body changes and the moving speed changes, the speed and angle can be accurately measured.

As described above, according to the moving body speed / angle measuring apparatus 10 of the present embodiment, the plurality of antennas 18-1 to 18-N having different directivities are provided and based on the time transition of the signal intensity of the reflected wave. Since the direction in which the signal intensity is the largest is detected as the moving direction of the moving body, it is possible to detect a speed closer to the true speed of the moving body than in the past and to detect the moving direction of the moving body. Can do. In addition, since the connection switching between the antennas 18-1 to 18-N and the transmission / reception unit 15 is performed by the switch 16 made of a semiconductor element, a complicated rotation mechanism as in the conventional example or a plurality of phase shifters and distributions are used. / Since it is not necessary to use a synthesizer, high-speed switching drive is possible and a complicated connection circuit is not required, thereby reducing costs.

In this embodiment, the time T1 is set to 10 ms, for example, but it is preferable to set the time T1 appropriately according to the type and speed of the moving body.

In this embodiment, the angle of the moving body is measured by using the beam former method. However, the speed and angle when the signal intensity value is the largest among the data stored in the temporary storage area are moved. It may be the speed and angle of the body.

The present invention relates to a moving body speed / angle measuring apparatus capable of measuring the speed of a moving body and the angle of the moving direction by changing the radiation direction of radio waves at high speed without using a mechanical drive mechanism.

DESCRIPTION OF SYMBOLS 1 ... Mobile body, 10 ... Speed / angle measuring device of mobile body, 11 ... MCU, 12 ... Power supply part, 13 ... Operation part, 14 ... Display part, 15 ... Transmission / reception part, 16 ... Signal switch, 17 ... Memory | storage part 18-1 to 18-N antennas.

Claims (8)

A high frequency signal of a predetermined frequency is supplied to an antenna having directivity, a radio wave of the frequency is radiated from the antenna toward a moving body, a reflected wave from the moving body is received by the antenna, and a high frequency of the reflected wave is received. A moving body speed / angle measuring device that detects the frequency of a signal and measures the speed of the moving body using a Doppler method,
A plurality of antennas having the directivity set so that the radiation directions of radio waves are different;
Transmitting means for transmitting a high-frequency signal to be the radiated wave based on a control signal;
Receiving means for receiving a high-frequency signal of the reflected wave;
A switch composed of a semiconductor element that switches connection between the high-frequency signal output terminal of the transmission means and the high-frequency signal input terminal of the reception means and the power supply terminals of the plurality of antennas based on the control signal;
Data storage means;
Antenna direction data storage means in which data of the directionality of each antenna with respect to a reference direction is stored;
Based on the switching timing of the switch by the control signal, a high-frequency signal of a reflected wave reflected by the moving body and incident on the antenna immediately after radiating the radio wave from the antenna is input from the receiving means, and the high-frequency signal Detection value acquisition means for determining the signal intensity of the moving body and the speed of the moving body, and storing the obtained signal intensity and speed data in correspondence in the temporary storage means;
Based on the time transition of the signal strength within the predetermined number of times using the data stored in the antenna direction data storage unit and the signal strength data stored in the temporary storage unit at every predetermined number of times of the switching timing. As a result, the direction in which the signal intensity becomes the largest is the moving direction of the moving body with respect to the reference direction, and the angle of the moving direction of the moving body and the speed of the moving body corresponding to the angle are obtained and stored in the data storage means A speed / angle measuring apparatus for a moving body, comprising: an acquisition means. The detection result acquisition means sets the directionality of the antenna at which the obtained speed is the largest as the moving direction of the moving body, and the angle formed by the directivity direction and the reference direction is the angle of the moving direction of the moving body. The speed / angle measuring apparatus for a moving body according to claim 1. The apparatus for measuring a speed / angle of a moving body according to claim 1 or 2, further comprising means for changing a switching interval of the switch based on an operation of an operator. The detection result acquisition means sets the speed and angle at the maximum speed within 10 ms every 10 ms based on the data stored in the data storage means as the speed and angle of the moving body. The apparatus for measuring a speed / angle of a moving body according to any one of claims 1 to 3, further comprising: means. 5. The moving body speed / angle measuring device according to claim 1, further comprising display means for displaying the speed and angle acquired by the detection result acquiring means. 6. The moving body speed / angle measuring apparatus according to claim 1, wherein each of the plurality of antennas is disposed at a substantially equal distance from the moving body. The detection result acquisition means calculates the angle and speed of the moving direction of the moving body with the directivity direction of the antenna receiving the signal having the maximum signal strength within the predetermined number of times as the moving direction of the moving body, and stores the data The means for storing in the means is provided. The moving body speed / angle measuring device according to any one of claims 1 to 6, The detection result acquisition means includes means for obtaining an angle and speed in the moving direction of the moving body using a beamformer method based on a time transition of the signal intensity within the predetermined number of times and storing the angle in the data storage means. The apparatus for measuring a speed and angle of a moving body according to any one of claims 1 to 6.

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