WO2023145011A1

WO2023145011A1 - Laser sensor device and robot system

Info

Publication number: WO2023145011A1
Application number: PCT/JP2022/003377
Authority: WO
Inventors: 黎治西垣
Original assignee: 株式会社Fuji
Priority date: 2022-01-28
Filing date: 2022-01-28
Publication date: 2023-08-03
Also published as: JPWO2023145011A1

Abstract

This laser sensor device is an FMCW laser sensor that detects the relative distance to an object and a relative speed with respect to the object for each frame. The laser sensor device: assesses, on the basis of the relative distance detected in a current frame and the relative distance detected in a previous frame, whether or not objects detected in each of the frames are the same object; assesses, on the basis of the relative speed detected in the current frame and the relative speed detected in the previous frame, whether or not the objects detected in each of the frames are the same object; and, if the objects are detected to be the same based on the relative distances but to not be the same based on the relative speeds, assesses that wrapping has occurred in the relative speed detected in the current frame.

Description

Radar sensor device and robot system

This specification discloses a radar sensor device and a robot system.

Conventionally, a FMCW (Frequency Modulated Continuous Wave) type radar sensor device is known as a sensor that detects the relative distance to an object and the relative velocity to the object. For example, in Patent Document 1, in an FMCW radar sensor device, a plurality of candidate values for relative speed are calculated from vehicle speed, distance, and measured values, and an observation range map for the vehicle speed created in advance is referenced. Then, an observation range corresponding to the own vehicle speed is set, and a candidate value falling within the set observation range from the candidate values of the relative speed is selected as the relative speed.

JP 2017-207368 A

In the FMCW radar sensor device, the relative velocity between the sensor and the object is determined by IF signals (transmission chirp and signal mixed with the received chirp) is detected based on the phase difference. However, when the phase difference of the IF signals exceeds 180°, the relative velocity is folded back, resulting in ambiguity in the relative velocity. In the radar sensor device described in Patent Literature 1 described above, since the observation range is set according to the speed of the vehicle, a sensor for detecting the speed of the vehicle is required, which complicates the system. Such problems can also occur when detecting the relative angle between the sensor and the object.

The main purpose of the present disclosure is to appropriately determine the return of the relative velocity or relative angle with a simple configuration in an FMCW radar sensor device.

This disclosure has taken the following means to achieve the above-mentioned main objectives.

A first radar sensor device of the present disclosure includes:
An FMCW type radar sensor device that detects a relative distance to an object and a relative speed to the object for each frame,
determining whether the detected objects are the same object based on the relative distance detected in the current frame and the relative distance detected in the previous frame; determining whether or not the detected objects are the same object based on the velocity and the relative velocity detected in the previous frame, and judging that the object is the same object based on the relative distance and the relative velocity Determining that the relative velocity detected in the current frame has turned around when the object is not the same object;
This is the gist of it.

In the first radar sensor device of the present disclosure, based on the relative distance to the object detected in the current frame and the previous frame, it is determined that both are the same object in terms of distance. When it is determined that the two objects are not the same object in terms of speed based on the relative speed with respect to the object detected in each frame, it is determined that the relative speed has turned around. As a result, it is possible to appropriately determine whether or not the relative velocity is turned back by a simple process.

A second radar sensor device of the present disclosure includes:
An FMCW radar sensor device that detects a relative distance to an object and a relative angle to the object for each frame,
determining whether the detected objects are the same object based on the relative distance detected in the current frame and the relative distance detected in the previous frame; determining whether the detected objects are the same object based on the angle and the relative angle detected in the previous frame, and determining whether the objects are the same object based on the relative distance and based on the relative angle Determining that the relative angle detected in the current frame is folded when the object is not the same object;
This is the gist of it.

In the second radar sensor device of the present disclosure, based on the relative distance to the object detected in the current frame and the previous frame, it is determined that both are the same object in terms of distance. When it is determined that the two objects are not the same object in angle based on the relative angle to the object detected in each frame, it is determined that the relative angle is folded. As a result, it is possible to appropriately determine whether or not the relative angle is folded by a simple process.

A first robot system of the present disclosure includes:
a robot control device for controlling a robot main body;
An FMCW type radar sensor device that detects a relative distance to an object and a relative speed to the object for each frame, based on the relative distance detected in the current frame and the relative distance detected in the previous frame determining whether or not the objects detected respectively are the same object, and determining whether the detected objects are the same object based on the relative velocity detected in the current frame and the relative velocity detected in the previous frame It is determined whether or not the object is the same object, and when the object is the same object based on the relative distance and the object is not the same object based on the relative velocity, it is determined that the relative velocity detected in the current frame has turned around. and a radar sensor device that outputs a signal corresponding to the determination result to the robot control device;
The gist is to provide

Since the first robot system of the present disclosure includes the first radar sensor device of the present disclosure, the same effects as those of the first radar sensor device can be achieved.

A second robotic system of the present disclosure includes:
a robot control device for controlling a robot main body;
An FMCW type radar sensor device that detects a relative distance to an object and a relative speed to the object for each frame, based on the relative distance detected in the current frame and the relative distance detected in the previous frame and determining whether or not the objects detected in each step are the same object, and determining which objects are detected based on the relative angle detected in the current frame and the relative angle detected in the previous frame. It is determined whether or not the object is the same, and if the object is the same based on the relative distance and is not the same object based on the relative angle, it is determined that the relative angle detected in the current frame is folded. and a radar sensor device that outputs a signal corresponding to the determination result to the robot control device;
The gist is to provide

Since the second robot system of the present disclosure includes the second radar sensor device of the present disclosure, the same effects as those of the second radar sensor device can be achieved.

1 is a schematic configuration diagram of a robot system including a radar sensor device of this embodiment; FIG. 8 is a flowchart illustrating an example of turnaround determination processing; FIG. 4 is an explanatory diagram showing true values and detected values inside and outside a detection range; 10 is a flowchart showing an example of turn-around determination processing according to another embodiment;

Next, a mode for carrying out the present disclosure will be described with reference to the drawings.

FIG. 1 is a schematic configuration diagram of a robot system 1 including a radar sensor device 10 of this embodiment. As shown in FIG. 1, the robot system 1 includes a robot body 2, a robot controller 3 that controls the motion of the robot body 2, and a radar sensor device 10 that can detect objects (interfering objects) around the robot body 2. , provided. The robot body 2 may be a stationary robot or a self-propelled robot. Examples of the robot main body 2 include an arm robot having a multi-joint arm that carries out a predetermined operation with a tool attached to its hand, an automatic transport robot that transports articles by running on a predetermined running route, and the like. can be done.

The radar sensor device 10 of this embodiment is an FMCW (Frequency Modulated Continuous Wave) type radar sensor capable of simultaneously detecting the distance to an object and the relative distance to the object. When the robot main body 2 is an arm robot, the radar sensor device 10 can be installed, for example, at the tip of the arm.

As shown in FIG. 1, the radar sensor device 10 includes a transmitting antenna unit 11 that transmits a transmitting chirp, a receiving antenna unit 12 that receives a reflected wave from an object as a receiving chirp, a synthesizer 13 that generates a transmitting chirp, A mixer 14 that mixes the transmission chirp and the reception chirp, a processing unit 20 that processes the output signal of the mixer 14 to detect the distance to the object and the relative speed to the object, and a control unit 30 that controls the entire apparatus. And prepare.

The synthesizer 13 generates, as a transmission chirp, a signal whose frequency is changed (for example, the frequency is linearly increased) over time. In this embodiment, the synthesizer 13 generates a set (one frame) of N (N is a natural number equal to or greater than 2) transmission chirps separated by a constant interval Tc.

A mixer 14 mixes the transmit chirp and the receive chirp to generate an intermediate frequency signal (IF signal). The IF signal consists of tones with constant frequencies. Also, when there are a plurality of objects at different distances, the IF signal includes tones having different frequencies for each reflected wave reflected from each object. The instantaneous frequency of the IF signal is equal to the difference between the instantaneous frequency of the transmit chirp and the instantaneous frequency of the receive chirp, and the phase of the IF signal is equal to the difference between the phase of the transmit chirp and the receive chirp.

The processing unit 20 includes an A/D converter (ADC) 21 that A/D converts the IF signal, and Fourier transform processing (FFT processing) of the A/D converted IF signal to obtain the relative distance to the object and the distance to the object. and a DSP 22 that detects the relative velocity of the .

The DSP 22 has a distance FFT section and a velocity FFT section. The distance FFT unit performs FFT processing (distance FFT processing) on the IF signal for each chirp to obtain a frequency spectrum having different peaks for each tone. Each peak in frequency signifies the presence of an object at a certain distance. Since the tone frequency and the relative distance to the object have a proportional relationship, the relative distance to the object can be calculated based on the peak frequency. The velocity FFT unit further performs FFT processing (velocity FFT processing) on the data after the distance FFT processing on a frame-by-frame basis to obtain angular frequency peaks. A set of transmission chirps (one frame) is transmitted at a constant interval Tc, and the IF signals for each chirp obtained from an object that has moved during that time are out of phase with each other. The angular frequency corresponds to the phase difference of the IF signal between consecutive chirps, and since the angular frequency and the relative velocity of the object have a proportional relationship, the relative velocity of the object can be calculated based on the peak angular frequency. . However, since the detection of the relative velocity is performed based on the phase difference, if the phase difference is out of the range of -180° to +180°, the detected velocity will turn around and become ambiguous. In the radar sensor device 10 of the present embodiment, it is determined whether or not the detected speed has turned around, and if it is determined that the detected speed has turned around, the detected speed is corrected to eliminate the ambiguity of the detected speed.

The control unit 30 is configured as a microprocessor centering on a CPU, and in addition to the CPU, includes a ROM for storing processing programs, a RAM for temporarily storing data, an input/output port, and the like. The control unit 30 receives distance information and speed information for each frame from the processing unit 20 (DSP 22). Also, the control unit 30 is communicably connected to the robot control device 3 and outputs data and signals to the robot control device 3 .

Next, the operation of the radar sensor device 10 configured in this manner will be described. In particular, the operation of determining whether or not the detected speed obtained by the processing unit 20 is folded back and the operation of correcting the detected speed according to the determination result will be described. FIG. 2 is a flowchart showing an example of turn-around determination processing executed by the control unit 30 (CPU).

When the turnaround determination process is executed, the control unit 30 (CPU) first acquires the detected distance and detected speed for each object in the current frame from the processing unit 20 (S100). Subsequently, the control unit 30 compares the detected distances of the previous frame (one frame before the current frame) and the detected distances of the current frame (S110). It is determined whether or not they match (S120). Here, the first predetermined range is an error range in which the object detected in the previous frame and the object detected in the current frame can be regarded as objects at the same distance, that is, the same object in terms of distance. The first predetermined range is predetermined based on the specifications (distance resolution, etc.) of the radar sensor device 10 within a range that satisfies safety standards. If the control unit 30 determines that the detected distances of the two do not match within the first predetermined range, the control unit 30 determines that the two are different objects in terms of distance, and terminates the turnaround determination process.

On the other hand, when the control unit 30 determines that the detection distances of both match within the first predetermined range, the control unit 30 determines that the two are the same object in terms of distance. The detected velocities are compared (S130), and it is determined whether or not the two detected velocities match within the second predetermined range (S140). Here, the second predetermined range is an error range in which the object detected in the previous frame and the object detected in the current frame can be regarded as objects having the same relative velocity, that is, the same object in terms of velocity. The second predetermined range is predetermined based on the specifications (velocity resolution, etc.) of the radar sensor device 10 within a range that satisfies safety standards. When the control unit 30 determines that the detected velocities of both match within the second predetermined range, both are the same object in terms of distance and velocity, and the detected velocity detected in the current frame does not turn around. It is judged that there is not, and the turn-around determination processing is terminated without correcting the detected speed.

On the other hand, when the control unit 30 determines that the detected velocities of both do not match within the second predetermined range, the object detected in the previous frame and the object detected in the current frame can be regarded as the same object in terms of distance. However, in terms of speed, it is determined that they are different objects, and it is determined that the detected speed has turned around (S150). Assume that the direction in which an object (target) approaches the radar sensor device 10 is positive, and the relative velocity of the target (object) is detected by the radar sensor device whose relative velocity detection range is -2.0 to +2.0 m/s. Consider the case of As shown in FIG. 3, when the target (object) is approaching at a speed of 2.0 m/s, the speed of the target is within the detection range. s) is obtained. On the other hand, when the target (object) is approaching at a speed of 2.4 m/s, the speed of the target is outside the detection range. gives a negative value of about -1.6 m/s (velocity in the direction away from the radar sensor device). Considering this, the control unit 30 controls the case where the objects detected in the previous frame and the current frame can be regarded as the same object in terms of distance but cannot be regarded as the same object in terms of speed (detected speed changes beyond what is normally considered), it is determined that a turnaround has occurred in the velocity. As described above, folding occurs when the phase difference of the IF signal between consecutive chirps is out of the range of -180° to +180°, and the relative velocity detection range is -180° to +180°. The velocity range corresponds to the phase difference range.

When the control unit 30 determines that the speed has turned around, it uses the regularity of the turnaround to correct the detected speed of the current frame (S160). Correction of the detected speed can be performed as follows. The result of velocity FFT processing is expressed as N data corresponding to the number of data after distance FFT processing (the number of transmission chirps in one frame). frequency). Then, among the indices of values 1 to N, the indices from value 1 to value (N/2+1) indicate the speed from value 0 to the maximum positive value in the detection range from value (N/2+2) to value N. are treated as representing velocities from the maximum negative value to the minimum negative value in the detection range, respectively. In this case, the detected speed V is obtained by the following equations (1) and (2), where Vres is the speed resolution. When the result of the velocity FFT processing has a peak at the position (angular frequency) of value (N/2+1), that is, when the object further accelerates from the state having the maximum detectable positive positive velocity, the following A peak appears at the index value (N/2+2). However, since this index is defined as the maximum negative value, the detected velocity V will not be a correct value. This is observed as folding. Folding correction is performed when a peak appears at an index defined as a positive velocity in the previous frame, and a peak appears in an index defined as a negative velocity for an object whose distance is the same as that in the previous frame in the current frame. is performed by calculating the detected velocity V using equation (1), which is the definition of positive velocity. In addition, the aliasing correction has a peak in the index defined for negative velocity in the previous frame, and a peak in the index defined for positive velocity for the same object in terms of distance as the previous frame in the current frame. In this case, the detection velocity V is calculated using the equation (2), which defines the negative velocity. For example, if N=32 in the previous frame and a peak appears at the 17th index and in the current frame a peak appears at the 18th index, using equation (2), which is originally a definition of negative velocity, (18−32)=−14×Vres is replaced by 18×Vres using equation (1) while maintaining the positive velocity definition.

V=k×Vres However, 1≦k≦N/2+1 (1)
V=(kN)×Vres However, N/2+2≤k≤N (2)

After performing the aliasing correction, the control unit 30 compares the detection speed of the object detected in the previous frame with the corrected speed of the object detected in the current frame (S170). It is determined whether or not there is a match within the range (S180). If the control unit 30 determines that the velocities of the two match within the second predetermined range, it determines that the two can be regarded as the same object in terms of velocities. The speed is set (confirmed) (S190), and the turn-around determination process ends. On the other hand, when the control unit 30 determines that the speeds of the two do not match within the second predetermined range, the object detected in the previous frame and the object detected in the current frame are different objects moving at different relative speeds. It recognizes that there is (S200), and terminates the turnaround determination process without correcting the detection speed of the current frame.

It goes without saying that the present disclosure is by no means limited to the above-described embodiments, and can be implemented in various forms as long as they fall within the technical scope of the present disclosure.

For example, in the above-described embodiment, when the control unit 30 determines that the detection speed of the object detected in the current frame has turned around, the detection speed of the current frame is corrected using the regularity of the turnaround. . However, when the control unit 30 determines that a turnaround has occurred, the control unit 30 may set the detection speed of the current frame to the detection speed immediately before the turnaround (the detection speed of the previous frame). Alternatively, if the detected speed of the object up to the previous frame is a positive value (the direction in which the object approaches the radar sensor device 10), the control unit 30 sets the detected speed of the current frame to the maximum positive value in the detection range. If the detected velocity of the object up to the previous frame is a negative value (in the direction away from the radar sensor device 10), the detected velocity of the current frame may be set to the maximum negative value in the detection range.

In the above-described embodiment, the radar sensor device 10 detects the relative distance to the object and the relative speed to the object. The angle of the object) is detected, and when the folding of the relative angle is determined, the relative angle may be corrected based on the regularity of the folding. In this case, the radar sensor device 10 includes, for example, a plurality of (X) transmitting antennas arranged in an array at predetermined intervals as the transmitting antenna unit 11, and the receiving antenna unit 12 as the transmitting antenna interval It can be configured as a MIMO (Multi-Input Multi-Output) radar sensor having a plurality of (Y) receiving antennas arranged in an array in the same direction as the transmitting antennas at different intervals. By transmitting signals from X transmitting antennas and receiving them simultaneously with Y receiving antennas, it can be regarded as a radar sensor device that receives signals with X×Y virtual receiving antennas for one transmitting antenna. , a high angular resolution can be obtained. The processing unit 20 performs FFT processing (angle FFT processing) on the data after velocity FFT processing over a plurality of reception antennas (X×Y virtual reception antennas), thereby obtaining The relative angle to the object can be calculated by detecting the time difference until receiving the reflected wave from the object as the phase difference (angular frequency). However, since the relative angle is detected based on the phase difference, if the phase difference is out of the range of -180° to +180°, the angle will be folded back, and the detected angle will be changed. Ambiguity arises. Determination of folding of the relative angle and correction of folding are performed by executing the flow chart of FIG. The turn-around determination processing in FIG. 4 will be described below.

When the turnaround determination process is executed, the control unit 30 (CPU) first acquires the detected distance and detected angle for each object in the current frame from the processing unit 20 (S300). Subsequently, similarly to S110 and S120 described above, the control unit 30 compares the detection distances detected in the previous frame and the current frame, and determines whether the detection distances of both match within the first predetermined range. is determined (S310, S320). The first predetermined range has been described above. If the control unit 30 determines that the detected distances of the two do not match within the first predetermined range, the control unit 30 determines that the two are different objects in terms of distance, and terminates the turnaround determination process.

On the other hand, when the control unit 30 determines that the detection distances of both match within the first predetermined range, the control unit 30 determines that the two are the same object in terms of distance. The detected angles are compared (S330), and it is determined whether the two detected angles match within a third predetermined range (S340). Here, the third predetermined range is an error range in which the object detected in the previous frame and the object detected in the current frame can be regarded as objects having the same relative angle, ie, the same angular object. The third predetermined range is predetermined based on the specifications (angular resolution, etc.) of the radar sensor device 10 within a range that satisfies safety standards. When the control unit 30 determines that the detected angles of both match within the third predetermined range, both are the same object in terms of distance and angle, and the detected angle detected in the current frame does not fold. It is determined that there is no such angle, and the turnaround determination process is terminated without correcting the detected angle.

On the other hand, when the control unit 30 determines that the two detection angles do not match within the third predetermined range, the object detected in the previous frame and the object detected in the current frame can be regarded as the same object in terms of distance. However, it is determined that it is a different object in terms of angle, and it is determined that folding has occurred in the detected angle (S350). That is, the control unit 30 determines that the object detected in the previous frame and the current frame can be regarded as the same object in terms of distance, but cannot be regarded as the same object in terms of angle (detection angle is usually considered If the change exceeds the degree), it is determined that the angle has been folded back. Note that the angle turn-around determination is performed by adding the above-described S130 and S140 between S320 and S330, and the detected distances in the previous frame and the current frame match within the first predetermined range, and , when the detected velocities match within the second predetermined range and the detected angles do not match within the third predetermined range, it is determined that the detected angle has turned around. good too.

When the control unit 30 determines that the angle has been folded back, it corrects the detected angle of the current frame using the folding regularity (S360). Correction of the detected angle can be performed as follows. It is assumed that the result of the angle FFT processing is expressed as M pieces of data, and that the object has an angle corresponding to the index (peak angular frequency) indicating the peak among the M pieces of data. Then, among the indices of values 1 to M, the indices from value 1 to value (M/2+1) indicate the angle from value 0 to the maximum positive value in the detection range from value (N/2+2) to value N. treat each index as representing an angle from the maximum negative value to the minimum negative value in the detection range. In this case, the detection angle θ is obtained by the following equations (3) and (4), where θres is the angular resolution. When the result of angle FFT processing has a peak at the position (angular frequency) of value (M/2+1), that is, when the object moves further in the positive direction from the state with the maximum detectable positive angle , a peak appears at the value (M/2+2), which is the next index. However, since this index is defined as the maximum negative value, the detected angle θ will not be a correct value. This is observed as folding. Folding correction is performed when a peak appears at an index defined as a positive angle in the previous frame, and a peak appears in an index defined as a negative angle for the same object in terms of distance as the previous frame in the current frame. is performed by calculating the detection angle θ using equation (3), which is the definition of a positive angle. In addition, the aliasing correction has a peak in the index defined at a negative angle in the previous frame, and a peak in the index defined at a positive angle for the same object in terms of distance as the previous frame in the current frame. In this case, the detection angle θ is calculated using equation (4), which defines a negative angle. Here, in the radar sensor device 10, the phase difference Φ caused by the relative angle θ (detection angle) between the sensor and the object is given by the following equation (5). When the relative angle θ is sufficiently small, linear approximation is established between the phase difference Φ and the relative angle θ, but as the relative angle θ increases, the relationship between the phase difference Φ and the relative angle θ becomes nonlinear. Then, when the detection limit is exceeded, folding occurs in the nonlinear region. Taking this into account, the angular resolution θres in equations (3) and (4) may be determined not as a constant but as gradually increasing as k increases. That is, different angular resolutions θres may be set for each angular bin, and equations (3) and (4) may be applied.

θ=k×θres However, 1≦k≦M/2+1 (3)
θ=(kM)×θres However, M/2+2≤k≤M (4)
Φ=π sin θ (5)

After performing the aliasing correction, the control unit 30 compares the detected angle of the object detected in the previous frame with the corrected angle of the object detected in the current frame (S370), and determines that both angles are within the third predetermined range. (S380). If the control unit 30 determines that the two angles match within the third predetermined range, the control unit 30 determines that the two can be regarded as the same object in terms of angles, and uses the corrected angle corrected in S360 to detect the object detected in the current frame. The angle is set (confirmed) (S390), and the turnaround determination process ends. On the other hand, when the control unit 30 determines that the two angles do not match within the third predetermined range, the object detected in the previous frame and the object detected in the current frame are different objects positioned at different relative angles. It is recognized that there is (S400), and the turnaround determination process ends without correcting the detected angle of the current frame.

As described above, in the first radar sensor device of the present disclosure, based on the relative distance to the object detected in the current frame and the previous frame, it is determined that both are the same object in terms of distance. , when it is determined based on the relative velocities of the object detected in the current frame and the previous frame that the two are not the same object in terms of velocity, it is determined that the relative velocity has turned around. As a result, it is possible to appropriately determine whether or not the relative velocity is turned back by a simple process.

In the first radar sensor device of the present disclosure, when it is determined that the relative velocity has turned around in the current frame, the regularity of the turnaround may be used to correct the relative velocity detected in the current frame. By doing so, it is possible to widen the detectable velocity range by simple processing without increasing the sensing cycle of the radar sensor device or the amount of sensing data. In this case, if it is determined that the relative velocity has turned around in the current frame, it is detected based on the corrected velocity obtained by correcting the relative velocity detected in the current frame and the relative velocity detected in the previous frame. If it is determined that the object is the same object, the corrected velocity is set to the relative velocity detected in the current frame, and if it is determined that the object is not the same object, different relative velocities may be determined as different objects. By doing so, it is possible to more appropriately correct the relative velocity detected in the current frame. In addition, it is possible to suppress erroneous recognition of a plurality of different objects as the same object.

Further, in the second radar sensor device of the present disclosure, based on the relative distance to the object detected in the current frame and the previous frame, it is determined that both are the same object in terms of distance. When it is determined that the two objects are not angularly identical to each other based on the relative angle to the object detected in the previous frame, it is determined that the relative angle has been turned around. As a result, it is possible to appropriately determine whether or not the relative angle is folded by a simple process.

In the second radar sensor device of the present disclosure, when it is determined that the relative angle has been turned around in the current frame, the regularity of the turnaround may be used to correct the relative angle detected in the current frame. This makes it possible to widen the detectable angular range by simple processing without increasing the sensing cycle of the radar sensor device or the amount of sensing data. In this case, when it is determined that the relative angle has been folded back in the current frame, the angle is detected based on the corrected angle obtained by correcting the relative angle detected in the current frame and the relative angle detected in the previous frame. If it is determined that the object is the same object, the corrected angle is set to the relative angle detected in the current frame, and if it is determined that the object is not the same object, the relative angle is different. may be determined as different objects. By doing so, it is possible to more appropriately correct the relative angle detected in the current frame. In addition, it is possible to suppress erroneous recognition of a plurality of different objects as the same object.

The present disclosure is not limited to being in the form of a radar sensor device, but may be in the form of a robot system including a robot control device and a radar sensor device.

The present disclosure can be used in the manufacturing industry of radar sensor devices and robots.

1 Robot system, 2 Robot body, 3 Robot control device, 10 Radar sensor device, 11 Transmitting antenna unit, 12 Receiving antenna unit, 13 Synthesizer, 14 Mixer, 20 Processing unit, 30 Control unit.

Claims

An FMCW type radar sensor device that detects a relative distance to an object and a relative speed to the object for each frame,
determining whether the detected objects are the same object based on the relative distance detected in the current frame and the relative distance detected in the previous frame; determining whether or not the detected objects are the same object based on the velocity and the relative velocity detected in the previous frame, and judging that the object is the same object based on the relative distance and the relative velocity Determining that the relative velocity detected in the current frame has turned around when the object is not the same object;
Radar sensor device.
The radar sensor device according to claim 1,
correcting the relative velocity detected in the current frame using the regularity of the turn-around when determining that the relative velocity has turned around in the current frame;
Radar sensor device.
The radar sensor device according to claim 2,
When it is determined that the relative velocity has turned around in the current frame, the object detected in each of the detected relative velocities in the previous frame and the corrected velocity obtained by correcting the relative velocity detected in the current frame is determined. It is determined whether or not the object is the same object, and if it is determined to be the same object, the corrected velocity is set to the relative velocity detected in the current frame, and if it is determined that the object is not the same object, different objects with different relative velocities determine that
Radar sensor device.
An FMCW radar sensor device that detects a relative distance to an object and a relative angle to the object for each frame,
determining whether the detected objects are the same object based on the relative distance detected in the current frame and the relative distance detected in the previous frame; determining whether the detected objects are the same object based on the angle and the relative angle detected in the previous frame, and determining whether the objects are the same object based on the relative distance and based on the relative angle Determining that the relative angle detected in the current frame is folded when the object is not the same object;
Radar sensor device.
The radar sensor device according to claim 4,
correcting the relative angle detected in the current frame using the regularity of folding when determining that the relative angle has been folded back in the current frame;
Radar sensor device.
The radar sensor device according to claim 5,
When it is determined that the relative angle has been turned around in the current frame, the object detected in each of the corrected angle obtained by correcting the relative angle detected in the current frame and the relative angle detected in the previous frame is determined. If it is determined that the object is the same object, the correction angle is set to the relative angle detected in the current frame, and if it is determined that the object is not the same object, different objects having different relative angles determine that
Radar sensor device.
a robot control device for controlling a robot main body;
An FMCW type radar sensor device that detects a relative distance to an object and a relative speed to the object for each frame, based on the relative distance detected in the current frame and the relative distance detected in the previous frame determining whether or not the objects detected respectively are the same object, and determining whether the detected objects are the same object based on the relative velocity detected in the current frame and the relative velocity detected in the previous frame It is determined whether or not the object is the same object, and when the object is the same object based on the relative distance and the object is not the same object based on the relative velocity, it is determined that the relative velocity detected in the current frame has turned around. and a radar sensor device that outputs a signal corresponding to the determination result to the robot control device;
A robot system with
a robot control device for controlling a robot main body;
An FMCW type radar sensor device that detects a relative distance to an object and a relative speed to the object for each frame, based on the relative distance detected in the current frame and the relative distance detected in the previous frame and determining whether or not the objects detected in each step are the same object, and determining which objects are detected based on the relative angle detected in the current frame and the relative angle detected in the previous frame. It is determined whether or not the object is the same, and if the object is the same based on the relative distance and is not the same object based on the relative angle, it is determined that the relative angle detected in the current frame is folded. and a radar sensor device that outputs a signal corresponding to the determination result to the robot control device;
A robot system with