JPS5938555B2 - Moving object detection device - Google Patents
Moving object detection deviceInfo
- Publication number
- JPS5938555B2 JPS5938555B2 JP11111575A JP11111575A JPS5938555B2 JP S5938555 B2 JPS5938555 B2 JP S5938555B2 JP 11111575 A JP11111575 A JP 11111575A JP 11111575 A JP11111575 A JP 11111575A JP S5938555 B2 JPS5938555 B2 JP S5938555B2
- Authority
- JP
- Japan
- Prior art keywords
- signal
- circuit
- output
- phase
- phase difference
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
- G01S15/50—Systems of measurement, based on relative movement of the target
- G01S15/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
Landscapes
- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Acoustics & Sound (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Burglar Alarm Systems (AREA)
- Radar Systems Or Details Thereof (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Description
【発明の詳細な説明】
本発明はドツプラ信号を検出してスイッチを働かせる移
動物体検出装置において、基準用の信号と受波信号との
位相差を通常状態においては一定の位相差に保つように
制御し、定常状態における装置の動作を安定に保つこと
を目的とするものである。DETAILED DESCRIPTION OF THE INVENTION The present invention provides a moving object detection device that detects a Doppler signal and activates a switch, in which the phase difference between a reference signal and a received signal is maintained at a constant phase difference in a normal state. The purpose is to control and maintain stable operation of the device in a steady state.
空間に超音波を発射しておき、この音波が監視空間にあ
る物体より反射されてくる信号を受波し物体が移動する
のに伴って発生する。Ultrasonic waves are emitted into space, and the sound waves are generated as the objects move as they receive signals reflected from objects in the monitoring space.
いわゆるドツプラ信号を検出して、スイッチを動作せし
め、監視空間中に存在する移動する物体、殊に人体を検
知する装置は従来より種々提案実施されている。Various devices have been proposed and implemented in the past that detect a so-called Doppler signal and operate a switch to detect a moving object, particularly a human body, present in a monitoring space.
この装置は、例えば、ジョールーム、美術館、金庫室等
、夜間などは余人の侵入を許さず、室内の重要物件を持
ち去られることを防止する等の目的で使用する侵入者警
戒器等に特に重要な役割を果す。This device is particularly important for intruder alarms used in Joe rooms, museums, vaults, etc., to prevent unauthorized persons from entering at night and to prevent important items from being taken away. play a role.
しかしながら、従来、この種装置には、例えば、鍵束の
音、金属の接触音、落下衝撃、エヤーノズルよりの空気
の吹き出しなど外来超音波で誤報を生じ、風、エヤコン
等空気の乱れ、移動などにより誤報を生じるという欠点
があった。However, conventionally, this type of device has been unable to generate false alarms due to external ultrasonic waves such as the sound of keys, the sound of metal touching, falling impact, air blowing from an air nozzle, etc. This has the disadvantage of causing false alarms.
これ等の誤報を生じる原因の一つは、受波信号の中に振
巾の大巾な変動が生じることにより、移動物体よりの信
号と、と記外乱ノイズとの区別を明確にしえない点にあ
る。One of the causes of these false alarms is that large amplitude fluctuations occur in the received signal, making it impossible to clearly distinguish between the signal from the moving object and the disturbance noise. It is in.
この障害を防止するために、従来用いられた方法は、い
わゆるフィルター技術を用いて、人体移動の際に発生す
るドツプラ偏移周波数の帯域を実1験、或いは計算によ
り求め、必要外の帯域に存在する成分をカットオフする
技術を用いて、丸乱の影響より逃れようとした。In order to prevent this problem, conventionally used methods use so-called filter technology to determine the Doppler shift frequency band that occurs when the human body moves through experiments or calculations, and remove unnecessary bands. An attempt was made to avoid the effects of Marunan by using technology to cut off the existing components.
ところが、この方法の最大の欠点は、外来ノイズの有す
るスペクトラムは、−概に規定しえず、送波信号の周波
数f。However, the biggest drawback of this method is that the spectrum of external noise cannot be generally defined, and the frequency f of the transmitted signal.
を中心として上下ランダムに分布するから、外乱のノイ
ズが偶然にも、用意したフィルムの帯域外であれば、こ
の方法は威力を発揮するが、逆に、フィルタの帯域中に
外乱の周波数成分を含む場合には、防止できないという
ことである。This method is effective if the noise of the disturbance happens to be outside the band of the prepared film. If it does, it cannot be prevented.
又、外乱の影響を避けるために、別に提案された方法は
、受波信号を処理するにあたり、その信号成分を送波信
号の周波数f。In addition, in order to avoid the influence of disturbances, another proposed method is to process the received signal by converting the signal component to the frequency f of the transmitted signal.
より高い成分と低い成分とに分離して別々に検出し、こ
れ等のうちの一方が検出されるか又は、一方の成分が他
方より圧倒的に多い時に限って、スイッチを動作せしめ
る如くするものである。A device that separates and separately detects higher and lower components, and operates a switch only when one of these components is detected or one component is overwhelmingly larger than the other. It is.
この第二の方法の原理は、第一に物体の移動により発生
するドツプラ偏移はf。The principle of this second method is that the Doppler shift caused by the movement of the object is f.
に比べて北又は下の何れか一方であるという公知の事実
を用い、更に第二に雑音の有するスペクトラムは、概ね
、foに対して、上下両側に均等に発生するという仮定
をする。Using the well-known fact that f0 is either north or below fo, it is further assumed that the spectrum of noise generally occurs equally on both sides above and below fo.
この二つの原理の丑に立って、組立てられたものである
。It was built based on these two principles.
この方式に従えば、確かに先にあげた第一の方法よりは
、はるかに多くの外乱より避けることができるが、原理
の示すとこらに従えば、foに対して上下に非対称に発
生する雑音に対しては効果がないということになり、欠
点と言える。If this method is followed, it is true that far more disturbances can be avoided than in the first method mentioned above, but if the principle is followed, disturbances will occur asymmetrically above and below with respect to fo. This can be said to be a drawback as it is not effective against noise.
更にこの方法の別の欠点は、foのと下の成分に分離す
る技術的困難さゆえの複雑化にある。Yet another drawback of this method is its complication due to the technical difficulty of separating fo into its lower components.
周知の如く、ドツプラ成分は、使用するエネルギー波、
超音波或いは電波の伝播速度と、移動物体の移動速度の
割合に比例して発生するが、例えば、40 KHzの超
音波に対し、人の歩くのを検出しようとすれば、±20
Hz程度より検出できなければならず、周波数偏移の割
合は、0.05%という極めて優れたフィルタを使用し
なければならない。As is well known, the Dotsupura component is the energy wave used,
It occurs in proportion to the propagation speed of ultrasonic waves or radio waves and the moving speed of a moving object, but for example, if you try to detect a person walking for a 40 KHz ultrasonic wave, the difference is ±20
It must be possible to detect the frequency below about Hz, and a filter must be used that has an extremely high frequency deviation ratio of 0.05%.
従って通常使用されるフィルタでは実現がむずかしく、
実現にあたっては、例えば、直角位相検波等の技術をも
って実現しなければならなかった。Therefore, it is difficult to achieve this with commonly used filters.
In order to realize this, it was necessary to use technology such as quadrature detection, for example.
本発明はかかる点に鑑みてなされたもので、以下実施例
により詳細に説明する。The present invention has been made in view of this point, and will be explained in detail below with reference to Examples.
第1図において、1は発振器で、高周波信号を発振し、
増巾器2で増巾した後送波器3に印加する。In Figure 1, 1 is an oscillator that oscillates a high frequency signal,
The signal is amplified by the amplifier 2 and then applied to the transmitter 3.
周波数は例えば40 KHzである。送波器3は加えら
れた信号に対応した超音波を監視空間に向けて発射し、
超音波は監視空間にある物体により反射され、空間中で
合成された信号として受波器4に達して電気信号に変換
され、増巾器5により増巾され、位相差検出回路Aに加
えられる。The frequency is, for example, 40 KHz. The transmitter 3 emits ultrasonic waves corresponding to the applied signal toward the monitoring space,
The ultrasonic wave is reflected by an object in the monitoring space, reaches the receiver 4 as a signal synthesized in the space, is converted into an electrical signal, is amplified by the amplifier 5, and is applied to the phase difference detection circuit A. .
6は移相回路で、発振器1の出力を移相し、基準の信号
として位相差検出回路Aのもう一方の入力に加えられる
。A phase shift circuit 6 shifts the phase of the output of the oscillator 1 and is applied to the other input of the phase difference detection circuit A as a reference signal.
増巾器5の出力を信号k、移相回路6の出力を信号gと
し、位相差検出回路Aは、信号gと信号にとの純粋の位
相差の検出器として作用する。The output of the amplifier 5 is a signal k, and the output of the phase shift circuit 6 is a signal g, and the phase difference detection circuit A acts as a detector of a pure phase difference between the signal g and the signal.
この位相差を検出する方法としては例えば、信号g、k
を夫々リミッタ7.9により矩形波に変換し、この矩形
波の立りがり部分を微分回路8.10により夫々検出す
れば微分回路8,10の出力は夫々信号g信号にの立五
かりに対応したパルスを発生するから、このパルスs
、 Rラフリップフロップ11のセットパルス、リセッ
トパルスとして使用すると、フリップフロラ7°11の
出力の矩形波は、丁度、信号g、にの位相差に比例した
デユーティとなる。As a method for detecting this phase difference, for example, the signals g, k
are converted into rectangular waves by limiters 7.9 and the rising edges of these rectangular waves are detected by differentiating circuits 8.10, respectively, and the outputs of the differentiating circuits 8 and 10 correspond to the rising edge of the signal g, respectively. This pulse s
When used as the set pulse and reset pulse of the R rough flip-flop 11, the rectangular wave output from the flip-flop 7°11 has a duty just proportional to the phase difference between the signal g and the signal g.
従ってこのフリップフロップ11の出力を積分回路12
によって積分すると、この積分出力として、入力信号の
位相差をあられす信号を得ることができ、信号処理回路
13で警報を発することができる。Therefore, the output of this flip-flop 11 is transferred to the integrating circuit 12.
When integrated by , a signal representing the phase difference of the input signal can be obtained as the integrated output, and the signal processing circuit 13 can issue an alarm.
一方、受波信号がその中に移動物体よりの反射即ち、ト
ラップ偏移信号を含む場合の位相差について説明する。On the other hand, the phase difference when the received signal includes a reflection from a moving object, that is, a trap shift signal, will be explained.
受波信号のうちのある部分は、固定物体よりの受波信号
成分で、この成分は周波数が送波信号とわからないから
第2図のような校正信号σtとある位相差θ。A certain part of the received signal is a received signal component from a fixed object, and since the frequency of this component is not known as the transmitted signal, there is a certain phase difference θ with the calibration signal σt as shown in FIG.
をもって存在する。他の部分は、偏移成分であって、送
波信号との差の周期で回転する回転ベクトルとなる。Exists with . The other part is a deviation component and becomes a rotation vector that rotates at a period corresponding to the difference from the transmitted signal.
OAは固定反射成分合成成分のベクトルである。OA is a vector of fixed reflection component composite components.
にtはドツプラ偏移成分のベクトルであって、A点を中
心として半径ABの長さで回転するから、反射波の合成
ベクトルOBは0点を中心として円弧BJ:を端点とし
て回転するベクトルとなる。Since t is a vector of the Doppler shift component and rotates with the length of radius AB around point A, the combined vector OB of the reflected waves is a vector that rotates around point 0 and with arc BJ: as the end point. Become.
従来性われている検出方法は、このベクトルを包絡線検
波或いは、位相検波等の方法によりドツプラ成分として
信号をとり出しているが本発明は振巾とは関りなく、σ
tとσtの位相差θのみを純粋にとり出す。Conventional detection methods use envelope detection or phase detection to extract the signal as a Doppler component, but the present invention is independent of the amplitude and uses σ
Only the phase difference θ between t and σt is extracted.
にtベクトル即ち、偏移成分が校正信号より高い周波数
成分を有するならば、このベクトルは反時計方向に回転
し、その位相の時量的変化は第3図イに示すようになる
。If the t vector, that is, the deviation component, has a higher frequency component than the calibration signal, this vector rotates counterclockwise, and the temporal change in its phase becomes as shown in FIG. 3A.
逆に低い周波数成分を有するならば、その変化は第3図
口に示すようになる。On the other hand, if it has low frequency components, the change will be as shown in Figure 3.
当然のことなから偏移成分がない時はハのようになるで
あろう。Naturally, when there is no deviation component, it will be like (c).
ハにおいて、若干の揺動を描くのは、温度等の変動によ
り金成分の位相が若干ふらつくためである6さてこのよ
うにして得られる信号の特徴は第3図より明らかなごと
く、偏移周波数がf。The reason why there is a slight fluctuation in C is that the phase of the gold component fluctuates slightly due to fluctuations in temperature, etc. 6 Now, the characteristics of the signal obtained in this way are as clear from Fig. 3, as the deviation frequency is f.
の北側ならば、右トりののこぎり波、foの下側ならば
右下りののこぎり波が得られるものであり、更に重要な
ことは、この波を得るのに何らのフィルターを使用して
いない点である。If it is north of fo, a sawtooth wave going to the right will be obtained, and if it is below fo, a sawtooth wave going down to the right will be obtained.More importantly, no filter is used to obtain this wave. It is a point.
つぎに、この回路の外乱に対する応答を説明する。Next, the response of this circuit to disturbance will be explained.
まず外部より超音波が到来するとき殊に自然界に発生す
る外来ノイズの場合は、校正用信号に対してランダムで
あるから、フリップフロップ11を制御するリセット信
号Rは全くランダムになる。First, when ultrasonic waves arrive from the outside, especially in the case of external noise that occurs in nature, it is random with respect to the calibration signal, so the reset signal R that controls the flip-flop 11 is completely random.
従って積分回路12を通過した信号出力には固定反射成
分に代表される値、もしくはそれを中心に若干を振れを
生ずる程度の信号となり、この振れはわずかである。Therefore, the signal output that has passed through the integrating circuit 12 has a value representative of the fixed reflection component, or a signal with a slight fluctuation around this value, and this fluctuation is slight.
又、風等による影響は、要するに伝播径路中の状態変化
による振巾の変動が主成分と考えられる。In addition, the main component of the influence of wind etc. is thought to be fluctuations in amplitude due to changes in conditions along the propagation path.
周知の事実として、第4図に掲げたのは、振巾変調され
た波形のベクトルによる説明図である。As a well-known fact, what is shown in FIG. 4 is an explanatory diagram using a vector of an amplitude-modulated waveform.
同図によれば振巾変調波は、搬送信号内とgを中心とし
て右左両方向にバランスして回転するベクトルをgS2
grとの合成信号ptとして表現されてきている。According to the same figure, the amplitude modulated wave has a vector that rotates in a balanced manner in both right and left directions around g within the carrier signal and gS2.
It has been expressed as a composite signal pt with gr.
この説に従えば、振巾変化がいかにあろうと、合成波の
基準用の信号に対する位相は全く変動せず一定のままで
あることは明白である。According to this theory, it is clear that no matter how the amplitude changes, the phase of the composite wave with respect to the reference signal does not change at all and remains constant.
このベクトルg S 2g rは北、下、側帯波となっ
てあられれるため、フィルターを用いれば検出されてく
るのは当然であり、又、L工夫々に分離すれば、と工夫
々にバランスして出現することも明らかであるがドツプ
ラ信号検出の目的の為には全く不必要なものであり、と
下両側帯波に分離した北で改めて打ち消す必要など全く
不必要でナンセンスとさえ言いうるものである。Since this vector g S 2g r appears as north, bottom, and sideband waves, it is natural that it will be detected by using a filter. Although it is clear that the Doppler signal appears, it is completely unnecessary for the purpose of Doppler signal detection, and it is completely unnecessary and even nonsensical to need to cancel it again at the north where the lower sideband waves are separated. It is.
北記の説明によって明らかなように、本発明は受波信号
成分が基準用の信号とどのような位相差をもち、どのよ
うな時間変化を示すかを調べることにより、信号に含ま
れる偏移成分を検出しうるちのであるが、若干の問題点
を含む、即ち、固定位相分が、基準用の信号に対して0
度或いは360度近傍に存在する場合に問題がある。As is clear from Kitaki's explanation, the present invention can detect the deviation contained in the signal by examining what phase difference the received signal component has with the reference signal and what kind of time change it shows. Although it is possible to detect the component, there are some problems, namely, the fixed phase component is 0 with respect to the reference signal.
There is a problem when the angle exists at 360 degrees or near 360 degrees.
何故なら第5図のように定常状態においてわずかの変動
を生じている場合には殆んど問題ないが、第6図に示す
ように、差が0度或いは360度の近傍にあると位相差
検出出力に跳躍が生じる。This is because, as shown in Figure 5, when there is a slight fluctuation in the steady state, there is almost no problem, but as shown in Figure 6, when the difference is near 0 degrees or 360 degrees, the phase difference A jump occurs in the detection output.
これは0度〜360度を0−V(volt)の電圧変化
として表現することにより生じる矛盾である。This is a contradiction caused by expressing 0 degrees to 360 degrees as a voltage change of 0-V (volt).
従って実際にはわずかな角度変化にも関わらず、あたか
も急激な変化が発生しているような出力があられれてい
ることになる。Therefore, even though there is actually a slight change in angle, the output appears as if a sudden change has occurred.
つまり、位相差検出回路Aの出力が第3図に対応するよ
うな波形となるためには移動体が存在しないときには位
相差検出回路Aの出力位相差(基準となる信号σ)と、
移動体が存在しないときの受波信号との位相差)が36
0°又はぼ近辺でないことが必要である。In other words, in order for the output of the phase difference detection circuit A to have a waveform corresponding to that shown in FIG.
The phase difference with the received signal when there is no moving object) is 36
It is necessary that the angle is not at or near 0°.
即ち第8図に示したような基準となる信号σtと、受波
信号(固定反射物体)OA・・・との位相差が小さい場
合では第9図に示す位相差検出回路入出力特性のために
空気のゆらぎ、ノイズ等の外乱でと述したところの第6
図に示すような跳躍現象を生じ、このような跳躍現象が
生じると、0°から360°へ、360°から00への
位相回転があたかも生じたようになり誤動作の原因とな
るわけである。That is, when the phase difference between the reference signal σt as shown in Fig. 8 and the received signal (fixed reflecting object) OA is small, the input/output characteristics of the phase difference detection circuit as shown in Fig. 9 will occur. The sixth problem mentioned above is due to disturbances such as air fluctuations and noise.
When a jumping phenomenon as shown in the figure occurs, it appears as if a phase rotation from 0° to 360° and from 360° to 00 has occurred, causing malfunction.
本発明はこのような跳躍現象を防止するためのものであ
って、本発明の基本的な原理は位相差検出回路Aの出力
より移動体が存在していないときの位相差を検出し、こ
の位相差が00或いは36(f近辺のときには基準信号
ORの位相を移相回路6により移相し理想的には例えば
180°(必ずしも180°の必要はない)の位相差に
なるように制御してやることである。The present invention is intended to prevent such a jumping phenomenon, and the basic principle of the present invention is to detect the phase difference when no moving object is present from the output of the phase difference detection circuit A, and to detect this phase difference from the output of the phase difference detection circuit A. When the phase difference is around 00 or 36 (f), the phase of the reference signal OR is shifted by the phase shift circuit 6, and ideally the phase difference is controlled to be, for example, 180° (not necessarily 180°). That's true.
具体的には位相差検出回路入出力を移動体の速度に比し
て十分大きな時定数の積分器14に入力し、この出力を
移相回路6に入力して位相をシフトさせト述の跳躍を除
去するのである。Specifically, the input and output of the phase difference detection circuit is input to an integrator 14 with a time constant sufficiently large compared to the speed of the moving body, and this output is input to a phase shift circuit 6 to shift the phase and perform the jump described in It removes.
つまり位相が第10図に示すA2の場合であれば移相回
路6の移相量が■よりOの状態になるように移相量を増
加させ、逆に位相がA1の状態なら@より0の状態とな
るように移相量を減少させるのである。In other words, if the phase is A2 shown in FIG. 10, the phase shift amount of the phase shift circuit 6 is increased so that it becomes O from ■, and conversely, if the phase is A1, the phase shift amount is increased from @ to 0. The amount of phase shift is decreased so that the state of .
即ち定常状態であるOの状態となるように移相を制御す
るわけで、この場合移相回路6の移相量は3600あれ
ばよい。That is, the phase shift is controlled so that the steady state is O, and in this case, the phase shift amount of the phase shift circuit 6 only needs to be 3600.
第9図に示す特性を有する位相差検出回路Aは受波信号
と基準の信号σtの位相差を検出しているため移相回路
6の移相量を増加させることは位相量の減少になり、才
た移相回路6の移相量を減少させることは位相量を増加
させることにより結果位相量が制御され上述の跳躍が解
消できるのである。Since the phase difference detection circuit A having the characteristics shown in FIG. 9 detects the phase difference between the received signal and the reference signal σt, increasing the phase shift amount of the phase shift circuit 6 will decrease the phase amount. By decreasing the phase shift amount of the advanced phase shift circuit 6, the phase amount is controlled by increasing the phase amount, and the above-mentioned jump can be eliminated.
第11図は移相回路6の位相シフトを示すベクトル図で
ある。FIG. 11 is a vector diagram showing the phase shift of the phase shift circuit 6.
第7図は移相回路6の一例を示し、Qは可変抵抗素子、
例えばFETで制御入力により入出力間の移相量が変化
するものである。FIG. 7 shows an example of the phase shift circuit 6, where Q is a variable resistance element,
For example, in a FET, the amount of phase shift between input and output changes depending on the control input.
然してこの制御入力として、位相差検出回路Aの出力に
より制御すれば、定帯状態においては第6図のような跳
躍現象がなくなり安定した動作が期待できるものである
。However, if the output of the phase difference detection circuit A is used as this control input, the jumping phenomenon as shown in FIG. 6 will be eliminated in a steady state, and stable operation can be expected.
ところで上述したように積分器14の出力を移相回路6
に入れ位相をシフトさせるものであるから第12図に示
すように積分器14の出力ヲコンパレーータ151,1
52を介して各コンパレータでと述の位相A1.A2を
夫々検出し、この検出出力で、移相回路6の移相量を制
御するようにしてもよい。By the way, as mentioned above, the output of the integrator 14 is transferred to the phase shift circuit 6.
Since the output of the integrator 14 is shifted by the comparator 151,1 as shown in
52 to each comparator and the aforementioned phase A1. A2 may be detected respectively, and the phase shift amount of the phase shift circuit 6 may be controlled using the detection output.
尚上述の位相の制御は移動体の存在時及びノイズ等の外
乱存在時には行なわれず、移動体が存在しないときのみ
動作するように積分器14は構成される。Note that the above-mentioned phase control is not performed when a moving object is present or when a disturbance such as noise is present, and the integrator 14 is configured to operate only when a moving object is not present.
つぎに、この得られた位相差検出回路Aの出力信号を用
いてスイッチを働かせるには、信号処理回路13として
位相差検出出力の交流分を増巾検波して動作させる方法
、位相差信号の傾斜を求めるため微分したのち、これ等
の信号を直流増巾して得た信号をもってスイッチングす
る方法、あるいは、跳躍パルスを利用してスイッチさせ
る方法等の手段がある。Next, in order to operate the switch using the obtained output signal of the phase difference detection circuit A, there is a method in which the signal processing circuit 13 performs amplification detection on the alternating current component of the phase difference detection output to operate it, and There are methods such as a method of performing switching using a signal obtained by performing DC amplification of these signals after differentiation to obtain the slope, or a method of performing switching using a jump pulse.
叙上のように本発明は、発振器の出力により送波器で超
音波を監視空間に発射し、受波器で受波した受波信号と
前記発振器の出力を移相回路により移相した基準の信号
との位相差の回転を検出して警報を発する如くしたから
、外来雑音に対してきわめて安定な動作をし、温度差、
風等による動作もきわめて安定であり、しかもフィルタ
ー類を一切用いず、調整ポイントがなく、回路がきわめ
て小数の部品で構成でき、又、位相差検出回路の出力の
信号で入力信号を移相し、常に検出位相差を一定の値に
制御するから、固定位相分が校正用信号に対して0度又
は360度近傍に存在する場合にも跳躍現象がなく、安
定に動作し、更に、位相差の回転方向を検出し、この回
転の出力を微分増巾し検波して警報を発する如くしたか
ら、常に安定な動作ができるという効果を奏するもので
ある。As described above, the present invention emits ultrasonic waves into a monitoring space using a transmitter using the output of an oscillator, and a reference signal is obtained by shifting the phase of the received signal received by a receiver and the output of the oscillator using a phase shift circuit. Since the system detects the rotation of the phase difference with the signal and issues an alarm, the operation is extremely stable against external noise,
It is extremely stable in operation due to wind, etc., does not use any filters, has no adjustment points, can be constructed with a very small number of parts, and can phase-shift the input signal using the output signal of the phase difference detection circuit. Since the detection phase difference is always controlled to a constant value, there is no jump phenomenon even when the fixed phase component exists near 0 degrees or 360 degrees with respect to the calibration signal, and the operation is stable. Since the direction of rotation is detected, the output of this rotation is differentially amplified and detected, and an alarm is issued, stable operation is possible at all times.
第1図は本発明移動物体検知方式の一実施例のブロック
回路図、第2図は同上のベクトル図、第3図は同上の検
出信号波形図、第4図は同上の振巾変調された波形のベ
クトル説明図、第5図は定常状態の位相差検出出力波形
図、第6図は同との跳躍状態の位相差検出出力波形図、
第7図は同との移相回路の具体回路図、第8図は同上の
跳躍現象を説明するベクトル図、第9図は同上使用の位
相差検出回路の特性図、第10図及び第11図は同上使
用の移相回路の動作説明図、第12図は跳躍防止のため
の他の回路例を示すブロック図である。
1・・・・・・発振器、3・・・・・・送波器、4・・
・・・・受波器、6・・・・・・移相回路、13・・・
・・・信号処理回路、A・・・・・・位相差検出回路。Fig. 1 is a block circuit diagram of an embodiment of the moving object detection method of the present invention, Fig. 2 is a vector diagram of the same as above, Fig. 3 is a detection signal waveform diagram of the same as above, and Fig. 4 is an amplitude modulated diagram of the same as above. A vector explanatory diagram of waveforms, FIG. 5 is a phase difference detection output waveform diagram in a steady state, and FIG. 6 is a phase difference detection output waveform diagram in a jumping state.
FIG. 7 is a specific circuit diagram of the same phase shift circuit, FIG. 8 is a vector diagram explaining the jumping phenomenon, FIG. 9 is a characteristic diagram of the phase difference detection circuit used in the above, and FIGS. 10 and 11. This figure is an explanatory diagram of the operation of the phase shift circuit used in the above, and FIG. 12 is a block diagram showing another example of a circuit for preventing jumps. 1... Oscillator, 3... Transmitter, 4...
...Receiver, 6...Phase shift circuit, 13...
...Signal processing circuit, A...Phase difference detection circuit.
Claims (1)
器からの周波数信号で1駆動された超音波を監視空間に
向けて発射する送波器、発振器からの出力を所定位相だ
け移相させた信号を発生する移相回路、監視空間にある
物体から反射された超音波を受波する受波器を備えると
共に、移相回路からの信号を矩形波に変換する第1のリ
ミッタと受波器で電気信号に変換された受波信号を矩形
波に変換する第2のリミッタと第1のリミッタの出力の
立五りを微分する第1の微分回路と第2のリミッタの出
力の立丑りを微分する第2の微分回路と第1の微分回路
の出力をリセット信号とし第2の微分回路の出力をセッ
ト信号とするフリップフロップと該フリップフロップの
出力を積分する積分回路とからなる位相差検出回路、該
積分回路の積分出力より位相差の回転を検出する信号処
理回路を備えて成ることを特徴とする移動物体検知装置
。 2 前記位相差検出回路の出力信号で旧記移相回路を検
出位相差が一定となるように制御するようにして成るこ
とを特徴とする特許請求の範囲第1項記載の移動物体検
知装置。[Scope of Claims] 1. An oscillator that oscillates a frequency signal in the ultrasonic range, a transmitter that emits ultrasonic waves driven by the frequency signal from the oscillator toward a monitoring space, and an output from the oscillator that outputs a predetermined phase. a phase shift circuit that generates a signal whose phase is shifted by a phase shifter, a receiver that receives ultrasonic waves reflected from an object in the monitoring space, and a first wave receiver that converts the signal from the phase shift circuit into a rectangular wave. a second limiter that converts the received signal converted into an electric signal by the limiter and the receiver into a rectangular wave; a first differentiation circuit that differentiates the output of the first limiter; A second differentiating circuit that differentiates the fluctuation of the output; a flip-flop that uses the output of the first differentiating circuit as a reset signal and the output of the second differentiating circuit as a set signal; and an integrating circuit that integrates the output of the flip-flop. A moving object detection device comprising: a phase difference detection circuit comprising: and a signal processing circuit that detects rotation of the phase difference from an integrated output of the integration circuit. 2. The moving object detection device according to claim 1, wherein the phase shift circuit is controlled by the output signal of the phase difference detection circuit so that the detected phase difference is constant.
Priority Applications (9)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP11111575A JPS5938555B2 (en) | 1975-09-13 | 1975-09-13 | Moving object detection device |
US05/719,159 US4114146A (en) | 1975-09-13 | 1976-08-31 | Ultrasonic wave watching device of moving object detecting type |
GB36835/76A GB1563018A (en) | 1975-09-13 | 1976-09-06 | Ultrasonic monitoring device for detecting a moving object |
FR7627358A FR2324073A1 (en) | 1975-09-13 | 1976-09-10 | ULTRASONIC SURVEILLANCE DEVICE OF THE TYPE INTENDED TO DETECT MOVING OBJECTS |
SE7610059A SE432491B (en) | 1975-09-13 | 1976-09-10 | ultrasonic detector |
IT5123176A IT1074135B (en) | 1975-09-13 | 1976-09-10 | Ultrasonic alarm system for movable objects - detects a phase difference between reflected and reference signal (NL150377) |
NLAANVRAGE7610049,A NL177856C (en) | 1975-09-13 | 1976-09-10 | DEVICE FOR DETECTING MOVING OBJECTS. |
DE2641017A DE2641017C3 (en) | 1975-09-13 | 1976-09-11 | Ultrasonic alarm system for moving objects |
CA261,091A CA1087724A (en) | 1975-09-13 | 1976-09-13 | Ultrasonic wave watching device of moving object detecting type |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP11111575A JPS5938555B2 (en) | 1975-09-13 | 1975-09-13 | Moving object detection device |
Publications (2)
Publication Number | Publication Date |
---|---|
JPS5235595A JPS5235595A (en) | 1977-03-18 |
JPS5938555B2 true JPS5938555B2 (en) | 1984-09-18 |
Family
ID=14552784
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP11111575A Expired JPS5938555B2 (en) | 1975-09-13 | 1975-09-13 | Moving object detection device |
Country Status (1)
Country | Link |
---|---|
JP (1) | JPS5938555B2 (en) |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH0237859Y2 (en) * | 1985-07-13 | 1990-10-12 | ||
JPH0477088B2 (en) * | 1987-12-25 | 1992-12-07 | Mochizuki Henshoku Kogyo Kk |
Families Citing this family (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS5621320A (en) * | 1979-07-28 | 1981-02-27 | Fujitsu Ltd | Manufacture of semiconductor device |
-
1975
- 1975-09-13 JP JP11111575A patent/JPS5938555B2/en not_active Expired
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH0237859Y2 (en) * | 1985-07-13 | 1990-10-12 | ||
JPH0477088B2 (en) * | 1987-12-25 | 1992-12-07 | Mochizuki Henshoku Kogyo Kk |
Also Published As
Publication number | Publication date |
---|---|
JPS5235595A (en) | 1977-03-18 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
US10722123B2 (en) | Method for detecting at least one of a heart rate and a respiratory rate of a subject | |
EP3588126A1 (en) | Doppler signal processing device and method thereof for interference spectrum tracking and suppression | |
US4114146A (en) | Ultrasonic wave watching device of moving object detecting type | |
JP2009266212A (en) | Microwave sensor apparatus and microwave sensor system | |
US3704461A (en) | Intrusion detection system responsive to interruption of a transmitted beam | |
JPS6243507B2 (en) | ||
EP0113512B1 (en) | Motion detection systems | |
US4198618A (en) | Circuit arrangement for ultrasonic burglar security systems operating in accordance with the Doppler principle | |
RU2287841C1 (en) | Doppler radio-wave annunciator for intruder alarm | |
JPS5938555B2 (en) | Moving object detection device | |
US4540978A (en) | Bistatic pulse-overlap Doppler radar intrusion detection apparatus | |
WO1999057814A3 (en) | Phase frequency detector having instantaneous phase difference output | |
KR920022686A (en) | Lock detection system of phase locked loop | |
JPS5616328A (en) | Phase synchronous loop device | |
JPH05172942A (en) | Doppler type object detecting device | |
GB1600430A (en) | Ultrasonic type motion detector | |
JP2009005259A (en) | Electrostatic capacity detecting circuit | |
JPS6235633B2 (en) | ||
JPH0283484A (en) | Doppler sensor | |
JPS5839316B2 (en) | Chiyo Onpakeikaiki | |
JPS56111342A (en) | Detector for subsignal of am stereophinic modulated signal | |
JPS61292567A (en) | Speed detector | |
JP2014215102A (en) | Monitoring device, monitoring system, and monitoring method | |
RU2190255C2 (en) | Device for high water or earth flow warning | |
JP2000046960A (en) | Infrared detection device |