FR2761783A1 - Device for detecting buried objects such as explosive mines. - Google Patents
Device for detecting buried objects such as explosive mines. Download PDFInfo
- Publication number
- FR2761783A1 FR2761783A1 FR9704431A FR9704431A FR2761783A1 FR 2761783 A1 FR2761783 A1 FR 2761783A1 FR 9704431 A FR9704431 A FR 9704431A FR 9704431 A FR9704431 A FR 9704431A FR 2761783 A1 FR2761783 A1 FR 2761783A1
- Authority
- FR
- France
- Prior art keywords
- probe
- sensor
- rod
- linear
- acoustic
- 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.)
- Granted
Links
Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F41—WEAPONS
- F41H—ARMOUR; ARMOURED TURRETS; ARMOURED OR ARMED VEHICLES; MEANS OF ATTACK OR DEFENCE, e.g. CAMOUFLAGE, IN GENERAL
- F41H11/00—Defence installations; Defence devices
- F41H11/12—Means for clearing land minefields; Systems specially adapted for detection of landmines
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V1/00—Seismology; Seismic or acoustic prospecting or detecting
- G01V1/001—Acoustic presence detection
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V9/00—Prospecting or detecting by methods not provided for in groups G01V1/00 - G01V8/00
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- Physics & Mathematics (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Physics & Mathematics (AREA)
- Acoustics & Sound (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Geophysics (AREA)
- General Engineering & Computer Science (AREA)
- Environmental & Geological Engineering (AREA)
- Geology (AREA)
- Remote Sensing (AREA)
- Geophysics And Detection Of Objects (AREA)
- Investigating Or Analyzing Materials By The Use Of Ultrasonic Waves (AREA)
Abstract
Description
La présente invention concerne un dispositif de détection, localisation et identification d'objets enfouis dans le sol. The present invention relates to a device for detecting, locating and identifying objects buried in the ground.
Jusqu'à présent, la détection des objets enfouis, composés de matériaux conducteurs, est réalisée par des capteurs inductifs. Pour les autres matériaux, la détection peut être réalisée par des capteurs du type infrarouge ou du type acoustique. Ces différents types de capteurs ne garantissent pas une bonne fiabilité de détection, principalement pour les matériaux non conducteurs. De plus, il est très rare que ces capteurs permettent d'identifier l'objet détecté.Until now, the detection of buried objects, composed of conductive materials, is carried out by inductive sensors. For other materials, detection can be carried out by infrared or acoustic type sensors. These different types of sensors do not guarantee good detection reliability, mainly for non-conductive materials. In addition, it is very rare for these sensors to identify the object detected.
Certaines applications telles la détection de mines antichars ou antipersonnel nécessitent des capacités de détection et d'identification, d'une très bonne fiabilité, que ne peuvent offrir les capteurs du marché. Certain applications such as the detection of anti-tank or anti-personnel mines require detection and identification capacities, of very good reliability, which cannot be offered by the sensors on the market.
Pour cette raison la détection et l'identification des mines est réalisée par des spécialistes qui opèrent à l'aide de sondes mécaniques méthodiquement enfoncées dans le sol. Cette méthode particulièrement efficace impose malheureusement un risque humain non négligeable. For this reason, the detection and identification of mines is carried out by specialists who operate using mechanical probes methodically sunk into the ground. This particularly effective method unfortunately imposes a significant human risk.
C'est ce risque que le dispositif ci après décrit se propose d'éliminer. It is this risk that the device described below proposes to eliminate.
Ce dispositif est composé d'une sonde mécanique qui explore méthodiquement le sous-sol à l'aide d'un bras articulé ou tout autre dispositif mécanique capable de déplacer la sonde suivant minimum trois degrés de liberté, et si possible six degrés. Cette sonde est munie d'un capteur de force destiné à mesurer l'effort d'enfoncement de la sonde dans le sol et d'un capteur d'ondes mécaniques destiné à mesurer la réponse acoustique des matériaux rencontrés durant la pénétration. L'ensemble des informations: position spatiale de la pointe de la sonde, dureté de pénétration, réponse acoustique des matériaux rencontrés permet à l'aide d'un calculateur, d'élaborer une cartographie du sous-sol qui nous renseigne à la fois sur la dureté et donc la forme des objets rencontrés et la réponse acoustique et donc la nature des matériaux rencontrés. This device is composed of a mechanical probe which methodically explores the subsoil using an articulated arm or any other mechanical device capable of moving the probe according to minimum three degrees of freedom, and if possible six degrees. This probe is equipped with a force sensor intended to measure the force of insertion of the probe into the ground and with a mechanical wave sensor intended to measure the acoustic response of the materials encountered during penetration. All of the information: spatial position of the tip of the probe, penetration hardness, acoustic response of the materials encountered allows using a computer, to draw up a map of the subsoil which provides information on both the hardness and therefore the shape of the objects encountered and the acoustic response and therefore the nature of the materials encountered.
La corrélation des deux informations permet de discriminer une pierre d'une pièce plastique par exemple. The correlation of the two information makes it possible to discriminate a stone from a plastic part for example.
La sonde peut être de deux types : soit à déplacement linéaire, soit à déplacement linéaire et rotatif. The probe can be of two types: either linear displacement, or linear and rotary displacement.
La sonde linéaire ( figure 1 ) est composée d'une tige droite semirigide effilée, pointue à son extrémité (1), d'une cellule de force axiale (2) disposée entre la sonde et son bras de manipulation (4), et d'un capteur d'ondes mécaniques (3) disposé au contact la tige. The linear probe (Figure 1) is composed of a straight semi-rigid tapered rod, pointed at its end (1), an axial force cell (2) disposed between the probe and its handling arm (4), and d 'A mechanical wave sensor (3) arranged in contact with the rod.
La sonde rotative ( figure 2 ) est composée d'une tige droite ou hélicoïdale de forme anguleuse à son extrémité (1), d'un moteur rotatif (5) d'entraînement de la sonde, d'une cellule de force axiale (2) disposée entre la sonde et son bras de manipulation (4), d'un capteur d'ondes mécaniques (3) disposé au contact de la tige. The rotary probe (Figure 2) consists of a straight or helical rod with an angular shape at its end (1), a rotary motor (5) for driving the probe, an axial force cell (2 ) disposed between the probe and its handling arm (4), a mechanical wave sensor (3) disposed in contact with the rod.
Le fonctionnement du dispositif est le suivant:
Le bras manipulateur, ne faisant pas partie des revendications, enfonce la sonde dans le sol suivant un angle et un pas fonction du type d'objet recherché, durant la pénétration la position et l'effort correspondant sont enregistrés, dans le cas des détections de mines l'effort de pénétration doit rester inférieur à la pression de mise à feu, ces deux informations permettent ainsi de reconstituer une cartographie du sous-sol, qui en fonction du pas choisi permet de reproduire la géométrie des objets rencontrés.The operation of the device is as follows:
The manipulator arm, not part of the claims, pushes the probe into the ground at an angle and a step depending on the type of object sought, during penetration the position and the corresponding force are recorded, in the case of detections of mines the penetration effort must remain below the firing pressure, these two pieces of information thus make it possible to reconstitute a cartography of the subsoil, which according to the chosen pitch makes it possible to reproduce the geometry of the objects encountered.
Lorsque la sonde rencontre un obstacle le frottement longitudinal ou circulaire de cette dernière sur cet obstacle va créer une vibration dont la fréquence est liée à sa nature ( dureté, forme .. ). Cette réponse vibratoire va enrichir la cartographie et par corrélation avec la dureté va permettre d'accroître la fiabilité de l'identification.When the probe encounters an obstacle, the longitudinal or circular friction of the latter on this obstacle will create a vibration whose frequency is linked to its nature (hardness, shape, etc.). This vibrational response will enrich the mapping and, by correlation with the hardness, will make it possible to increase the reliability of the identification.
Plusieurs sondes peuvent être fixées sur le même bras de manipulation et ainsi augmenter le volume traité par unité de temps. Several probes can be fixed on the same manipulation arm and thus increase the volume treated per unit of time.
Claims (4)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
FR9704431A FR2761783B1 (en) | 1997-04-03 | 1997-04-03 | DEVICE FOR DETECTION AND IDENTIFICATION OF OBJECTS BURIED IN THE GROUND |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
FR9704431A FR2761783B1 (en) | 1997-04-03 | 1997-04-03 | DEVICE FOR DETECTION AND IDENTIFICATION OF OBJECTS BURIED IN THE GROUND |
Publications (2)
Publication Number | Publication Date |
---|---|
FR2761783A1 true FR2761783A1 (en) | 1998-10-09 |
FR2761783B1 FR2761783B1 (en) | 2000-09-08 |
Family
ID=9505760
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
FR9704431A Expired - Fee Related FR2761783B1 (en) | 1997-04-03 | 1997-04-03 | DEVICE FOR DETECTION AND IDENTIFICATION OF OBJECTS BURIED IN THE GROUND |
Country Status (1)
Country | Link |
---|---|
FR (1) | FR2761783B1 (en) |
Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
FR2161580A5 (en) * | 1971-11-15 | 1973-07-06 | Siemens Ag | |
US4213504A (en) * | 1977-11-07 | 1980-07-22 | Schneider Fred A | Rotary, hand-held apparatus for performing various soil working operations |
US5058688A (en) * | 1989-04-14 | 1991-10-22 | Meta-Probe Inc. | Convertible vibratory or rotary core drill apparatus |
JPH08105977A (en) * | 1994-10-05 | 1996-04-23 | Kawasaki Heavy Ind Ltd | Probing and identifying method and device for underground buried structure |
WO1998025113A1 (en) * | 1996-12-05 | 1998-06-11 | Her Majesty The Queen In Right Of Canada, Represented By The Minister Of National Defence | Characteristic discriminating landmine hand prodder |
-
1997
- 1997-04-03 FR FR9704431A patent/FR2761783B1/en not_active Expired - Fee Related
Patent Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
FR2161580A5 (en) * | 1971-11-15 | 1973-07-06 | Siemens Ag | |
US4213504A (en) * | 1977-11-07 | 1980-07-22 | Schneider Fred A | Rotary, hand-held apparatus for performing various soil working operations |
US5058688A (en) * | 1989-04-14 | 1991-10-22 | Meta-Probe Inc. | Convertible vibratory or rotary core drill apparatus |
JPH08105977A (en) * | 1994-10-05 | 1996-04-23 | Kawasaki Heavy Ind Ltd | Probing and identifying method and device for underground buried structure |
US5672825A (en) * | 1994-10-05 | 1997-09-30 | Kawasaki Jukogyo Kabushiki Kaisha | Method and apparatus for detecting and discriminating objects under the ground |
WO1998025113A1 (en) * | 1996-12-05 | 1998-06-11 | Her Majesty The Queen In Right Of Canada, Represented By The Minister Of National Defence | Characteristic discriminating landmine hand prodder |
Non-Patent Citations (1)
Title |
---|
PATENT ABSTRACTS OF JAPAN vol. 096, no. 008 30 August 1996 (1996-08-30) * |
Also Published As
Publication number | Publication date |
---|---|
FR2761783B1 (en) | 2000-09-08 |
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Legal Events
Date | Code | Title | Description |
---|---|---|---|
ST | Notification of lapse |
Effective date: 20061230 |