JP3376952B2 - Land mine detection device and land mine detection method - Google Patents
Land mine detection device and land mine detection methodInfo
- Publication number
- JP3376952B2 JP3376952B2 JP10347299A JP10347299A JP3376952B2 JP 3376952 B2 JP3376952 B2 JP 3376952B2 JP 10347299 A JP10347299 A JP 10347299A JP 10347299 A JP10347299 A JP 10347299A JP 3376952 B2 JP3376952 B2 JP 3376952B2
- Authority
- JP
- Japan
- Prior art keywords
- detection
- mine
- received
- reflected wave
- detecting
- 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 - Fee Related
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
- F41H11/13—Systems specially adapted for detection of landmines
- F41H11/136—Magnetic, electromagnetic, acoustic or radiation systems, e.g. ground penetrating radars or metal-detectors
Landscapes
- Physics & Mathematics (AREA)
- Acoustics & Sound (AREA)
- Electromagnetism (AREA)
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
- Geophysics And Detection Of Objects (AREA)
Description
【０００１】[0001]
【発明の属する技術分野】本発明は、地中に埋設された
地雷を探知する地雷探知装置に関し、特に探知波を送波
して地雷からの反射波を受信することにより地雷を探知
する地雷探知装置および地雷探知方法に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a land mine detection device for detecting a land mine buried in the ground, and particularly to a land mine detection for detecting a land mine by transmitting a detection wave and receiving a reflected wave from the land mine. The present invention relates to a device and a land mine detection method.
【０００２】[0002]
【従来の技術 】従来は、金属探知機による地雷の探知
が主流であり、また、特開平６−２３５５９９号公報に
開示されているように、有人の車両に搭載され、地表面
にマイクロ波を照射して、照射後の地表面温度の挙動を
映像化して、地雷の有無を判別する地雷探査装置があ
る。2. Description of the Related Art Conventionally, the detection of land mines by a metal detector has been the mainstream, and as disclosed in Japanese Patent Laid-Open No. 6-235599, it is mounted on a manned vehicle and a microwave is applied to the ground surface. There is a land mining exploration device that determines the presence or absence of land mines by irradiating and visualizing the behavior of the ground surface temperature after irradiation.
【０００３】[0003]
【発明が解決しようとする課題】しかしながら、従来技
術には以下に掲げる問題点があった。金属探知機による
探知では、金属探知機が金属に反応するようにできてい
るため釘等の地雷以外の金属片に反応し、真の地雷の発
見が極めて困難である。特に、プラスチック地雷の場
合、微量な金属に反応させる場合には、感度を高める必
要があり、さらに困難となり、探知効率が低下するとい
う問題点があった。また、地雷の探知を人間が行うた
め、誤って地雷を踏んでしまった人間に被害が及ぶ危険
性があるという問題点があった。さらに、探知センサの
分解能が低いことおよび高精度の位置算出手段を有して
いないため、探索効率が低くなり、探知漏れをなくすた
めには、探知範囲を大きくオーバーラップさせて探索す
る必要があるという問題点があった。さらに、探知セン
サと地表との間にある空気層による境界面反射損失のた
め探知性能が低下するという問題点があった。However, the prior art has the following problems. In the detection by a metal detector, since the metal detector is designed to react with metal, it reacts with metal pieces other than land mines such as nails, and it is extremely difficult to find a true landmine. In particular, in the case of a plastic land mine, when reacting with a trace amount of metal, it is necessary to increase the sensitivity, which is more difficult, and there is a problem that the detection efficiency is reduced. In addition, since humans detect land mines, there is a risk that humans who accidentally step on landmines may be damaged. Furthermore, since the detection sensor has low resolution and does not have a highly accurate position calculation means, the search efficiency becomes low, and in order to eliminate detection omissions, it is necessary to search with a large overlap in the detection range. There was a problem. Further, there is a problem in that the detection performance is deteriorated due to the boundary reflection loss due to the air layer between the detection sensor and the ground surface.
【０００４】本発明は斯かる問題点を鑑みてなされたも
のであり、その目的とするところは、地雷探知効率が向
上し、安全性が向上し、探知範囲のオーバーラップ量を
小さくすることができ、探知性能を向上させることがで
きる地雷探知装置および地雷探知方法を提供する点にあ
る。The present invention has been made in view of the above problems, and an object of the present invention is to improve landmine detection efficiency, improve safety, and reduce the overlap amount of the detection range. It is possible to provide a land mine detection device and a land mine detection method that can improve the detection performance.
【０００５】[0005]
【課題を解決するための手段】本発明は上記課題を解決
すべく、以下に掲げる構成とした。請求項１記載の発明
の要旨は、設定された地雷探索のルートを探索ルート情
報として出力する地雷探索ルート設定手段と、位置を検
出して位置情報を出力する位置検出手段と、前記探索ル
ート情報と前記位置情報とにより自動走行を行う自動走
行手段と、地中に探知波を送波する探知波送波手段と、
該探知波送波手段により送波された前記探知波に対応す
る地中の埋設物からの反射波を細分化された受波ビーム
として受波する反射波受波手段と、該反射波受波手段に
より受波した前記受波ビーム毎の前記反射波に基づいて
地雷を探知する地雷探知手段とを備え、前記探知波送波
手段による前記探知波の送波から前記反射波受波手段に
よる前記反射波の受波までの時間により埋設物の深度を
前記受波ビーム毎に検出する深度情報検出手段を具備
し、前記地雷探知手段は、前記反射波受波手段で受波し
た前記受波ビーム毎の前記反射波の有無と前記受波ビー
ムの配置と前記深度情報検出手段により前記受波ビーム
毎に検出した埋設物の深度とから埋設物の縦横の寸法を
検知させ、前記地雷探知手段は、探知対象の地雷の寸法
情報を予め記憶させ、前記検知した前記埋設物の縦横の
寸法と前記記憶させた前記探知対象の地雷の寸法情報と
を比較させることにより地雷を探知させることを特徴と
する地雷探知装置に存する。請求項２記載の発明の要旨
は、前記自動走行手段は、前記地雷探知手段によって地
雷を探知した際に、走行を停止することを特徴とする請
求項１に記載の地雷探知装置に存する。請求項３記載の
発明の要旨は、前記反射波受波手段と地表との間に空気
層による境界面反射損失を防止する境界面反射損失防止
手段を具備したことを特徴とする請求項１又は２に記載
の地雷探知装置に存する。請求項４記載の発明の要旨
は、設定された地雷探索のルートを探索ルート情報とし
て出力し、位置を検出して位置情報を出力し、前記探索
ルート情報と前記位置情報とにより自動走行を行い、地
中に探知波を送波し、該送波された前記探知波に対応す
る地中の埋設物からの反射波を細分化された受波ビーム
として受波し、該受波した前記受波ビーム毎の前記反射
波に基づいて地雷を探知し、前記探知波の送波から前記
反射波の受波までの時間により埋設物の深度を前記受波
ビーム毎に検出し、前記受波した前記受波ビーム毎の前
記反射波の有無と前記受波ビームの配置と前記受波ビー
ム毎に検出した埋設物の深度とから埋設物の縦横の寸法
を検知し、探知対象の地雷の寸法情報を予め記憶し、前
記検知した前記埋設物の縦横の寸法と前記記憶した前記
探知対象の地雷の寸法情報とを比較させることにより地
雷を探知することを特徴とする地雷探知方法に存する。
請求項５記載の発明の要旨は、前記地雷を探知した際
に、走行を停止することを特徴とする請求項４に記載の
地雷探知方法に存する。請求項６記載の発明の要旨は、
前記反射波の受波に際して地表との間に空気層による境
界面反射損失を防止することを特徴とする請求項４又は
５に記載の地雷探知方法に存する。The present invention has the following constitution in order to solve the above problems. The gist of the invention according to claim 1 is a mine search route setting means for outputting a set mine search route as search route information, a position detection means for detecting a position and outputting position information, and the search route information. And an automatic traveling means for automatically traveling based on the position information, a detection wave transmitting means for transmitting a detection wave to the ground,
Reflected wave receiving means for receiving a reflected wave from an underground object corresponding to the detected wave transmitted by the detected wave transmitting means as a subdivided received beam, and the reflected wave receiving means Mine detection means for detecting a mine based on the reflected wave of each of the received beams received by the means , the detection wave transmission
From the transmission of the detection wave by the means to the reflected wave receiving means
Depending on the time until the reception of the reflected wave by
Depth information detecting means for detecting each of the received beams is provided.
However, the land mine detection means receives the reflected wave by the reflected wave receiving means.
The presence or absence of the reflected wave for each received beam and the received beam
Of the received beam by the arrangement of the beam and the depth information detecting means.
From the depth of the buried object detected for each
The landmine detection means detects the size of the landmine to be detected.
Information is stored in advance, and the vertical and horizontal directions of the detected buried object are detected.
The size and the stored size information of the land mine to be detected,
A landmine detection device characterized by detecting landmines by comparing Summary of the Invention described in claim 2, wherein the automatic travel means, upon detecting the mine by the mine detection means consists in mine detection device according to claim 1, characterized in that stopping the travel. Summary of the Invention of claim 3, wherein the claim 1, characterized by comprising an interface reflection loss preventing means for preventing the interface reflection loss due to the air layer between the reflected wave reception means and the surface or It exists in the land mine detection device described in 2 . The gist of the invention according to claim 4 is to output a set mine search route as search route information, detect a position and output position information, and perform automatic traveling based on the search route information and the position information. Transmitting a detection wave into the ground, receiving a reflected wave from an underground object corresponding to the transmitted detection wave as a subdivided reception beam, and receiving the received reception wave. on the basis of the reflected wave for each wave beam detect mines, from said transmitting of said detection waves
Depending on the time until the reception of the reflected wave, the depth of the buried object is received.
Detected for each beam and before each received beam
Presence / absence of reflected wave, arrangement of the receiving beam, and receiving beam
The depth and depth of the buried object detected for each
Of the land mines to be detected and stored in advance.
The vertical and horizontal dimensions of the detected buried object and the stored
By comparing the size information of the land mines to be detected,
There is a landmine detection method characterized by detecting lightning .
The gist of the invention according to claim 5 resides in the landmine detection method according to claim 4 , characterized in that when the landmine is detected, traveling is stopped. The gist of the invention of claim 6 is
Claim 4 or characterized by preventing the interface reflection loss due to the air layer between the surface upon reception of the reflected wave
The land mine detection method described in 5 exists.
【０００６】[0006]
【発明の実施の形態】以下、本発明の実施の形態を図面
に基づいて詳細に説明する。図１は、本発明にかかる地
雷探知装置の実施形態の構成を示すブロック図であり、
図２は、図１に示す地雷探知装置のイメージ図であり、
図３は、図１に示す探知センサ部と送波ビームおよび受
波ビームとを説明する図であり、図４は、図１に示す地
雷検出部における受波ビーム受信信号レベルと図１に示
す探知センサ部の振動子の配列とを説明する図であり、
図５は、図１に示す探索ルート設定部の探知ルートの設
定例を示す図であり、図６は、図１に示す探索ルート設
定部の探索ルート設定におけるオーバーラップ量を説明
する図である。BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of the present invention will be described in detail below with reference to the drawings. FIG. 1 is a block diagram showing a configuration of an embodiment of a land mine detection device according to the present invention,
FIG. 2 is an image diagram of the land mine detection device shown in FIG.
FIG. 3 is a diagram for explaining the detection sensor unit and the transmission beam and the reception beam shown in FIG. 1, and FIG. 4 is the reception beam reception signal level in the land mine detection unit shown in FIG. 1 and FIG. It is a diagram for explaining the array of transducers of the detection sensor unit,
5 is a diagram showing an example of setting a detection route by the search route setting unit shown in FIG. 1, and FIG. 6 is a diagram explaining an overlap amount in the search route setting of the search route setting unit shown in FIG. .
【０００７】本実施形態は、図１に示すように、探知セ
ンサ部１と地雷検出部２と位置計算部３と高精度ＧＰＳ
部４とＧＰＳアンテナ５と探索ルート設定部６とアラー
ム発生部７とスピーカ８と運動制御部９と駆動部１０と
で構成されている。In the present embodiment, as shown in FIG. 1, a detection sensor unit 1, a land mine detection unit 2, a position calculation unit 3 and a high precision GPS.
It is composed of a unit 4, a GPS antenna 5, a search route setting unit 6, an alarm generation unit 7, a speaker 8, a motion control unit 9 and a drive unit 10.
【０００８】探知センサ部１は、超音波を地中に送波
し、地中の地雷からの反射波を受波する。図３に示すよ
うに、送波は広い１本のビームで構成し、受波は多数の
細いビームで構成された高分解能のセンサであり、それ
ぞれの受波ビームは、図４に示すように配列されてい
る。それぞれの受波ビームとして受波された反射波のレ
ベルを電気信号に変換し、受信信号１０１として地雷検
出部２に出力する。受波ビームは、地雷の縦横の寸法を
検出し、地雷であることを判断する必要性があることか
ら、機雷に３〜５本のビームを当てる程度の分解能と
し、対人地雷のサイズは約１０ｃｍであることから、ビ
ームの幅は約２〜３ｃｍ程度となる。The detection sensor unit 1 transmits ultrasonic waves to the ground and receives reflected waves from land mines in the ground. As shown in FIG. 3, the transmitted wave is composed of one wide beam, and the received wave is a high-resolution sensor composed of a large number of narrow beams. Each received beam is as shown in FIG. It is arranged. The level of the reflected wave received as each received beam is converted into an electric signal and output as a received signal 101 to the land mine detection unit 2. Since it is necessary to detect the vertical and horizontal dimensions of land mines and to determine that they are landmines, the received beam should have a resolution of about 3 to 5 beams applied to mines, and the size of antipersonnel mines is approximately 10 cm. Therefore, the width of the beam is about 2-3 cm.
【０００９】また、探知センサ部１には、図２に示すよ
うに探知センサ部１と地表との間にある空気層による境
界面反射損失を低減するために、ゴム、ゲル状の物質、
吸水させたスポンジ等で構成された境界面反射防止部が
設けられている。境界面反射防止部は、超音波の送波お
よび受波を行う振動子に接触し、振動子と地表との間に
ある空気層をなくすように設けられ、地表に接地もしく
は地表に近接して配置される構成となっている。探知セ
ンサ部構造例１は、境界面反射防止部を超音波の送波お
よび受波を行う振動子と地表との間に固定的に設けた例
を示し、探知センサ部構造例２は、超音波の送波および
受波を行う振動子と接触しながら回転する境界面反射防
止部を設けた例を示す。Further, as shown in FIG. 2, the detection sensor unit 1 is made of rubber, a gel-like substance, in order to reduce the reflection loss at the boundary surface due to the air layer between the detection sensor unit 1 and the ground surface.
A boundary surface antireflection portion made of water-absorbed sponge or the like is provided. The boundary surface antireflection part is provided so as to contact an oscillator that transmits and receives ultrasonic waves, and eliminates an air layer between the oscillator and the ground surface, and is close to the ground surface or close to the ground surface. It is arranged to be placed. Structural example 1 of the detection sensor section shows an example in which the boundary surface antireflection section is fixedly provided between the transducer for transmitting and receiving ultrasonic waves and the surface of the earth. An example in which a boundary surface antireflection portion that rotates while being in contact with a vibrator that transmits and receives sound waves is provided.
【００１０】地雷検出部２は、探知センサ部１から受信
した受信信号１０１により、それぞれの受波ビームに反
射波が存在するか否かを受信信号１０１のレベルにより
判断する。この反射波の有無の情報と送波ビームを送波
してから反射波を受波するまでの時間から求めた深さの
情報とから、探知した物体の縦、横の寸法を求め、この
寸法と予め設定されている探索対象の地雷の寸法情報と
を比較することにより、探知した物体が地雷であるか否
かの判断を行う。探知した物体が地雷であると判断する
と、位置計算部３とアラーム発生部７に地雷探知信号１
０２を出力する。なお、探知した物体の縦、横の寸法を
求めるに際し、送波ビームを送波してから反射波を受波
するまでの時間から求めた深さの情報は、この反射波の
有無の情報によって得られる探知した物体の縦、横の寸
法が同一の物体によるものか、深さの異なる２つ以上の
物体によるものかの判断のためと、深さにより受波ビー
ムのビーム幅が異なるため、探知した物体の縦、横寸法
の補正のために用いられる。The land mine detection unit 2 judges from the received signal 101 received from the detection sensor unit 1 whether or not there is a reflected wave in each received beam based on the level of the received signal 101. From the information on the presence of this reflected wave and the depth information obtained from the time from the transmission of the transmitted beam to the reception of the reflected wave, determine the vertical and horizontal dimensions of the detected object. It is determined whether or not the detected object is a land mine by comparing the dimensional information of the land mine to be searched with the dimensional information set in advance. When it judges that the detected object is a land mine, the mine detection signal 1 is sent to the position calculation unit 3 and the alarm generation unit 7.
02 is output. When determining the vertical and horizontal dimensions of the detected object, the depth information obtained from the time from the transmission of the transmission beam to the reception of the reflected wave depends on the information on the presence or absence of this reflected wave. For the purpose of determining whether the obtained detected object has the same vertical and horizontal dimensions or two or more objects having different depths, and because the beam width of the received beam differs depending on the depth, It is used to correct the vertical and horizontal dimensions of the detected object.
【００１１】位置計算部３は、高精度ＧＰＳ部４から出
力される位置情報１０３と探索ルート設定部６から出力
される探索ルート情報１０４より、探索ルートに沿って
探索するよう運動制御部９に運動情報１０５を出力す
る。また、地雷検出部２から地雷探知信号１０２を受け
ると運動情報１０５により運動制御部９に停止を指令す
る。Based on the position information 103 output from the high-accuracy GPS unit 4 and the search route information 104 output from the search route setting unit 6, the position calculation unit 3 instructs the motion control unit 9 to search along the search route. The exercise information 105 is output. When the landmine detection signal 102 is received from the landmine detection unit 2, the motion control unit 9 is instructed to stop by the motion information 105.
【００１２】高精度ＧＰＳ部４は、ＧＰＳアンテナ５か
ら出力されるＧＰＳデータ１０６により、自分の位置を
算出し、位置情報１０３を位置計算部３に出力する。な
お、ここで使用するＧＰＳは、ディファレンシャル方
式、キネマティック方式等の高精度なＧＰＳを使用が好
ましい。これは、探索対象となる対人地雷のサイズが約
１０ｃｍであることから位置の精度は１ｃｍ〜３ｃｍ程
度にする必要が有るからである。The high-accuracy GPS unit 4 calculates its own position based on the GPS data 106 output from the GPS antenna 5, and outputs the position information 103 to the position calculation unit 3. The GPS used here is preferably a high precision GPS such as a differential type or a kinematic type. This is because the size of the antipersonnel landmine to be searched is about 10 cm, so that the positional accuracy needs to be about 1 cm to 3 cm.
【００１３】ＧＰＳアンテナ５はＧＰＳ衛星の電波を受
信し、ＧＰＳデータ１０６を高精度ＧＰＳ部４に出力す
る。The GPS antenna 5 receives radio waves from GPS satellites and outputs GPS data 106 to the high precision GPS unit 4.
【００１４】探索ルート設定部６は、探索を開始する前
に図５に示すように探索範囲の全域を網羅するように探
索ルートを設定する。設定された探索ルートは、探索ル
ート情報１０４として位置計算部３に出力される。な
お、探索ルート設定に際して、探査範囲のオーバーラッ
プ量は、図６に示すように探索対象の地雷の半径と位置
の算出誤差とを加えた値で設定する。すなわち探知セン
サ部１の幅で決定される探知範囲を探索対象の地雷の半
径と位置の算出誤差とを加えた値だけオーバーラップさ
せて探索ルートを設定する。本実施の形態では、探索対
象の地雷の半径が５ｃｍ、位置の算出誤差が３ｃｍであ
るため、探査範囲のオーバーラップ量を８ｃｍに設定し
て探索ルートを設定する。The search route setting unit 6 sets the search route so as to cover the entire search range as shown in FIG. 5 before starting the search. The set search route is output to the position calculation unit 3 as the search route information 104. When setting the search route, the overlap amount of the search range is set to a value obtained by adding the radius of the landmine to be searched and the calculation error of the position, as shown in FIG. That is, the search route is set by overlapping the detection range determined by the width of the detection sensor unit 1 by a value obtained by adding the radius of the mine to be searched and the calculation error of the position. In the present embodiment, since the radius of the landmine to be searched is 5 cm and the position calculation error is 3 cm, the search range is set by setting the overlap amount of the search range to 8 cm.
【００１５】アラーム発生部７は、地雷探知部２が出力
する地雷探知信号１０２を受け、アラーム信号１０７を
スピーカ８に出力する。スピーカ８は、アラーム信号１
０７を受け、アラーム音１０８を発生する。The alarm generator 7 receives the land mine detection signal 102 output from the land mine detection unit 2, and outputs an alarm signal 107 to the speaker 8. The speaker 8 outputs the alarm signal 1
Upon receiving 07, an alarm sound 108 is generated.
【００１６】運動制御部９は、位置計算部３が出力する
運動情報１０５に基づき、探索ルートに沿って探索が可
能なように、駆動部１０に駆動信号１０９を出力し、駆
動部１０を制御する。駆動部１０は、運動制御部９が出
力する駆動信号１０９に基づき車両を駆動する。The motion control section 9 outputs a drive signal 109 to the drive section 10 to control the drive section 10 based on the motion information 105 output from the position calculation section 3 so that the search can be performed along the search route. To do. The drive unit 10 drives the vehicle based on the drive signal 109 output by the motion control unit 9.
【００１７】次に本実施形態の動作の説明を行う。本発
明にかかる地雷探知装置を使用するに当たっては、ま
ず、探索ルート設定部６に探索ルートの設定を行う。探
索ルートを設定して探索を開始すると、高精度ＧＰＳ部
４で算出した自分の位置情報と探索ルート情報とから、
自分の走行すべき方向を位置計算部３で算出して運動制
御部９に運動情報１０５として伝達し、運動制御部９は
駆動部１０を駆動して、探索ルート上を進むことが可能
となる。Next, the operation of this embodiment will be described. In using the land mine detection device according to the present invention, first, a search route is set in the search route setting unit 6. When the search route is set and the search is started, based on the own position information calculated by the high precision GPS unit 4 and the search route information,
The position calculation unit 3 calculates the direction in which the vehicle should travel and transmits it to the motion control unit 9 as the motion information 105. The motion control unit 9 drives the drive unit 10 so that the user can travel on the search route. .
【００１８】なお、探知センサが高分解能であり探知範
囲が明確なこと及び高精度ＧＰＳにより位置の算出精度
が高いことにより、探索ルートの設定に当たっては、探
知範囲のオーバーラップ量を小さくする事が可能であ
る。In addition, since the detection sensor has high resolution and the detection range is clear and the position calculation accuracy is high by the high-accuracy GPS, it is possible to reduce the overlap amount of the detection range when setting the search route. It is possible.
【００１９】一方、探知センサ部１の受信信号から、地
雷検出部２が、探知した物体のサイズから地雷であると
判断すると、地雷探知信号を位置計算部３とアラーム発
生部７に送り、その場で運動を停止すると共に、アラー
ム音をスピーカ８から出して、地雷を探知したことを知
らせる。On the other hand, when the land mine detection unit 2 determines from the received signal of the detection sensor unit 1 that the detected object is a land mine, the land mine detection signal is sent to the position calculation unit 3 and the alarm generation unit 7, At the same time as stopping the exercise in the field, an alarm sound is emitted from the speaker 8 to inform that the mine has been detected.
【００２０】探知した地雷を処分した後、探知を継続さ
せることにより、必要な探知範囲を全て探知する事が可
能である。After disposing of the detected land mine, by continuing the detection, it is possible to detect all the necessary detection range.
【００２１】以上説明したように、本実施形態によれ
ば、地雷の探知を無人で行う事が可能であるため、安全
性が向上し、探知した物体が地雷か否かの判断を、縦、
横の寸法で行うため、釘等の金属片を誤探知することも
なく、探知効率が向上し、探知範囲のオーバーラップ量
を小さくすることができるため、地雷探索効率が向上す
るという効果を奏する。さらに、本実施形態によれば、
境界面反射防止部により空気層による境界面反射損失を
低減でき、探知性能を向上させることができるという効
果を奏する。As described above, according to the present embodiment, it is possible to detect land mines unmanned, so that the safety is improved and it is possible to determine whether the detected object is a landmine or not.
Since it is performed in the lateral dimension, it is possible to improve the detection efficiency without misdetecting metal pieces such as nails, and to reduce the overlap amount of the detection range, thus improving the efficiency of mine search. . Furthermore, according to the present embodiment,
The interface reflection preventing portion can reduce the interface reflection loss due to the air layer and can improve the detection performance.
【００２２】本実施形態では、高精度ＧＰＳ部で位置の
計測を行ったが、慣性航法装置等の他の位置計測装置へ
置き換えることもできる。In the present embodiment, the position is measured by the high-accuracy GPS unit, but it may be replaced with another position measuring device such as an inertial navigation device.
【００２３】本実施形態では、探索ルートを予め設定
し、自動的に探索ルートに沿って探索させる構成とした
が、探索ルートをリモコン等の遠隔操作で指示する構成
としても良い。In this embodiment, the search route is set in advance and automatically searched along the search route. However, the search route may be instructed by remote control such as a remote controller.
【００２４】本実施形態では、探知のためのビームとし
て超音波を用いたが、電磁波、マイクロ波、レーザー等
で探知を行う構成としてもよい。In this embodiment, ultrasonic waves are used as a beam for detection, but detection may be performed by electromagnetic waves, microwaves, lasers or the like.
【００２５】本実施形態では、地雷探知をアラームで知
らせる構成としたが、地雷の処分具を備え、地雷を探知
したら、その地雷の処分までを自動的に行うようにして
もよい。In the present embodiment, the mine detection is notified by an alarm. However, a mine disposal tool may be provided so that when a mine is detected, the disposal of the mine is automatically performed.
【００２６】なお、本発明が上記各実施形態に限定され
ず、本発明の技術思想の範囲内において、各実施形態は
適宜変更され得ることは明らかである。また、上記構成
部材の数、位置、形状等は上記実施の形態に限定され
ず、本発明を実施する上で好適な数、位置、形状等にす
ることができる。なお、各図において、同一構成要素に
は同一符号を付している。It should be noted that the present invention is not limited to the above-described embodiments, and it is apparent that each embodiment can be appropriately modified within the scope of the technical idea of the present invention. Further, the number, position, shape, etc. of the above-mentioned constituent members are not limited to those in the above-mentioned embodiment, and the number, position, shape, etc. suitable for carrying out the present invention can be adopted. In addition, in each figure, the same components are denoted by the same reference numerals.
【００２７】[0027]
【発明の効果】本発明の地雷探知装置および地雷探知方
法は、探知した物体が地雷か否かを縦、横の寸法により
自動判断するため、地雷探知効率が向上するという効果
を奏する。さらに、本発明の地雷探知装置および地雷探
知方法は、自分の位置を検出してあらかじめ探索ルート
移動できるため、無人での探索が可能となり、安全性が
向上するという効果を奏する。さらに、本発明の地雷探
知装置および地雷探知方法は、高分解能な探知センサと
高精度な位置検出手段とを有することにより、探知範囲
のオーバーラップ量を小さくすることができるという効
果を奏する。さらに、本発明の地雷探知装置および地雷
探知方法は、境界面反射防止部により空気層による境界
面反射損失を低減でき、探知性能を向上させることがで
きるという効果を奏する。According to the mine detection device and the mine detection method of the present invention, whether or not the detected object is a mine is automatically determined by the vertical and horizontal dimensions, so that the mine detection efficiency is improved. Furthermore, the land mine detection device and the land mine detection method of the present invention can detect the position of oneself and move in advance on the search route, so that unmanned search can be performed and safety is improved. Further, the land mine detection device and the land mine detection method of the present invention have the effect that the overlap amount of the detection range can be reduced by having the high resolution detection sensor and the highly accurate position detection means. Furthermore, the land mine detection device and the land mine detection method of the present invention have an effect that the boundary reflection preventing portion can reduce the boundary reflection loss due to the air layer and improve the detection performance.
【図１】本発明にかかる地雷探知装置の実施形態の構成
を示すブロック図である。FIG. 1 is a block diagram showing a configuration of an embodiment of a land mine detection device according to the present invention.
【図２】図１に示す地雷探知装置のイメージ図である。FIG. 2 is an image diagram of the land mine detection device shown in FIG.
【図３】図１に示す探知センサ部と送波ビームおよび受
波ビームとを説明する図である。FIG. 3 is a diagram illustrating a detection sensor unit shown in FIG. 1 and a transmitted beam and a received beam.
【図４】図１に示す地雷検出部における受波ビーム受信
信号レベルと図１に示す探知センサ部の振動子の配列と
を説明する図である。FIG. 4 is a diagram for explaining a received beam reception signal level in the land mine detection unit shown in FIG. 1 and an array of transducers of the detection sensor unit shown in FIG.
【図５】図１に示す探索ルート設定部の探知ルートの設
定例を示す図である。5 is a diagram showing an example of setting a detection route by a search route setting unit shown in FIG.
【図６】図１に示す探索ルート設定部の探索ルート設定
におけるオーバーラップ量を説明する図である。6 is a diagram illustrating an overlap amount in search route setting by a search route setting unit shown in FIG.
１ 探知センサ部 ２ 地雷検出部 ３ 位置計算部 ４ 高精度ＧＰＳ部 ５ ＧＰＳアンテナ ６ 探索ルート設定部 ７ アラーム発生部 ８ スピーカ ９ 運動制御部 １０ 駆動部 １０１ 受信信号 １０２ 地雷探知信号 １０３ 位置情報 １０４ 探索ルート情報 １０５ 運動情報 １０６ ＧＰＳデータ １０７ アラーム信号 １０８ アラーム音 １０９ 駆動信号 1 Detection sensor part 2 Landmine detector 3 Position calculator 4 High precision GPS unit 5 GPS antenna 6 Search route setting section 7 Alarm generator 8 speakers 9 Motion control unit 10 Drive 101 received signal 102 Landmine detection signal 103 location information 104 Search route information 105 exercise information 106 GPS data 107 Alarm signal 108 alarm sound 109 drive signal
フロントページの続き (58)調査した分野(Int.Cl.7，ＤＢ名) F41H 11/12 - 11/16 Continuation of front page (58) Fields surveyed (Int.Cl. 7 , DB name) F41H 11/12-11/16
Claims (6)
ト情報として出力する地雷探索ルート設定手段と、 位置を検出して位置情報を出力する位置検出手段と、 前記探索ルート情報と前記位置情報とにより自動走行を
行う自動走行手段と、 地中に探知波を送波する探知波送波手段と、 該探知波送波手段により送波された前記探知波に対応す
る地中の埋設物からの反射波を細分化された受波ビーム
として受波する反射波受波手段と、 該反射波受波手段により受波した前記受波ビーム毎の前
記反射波に基づいて地雷を探知する地雷探知手段とを備
え、 前記探知波送波手段による前記探知波の送波から前記反
射波受波手段による前記反射波の受波までの時間により
埋設物の深度を前記受波ビーム毎に検出する深度情報検
出手段を具備し、 前記地雷探知手段は、前記反射波受波手段で受波した前
記受波ビーム毎の前記反射波の有無と前記受波ビームの
配置と前記深度情報検出手段により前記受波ビーム毎に
検出した埋設物の深度とから埋設物の縦横の寸法を検知
させ、 前記地雷探知手段は、探知対象の地雷の寸法情報を予め
記憶させ、 前記検知した前記埋設物の縦横の寸法と前記記憶させた
前記探知対象の地雷の寸法情報とを比較させることによ
り地雷を探知させる ことを特徴とする地雷探知装置。1. A landmine search route setting means for outputting the set landmine search route as search route information, a position detection means for detecting a position and outputting position information, the search route information and the position information. An automatic traveling means for automatically traveling by means of, a detection wave transmitting means for transmitting a detection wave into the ground, and a buried object in the ground corresponding to the detection wave transmitted by the detection wave transmitting means. Reflected wave receiving means for receiving a reflected wave as a subdivided received beam, and land mine detection means for detecting a mine based on the reflected wave of each received beam received by the reflected wave receiving means with the door, the counter from said detection wave transmitting by said detecting waves transmitting means
Depending on the time until the reflected wave is received by the reflected wave receiving means
Depth information detection for detecting the depth of the buried object for each received beam
The landmine detecting means is provided with a transmitting means,
The presence or absence of the reflected wave for each received beam and the received beam
For each of the received beams by the arrangement and the depth information detecting means
Detects the vertical and horizontal dimensions of the buried object based on the detected depth of the buried object
Then, the land mine detection means preliminarily obtains the size information of the land mine to be detected.
Were stored, said is stored with the aspect of the size of the buried object that the detection
By comparing with the size information of the land mines to be detected,
Land mine detection device characterized by detecting land mines.
によって地雷を探知した際に、走行を停止することを特
徴とする請求項１に記載の地雷探知装置。Wherein said automatic traveling section, upon detecting the mine by the mine detection means, mine detection device according to claim 1, characterized in that stopping the travel.
層による境界面反射損失を防止する境界面反射損失防止
手段を具備したことを特徴とする請求項１又は２に記載
の地雷探知装置。3. A mine according to claim 1 or 2, characterized by comprising an interface reflection loss preventing means for preventing the interface reflection loss due to the air layer between the reflected wave reception means and the surface Detection device.
ト情報として出力し、 位置を検出して位置情報を出力し、 前記探索ルート情報と前記位置情報とにより自動走行を
行い、 地中に探知波を送波し、 該送波された前記探知波に対応する地中の埋設物からの
反射波を細分化された受波ビームとして受波し、 該受波した前記受波ビーム毎の前記反射波に基づいて地
雷を探知し、 前記探知波の送波から前記反射波の受波までの時間によ
り埋設物の深度を前記受波ビーム毎に検出し、 前記受波した前記受波ビーム毎の前記反射波の有無と前
記受波ビームの配置と前記受波ビーム毎に検出した埋設
物の深度とから埋設物の縦横の寸法を検知し、 探知対象の地雷の寸法情報を予め記憶し、 前記検知した前記埋設物の縦横の寸法と前記記憶した前
記探知対象の地雷の寸法情報とを比較させることにより
地雷を探知する ことを特徴とする地雷探知方法。4. A set mine search route is output as search route information, a position is detected and position information is output, and automatic traveling is performed based on the search route information and the position information to detect in the ground. A wave is transmitted, the reflected wave from the underground buried object corresponding to the transmitted detection wave is received as a subdivided received beam, and the received beam for each received beam is received. on the basis of the reflected waves to detect mines, the time from the transmitting of the detection wave to the reception of the reflected wave
The depth of the buried object is detected for each of the received beams, and the presence or absence of the reflected wave for each of the received beams and the previous
Arrangement of received beams and burial detected for each received beam
Before detecting the vertical and horizontal dimensions of the buried object and a depth of the object, previously stored measurement information for the mine detection object, and the storage and vertical and horizontal dimensions of the buried object that the detection
By comparing with the size information of the mines to be detected
Mine detecting method characterized by detecting landmines.
ることを特徴とする請求項４に記載の地雷探知方法。5. The land mine detection method according to claim 4 , wherein traveling is stopped when the land mine is detected.
空気層による境界面反射損失を防止することを特徴とす
る請求項４又は５に記載の地雷探知方法。6. The land mine detection method according to claim 4, wherein the boundary reflection loss due to an air layer between the ground surface and the ground surface is prevented when the reflected wave is received.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP10347299A JP3376952B2 (en) | 1999-04-12 | 1999-04-12 | Land mine detection device and land mine detection method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP10347299A JP3376952B2 (en) | 1999-04-12 | 1999-04-12 | Land mine detection device and land mine detection method |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2017090115A (en) * | 2015-11-05 | 2017-05-25 | 株式会社Ｉｈｉエアロスペース | Explosive Detection System |
| CN107462112A (en) * | 2017-07-31 | 2017-12-12 | 曾美枝 | A kind of flail of Fast Labeling |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3631431B2 (en) * | 2000-12-05 | 2005-03-23 | 独立行政法人科学技術振興機構 | Detection device and detection method |
| DE10316881A1 (en) * | 2002-07-25 | 2004-02-26 | Diehl Munitionssysteme Gmbh & Co. Kg | Motorized remotely-controlled systems for infantry soldier have wheels, endless tracks or swinging legs and carry video cameras and weapon systems in radio communication with soldier |
| KR100538806B1 (en) | 2003-02-21 | 2005-12-26 | 주식회사 하이닉스반도체 | SEMICONDUCTOR DEVICE WITH EPITAXIAL C49-TiSi2 LAYER AND METHOD FOR FABRICATING THE SAME |
| KR100985051B1 (en) | 2008-02-12 | 2010-10-04 | 한양대학교 산학협력단 | Remote robot for acquisiting outside information |
| JP2012037204A (en) * | 2010-08-11 | 2012-02-23 | Yasuaki Iwai | Device and method for searching mine |
| JP2012215501A (en) * | 2011-04-01 | 2012-11-08 | Hitachi Engineering & Services Co Ltd | Buried object surveying method and buried object surveying device |
| JP2021117075A (en) * | 2020-01-24 | 2021-08-10 | 東芝プラントシステム株式会社 | Buried material searching apparatus and method for analyzing search target object |
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1999
- 1999-04-12 JP JP10347299A patent/JP3376952B2/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2017090115A (en) * | 2015-11-05 | 2017-05-25 | 株式会社Ｉｈｉエアロスペース | Explosive Detection System |
| CN107462112A (en) * | 2017-07-31 | 2017-12-12 | 曾美枝 | A kind of flail of Fast Labeling |
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