JP2017090115A - Explosive detection system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an explosive detection system capable of efficiently detecting and disposing of an explosive even in a place where a GPS radio wave is difficult to receive, such as a forest and a valley.SOLUTION: An explosive detection system includes an unmanned flying body 1 and an unmanned ground traveling device. The unmanned flying body easily and rapidly detects an explosive in a wide range, and transmits detected information on a position of the explosive to the unmanned ground traveling device. The unmanned ground traveling device acquires its position from the position of the unmanned flying body, which is acquired by a GPS receiver 13, and a relative position of the unmanned flying body to the unmanned ground traveling device, which is acquired by a lidar 16, so that the explosive is detected and disposed of.SELECTED DRAWING: Figure 3

Description

  The present invention relates to an explosive detection system, and more particularly to a system in which an unmanned air vehicle and an unmanned ground traveling device cooperate to detect explosives.

  Currently, conflicts often occur on the earth, and explosives such as landmines are one of the weapons used in battle. Landmines will damage people and vehicles even after the end of the battle, and it is necessary to dispose of landmines in order to ensure safe traffic in the area where the battle ends.

Traditionally, landmines have been handled by workers carrying a landmine detector, checking the location of the landmine while operating the landmine detector, and blasting or digging up and collecting the landmine. There is a risk of damage to workers due to landmine detection errors.
In other words, when an operator detects a land mine while moving on the ground, there is a danger, and thus the detection accuracy is always required to be high.

  Japanese Patent No. 3376952 of Patent Document 1 discloses a search route in which the detection range of a mine detection device provided in an unmanned traveling vehicle is overlapped by traveling an unmanned traveling vehicle while acquiring position information by GPS. It is disclosed that landmines in the entire search range can be detected without omission.

Also, by using landmine disposal vehicles such as bulldozers and excavators for landmine sweeping, workers are treated and neutralized without being exposed to the risks associated with landmine sweeping. .

The above landmine disposal vehicle is effective when the location of the landmine is known, but it takes a lot of time to detect landmines while moving on the ground, and to perform landmine disposal quickly. Is difficult.

  Japanese Patent Laid-Open No. 2002-168623 of Patent Document 2 simply detects a wide range of landmines using a flying object, and transmits the acquired landmine detection information and landform information to a ground walking robot, thereby It is disclosed that detailed mine detection information can be acquired smoothly while the robot avoids obstacles such as mine.

  Japanese Patent Application Laid-Open No. 2012-37204 discloses an unmanned flight means including an obstacle detection unit, so that obstacles can be avoided even when flying near the surface of the earth at low altitude, and the detection accuracy of landmines is reduced. It is disclosed that can be improved.

Japanese Patent No. 3376952 JP 2002-168623 A JP 2012-37204 A

However, in order for the unmanned detection device or the like to move, it is necessary to grasp its own position, and in order to acquire the self position by GPS, it is necessary to be able to receive radio waves from a plurality of GPS satellites simultaneously.
Therefore, in the ones described in Patent Documents 1 to 3, in places where it is difficult to receive GPS radio waves such as in forests and valleys, not only accurate location information of explosives such as landmines but also explosives are recorded. It is difficult to run or fly for detection or explosive treatment itself, and communication with the base station may be interrupted and the unmanned detection device may be lost.

  The present invention has been made in view of such problems of the prior art. The object of the present invention is to provide efficient explosives even in places where GPS radio waves are difficult to receive, such as in forests and valleys. The object is to provide an explosive detection system capable of detecting and processing.

  As a result of intensive studies to achieve the above object, the present inventor obtains the relative positional relationship between the unmanned air vehicle and the unmanned ground traveling device, so that either the unmanned air vehicle or the unmanned ground traveling device is a GPS. It has been found that self-location information can be obtained even in places where it is difficult to receive radio waves, and explosives can be detected and processed, and the present invention has been completed.

That is, the above-mentioned problem is solved by the following (1) to (7) “explosive detection system” of the present invention.
(1) “An explosive detection system comprising an unmanned air vehicle and an unmanned ground vehicle,
The unmanned air vehicle includes a camera, a GPS receiver, and a wireless communication device, and transmits detected explosive position information to the unmanned ground traveling device.
The unmanned ground traveling device includes an explosive detection device, an explosive processing device, a GPS receiver, a wireless communication device, and an arithmetic device.
A relative position between the unmanned air vehicle and the unmanned ground travel device acquired by the unmanned air vehicle and / or a rider included in the unmanned ground travel device; and the unmanned air vehicle or the unmanned ground travel device. An explosives detection system, wherein the relative position of the other is calculated from the GPS self-position acquired by any one of the GPS receivers. "
(2) “When the unmanned ground traveling device cannot acquire the GPS self-position, it transmits a GPS reception error and the relative position,
The explosive object detection system according to item (1), wherein the unmanned air vehicle that has received the GPS reception error performs explosive object detection within an area where the relative position can be acquired by the rider. "
(3) “When the unmanned ground traveling device cannot acquire the GPS self-position, it transmits the GPS self-position and the DR self-position due to dead reckoning,
The unmanned air vehicle that has received the GPS reception error flies within the area where the relative position can be acquired by the rider based on the DR self-position of the unmanned ground traveling device. ) Explosives detection system as described in section). "
(4) “When the unmanned ground traveling device cannot acquire the GPS self-position and the relative position,
The explosive detection system according to (3) above, which travels by dead reckoning navigation to a position where GPS can be received. "
(5) The item (1) to the item (4), wherein the unmanned ground traveling device processes explosives based on explosive position information from the unmanned air vehicle. Explosives detection system according to any one of the above. ",
(6) "Any one of the items (1) to (5) above, wherein the unmanned aerial vehicle is supplied with electric power and / or fuel from the unmanned traveling device. Explosives detection system as described in section. "
(7) "The explosive detection system according to any one of (1) to (6) above, wherein the unmanned air vehicle relays wireless communication."
(8) “The explosive detection system according to any one of (1) to (7) above, wherein the explosive detection system includes a plurality of unmanned air vehicles and / or unmanned traveling devices”. Solved.

  According to the present invention, the relative position information of the unmanned air vehicle and the unmanned ground traveling device, and the position information acquired by the GPS receiver of either the unmanned air vehicle or the unmanned ground traveling device, the other position Since the information is acquired, it is possible to provide an explosive detection system capable of efficiently detecting and processing explosives even in a place where it is difficult to receive GPS radio waves.

It is the schematic which shows an example of the operation state when the unmanned ground traveling apparatus is in a place where it is difficult to receive GPS radio waves. It is the schematic which shows an example of the operation state in case the unmanned ground traveling apparatus exists in the place which can receive a GPS electromagnetic wave. It is the schematic which shows an example of the unmanned air vehicle of this invention. It is the schematic which shows an example of the unmanned ground traveling apparatus of this invention.

The explosive detection system of the present invention will be described in detail.
The explosive detection system of the present invention detects and processes explosives such as landmines, unexploded bombs, and time bombs.

The explosive detection system of the present invention uses an unmanned air vehicle and an unmanned ground traveling device, and the GPS-self-position acquired by the GPS receiver of either the unmanned air vehicle or the unmanned ground traveling device. Even in places where it is difficult to receive GPS radio waves by calculating the other position from the relative position between the unmanned air vehicle obtained by the rider and the unmanned ground traveling device and obtaining the relative-self position. An unmanned ground vehicle or an unmanned air vehicle can be operated, and highly accurate explosives detection is possible.

Then, by switching the operation state of the unmanned air vehicle between a place where GPS radio waves can be received and a place where it is difficult to receive, high-accuracy explosive detection can be performed efficiently.

Specifically, when the unmanned ground traveling device is in a place where it is difficult to receive GPS radio waves, as shown in FIG. 1, the GPS-self-position information of the flying device obtained by the unmanned air vehicle receiving the GPS radio waves is shown. And the relative position information of the unmanned air vehicle and the unmanned traveling device obtained from the rider, the position of the unmanned ground traveling device is calculated to obtain the relative self position, and the explosive object detection is continued. Do.
In addition, in a place where GPS radio waves can be received, as shown in FIG. 2, the unmanned air vehicle simply detects a wide range of explosives quickly, and based on the explosive object position information acquired by the unmanned air vehicle, The unmanned traveling device performs explosive object detection in detail and with high accuracy, so that explosive object detection can be performed efficiently.

  In addition, the unmanned air vehicle and the unmanned ground traveling device are combined. Explosives can be detected efficiently by sharing the role of each device, such as supplying power from the device. By supplying power, it is possible to transmit the acquired data of the relative self-position.

<Unmanned flying vehicle>
The above-mentioned unmanned aerial vehicle (hereinafter sometimes referred to as UAV (Unmanned Air Vehicle)) autonomously flies, shoots the ground from the sky, simply detects a wide range of explosives, and detects the detected explosive position. The information is wirelessly transmitted to an unmanned ground traveling device described later.

  The unmanned air vehicle includes a camera, a GPS receiver, a wireless communication device, and a flight control device, and may have a rider reflection marker or the like as necessary.

The unmanned aerial vehicle has only to have a basic flight function, and examples thereof include a drone and a multicopter.

An example of the unmanned air vehicle 1 is shown in FIG.
In FIG. 3, 11 is a camera, 12 is a flying object computing device, 13 is a GPS receiver, 14 is a wireless communication device, 15 is a flight sensor, 16 is a rider, 17 is a flying device, 18 is a reflector, and 19 is a power supply device. It is.

Examples of the camera 11 include a visible light camera and an infrared camera. The captured image is processed by the flying object arithmetic unit 12 to detect explosives. Visible light camera images can detect landmines exposed on the ground surface, such as scattered landmines, and infrared camera images can be embedded due to differences in temperature and emissivity from the surroundings. Mine can be detected.
Further, by transmitting the captured image to the unmanned ground traveling device, the unmanned ground traveling device can obtain terrain information and the like and can be used for setting the travel route.
The detection of explosives by the unmanned air vehicle 1 may be performed not only by the camera 11 but also by a magnetic sensor.

  The GPS receiver 13 receives signals from several GPS (Global Positioning System) satellites in the sky and acquires the current position of itself. The GPS receiver can acquire the GPS-UAV self-position. .

The wireless communication device 14 performs wireless communication with the base station and / or the unmanned traveling device, and can also perform wireless communication relay between the base station and the unmanned traveling device.

The flying object calculation device 12 calculates a flight path based on a command transmitted from the base station and / or the unmanned traveling device via the wireless communication device 14 and / or a command set in advance.
The flight sensor 15 includes various sensors such as an altitude sensor, a speed sensor, a geomagnetic sensor, an attitude sensor, and an acceleration sensor. The flight sensor 15 includes altitude, speed, azimuth information, and the like along with the horizontal plane position information from the GPS receiver 13. Information for each. The altitude sensor may be a rider 16 described later.

The rider 16 (hereinafter sometimes referred to as LIDAR (Light Detection and Ranging)) has a built-in multi-point laser transmission / reception sensor that scans all directions at a high speed to obtain a real-time 3D image of 360 degrees all around. It is.
The rider measures the distance and direction between the unmanned air vehicle and the unmanned ground traveling device, and obtains surrounding information such as the presence of an obstacle and the distance to the ground.

The flying device 17 is a device for flying an unmanned air vehicle, and examples thereof include a rotor. The flying device 17 operates in response to a command from the flying object computing device 12.

In addition, during the autonomous flight, the flying object calculation device 12 acquires posture angle information from the posture sensor, and also acquires acceleration information of the front and rear, left and right, and vertical from the acceleration sensor. A correction signal for the steering command is generated, and the attitude of the flying device is controlled so that the unmanned air vehicle flies autonomously.

  The unmanned air vehicle 1 preferably includes a reflector 18 as a rider reflection marker. The reflector 18 can obtain an accurate distance and an accurate direction between the unmanned air vehicle and the unmanned ground traveling device, and the relative position accuracy is improved.

<Unmanned ground traveling device>
The unmanned ground vehicle (hereinafter, sometimes referred to as UGV (ungrounded ground vehicle)) autonomously travels based on explosives position information from the unmanned air vehicle and / or a preset detection route, and is used for landmines, etc. This is to neutralize the explosives.

The unmanned traveling device only needs to have a basic traveling function, and may be an engine vehicle, an electric vehicle, or a hybrid vehicle that combines these. A type, or a hybrid type combining these types can be used.

  The unmanned ground traveling device includes an explosive detector, an explosive processing device, a rider, a GPS receiver, a wireless communication device, and a computing device, and may have a flying object takeoff and landing port as necessary. .

FIG. 4 shows an example of the unmanned ground traveling device 2. 4A is a side view of the unmanned ground traveling device, and FIG. 4B is a plan view of the unmanned ground traveling device.
In FIG. 4, 21 is an explosives detector, 22 is an explosives processing device, 23 is a rider, 24 is a GPS receiver, 25 is a wireless communication device, 26 is a computing device, 27 is a flying object takeoff and landing port, and 28 is a power supply device. , 29 are flying object departure and arrival port position markers.
Since the rider 23 and the GPS receiver 24 are the same as those included in the unmanned air vehicle, description thereof will be omitted.

As the explosive substance detection device 21, a detection wave such as an electromagnetic wave, an ultrasonic wave, or a laser is transmitted toward the ground to receive a reflected wave, and is embedded in the ground from the intensity or waveform of the reflected wave. Examples include those that detect the explosives by analyzing the material and structure of the object, and those that detect the explosives magnetically.
Explosives can be reliably processed by performing high-accuracy explosives detection by the explosives detection device 21.

  The explosive material processing device 22 includes a fuse destruction by a disruptor, an explosive material processing device that excavates and collects explosive material by a manipulator, a rotary drum cutter type explosive material processing device that destroys explosive material by a cutter, and a ground by rotating a chain. A chain-type explosives treatment device that explodes explosives buried in the ground can be cited.

  The rider 23 measures the distance and direction between the unmanned air vehicle and the unmanned ground traveling device, and acquires surrounding information such as the presence or absence of an obstacle. The GPS receiver 24 acquires a GPS-UGV self-position, and the wireless communication device 25 performs wireless communication with a base station and / or an unmanned air vehicle.

The computing device 26 sets a travel route based on the explosive position information from the unmanned air vehicle and / or a detection range set in advance and the self-position of the unmanned ground travel device 2.

In order to travel on the travel route, it has a function of controlling the accelerator, the brake, and the steering, calculates control amounts of actuators and the like that operate these, transmits a signal, and travels the unmanned ground traveling device 2 Let

The travel route can avoid obstacles based on information from the rider, and in addition, travels in a safe place based on explosives detection results of unmanned air vehicles and / or captured images. Thus, it is possible to reach the destination quickly.

  The self-position of the unmanned ground traveling device may be any of a GPS-UGV self-position, a relative -UGV self-position, and a DR-UGV self-position.

In the present invention, the GPS self-position is a self-position obtained from a GPS receiver.
The relative-self position is calculated by calculating the relative position between the unmanned air vehicle and the unmanned ground traveling device from the distance and direction between the unmanned air vehicle and the unmanned ground traveling device measured by the rider. This is the self-position obtained from the position and the GPS self-position of the unmanned air vehicle.

Furthermore, the DR self-position is a self-position obtained by dead reckoning that is calculated by combining information from various sensors such as a gyro sensor, an acceleration sensor, and a speed sensor. Various sensors necessary for dead reckoning are mounted on an unmanned ground traveling device.

The arithmetic unit generates a map in which explosives are mapped based on the explosives position information, and transmits the travel route and explosives processing end point to the base station and records them in a storage device.

The flying object departure / arrival port 27 holds the unmanned flying object, and preferably includes a power feeding device 28 that supplies electric power to the unmanned flying object. The unmanned air vehicle 1 cannot fly for a long time due to battery capacity constraints, but it can reduce the flight interruption time by providing a power supply device, and it can efficiently detect and process explosives. It can be performed.

Examples of the power supply device 28 include a battery charger and a battery exchanger. The power supply device 28 may have either one, but preferably has both. The spare battery can be charged while the unmanned air vehicle is in flight to prepare for the next battery change, minimizing flight interruption time.

  Next, the operation of the explosive detection system of the present invention will be described.

  The unmanned aerial vehicle (UAV) flies over a set explosive detection range, photographs the ground from a high place, processes the image with a computing device, and detects explosives. The UAV sequentially transmits the flight status data such as the GPS-UAV self-position and the remaining battery level by the wireless communication device while flying. A time stamp is added to the GPS self-position.

The unmanned ground vehicle (UGV) sequentially transmits the GPS-UGV self-position or the DR-UGV self-position. When the relative position of UAV and UGV can be obtained by LIDAR, it may be transmitted together.

  When the UAV detects the explosive, the UAV calculates the position of the explosive from the direction of the explosive, the altitude sensor, and the GPS self-position from the captured image, and transmits explosive position information. The explosive position information may be calculated using distance measurement data by LIDAR provided in the UAV. In addition, the UGV arithmetic device can also detect explosives from a captured image.

The unmanned ground vehicle (UGV) that has received the explosive position information generates a map in which explosives are mapped and transmits the map to the base station directly or via UAV.

  The arithmetic unit of UGV sets the travel route to the explosive based on the explosive position information from the UAV or the command from the base station and the UGV self-position. The UAV travels on the set travel route to reach the vicinity of the explosive, and performs detailed explosive detection using an explosive detection device provided in the UGV.

  The UGV that has detected the explosives neutralizes the explosives using the explosive treatment apparatus. And the result of explosives processing is transmitted to a base station directly or via UAV.

When a plurality of explosives position information is received from the UAV, the vehicle travels to the next explosive, repeats explosive detection and processing, and disables all explosives.

When the GPS-UGV self-position cannot be acquired, the UGV transmits a GPS reception error and the relative position, and limits the flight range of the UAV to a range that can be seen by the rider 16, that is, a relative position acquisition area.

  And, by calculating the relative position of UAV and UGV from the rider's ranging data and the GPS-UAV self-position transmitted at the same time, the relative position of -UGV is calculated and acquired, Continue explosive treatment.

Note that a UAV that has received a GPS reception error and has received a flight range restriction may perform explosive detection within an area where relative position acquisition is possible.

  When the GPS-UGV self-position cannot be acquired when the UAV is detecting explosives outside the range that the rider can see, the UGV transmits a GPS reception error and the DR-UGV self-position.

When the UAV receives the GPS reception error and the DR-UGV self-position, the UAV flies based on the DR-UGV self-position and moves to a range that can be seen by the LIDAR.

  When the UAV enters the range that can be seen by the rider, the UGV calculates the relative -UGV self-position from the time when the relative position between the UAV and the UGV is calculated and the GPS-UAV self-position transmitted at the same time. To calculate explosives.

  Furthermore, even if the GPS reception error and the DR-UGV self-position are transmitted, the relative-UGV self-position cannot be obtained, and the UGV performs dead reckoning navigation to the position where the GPS-UGV self-position was finally obtained. Go back on the route you have been driving. Accordingly, it is possible to prevent the UGV from being unable to travel because the self-position cannot be obtained.

  And UGV which acquired GPS-UGV self-position transmits GPS-UGV self-position, and cancels flight restrictions of UAV. The UAV that has received the GPS-UGV self-position returns to the place where the explosive detection was interrupted and resumes explosive detection.

  In addition, when the UAV cannot acquire the GPS-UAV self-position, the UGV calculates the relative -UAV self-position from the GPS-UGV self-position and the relative position, and sequentially transmits to the UAV. Continue flying. When the relative-UAV self-position from the UGV cannot be received, the flight route is returned to the position where the GPS-UAV self-position was obtained last by dead reckoning navigation, as in the case of UGV.

  Furthermore, when the wireless communication between UAV and UGV is interrupted, both UAV and UGV return to the place where the wireless communication was last made and establish the wireless communication.

The explosive detection system of the present invention can include a plurality of UAVs. A plurality of UAVs may share exploration ranges and perform explosive detection, or may be operated by dividing roles into a UAV that performs wireless communication relay and a UAV that performs explosive detection.

UGV self-location is obtained by flying over UGV within the range that can be seen by riders, and relaying wireless communication between UGV and other UAVs, and between UGV and base stations. Wireless communication is established, and explosive detection can be continued.

  In addition, when the remaining amount of the UAV battery is low, the UAV flies to the UGV and descends to the UGV takeoff / departure port to receive power. By receiving power from the UGV, it is not necessary to return to the base station for charging, and efficient explosive detection can be performed.

  As described above, the explosive detection system of the present invention can perform explosive detection and processing unattended even in places where it is difficult to receive GPS radio waves, and can grasp the operating state of the explosive detection system at the base station, Loss of explosive detection system is prevented.

DESCRIPTION OF SYMBOLS 1 Unmanned air vehicle 11 Camera 12 Aircraft object calculation device 13 GPS receiver 14 Wireless communication device 15 Flight sensor 16 Rider 17 Flight device 18 Reflector 19 Power supply device 2 Unmanned ground travel device 21 Explosives detector 22 Explosives processing device 23 Rider 24 GPS receiver 25 Wireless communication device 26 Arithmetic device 27 Flying object takeoff and landing port 28 Power supply device 29 Flying object takeoff and landing port position marker

Claims (8)

An explosive detection system comprising an unmanned air vehicle and an unmanned ground vehicle,
The unmanned air vehicle includes a camera, a GPS receiver, and a wireless communication device, and transmits detected explosive position information to the unmanned ground traveling device.
The unmanned ground traveling device includes an explosive detection device, an explosive processing device, a GPS receiver, a wireless communication device, and an arithmetic device.
A relative position between the unmanned air vehicle and the unmanned ground travel device acquired by the unmanned air vehicle and / or a rider included in the unmanned ground travel device; and the unmanned air vehicle or the unmanned ground travel device. An explosives detection system, wherein the relative position of the other is calculated from the GPS self-position acquired by any one of the GPS receivers. When the unmanned ground traveling device cannot acquire the GPS self-position, it transmits a GPS reception error and the relative position,
2. The explosive detection system according to claim 1, wherein the unmanned air vehicle that has received the GPS reception error performs explosive detection within an area where the relative position can be acquired by the rider. When the above-mentioned unmanned ground traveling device cannot acquire the GPS self-position, it transmits the GPS self-position and the DR self-position acquired by dead reckoning,
2. The unmanned air vehicle that has received the GPS reception error is one that flies within the area where the relative position can be acquired by the rider based on the DR self-position of the unmanned ground traveling device. The explosive detection system described. When the unmanned ground traveling device cannot acquire the GPS self-position and the relative position,
4. The explosive detection system according to claim 3, wherein the explosive detection system travels by dead reckoning navigation to a position where GPS can be received. The explosive detection according to any one of claims 1 to 4, wherein the unmanned ground traveling device processes explosives based on explosive position information from the unmanned air vehicle. system. The explosive detection system according to any one of claims 1 to 5, wherein the unmanned ground traveling device includes a power feeding device that supplies electric power to the unmanned air vehicle.   The explosive detection system according to any one of claims 1 to 6, wherein the unmanned air vehicle relays wireless communication. The explosive detection system according to any one of claims 1 to 7, comprising a plurality of unmanned air vehicles and / or a plurality of unmanned ground traveling devices.

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