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WO2011088519A1 - Elimination des bruits améliorée dans un détecteur de métal à tête de capteur mobile - Google Patents

Elimination des bruits améliorée dans un détecteur de métal à tête de capteur mobile Download PDF

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Publication number
WO2011088519A1
WO2011088519A1 PCT/AU2011/000070 AU2011000070W WO2011088519A1 WO 2011088519 A1 WO2011088519 A1 WO 2011088519A1 AU 2011000070 W AU2011000070 W AU 2011000070W WO 2011088519 A1 WO2011088519 A1 WO 2011088519A1
Authority
WO
WIPO (PCT)
Prior art keywords
signal
supporting body
metal detector
sensor head
target
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.)
Ceased
Application number
PCT/AU2011/000070
Other languages
English (en)
Inventor
Laurentiu Stamatescu
Alexander Lewis Jones
Gregory Peter Harmer
Philip David Beck
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Minelab Electronics Pty Ltd
Original Assignee
Minelab Electronics Pty Ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Priority claimed from AU2010900242A external-priority patent/AU2010900242A0/en
Application filed by Minelab Electronics Pty Ltd filed Critical Minelab Electronics Pty Ltd
Publication of WO2011088519A1 publication Critical patent/WO2011088519A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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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
    • F41H11/16—Self-propelled mine-clearing vehicles; Mine-clearing devices attachable to vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
    • G01V3/00—Electric or magnetic prospecting or detecting; Measuring magnetic field characteristics of the earth, e.g. declination, deviation
    • G01V3/12—Electric or magnetic prospecting or detecting; Measuring magnetic field characteristics of the earth, e.g. declination, deviation operating with electromagnetic waves

Definitions

  • This invention relates to a detector system with a sensor head supported by, and able to be moved independently of, a supporting body.
  • the detection of metal objects is generally done with electromagnetic methods, with frequencies ranging from 0 (DC) to several GHz: magnetometers, pulse-induction (PI) or continuous-wave (CW) metal detectors and ground penetrating radars (GPR).
  • Magnetometers are passive devices (they sense changes produced by ferromagnetic objects in the magnetic field of the Earth), while the other detection systems are active (they transmit a time-varying magnetic field (the primary field) or a transmit signal, and receive the secondary field produced by the objects under the influence of the transmit magnetic field).
  • the object of this invention is to describe methods to mitigate the effect of a metallic vehicle on the detection equipment, in effect allowing the sensor head to be mounted closer to and /or allowed more movement relative to, the vehicle.
  • an apparatus for detecting a target including: a supporting body;
  • a metal detector system including a sensor head, supported by and able to be moved independently of the supporting body, to transmit a transmit signal and to receive a first signal, the first signal includes signals due to the target and the supporting body;
  • a sensor for producing a second signal indicative of movement or position of the sensor head relative to the supporting body
  • a processor for processing the first signal includes substantially cancelling the signals due to the supporting body from the first signal using the second signal, to produce an indicator signal indicating the presence of the target.
  • the second signal is multiplied by a predetermined coefficient prior to being subtracted from the first signal.
  • the senor includes one or more receivers positioned at the supporting body, the one or more receivers measure the strength of the transmit signal to produce the second signal.
  • the one or more receivers are one or more coils.
  • the one or more coils are three mutually orthogonal coils.
  • the metal detector system is a continuous wave (CW) metal detector.
  • the metal detector system is a pulse induction (PI) metal detector.
  • PI pulse induction
  • the metal detector system is a magnetometer.
  • the metal detector system is a ground penetrating radar (GPR) system.
  • the metal detector system is a combination of a continuous wave (CW) metal detector and a ground penetrating radar (GPR) system.
  • the metal detector system is a combination of a pulse induction (PI) metal detector and a ground penetrating radar (GPR).
  • processing the first signal to substantially cancel the signals due to the supporting body from the first signal using the second signal, to produce an indicator signal indicating the presence of the target.
  • Logic includes but is not limited to hardware, firmware, software, and/or combinations of each to perform a function(s) or an action(s), and/or to cause a function or action from another component.
  • logic may include a software controlled microprocessor, discrete logic such as an application specific integrated circuit (ASIC), or other programs embodied in a logic device.
  • ASIC application specific integrated circuit
  • Logic may also be fully embodied as software.
  • Software includes but is not limited to, one or more computer readable and/or executable instructions that cause a computer or other electronic device to perform functions, actions, and/or behave in a desired manner.
  • the instructions may be embodied in various forms such as routines, algorithms, modules or programs including separate applications or code from dynamically linked libraries.
  • Software may also be implemented in various forms such as a stand-alone program, a function call, a servlet, an applet, instructions stored in a memory, part of an operating system or other type of executable instructions. It will be appreciated by one of ordinary skilled in the art that the form of software is dependent on, for example, requirements of a desired application, the environment it runs on, and/or the desires of a designer/programmer or the like.
  • processing may be implemented within one or more application specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), processors, controllers, microcontrollers, microprocessors, other electronic units designed to perform the functions described herein, or a combination thereof.
  • ASICs application specific integrated circuits
  • DSPs digital signal processors
  • DSPDs digital signal processing devices
  • PLDs programmable logic devices
  • FPGAs field programmable gate arrays
  • processors controllers, microcontrollers, microprocessors, other electronic units designed to perform the functions described herein, or a combination thereof.
  • Software modules also known as computer programs, computer codes, or instructions, may contain a number a number of source code or object code segments or instructions, and may reside in any computer readable medium such as a RAM memory, flash memory, ROM memory, EPROM memory, registers, hard disk, a removable disk, a CD-ROM, a DVD-ROM or any other form of computer readable medium.
  • the computer readable medium may be integral to the processor.
  • the processor and the computer readable medium may reside in an ASIC or related device.
  • the software codes may be stored in a memory unit and executed by a processor.
  • the memory unit may be implemented within the processor or external to the processor, in which case it can be communicatively coupled to the processor via various means as is known in the art.
  • Figure 1 depicts a top view of a general form of a vehicle-based detector.
  • Figure 2 depicts the processing of the first signal from the sensor head with the second signal ' from a sensor.
  • Figure 3 depicts one embodiment of the sensors.
  • Figure 4 depicts one embodiment of the sensor head and the sensor.
  • Figure 5 depicts an example of the first signal, the second signal and the cancellation of the second signal from the first signal.
  • Figure 6 depicts functional block diagrams of one embodiment of the present invention.
  • This invention relates to an apparatus for detecting a target object with a sensor head supported by, and able to be moved independently of, a supporting body supporting the sensor head.
  • the invention detects the relative position and/or the relative movement of the sensor head with respect to the supporting body in order to cancel signals due to the supporting body so that such signals will not affect the performance of the detector system.
  • a GPR can function as a metal detector but it can also detect material such as plastics, and it is envisaged that the invention can be applied to a detector system using a GPR.
  • FIG. 1 depicts a top view of a general form of a vehicle-based detector.
  • a typical metal detector operates by transmitting electromagnetic energy (transmit signal) into the ground through one or more transmitters within sensor head 2 where the energy interacts with a buried object, which in turn generates an electromagnetic energy.
  • the sensor head 2 also includes one or more receivers to receive and measure the electromagnetic energy from the buried object, which differs from an electromagnetic energy returned by the ground.
  • Sensor head 2 is supported by supporting body 1 , which is the body of a vehicle.
  • the supporting body 1 supports the sensor head through a use of a beam or an arm 5.
  • the sensor head 2 can be smaller or bigger than the supporting body 1 , but supporting body 1 can support the sensor head 2 above the ground during operation.
  • the sensor head 2 can also be located at either side of the vehicle or behind the vehicle, or in any other place deemed appropriate by a person skilled in the art. For example, in certain operation, it may be desirable to detect objects at the side of the vehicle.
  • the sensor head 2 is movable relative to the supporting body 1.
  • sensor head 2 may move side-to-side during operation.
  • the movement path of the sensor head may form an arc as may be implemented by the arm 5 or other device attached between the arm 5 and the sensor head 2. It is also possible to have the beam 5 being lengthened /shortened such that the sensor head 2 may move away and towards the supporting body 1.
  • the arm may be made from non-metallic material and parts of the supporting body may be made from non-metallic material to minimise their influence on the performance of the detector apparatus.
  • a sensor of motion or relative position monitors the movement of the sensor head 2 relative to the supporting body 1. Examples of relative movement/position sensor are described later in the specification.
  • the sensor head 2 moves relative to the supporting body 1 , for example, during a sweeping action, the sensor head 2 may move from side-to-side relative to the supporting body 1. Accordingly, the position of the sensor head 2, with respect to the supporting body 1 , changes during operation. Further, if the terrain the vehicle travels on is uneven rather than perfectly flat, the movement of the sensor head 2 with reference to the supporting body 1 may be increased and be different from that intended.
  • the supporting body 1 and in some cases the arm 5, will include metallic parts. Often, the outer of the supporting body 1 is entirely metallic. The electromagnetic energy transmitted from the sensor head 2 might interact with those metallic parts. As the sensor head 2 moves relative to the supporting body 1 , signals due to the presence of those metallic parts may elicit indication of those metallic parts as targets. Even if the metallic parts are not registered as desirable target, signals due to the presence of the metallic parts can interfere in many ways with the signals from sought targets.
  • Figure 2 depicts the processing of the first signal 1 1 from the sensor head 2 and the second signal 12 from a relative movement/position sensor 3 within a processor 14 which performs further processing to produce an indicator signal 13, indicating the presence of a target.
  • the location of the sensor 3 can be different in different embodiments. For example, it is possible to position the relative movement/position sensor on or within the supporting body 1 , on or within the sensor head 2, or on or within the beam 5.
  • the metal detector used as an example is most sensitive to metal objects passed under the sensing coils.
  • the metal detector produces a first signal 1 1 , from sensor head 2, that includes the combined response from the targets and their environment, for example signals from magnetic ground.
  • Processor 14 may be co-located with the sensor head or be mounted on/in the supporting body or arm. The processor 14 removes those components of the first signal 1 1 due to the environment, leaving only signals from metallic targets for detection and classification, in order to produce an indicator signal 13.
  • the first signal 1 1 is demodulated or sampled by processor 14, prior to processing, to cancel the signals due to the supporting body 1 from the demodulated or sampled first signal.
  • the first signal 1 1 may also be filtered prior to that processing.
  • the first signal 1 1 can be further processed to produce, for example, classification of the type of the metal object detected, e.g. coins, landmines,
  • the metal detector may also detect signals resulting from the proximity of metal on/in or adjacent the arm/supporting body and may not distinguish between the signals produced by the sought targets and those produced by the supporting body 1 (when the targets and the supporting body are both under the influence of the transmission), based only on the first signal 1 1 .
  • Generating a second signal 12, that is indicative of the relative movement between the sensing coils and the vehicle, enables differentiation of target signals and signals due to the supporting body 1 , This differentiation allows cancellation of those signals due to the supporting body 1 , from the first signal using the second signal. There is a number of means that could be used to produce the second signal 12.
  • Some examples include a receive coil, mounted so as to be substantially fixed with respect to the supporting body 1 , that detects the transmitted field, a time-varying target-like circuit mounted on the vehicle, a transmitter similarly mounted transmitting a unique reference signal detectable by the receive coils of the sensor head, or a sensor of mechanical movement.
  • the second signal 12 is multiplied by a correlation coefficient and subtracted from the first signal, to give a corrected first signal.
  • the correlation coefficient K can be measured experimentally by considering the situation where there are no targets, the sensing coils are moved within the allowable or expected range and the first and the second signals ( 1 1 , 12) are recorded and compared. In principle, it is possible to calculate theoretically the correlation coefficient K and so the decision to use an experimental or a calculated correlation coefficient is a matter of practicality. In some embodiments, the relationship between the first signal 1 1 and the second signal 12 could be non-linear, there could be time delays between them and either could be affected by noise.
  • first signal 1 1 and the second signal 12 are non-linear
  • known methods to map from the second signal 12 to the first signal 1 1 can be applied. For example, one could use interpolation between tabulated values, or transform one of the first 1 1 or second 12 signals, using a certain type or types of non-linear functions, to linearise it with respect to the other signal, could use an inherently non-linear processing method such as neural networks to model the transfer function between the two signals, or to use a look-up table.
  • an appropriate delay can be introduced in the path of the advanced signal.
  • another type of filter for example a Kalman filter, can be used to predict the delayed signal and to reduce the effect of noise on the output signal.
  • the generation of the second signal 12 depends, to some extent, on the technology employed by relative movement/position sensor 3.
  • the sensor head 2 is supported on arm/beam 5, connected to the supporting body 1 , which can rotate through a range of angles with mechanical sensors, for example, rotary encoders or gyroscopes, generating the second signal 12.
  • the mechanical sensors can be located at joints 31 and 32 to detect and report the relative movement/position of the sensor head 2 with respect to the supporting body 1 to the processor 14 through second signal 12.
  • processor 14 Based on the second signal 12, processor 14 processes the first signal using one of the techniques described above.
  • sensor 3 can be one or more receive coils affixed to the supporting body 1.
  • the sensor head 2 includes at least one transmit coil 39 and an array of receive coils 42.
  • the detector can be equipped with just one transmit coil 39 and one receive coil 42 in its sensor head.
  • the array of receive coils 42 within the sensor head 2 provides the first signal 1 1 to the processor 14.
  • Another receive coil 41 which may or may not be similar to one of the receive coils 42, is attached to the supporting body 1 as sensor 3.
  • the second signal 12 generated by the receive coil 42 is substantially free of any signal from a target.
  • An example of such a set of signals is illustrated in Figure 5.
  • waveform 51 represents an example of the first signal 1 1 after demodulation
  • waveform 53 represents an example of the second signal 12 after demodulation.
  • coefficient K is assumed to be 1
  • the waveform 53 can be subtracted from waveform 51 to obtain waveform 55, which is substantially free from the signal due to the supporting body 1.
  • the peak 56 obviously indicates a target in waveform 55, but in 51 it might not be differentiated from the signals due to the relative movement between the sensor head 2 and the supporting body 1.
  • the relative movement/position of the sensor head 2 may be determined by measuring the strength of the transmission by transmitter 39 within the sensor head 2 using receive coil 41 .
  • the plane of the receive coil 41 is orthogonal to the plane of the transmit coil 39. This has the benefits of reducing the coupling between the transmit coil 39 and the receive coil 41 , thereby improving the signal to noise ratio of the signal 12.
  • receive coil 41 (which is acting as sensor 3) is substituted with three mutually orthogonal receive coils. This may improve the estimation of the relative movement/position of the sensor 2 with respect to the supporting body 1 as the receive signals from the three mutually orthogonal coils 41 may provide a good three-dimensional movement/position estimation.
  • the advantage of this method is that the relative time delays between the first 1 1 and second 12 signals are minimal, their processing being almost identical.
  • the receive coil, that acts as a relative movement/position sensor 3, and its signal processing path are capable of receiving during the on-time of the transmitter. If this is not the case, variable secondary fields from the currents induced in the metal of the vehicle could be used for the same purpose.
  • An alternative way of generating the second signal 12 is to transmit a reference signal, from the supporting body 1 , in such a way that the strength of the received reference signal depends strongly on the relative positions of the sensor head 2 and the supporting body 1.
  • the reference signal is received by the receive coils 42 of the sensor head 2.
  • the sensor 3 incorporates the receive coils 42.
  • the reference signal can be separated from the signals from targets using various techniques known to a person skilled in the art. For example, the reference signal is of a frequency different to that of the transmission from the sensor head 2 and thus the signals from sought targets.
  • the transmit reference signal could be synchronised to the magnetic field transmitted by the sensor head 2, but modulated with a frequency just greater than the stop-band of the low-pass filters used in the metal detector.
  • FIG. 6 shows one embodiment of the functional block diagram with receiver 71 (for example it may be one of receive coils 42) receiving signals.
  • the received signals are amplified 73, demodulated 75, and filtered 77 such that the signals from 71 as received by processor 14 are without the reference signal. If the reference signal is at a frequency higher than the transmission from the sensor head 2, the signals from 71 are low-pass filtered at 77. In the event that the reference signal is required to determine the relative movement/position of the sensor head 2 with respect to the supporting body 1 , the signals from 71 may be bandpass filtered at 77.
  • a separate receive coil 61 may be used to receive the reference signal, and the reference signal is processed as for the other metal detector receive coils (amplified 63, demodulated 65, filtered 67 in this or a different ordering of operations).
  • sensor 3 can be the combination of mechanical sensors (which provides, for example, the side-to-side sweep information) and electromagnetic sensors described above (e.g. a receive coil on the supporting body 1 or. a transmit coil on the supporting body 1 ) to generate second signal 12.
  • the correlation coefficient can then be determined for the first signal 1 1 and the second signal 12, which can then be used to determine the corrected signal.
  • some previously described magnetic measurements can be made, with the angle between the support beam 5 and sensor head 2 being the mechanical measurement available (see Figure 3).
  • the correlation coefficient relating the first signal 1 1 and the up/down movements of the sensor head may depend on the position of the sensor head 2, a function of the angle.
  • the same methods could be applied to correct the signals 12 from GPR or magnetometer or combinations of metal detector, GPR and magnetometer. They system might require additional sensors, e.g. magnetic compass to determine the orientation of the system in the magnetic field of the Earth.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Remote Sensing (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • General Engineering & Computer Science (AREA)
  • Electromagnetism (AREA)
  • Environmental & Geological Engineering (AREA)
  • Geology (AREA)
  • General Life Sciences & Earth Sciences (AREA)
  • General Physics & Mathematics (AREA)
  • Geophysics (AREA)
  • Geophysics And Detection Of Objects (AREA)

Abstract

La présente invention concerne un appareil destiné à détecter une cible comprenant : un corps de support; un système de détection de métal comprenant une tête de capteur, portée par le corps de support et capable d'être déplacée indépendamment par rapport audit corps, pour transmettre un signal de transmission et pour recevoir un premier signal, le premier signal comprenant des signaux prévus pour la cible et le corps de support; un capteur destiné à produire un second signal indiquant le déplacement ou la position de la tête de capteur par rapport au corps de support; et un processeur destiné à traiter le premier signal, le traitement comprenant l'annulation sensible des signaux prévus pour le corps de support par le premier signal au moyen du second signal, pour produire un signal d'indication indiquant la présence de la cible.
PCT/AU2011/000070 2010-01-22 2011-01-21 Elimination des bruits améliorée dans un détecteur de métal à tête de capteur mobile Ceased WO2011088519A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
AU2010900242A AU2010900242A0 (en) 2010-01-22 Metal detector improvements for robotic applications
AU2010900242 2010-01-22

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Publication Number Publication Date
WO2011088519A1 true WO2011088519A1 (fr) 2011-07-28

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
AU2021200526B2 (en) * 2020-01-29 2022-05-19 Minelab Electronics Pty. Limited An improved metal detector

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4629990A (en) * 1982-12-17 1986-12-16 Shell Internationale Research Maatschappij, B.V. Method and apparatus for correcting the relative motion of a transmitter and a receiver in airborne electromagnetic prospecting
WO1991020000A1 (fr) * 1990-06-15 1991-12-26 Thomson-Csf Dispositif de detection magnetique pour mines a orin ferromagnetiques
JP2000258550A (ja) * 1999-03-09 2000-09-22 Shimadzu Corp 移動体の磁気補償方法
US6476610B1 (en) * 2001-04-24 2002-11-05 The United States Of America As Represented By The Secretary Of The Navy Magnetic anomaly sensing system and methods for maneuverable sensing platforms
WO2003032015A1 (fr) * 2001-10-11 2003-04-17 Bhp Billiton Innovation Pty Ltd Mesures geophysiques aeriennes
WO2010101630A1 (fr) * 2009-03-03 2010-09-10 Iii Herbert Duvoisin Détection d'objets de surface et enterrés

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4629990A (en) * 1982-12-17 1986-12-16 Shell Internationale Research Maatschappij, B.V. Method and apparatus for correcting the relative motion of a transmitter and a receiver in airborne electromagnetic prospecting
WO1991020000A1 (fr) * 1990-06-15 1991-12-26 Thomson-Csf Dispositif de detection magnetique pour mines a orin ferromagnetiques
JP2000258550A (ja) * 1999-03-09 2000-09-22 Shimadzu Corp 移動体の磁気補償方法
US6476610B1 (en) * 2001-04-24 2002-11-05 The United States Of America As Represented By The Secretary Of The Navy Magnetic anomaly sensing system and methods for maneuverable sensing platforms
WO2003032015A1 (fr) * 2001-10-11 2003-04-17 Bhp Billiton Innovation Pty Ltd Mesures geophysiques aeriennes
WO2010101630A1 (fr) * 2009-03-03 2010-09-10 Iii Herbert Duvoisin Détection d'objets de surface et enterrés

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
PATENT ABSTRACTS OF JAPAN *

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
AU2021200526B2 (en) * 2020-01-29 2022-05-19 Minelab Electronics Pty. Limited An improved metal detector

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