Drilling hole detection support system and drilling hole detection support method

Abstract

A system and method for supporting the detection of excavation holes for burying landmines are provided. [Solution] A drilling hole detection support system 1 that supports the detection of drilling holes for burying landmines comprises a first drone device 2 that has a first drone 6, a first tank 8 provided on the first drone, and a spraying device 10 that sprays water; a second drone device 4 that has a second drone and a camera 44 provided on the second drone that captures images or videos of infrared light of a predetermined wavelength that is in the absorption wavelength band of water; and a detection support unit 66 that displays an image or video of infrared light of the predetermined wavelength captured by the camera of an area where water has been sprayed by the spraying device, and supports the detection of the drilling hole.

Description

[Technical Field]

[0001] The present invention relates to a borehole detection support system and a borehole detection support method. [Background technology]

[0002] As disclosed in Patent Document 1, a technique for detecting landmines is known in the past, which uses an infrared camera to capture images of the landmine and utilizes the difference in specific heat between the landmine and the area around it. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2018-155460 A Summary of the Invention [Problem to be solved by the invention]

[0004] However, the technology disclosed in Patent Document 1 has the problem that when landmines are buried deeply, the measurement accuracy is low or they cannot be detected.

[0005] The present invention has been made to solve such problems, and aims to provide an excavation hole detection support system and an excavation hole detection support method that can support the detection of excavation holes for burying landmines. [Means for solving the problem]

[0006] In order to achieve the above-mentioned object, according to one embodiment of the present invention, there is provided an excavation hole detection support system that supports the detection of excavation holes for burying landmines, comprising: a first drone device having a first drone, a first tank provided on the first drone, and a sprayer device that sprays water; a second drone device having a second drone and a camera provided on the second drone that captures images or videos of infrared rays of a predetermined wavelength that are in the absorption wavelength band of water; and a detection support unit that displays images or videos of infrared rays of the predetermined wavelength captured by the camera of an area where water has been sprayed by the sprayer device, and supports the detection of the excavation hole. According to one embodiment of the present invention configured as described above, the detection assistance unit can display an infrared image or video of a predetermined wavelength captured by the camera of an area where water has been sprayed by the spraying device of the first drone. This allows for a clearer display of the difference between the state where water has seeped into the ground above the excavation hole and the state where water has not completely seeped into the ground and remains in the area outside the excavation hole, thereby assisting in the detection of excavation holes for burying landmines. Therefore, even if a landmine is buried deep underground using an excavation hole, the excavation hole for burying the landmine can be detected, contributing to the detection of landmines. For example, by detecting excavation holes, the likelihood of detecting landmines buried 20 cm or more or more underground, which have traditionally been difficult to detect, can be improved. Furthermore, detecting excavation holes can improve the likelihood of detecting landmines even when the landmine is buried shallowly.

[0007] According to one embodiment of the present invention, the method preferably provides a method for assisting in the detection of excavation holes for burying landmines, and includes a spraying step of spraying water toward a predetermined area using a spraying device provided on a first drone device, a photographing step of photographing, using a camera provided on a second drone device, an image or video of infrared light of a predetermined wavelength within the absorption wavelength band of water, of the area onto which water has been sprayed in the spraying step, and a detection support step of displaying the image or video photographed in the photographing step to provide support for the detection of the excavation hole, thereby providing support for the detection of the excavation hole. According to one embodiment of the present invention configured as described above, the detection support step can display an infrared image or video of a predetermined wavelength captured by the camera of the area sprayed with water by the spraying device of the first drone device. This makes it easier to see the difference between the state where water has seeped into the ground in the area above the excavation hole and the state where water has not completely seeped into the ground and remains in the area outside the excavation hole, thereby supporting the detection of excavation holes for burying landmines. Therefore, even if a landmine is buried deep underground using an excavation hole, the excavation hole for burying the landmine can be detected, contributing to the discovery of the landmine. For example, by detecting an excavation hole, the possibility of discovering a landmine buried 20 cm or 30 cm or more underground, which was previously difficult to detect, can be improved. Furthermore, by detecting an excavation hole, the possibility of discovering the landmine can be improved even if the landmine is buried shallowly. [Effects of the Invention]

[0008] According to the excavation hole detection support system and excavation hole detection support method of the present invention, it is possible to support the detection of excavation holes for burying landmines. [Brief explanation of the drawings]

[0009] [Figure 1] 1 is a schematic diagram illustrating an overview of a first drone device of a borehole detection support system according to an embodiment of the present invention. FIG. [Figure 2] FIG. 10 is a schematic diagram illustrating an overview of a second drone device of a borehole detection support system according to an embodiment of the present invention. [Figure 3] A block diagram showing the connection between a first drone device and a second drone device and a control unit in an excavation hole detection support system according to one embodiment of the present invention. [Figure 4] A bottom view showing the underside of the spraying section of the spraying device of the first drone device of the excavation hole detection support system according to one embodiment of the present invention. [Figure 5] This is a bottom view showing the underside of the spraying section of the spraying device of the first drone device in a modified example of an excavation hole detection support system according to one embodiment of the present invention. [Figure 6] A block diagram showing the configuration of a first drone device in a borehole detection support system according to one embodiment of the present invention. [Figure 7] A block diagram showing the configuration of a second drone device in an excavation hole detection support system according to one embodiment of the present invention. [Figure 8] 2 is a block diagram showing the configuration of a control unit in the excavation hole detection support system according to one embodiment of the present invention. FIG. [Figure 9] 2 shows a flowchart of a wellbore detection assistance method for a wellbore detection assistance system according to an embodiment of the present invention; [Figure 10] FIG. 10 is a diagram showing the course along which a first drone device and a second drone device move sequentially through search points in a borehole detection support system according to one embodiment of the present invention. [Figure 11] This figure illustrates an image captured by the multispectral camera of the second drone device in an excavation hole detection support system according to one embodiment of the present invention, showing water seeping and decreasing in the ground in the area above the excavation hole, and water remaining in the ground in areas other than the excavation hole without being able to seep in completely. [Figure 12] FIG. 1 is a diagram illustrating that water has absorption wavelength bands in the near-infrared region where the absorptance is high near 1400 nm and near 1900 nm. DETAILED DESCRIPTION OF THE INVENTION

[0010] Hereinafter, a borehole detection support system 1 according to an embodiment of the present invention will be described with reference to the accompanying drawings. The embodiments of the present disclosure have been described as examples, and it will be apparent to those skilled in the art that many variations, modifications, and substitutions can be made within the spirit and scope of the present invention. Therefore, the present invention is not limited to the disclosed embodiments, and various variations, modifications, etc. can be made in form and details without departing from the scope of the claims. Furthermore, the components disclosed in the specification can be freely combined.

[0011] As shown in FIG. 1, an excavation hole detection support system 1 according to one embodiment of the present invention can detect an excavation hole B for burying a landmine M. For example, the excavation hole detection support system 1 detects an excavation hole dug by a person or a machine. The excavation hole detection support system 1 includes a first drone device 2, a second drone device 40 (see FIG. 2), and a control unit 60. In the following description of one embodiment of the present invention, the sky side of the first drone device of the excavation hole detection support system 1 as shown in Figure 1 is referred to as the upper side, and the ground side of the first drone device is referred to as the lower side.

[0012] Landmines M are buried underground below ground level G. There are, for example, anti-personnel mines and anti-vehicle mines. Both types of landmines M are buried near the surface or sometimes deep underground to avoid detection by the enemy. Landmines M are buried, for example, at a depth within a range of 1 cm to 100 cm from the surface, or, for example, at a depth within a range of 1 cm to 50 cm from the surface, 1 cm to 30 cm from the surface, or 1 cm to 10 cm from the surface. To bury a landmine M underground, a hole (hole) B is typically dug in the ground. For example, in Figure 1, the outer edge of the hole B is shown by a dashed line. Such a hole B can be dug by hand using a shovel, or by using a drilling machine such as an earth auger, manual auger, electric auger, or hand auger. The hole B typically has a relatively circular opening. Since the spiral-shaped hole-digging tools used in various augers have a circular outer shape, the hole shape is often circular. Even when digging by hand, the hole often has a relatively circular shape. Furthermore, since landmines M often have a circular outer shape when viewed from above, the hole shape is likely to be circular enough to accommodate the landmine M. Note that the hole B is not limited to a circular shape and can have any shape. The landmine M is then placed at the bottom of the hole B. Soil (earth and sand) C is placed over the landmine M, making its presence invisible from above. When pressure is applied to such a landmine M, the pressure plate of the landmine M is activated, causing the landmine M to explode, blowing up or damaging any objects or people above. Since many types of landmine M have a pressure plate on their top surface that detects pressure and initiates the explosion, the soil C piled on top of the landmine M is often soft and light, without being compacted under pressure, so that the hole is covered with soil C only to make it invisible.

[0013] There are various types of M mines, including those in which explosives are placed inside a metal container and those in which explosives are placed inside a container made entirely of plastic or other resin. Anti-personnel M mines range in size from 5 to 30 cm in diameter, while anti-tank M mines can be as large as a manhole cover. Some are launched into the air and then explode, while others explode over a wide area, and M mines are buried at various depths. Because they are harder to detect if buried deep, they are sometimes deliberately planted deep.

[0014] To minimize human casualties, it is important to safely search for, detect, and dispose of buried landmines M. This technology focuses on the fact that most buried landmines M are buried in excavation holes B, which are relatively lightly covered (contained) with soil C. Based on this characteristic, excavation holes B are detected and landmines M located within them are discovered and detected. Because the soil C within excavation holes B is only relatively lightly covered, there are many gaps in the soil. The soil C is softer than the outer soil C0 outside the excavation holes B and is often more prone to absorbing and permeating water. The soil C within excavation holes B in this technology is assumed to be soil C within six months, e.g., within three months, or within one month, after the landmine M was buried. While the soil C within excavation holes B is relatively soft within the aforementioned specified period of time, such as within one year, the soil may become hard and compacted, reducing the detection effectiveness of this technology. Of course, even if a long period of time, such as more than one year, has passed, this technology can be applied to certain types of soil and will still produce a certain level of effect.

[0015] As shown in Figures 1 and 6, the first drone device 2 includes a first drone 6, a first tank 8 provided on the first drone 6, a spraying device 10 for spraying water, a first drone side camera 11, a first drone side altitude measuring device 12, a first drone side GPS device 14, a first drone side communication unit 15, and a first drone side control unit 16.

[0016] As shown in FIG. 1, the first drone 6 is an unmanned aerial vehicle, such as a multicopter drone, but may be another type of unmanned aerial vehicle. The first drone 6 includes a main body 6a and six arms extending from the main body 6a. Each arm has a rotor 6b and blades (rotor wings) 6c for rotating the blades. By controlling the rotation speed of each blade 6c, the first drone 6 can move forward and backward, left and right, and up and down. The first drone 6 is configured to generate lift sufficient to fly the first tank 8. In this embodiment, the first drone 6 includes six arms and one blade attached to each arm (a total of six blades), but other numbers of arms and blades attached to each arm may be used. The first drone 6 can fly to a predetermined location, altitude, and course, and can also take off and land automatically according to a predetermined program, controlled by a control unit 60 (described later). Therefore, the first drone 6 can spray water along a predetermined course F from a starting point A (see FIG. 10) to assist in the detection of the excavation hole, and then return to a return point, for example, the same point as the starting point A. The first drone device 2 may be equipped with a manual operation unit 70 (see FIG. 1), and all or part of the control may be manually operated by the manual operation unit. The first drone 6 may also be changed to another type of flying object that can fly anywhere, for example, an unmanned aerial vehicle (UAV) such as a helicopter.

[0017] The first tank 8 is a tank capable of storing liquid. The first tank 8 is formed into a generally rectangular shape in a top view. The first tank 8 is attached to the lower part of the aircraft body 6a so that the center of gravity of the first tank 8 generally coincides with the center of gravity of the first drone 6 in a top view. The first tank 8 forms a box-shaped container. The capacity of the first tank 8 is, for example, within a range of 10 kg to 200 kg, for example, within a range of 20 kg to 100 kg, or within a range of 20 kg to 50 kg. The first tank 8 is formed from resin or the like. The first tank 8 has an inlet 8a for containing liquid, for example, water, and a supply 8b that can supply the liquid to the spraying device 10. A user can additionally replenish the liquid through the inlet 8a. The supply 8b and the spraying device 10 are fluidly connected via a supply pipe.

[0018] The liquid in the first tank 8 is water 52. The water 52 is tap water supplied to the city, but is not limited to tap water and may be rainwater, river water, or water from a pond or lake. The water 52 is sprayed onto the ground G. Note that the liquid may be any liquid as long as it can be used to capture an infrared image with a camera.

[0019] As shown in FIG. 1, the spraying device 10 sprays water 52, which is a liquid contained in a first tank 8. The spraying device 10 is provided below the first tank 8 and is configured to spray the liquid downward. The spraying device 10 is equipped with an electromagnetic valve that opens and closes an internal flow path from the first tank 8. The first drone-side control unit 16 opens and closes the electromagnetic valve to start or stop sprinkling water. In this way, the spraying device 10 can start or stop spraying water 52 from the spraying device 10 at any timing. As shown in FIGS. 1 and 4, the spraying device 10 is equipped with a spraying unit 10a that extends approximately horizontally to a predetermined width in the left-right direction (width direction) of the first drone 6. The spraying unit 10a extends in a rod-like shape, and a water passage is formed therein. The distal end of the water passage is connected to a water sprinkling hole 10b on the underside of the spraying unit 10a. The spraying unit 10a is formed in a rod-like shape extending horizontally to a predetermined width, making it easier to spray water evenly over a relatively wide area. Furthermore, water can be sprayed relatively evenly per unit area, making it less likely for the water to be unevenly distributed and affect detection. The spraying device 10 is configured to spray water in a shower-like manner from the spraying unit 10a. The spraying unit 10a has multiple spray holes 10b formed on its underside. The spray holes 10b are spaced at relatively even intervals. The spray holes 10b are formed over substantially the entire underside of the spraying unit 10a. The spraying device 10 has spray holes 10b with diameters ranging from 0.2 mm to 5 mm. This allows water droplets with diameters similar to those of raindrops to fall relatively evenly. The water droplet diameter is, for example, 0.3 mm to 5 mm, or, for example, 0.3 mm to 2 mm. The longitudinal (left-right) length of the spraying unit 10a is a length within a range of approximately 50 cm to 150 cm, for example, a length within a range of approximately 50 cm to 100 cm. The spraying unit 10a is configured to spray water in a shower-like manner toward a predetermined area J (see FIG. 10), for example, an area directly below the first drone 6, the area being approximately 50 cm to 150 cm wide, for example, an area being approximately 50 cm to 100 cm wide. The predetermined area J is exemplified as an area reached by the main stream of water sprayed from the spraying unit 10a. Water is sprayed from the spraying unit 10a so that it falls relatively evenly within the predetermined area.This makes it easy to distinguish between a state in which water remains on the ground outside the excavation hole B within a specified time period immediately after spraying on the ground G and a state in which water penetrates relatively easily into the excavation hole B.

[0020] The spraying unit 10a can spray water within a predetermined area J (see FIG. 10), and the first drone sprays water along a predetermined course F, thereby supporting the detection of excavation holes B in a search area D along the course F as shown in FIG. 10. Furthermore, for example, by continuously spraying water within the predetermined area J along the course F, it becomes possible to support the detection of excavation holes B in a strip-shaped area along the course F (see FIG. 10). The sprinkler device 10 has sprinkler holes 10b (see FIG. 4) that can achieve a rainfall amount within the range of 3 mm to 5 mm. Therefore, the sprinkler device 10 can form, for example, a shower-like water flow of relatively large water droplets that can achieve a rainfall amount within the range of 3 mm to 5 mm. Note that the sprinkler device 10 may also be formed to form a water flow of fine droplets or a relatively soft water flow like water sprinkled from the spout of a watering can. The water spray holes 10b are open facing vertically downward.

[0021] As shown in Fig. 5, in a modified example, the spraying device 10 may be provided with a flat spraying unit 10a that extends laterally to a predetermined width and also extends in the depth direction. The spraying holes 10b of the flat spraying unit 10a are formed across substantially the entire underside of the spraying unit 10a. The spraying holes 10b are arranged in rows in both the left-right direction (width direction) and the front-back direction (depth direction). This allows the spraying unit 10a to have holes not only in the width direction but also in the depth direction, making it easier to spray relatively evenly over a relatively wide area.

[0022] As shown in FIG. 6, the first drone camera 11 is provided on the main body 6a of the first drone 6, and allows the first drone 6 to photograph and see the surrounding situation. The first drone camera 11 has the ability to take videos and photos. The first drone camera 11 allows the user to check the situation around the first drone camera 11 from a remote location, and also photograph and record the situation of the ground at the search point (detection point). The first drone camera 11 is provided so that it can also photograph the situation directly below the first drone 6 in order to check the situation vertically below where water 52 is sprayed.

[0023] The first drone altitude measurement device 12 is provided on the airframe main body 6a and can measure the altitude H (distance) of the first drone 6 relative to the ground G, where there may be buried mines M. The first drone altitude measurement device 12 uses, for example, an ultrasonic altimeter that can measure the height to the ground G. The first drone altitude measurement device 12 may be configured with any one of a barometric pressure measurement sensor that can measure flight altitude by measuring air pressure, an ultrasonic sonar that can measure the distance from the first drone 6 to the ground G, a laser measurement sensor that can measure the distance from the first drone 6 to the ground G, a LIDAR sensor that can measure the distance from the first drone 6 to the ground G, or any combination of these. This allows the first drone altitude measurement device 12 to measure the altitude H (distance) from the first drone 6 to the ground G. For example, the first drone altitude measurement device 12 can measure the altitude (distance) H from the first drone 6 to the ground G within a predetermined distance range of 30 cm to 2 m, more preferably an altitude H within a range of 30 cm to 1 m, and more preferably an altitude H within a range of 50 cm to 1 m, and can fly the first drone 6 at the predetermined altitude H. The first altitude range H1 in which the first drone 6 is flown can be, for example, an altitude range from the first drone 6 to the ground G within a predetermined distance range of 30 cm to 2 m, more preferably an altitude range of 30 cm to 1 m, and more preferably an altitude range of 50 cm to 1 m.

[0024] The first drone's GPS device 14 is capable of using satellites to identify the current location of the first drone 6. The first drone's GPS device 14 can acquire location information (such as latitude and longitude information) of the location where the spraying device 10 sprayed water 52. Furthermore, the first drone's GPS device 14 can recognize the location of the first drone 6 and provide the location information necessary for predetermined flight control of the first drone 6.

[0025] The first drone communication unit 15 can wirelessly communicate data from the first drone device 2 with the control unit 60. For example, the first drone communication unit 15 can transmit information such as the position (coordinates, altitude) of the first drone 6 and the position where water 52 was sprayed by the spraying device 10 to the control unit 60. In addition, the first drone communication unit 15 can mutually share control information with the control unit 60.

[0026] The first drone device 2 may be equipped with a manual operation unit 70, a monitor 72 for the operation unit 70, etc. as necessary.

[0027] The first drone control unit 16 has a built-in CPU 17 and a storage device 19 such as memory, and controls connected devices to execute predetermined controls based on predetermined control programs stored in the memory, etc. The first drone control unit 16 is electrically connected to the first drone 6, first tank 8, spraying device 10, first drone camera 11, first drone altitude measuring device 12, first drone GPS device 14, first drone communication unit 15, control unit 60, etc. These electrical connections may be made via wireless communication, etc.

[0028] The first drone control unit 16 can execute flight control of the first drone 6. The first drone control unit 16 is configured to perform predetermined functions in cooperation with the control unit 60. The first drone control unit 16, together with the control unit, controls the first drone device 2 and the flight of the first drone 6. More specifically, the first drone control unit 16 can control the position (coordinates, altitude) where the spraying device 10 sprays water 52, attitude control, rotation suppression control in the yawing direction, movement between spraying points, etc. In this way, the first drone control unit 16 can control the flight altitude, flight route, rotation speed of each blade, attitude (including left and right roll and yawing in the rotational direction), and operation control of the spraying device 10 as needed. The first drone control unit 16 can control the first drone 6 to reach a predetermined altitude above the target point (search point) and to have the spraying device 10 spray water 52 toward the ground G. The first drone control unit 16 can realize control so that the spraying device 10 continuously sprays water 52 toward the ground G within a certain range including the target point. The first drone control unit 16 may be provided integrally with the control unit 60. For example, all or part of the functions of the first drone control unit 16 may be provided on the control unit 60 side. All or part of the functions of the first drone control unit 16 may be provided in an information terminal device or the like on the operation unit 70 side.

[0029] As shown in Figures 2 and 7, the second drone device 40 includes a second drone 42, a multispectral camera (multispectral camera 44) 44 which is a camera provided on the second drone 42, a second drone side altitude measuring device 45, a second drone side GPS device 46, a second drone side communication unit 47, and a second drone side control unit 48.

[0030] The second drone 42 is an unmanned aerial vehicle, such as a multicopter drone, but may be another type of unmanned aerial vehicle. The second drone 42 includes a main body 42a and six arms extending from the main body 42a. Each arm has a rotor 42b and blades (rotating wings) 42c for rotating the blades. By controlling the rotation speed of each blade 42c, the second drone 42 can move forward and backward, left and right, and up and down. The second drone 42 is configured to generate lift sufficient to fly a mounted multispectral camera 44. In this embodiment, the second drone 42 includes six arms and one blade attached to each arm (a total of six blades), but the number of arms and the number of blades attached to each arm may be changed. The second drone 42 can fly to a predetermined location, at a predetermined altitude, and along a predetermined course, and can also take off and land fully automatically according to a predetermined program, controlled by a control unit 60 (described later). Therefore, in order to assist in the detection of the excavation hole, the second drone 42 searches for the excavation hole B by photographing the ground G with the multispectral camera 44 along a predetermined course F from the starting point A (see FIG. 10), and can return to a return point, for example, the same point as the starting point A. The second drone 42 is equipped with a manual operation unit 70, and all or part of the control may be manually operated by the manual operation unit 70. The second drone 42 may also be changed to another type of flying object that can fly at any position, for example, an unmanned aerial vehicle (UAV) such as a helicopter.

[0031] The multispectral camera (second drone camera) 44 is mounted on the main body 42a of the second drone 42. The multispectral camera 44 has the function of capturing images or videos of light of a predetermined wavelength, such as visible light or infrared light, within the water absorption wavelength band. The water absorption wavelength band is a wavelength band in which water has a high absorptivity for infrared light of a predetermined wavelength, e.g., near 1400 nm and near 1900 nm (absorption wavelength band). Figure 12 is a diagram illustrating that water has absorption wavelength bands in the near-infrared region where absorptivity is high near 1400 nm and near 1900 nm. In Figure 12, the vertical axis represents the absorptivity of water, and the horizontal axis represents wavelength [nm]. It is known that water has such an absorption wavelength band. Thus, water has the property of easily absorbing infrared light with a wavelength of, for example, 1400 nm. The multispectral camera 44 can capture images in multiple different wavelength bands (spectral bands). The multispectral camera 44 can capture images or videos in a wavelength band with a bandwidth of 10 nm (-5 nm to +5 nm) centered around a wavelength of 1400 nm. The multispectral camera 44 can also capture images or videos in the visible light wavelength band (380 nm to 750 nm). The multispectral camera 44 is configured, for example, as a multi-sensor multispectral camera and can simultaneously capture images in multiple wavelength bands, such as the 1400 nm wavelength band and the 750 nm visible light wavelength band. In this embodiment, the multispectral camera 44 captures infrared images or videos of a predetermined wavelength (e.g., 1400 nm) in the water absorption wavelength band. Note that capturing infrared images or videos makes it easier to see differences in infrared shading compared to using only visible light images or videos. The multispectral camera 44 may also be configured as a multispectral camera of another type, such as a beam splitter type. Water has an infrared absorption wavelength band, and the resulting images or videos vary depending on the wavelength. Since the multispectral camera 44 captures images of infrared rays of a specific wavelength within the water absorption wavelength band, the presence or absence of water (puddles) can be displayed relatively clearly using shades of white and black, making it easier to analyze the presence or absence of water (puddles).In addition, the multispectral camera 44 may be used to acquire an infrared image of a predetermined wavelength (e.g., 1400 nm) and an infrared image of a visible light wavelength (e.g., 800 nm), and the difference between the two images may be extracted to clarify the difference, and the detection support unit may use this image to support the detection of the excavation hole B.

[0032] The multispectral camera 44 also acquires images in the visible light wavelength band, etc., and can photograph and visually confirm the surrounding situation from the second drone 42. The multispectral camera 44 can photograph and record the condition of the ground in the area where water was sprayed by the first drone device 2 in the above-mentioned wavelength band.

[0033] As shown in FIG. 7 , the second drone altitude measurement device 45 is provided on the airframe main body 42a and can measure the altitude H (distance) of the second drone 42 relative to the ground G, where a mine M may be buried in the excavation hole B. The second drone altitude measurement device 45 uses, for example, an ultrasonic altimeter that can measure the height to the ground G. The second drone altitude measurement device 45 may be configured with any one of a barometric pressure measurement sensor that can measure the flight altitude by measuring the air pressure, an ultrasonic sonar that can measure the distance from the second drone 42 to the ground G, a laser measurement sensor that can measure the distance from the second drone 42 to the ground G, a LIDAR sensor that can measure the distance from the second drone 42 to the ground G, and the like, or any combination of these. This allows the second drone altitude measurement device 45 to measure the altitude H (distance) from the second drone 42 to the ground G. For example, the second drone-side altitude measurement device 45 can measure an altitude (distance) H (for example, H0 described below) within a predetermined distance range of 10 cm to 2 m from the second drone 42 to the ground G, more preferably an altitude H within a range of 30 cm to 1 m, and more preferably an altitude H within a range of 30 cm to 50 cm, and can fly the second drone 42 at the predetermined altitude H. The first altitude band H2 in which the second drone 42 is flown can be, for example, an altitude band within a predetermined distance range of 10 cm to 2 m from the second drone 42 to the ground G, more preferably an altitude band within a range of 30 cm to 1 m, and more preferably an altitude band within a range of 30 cm to 50 cm.

[0034] The second drone's GPS device 46 is capable of using satellites to identify the current position of the second drone 42. The second drone's GPS device 46 can acquire position information (such as latitude and longitude information) of the location where the multispectral camera 44 took the image. Furthermore, the second drone's GPS device 46 can recognize the position of the second drone 42 and provide the position information necessary for predetermined flight control of the second drone 42.

[0035] The second drone communication unit 47 can wirelessly communicate data on the second drone device 40 side with the control unit 60. For example, the second drone communication unit 47 can transmit information such as the position (coordinates, altitude) of the second drone 42 and the position where the image was taken by the multispectral camera 44 to the control unit 60. In addition, the second drone communication unit 47 can mutually share control information with the control unit 60.

[0036] As shown in FIG. 2, the second drone device 40 may be provided with a manual operation unit 70, a monitor 72 provided on the operation unit 70, etc., as needed.

[0037] 7, the second drone control unit 48 has a built-in CPU 49 and a storage device 51 such as a memory, and controls connected devices to execute predetermined controls based on predetermined control programs stored in the memory, etc. The second drone control unit 48 is electrically connected to the second drone 42, multispectral camera 44, second drone altitude measuring device 45, second drone GPS device 46, second drone communication unit 47, etc. These electrical connections may be made via wireless communication, etc.

[0038] The second drone-side control unit 48 can execute flight control of the second drone 42. The second drone-side control unit 48 is configured to perform predetermined functions in cooperation with the control unit 60. The second drone-side control unit 48, together with the control unit, controls the second drone device 40 and the flight of the second drone 42. More specifically, the second drone-side control unit 48 can control the position (coordinates, altitude) at which the multispectral camera 44 takes images, attitude control, rotation suppression control in the yawing direction, movement between spraying points, movement between points at which images are taken by the multispectral camera 44, and the like. In this way, the second drone-side control unit 48 can control the flight altitude, flight route, rotation speed of each blade, attitude (including left and right roll and yawing in the rotational direction), and operation control of the multispectral camera 44 as needed. The second drone-side control unit 48 can realize control to have the second drone 42 reach a predetermined altitude above the target point (search point), spray water, and then use the multispectral camera 44 to take images of the ground G after a predetermined time has elapsed. The second drone-side control unit 48 may be provided integrally with the control unit 60. For example, all or part of the functions of the second drone-side control unit 48 may be provided on the control unit 60 side. All or part of the functions of the second drone-side control unit 48 may be provided in an information terminal device or the like on the operation unit 70 side.

[0039] 1 to 3, the borehole detection support system 1 further includes a control unit 60. The control unit 60 is configured to control the first drone device 2 and the second drone device 40. The control unit 60 is provided in, for example, a computer located away from the first drone device 2, the second drone device 40, etc.

[0040] The control unit 60 is equipped with a detection support unit 66 that displays an image or video of infrared light of a predetermined wavelength, for example, 1400 nm, captured by the multispectral camera 44 of the area onto which water has been sprayed by the spraying device 10, and supports the detection of the excavation hole B. The detection support unit 66 has a function of supporting the detection of the excavation hole B by displaying the difference in image or video between a state in which water has infiltrated and decreased in the ground G in the area above the excavation hole B and a state in which water has not infiltrated and remains in the ground G in areas other than the excavation hole B. The detection support unit 66 has a function of supporting the detection of the excavation hole B by displaying the density difference in the image between a state in which water is present on the ground surface and a state in which water has been absorbed into the soil, in the image or video captured by the camera using infrared light of a predetermined wavelength.

[0041] The detection support unit 66 includes a detection unit 68 that detects the excavation hole B based on the difference in image or video between the state where water has infiltrated and decreased in the ground in the area above the excavation hole B and the state where water has not infiltrated and remains in the ground in areas other than the excavation hole. The detection unit 68 detects the excavation hole based on the density difference in the image between the location where water has been absorbed into the soil and decreased and the location where water remains on the ground surface in an image or video captured by the multispectral camera 44 using light of a predetermined wavelength (including visible light and infrared light). This makes it easier to grasp the difference between the rate at which water infiltrates (fast rate) in the ground in the area above the excavation hole B and the rate at which water infiltrates (slow rate) in the ground in areas other than the excavation hole as a relatively clear difference, thereby improving the accuracy of excavation hole detection. Because the difference between the water remaining on the surface and the water that infiltrates is easily apparent during the period immediately after watering (e.g., several minutes), observing this difference using infrared images can improve the probability of detecting artificially dug holes (buried mines). Furthermore, when the density difference on the image is utilized, the density difference can also be used to relatively determine the amount of water (water level) in a puddle, thereby further improving the accuracy of detecting excavated holes. The detection unit 68 is equipped with a machine learning processing unit 75 that is trained using training data of excavated hole detection cases in which the excavated hole B was detected, using as input an image of an area where water has been sprayed by the spraying device 10, captured by the camera using infrared light of a predetermined wavelength. The machine learning processing unit 75 is equipped with a function of detecting the excavated hole B, using as input an image of an area where water has been sprayed by the spraying device 10, captured by the camera using infrared light of a predetermined wavelength. Since the shapes of excavated holes are often relatively similar, machine learning can be used to detect excavated holes (areas where no puddles exist corresponding to the excavated holes). In addition, the training data may include not only successful excavation hole detection cases in which the excavation hole B was detected by inputting an image of the area where water was sprayed by the spraying device 10, taken by the camera using an infrared image of a predetermined wavelength, but also unsuccessful excavation hole detection cases in which the excavation hole B was not detected by inputting an image of the area where water was sprayed by the spraying device 10, taken by the camera using an infrared image of a predetermined wavelength (cases in which mine M did not exist).

[0042] As shown in FIG. 3 , the control unit 60 is electrically connected to the first drone device 2, the second drone device 40, and the like via the Internet 3. The control unit 60 may be provided in an electronic device that functions as a computer, such as a smartphone or tablet. The control unit 60 has a built-in CPU 63 and a storage device 65, such as a memory, and controls connected devices based on a predetermined control program recorded in the memory. Thus, the control unit 60 functions as a computer. The electrical connection between the control unit 60 and other devices may be entirely or partially connected via wireless communication, such as infrared communication or other methods. The control unit 60 has a predetermined program for executing a predetermined control function. The control unit 60 may also be composed of multiple devices. The storage device 65 of the control unit 60 stores the predetermined program, but it is not necessarily required to store all of the program. Some or all of the program may be stored separately in multiple devices or on a server via the Internet. For example, the first drone control unit 16 or the second drone control unit 28 mounted on the first drone device 2 or the second drone device 40 may be configured to execute some or all of the control functions. The control unit 60 includes an output device 71 such as a monitor and an input device 67 that can be operated to input data, and is capable of setting various modes and the like.

[0043] The control unit 60 includes a spraying mode 62 that functions as a spraying mode execution unit that flies the first drone 6 of the first drone device 2 within the first altitude band H1 and causes the spraying device 10 to spray water 52 toward a predetermined area using each program stored in the storage device 65, a photographing mode 64 that functions as a photographing mode execution unit that uses the multispectral camera 44 provided on the second drone device 40 to capture an infrared image or video of a predetermined wavelength in the water absorption wavelength band of the area where water has been sprayed in the spraying mode, and a detection assistance mode 73 that functions as a detection assistance mode execution unit that displays the image or video captured in the photographing mode 64 to assist in the detection of the excavation hole B. The detection assistance mode 73 may include a detection mode 74 that functions as a detection mode execution unit that detects the excavation hole based on the difference in image or video between a state in which water has infiltrated and decreased in the ground in the area above the excavation hole and a state in which water has not infiltrated and remains in the ground in areas other than the excavation hole. The control unit 60 also has a course setting mode 69 that functions as a course setting mode execution unit that sets a predetermined course F (see FIG. 10) for searching the excavation hole B using the first drone device 2 and the second drone device 40. In the course setting mode 69, only the predetermined course F may be set, or landmarks such as search points (search areas) D1 to D16 may be set together with the course F.

[0044] Next, a series of operations for detecting a mine M using the excavation hole detection support system 1 will be described as shown in Fig. 9. To make the explanation easier to understand, the following explains how water is sprayed at a search point D1 in a search area D and an image or video of infrared light of a predetermined wavelength is captured.

[0045] As shown in FIG. 9, in preparation step S1 of the borehole detection support system 1, the first drone device 2, the second drone device 40, the control unit 60, etc. of the borehole detection support system 1 are prepared. The first drone device 2 and the second drone device 40 are provided at starting point A (see FIG. 10). Water 52 is stored in the first tank 8. The spraying device 10 is also prepared for use. The control unit 60 also prepares or acquires flight data for the first drone device 2 and the second drone device 40 (for example, coordinates and flight routes of points where water is sprayed and points where borehole detection support is performed (see FIG. 10), flight altitude data (detection altitude data) of each point coordinate relative to the ground G, etc.). When step S1 is completed, the control unit 60 proceeds to S2.

[0046] In step S2, the control unit 60 flies the first drone 2 from the starting point A to above a search point D1 in the search area D. The search area D is an exemplary provisionally set area where a mine M is to be searched. The search point D1 is a landmark (coordinate) for executing the mine detection process. Information on the search point D1 of the excavation hole is provided to the control unit 60, for example, as coordinate information. The control unit 60 stops the spraying operation of the spraying device 10 while the first drone 2 is moving from the starting point A to the search point D1. When the first drone 2 arrives above the search point D1, the control unit 60 executes a spraying mode 62 at the search point D1, and executes a spraying step S2 in which the spraying device 10 provided on the first drone 2 sprays water toward a predetermined area J corresponding to the search area D. As shown in FIG. 1 , the spraying device 10 sprays water at a rate of, for example, 5 to 10 liters / m 2 over a time period of, for example, about 20 seconds to about 2 minutes. 2Water is sprayed from the spraying unit 10a in a shower-like manner so that the water reaches a rainfall of 3 mm to 5 mm. The spraying device 10 may spray an amount that can achieve a rainfall amount within the range of 3 mm to 5 mm. During spraying, the first drone device 2 sprays while gradually moving along a course F over a predetermined area J as shown in FIG. 10. Note that the first drone device 2 is not limited to a moving state, and may also spray while hovering and remaining almost stationary in the air. In the spraying step S2, a puddle of water about several millimeters deep is first formed on the ground.

[0047] When water 52 is sprayed onto the ground G, some of the water begins to seep into the ground, but first a relatively shallow puddle is formed on the ground G. When step S2 is completed, the control unit 60 proceeds to S3. When step S2 is completed, the control unit 60 controls the first drone device 2 to return to the starting point A.

[0048] The control unit 60 executes step S3 after a time period ranging from 1 minute to 7 minutes, for example, 3 minutes to 5 minutes, has elapsed since the spraying of water 52 in step S2. This is the time period from when a puddle forms on the ground G until water begins to seep into the soft soil in the excavation hole B. The above time period may be changed depending on the properties of the soil. For example, in land with very good drainage, step S3 may be executed after a time period of several tens of seconds has elapsed. In step S3, the control unit 60 executes a photographing step S3 in which the multispectral camera 44 provided on the second drone device 40 photographs an image or video of infrared light of a predetermined wavelength within the absorption wavelength band of water of the area onto which water was sprayed in the spraying step S2.

[0049] When S3 starts, the control unit 60 causes the second drone device 40 to fly from the starting point A to above the search point D1 in the search area D. The search area D is an example provisionally set area in which to search for mines M. The search point D1 is the point where the spraying device 10 of the first drone device 2 sprayed water. When the second drone device 40 arrives above the search point D1, the control unit 60 executes the photography mode 64, and the multispectral camera 44 captures an image or video of the area where water was sprayed in the spraying step S2.

[0050] The control unit 60 executes the photographing mode 64, causing the second drone 20 of the second drone device 40 to fly within the first altitude band H1 and photograph the predetermined area J with the multispectral camera 44. The multispectral camera 44 photographs the predetermined area J onto which water has been sprayed by the first drone device 2 using infrared images or videos of a predetermined wavelength within the water absorption wavelength band. Immediately after spraying in the spraying step S2, puddles are initially formed all over the ground G. However, by the time of the photographing step S3, approximately 3 to 5 minutes later, the water has penetrated into the relatively soft soil (backfilled soil) within the excavation hole B, while the water is not easily penetrating into the relatively hard soil (unexcavated soil) outside the excavation hole B.

[0051] As shown in FIG. 11, the topsoil above the area where excavation hole B is located has run out of water, and an image P1 appears near white (a light shade of black and white in the monochrome image) on the infrared image. Areas without water on the infrared image appear white because they do not absorb infrared light. On the other hand, water remains in the topsoil outside the area where excavation hole B is located, and an image P2 appears near black (a dark shade of black and white in the monochrome image). Because water absorbs infrared light of a specific wavelength within the water absorption wavelength band, areas with water on the infrared image appear black because the infrared light is absorbed. In FIG. 11, excavation hole B is a hole with a diameter of approximately 30 cm. A large anti-tank mine M with a diameter of approximately 30 cm has been placed in excavation hole B, and soil is placed above mine M and excavation hole B. After step S3 is completed, the control unit 60 proceeds to S4.

[0052] In step S4, the control unit 60 executes the detection support mode 73, displays the image or video captured in the photographing step S3 to support the detection of the borehole B, and executes the detection support step S4 to support the detection of the borehole B. By displaying an image or video of infrared light of a predetermined wavelength in the water absorption wavelength band, as shown in FIG. 11, the user or system can easily recognize whether the borehole B is present, as well as its location and size. In FIG. 11, the multispectral camera 44 captures the ground G from the air using infrared light of a wavelength of 1400 nm. The bandwidth is set to 10 nm (1395 nm to 1405 nm). The user or system can easily recognize the possibility of the presence of the borehole B because the rate of water penetration into the soil in the upper part of the borehole B is faster than the rate of water penetration into the soil in the outer part of the borehole B. Furthermore, the user or the system can easily recognize the possibility of the existence of a borehole B when the depth of the puddle in the upper part of the borehole B is shallower than the depth of the puddle in the outer part of the borehole B, or when the puddle in the upper part of the borehole B has disappeared while the puddle in the outer part of the borehole B still remains. The control unit 60 can display information that will assist in making such a judgment.

[0053] The detection support unit 66 of the control unit 60 may include a detection unit 68. When the detection support unit 66 includes the detection unit 68, the control unit 60 may execute a detection step in the detection support step S4 to detect the excavation hole B based on a difference in the image or video between a state in which water has infiltrated and decreased in the ground G above the area above the excavation hole B and a state in which water has not infiltrated and remains in the ground above the area other than the excavation hole. Thus, the control unit 60 may detect the excavation hole B based on the image or video captured in the photographing step S3. Therefore, the control unit 60 can display whether or not the excavation hole B exists, the position of the excavation hole B, the size of the excavation hole B, and the like. For example, the control unit 60 has a function to detect (estimate) the location of the excavation hole B based on changes in color shading, etc. on the image. The control unit 60 may, for example, display the detection results, such as the position of the excavation hole B, on a monitor to suggest to a user, etc.

[0054] Note that, since the shape of the excavation hole B is generally circular and generally of a certain size, there is a certain tendency in the shape of the portion where water seeps into the ground and the puddle disappears. Therefore, in the detection step, it is possible to detect the presence or absence of the excavation hole B, its position, its size, etc., using AI software (program) that has been trained by machine learning. For example, such AI software (program) is trained using training data including a state where the excavation hole B actually exists and the puddle disappears in the upper part of the excavation hole B, and a state where the puddle remains in the outer part of the excavation hole B. Therefore, the AI ​​software (program) can estimate the presence of the excavation hole B based on the state where the puddle disappears or the state where the puddle's depth decreases. Such AI software (program) is provided in the control unit 60. When the AI ​​software (program) is provided in the control unit 60, it may be treated as a device. When step S5 is completed, the control unit 60 proceeds to END.

[0055] 10, the control unit 60 may be set in course setting mode 69 to fly the first drone 6 along a predetermined course F and continuously spray water using the spraying device 10 during flight. Thus, water can be sprayed and infrared images can be captured continuously from search point D1 to D16, not just at search point D1. When the control unit 60 finishes spraying water at search point D1, it causes the first drone device 2 to proceed to the next search point D2 and spray water 52 in the same manner. The control unit 60 can automatically fly the first drone 6 of the first drone device 2 along a predetermined course, such as the course indicated by arrow F, using a predetermined program. The control unit 60 uses a course setting mode 69 to fly the first drone 6 along the predetermined course F and continuously spray water using the spraying device 10 during flight. For example, when the first drone 6 reaches search point D1, the control unit 60 sprays water in a predetermined area J relative to D1. For example, the first drone device 2 sprays water 52 at each search point along the predetermined course F from search point D1 to search point D16. In this case, spraying by the spraying device 10 is stopped between points D1 and D2, D2 and D3, etc. As a modified example, for example, the first drone device 2 may continuously spray water 52 from search point D1 along the predetermined course F to search point D16. This allows the entire strip-shaped area along the predetermined course F to be used as an excavation hole detection support area. Search points D1 to D16 are shown as markers indicating the predetermined course F. Therefore, search point D1 and the like can be changed to any position. Furthermore, the predetermined course F can be freely set to correspond to the area where excavation holes are to be detected and the area where mines M are to be searched. As a further modified example, the control unit 60 may cause the spraying device 10 to spray water 52 intermittently, for example, at regular intervals, while the first drone 6 is flying along a predetermined course F. After setting the course F, spraying may be performed at regular intervals, for example, at 30 cm intervals.

[0056] Regarding the search points, for example, the distance K between search point D1 and search point D2 is set to a value ranging from approximately 15 cm to approximately 100 cm, for example, a value ranging from approximately 15 cm to approximately 50 cm, or for example, approximately 30 cm. The distance K may be set to approximately two or three times the outer width of the mine M to be searched. For example, if the outer width (outer diameter) of the mine M is approximately 10 cm, the distance K may be set to 20 cm. The distance between search points D1 and D8 (similarly, the distance between search points D2 and D7) is also set to the distance K. Note that the distance between search points D1 and D8 may be set to a value different from the distance K. The search area D to be searched at such distances is, for example, a 5 m square area, a 3 m square area, or the like. The search area D can also be applied to an area with a side length ranging from 1 m to 20 m. The search area D is a virtual area, and its shape and size can be set by setting a course, etc.

[0057] The control unit 60 can also automatically fly the second drone 42 of the second drone device 40 along a predetermined course, such as the course indicated by arrow F, using a predetermined program. The control unit 60 uses the course setting mode 69 to fly the second drone 42 along the predetermined course F and continuously capture images using the multispectral camera 44 during flight. For example, the control unit 60 captures an image of a predetermined area J from approximately directly above the second drone 42 when the second drone 42 reaches the search point D1. For example, the second drone device 40 flies the same course behind the first drone device 2 approximately three minutes later. Therefore, the second drone device 40 may fly alongside the first drone device 2 in a pair. For example, while the first drone device 2 sprays water at the search point D2, the second drone device 40 captures an image of the ground at the search point D1. For example, the second drone device 40 captures an image of the water on the ground G at each search point along the predetermined course F from the search point D1 to the search point D16. In this case, the multispectral camera 44 stops taking pictures between points D1 and D2, D2 and D3, and so on. As a modified example, for example, the second drone device 40 may continuously capture images using the multispectral camera 44 from search point D1 along the predetermined course F to search point D16. This allows the entire strip-shaped area along the predetermined course F to be used as an excavation hole detection support area. Search points D1 to D16 are shown as markers indicating the predetermined course F. Therefore, search point D1 and the like can be changed to any position. Furthermore, the predetermined course F can be freely set to correspond to the area where excavation holes are to be detected and the area where mines M are to be searched. In addition, the control unit 60 may cause the second drone device 4 to take photographs using the multispectral camera 44 at multiple predetermined points along the specified course F (for example, each point from search points D1 to D16). The control unit 60 may use the multispectral camera 44 to intermittently capture images of the second drone 20, for example, at regular intervals, while the second drone 20 is flying along a predetermined course F. After setting the course F, spraying may be performed at regular intervals.

[0058] Next, as a modified example, an improvement in the performance of supporting borehole detection by combining a plurality of first drone devices 2 and second drone devices 40 will be described. By using a combination of multiple first drone devices 2, the excavation hole detection support performance can be further improved.

[0059] In a modified example, the borehole detection support system 1 is provided with multiple first drone devices 2. To a predetermined area J to which one first drone device 2 has sprayed water using a spraying device 10, another first drone device 2 sprays additional water using the spraying device 10, thereby spraying the intended total amount of water to the predetermined area J. Because multiple first drone devices 2 (e.g., two, three, or more) can spray water to a single predetermined area J, the amount of water sprayed by each drone device can be reduced, making it easier to manufacture the first drone devices 2. For example, in FIG. 10 , the first first drone device 2 can spray water at D3, while the second first drone device 2 can simultaneously spray water at D2, and the second drone device 40 can simultaneously photograph at D1 using the multispectral camera 44. In this way, group control is performed to form a formation of the first first drone device 2, the second first drone device 2, and the second drone device 40, and control of steps S2 to S4 can be executed along course F.

[0060] In another variation, the borehole detection support system 1 is provided with multiple first drone devices 2. The multiple first drone devices 2 can fly side-by-side and spray water using the spraying devices 10. In this case, the multiple first drone devices 2 are lined up side-by-side and spray water simultaneously using the spraying devices 10, allowing water to be sprayed over a wider area than usual. For example, if one first drone device 2 can spray water over a width of 1 meter, three drone devices can spray water over a width of 3 meters when lined up side-by-side. Because the multispectral camera 44 can capture images with a slightly wider angle of view, a single second drone device 40 can capture images using the multispectral camera 44, but multiple second drone devices 40 may also be provided. For example, in FIG. 10 , the first, second, and third first drone devices 2 are lined up in a row at search point D3 and spray water, while the second drone device 40 simultaneously takes images at D2 using the multispectral camera 44. Multiple first drone devices 2, for example, three, five, or more, may be provided. Multiple second drone devices 40 may also be provided. In this manner, group control is performed to form a formation of the first, second, and third first drone devices 2 and the second drone devices 40, and steps S2 to S4 can be executed along course F. Because multiple first drone devices 2 can spray in a row like this, spraying can be done efficiently over a relatively wide area, making it easier to search for excavation holes over a wide area.

[0061] Examples of an embodiment of the present invention may be provided in each aspect as described below.

[0062] (1) A drilling hole detection support system that supports the detection of drilling holes for burying landmines, comprising: a first drone device that includes a first drone, a first tank provided on the first drone, and a sprayer that sprays water; a second drone device that includes a second drone and a camera provided on the second drone that captures images or videos of infrared light of a predetermined wavelength within the absorption wavelength band of water; and a detection support unit that displays an image or video of infrared light of the predetermined wavelength captured by the camera of an area where water has been sprayed by the sprayer, and supports the detection of the drilling hole.

[0063] (2) The detection support unit has the function of supporting the detection of the excavation hole by displaying in an image or video the state in which water has infiltrated and decreased in the ground in the area above the excavation hole, and the state in which water has not infiltrated completely and remains in the ground in areas other than the excavation hole. (1) The excavation hole detection support system described in (1).

[0064] (3) The detection support unit has the function of indicating the difference between the state where water is present on the surface of the earth and the state where water is absorbed into the soil in the captured image or video by using a density difference on the image, and supporting the detection of the excavation hole, as described in (1).

[0065] (4) The spraying device of the first drone device has a rod-shaped spraying section extending horizontally to a predetermined width, and sprays water in a shower-like manner from the spraying section, in the excavation hole detection support system described in (1).

[0066] (5) The spraying device of the first drone device has a flat spraying section extending horizontally to a predetermined width, and sprays water in a shower-like manner from the spraying section, in the excavation hole detection support system described in (1).

[0067] (6) The excavation hole detection support system described in (1) is equipped with a detection unit that detects the excavation hole based on the difference in images or videos between a state in which water has seeped into and decreased in the ground in the area above the excavation hole and a state in which water has not completely seeped into the ground in areas other than the excavation hole and remains.

[0068] (7) The detection unit detects the excavation hole based on the difference in images or videos taken by the camera using infrared rays of a predetermined wavelength between a state in which water has been absorbed into the soil and reduced and a state in which water has not completely penetrated and remains on the surface of the ground. (6) The excavation hole detection support system.

[0069] (8) The detection unit is equipped with a machine learning processing unit that has been trained using training data from excavation hole detection cases in which the area where water has been sprayed by the spraying device has been photographed using infrared images of a predetermined wavelength and the excavation hole has been detected, and the machine learning processing unit has the function of detecting the excavation hole using as input an image of the area where water has been sprayed by the spraying device photographed using infrared images of a predetermined wavelength by the camera. (6) The excavation hole detection support system.

[0070] (9) The borehole detection support system described in (1), wherein the spraying device has spray holes with a diameter in the range of 0.5 mm to 5 mm.

[0071] (10) A borehole detection support system as described in (1), in which a plurality of the first drone devices are provided, and one of the first drone devices sprays water using the spraying device in an area where another of the first drone devices sprays water using the spraying device, thereby spraying the intended total amount of water in the area.

[0072] (11) A borehole detection support system as described in (1), in which a plurality of the first drone devices are provided, and the plurality of first drone devices fly in a line and spray water using the spraying device.

[0073] (12) A method for supporting the detection of excavation holes for burying landmines, comprising: a spraying step of spraying water toward a predetermined area using a spraying device provided on a first drone device; a photographing step of photographing, using a camera provided on a second drone device, an image or video of infrared light of a predetermined wavelength within the absorption wavelength band of water of the area onto which water has been sprayed in the spraying step; and a detection support step of displaying the image or video photographed in the photographing step to support the detection of the excavation hole and support the detection of the excavation hole.

[0074] (13) The excavation hole detection support method described in (12), wherein the detection support step includes a detection step of detecting the excavation hole based on the difference in images or videos between a state in which water has infiltrated and decreased in the ground in the area above the excavation hole and a state in which water has not infiltrated completely and remains in the ground in areas other than the excavation hole.

[0075] The embodiments for carrying out the present invention are not limited to the above, and other modifications may be applied. Various alternative embodiments and examples will be apparent to those skilled in the art based on the disclosed technology. In this embodiment, the second drone device is equipped with a multispectral camera 44 that captures infrared images or videos of a predetermined wavelength in the water absorption wavelength band. Alternatively, as a variant, the second drone device may capture images or videos of visible light (visible light rays). That is, the second drone device may be equipped with a multispectral camera 44 or an RGB camera capable of capturing visible light rays. The detection support unit displays an image or video of light rays captured by the multispectral camera 44 or RGB camera capable of capturing visible light rays of the area sprayed with water by the spraying device 10, thereby providing support for the detection of the excavation hole B. Even images captured using visible light rays can show, to a certain extent, the difference between the state in which water has permeated into the ground in the upper region of the excavation hole and the state in which water has not permeated into the ground and remains in the outer region of the excavation hole, thereby providing a certain degree of effectiveness in supporting the detection of the excavation hole.

[0076] As another modification, instead of the multispectral camera 44, a bandpass filter that mainly transmits infrared light of a predetermined wavelength (e.g., 1400 nm) in the water absorption wavelength band may be used. For example, a bandpass filter can be placed between the camera's lens and element to configure a camera that captures images or videos of infrared light of a predetermined wavelength in the water absorption wavelength band. Thus, the detection support unit can also display an image or video of infrared light of a predetermined wavelength captured by the camera of the area where water has been sprayed by the spraying device 10, thereby providing support for detecting the excavation hole. In this way, even with a configuration in which a bandpass filter is provided in the camera, it is possible to capture images or videos of infrared light of a predetermined wavelength in the water absorption wavelength band. [Explanation of symbols]

[0077] 1: Drilling hole detection support system 2: First drone device 8: First Tank 10: Spraying device 40: Second drone device 44: Multispectral camera 52:Water 66: Detection support unit 68:Detection unit

Claims

1. A drilling hole detection support system that supports the detection of drilling holes for burying landmines, A first drone device including a first drone, a first tank provided on the first drone, and a spraying device that sprays water; a second drone device, the second drone device including a second drone and a camera mounted on the second drone, the camera capturing an image or video of infrared light at a predetermined wavelength within the absorption wavelength band of water; a detection support unit that displays an image or video of infrared light of a predetermined wavelength taken by the camera of the area where water is sprayed by the spraying device, and supports the detection of the excavated hole; The detection support unit has the function of supporting the detection of the excavation hole by displaying in images or videos the state in which water has seeped into and decreased in the ground in the area above the excavation hole, and the state in which water has not completely seeped into the ground in areas other than the excavation hole and remains.

2. The excavation hole detection support system of claim 1, wherein the detection support unit has a function of indicating the difference between the state where water is present on the surface of the earth and the state where water is absorbed into the soil in a captured image or video by using a density difference on the image, thereby supporting the detection of the excavation hole.

3. The excavation hole detection support system described in claim 1, wherein the spraying device of the first drone device has a rod-shaped spraying portion extending horizontally to a predetermined width, and sprays water from the spraying portion in a shower-like manner.

4. The excavation hole detection support system described in claim 1, wherein the spraying device of the first drone device has a flat spraying portion extending horizontally to a predetermined width, and sprays water from the spraying portion in a shower-like manner.

5. The excavation hole detection support system of claim 1, wherein the detection support unit is equipped with a detection unit that detects the excavation hole based on the difference in images or videos between a state in which water has seeped into and decreased in the ground in the area above the excavation hole and a state in which water has not completely seeped into the ground in areas other than the excavation hole and remains.

6. The excavation hole detection support system described in claim 5, wherein the detection unit detects the excavation hole based on the difference in images or videos taken by the camera using infrared rays of a predetermined wavelength between a state in which water has been absorbed into the soil and reduced and a state in which water has not completely penetrated and remains on the surface.

7. The detection unit is equipped with a machine learning processing unit that has been trained using training data from excavation hole detection cases in which the area where water has been sprayed by the spraying device has been photographed using an infrared image of a predetermined wavelength and the excavation hole has been detected, and the machine learning processing unit has the function of detecting the excavation hole using an image of the area where water has been sprayed by the spraying device photographed using an infrared image of a predetermined wavelength by the camera as input.The excavation hole detection support system described in claim 5.

8. The downhole detection assistance system of claim 1 , wherein the sprinkling device comprises sprinkler holes with a diameter in the range of 0.5 mm to 5 mm.

9. The borehole detection support system of claim 1, wherein a plurality of the first drone devices are provided, and one of the first drone devices sprays water using the spraying device in an area where another of the first drone devices sprays water using the spraying device, thereby spraying the intended total amount of water in this area.

10. The borehole detection support system of claim 1, wherein a plurality of the first drone devices are provided, and the plurality of first drone devices fly side by side and spray water using the spraying device.

11. 1. A method for assisting in the detection of excavation holes for burying landmines, comprising: a spraying step of spraying water toward a predetermined area by a spraying device provided in the first drone device; a photographing step of photographing an area where water has been sprayed by the spraying step using a camera provided on the second drone device, by capturing an image or video of infrared light of a predetermined wavelength in the water absorption wavelength band; a detection support step of displaying the image or video captured by the photographing step to support the detection of the excavation hole, and supporting the detection of the excavation hole; The detection assistance step includes a detection step of detecting the excavation hole based on the difference in images or videos between a state in which water has infiltrated and decreased in the ground in the area above the excavation hole and a state in which water has not infiltrated completely and remains in the ground in areas other than the excavation hole.

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