UNMANNED GUIDE VEHICLE WITH GROUND RADAR

Description

[0001] The invention relates to an unmanned vehicle having the features of the independent patent claim.

[0002] The field of the invention particularly relates to safe navigation through a minefield.

[0003] From the generic US 2014 / 0121964 A1, an unmanned, self-driving vehicle with ground-penetrating radar is known, which is used for vehicle navigation. In this case, ground images are first recorded along a road or a route in the field using the ground-penetrating radar. If a vehicle is then equipped with a ground-penetrating radar sensor, the images subsequently recorded by this ground-penetrating radar sensor are compared with previously recorded data, thus determining the vehicle's position. The vehicle can be a self-driving vehicle.

[0004] A radar system with integrated communication functionality is known from WO 2012 / 037680 A1. The radar system has a transmitting unit for transmitting radar signals. A first modulator provides the transmitted radar signal with a periodic waveform. The periodic waveform has a rising range, a falling range, and a constant frequency range. A second modulator modulates the constant frequency range with a data signal. This data signal can be decoded by a receiver.

[0005] An autonomous convoy technology for vehicles is known from DE 10 2012 212 681 A1. The method involves a lead vehicle with at least one follower vehicle, the lead vehicle communicating with the follower vehicle. The at least one follower vehicle receives a communication relating to a target offset position and route data. The route data is compared with tracking data to identify an accuracy between the route data relative to the tracking data. The route data includes a global position and GPS data of the lead vehicle.

[0006] DE 10 2010 045 084 A1 discloses a combined ground-penetrating radar with a metal detector for detecting metallic and non-metallic objects in the ground, particularly landmines and / or explosive devices or the like. This assembly can be mounted on a vehicle.

[0007] US 2009 / 079 839 A1 describes a convoy consisting of a lead vehicle and several autonomous follower vehicles. The vehicles are equipped with a LIDAR system and radar antennas for detecting the surroundings. The LIDAR radar antennas are mounted at the height of the driver's cab. The data can be transmitted between the lead vehicle and the follower vehicles.

[0008] A vehicle with a radar system for mine detection is known from US Pat. No. 5,592,170 A. The radar system uses microwave radiation and has a transmitting antenna and two receiving antennas positioned above the driver's cab, directed toward the ground in the direction of travel.

[0009] From US 2010 / 256 835 A1 a method for controlling the speed of a vehicle is known, wherein a radar system and a camera system are used to determine the distance between vehicles.

[0010] US 2012 / 062 407 A1 discloses a system for detecting explosive substances and a vehicle. A manned vehicle is equipped with a ground-penetrating radar. The manned vehicle follows an unmanned lead vehicle. The unmanned vehicle has a reflector, and the manned vehicle uses the radar to send signals to the reflector, thereby scanning a ground area.

[0011] The invention is based on the object of improving the unmanned command vehicle.

[0012] This problem underlying the invention is now solved by an unmanned command vehicle having the features of the independent patent claim.

[0013] The unmanned lead vehicle of a convoy uses ground-penetrating radar to detect mines, and information on how to avoid the mines is sent to a following vehicle, the so-called follower vehicle, using the ground-penetrating radar. This discloses an unmanned lead vehicle for safely navigating a convoy through a minefield and a corresponding method. The unmanned lead vehicle is suitable for guiding the convoy. This creates a data connection between the lead vehicle and at least one follower vehicle. The data connection is radar-based. For this purpose, a radar signal is emitted by the unmanned lead vehicle, wherein the radar signal contains data information. The data information is modulated onto a radar carrier signal. The follower vehicle has a radar sensor suitable for receiving the radar signal emitted by the lead vehicle.The radar signal is decoded by an evaluation unit of the following vehicle and the data information is extracted.

[0014] The invention has the advantage that if a mine is not detected, only the unmanned lead vehicle is affected. This enables efficient combined use of ground-penetrating radar as a detector and data transmitter. No radio link or other communication method is necessary between the vehicles. However, it is possible for a radio link or other communication method to exist between the following vehicles.

[0015] The data signal includes, in particular, information regarding the position of the command vehicle and / or regarding the position of detected mines and / or regarding a proposed route.

[0016] It is conceivable that the route through the minefield is determined by on-board electronics with a memory, a processor, and appropriate software on the lead vehicle. In an alternative embodiment, however, the route can also be determined automatically by on-board electronics on the following vehicle. In a further embodiment, it is conceivable that the route is determined by an operator of the following vehicle.

[0017] The lead vehicle's ground-penetrating radar is used to detect objects on or in the ground along the route ahead. For this purpose, the lead vehicle's ground-penetrating radar detects at least part of the predicted route. The ground-penetrating radar sensor data is also used to detect objects that may or may not be classified as explosive devices. The corresponding detected objects are analyzed by an evaluation and / or control unit and, if applicable, classified as explosive devices. Depending on the classification as explosive devices, the unmanned vehicle is guided onto a route that avoids the mine. To detect and classify the objects, the ground-penetrating radar data is compared with existing reference data for known mine types from a database.If a known mine is detected from the database, the command vehicle uses the evaluation and control unit to steer past the mine at a safe distance.

[0018] Ground-penetrating radar generates data regarding the position of the lead vehicle. Additionally, the position of the lead vehicle can be determined using a GPS sensor. Furthermore, the ground-penetrating radar records the topography of the route and / or the condition of the ground. This data—namely, the position of the vehicle and / or the detected objects and / or the topography of the route and / or the condition of the ground—is transmitted to a following vehicle via the radar link.

[0019] Information on the position of the vehicle and / or the mines and / or the topographic data of the route is transmitted to a following vehicle via ground-penetrating radar. For this purpose, the information is modulated onto the ground-penetrating radar's transmission signal. The transmitted data is transmitted continuously so that the following vehicle receives the exact route traveled by the lead vehicle. The position information can include absolute or relative position information. Alternatively or additionally, the data can also show a map of the condition of the ground and the detected objects in or on the ground, whereby the following vehicle can navigate independently using this data. For this purpose, the following vehicle uses its own ground-penetrating radar to survey the ground itself, compare it with the map transmitted by the lead vehicle, and thus independently determine its own position, navigate, and avoid the mines.

[0020] In larger convoys, the data can also be transmitted from one following vehicle to the next via radar. Preferably, all following vehicles are equipped with appropriate ground-penetrating radar.

[0021] The radar is preferably an AESA (Active Electronically Scanned Array) radar panel. The ground-penetrating radar is mounted on the underbody of the vehicle so that the detection field extends 360° around the vehicle.

[0022] Preferably, the ground-based radar can also be designed to be pivotable about a horizontal position, allowing a wider coverage of the radar field. It is conceivable to design the ground-based radar to be pivotable so that it can now be pivoted into a position at an angle to the ground. This pivoting capability is particularly useful when the distance to the next following vehicle is large and the radar field would not reach it without pivoting.

[0023] In a further embodiment, the ground-penetrating radar can also consist of several radars that cover different directions and preferably radiate towards the ground at an angle between 0° and 60° relative to the horizon.

[0024] The method is particularly useful for navigating a convoy of vehicles through a minefield. Ground-penetrating radar is used to detect unknown objects on a route ahead and preferably in the surrounding area. The recorded data is transmitted from the lead vehicle to at least one following vehicle. The data is then transmitted to the following vehicle via ground-penetrating radar.

[0025] The following vehicle also detects the route using ground-penetrating radar. The position of the following vehicle is determined by comparing the measured data from the following vehicle's ground-penetrating radar with the data received from the leading vehicle. This allows for a more precise positioning than GPS.

[0026] A preferred embodiment of the invention will now be explained in more detail with reference to the drawing and the accompanying description. The drawing shows: Fig. 1 is a schematic representation of a vehicle convoy with an unmanned lead vehicle and two follower vehicles, the vehicle convoy moving along a route through a minefield, and Fig. 2 is a schematic plan view of the vehicle convoy.

[0027] In Fig. 1a vehicle convoy 1 with an unmanned lead vehicle 2 and two following vehicles 3 can be clearly seen. The vehicle convoy 1 is moving through a minefield 4 with several mines 5. The lead vehicle 2 and preferably also the following vehicles 3 each have a ground radar 6. The ground radar 6 has a detection range 7, 8. The detection range 7 of the lead vehicle 2 and the detection range 8 of the ground radar 6 of the following vehicle 3 are shown. The leading unmanned lead vehicle 2 is used to navigate the vehicle convoy 1 safely through the minefield 4. This is equipped with the ground radar 6 for detecting objects, in particular the mines 5 on the route 9. The route 9 is selected such that contact between the lead vehicle 2 and the following vehicles 3 and the mines 5 is avoided.

[0028] Using an evaluation and control unit (not shown), objects along the route 9, particularly in the detection zones 7, 8, can be analyzed, thereby detecting mines 5. To detect mines, the data from the ground radar 6 is compared with existing comparison data for known mine types from a database. The database is stored, in particular, in the evaluation and control unit of the lead vehicle 2. Preferably, all vehicles, including the following vehicles 3, have a corresponding evaluation and control unit with corresponding comparison data.

[0029] If a known mine is detected from the database, the vehicle, specifically the lead vehicle 2 and the following vehicles 3, is navigated past the mine 5. Information on the position of the lead vehicle 2 and / or the mines 5 and / or the topographical data of the route are transmitted to a following vehicle via the ground radar 6. For this purpose, the information is modulated onto the transmission signal of the ground radar 6.

[0030] The data is transmitted continuously so that the following vehicle 3 receives the exact route 9 of the leading vehicle 2. The following vehicles 3 detect the radar signal of the leading vehicle 2 with the ground radar 6. Furthermore, the topographic data of the route 9 are preferably also detected with the ground radar 6 and the following vehicles 3. The position information can be absolute or relative position information.

[0031] Alternatively or additionally, the data can also include a map of the ground conditions, including the detected objects in or on the ground, which the following vehicle 3 can use to navigate independently. For this purpose, the following vehicle 3 uses its own ground-penetrating radar 6 to scan the ground itself and compare the recorded data with the map transmitted by the lead vehicle 2, thus enabling it to navigate independently and avoid the mines 5. In larger vehicle convoys 1, the data can also be forwarded from one vehicle to the next radar. The radar is preferably an AESA (Active Electronically Scanned Array) radar.

[0032] The ground radar 6 is arranged on the ground of the leading vehicle 2 or on the ground of the following vehicle 3 in such a way that the detection field extends 360° around the vehicle.

[0033] Preferably, the ground radar 6 is pivotable, so that even on rising terrain the ground radar 6 can be pivoted into a horizontal position, so that a further radiation of the radar can be achieved. Furthermore, by pivoting, the ground radar 6 can be pivoted towards the following vehicle 3 if the distance to the following vehicle 3 is large and this would otherwise not be reached by the radar field. In a further embodiment, the ground radar 6 can also consist of several radars or radar sensors, which cover different orientations and preferably radiate towards the ground at an angle between 0° and 60° with respect to the horizon. In a variant not claimed, the ground radars 6 can alternatively also be arranged on the sides of the vehicle 2, 3 or on the vehicle 2, 3. List of reference symbols:

[0034] 1Vehicle column 2Leading vehicle 3Following vehicle 4Minefield 5Mine 6Ground radar 7Detection range 8Detection range 9Route

Claims

1. Unmanned vehicle (2) having a ground radar (6) and having an evaluation and control unit, wherein unknown objects on or in the surface underneath on a driving route (9) ahead are detectable by means of the ground radar (6), wherein mines (5) are detectable by means of the ground radar (6), characterized in that the ground radar (6) is arranged on the underbody of the vehicle (2) in such a way that the detection field extends 360° around the vehicle, wherein the vehicle (2) is designed as a lead vehicle, wherein the lead vehicle (2) is designed for leading a vehicle convoy (1) with further following vehicles (3), wherein data are transmittable from the lead vehicle (2) to the at least one following vehicle (3), wherein the data are transmittable to the following vehicle (3) by means of the ground radar (6).

2. Unmanned lead vehicle according to Claim 1, characterized in that the evaluation and control unit has comparative data of known mine types, wherein the data of the ground radar (6) are compared with the comparative data by means of the evaluation and control unit, wherein when a mine from the database is recognized, the lead vehicle (2) is able to be navigated past the mine (5) by means of the evaluation and control unit.

3. Unmanned lead vehicle according to either of the preceding claims, characterized in that information on the position of the unmanned lead vehicle (2) and / or the mines (5) and / or topography data of the driving route (9) and / or the constitution of the surface underneath can be transmitted to the following vehicle (3) by means of the ground radar (6).

4. Unmanned lead vehicle according to any of the preceding claims, characterized in that the data can be modulated on the transmission signal of the ground radar (6) by means of the evaluation and control unit.

5. Vehicle convoy comprising an unmanned lead vehicle according to any of the preceding claims and comprising at least one following vehicle (3), wherein the following vehicle (3) comprises a ground radar (6).

6. Vehicle convoy (1) according to Claim 5, characterized in that the lead vehicle (2) and / or the following vehicle (3) comprise(s) a ground radar (6) in the form of at least one AESA radar panel.

7. Vehicle convoy according to either of the preceding Claims 5 and 6, characterized in that the ground radar (6) of the lead vehicle (2) and / or the ground radar (6) of the following vehicle (3) are / is arranged pivotably on the lead vehicle (2) and / or pivotably on the following vehicle (3).

8. Vehicle convoy according to any of the preceding Claims 5 to 7, characterized in that the ground radar (6) is formed by a plurality of radar panels or a plurality of radar sensors.

9. Vehicle convoy according to any of the preceding Claims 5 to 8, characterized in that the ground radar (6) radiates towards the ground at an angle of between 0° and 60° relative to the horizon.

10. Method for navigating a vehicle convoy (1) through a minefield, wherein an unmanned lead vehicle (2) according to any of the preceding Claims 1 to 4 is equipped with the ground radar (6) and with the evaluation and control unit, wherein unknown objects on or in the surface underneath on a driving route (9) ahead are detected by means of the ground radar (6), wherein mines (5) are detected by means of the ground radar (6), wherein data are transmitted from the lead vehicle (2) to the at least one following vehicle (3), wherein the data are transmitted to the following vehicle (3) by means of the ground radar (6).

11. Method according to the preceding claim, characterized in that the following vehicle (3) with a ground radar (6) likewise detects the driving route (9) and the position of the following vehicle (3) is determined on the basis of a comparison of the measured data of the ground radar (6) of the following vehicle (3) and the data received from the lead vehicle (2).