Mine disposal system and mine disposal method

Abstract

A mine disposal system and a mine disposal method are provided that can improve the safety of mine disposal. [Solution] The mine disposal system 1 comprises a first drone device 2, the first drone device comprising a first drone 6, a first tank 8 mounted on the first drone for storing an emulsion, and a supply device 10 for supplying the emulsion toward a heating target area where the mine is expected to be located, and a second drone device 40, the second drone device comprising a second drone 42 and an irradiation device 44 mounted on the second drone for irradiating electromagnetic waves that vibrate and heat water molecules, and the emulsion 30 supplied to the heating target area D by the supply device 10 of the first drone device is heated by the electromagnetic waves irradiated from the irradiation device 44 of the second drone device 40.

Description

[Technical Field]

[0001] The present invention relates to a mine disposal system and a mine disposal method. [Background technology]

[0002] Removing and disposing of landmines is an extremely dangerous and time-consuming task, and conventionally, workers would use metal detectors or other devices to locate landmines, and then detonate or dismantle each one. For example, as shown in Patent Document 1, a technology is known in which an operator searches for landmines using a radar unit to detect buried objects such as landmines. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2006-250451 Summary of the Invention [Problem to be solved by the invention]

[0004] However, the techniques described in Patent Document 1 require workers to enter dangerous areas, which is extremely dangerous work that can result in human casualties. Also, depending on the type of mine and how it is buried, it can be difficult or dangerous for workers to detonate and dispose of the mine on-site.

[0005] The present invention has been made to solve such problems, and has as its object to provide a mine clearance system and a mine clearance method that can improve the safety of mine clearance. [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 a mine disposal system for disposing of landmines, comprising: a first drone device having a first drone, a first tank provided on the first drone for storing an emulsion, and a supply device that supplies the emulsion toward a heating target area where the landmine is assumed to be located; and a second drone device having a second drone and an irradiation device provided on the second drone for irradiating electromagnetic waves that vibrate and heat water molecules, and the emulsion supplied to the heating target area by the supply device of the first drone device is heated by the electromagnetic waves irradiated from the irradiation device of the second drone device. According to one embodiment of the present invention configured as described above, the emulsion supplied to the heating target area by the supply device of the first drone is heated by electromagnetic waves irradiated by the irradiation device of the second drone. This allows the emulsion to be heated to a temperature ranging from approximately 180°C to approximately 300°C, causing explosives within mines in the heating target area to spontaneously ignite and explode. This allows mines to be remotely detonated without requiring workers to touch or enter dangerous areas, thereby improving the safety of mine disposal. Furthermore, compared to mine disposal by ground workers or mine disposal robots, this method requires relatively simple equipment to minimize human casualties, is relatively inexpensive, and is relatively easy to move through areas where mines may be buried.

[0007] According to one embodiment of the present invention, there is preferably provided a mine disposal method for disposing of a land mine, comprising the steps of: The method includes a supply step in which the supply device supplies the emulsion stored in the first tank of the first drone device to a heating target area where the mine is expected to be located, and a heating step in which the irradiation device of the second drone device irradiates the emulsion supplied to the heating target area by the supply step with electromagnetic waves to heat it. According to one embodiment of the present invention configured as described above, the emulsion supplied to the heating target area in the supplying step can be heated by irradiating it with electromagnetic waves using the irradiation device of the second drone device in the heating step. This allows the emulsion to be heated to a temperature ranging from approximately 180°C to approximately 300°C, for example, to spontaneously ignite and explode explosives within landmines present in the heating target area. This allows landmines to be remotely detonated without workers having to touch the mines or enter dangerous areas, thereby improving the safety of landmine disposal. Furthermore, compared to mine disposal by ground workers or mine disposal robots, for example, this method allows for the construction of a device that minimizes human casualties using relatively simple equipment, reduces costs, and is relatively easy to move in areas where landmines may be buried. [Effects of the Invention]

[0008] According to the mine clearance system and mine clearance method of the present invention, the safety of mine clearance can be improved. [Brief explanation of the drawings]

[0009] [Figure 1] FIG. 2 is a schematic diagram showing an outline of a first drone device of a mine disposal system according to an embodiment of the present invention. [Figure 2] FIG. 10 is a schematic diagram showing an outline of a second drone device of a mine disposal system according to an embodiment of the present invention. [Figure 3] FIG. 2 is a block diagram showing the connection between a first drone device and a second drone device and a control unit in a mine disposal system according to one embodiment of the present invention. [Figure 4] FIG. 2 is a block diagram showing the configuration of a first drone device in a mine clearance system according to an embodiment of the present invention. [Figure 5] FIG. 2 is a block diagram showing the configuration of a second drone device in a mine clearance system according to one embodiment of the present invention. [Figure 6] 1 is a block diagram showing the configuration of a control unit in a mine disposal system according to an embodiment of the present invention. FIG. [Figure 7] FIG. 2 is a flowchart of a mine disposal method for a mine disposal system according to an embodiment of the present invention. [Figure 8] 1 is a diagram showing a first drone device and a second drone device moving from a starting point to an area to be heated in a mine disposal system according to an embodiment of the present invention. FIG. [Figure 9] FIG. 10 is a diagram illustrating how the second drone device first measures the altitude, moves laterally from above the land mine vertically, and then irradiates the land mine using the irradiation device in a land mine disposal system according to one embodiment of the present invention. [Figure 10] FIG. 10 is a top view showing four second drone devices irradiating the heating target area from diagonally above using irradiation devices in a mine disposal system according to one embodiment of the present invention. [Figure 11] FIG. 10 is a schematic diagram showing a modified example of the second drone device in the mine disposal system according to one embodiment of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0010] A mine disposal system 1 according to an embodiment of the present invention will now 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 Figure 1, a mine disposal system 1 according to one embodiment of the present invention is a system for disposing of mines M. For example, the mine disposal system 1 is a system for disposing of mines M by blasting. The mine disposal system 1 includes a first drone device 2, a second drone device 40 (see Figure 2), and a control unit 60.

[0012] The landmines M are buried underground near the surface of the ground G. There are, for example, anti-personnel mines and anti-vehicle mines as landmines M. For example, a relatively large number of landmines M are buried at a depth within a range of 1 cm to 10 cm from the surface of the ground. A layer of soil (earth and sand) C is placed on top of the landmine M, making its presence invisible from the ground. When pressure is applied to the landmine M, the pressure-sensitive plate of the landmine M is activated, causing the landmine M to explode, blowing up or damaging any objects or people above. Because many types of landmine M have a pressure-sensitive 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 hidden. In many cases, a hole B (the outline of which is shown by a dashed line in Figure 1) is dug in the ground for burying the landmine M, and the landmine M is placed inside it. Therefore, the soil around the hole B is relatively hard soil or bedrock, and the inside of the hole B is filled with relatively soft soil just enough to hide the landmine M.

[0013] There are various types of landmines, including those with explosives placed inside a metal container and those with explosives 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. Carefully digging up and neutralizing these M mines requires a great deal of effort. Furthermore, if the neutralization attempt fails and the mine malfunctions, it can cause fatal injuries to the workers and result in significant human casualties.

[0014] In order to minimize human casualties, it is important to safely search for, detect, and dispose of buried landmines M. According to this technology, after landmines M are discovered using some kind of search technology, they can be detonated while minimizing human casualties. For landmines that use explosives with an ignition point between 180°C and 400°C, the mines M can be indirectly heated to forcibly ignite, allowing for relatively safe detonation without the presence of people in the vicinity (for example, within a radius of approximately 10 m from the mine). Furthermore, according to this technology, landmines M can be detonated by heating even if they are made of a housing made of any material, such as a magnetic ferrous material, a non-ferrous metal such as aluminum, or a plastic material.

[0015] As shown in Figures 1 and 4, the first drone device 2 includes a first drone 6, a first tank 8 provided on the first drone 6, a supply device 10, a first drone side camera 11, a first drone side altitude measurement 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 move from the starting point A (see FIG. 8) to the heating target area D via the shortest route, for example, along the arrow F, and after supplying the emulsion to the heating target area D, 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 for storing an emulsion. The first tank 8 is formed into a generally rectangular shape in a top view. The first tank 8 is attached to the lower center 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 introducing a liquid, such as an emulsion, and a supply unit 8b that can supply the liquid to the supply device 10. A user can additionally replenish the liquid through the inlet 8a. The supply unit 8b and the supply device 10 are fluidly connected via a supply pipe.

[0018] The liquid stored in the first tank 8 is an emulsion 30. The emulsion 30 is formed, for example, by emulsifying water and vegetable oil. Vegetable oil is an oil whose main component is a plant-derived ingredient. For example, vegetable oil is edible oil that can be used for cooking. An example of an edible oil is saffron oil. The emulsion 30 is obtained, for example, by irradiating water and vegetable oil with ultrasonic waves to emulsify them through ultrasonic disruption. The emulsion 30 may be formed by mixing water and oil and emulsifying them with, for example, a surfactant. Furthermore, the emulsion is not limited to vegetable oil; it may also be formed by mixing water and mineral oil. Emulsification refers to a state in which water and oil are dispersed into each other as fine droplets. The emulsion 30 has the ability to reach high temperatures, such as exceeding 300°C, in its liquid state when heated. Therefore, the emulsion 30 can be used as a heat source for heating the mine M. The emulsion 30 is made of oil and water, primarily composed of plant-derived ingredients, and is therefore decomposed by microorganisms in the soil after use, making it suitable for use as fertilizer, for example. Therefore, the emulsion 30 used in this technology does not leave behind any residual chemicals that could be harmful to the human body after processing, and leaves no residues that could harm the environment, making for an environmentally friendly process. Furthermore, because the emulsion does not produce any chemicals harmful to the human body, the land can be more easily used for farming after this technology is implemented.

[0019] As shown in FIG. 1 , the supply device 10 supplies the emulsion 30 toward a heating target area D where a mine M is expected to be located. The heating target area D is illustrated as an area where a main stream of water supplied from a supply pipe 10a reaches. The supply device 10 includes a supply pipe 10a extending from a tank and a solenoid valve 10b provided midway along the supply pipe. The supply pipe 10a forms a tubular water passage through which the emulsion 30 in the first tank 8 can flow. The supply pipe 10a opens vertically downward. The supply pipe 10a has an inner diameter (caliber) ranging from 5 mm to 20 mm, for example. The solenoid valve 10b opens and closes the flow path within the supply pipe 10a. The solenoid valve 10b can be controlled to open or close based on commands from a control unit 60 or the like. When open, the solenoid valve 10b allows the emulsion 30 to flow downstream, and when closed, it stops the outflow of the emulsion 30. The supply device 10 pours a predetermined flow rate per unit time through the supply pipe 10a. For example, the supply device 10 pours 5 liters / m 3 in 20 seconds to several minutes. 2 up to 10 liters / m 2 The amount of emulsion is provided in the range of values.

[0020] The supply device 10 supplies the emulsion 30, which is a liquid in the first tank 8, downstream. The supply device 10, for example, causes the emulsion 30 to flow out of the first tank 8 by gravity. For example, the supply device 10 can pour water so that the emulsion 30 flows out from a hose. The emulsion 30 flows downward due to gravity. FIG. 1 illustrates the emulsion 30 flowing downward from the supply device 10. In FIG. 1, the emulsion 30 is shown in droplets to clearly illustrate the position of the emulsion 30. However, the flow of the emulsion 30 is not limited to a spray or scattering of droplets, and includes a flow of the emulsion 30. Furthermore, the emulsion 30 is not limited to a droplet-like form, such as a puddle in the heating target area D or soaked into the ground. For example, the emulsion 30 may be heated all at once while the mine M is immersed or submerged in the emulsion 30, thereby heating the mine as described. The supply device 10 injects the emulsion 30 downward, for example, by pouring it. Therefore, the emulsion 30 is poured into the heating target area D at a flow rate per unit time greater than that of spraying. As a result, the heating target area D becomes soaked with the emulsion liquid, forming a puddle in a relatively short time. For example, the area around the mine M may become filled with the emulsion. For example, if an artificial excavation hole B is dug in the ground and a mine M is buried inside it, the interior of the artificial excavation hole may be filled with relatively soft soil, while the soil outside is relatively hard. In such a case, due to the difference in permeation rate, the emulsion flowing from the supply device 10 temporarily fills the interior of the artificial excavation hole. With the emulsion 30 surrounding the mine M thus filled, the irradiator 44 heats the emulsion to a temperature exceeding a range of 300°C to 350°C in a relatively short time. With this configuration, the supplying device 10 can start or stop spraying the emulsion 30 from the supplying device 10 at any timing.

[0021] As a modified example, the supply device 10 may be provided with a spraying unit capable of spraying water in a shower-like manner from the lower end of the supply pipe 10a, and the emulsion 30 may be supplied by spraying or spraying. Although spraying or the like slightly slows down the supply speed of the emulsion 30 to the heating target region D, it has a certain effect in that the emulsion 30 can be sprayed over a relatively wide area.

[0022] As shown in FIG. 4, the first drone camera 11 is mounted on the main body 6a of the first drone 6, allowing the first drone 6 to capture and view 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 remotely check the situation around the first drone camera 11 and also capture and record the situation of the ground in the heating target area D. The first drone camera 11 is also mounted so that it can capture the situation directly below the first drone 6 in order to check the situation vertically below where the emulsion 30 is being sprayed. The first drone camera 11 transmits the status of emulsion being supplied from the supply device 10 to the ground via video or the like, allowing the user to check the status of emulsion supply.

[0023] The first drone altitude measurement device 12 is provided on the airframe main body 6a and can measure the altitude H1 (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 H1 (distance) from the first drone 6 to the ground G. For example, the first drone side altitude measurement device 12 can measure the altitude of the first drone 6 so that it is at a predetermined altitude H1, for example, an altitude (distance) within a predetermined range of 10 cm to 2 m from the first drone 6 to the ground G, more preferably an altitude within a range of 30 cm to 1.5 m, more preferably an altitude within a range of 30 cm to 1 m, and the first drone side control unit 16 can fly the first drone 6 at the predetermined altitude.

[0024] The first drone's GPS device 14 is capable of identifying the current location of the first drone 6 using satellites. The control unit 60 acquires coordinate information of the heating target area D where the mine M is assumed to be located, and the first drone's GPS device 14 can confirm these coordinates. The control unit 60 can supply the emulsion 30 to the heating target area D while confirming the coordinates using the first drone's GPS device 14. The first drone's GPS device 14 can acquire location information (e.g., information such as latitude and longitude) of the point where the supply device 10 sprayed the emulsion 30. Furthermore, the first drone's GPS device 14 can recognize the location of the first drone 6 and provide the location information necessary for the specified 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 the emulsion 30 was sprayed by the supply device 10 to the control unit 60. In addition, the first drone communication unit 15 communicates with the control unit 60 so that the first drone control unit 16 can share control information with each other.

[0026] The first drone device 2 may include a manual operation unit 70 and a monitor 72 of the operation unit 70 as needed. For example, an operator may control the operation and stopping of the supply device while checking the supply status of the emulsion to the heating target area using the monitor 72.

[0027] 4, the first drone control unit 16 has a built-in CPU 17 and a storage device 19 such as a 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, supply 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 supplying device 10 sprays the emulsion 30, 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 supplying 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 the supplying device 10 to spray the emulsion 30 toward the ground G. The first drone-side control unit 16 can achieve control so that the supply device 10 continuously sprays the emulsion 30 toward the ground G within a certain range, including the target point. The first drone-side control unit 16 may be provided integrally with the control unit 60. For example, all or part of the functions of the first drone-side control unit 16 may be provided on the control unit 60 side. All or part of the functions of the first drone-side control unit 16 may be provided in an information terminal device or the like on the operation unit 70 side. The first drone-side control unit 16 has an output device 81 such as a monitor and an input device 82 that can be operated, and is capable of setting various modes, etc.

[0029] 2 and 5, the second drone device 40 includes a second drone 42, an illumination device 44 provided on the second drone 42, a second drone camera 43, a second drone altitude measurement device 45, a second drone GPS device 46, a second drone communication unit 47, and a second drone control unit 48. A plurality of second drone devices 40, for example, four second drone devices 40, are provided (see FIG. 10).

[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 an irradiation device 44 mounted thereon. In this embodiment, the second drone 42 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 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, the second drone 42 can move from the starting point A (see FIG. 10) to the area to be heated, irradiate with the irradiation device, and return to a return point, for example, the same point as the starting point A. The second drone 42 may be provided 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 irradiation device 44 irradiates electromagnetic waves, such as microwaves Z, that vibrate and heat water molecules. The irradiation device 44 irradiates microwaves of, for example, 2.45 GHz. The emulsion 30 supplied to the heating target area D by the supply device 10 of the first drone device 2 is heated by the microwaves Z, which are electromagnetic waves irradiated from the irradiation device 44 of the second drone device 40. The irradiation device 44 includes a magnetron 44a that emits the microwaves Z, which are 2.45 GHz electromagnetic waves, and a horn reflector antenna 44b that irradiates the microwaves Z, which are electromagnetic waves. The magnetron 44a is configured to generate an output of approximately 1 kW to approximately 3 kW. The magnetron 44a is configured to generate an output of, for example, approximately 2 kW. The irradiation device 44 may include a Gunn diode instead of a magnetron.

[0032] The horn reflector antenna 44b has the function of improving the directionality of microwaves. The horn reflector antenna 44b has a small diffusion angle of the emitted electromagnetic waves, microwaves Z, for example, about 3 degrees, which suppresses the spread of the electromagnetic waves microwaves Z and makes the microwaves Z less likely to attenuate over distance. Therefore, by irradiating the mine M using the horn reflector antenna 44b, irradiation can be easily performed from a position farther away from the mine M, reducing the risk of damage to the second drone device 40. The horn reflector antenna 44b may be replaced with another antenna having a microwave directionality function, such as a parabolic antenna.

[0033] As shown in FIG. 5, the second drone camera 43 is provided on the second drone 42, and can photograph and view the surrounding conditions from the second drone 42. The second drone camera 43 has the ability to take videos and photos. The second drone camera 43 allows a user to remotely check the conditions around the second drone camera 43 and also photograph and record the conditions of the ground in the area D to be heated. The second drone camera 43 is provided so that it can also photograph the conditions directly below and diagonally below the second drone 42 so that the conditions in the area D to be heated can be confirmed.

[0034] As shown in FIG. 5, the second drone altitude measurement device 45 is provided on the airframe main body 42a and can measure the altitude H2 (distance) of the second drone 42 relative to the ground G, where a mine M may be buried. Therefore, for example, the distance from the second drone 42 located directly above the mine M to the virtual heated point R can be measured, and the distance from the second drone 42 to the virtual heated point R is shared with other second drones 42 via the control unit. 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, or any combination of these. This allows the second drone altitude measurement device 45 to measure the altitude H2 (distance) from the second drone 42 to the ground G. For example, the second drone altitude measurement device 45 can measure the altitude (distance) from the second drone 42 to the ground G within a predetermined range of 1 m to 20 m, more preferably within a range of 1 m to 10 m, more preferably within a range of 2 m to 10 m, and can fly the second drone 42 at a predetermined altitude H2.

[0035] 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 point where the irradiation device 44 performed irradiation. 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.

[0036] The second drone device 40 may be equipped with a temperature measurement device 49 capable of measuring temperature, such as an infrared thermal camera. The temperature measurement device 49 measures the temperature of the heating target area D and / or the mine M, allowing the heating status to be confirmed. The temperature measurement device 49 is electrically connected to the second drone control unit 48.

[0037] 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 irradiation was performed by the irradiation device 44 to the control unit 60. In addition, the second drone communication unit 47 communicates with the control unit 60 so that the second drone control unit 48 can mutually share control information.

[0038] As shown in FIG. 2, the second drone device 40 may include a manual operation unit 73, a monitor 74 provided on the operation unit 73, etc., as needed.

[0039] 5, the second drone control unit 48 has a built-in CPU 50 and a storage device 51 such as a memory, and controls connected devices to execute predetermined control based on a predetermined control program recorded in the memory or the like. The second drone control unit 48 is electrically connected to the second drone 42, the irradiation device 44, the second drone altitude measuring device 45, the second drone GPS device 46, the second drone communication unit 47, the temperature measuring device 49, and the like. These electrical connections may be made via wireless communication or the like.

[0040] 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 irradiation device 44 irradiates the microwaves Z, attitude control, rotation suppression control in the yawing direction, movement to the point of irradiation by the irradiation device 44, etc. 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 irradiation device 44 as needed, etc. The second drone-side control unit 48 can realize control to make the second drone 42 reach a predetermined altitude above the target point (search point) and irradiate the heating target area D with the irradiation device 44. 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 73 side. The second drone-side control unit 48 has an output device 77 such as a monitor and an input device 78 that can be operated for input, and is capable of setting various modes, etc.

[0041] 3, the mine disposal 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.

[0042] The control unit 60 has a function to execute heating control, for example, to heat the emulsion 30 supplied to the heating target area D by the supply device 10 of the first drone device 2 with microwaves Z irradiated from the irradiation device 44 of the second drone device 40. The control unit 60 has a function to execute control to supply the emulsion to the heating target area D by the supply device 10 of the first drone device 2. The control unit 60 also has a function to execute control to heat the emulsion 30 with microwaves Z irradiated from the irradiation device 44 of the second drone device 40.

[0043] 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 66, 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 established 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 66 of the control unit 60 stores the predetermined program, but it is not necessary 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.

[0044] The control unit 60 has a supply mode 62 that has the function of causing the computer to execute a supply step in which the emulsion 30 stored in the first tank 8 of the first drone device 2 is supplied by the supply device 10 toward the heating target area D where the mines M are expected to be located, using each program stored in the memory device 66; a heating mode 64 that has the function of causing the computer to execute a heating step in which the emulsion 30 supplied to the heating target area D by the supply step is heated by irradiating it with electromagnetic microwaves Z by the irradiation device 44 of the second drone device 40; and an altitude confirmation mode 65 in which, before starting the heating mode 64, for example, a heating mode using multiple second drone devices 40, the second drone device 40 measures the height from vertically above the heating target area D to the ground G and confirms the vertical distance between the ground of the heating target area D and the second drone device 40.

[0045] The control unit 60 may have a determination mode that executes a function of detecting or determining the explosion of the mine M. The control unit 60 causes the second drone camera 43 provided on the second drone 42 to take an image or video of the heating target point D, and analyzes the image, etc. The control unit 60 may also detect an explosion by using a sensor to detect the sound of the explosion or by detecting a pressure change due to the impact of the explosion.

[0046] Next, a series of operations of a mine disposal method for disposing of a mine M by the mine disposal system 1 will be described, as shown in FIG. As shown in FIG. 7, in preparation step S1 of the mine disposal system 1, the first drone 2, the second drone 40, the control unit 60, and other components of the mine disposal system 1 are prepared. The first drone 2 and the second drone 40 are located at departure point A (see FIG. 8). The emulsion 30 is formed by emulsifying water and vegetable oil (edible oil) through ultrasonic disruption using ultrasonic waves. This emulsion 30 is stored in the first tank 8. Emulsified using ultrasonic waves allows the emulsion 30 to remain emulsified for a relatively long period of time. The supply device 10 is also prepared so that it can be used. The control unit 60 also prepares or acquires flight data for the first drone 2 and the second drone 40 (e.g., coordinate information of the location where the mine M is expected to be located, the flight route to that coordinate, data (altitude data) such as the flight altitude relative to the ground G at each target coordinate, etc.). The mine M is found by some other search method, and for example, coordinate information of the mine M is acquired by the control unit 60. When step S1 ends, the control unit 60 proceeds to S2.

[0047] In step S2, the control unit 60 executes a supply step in which the supply device 10 supplies the emulsion 30 stored in the first tank 8 of the first drone 2 to a heating target area D where a mine M is assumed to be located. The control unit 60 first flies the first drone 2 above the heating target area D. The heating target area D is an exemplary provisionally set area where a mine M is assumed to be located. Heating the heating target area D can ignite the explosives of the mine M placed within the heating target area. Furthermore, by heating the heating target area D, even if the location of the mine M is not accurately determined, the heating target area D can be heated to explode and discover the mine M. Information about the heating target area D is provided to the control unit 60, for example, as coordinate information. The control unit 60 stops the supply operation of the emulsion 30 by the supply device 10 while the first drone 2 is moving from the starting point A to above the heating target area D. When the first drone device 2 arrives above the heating target area D, the control unit 60 executes a supply mode 62 of the emulsion 30 in the heating target area D, and executes a supply step S2 in which the emulsion 30 stored in the first tank 8 of the first drone device 2 is supplied by the supply device 10 toward the heating target area D where a landmine is expected to be present.

[0048] As shown in FIG. 1, the dispenser 10 may be configured to dispense, for example, 5 to 10 liters / m 2 of water over a time period ranging from about 20 seconds to about 2 minutes. 2 Water is poured from the supply port of the supply device so that the amount of water falls within the range of 3 mm to 5 mm. The supply device 10 may spray an amount that will achieve a rainfall amount of 3 mm to 5 mm. For example, the area around the mine M will be soaked in emulsion 30. In other words, a puddle will be visible in the heating target area D. During supply, the first drone device 2 hovers at a constant altitude above the heating target area as shown in FIG. 1 and supplies water while remaining almost stationary in the air.

[0049] When emulsion 30 is supplied onto the ground G, some of the water begins to seep into the ground, forming relatively shallow puddles on the ground G in the area to be heated. After step S2 is completed, control unit 60 proceeds to S3. After step S2 is completed, control unit 60 controls first drone device 2 to return to starting point A. Note that step S3 may be executed such that second drone device 40 performs step S3 in the area to be heated D immediately after first drone device 2 finishes supplying water to area to be heated D, without waiting for first drone device 2 to return to starting point A.

[0050] In step S3, the control unit 60 executes a heating step in which the emulsion supplied to the heating target area by the supply step S2 is heated by irradiating it with electromagnetic microwaves Z using the irradiation device 44 of the second drone device 40. When the control unit 60 starts S3, it causes the second drone device 40 to fly from the starting point A to above the heating target area D. The heating target area D is an example provisionally set area where the mine M is to be treated. The heating target area D is an area to which water has been supplied by the supply device 10 of the first drone device 2. The control unit 60 causes the second drone device 40 to fly to the vicinity above the heating target area D.

[0051] As shown in FIG. 3 , when the control unit 60 positions the second drone device 40 vertically above the heating target area D1, it causes one of the second drone devices 40 to measure the altitude to the ground G in the heating target area D before starting a heating mode, such as a heating mode using multiple second drone devices 40. This clarifies the relationship between the second drone device 40, the ground G in the heating target area D1, and the virtual heating point P in the heating target area D. The second drone device 40 that measured the altitude shares the altitude information with the control unit 60, and the other multiple second drone devices 40 share the altitude information. By executing an altitude confirmation mode to confirm the altitude in this manner, when the irradiation devices 44 of the multiple second drone devices 40 irradiate electromagnetic waves, such as microwaves, with each irradiation device 44, deviation from the virtual heating point P, which is the microwave Z of the electromagnetic waves from each irradiation device 44, can be suppressed, thereby further improving irradiation accuracy and ultimately heating efficiency. The altitude confirmation step using the altitude confirmation mode may be executed before the heating step.

[0052] As shown in FIG. 10, after measuring the altitude, the control unit 60 positions multiple other second drone devices 40 at the same altitude H2, all at positions (e.g., positions K1, K2, K3, and K4) that are point-symmetrical with the heating target area D as the center when viewed from above. Positions K1 to K4 are positions offset by 90 degrees on the same concentric circle. The multiple second drone devices 40 can simultaneously heat the emulsion 30 sprayed on the heating target area D using multiple irradiation devices 44. When four second drone devices 40 are provided, the four second drone devices 40 are positioned at 90-degree intervals around the heating target area D as the center when viewed from above, and the emulsion 30 in the heating target area D is simultaneously heated by the four irradiation devices 44. Note that in FIG. 10, the second drone 42 of the second drone device 40 is illustrated as having four arms and one blade attached to each arm (a total of four blades) as a modified example. As mentioned above, the second drones 42 can be changed to any number of arms and blades attached to each arm. Since multiple second drone devices 40 heat simultaneously, the temperature of the emulsion 30 can be heated more quickly to the target temperature, for example, a temperature within the range of 300°C to 350°C. Furthermore, when multiple second drone devices 40 heat simultaneously, the electric flux density increases, causing a thermal shock to the mine, making it easier to ignite with less energy.

[0053] The second drone device 40 irradiates the heating target area D with electromagnetic microwaves Z from an irradiation device 44 at an oblique angle, for example, 45 degrees from the horizontal, from a position offset from above the vertical line Y of the heating target area D (the vertical line of the heating target area D is indicated by the dashed line Y). The second drone device 40 is positioned on an imaginary line centered on the heating target area D and at an angle Q ranging from 30 degrees to 60 degrees above the horizontal plane of the heating target area D, and irradiates the heating target area D from an obliquely upward direction using the irradiation device 44. In this way, the second drone device 40 irradiates at an oblique angle from a position offset from above the heating target area in the vertical direction. This reduces the risk of damage to the second drone device 40 from the impact of the explosion of the mine M, or from fragments of the mine M or debris from the earth and sand, if the mine M is detonated. For example, microwaves Z are irradiated by the irradiation device 44 of the second drone device 40 toward a virtual heating point R located 5 cm underground at the coordinates of the heating target area D. The virtual heating point R is illustrated in FIG. 9 as a black circle. For example, microwaves Z are irradiated by the irradiation devices 44 of multiple other similar second drone devices 40 toward a virtual heating point R located 5 cm underground at the coordinates where a mine M is assumed to exist. The virtual heating point R can be changed within a range of 1 cm to 10 cm underground. Note that heating by irradiating microwaves Z does not occur only at the virtual heating point R but also in a nearby area slightly shifted from the virtual heating point R, and therefore the virtual heating point R is illustrated as a virtual target point.

[0054] The irradiation device 44 generates electromagnetic microwaves Z using a magnetron 44a and irradiates the directional microwaves Z toward the virtual heating point R using a horn reflector antenna 44b. The irradiation device 44 of one second drone device 40 heats the virtual heating point R with an output of, for example, 2 kW. Approximately simultaneously, the irradiation devices 44 of multiple other second drone devices 40, for example, three second drone devices 40, heat the virtual heating point R with an output of, for example, 2 kW. Therefore, at the virtual heating point R, the vibration of water molecules causes intense heating, for example, heating exceeding 300°C in a time period ranging from approximately 30 to approximately 60 seconds. In theory, water molecules alone would evaporate at 100°C, but because the emulsion 30 is mixed with oil and emulsified, the temperature of the emulsion 30 reaches high temperatures, for example, approaching 350°C or 400°C. Therefore, if a mine M exists, the temperature inside the mine M will reach the explosive ignition temperature, for example 300° C., and the explosive inside the mine M will ignite and explode due to the heat. Therefore, the mine M can be detonated in the heating step S3.

[0055] Because the irradiation device 44 transmits the microwaves Z using the horn reflector antenna 44b, the microwaves Z are less likely to diffuse and attenuation over distance is suppressed. Therefore, the second drone device 40 can irradiate the microwaves Z from a position at a distance L between approximately 5 m and 10 m from the heating target area D. The distance L may be, for example, between approximately 2 m and 20 m, between approximately 3 m and 10 m, or between approximately 2 m and 5 m. Because the second drone device 40 can detonate the mine M from a position at least 1 m to 3 m away from the mine M, the risk of damage to the second drone device 40 due to the impact of the mine M detonation or fragments of the mine M or debris from the mine M can be reduced.

[0056] As a modified example, the irradiation device 44 may irradiate the microwaves Z toward the virtual heating point R in the heating target area D while rotating on a horizontal plane centered on a vertical line Y extending vertically from the virtual heating point R (heating target area D). For example, the irradiation device 44 can irradiate while circling on the circumference on a horizontal plane centered on the vertical line Y. By having the irradiation device 44 irradiate radio waves while rotating in a circular motion around the periphery, it is possible to reduce the occurrence of uneven heating, increase the heating efficiency of the mine M, and improve processing efficiency. Note that, in order to prioritize the temperature increase of the heated area, the irradiation device 44 may irradiate the microwaves Z toward the virtual heating point R while hovering in approximately the same area without rotating.

[0057] When the control unit 60 determines in the determination mode that the mine M has been detonated, it causes the second drone device 40 to return toward the starting point A. When step S3 is completed, the control unit 60 proceeds to End.

[0058] The control unit 60 can also perform a similar heating operation in a heating target area D where it is not known whether or not a mine M exists, while also searching or scanning for the presence of the mine M.

[0059] The heating target area D is, for example, an area of ​​30 cm square, or an area of ​​20 cm square. The heating target area D can also be a rectangular area with one side measuring 10 cm. The heating target area D is a virtual area, and its shape and size can be set arbitrarily.

[0060] Examples of an embodiment of the present invention may be provided in each aspect as described below.

[0061] (1) A mine disposal system for disposing of landmines, comprising: a first drone device comprising a first drone, a first tank mounted on the first drone for storing an emulsion, and a supply device for supplying the emulsion toward a heating target area where the landmine is assumed to be located; and a second drone device comprising a second drone and an irradiation device mounted on the second drone for irradiating electromagnetic waves that vibrate and heat water molecules; and the emulsion supplied to the heating target area by the supply device of the first drone device is heated by the electromagnetic waves irradiated from the irradiation device of the second drone device.

[0062] (2) The mine disposal system according to (1), wherein the emulsion is formed by emulsifying water and vegetable oil.

[0063] (3) The mine disposal system according to (1), wherein the irradiation device irradiates electromagnetic waves using a horn reflector antenna.

[0064] (4) The mine disposal system described in (1) above, in which a plurality of the second drone devices are provided, and the plurality of second drone devices simultaneously heat the emulsion sprayed onto the heating target area.

[0065] (5) The mine disposal system described in (1) is provided with four second drone devices, which are arranged every 90 degrees around the heating target area when viewed from above, and heat the emulsion in the heating target area at the same time.

[0066] (6) The second drone device is centered on the area to be heated and positioned at an angle ranging from 30 degrees to 60 degrees above the horizontal plane of the area to be heated, and irradiates the area to be heated with the irradiation device.

[0067] (7) The mine disposal system described in (1), wherein the second drone device irradiates the area to be heated with electromagnetic waves obliquely from a position shifted vertically above the area to be heated using the irradiation device.

[0068] (8) The mine disposal system described in (1), wherein the second drone device has an altitude confirmation mode that measures the height from vertically above the area to be heated to the ground before starting the heating mode by the second drone device, and confirms the height between the ground of the area to be heated and the second drone device.

[0069] (9) A mine disposal method for disposing of landmines, comprising: a supply step of supplying an emulsion stored in a first tank of a first drone device by the supply device toward a heating target area where the landmine is assumed to be located; and a heating step of irradiating the emulsion supplied to the heating target area by the supply step with electromagnetic waves by the irradiation device of a second drone device to heat the emulsion.

[0070] 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, multiple second drone devices 40 are provided. However, as a modified example, only one second drone device may be provided. Even with one second drone device, a certain effect can be achieved. As another modified example, multiple second drone devices 40, for example, five or more, may be provided. When the number of second drone devices 40 increases, sufficient heating can be performed at the heating target point even if the output of each second drone device is reduced. This has the advantage of making each second drone device cheaper and easier to manufacture. If the output of each second drone device is not reduced, the total output of the multiple second drone devices becomes high, allowing the emulsion to be heated all at once in a short period of time, thereby improving the efficiency of processing mines M.

[0071] As a variant, the mine disposal system 1 may be provided with multiple first drone devices 2, for example, two or more. To a heating target area D to which one first drone device 2 supplies water using a supply device 10, another first drone device 2 simultaneously supplies emulsion 30 using the supply device 10 or at a timing before or after the timing, thereby supplying the heating target area D with the intended total supply amount, for example, the amount of emulsion 30 supplied by one first drone device 2 in this embodiment. Because multiple first drone devices 2, for example, two, three, or more first drone devices 2, can supply emulsion to a single heating target area D, the amount of emulsion supplied by each first drone device 2 can be reduced, and the first tank 8 can be made smaller, making it easier to manufacture the first drone devices 2. In this case, the multiple first drone devices 2 can be group-controlled or moved in a formation by a control unit 60 or the like.

[0072] As a modified example, as shown in FIG. 11 , the second drone device 40 includes a gimbal device 52. The gimbal device 52 is attached to the horn reflector antenna 44b. The gimbal device 52 has a function of suppressing shaking and shaking in the radiation direction of the horn reflector antenna 44b. The gimbal device 52 has a function of changing and adjusting the radiation direction of the horn reflector antenna 44b. The gimbal device 52 forms a three-axis electric gimbal that can control movement along three axes: pan (horizontal), tilt (vertical), and roll (rotational). The control unit 60 controls the gimbal device 52 to change and maintain the radiation direction of the horn reflector antenna 44b in the intended direction. The control unit 60 also controls the gimbal device 52 to correct shaking in the radiation direction of the horn reflector antenna 44b, such as shaking due to wind or external disturbances during drone flight, thereby maintaining the radiation direction of the horn reflector antenna 44b in the intended direction. The gimbal device 52 may receive an operation command via the operation unit 73. The gimbal device 52 is not limited to a three-axis gimbal structure, but may also have a two-axis gimbal structure or a single-axis gimbal structure. Furthermore, the gimbal device 52 is not limited to an electrically operated gimbal, but may also be configured as a mechanical gimbal such as one configured with a balance and a counterweight. [Explanation of symbols]

[0073] 1: Mine clearance system 2: First drone device 6: First drone 8: First Tank 10: Feeding device 30: Emulsion 40: Second drone device 42: Second drone 44: Irradiation device 44b: Horn reflector antenna

Claims

1. A mine clearance system for clearing land mines, comprising: a first drone device including a first drone, a first tank provided on the first drone and storing an emulsion, and a supply device that supplies the emulsion toward a heated area where the mine is assumed to be present; a second drone device including a second drone and an irradiation device provided on the second drone and configured to irradiate electromagnetic waves that vibrate and heat water molecules; A mine disposal system in which the emulsion supplied to the heating target area by the supply device of the first drone device is heated by electromagnetic waves irradiated from the irradiation device of the second drone device, and the emulsion is formed by emulsifying water and vegetable oil by mixing them together.

2. 2. The mine disposal system according to claim 1, wherein the irradiation device irradiates electromagnetic waves using a horn reflector antenna.

3. 2. The mine disposal system according to claim 1, wherein a plurality of the second drone devices are provided, and the plurality of second drone devices simultaneously heat the emulsion sprayed onto the heating target area.

4. 2. The mine disposal system according to claim 1, wherein four second drone devices are provided, the four second drone devices being arranged at 90-degree intervals around the heating target area in a top view, and heating the emulsion in the heating target area at the same time.

5. 2. The mine disposal system of claim 1, wherein the second drone device is positioned at an angle of 30 to 60 degrees above the horizontal plane of the heated area, with the heated area being the center, and irradiates the heated area with the irradiation device.

6. 2. The mine disposal system according to claim 1, wherein the second drone device irradiates the electromagnetic waves obliquely onto the heated area using the irradiation device from a position shifted vertically above the heated area.

7. 2. The mine disposal system of claim 1, wherein the second drone device has an altitude confirmation mode that measures the height from vertically above the area to be heated to the ground before starting the heating mode by the second drone device and confirms the height between the ground of the area to be heated and the second drone device.

8. A mine clearance method for clearing land mines, comprising the steps of: a supplying step of supplying, by a supplying device, an emulsion stored in a first tank of a first drone device and formed by emulsifying water and vegetable oil, toward a heating target area where the landmine is assumed to be present; A mine disposal method comprising a heating step of irradiating the emulsion supplied to the heating target area by the supply step with electromagnetic waves using an irradiation device of a second drone device to heat the emulsion.

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