Radio wave screening device and radio wave screening method

Abstract

The present invention provides a radio wave screening device and radio wave screening method that can screen for the presence of landmines that detonate in response to radio waves without workers having to approach them. [Solution] The radio wave screening device 1 comprises a drone system 2, a first communication module 20 mounted on the drone system and corresponding to a first communication method, a first antenna 22 configured so that the communication radio waves of the first communication method are irradiated onto at least a virtual target area, and a control unit 60. The control unit 60 includes a first screening mode 72 that irradiates the virtual target area with the communication radio waves of the first communication method using the first antenna and screens whether there are any landmines that detonate in response to the radio waves.

Description

Technical Field

[0007] , ,

[0001] The present invention relates to a radio wave screening device and a radio wave screening method.

Background Art

[0002] Conventionally, as shown in Patent Document 1, there is known a technique for detecting a landmine by photographing with an infrared camera and utilizing the difference in specific heat between the landmine and the surrounding area of the landmine.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, the technique shown in Patent Document 1 has a demerit of low measurement accuracy when the landmine is hidden in the ground. Further, in order to detect with this technique, it is necessary to measure in a time zone after a large change in temperature such that the difference in specific heat of temperature can be utilized, and there is a problem that there is a restriction on the efficiency of landmine detection.

[0005] Further, for landmines that detonate in response to radio waves, since they are arranged differently from conventional landmines, there is a problem that it is difficult to find them and it is dangerous for an operator to approach and process the landmines.

[0006] The present invention has been made to solve such problems, and an object thereof is to provide a radio wave screening device and a radio wave screening method capable of screening whether there are landmines that detonate in response to radio waves without an operator approaching the landmines.

Means for Solving the Problems

[0007] To achieve the above objective, according to one embodiment of the present invention, a radio wave screening device comprises a drone system, a first communication module mounted on the drone system and corresponding to a first communication method, a first antenna configured to irradiate at least a virtual target area with communication radio waves of the first communication method, and a control unit, wherein the control unit includes a first screening mode that irradiates the virtual target area with communication radio waves of the first communication method using the first antenna and screens whether there are any landmines that detonate in response to the radio waves. According to the embodiment of the present invention configured in this manner, the first screening mode of the control unit causes the first antenna to irradiate a virtual target area with communication radio waves of the first communication method, thereby screening for the presence of landmines that detonate in response to radio waves. This allows workers to screen for landmines that detonate in response to radio waves without having to approach them. Therefore, it is possible to make it easier to deal with landmines that detonate in response to radio waves.

[0008] According to one embodiment of the present invention, preferably, a radio wave screening method comprising: a preparation step of preparing a radio wave screening device comprising a drone device, a first communication module mounted on the drone device and corresponding to a first communication scheme, a first antenna configured to irradiate at least a virtual target area with communication radio waves of the first communication scheme, and a control unit; and a first screening step of irradiating the virtual target area with communication radio waves of the first communication scheme using the first antenna and screening whether there are any landmines that detonate in response to the radio waves. According to the embodiment of the present invention configured in this manner, the first screening step of the control unit causes the first antenna to irradiate a virtual target area with communication radio waves of the first communication method, thereby screening whether there are any landmines that detonate in response to radio waves. This makes it possible to screen whether there are any landmines that detonate in response to radio waves without workers having to approach them. Therefore, it is possible to make it easier to deal with landmines that detonate in response to radio waves. [Effects of the Invention]

[0009] According to the radio wave screening device and radio wave screening method of the present invention, it is possible to screen for the presence of landmines that detonate in response to radio waves without workers having to approach the landmines. [Brief explanation of the drawing]

[0010] [Figure 1] This is a schematic diagram showing an outline of a radio wave screening device according to one embodiment of the present invention. [Figure 2] This is a schematic diagram of a drone system for a radio wave screening device according to one embodiment of the present invention. [Figure 3] This is a block diagram showing the relationship between the drone system and the control unit in a radio wave screening device according to one embodiment of the present invention. [Figure 4] This is a block diagram showing the configuration of a drone system in a radio wave screening device according to one embodiment of the present invention. [Figure 5] This is a block diagram showing the configuration of the control unit in a radio wave screening device according to one embodiment of the present invention. [Figure 6] This figure shows a flowchart of a radio wave screening method related to a radio wave screening device according to one embodiment of the present invention. [Figure 7] This figure shows a drone system in a radio wave screening device according to one embodiment of the present invention moving sequentially through screening points. [Figure 8] This is a top view, seen from above, of the drone system screening for landmines at a screening site, as a modified example in which the drone system of the radio wave screening device according to one embodiment of the present invention has multiple drones. [Modes for carrying out the invention]

[0011] The following describes a radio wave screening device 1 according to one embodiment of the present invention, with reference to the attached drawings. The embodiments described herein are illustrative and will be apparent to those skilled in the art that many modifications, changes, and substitutions are possible within the spirit and scope of the present invention. Therefore, the present invention is not limited to the embodiments disclosed, and various modifications, changes, etc., are possible in its form and details without departing from the claims. Furthermore, the components disclosed in the specification can be freely combined.

[0012] As shown in Figure 1, a radio wave screening device 1 according to one embodiment of the present invention has the function of screening for the presence of landmines that detonate in response to radio waves, such as those used in mobile phones. The radio wave screening device 1 has the function of searching for landmines that detonate in response to radio waves. Furthermore, the radio wave screening device 1 has the function of detonating landmines that detonate in response to radio waves in response to radio waves. The radio wave screening device 1 makes it possible for searchers to deal with landmines that detonate in response to radio waves relatively safely without having to approach the landmines.

[0013] The radio wave screening device 1 comprises a drone system 2, a first communication module 20, a first antenna 22, a second communication module 24, a second antenna 26, a third communication module 28, a third antenna 29, a voice generator 31, and a control unit 60. Landmines M are either on the surface of the ground G or buried in the ground near the surface. For example, landmines M may be lying on the surface, at a depth of 1 cm to 100 cm from the surface, or at a depth of 1 cm to 50 cm from the surface. There are various types of landmines M, including those with explosives placed in a metal container, and those with explosives placed in a plastic or other resin container that cannot be detected by metal detectors. Landmines M intended for anti-personnel use have a diameter of 5 cm to 20 cm, while anti-tank uses can be as small as a manhole cover. To minimize human casualties, it is crucial to safely search for, detect, and dispose of landmines M. In recent years, landmines M have been developed that are buried and invisible from the surface, and that detonate in response to radio waves, such as those used in mobile phones. For example, the landmine M shown in Figure 1 is a landmine that detonates in response to radio waves. Landmine M does not activate by sensing pressure, but rather detonates in response to radio waves from mobile phones, etc. Landmine M also includes explosives that are radio-reactive, similar to landmines.

[0014] As shown in Figure 4, the drone system 2 comprises a drone 6, a drone-side camera 10, a drone-side altitude measuring device 12, a drone-side GPS device 14, a drone-side communication unit 15, and a drone-side control unit 16.

[0015] As shown in FIG. 1, the drone 6 is an unmanned aircraft, for example, a multi-copter type drone, but it may be other forms of unmanned aircraft. The drone 6 includes a fuselage main body 6a, a rotor 6b for rotating a blade, and a blade (rotary wing) 6c on each of the four arms extending from the fuselage main body 6a toward the surroundings. By controlling the rotation speed of each blade 6c, the drone 6 is configured to be able to move in the front-back, left-right, and up-down directions. The drone 6 is configured to generate a lift force such that it can fly with the first communication module 20, the first antenna 22, etc. mounted thereon. In this embodiment, the drone 6 includes four arms and one blade installed on each arm (a total of four blades), but it may be changed to other numbers of arms and blades installed on each arm. The drone 6 can fly along a predetermined position, a predetermined altitude, and a predetermined course by a control unit 60 described later, and even for takeoff and landing, it can be fully automatically performed along a predetermined program. Therefore, the drone 6 can search for mines along a predetermined route from the departure point A (see FIG. 7) and return to a return point, for example, the same point as the departure point. Note that the drone system 2 includes a manual operation unit 70, and all or part of the control may be manually operated by the manual operation unit 70. The drone 6 may be changed to another type of flying object that can fly to an arbitrary position, such as a helicopter.

[0016] As shown in FIG. 4, the drone-side camera 10 is provided on the fuselage main body 6a of the drone 6 and can photograph and visually recognize the surrounding situation from the drone 6. The drone-side camera 10 has a function capable of video shooting and photo shooting. With the drone-side camera 10, the user can confirm the surrounding situation of the drone-side camera 10 from a remote location and can photograph and record the ground situation at the search point (detection point). The drone-side camera 10 is provided so that the situation of the virtual target area on the lower side that irradiates radio waves can be confirmed.

[0017] The drone-side altitude measuring device 12 is provided on the airframe main body 6a and can measure the altitude H (distance) of the drone 6 with respect to the ground G where the mine M may be buried. The drone-side altitude measuring device 12 uses, for example, an ultrasonic altimeter that can measure the height to the ground G. The drone-side altitude measuring device 12 may be composed of any one of a pressure measuring sensor that can measure the flight altitude by measuring the air pressure, an ultrasonic sonar that can measure the distance from the drone 6 to the ground G, a laser measurement sensor that can measure the distance from the drone 6 to the ground G, a LIDAR sensor that can measure the distance from the drone 6 to the ground G, or any combination thereof. Thereby, the drone-side altitude measuring device 12 can measure the altitude H (distance) from the drone 6 to the ground G. For example, the drone-side altitude measuring device 12 can measure the altitude (distance) H within the range of a predetermined distance of 10 cm to 2 m from the drone 6 to the ground G, more preferably the altitude H within the range of 30 cm to 1 m, and even more preferably the altitude H within the range of 30 cm to 50 cm. After the drone-side altitude measuring device 12 recognizes the altitude H (distance) to the ground G, for example, it can perform control to cause the first antenna 22 to irradiate communication radio waves of the first communication method according to a command from the control unit 60.

[0018] The drone-side GPS device 14 can identify the current position information of the drone 6 (for example, information such as latitude and longitude) using satellites. Further, the drone-side GPS device 14 can recognize the position of the drone 6 and provide the position information necessary for predetermined flight control of the drone 6.

[0019] The drone-side communication unit 15 can wirelessly communicate the data on the drone system 2 side with the control unit 60. For example, the drone-side communication unit 15 can transmit information such as the position (coordinates, altitude) of the drone 6 and the irradiation of communication radio waves of the first communication method by the first antenna to the control unit 60. Also, in the case of working jointly with other drone devices, the drone-side communication unit 15 can share mutual position information and control information with the drone-side communication units of other drones. The control unit 60 can enable group control of the drone system 2 and other drone devices.

[0020] The drone system 2 may be equipped with manual controls, monitors, etc., as needed.

[0021] The drone-side control unit 16 incorporates a CPU 17 and a storage device 19 such as memory, and controls connected devices to execute predetermined controls based on a predetermined control program recorded in the memory, etc. The drone-side control unit 16 is electrically connected to the drone 6, the first communication module 20, the first antenna 22, the second communication module 24, the second antenna 26, the third communication module 28, the third antenna 29, the drone-side camera 10, the drone-side altitude measuring device 12, the drone-side GPS device 14, the drone-side communication unit 15, etc. These electrical connections may be made by wireless communication or the like.

[0022] The drone-side control unit 16 can perform flight control of the drone 6. The drone-side control unit 16 is configured to perform predetermined functions in cooperation with the control unit 60. The drone-side control unit 16 controls the drone system 2 and the flight of the drone 6 together with the control unit. More specifically, the drone-side control unit 16 can control the position (coordinates, altitude) where the first communication module 20 and the first antenna 22 emit radio signals, the position (coordinates, altitude) where the second communication module 24 and the second antenna 26 emit radio signals, the position (coordinates, altitude) where the third communication module 28 and the third antenna 29 emit radio signals, attitude control during illumination, rotation suppression control in the yawing direction, movement between detection points, etc. In this way, the drone-side control unit 16 can control the flight altitude of the drone 6, the flight route, the rotation speed of each blade, attitude (including left and right roll and yawing in the rotation direction, etc.), and, if necessary, the operation control of the first communication module 20 and the first antenna 22, etc. The drone-side control unit 16 can control the drone 6 to reach a predetermined altitude above the target point (search point), and the first communication module 20 and the first antenna 22, etc., to emit radio signals toward the ground G. The drone-side control unit 16 may be provided as an integral part with the control unit 60. For example, all or part of the functions of the drone-side control unit 16 may be provided on the control unit 60 side. All or part of the functions of the drone-side control unit 16 may be provided on the information terminal equipment, etc., on the operation unit 70 side. Thus, the drone system 2 may be equipped with a manual operation unit 70, a monitor 71 for the operation unit 70, etc., as needed. The drone system 2 may be controlled entirely or partially by manual operation using the manual operation unit 70.

[0023] As shown in Figures 1 and 2, the first communication module 20 is a device equipped with the function of transmitting and receiving radio waves corresponding to the first communication method. The first communication module 20 is mounted on the drone system. The first communication module 20 is equipped with the function of transmitting and receiving radio waves corresponding to the first communication method, separate from the communication of the drone-side communication unit 15, i.e., the communication for controlling the drone system 2. The first communication module 20 mainly generates radio wave signals for radio wave screening. The first communication module 20 is a device equipped with the function of transmitting and receiving radio waves corresponding to the wireless communication method of LTE (4G), for example, as the first communication method. The first communication module 20 constitutes an LTE communication module (4G modem). The first communication module 20 generates radio waves at frequencies (MHz) corresponding to LTE (4G) and transmits them from the corresponding first antenna. So-called frequencies (MHz) corresponding to LTE (4G) are, for example, 800MHz, 900MHz, 1800MHz, 2100MHz, 2500MHz, etc. Therefore, for example, a frequency of 2100 MHz, which is commonly used in that region, is selected, and a first communication module 20 and a first antenna 22 corresponding to that frequency are configured. In this case, for different frequencies, the screening device may be configured with different communication modules and antennas. For example, the radio wave screening device 1 may be configured with different device configurations for each frequency, for example, a fourth frequency with a fourth communication module and a fourth antenna, and a fifth frequency with a fifth communication module and a fifth antenna.

[0024] The first communication module 20 can be changed to a communication module that supports other communication methods, such as a communication module that supports the so-called Wi-Fi wireless communication method, a communication module that supports the so-called Bluetooth wireless communication method, or a communication module that supports the so-called 5G (5th Generation Mobile Network) wireless communication method.

[0025] The first antenna 22 is positioned and configured to irradiate at least the virtual target area D (see Figures 1 and 7, etc.) with the communication radio waves A1 of the first communication system. The communication radio waves A1 reach the virtual target area D as shown by arrow B (see Figure 1). The first antenna 22 is also configured to have a directional function such that, for example, the main portion of the communication radio waves A1 of the first communication system is irradiated towards the virtual target area D (see Figure 1, etc.). For example, by directing the main portion of the communication radio waves A1 of the first communication system (for example, more than half of the transmitted radio waves) towards the virtual target area D, the accuracy of detecting landmines that detonate in response to radio waves and the screening efficiency can be improved. The virtual target area D is formed in a predetermined area, for example, as a virtual area enclosed by a square with dimensions of 30 cm in length and 30 cm in width. The virtual target area D is, for example, a virtual rectangular area on the ground surface G. The virtual target area D may also be formed as a circular area with a radius of, for example, 20 cm. The radio wave screening device 1 can screen the virtual target area D to determine if there are any landmines that detonate in response to radio waves. As shown in Figure 7, once the screening is completed in the virtual target area D (D1), the radio wave screening device 1 can then screen a wider area of ​​the next virtual target area D (D2) to determine if there are any landmines M that detonate in response to radio waves. The virtual target area D is, for example, an area at the ground level G and can be set by moving it horizontally. The ground level height refers to a height within a predetermined range relative to the ground G, for example, 10 cm above ground to 10 cm below ground, or for example, 5 cm above ground to 5 cm below ground.

[0026] The virtual target area D may be set to a depth in the ground below the surface level. A virtual target area DU set to a depth in the ground is illustrated in Figure 1. The virtual target area DU is, for example, an area where the shape of the virtual target area D is assumed to be at a depth of 10 cm to 50 cm from the surface, or at a depth of 10 cm to 30 cm from the surface. Therefore, the first antenna 22 can be positioned and configured to irradiate at least the virtual target area DU with the communication radio waves A1 of the first communication system. Therefore, the first antenna 22 may be configured to have a directional function that irradiates the main portion of the communication radio waves A1 of the first communication system toward the virtual target area DU (see Figure 1, etc.). In this way, the first antenna 22 can irradiate a predetermined radio wave toward the underground virtual target area DU.

[0027] The first antenna 22 is formed, for example, as a Yagi antenna to have a directional function. The first antenna 22 may also be formed as a panel antenna, patch antenna, parabolic antenna, etc. Those skilled in the art can adjust the antenna shape according to the communication method. By configuring the first antenna 22 as a highly directional antenna, the accuracy of screening for landmines M in the virtual target area D can be improved. Note that the first antenna 22 may be an omnidirectional antenna such as a dipole antenna. The first antenna 22 can irradiate at least the virtual target area D with the communication radio waves A1 of the first communication method and achieve a certain effect in screening for the presence of landmines M that detonate in response to radio waves. The first antenna 22 can output radio waves of up to about 20 dBm within a range of 30 degrees from downward.

[0028] As shown in Figure 1, the second communication module 24 is a device equipped with the function of transmitting and receiving radio waves corresponding to the second communication method. The second communication module 24 is a communication module that corresponds to the second communication method, which is different from the first communication method. The second communication module 24 is mounted on the drone system. The second communication module 24 is equipped with the function of transmitting and receiving radio waves corresponding to the second communication method, which is separate from the communication of the drone-side communication unit 15, i.e., the communication for controlling the drone system 2. The second communication module 24 generates a radio wave signal for radio wave screening. The second communication module 24 is a device equipped with the function of transmitting and receiving radio waves corresponding to the second communication method, for example, the Wi-Fi wireless communication method. The second communication module 24 generates radio waves at a frequency (MHz) corresponding to Wi-Fi and transmits them from the corresponding second antenna. The second communication module 24 constitutes a Wi-Fi access point module. The frequencies (MHz) compatible with Wi-Fi are, for example, within the ranges of 2.4GHz to 2.5GHz, 5.15GHz to 5.85GHz, and 5.9GHz to 7.1GHz. Therefore, for example, a frequency of 2.4GHz, which is commonly used in that region, is selected, and a second communication module 24 and a second antenna corresponding to that frequency are configured. In this case, screening devices can be configured using different communication modules and antennas for different frequencies.

[0029] The second communication module 24 can be changed to a communication module that supports other communication methods, such as the so-called LTE wireless communication method, the so-called Bluetooth wireless communication method, or the so-called 5G (5th Generation Mobile Network) wireless communication method.

[0030] The second antenna 26 is positioned and configured to irradiate at least the virtual target area D (see Figures 1 and 7, etc.) with the communication radio waves A2 of the second communication method. The communication radio waves A2 reach the virtual target area D as shown by arrow B (see Figure 1). The second antenna 26 is also configured to have a directional function, for example, to irradiate the main portion of the communication radio waves A2 of the second communication method towards the virtual target area D (see Figure 1, etc.). Further explanations regarding the virtual target area D and the virtual target area DU that overlap with the above will be omitted.

[0031] The second antenna 26 can be positioned and configured to irradiate at least the virtual target area DU with communication radio waves A2 of the second communication system. The second antenna 26 may also be configured to have a directional function that irradiates the main portion of the communication radio waves A2 of the second communication system toward the virtual target area DU. In this way, the second antenna 26 can irradiate a predetermined radio wave toward the underground virtual target area DU.

[0032] The second antenna 26 is formed, for example, as a Yagi antenna to have a directional function. The second antenna 26 may also be formed as a panel antenna, patch antenna, parabolic antenna, etc. Those skilled in the art can adjust the antenna shape according to the communication method. By configuring the second antenna 26 as a highly directional antenna, the accuracy of screening for landmines M in the virtual target area D can be improved. In addition, an omnidirectional antenna such as a dipole antenna may be used for the second antenna 26. The second antenna 26 can irradiate at least the virtual target area D with communication radio waves A2 of the second communication method and achieve a certain effect in screening for the presence of landmines M that detonate in response to radio waves.

[0033] As shown in Figure 1, the third communication module 28 is a device equipped with the function of transmitting and receiving radio waves corresponding to the third communication method. The third communication module 28 is a communication module that corresponds to the third communication method, which is different from both the first and second communication methods. The third communication module 28 is mounted on the drone system 2. The third communication module 28 is equipped with the function of transmitting and receiving radio waves corresponding to the third communication method, which is separate from the communication of the drone-side communication unit 15, i.e., the communication for controlling the drone system 2. The third communication module 28 generates a radio wave signal for radio wave screening. The third communication module 28 is a device equipped with the function of transmitting and receiving radio waves corresponding to the wireless communication method of 5G (5th Generation Mobile Network) as the third communication method. The third communication module 28 generates radio waves at frequencies (MHz) corresponding to so-called 5G and transmits them from the corresponding third antenna. Frequencies (MHz) corresponding to so-called 5G are, for example, frequencies within the ranges of 3.6GHz to 4.0GHz, 3GHz to 5GHz, and 27GHz to 28GHz. Therefore, for example, a value within the frequency range of 3.6 GHz to 4.0 GHz, which is commonly used in that region, is selected, and the third communication module 28 and third antenna 29 corresponding to that frequency are configured. In this case, screening devices can be configured using different communication modules and antennas for different frequencies.

[0034] The third communication module 28 can be changed to a communication module that supports other communication methods, such as the so-called LTE wireless communication method, the so-called Bluetooth wireless communication method, the so-called Wi-Fi wireless communication method, and so on.

[0035] The third antenna 29 is positioned and configured to irradiate at least the virtual target area D (see Figure 1, etc.) with the communication radio waves A3 of the third communication system. The communication radio waves A3 reach the virtual target area D as shown by arrow B (see Figure 1). The third antenna 29 is also configured to have a directional function, for example, to irradiate the main portion of the communication radio waves A3 of the third communication system towards the virtual target area D (see Figure 1, etc.). Further explanations regarding the virtual target area D and the virtual target area DU that overlap with the above will be omitted.

[0036] The third antenna 29 can be positioned and configured to irradiate at least the virtual target area DU with the communication radio waves A3 of the third communication system. The third antenna 29 may also be configured to have a directional function that irradiates the main portion of the communication radio waves A3 of the third communication system toward the virtual target area DU. In this way, the third antenna 29 can irradiate a predetermined radio wave toward the underground virtual target area DU.

[0037] The third antenna 29 is formed, for example, as a Yagi antenna to have a directional function. The third antenna 29 may also be formed as a panel antenna, patch antenna, parabolic antenna, etc. Those skilled in the art can adjust the antenna shape according to the communication method. By configuring the third antenna 29 as a highly directional antenna, the accuracy of screening for landmines M in the virtual target area D can be improved. In addition, an omnidirectional antenna such as a dipole antenna may be used for the third antenna 29. The third antenna 29 can irradiate at least the virtual target area D with the communication radio waves A3 of the third communication method and achieve a certain effect in screening for the presence of landmines M that detonate in response to the radio waves.

[0038] The sound generator 31 can generate sound. The sound generator 31 emits sound, including human voices, around the drone system 2. The sound generator 31 is configured to play, for example, the audio of a radio program, which includes human voices, at a relatively high volume. Therefore, the sound generator 31 is configured to emit sound, including human voices, towards the virtual target area D. The sound generator 31 includes, for example, a sound generator such as a radio, and a speaker device that amplifies the sound. The sound generator 31 can perform screening and mine disposal for landmines that are detonated by detecting sound, including human voices, along with the detection of radio waves.

[0039] The control unit 60 is configured to irradiate a virtual target area D with a communication radio wave A1 of the first communication method using the first antenna 22, screen for landmines M that detonate in response to the radio wave, and execute control to detonate and dispose of any such landmines M. The control unit 60 is installed in a computer located at a distance from the drone system 2, for example. As shown in Figure 3, the control unit 60 is electrically connected to the drone system 2 via the internet 3. The control unit 60 may also be installed in an electronic device that functions as a computer, such as a smartphone or tablet. As shown in Figure 1, the control unit 60 has a built-in CPU 63 and a storage device 65 such as memory, and controls the connected device based on a predetermined control program recorded in the memory, etc. Therefore, 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 by wireless communication such as infrared communication or other methods. The control unit 60 has a predetermined program for executing predetermined control functions. The control unit 60 may also be composed of multiple devices. The storage device 65 of the control unit 60 stores a predetermined program, but it does not necessarily have to store all of the program; some or all of it may be stored in multiple devices, or on a server via the Internet. For example, the drone-side control unit 16 mounted on the drone system 2 may be configured to execute some or all of the control functions. The control unit 60 is equipped with output devices 62 such as a monitor and input devices 64 that can be operated, and various modes can be set.

[0040] The control unit 60 includes a first screening mode 72 in which it irradiates a virtual target area D with a communication radio wave A1 of the first communication method using the first antenna 22, and screens whether there are any landmines that detonate in response to the radio wave. The control unit 60 includes a second screening mode 73 in which it irradiates the virtual target area D with the communication radio waves A2 of the second communication method using the second antenna 26, and screens for the presence of landmines that detonate in response to the radio waves. Therefore, the second screening mode 73 allows for screening of landmines M that detonate in response to radio waves even with the communication radio waves A2 of the second communication method, increasing the likelihood of processing the landmines M and improving the processing performance of landmines that detonate in response to radio waves.

[0041] The control unit 60 includes a third screening mode 74 in which it irradiates the virtual target area D with the communication radio waves A3 of the third communication method using the third antenna 29, and screens whether there are any landmines that detonate in response to the radio waves. Therefore, the third screening mode 74 makes it possible to screen for landmines M that detonate in response to radio waves even with the communication radio waves A3 of the third communication method, thereby increasing the possibility of processing the landmines M and improving the processing performance of landmines that detonate in response to radio waves. The control unit 60 switches between the first screening mode 72, the second screening mode 73, and the third screening mode 74 according to a predetermined rule and executes them sequentially, and includes a fourth screening mode 75 that screens radio wave reactants in the virtual target area D using radio waves from multiple communication methods. This improves the possibility of detecting and processing landmines M that react to different radio waves.

[0042] The control unit 60 includes a first altitude control mode 76 that controls the altitude of the drone 6 of the drone system 2 so that the virtual target area D is aligned with the ground level. This allows for screening to determine whether or not landmines are present at ground level, where there is a relatively high probability of landmines M being present.

[0043] The control unit 60 includes a second altitude control mode 77 that controls the altitude of the drone 6 of the drone system 2 so that the virtual target area is aligned with the ground level below the surface level. This allows for screening for the presence or absence of landmines at ground levels below the surface level, even when the landmines M are buried at relatively deep depths. Therefore, the underground can also be screened, making it easier to deal with landmines that detonate in response to radio waves. The control unit 60 includes a third altitude control mode 78 that lowers the virtual target area D from the ground level at a predetermined coordinate to a subsurface level below the ground level, while screening for the presence of landmines M. This allows screening for the presence of landmines M down to a predetermined depth in the ground. The control unit 60 also includes a fifth screening mode 79 that, after screening one area, moves the virtual target area D horizontally and performs screening of the next area, and expands the area that has been screened by repeating this process. This allows automatic screening and mine clearance over a wide area. The control unit 60 also includes a course setting mode 80 that executes control to perform screening of the virtual target area at multiple points along a predetermined course. By setting a course, screening can be performed over a wider area.

[0044] Next, as shown in Figure 6, a series of operations will be described for screening whether there are any radio wave-reactive objects such as landmines M that detonate in response to radio waves using the radio wave screening device 1. As shown in Figure 6, in preparation step S1 of the radio wave screening device 1, a drone system 2 is prepared, which includes a first communication module 20 mounted on the drone system 2 and corresponding to a first communication method, a first antenna 22 configured so that the communication radio waves of the first communication method are irradiated to at least the virtual target area D, and a control unit 60. The drone system 2 is set up at the departure point A (see Figure 7). The first communication module 20 and the first antenna 22 are also prepared for use. A second communication module 24, a second antenna 26, a third communication module 28, a third antenna 29, and a voice generator 31 are also prepared. The control unit 60 prepares or acquires flight data for the drone system 2 (for example, the coordinates of the screening point (see Figure 7), the flight route, and the altitude data of the flight relative to the ground G at the search point coordinates (detection altitude data), etc.). When step S1 is completed, the control unit 60 proceeds to S2.

[0045] In step S2, the control unit 60 flies the drone system 2 from the starting point A to above the radio wave screening point D1 in the virtual target area D. Screening point D1 is the point where screening and mine clearance are performed. While the drone system 2 is moving, the control unit 60 stops the operation of the first communication module 20, the first antenna 22, the second communication module 24, the second antenna 26, the third communication module 28, and the third antenna 29, etc.

[0046] The control unit 60 can make the drone system 2 fly fully automatically along a predetermined course, for example, the course indicated by arrow F, according to a predetermined program. In course setting mode 80, the control unit 60 irradiates a virtual target area D (D1 to D16) with communication radio waves of the first communication method at multiple points along the predetermined course, and executes control to screen for the presence of landmines M that detonate in response to radio waves. This allows for automatic radio wave screening for radio-activated landmines M at multiple points along the predetermined course. Arrow F illustrates a predetermined course that thoroughly searches and processes landmines while circling back and forth within a wide-area screening target area E, but the course may be changed according to the terrain, etc., as long as it can explore within the screening target area E. By performing screening and processing for landmines M at the search points from screening points D1 to D16 within the screening target area E along the predetermined course, screening is performed to determine whether landmines exist in each virtual target area D within the screening target area E, and screening and landmine processing can be performed automatically over a wide area.

[0047] The control unit 60 moves the drone system 2 into the virtual target area D (screening area D1) and then causes the drone 6 to nearly stop (hover) in the air above the screening point D1. At this time, the control unit 60 maintains the drone 6 at a predetermined altitude H, for example, 100 cm above the ground G. When step S2 is completed, the control unit 60 proceeds to S3.

[0048] In step S3, the control unit 60 uses the first antenna 22 to irradiate the virtual target area D (screening area D1) with communication radio waves A1 of the first communication method and executes a first screening step to screen for the absence of landmines that detonate in response to radio waves. For example, the control unit 60 uses the first antenna 22 to irradiate the virtual target area D with communication radio waves A1 of the first communication method, for example at a predetermined output, for example for several seconds. Alternatively, for example, the control unit 60 may execute a third altitude control mode 78 and lower the virtual target area D from the ground level at a predetermined coordinate to a subsurface level below the ground level, while screening for landmines. For example, the control unit 60 can lower the virtual target area D while lowering the altitude of the drone 6 and perform screening underground. Therefore, this technology can screen for landmines that react to radio waves over a wider area underground, thereby further enhancing the safety of such landmine handling. When step S3 is completed, the control unit 60 proceeds to S4. At this time, the control unit 60 stops the transmission of radio signals from the first communication module 20 in order to suppress radio interference. If the landmine M explodes in response to the communication radio wave A1 of the first communication method, the screening in the virtual target area D (D1) is terminated because the landmine M has been processed, and the process returns to step S2 to move to the next virtual target area D (D2). The same applies if it explodes at any other time.

[0049] In step S4, the control unit 60 causes the second antenna 26 to irradiate the virtual target area D (D1) with the communication radio wave A2 of the second communication method and executes a second screening step to screen whether there are any landmines that detonate in response to the radio wave. For example, the control unit 60 irradiates the virtual target area D with the communication radio wave A2 of the second communication method using the second antenna 26, for example at a predetermined output, for example for a few seconds. Also, for example, the control unit 60 executes a third altitude control mode 78. When step S4 is completed, the control unit 60 stops transmitting the radio signal from the second antenna 26 and proceeds to S5.

[0050] In step S5, the control unit 60 causes the third antenna 29 to irradiate the virtual target area D (D1) with the communication radio wave A3 of the third communication method and executes a third screening step to screen for the absence of landmines that detonate in response to the radio wave. For example, the control unit 60 irradiates the virtual target area D with the communication radio wave A3 of the third communication method using the third antenna 29, for example at a predetermined output, for example for a few seconds. Also, for example, the control unit 60 executes a third altitude control mode 78. When step S5 is completed, the control unit 60 stops transmitting the radio signal from the third antenna 29 and proceeds to S6.

[0051] In step S6, the control unit 60 determines whether the screening process and mine clearance have been completed at all scheduled screening locations (D1 to D16). If the screening has not been completed at all scheduled screening locations (NO), the control unit returns to S2. If the control unit 60 determines in step S5 that detection has been completed at all scheduled screening locations (YES), it proceeds to S7.

[0052] If the process returns to S2, the control unit 60 moves the drone system 2 to the next scheduled screening point D2 and then executes the processes S3 to S5. Once the drone system 2 has completed the processes S3 to S5 at the scheduled screening point D2, the process proceeds to S6 again and performs the judgment process of S6. After the screening process at the search point D2, the control unit 60 proceeds from S5 back to S2 and similarly executes the processes S3, S4, and S5 at the search point D3. The virtual target area D is virtually shown in Figure 7 by dashed lines, forming each area of ​​a dashed rectangle. The control unit 60 moves the drone system 2 horizontally, advancing it through the mine search points D1, D2, D3...D15, D16, and controls the screening process at each point. The fifth screening mode is then executed to expand the area where the screening has been completed. The virtual target area D is defined as a virtual area enclosed by a square with dimensions of 30 cm in height and 30 cm in width, but it can be changed to a virtual area with dimensions of 50 cm in height and 50 cm in width, or a virtual area with dimensions of 100 cm in height and 100 cm in width, etc. Furthermore, since the virtual target area D is a virtual area, its shape and size can be set by course settings, etc. When the control unit 60 completes processing S3 to S5 at search point D16, it proceeds from S6 to S7.

[0053] In step S7, the control unit 60 performs a return flight step, causing the drone system 2 to return from search point D16 to departure point A. In this way, the control unit 60 can, for example, automatically depart the drone system 2 from departure point A, perform a series of screenings for landmines within the virtual target area D, and return it to departure point A. If the control unit 60 can automatically screen and process radio-activated landmines within the virtual target area D, it can reduce the manual search effort required by workers and further improve worker safety. Furthermore, since the radio wave screening device 1 can have the drone system 2 perform screening and detonation processing day and night, and the radio wave screening device 1 can continue to screen for landmines that detonate with radio waves, it can also contribute to accelerating and improving the efficiency of removal work.

[0054] An example of one embodiment of the present invention may be provided in the following embodiments.

[0055] (1) A radio wave screening device comprising a drone system, a first communication module mounted on the drone system and corresponding to a first communication method, a first antenna configured such that communication radio waves of the first communication method are irradiated onto at least a virtual target area, and a control unit, wherein the control unit has a first screening mode that irradiates the virtual target area with communication radio waves of the first communication method using the first antenna, and screens whether there are any landmines that detonate in response to radio waves.

[0056] (2) The radio wave screening device according to (1), comprising: a second communication module mounted on the drone system and corresponding to a second communication method different from the first communication method; and a second antenna configured such that communication radio waves of the second communication method are irradiated onto at least a virtual target area, wherein the control unit has a second screening mode in which it irradiates the virtual target area with communication radio waves of the second communication method using the second antenna to screen whether there are any landmines that detonate in response to radio waves.

[0057] (3) The radio wave screening device according to (2), comprising: a third communication module mounted on the drone system and corresponding to a third communication method different from the first and second communication methods; and a third antenna configured such that communication radio waves of the third communication method are projected onto at least a virtual target area, wherein the control unit includes a third screening mode in which the third antenna irradiates the virtual target area with communication radio waves of the third communication method to screen for the absence of landmines that detonate in response to radio waves, and the control unit switches between the first screening mode, the second screening mode, and the third screening mode sequentially according to predetermined rules and includes a fourth screening mode in which radio wave reactants in the virtual target area are screened using radio waves of multiple communication methods.

[0058] (4) The radio wave screening device according to (1), wherein the control unit includes a first altitude control mode for controlling the altitude of the drone of the drone system so that the virtual target area is aligned with the ground level.

[0059] (5) The radio wave screening device according to (1), wherein the control unit includes a second altitude control mode for controlling the altitude of the drone of the drone system so that the virtual target area is aligned with a ground level below the ground surface level.

[0060] (6) The radio wave screening device according to (1), wherein the control unit is equipped with a third altitude control mode that lowers the virtual target area from the ground level at a predetermined coordinate to a subsurface level below the ground level while screening for radio wave reactants.

[0061] (7) The radio wave screening apparatus according to (1), wherein the control unit, after the screening of one area is completed, moves the virtual target area horizontally and performs screening of the next area, and by repeating this, expands the area in which the screening has been completed.

[0062] (8) The radio wave screening device according to (1), further comprising a sound generating device that emits sound.

[0063] (9) The radio wave screening device according to (1), wherein the first antenna is configured to have a directional function that directs the main portion of the communication radio waves of the first communication method toward the virtual target area.

[0064] (10) A radio wave screening method comprising a preparation step of preparing a radio wave screening device comprising a drone device, a first communication module mounted on the drone device and corresponding to a first communication scheme, a first antenna configured such that communication radio waves of the first communication scheme are irradiated onto at least a virtual target area, and a control unit, A radio wave screening method comprising: a first screening step of irradiating a virtual target area with radio waves of the first communication method using the first antenna, and screening whether there are any landmines that detonate in response to the radio waves.

[0065] The embodiments for carrying out the present invention are not limited to those described above, and further variations can 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 radio wave screening device 1 performs screening for radio wave-reactive mines M by irradiating a virtual target area D with communication radio waves A1 of a first communication system, communication radio waves A2 of a second communication system, and communication radio waves A3 of a third communication system. However, it is possible to perform the same screening by irradiating with communication radio waves of any number of communication systems. For example, only communication radio waves A1 of the first communication system and communication radio waves A2 of the second communication system may be irradiated. Alternatively, for example, communication radio waves A1 of the first communication system (LTE (4G)), communication radio waves A2 of the second communication system (Wi-Fi), communication radio waves A3 of the third communication system (5G), communication radio waves A4 of the fourth communication system (Bluetooth), communication radio waves A5 of the fifth communication system (so-called CDMA standard format), and communication radio waves A6 of the sixth communication system (so-called GSM standard format, etc.) may be irradiated. In this case, irradiation to the virtual target area D is made possible by antennas corresponding to each standard.

[0066] In this embodiment, the radio wave screening device 1 has the first communication module 20, first antenna 22, second communication module 24, second antenna 26, third communication module 28, and third antenna 29, etc., all mounted on the drone 6 of the drone system 2. As a modification, the drone system 2 may be composed of any number of drones. For example, as shown in Figure 8, the drone system 2 may consist of four drones 6 (6x1, 6x2, 6x3, 6x4). For example, drone 6x1 may be equipped with the first communication module 20 and first antenna 22, drone 6x2 may be equipped with the second communication module 24 and second antenna 26, drone 6x3 may be equipped with the third communication module 28 and third antenna 29, and drone 6x4 may be equipped with communication modules of different frequencies and corresponding antennas using a different communication method or a similar communication method. For example, as shown in Figure 8, multiple drones 6 form a group and sequentially irradiate the virtual target area D with communication radio waves. The drone system 2 is composed of any number of drones, allowing each drone 6 to be made up of relatively small drones, thus making the device easier to manufacture. Furthermore, by distributing equipment such as antennas across multiple drones, flight stability, such as the sway of the center of gravity caused by mounting antennas, can be increased. In this way, the radio wave screening device 1 can screen for the presence of radio wave-reactive objects, such as landmines that detonate in response to radio waves. [Explanation of Symbols]

[0067] 1: Radio wave screening device 2: Drone System 6: Drones 20: First communication module 22: First Antenna 24: Second communication module 26: Second Antenna 28: Third communication module 29: Third Antenna 31: Voice Generator 60: Control Unit D: Virtual target area

Claims

1. A radio wave screening device, Drone system and The drone system is equipped with a first communication module that supports a first communication method, A first antenna configured such that the communication radio waves of the first communication method are irradiated onto at least a virtual target area, A second communication module mounted on the drone system and compatible with a second communication method different from the first communication method, A second antenna configured such that the communication radio waves of the second communication method are irradiated onto at least the virtual target area, A third communication module mounted on the drone system, which is compatible with a third communication method different from the first and second communication methods, A third antenna configured such that the communication radio waves of the third communication method are emitted into at least the virtual target area, It includes a control unit, The control unit includes a first screening mode in which it irradiates the virtual target area with communication radio waves of the first communication method using the first antenna, and screens whether there are any landmines that detonate in response to the radio waves. A second screening mode is provided in which the second antenna irradiates the virtual target area with the communication radio waves of the second communication method to screen for the presence of landmines that detonate in response to the radio waves, A third screening mode in which the third antenna irradiates the virtual target area with the communication radio waves of the third communication method to screen whether there are any landmines that detonate in response to the radio waves, A radio wave screening device comprising a fourth screening mode which sequentially executes the first screening mode, the second screening mode, and the third screening mode according to a predetermined rule, and screens radio wave reactants in the virtual target area with communication radio waves of the first communication method, communication radio waves of the second communication method, and communication radio waves of the third communication method.

2. The radio wave screening device according to claim 1, wherein the control unit includes a first altitude control mode for controlling the altitude of the drone of the drone system so as to align the virtual target area with the ground level.

3. The radio wave screening device according to claim 1, wherein the control unit includes a second altitude control mode for controlling the altitude of the drone of the drone system so as to align the virtual target area with a ground level below the ground surface level.

4. The radio wave screening device according to claim 1, wherein the control unit includes a third altitude control mode that lowers the virtual target area from the ground level at a predetermined coordinate to a subsurface level below the ground level while screening for radio wave reactants.

5. The radio wave screening apparatus according to claim 1, further comprising a fifth screening mode in which, after the screening of one area is completed, the control unit moves the virtual target area horizontally and performs screening of the next area, and this is repeated to expand the area in which screening has been completed.

6. The radio wave screening device according to claim 1, further comprising a sound generating device that emits sound.

7. The radio wave screening device according to claim 1, wherein the first antenna is configured to have a directional function that directs the main portion of the communication radio waves of the first communication method toward the virtual target area.

8. A radio wave screening method, A drone device, a first communication module mounted on the drone device and corresponding to a first communication method, and a first antenna configured such that the communication radio waves of the first communication method are irradiated onto at least a virtual target area, A second communication module mounted on the drone system, which supports a second communication method different from the first communication method, A second antenna configured such that the communication radio waves of the second communication method are irradiated onto at least the virtual target area, A third communication module mounted on the drone system, which is compatible with a third communication method different from the first and second communication methods, Preparation step of preparing a radio wave screening device comprising a third antenna configured such that the communication radio waves of the third communication method are projected onto at least the virtual target area, and a control unit, A first screening step involves irradiating the virtual target area with the communication radio waves of the first communication method using the first antenna, and screening whether there are any landmines that detonate in response to the radio waves. A second screening step involves irradiating the virtual target area with the communication radio waves of the second communication method using the second antenna, and screening whether there are any landmines that detonate in response to the radio waves. A third screening step involves irradiating the virtual target area with the communication radio waves of the third communication method using the third antenna, and screening whether there are any landmines that detonate in response to the radio waves. A radio wave screening method comprising: a first screening step, a second screening step, and a third screening step, which are executed sequentially by switching between them according to a predetermined rule, and a fourth screening step, which screens the radio wave reactants in the virtual target area with communication radio waves of a first communication method, communication radio waves of a second communication method, and communication radio waves of a third communication method.

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