Ground-penetrating radar system

Abstract

To provide an underground radar system enabling secure position grasping while allowing an underground device to self-propel with a simple preparation without requiring attachment of, for example, a marker member to the underground radar device upon underground survey.SOLUTION: An underground radar system 100 includes: an underground radar device 10 that has a travel unit 12 for self-propelling, and performs underground survey on a target area AR; and a control device 50 that controls travel of the underground radar device 10 on the basis of image data GD obtained by imaging the target area from above.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to a ground radar system that controls the operation of a ground radar device for exploring the underground state.

Background Art

[0002] As technologies related to ground radar, for example, those that enable position grasping of the exploration device (see Patent Document 1) and those that enable autonomous driving (see Patent Document 2) are known.

[0003] However, in Patent Document 1, when grasping the position of the vehicle, it is necessary to prepare such that the marker member attached to the ground radar device can be photographed by the camera and maintain this state. In Patent Document 1, an example of manually pushing the ground radar device is shown. Also, in Patent Document 2, although autonomous driving is possible, accurate position grasping while driving is not always easy.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Patent Document 2

Summary of the Invention

[0005] The present invention has been made in view of the above points, and an object thereof is to provide a ground radar system that enables reliable position grasping while self-driving the ground radar device with simple preparation without requiring, for example, attachment of a marker member to the ground radar device during exploration.

[0006] A ground-penetrating radar system for achieving the above objectives comprises a ground-penetrating radar device having a self-propelled mobile unit to perform ground-penetrating exploration of a target area, and a control device that controls the movement of the ground-penetrating radar device based on image data captured from above of the target area.

[0007] In the above-described ground-penetrating radar system, image data captured from above the target area is used to control the movement of the self-propelled ground-penetrating radar device. This simplifies the preparation required for ground-penetrating exploration while ensuring reliable position tracking of the ground-penetrating radar device during exploration.

[0008] In a specific aspect of the present invention, the control device has map data including the target area, compares image data with the map data, and controls the movement of the ground-penetrating radar device based on the comparison result. In this case, the position of the acquired image data can be easily and reliably associated with the map data by comparison.

[0009] In another aspect of the present invention, the control device determines the position of the ground-penetrating radar device from the results of image data analysis. In this case, the position of the ground-penetrating radar device can be determined with high accuracy.

[0010] In yet another aspect of the present invention, the system comprises an imaging unit that images a target area and acquires image data, and a transmitting unit that transmits the image data acquired by the imaging unit to a control device. In this case, the control device can acquire the image data of the target area captured by the imaging unit via the transmitting unit.

[0011] In yet another aspect of the present invention, the system includes an imaging unit and a transmitting unit, and a drone that flies over the target area based on instructions from a control device. In this case, image data of the target area captured from above can be easily and reliably obtained using the drone.

[0012] In yet another aspect of the present invention, the control device performs flight control to cause the drone to hover above the target area. In this case, the control device can acquire desired image data by controlling the drone's flight to hover.

[0013] In yet another aspect of the present invention, the drone is equipped with a laser surveying unit that performs surveying of a target area using a laser. In this case, it becomes possible to acquire information on the imaging distance.

[0014] In yet another aspect of the present invention, the ground-penetrating radar device is equipped with crawlers as its running section. In this case, the crawlers enable the device to maintain movement on various road surface conditions.

[0015] In yet another aspect of the present invention, in a ground-penetrating radar system, the antenna for ground-penetrating exploration is located outside the traveling unit, and the control device creates a travel pattern for the ground-penetrating radar system so that the antenna for ground-penetrating exploration explores areas not reached by the traveling unit. In this case, it becomes possible to respond to situations where it is necessary to conduct exploration while confirming the safety of unreachable areas, such as in the removal of anti-personnel landmines. [Brief explanation of the drawing]

[0016] [Figure 1] This diagram conceptually illustrates one example configuration of a ground-penetrating radar system according to the first embodiment. [Figure 2] (A) is a conceptual plan view of an example of a ground-penetrating radar system, and (B) is a front view. [Figure 3] This is a conceptual perspective view illustrating an example of how a drone can be used to acquire image data of a target area from above. [Figure 4] This diagram conceptually illustrates one example configuration of a ground-penetrating radar system using a drone. [Figure 5] This is a block diagram illustrating one example configuration of a ground-penetrating radar system. [Figure 6](A) to (C) are conceptual diagrams for explaining the process of forming the target area and the travel pattern from the acquisition of image data of an image capturing the range including the target area. [Figure 7] It is a sequence diagram for explaining an example of a series of processes for the preparation until starting the exploration by the underground radar system. [Figure 8] It is a flowchart for explaining an example of a series of processes for the exploration by the underground radar system. [Figure 9] (A) is a plan view conceptually showing an example of the underground radar device constituting the underground radar system of the second embodiment, and (B) is a front view. [Figure 10] (A) to (D) are conceptual plan views for explaining the travel mode of the underground radar device in the exploration.

Mode for Carrying Out the Invention

[0017] 〔First Embodiment〕 Hereinafter, an example of the underground radar system 100 of the first embodiment of the present invention will be described with reference to FIG. 1 and the like. FIG. 1 is a diagram conceptually showing a configuration example of the underground radar system 100 of the present embodiment, and FIG. 2 is a diagram conceptually showing an example of the underground radar device 10 among those constituting the underground radar system 100. Note that FIG. 2(A) is a plan view of the underground radar device 10, and FIG. 2(B) is a front view. Further, FIG. 3 is a conceptual perspective view showing a state of using the drone 80 as an example of a method for acquiring image data of an image capturing the target area AR of the exploration by the underground radar system 100, and FIG. 4 is a diagram conceptually showing a configuration example of the underground radar system 100 using the drone 80 as an example of the acquisition of image data.

[0018] First, as shown in FIG. 1, the ground radar system 100 according to the present embodiment includes a self-propelled ground radar device 10 and a control device 50. In accordance with a command from the control device 50, while the self-propelled ground radar device 10 travels through the target area AR, it performs exploration of buried objects, cavities, and other objects OB existing in the ground, that is, in the soil SO.

[0019] As shown in FIG. 1 or conceptually shown in FIG. 2, among the ground radar system 100, the ground radar device 10 has a self-propelled traveling unit 12 attached to the main body portion 11, and moves by driving the traveling unit 12 on the target area AR to perform underground exploration of the target area AR. In one example here, as illustrated in FIGS. 2(A) and 2(B), the ground radar device 10 has a configuration including a pair of left and right crawlers 12a and 12b as the traveling unit 12.

[0020] On the other hand, as shown in FIG. 1, among the ground radar system 100, the control device 50 is a device composed of, for example, a PC or the like, and includes a CPU, various storage devices, and further various input / output devices (GUI), etc. The control device 50 controls the traveling of the ground radar device 10 based on image data GD (illustrated as an image GG on the PC in the figure) obtained by imaging the target area AR from above. Here, as an example, it is assumed that the speed, traveling direction, etc. of the ground radar device 10 are controlled (traveling control) by remote operation via wireless communication.

[0021] In addition to the above, in this embodiment in particular, as shown in the example in Figures 3 and 4, it is possible to acquire image data GD of the target area AR by flying the drone 80 above the target area AR. More specifically, in this embodiment, the ground-penetrating radar system 100 includes a ground-penetrating radar device 10 and a control device 50, as well as a drone 80. The control device 50 controls the flight of the drone 80 to acquire the desired image data GD, and based on this, enables the movement control of the ground-penetrating radar device 10, and consequently, ground-penetrating exploration. In particular, in the example shown in Figure 3, the control device 50 controls the flight of the drone 80 to hover above the target area AR, so that the drone 80 images the ground-penetrating radar device 10 located in the target area AR along with the target area AR. Here, the control device 50 acquires the position information of the ground-penetrating radar device 10 in the target area AR along with the position information of the target area AR from the image data (camera image) GD acquired by the camera CA, which is an imaging unit IM mounted on the drone 80. Based on this, the control device 50 controls the ground-penetrating radar device 10. Specifically, the control device 50 analyzes the image data GD, determines the position of the ground-penetrating radar device 10 within the target area AR from the analysis results, and controls the movement and rotation of the ground-penetrating radar device 10, as well as the operation of ground-penetrating exploration. The control device 50 also acquires exploration data (ground-penetrating data) as the exploration results from the ground-penetrating radar device 10.

[0022] The following describes in more detail an example of the structure of the ground-penetrating radar device 10 with reference to Figure 1 or Figure 2(A) and Figure 2(B). As previously described, the ground-penetrating radar device 10 has a main body 11 located in the center, with a pair of crawlers 12a and 12b on either side as the traveling section 12. The main body 11 is equipped with a data acquisition unit 13, which includes an antenna AT and the like, for acquiring ground-penetrating data as exploration data. That is, the ground-penetrating radar device 10 generates transmission waves (radio waves) in the data acquisition unit 13, for example, by pulse or chirp, and transmits the transmission waves into the ground after signal conversion and amplification as necessary. It acquires ground-penetrating data by receiving the response waves (radio waves) that are reflected back from buried objects, cavities, and other objects OB that are the target of exploration in the ground. When receiving the response waves, noise processing and amplification are performed as necessary, and sampling processing for reception is performed. Furthermore, for example, the underground data includes various information about the response wave necessary to create image data called a B-scope image that shows the underground conditions, namely various detection results and reception timing information acquired during reception. In addition, in this embodiment, it is also possible to create (acquire) a C-scope image, which is a 3D image that accumulates B-scope images for a planar target area AR.

[0023] In addition to the above, the ground-penetrating radar device 10 has an encoder EN (see Figure 1) in the rotational drive unit of the traveling unit 12, and can obtain positional information by measuring its own movement based on the rotational speed of the crawlers 12a and 12b.

[0024] Hereinafter, an example configuration of the ground-penetrating radar system 100 according to this embodiment will be described with reference to a block diagram shown as Figure 5. As previously described, the ground-penetrating radar system 100 here comprises a ground-penetrating radar device 10, a control device 50, and a drone 80, and the control device 50 controls the operation of the ground-penetrating radar device 10 and the drone 80 via wireless communication. The ground-penetrating radar device 10 performs ground-penetrating exploration while autonomously moving according to commands from the control device 50, and the drone 80 acquires image data GD used to determine the target area AR (see Figure 3, etc.) and the position of the ground-penetrating radar device 10 by taking images from above according to commands from the control device 50.

[0025] To enable the above configuration, first, the ground-penetrating radar device 10 of the ground-penetrating radar system 100 comprises a communication unit TT1, an antenna drive unit AD, an antenna AT, a crawler drive unit CD, crawlers 12a and 12b, and a main control unit MP1.

[0026] When communicating with the control device 50, the communication unit TT1 receives various commands from the control device 50, sends back response signals, and transmits underground data, i.e., exploration data, as a result of the underground exploration, to the control device 50.

[0027] The antenna drive unit AD and antenna AT constitute the data acquisition unit 13 for ground-penetrating exploration. Specifically, the antenna drive unit AD drives antenna AT according to instructions from the main control unit MP1, thereby performing various operations related to the transmission and reception of electromagnetic waves for ground-penetrating exploration.

[0028] The crawler drive unit CD and the crawlers 12a and 12b constitute the driving unit 12. In other words, the crawler drive unit CD drives the crawlers 12a and 12b according to instructions from the main control unit MP1, thereby performing various operations related to autonomous driving.

[0029] The main control unit MP1 is composed of various circuit boards, for example, and is connected to each part of the ground-penetrating radar device 10, and is in charge of various operation controls. Specifically, the main control unit MP1 issues operation commands to the antenna drive unit AD and crawler drive unit CD based on various commands received from the control device 50 via the communication unit TT1, causing the antenna AT and crawlers 12a and 12b to perform operations corresponding to the various commands.

[0030] Next, the drone 80 of the ground-penetrating radar system 100 comprises a communication unit TT8 which is a transmitter unit TR, a flight drive unit FD, a camera CA which is an imaging unit IM, a rangefinder unit CM, and a main control unit MP8.

[0031] The communication unit TT8 receives various commands from the control device 50 and sends back response signals when communicating with the control device 50. The communication unit TT8 also functions as a transmitter unit TR that transmits image data GD acquired by the imaging unit IM, which is the camera CA, to the control device 50.

[0032] The flight drive unit FD drives the propellers, etc., to propel the drone 80 in accordance with the operation commands from the control device 50, performing flight operations such as flying to the destination and hovering at the destination.

[0033] The camera CA is composed of, for example, a CMOS image sensor, and as described above, is an imaging unit IM that captures the target area AR and acquires image data GD. In the above example, when capturing the target area AR, the ground-penetrating radar device 10 is also captured.

[0034] The distance measuring unit CM is a laser surveying unit that emits a laser vertically downward and receives the reflected component of the laser, and measures the distance to the target area AR based on the time from emission to reception. In other words, in this example, the drone 80 is equipped with a laser surveying unit that performs surveying of the target area AR using a laser.

[0035] The main control unit MP8 is composed of various circuit boards, for example, and is connected to various parts of the drone 80, and is in charge of various operation controls. Specifically, based on various commands received from the control device 50 via the communication unit TT8, the main control unit MP8 issues operation commands to the flight drive unit FD to control the flight so that it moves towards the target area AR, and also issues operation commands to the camera CA and rangefinder CM to perform imaging (acquisition of image data GD) and rangefinder (measurement of the distance to the target area AR).

[0036] As described above, the drone 80 has an imaging unit IM, which is a camera CA, and a transmission unit TR, which is a communication unit TT8. By flying over the target area AR based on instructions from the control device 50, the drone 80 can be used to easily and reliably acquire image data GD of the target area AR captured from above.

[0037] Finally, the control device 50 of the ground-penetrating radar system 100 comprises a communication unit TT5, a position detection data storage unit DS1, a ground-penetrating analysis data storage unit DS2, and a main control unit MP5.

[0038] The communication unit TT5 has, or functions as, a drone communication unit T58, which is responsible for communication with the drone 80, and a ground-penetrating radar communication unit T51, which is responsible for communication with the ground-penetrating radar device 10. For example, the drone communication unit T58 functions as a receiver RE, which receives image data GD transmitted from the transmitter TR of the drone 80 to the control device 50.

[0039] The position detection data storage unit DS1 is composed of a map data storage unit MS and an image data storage unit GS, in order to store data for detecting the position of the ground-penetrating radar device 10 based on image data GD from the drone 80.

[0040] The map data storage unit MS contains a series of location data as map data for a region that includes at least the area that could be the target area AR. By comparing this map data with, for example, the shape of the terrain included in the image data GD, it becomes possible to identify the area that should be the target area AR in the image data GD. On the other hand, the image data storage unit GS sequentially stores (accumulates) the image data GD acquired via the drone communication unit T58 in order to enable the comparison with the map data as described above. Furthermore, after the target area AR is identified (confirmed) based on the map data, data related to the confirmed (location-matched) content is added to the image data storage unit GS and stored in the image data storage unit GS. As described above, in this embodiment, the control device 50 holds map data including the target area AR, compares the image data GD with the map data, and controls the movement of the ground-penetrating radar device 10 based on the comparison result.

[0041] The underground analysis data storage unit DS2 is composed of an underground data storage unit US and an analysis result storage unit AS, in order to enable analysis of underground conditions based on exploration by the ground-penetrating radar device 10.

[0042] The underground data storage unit US stores (accumulates) underground data acquired as exploration data by the ground-penetrating radar device 10. Furthermore, as described above, the control device 50 acquires various exploration results based on the collected underground data. More specifically, the control device 50 analyzes the underground data, and as a result of this analysis, creates B-scope images, and subsequently C-scope images, which are 3D images compiled from these B-scope images. The analysis result storage unit AS stores data related to these analysis results.

[0043] The main control unit MP5 consists of a CPU and various operating programs stored in various storage devices, and has, or functions as, a drone control unit DC, a subterranean data control unit LC, a position verification unit PM, and a subterranean data analysis unit UA.

[0044] The drone control unit DC transmits various commands to the drone 80 via the drone communication unit T58, and performs operational control such as flight movements, imaging, and ranging.

[0045] The underground data control unit LC transmits various commands to the underground radar device 10 via the underground radar communication unit T51 to control its movement and exploration operations.

[0046] The position matching unit PM reads the map data stored in the map data storage unit MS and the image data GD from the drone 80 stored (accumulated) in the image data storage unit GS, and performs position matching. In other words, it identifies (confirms) the target area AR in the image data GD. In addition, along with confirming the target area AR, the position matching unit PM creates a travel pattern for the ground-penetrating radar device 10 traveling through the target area AR.

[0047] The ground-penetrating data analysis unit UA analyzes the ground-penetrating data (surveillance data) acquired by the ground-penetrating radar device 10 and stored in the ground-penetrating data storage unit US to create B-scope images, and subsequently C-scope images, which are 3D images compiled from these. The various images (image data) created are stored in the analysis result storage unit AS.

[0048] The following outlines the process from image data acquisition for images capturing the area including the target area to the formation of the target area and driving pattern, referring to Figure 6.

[0049] First, as shown in Figure 6(A), the ground-penetrating radar system 100 dispatches the drone 80 and the ground-penetrating radar device 10 to the site. Next, as shown in Figure 6(B), the camera CA of the drone 80 is made to take images of the area that should be the target area AR, including the ground-penetrating radar device 10. Then, as shown in Figure 6(C), the image GG (image data GD) resulting from the imaging by the camera CA is subjected to positional matching analysis to determine the target area AR and to determine the travel pattern of the ground-penetrating radar device 10 within the target area AR. In the illustration, the travel pattern (the order in which the device travels) of the ground-penetrating radar device 10 is shown by the mesh shape (block units) in the target area partial image ARg on the image data GD.

[0050] The following describes an example of a series of steps involved in preparing for the commencement of exploration by the ground-penetrating radar system 100, with reference to the sequence diagram shown in Figure 7.

[0051] First, the control device 50 issues a command signal to move the drone 80 to the airspace above the area that will become the target area AR (step S1), and moves the ground-penetrating radar device 10 to the location that will become the area, i.e., the target area AR (step S2). Here, the ground-penetrating radar device 10 is moved to an initial position within the location that will become the target area AR, and then stopped. When the ground-penetrating radar device 10 stops at the initial position, it sends a response signal to the control device 50 indicating that it has stopped. Upon receiving this response signal, the control device 50 issues an imaging command to the drone 80, which had moved (flew) to the airspace above the area in step S1. The camera CA of the drone 80 then images the area in response to the imaging command, acquiring image data GD including the target area AR and the ground-penetrating radar device 10, which is then transmitted from the drone 80 to the control device 50. In other words, the control device 50 acquires the image data GD from the drone 80 (step S3). Furthermore, by utilizing the distance measuring unit CM during imaging, it is possible to simultaneously measure the distance to the target area AR using a laser.

[0052] In step S3, when the control device 50 acquires image data GD, it performs position verification using map data as described above. Based on the position verification, the control device 50 determines the exploration area, i.e., the target area AR to be explored, from the image data GD, and further determines the mesh interval (pitch) in the target area AR (step S4), and creates a travel pattern for the ground-penetrating radar device 10 (step S5). In addition to the above, it is also possible to check the position of the ground-penetrating radar device 10 in the image and, if necessary, correct the initial position of the ground-penetrating radar device 10. In other words, if the control device 50 finds that the initial position of the ground-penetrating radar device 10 is off when starting the exploration after checking the ground-penetrating radar device 10 in the image, it sends a correction command to the ground-penetrating radar device 10 to correct this, and upon receiving a response from the ground-penetrating radar device 10 indicating that it has made a position correction, the necessary position correction is made.

[0053] As described above, after all preparations in the ground-penetrating radar system 100 are completed, the ground-penetrating radar system 100 begins ground-penetrating exploration (step S6). Specifically, the control device 50 issues commands to the ground-penetrating radar device 10 to move (straight-line movement) or rotate (rotation) (step S7), and the ground-penetrating radar device 10 autonomously moves and conducts exploration according to the commands, that is, acquires exploration data, and transmits the acquired exploration data to the control device 50. The control device 50 acquires (saves) the exploration data from the ground-penetrating radar device 10 and also receives the image data GD transmitted from the drone 80 to confirm the position of the ground-penetrating radar device 10 (step S8). In addition, in step S8, the control device 50 corrects the position of the ground-penetrating radar device 10 as necessary. Once the position of the ground-penetrating radar device 10 has been confirmed, the control device 50 adds the position information of the ground-penetrating radar device 10 to the acquired exploration data and saves it (step S9). Subsequently, the control device 50 issues a new command to move the ground-penetrating radar device 10 to the next exploration point.

[0054] After the ground-penetrating radar system 100 starts the ground-penetrating survey, it repeats the above operations (steps S7 to S9) until the survey of the identified target area AR is completed.

[0055] The following describes an example of a series of processes for exploration using the ground-penetrating radar system 100, referring to the flowchart shown in Figure 8. Specifically, a more detailed example of the operations from step S7 onwards in Figure 7 will be described.

[0056] First, as described in step S7 above, the control device 50 performs movement control based on the travel pattern of the ground-penetrating radar device 10 in the target area AR (step S101), and the ground-penetrating radar device 10 acquires exploration data (step S102).

[0057] In this process, the ground-penetrating radar device 10 acquires its own position information by measuring its own movement using the encoder EN (see Figure 1) as it autonomously moves (step S103). Meanwhile, the control device 50 confirms the position of the ground-penetrating radar device 10 based on the image data GD transmitted from the drone 80, as described in step S8 (step S104). The control device 50 compares the position information in step S103 and step S104 to determine whether correction is necessary (step S105). If it is determined that correction is necessary (step S105: Yes), it corrects the position recognition data for the ground-penetrating radar device 10 regarding its own position information based on the encoder EN (step S106). After the position correction in step S106, or if it is determined in step S105 that no position correction is necessary (step S105: No), the control device 50 adds the position information of the ground-penetrating radar device 10 to the exploration data acquired by the ground-penetrating radar device 10, as described in step S9 (step S107). Subsequently, the control device 50 checks whether the acquisition of exploration data has been completed for the entire exploration area, i.e., for the entire target area AR (step S108). If it has not been completed (step S108: No), it starts the operation from step S101 in order to move and perform the next exploration.

[0058] On the other hand, if it is confirmed in step S108 that the acquisition of exploration data for the entire target area AR has been completed (step S108: Yes), the control device 50 lands the drone 80 and stops its movement (end of exploration) using the ground-penetrating radar device 10 (step S109), performs the process of forming a 3D image (C-scope image) based on the acquired exploration data (step S110), and ends the series of operations.

[0059] As described above, the ground-penetrating radar system 100 according to this embodiment includes a ground-penetrating radar device 10 having a self-propelled travel unit 12 for performing ground-penetrating exploration of a target area AR, and a control device 50 that controls the movement of the ground-penetrating radar device 10 based on image data GD captured from above of the target area AR. In the above ground-penetrating radar system 100, by using image data GD captured from above of the target area AR to control the movement of the self-propelled ground-penetrating radar device 10, the prior preparation for ground-penetrating exploration can be simplified, while ensuring reliable positional tracking of the ground-penetrating radar device 10 during exploration. Furthermore, in the above embodiment, by using images captured from above of the target area AR, the influence of sunlight on the imaging environment can be reduced compared to, for example, using images captured horizontally from near the ground.

[0060] [Second Embodiment] Hereinafter, an example of the ground-penetrating radar system 100 of the second embodiment will be described with reference to Figure 9 and other figures. In this embodiment, the configuration of the ground-penetrating radar device 10 is different, and other configurations are the same as in the first embodiment, so detailed explanations and illustrations will be omitted. Figure 9(A) is a conceptual plan view showing an example of the ground-penetrating radar device 10 that constitutes the ground-penetrating radar system 100 of the embodiment, and Figure 9(B) is a front view. Figures 9(A) and 9(B) correspond to Figures 2(A) and 2(B), respectively.

[0061] As shown in Figure 9, in this embodiment, the ground-penetrating radar device 10 differs from the configuration shown in Figure 2, in that the antenna AT for ground exploration is located outside the traveling section 12 (crawlers 12a, 12b), whereas the antenna AT is located on the main body portion 11 between the left and right pair of crawlers 12a, 12b. In other words, in this embodiment, it is possible to perform ground exploration in an area outside the range in which the ground-penetrating radar device 10 travels. In this case, for example, the target object OB of the ground-penetrating radar device 10 can be a landmine MN, that is, the ground-penetrating radar device 10 can be used as a landmine detection device. More specifically, as shown in Figure 9(B), the side of the ground-penetrating radar device 10 where the traveling section 12 is located can be positioned as a safe area where it is known that no landmines MN exist, while the antenna AT for ground exploration can be positioned as a dangerous area where it is unknown whether or not landmines MN exist. In other words, by positioning the travel unit 12 and the antenna AT so as to straddle the boundary BD between the safe area and the dangerous area, the antenna AT can be used to search for the presence or absence of landmines MN. In the illustrated example, the antenna AT is connected to and supported by two arms AM extending from the main body 11, and is positioned in the air (but at a low altitude) outside the travel unit 12.

[0062] Figures 10(A) to 10(D) are conceptual plan views illustrating the movement of the ground-penetrating radar device 10 in the detection of landmines MN, as explained with reference to Figure 9. In the figures, the movement pattern is indicated by arrow AA1. First, as shown in Figure 10(A), the ground-penetrating radar device 10 moves along the boundary BD in the direction indicated by arrow DD1, following arrow AA1, and performs a search with antenna AT in the area of ​​the hazardous area that is close to the boundary BD. Then, as shown in Figure 10(B), when the ground-penetrating radar device 10 reaches one end of the target area AR, the search for the presence or absence of landmines MN (see Figure 9) in the hazardous area that was searched during this time is completed, and the area can be considered safe by removing the landmines MN as necessary. In other words, the safe area can be expanded, and the boundary BD can be changed from the previous boundary (old boundary BDx) shown by the dashed line to a new boundary BD. In this case, the ground-penetrating radar device 10 moves in the direction indicated by arrow DD2 (a direction perpendicular to the boundary BD), for example, by zigzag movement. Furthermore, as shown in Figure 10(C), the ground-penetrating radar device 10 moves along the boundary BD in the direction indicated by arrow DD3 (the opposite direction to the direction indicated by arrow DD1 in Figure 10(A)), and uses the antenna AT to explore the area within the hazardous area that is near the new boundary BD. As a result, as shown in Figure 10(D), when the ground-penetrating radar device 10 reaches the other end of the target area AR, it can further expand the safe area and change the boundary BD to a new one. By repeating this process, it becomes possible to explore the desired range. In other words, in the above embodiment, the control device 50 can create a travel pattern for the ground-penetrating radar device 10 so that the ground-penetrating antenna AT explores areas not yet reached by the travel unit 12.

[0063] In this embodiment as well, by using image data GD captured from above of the target area AR to control the movement of the self-propelled ground-penetrating radar device 10, the prior preparation for ground-penetrating exploration can be simplified while ensuring reliable positional tracking of the ground-penetrating radar device 10 during exploration. In particular, this embodiment makes it possible to handle situations where it is necessary to conduct exploration while confirming the safety of unreachable areas, such as in the removal of anti-personnel landmines.

[0064] 〔others〕 This invention is not limited to the embodiments described above, and can be implemented in various forms without departing from its spirit.

[0065] First, the above example describes the use of a drone 80 for acquiring image data (GD), but other configurations that do not use a drone 80 are also possible, as long as the desired image data (GD) can be acquired. Furthermore, the above example describes a configuration in which the drone 80 has a distance measuring unit (CM) as a laser surveying unit that performs surveying of the target area (AR) using a laser, but the configuration is not limited to this, and for example, the drone 80 may not have a distance measuring unit (CM).

[0066] Furthermore, while the illustrated example describes a case where a single target area AR is surveyed, it is also possible to continuously survey multiple target areas AR. In this case, for example, by sequentially moving the drone 80 and the ground-penetrating radar device 10, continuous surveying can be performed.

[0067] Furthermore, the areas to be surveyed by the ground-penetrating radar system 100 are not limited to the target area AR on roads as exemplified in Figure 3, etc., but can be in various forms, and it is possible to conduct surveys in places such as sandy beaches or landslide sites. In this case, by adopting map data as reference data for position confirmation, it is possible to accurately determine the location even in cases where there are no landmarks in the surrounding area, such as on a sandy beach, or when the terrain has changed due to the occurrence of landslides, etc.

[0068] Furthermore, regarding the configuration of the running unit 12, in the example above, a crawler-type configuration was described from the viewpoint of off-road capability, but various configurations, such as those using wheels, can be used as long as the necessary driving (autonomous driving) is possible, not limited to the example configuration.

[0069] Furthermore, in the above embodiment, the operation control of the ground-penetrating radar device 10 and the drone 80 is performed by commands from a control device 50 consisting of a PC or the like. However, in an embodiment, for example, with respect to the driving control of the ground-penetrating radar device 10 based on image data GD, some of the operation control may be performed by human operation to move to the target location manually.

[0070] Furthermore, the specific methods of subsurface exploration and the information extracted or created from the various data obtained as a result of the exploration (such as B-scope images and C-scope images, which are 3D images) are not limited to the examples described above, and various methods can be considered depending on the application. [Explanation of Symbols]

[0071] 10...Ground-penetrating radar device, 11...Main body, 12...Travel unit, 12a,12b...Crawler, 13...Data acquisition unit, 50...Control device, 80...Drone, 100...Ground-penetrating radar system, AA1...Arrow, AD...Antenna drive unit, AM...Arm, AR...Target area, ARg...Partial image of target area, AS...Analysis result storage unit, AT...Antenna, BD...Boundary, CA...Camera, CD...Crawler drive unit, CM...Distance measurement unit, DC...Drone control unit, DD1...Arrow, DD2...Arrow, DD3...Arrow, DS1...Position detection data storage unit, DS2 ...Ground-penetrating analysis data storage unit, EN...Encoder, FD...Flight drive unit, GD...Image data, GG...Image, GS...Image data storage unit, IM...Imaging unit, LC...Ground-penetrating data control unit, MN...Landmine, MP1...Main control unit, MP5...Main control unit, MP8...Main control unit, MS...Map data storage unit, OB...Target object, PM...Position matching unit, RE...Receiver, SO...Soil, T51...Ground-penetrating radar communication unit, T58...Drone communication unit, TR...Transmitter, TT1...Communication unit, TT5...Communication unit, TT8...Communication unit, UA...Ground-penetrating data analysis unit, US...Ground-penetrating data storage unit

Claims

1. A ground-penetrating radar device having a self-propelled mobile unit to perform ground-penetrating surveys in a target area, A control device having map data including the aforementioned target area, comparing image data captured from above so as to include the aforementioned target area together with the ground-penetrating radar device with the map data, creating a travel pattern for the ground-penetrating radar device based on the comparison result, and remotely controlling the movement of the ground-penetrating radar device. A ground-penetrating radar system equipped with this system.

2. The ground-penetrating radar device performs ground exploration while recognizing its own position by measuring its own movement using an encoder provided on the traveling unit, The ground-penetrating radar system according to claim 1, wherein the control device corrects data regarding the position recognition of the ground-penetrating radar device based on the result of comparing the image data and the map data.

3. The ground-penetrating radar system according to any one of claims 1 and 2, wherein the control device determines the position of the ground-penetrating radar device from the results of the analysis of the image data.

4. An imaging unit that captures the target area and acquires the image data, A transmitting unit that transmits the image data acquired by the imaging unit to the control device. A ground-penetrating radar system according to claim 1, comprising:

5. The ground-penetrating radar system according to claim 4, further comprising the imaging unit and the transmitting unit, and a drone that flies over the target area based on instructions from the control device.

6. The ground-penetrating radar system according to claim 5, wherein the control device performs flight control to cause the drone to hover in the air above the target area.

7. The ground-penetrating radar system according to claim 5, wherein the drone is equipped with a laser surveying unit that performs surveying of the target area using a laser.

8. The ground-penetrating radar system according to claim 1, wherein the ground-penetrating radar device is equipped with a crawler as the traveling unit.

9. In the aforementioned ground-penetrating radar device, the antenna for ground-penetrating exploration is provided outside the traveling section. The ground-penetrating radar system according to claim 1, wherein the control device creates a travel pattern for the ground-penetrating radar device such that the antenna for ground-penetrating exploration explores areas not yet reached by the traveling unit.

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