Mine clearance system and mine clearance method

Abstract

To provide a mine clearance system and mine clearance method that can improve the safety of mine clearance. [Solution] The mine disposal system 1 is a mine disposal system for dealing with mines that are detonated by radio waves of a specific frequency, and comprises a first drone device 2 comprising a first frequency signal generator 8 and a first antenna 10, a second drone device 40 comprising a dual frequency signal generator 44 and a second antenna 55, and a control unit 60, the control unit 60 having an irradiation mode that irradiates the mine with the first radio wave Z1 irradiated from the first antenna and the second radio wave Z2 irradiated from the second antenna, and generates radio waves of the specific frequency at the location of the mine due to the intermodulation distortion caused by the irradiation of the mine with the first radio wave and the second radio wave by the irradiation mode, thereby disposing of the mine.

Description

[[TECHNICAL FIELD]]

[0001] The present invention relates to a mine disposal system and a mine disposal method. [[BACKGROUND ART]]

[0002] Removal and disposal of mines is extremely dangerous and time-consuming work. Conventionally, after workers search for mines using metal detectors or the like, each mine is subjected to blasting or dismantling disposal. For example, as disclosed in Patent Document 1, a technique is known in which an operator searches for mines using a radar unit for detecting buried objects such as mines in the ground. [[PRIOR ART DOCUMENTS]] [[PATENT DOCUMENTS]]

[0003] [[Patent Document 1]] Japanese Unexamined Patent Application Publication No. 2006-250451 [[SUMMARY OF THE INVENTION]] [[Problem to be Solved by the Invention]]

[0004] However, with the technique as disclosed in Patent Document 1, workers are required to enter dangerous areas for mine searching and dismantling disposal, which is extremely dangerous work that may result in human casualties. Furthermore, in recent years, there have been mines M that detonate in response to radio waves, such as radio waves used for mobile phones. For such mines M, it is unknown when they will receive radio waves and activate, and they may also activate upon receiving radio waves from calls from other people's mobile phones or the like near the site, making mine disposal extremely dangerous and relatively difficult. Furthermore, even if such a mine can be discovered, compared to conventional mines that explode when stepped on, it will explode as long as it receives radio waves, so it is unknown when it will activate, leading to the problem that it is extremely dangerous and relatively difficult for a person to approach the site, perform work and dispose of the mine.

[0005] This invention was made to solve these problems and aims to provide a mine clearance system and a mine clearance method that can improve the safety of mine clearance. [Means for solving the problem]

[0006] To achieve the above objective, according to one embodiment of the present invention, a mine clearance system for dealing with mines that are detonated by radio waves of a specific frequency, comprising: a first drone device, the first drone device comprising: a first drone; a first frequency signal generator provided on the first drone that generates a radio wave signal of a first frequency; and a first antenna that irradiates a first radio wave of a first frequency based on the radio wave signal generated by the first frequency signal generator in a predetermined direction; and a second drone device, the second drone device comprising: a second drone; and a second frequency signal generator provided on the second drone that generates a radio wave signal of a second frequency The second drone device comprises a second frequency signal generator and a second antenna that emits radio waves of a second frequency based on the radio wave signal generated by the second frequency signal generator in a predetermined direction, and a control unit, the control unit having an irradiation mode that irradiates the landmine with the first radio waves emitted from the first antenna of the first drone device and the second radio waves emitted from the second antenna of the second drone device, and generates radio waves of a specific frequency at the location of the landmine due to the intermodulation distortion caused by the irradiation of the landmine by the first and second radio waves in the irradiation mode, thereby processing the landmine. According to one embodiment of the present invention configured in this manner, the control unit includes an irradiation mode that causes the control unit to irradiate the landmine with the first radio wave emitted from the first antenna of the first drone device and the second radio wave emitted from the second antenna of the second drone device. As a result, the intermodulation distortion caused by the irradiation of the landmine by the first and second radio waves in the irradiation mode generates radio waves of a specific frequency at the location of the landmine, thereby processing the landmine. Therefore, landmines that detonate with radio waves of a specific frequency can be processed by the intermodulation distortion of the first and second radio waves. Thus, it is possible to discourage workers from approaching and working near landmines that detonate with radio waves of a specific frequency, thereby improving the safety of landmine disposal. Furthermore, for example, by utilizing the intermodulation distortion between the first radio wave Z1 and the second radio wave Z2, the frequency generated by the intermodulation distortion corresponds to the resonant frequency that acts as a trigger in the nonlinear circuit of the landmine M. This makes it easier to induce malfunctions or false ignitions in the detonation circuit of the landmine M, thereby facilitating the detonation of the landmine M.

[0007] According to one embodiment of the present invention, preferably a mine disposal method for dealing with a mine that is detonated by radio waves of a specific frequency, comprising an irradiation step of irradiating the mine with a first radio wave emitted from the first antenna of the first drone device and a second radio wave emitted from the second antenna of the second drone device, wherein the intermodulation distortion caused by the irradiation of the mine by the first and second radio waves in the irradiation step generates radio waves of the specific frequency at the location of the mine, thereby disposing of the mine. According to one embodiment of the present invention configured as described above, the mine disposal method includes an irradiation step in which the first radio wave emitted from the first antenna of the first drone device and the second radio wave emitted from the second antenna of the second drone device are directed toward the mine. As a result, the intermodulation distortion caused by the irradiation of the mine by the first and second radio waves in the irradiation step generates radio waves of a specific frequency at the location of the mine, thereby disposing of the mine. Thus, mines that detonate with radio waves of a specific frequency can be disposed of by the intermodulation distortion of the first and second radio waves. Therefore, it is possible to discourage workers from approaching and working near mines that detonate with radio waves of a specific frequency, thereby improving the safety of mine disposal. Furthermore, for example, by utilizing the intermodulation distortion of the first radio wave Z1 and the second radio wave Z2, the frequency generated by the intermodulation distortion corresponds to the resonant frequency that acts as a trigger in the nonlinear circuit of the mine M, making it easier to induce malfunctions or false ignitions in the detonation circuit of the mine M, and thus making it easier to detonate the mine M. [Effects of the Invention]

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

[0009] [Figure 1] This is a schematic diagram illustrating the outline of a mine clearance system according to one embodiment of the present invention. [Figure 2] This is a block diagram showing the connection between the first drone device, the second drone device, and the control unit in a mine clearance system according to one embodiment of the present invention. [Figure 3] This is a block diagram showing the configuration of the first drone device in a mine clearance system according to one embodiment of the present invention. [Figure 4] This is a block diagram showing the configuration of a second drone device in a mine clearance system according to one embodiment of the present invention. [Figure 5] This is a block diagram showing the configuration of the control unit in a mine clearance system according to one embodiment of the present invention. [Figure 6] This figure shows a flowchart of a mine clearance method relating to a mine clearance system according to one embodiment of the present invention. [Figure 7] This diagram illustrates how a first drone device and a second drone device move from a starting point to a target area and perform radio wave irradiation in a mine clearance system according to one embodiment of the present invention. [Figure 8] This diagram shows a modified example of a mine clearance system according to one embodiment of the present invention, in which the first drone device and the second drone device sequentially move through the target area while irradiating it with radio waves. [Modes for carrying out the invention]

[0010] A mine clearance system 1 according to one embodiment of the present invention will be described below 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.

[0011] As shown in Figure 1, the mine clearance system 1 according to one embodiment of the present invention is a system for dealing with landmines M that are detonated by radio waves ZX of a specific frequency FX. For example, the mine clearance system 1 has the function of detonating landmines that are detonated in response to radio waves in response to radio waves. The mine clearance system 1 makes it possible to deal with landmines that are detonated in response to radio waves relatively safely, remotely and without contact, without the need for a searcher to approach the landmine. The mine clearance system 1 comprises a first drone device 2, a second drone device 40, and a control unit 60.

[0012] 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 that detonate in response to radio waves, such as those used in mobile phones or Wi-Fi, have emerged. For example, the landmine M shown in Figure 1 is one that detonates in response to radio waves. Landmine M does not detonate by sensing pressure, but rather by reacting to radio waves from cell phones, etc. Such landmines M often have a nonlinear circuit, and when a specific frequency radio signal is received by an antenna or other component within the nonlinear circuit, it triggers an action (detonation start), causing the landmine M to explode. Because it is unpredictable when such landmines M will be activated by radio waves, and they can even be activated by radio waves from someone's cell phone call nearby, mine disposal is extremely dangerous and relatively difficult. Furthermore, even if they are discovered, it is unpredictable when they will detonate, making it extremely dangerous and relatively difficult for people to approach and dispose of them. Landmines M also include radio-reactive explosives that are detonated in response to radio waves.

[0013] As shown in Figures 1 and 3, the first drone device 2 comprises a first drone 6, a first frequency signal generator 8 provided on the first drone 6, a first antenna 10, a first drone-side camera 11, a first drone-side altitude measuring device 12, a first drone-side GPS device 14, a first drone-side communication unit 15, and a first drone-side control unit 16.

[0014] As shown in Figure 1, the first drone 6 is an unmanned aerial vehicle, such as a multicopter drone, but it may be an unmanned aerial vehicle of other forms. The first drone 6 comprises a main body 6a and six arms extending outward from the main body 6a, each equipped with a rotor 6b and blades (rotating wings) 6c for rotating blades. By controlling the rotation speed of each blade 6c, the first drone 6 is configured to move in the forward / backward, left / right, and up / down directions. The first drone 6 is configured to generate enough lift to carry the first antenna 10 and fly. In this embodiment, the first drone 6 has six arms and one blade installed on each arm (a total of six blades), but this may be changed to a different number of arms and blades installed on each arm. The first drone 6 can fly along a predetermined position, altitude, and course, and take off and land fully automatically according to a predetermined program, controlled by a control unit 60 described later. Therefore, the first drone 6 and the second drone, described later, can move from the starting point A (see Figure 7) to the mine M disposal operation position via the shortest course, for example, along arrow F, and after detonating the mine M, they can return to the return point, for example, the same point as the starting point A. The first drone device 2 is equipped with a manual operation unit 70 (see Figure 1), and all or part of the control may be manually operated by the manual operation unit. The first drone 6 may be changed to another type of flying object that can fly at any position, such as an unmanned aerial vehicle (UAV) such as a helicopter.

[0015] A first frequency signal generating unit 8 is configured by a device that generates a radio signal of a first frequency F1. The first frequency signal generating unit 8 includes, for example, a frequency-controllable phase-locked loop oscillator (PLL (Phase-Locked Loop) oscillator) and a high-output RF power amplifier. The phase-locked loop oscillator has a function of generating a signal with a relatively stable frequency. The high-output RF power amplifier has a function of amplifying a radio frequency (Radio Frequency) signal to relatively large power. For example, the high-output RF power amplifier amplifies a high-frequency signal to relatively large power and transmits the amplified signal to a first antenna. The high-output RF power amplifier is configured by, for example, a GaN (Gallium Nitride) amplifier. A GaN amplifier can transmit high-frequency signals to the first antenna with higher output, higher efficiency, and a wider bandwidth than a silicon amplifier. Therefore, the first frequency F1 of a first radio wave Z1 described later based on the first frequency signal generating unit 8 can be changed. The first frequency F1 is, for example, 2.400 GHz. By changing the first frequency F1 of the first radio wave Z1 and / or the second frequency F2 of a second radio wave Z2 described later, the frequency generated by intermodulation distortion can be changed, making it easy to adjust the frequency generated by intermodulation distortion to a specific frequency that detonates a landmine M. In addition, the specific frequency that detonates the landmine M can be screened by changing the first frequency F1 and / or the second frequency F2 to generate the specific frequency.

[0016] The first antenna 10 emits a first radio wave Z1 of a first frequency F1, based on the radio wave signal generated by the first frequency signal generator 8, in a predetermined direction. The first antenna 10 constitutes a microstrip antenna, a so-called patch antenna, that emits a highly directional beam. The first antenna 10 has a structure in which a dielectric is sandwiched between a ground plate and a metal patch. For example, the first antenna 10 is formed at an angle and position that allows it to emit a highly directional beam towards the landmine M. The first antenna 10 may also be formed by other types of directional antennas, such as a Yagi antenna. The first antenna 10 is provided at the bottom of the first drone 6 and is positioned to point diagonally downward, for example, towards the landmine M. Note that the irradiation position of the radio waves by the first antenna 10 also changes depending on the flight altitude and flight position of the first drone 6, so it does not need to be determined solely by the orientation of the first antenna 10, but can be adjusted in conjunction with the control of the first drone 6. The radio waves emitted by the first antenna 10 are high-frequency electromagnetic waves.

[0017] The first frequency F1 of the first radio wave Z1 is different from the second frequency F2 of the second radio wave Z2, as described later. The difference between the first frequency F1 and the second frequency F2 generates difference frequencies (waves with an amplitude of "F1-F2" as the absolute value), sum frequencies (waves with an amplitude of "F1+F2" as the absolute value), higher-order intermodulation waves (waves with an amplitude of "2×F1-F2" as the absolute value), and other waves. The frequencies generated by intermodulation distortion correspond to the resonant frequencies that act as triggers in the nonlinear circuit of the mine M, making it easier to detonate the mine M. Furthermore, the first frequency F1 of the first radio wave Z1 is different from the frequency of the radio waves used for communication by the first drone-side communication unit 15. This prevents intermodulation distortion between the radio waves used for communication by the first drone-side communication unit 15 and the second frequency F2, which could cause the landmine M to malfunction. The first antenna 10 forms an antenna for irradiating the first radio wave Z1, and is different from the antenna for control communication of the first drone 6. This allows the first antenna 10 to be formed such that intermodulation distortion between the first radio wave Z1 and the second radio wave Z2 is easily generated, making it easy to cause malfunction of the mine M using intermodulation distortion. Further, the first frequency F1 of the first radio wave Z1 and the second frequency F2 of the second radio wave Z2 are both different from said specific frequency FX. With this configuration, detonation is less likely to occur when irradiated with the first radio wave Z1 from one drone, and detonation can be induced only when irradiation from two drones is simultaneously achieved. Therefore, malfunction of the mine M caused by radio waves from only one drone is suppressed, and intentional triggering (actuation of the mine M) using intermodulation distortion can be performed while ensuring relatively high safety controllability.

[0018] As shown in FIG. 3, the first drone-side camera 11 is provided on the body main body 6a of the first drone 6, and is capable of photographing and visually checking surrounding conditions from the first drone 6. The first drone-side camera 11 has a function capable of moving image shooting and still image shooting. By means of the first drone-side camera 11, a user can check the surrounding conditions of the first drone-side camera 11 from a remote location, and can also photograph and record the condition of the mine M and the surrounding conditions of the mine M. The first drone-side camera 11 is provided so as to be capable of photographing the condition substantially directly below the first drone 6 in order to check the condition of the mine M. The first drone-side camera 11 transmits captured images and the like, allowing the user to check the condition of the mine M.

[0019] The first drone-side altitude measuring device 12 is installed on the aircraft body 6a and can measure the altitude (distance) of the first drone 6 relative to the ground G in which the landmine M to be processed is buried. The first drone-side altitude measuring device 12 uses, for example, an ultrasonic altimeter that can measure the height to the ground G. The first drone-side altitude measuring device 12 may be composed of any or any combination thereof of a barometric pressure sensor that can measure the flight altitude by measuring the atmospheric pressure, an ultrasonic sonar that can measure the distance from the first drone 6 to the ground G, a laser measurement sensor that can measure the distance from the first drone 6 to the ground G, a LIDAR sensor that can measure the distance from the first drone 6 to the ground G, etc. As a result, the first drone-side altitude measuring device 12 can measure the altitude (distance) from the first drone 6 to the ground G. For example, the first drone-side altitude measuring device 12 can measure the altitude of the first drone 6 to a predetermined altitude, for example, an altitude (distance) within a predetermined distance of 1m to 50m from the first drone 6 to the ground G, more preferably within a range of 5m to 50m, more preferably within a range of 30m to 50m, or more preferably within a range of 5m to 20m, and the first drone-side control unit 16 can make the first drone 6 fly at the predetermined altitude. The first drone 6 can be positioned, for example, at a height of 30m or a distance of 20m or more horizontally from the landmine M (for example, at a distance of up to 50m each). The first drone 6 and the second drone 42 are positioned symmetrically with respect to the landmine M and can emit radio waves while hovering at the same height.

[0020] The GPS device 14 on the first drone is capable of determining the current position of the first drone 6 using satellites. The control unit 60 acquires the coordinate information of the landmine M in advance or during processing, and the GPS device 14 on the first drone can confirm these coordinates. The control unit 60 can perform the operation of irradiating the landmine M with the first radio wave while confirming the coordinates using the GPS device 14 on the first drone. In addition, the GPS device 14 on the first drone can acquire positional information (for example, information such as latitude and longitude) of the point where the first antenna 10 irradiated the first radio wave. Furthermore, the GPS device 14 on the first drone can recognize the position of the first drone 6 and provide positional information necessary for predetermined flight control of the first drone 6.

[0021] The first drone-side communication unit 15 can wirelessly transmit data from the first drone device 2 to the control unit 60. For example, the first drone-side communication unit 15 can transmit information such as the position (coordinates, altitude) of the first drone 6 and the position where the first antenna 10 emitted the first radio wave to the control unit 60. The first drone-side communication unit 15 also communicates with the first drone-side control unit 16 so that they can share control information with the control unit 60.

[0022] The first drone device 2 may be equipped with a manual operation unit 70, a monitor 72 for the operation unit 70, etc., as needed. For example, an operator may control the operation and stopping of the supply device while checking the supply status of the emulsified liquid to the target area using the monitor 72.

[0023] As shown in Figure 3, the first 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 first drone-side control unit 16 is electrically connected to the first drone 6, the first frequency signal generator 8, the first antenna 10, the first drone-side camera 11, the first drone-side altitude measuring device 12, the first drone-side GPS device 14, the first drone-side communication unit 15, the control unit 60, etc. These electrical connections may be made by wireless communication or the like.

[0024] The first drone-side control unit 16 can perform flight control of the first drone 6. The first drone-side control unit 16 is configured to perform predetermined functions in cooperation with the control unit 60. Together with the control unit, the first drone-side control unit 16 controls the first drone device 2 and the flight of the first drone 6. More specifically, the first drone-side control unit 16 can control the position (coordinates, altitude) where the first antenna 10 emits the first radio wave, attitude control, yawing rotation suppression control, movement between emission points, etc. Thus, the first drone-side control unit 16 can control the flight altitude, flight route, rotation speed of each blade, attitude (including left and right roll and yawing in the rotation direction, etc.) of the first drone 6, and, if necessary, the operation control of the first frequency signal generator 8 and the first antenna 10. The first drone-side control unit 16 can achieve control to make the first drone 6 reach a predetermined altitude above the target point (search point) and emit the first radio wave from the first antenna 10. The first drone-side control unit 16 is capable of continuously executing control to emit the first radio waves from the first antenna 10 toward the ground G within a certain range including the target point. The first drone-side control unit 16 may be provided as an integral part of the control unit 60. For example, all or part of the functions of the first drone-side control unit 16 may be provided on the control unit 60 side. All or part of the functions of the first drone-side control unit 16 may be provided on the information terminal equipment, etc., on the operation unit 70 side. The first drone-side control unit 16 is electrically connected to the operation unit 70 and can set various modes, etc.

[0025] As shown in Figures 1 and 4, the second drone device 40 includes a second drone 42, a second frequency signal generator 44 provided on the second drone 42, a second antenna 55, a second drone-side camera 43, a second drone-side altitude measuring device 45, a second drone-side GPS device 46, a second drone-side communication unit 47, and a second drone-side control unit 48.

[0026] As shown in Figure 1, the second drone 42 is an unmanned aerial vehicle, such as a multicopter drone, but it may be another type of unmanned aerial vehicle. The second drone 42 comprises a main body 42a and six arms extending outward from the main body 42a, each equipped with a rotor 42b and blades (rotating wings) 42c for rotating the blades. By controlling the rotation speed of each blade 42c, the second drone 42 is configured to move in the forward / backward, left / right, and up / down directions. The second drone 42 is configured to generate enough lift to carry the second antenna 55 and fly. In this embodiment, the second drone 42 has six arms and one blade installed on each arm (a total of six blades), but this may be changed to a different number of arms and blades installed on each arm. The second drone 42 can fly along a predetermined position, altitude, and course, and take off and land fully automatically according to a predetermined program, controlled by a control unit 60 described later. Therefore, the first drone 6 and the second drone 42 can move from the starting point A (see Figure 7) to the mine M disposal operation position by following the shortest course, for example, along arrow F, and after detonating the mine M, they can return to the return point, for example, the same point as the starting point A. The second drone 42 is equipped with a manual control unit 73, and all or part of its control may be manually operated by the manual control unit 73. The second drone 42 may be replaced with another type of flying object that can fly at any position, such as an unmanned aerial vehicle (UAV) such as a helicopter.

[0027] The second frequency signal generation unit 44 is comprised of a device that generates a radio wave signal of a second frequency F2. The second frequency signal generation unit 44 includes, for example, a frequency-controllable phase-locked loop oscillator (PLL) and a high-power RF power amplifier. The phase-locked loop oscillator has the function of generating a signal with a relatively stable frequency. The high-power RF power amplifier has the function of amplifying a radio frequency signal to a relatively large power. The high-power RF power amplifier, for example, amplifies the radio frequency signal to a relatively large power and transmits it to the second antenna 55. The high-power RF power amplifier is comprised of, for example, a GaN (gallium nitride) amplifier. A GaN amplifier can transmit a radio wave signal to the second antenna 55 with higher output, higher efficiency, and wider bandwidth than a silicon amplifier. Therefore, the second frequency F2 of the second radio wave Z2, described later, based on the second frequency signal generation unit 44, is changeable. The second frequency F2 is, for example, 2.435 GHz. By changing the first frequency F1 of the first radio wave Z1 and / or the second frequency F2 of the second radio wave Z2 (described later), the frequency generated by intermodulation distortion can be changed, making it easier to change the frequency generated by intermodulation distortion so that it becomes the specific frequency FX that detonates the landmine M. Furthermore, by changing the first frequency F1 and / or the second frequency F2 to produce the specific frequency FX that detonates the landmine M, it is possible to screen for radio waves of the specific frequency FX (operating radio wave ZX).

[0028] The second antenna 55 emits a second radio wave Z2 of a second frequency F2, based on the radio wave signal generated by the second frequency signal generator 44, in a predetermined direction. The second antenna 55 constitutes a microstrip antenna, a so-called patch antenna, that emits a highly directional beam. The second antenna 55 has a structure in which a dielectric is sandwiched between a ground plate and a metal patch. For example, the second antenna 55 is formed at an angle and position that allows it to emit a highly directional beam towards the landmine M. The second antenna 55 may also be formed by other types of directional antennas, such as a Yagi antenna. The second antenna 55 is provided below the second drone 42 and is positioned to point diagonally downward, for example, towards the landmine M. Note that the irradiation position of the radio waves by the second antenna 55 also changes depending on the flight altitude and flight position of the second drone 42, so it does not need to be determined solely by the orientation of the second antenna 55, but can be adjusted in conjunction with the control of the second drone 42. The radio waves emitted by the second antenna 55 are high-frequency electromagnetic waves.

[0029] The second frequency F2 of the second radio wave Z2 is different from the frequency of the radio waves used for communication by the second drone-side communication unit 47. This prevents the occurrence of intermodulation distortion between the radio waves used for communication by the second drone-side communication unit 47 and the second frequency F1, which could cause the landmine M to malfunction. The second antenna 55 forms an antenna for emitting the second radio wave Z2 and is different from the antenna used for control communication of the second drone 42. This allows the second antenna 55 to be formed in a way that makes it easier to cause intermodulation distortion between the first radio wave Z1 and the second radio wave Z2, making it easier to cause the landmine M to malfunction by utilizing this intermodulation distortion.

[0030] As shown in Figure 4, the second drone-side camera 43 is mounted on the main body 42a of the second drone 42, allowing the second drone 42 to photograph and observe the surrounding situation. The second drone-side camera 43 has the capability to shoot videos and take photographs. The second drone-side camera 43 allows the user to remotely check the situation around the second drone-side camera 43, and to photograph and record the situation of the landmine M and the situation around the landmine M. The second drone-side camera 43 is also positioned to photograph the situation approximately directly below the second drone 42 in order to check the situation of the landmine M. The second drone-side camera 43 transmits the captured images, etc., so that the user can check the situation of the landmine M.

[0031] The second drone-side altitude measuring device 45 is installed on the aircraft body 42a and can measure the altitude (distance) of the second drone 42 relative to the ground G on which the landmine M is buried. The second drone-side altitude measuring device 45 uses, for example, an ultrasonic altimeter that can measure the height to the ground G. The second drone-side altitude measuring device 45 may be composed of any or any combination thereof of a barometric pressure sensor that can measure the flight altitude by measuring the atmospheric pressure, an ultrasonic sonar that can measure the distance from the second drone 42 to the ground G, a laser measurement sensor that can measure the distance from the second drone 42 to the ground G, or a LIDAR sensor that can measure the distance from the second drone 42 to the ground G. As a result, the second drone-side altitude measuring device 45 can measure the altitude (distance) from the second drone 42 to the ground G. For example, the second drone-side altitude measuring device 45 can measure the altitude of the second drone 42 to a predetermined altitude, for example, an altitude (distance) within a predetermined distance range of 1m to 50m from the second drone 42 to the ground G, more preferably within a range of 5m to 30m, and more preferably within a range of 5m to 15m, so that the second drone-side control unit can make the second drone 42 fly at the predetermined altitude.

[0032] The GPS device 46 on the second drone is capable of determining the current position of the second drone 42 using satellites. The control unit 60 acquires the coordinate information of the landmine M in advance or during processing, and the GPS device 46 on the second drone can confirm these coordinates. The control unit 60 can perform the operation of irradiating the landmine M with the second radio wave while confirming the coordinates with the GPS device 46 on the second drone. In addition, the GPS device 46 on the second drone can acquire position information (for example, information such as latitude and longitude) of the point where the second antenna 55 irradiated the second radio wave. Furthermore, the GPS device 46 on the second drone can recognize the position of the second drone 42 and provide position information necessary for predetermined flight control of the second drone 42.

[0033] The second drone-side communication unit 47 can wirelessly transmit data from the second drone device 40 to the control unit 60. For example, the second drone-side communication unit 47 can transmit information such as the position (coordinates, altitude) of the second drone 42 and the position where the second antenna 55 emitted the first radio wave to the control unit 60. The second drone-side communication unit 47 also communicates with the second drone-side control unit 48 so that they can share control information with the control unit 60.

[0034] As shown in Figure 1, the second drone device 40 may be equipped with a manual control unit 73, a monitor 74 for the control unit 73, etc., as needed. For example, a worker may control the operation and stopping of the irradiation of the second radio wave Z2 by the second antenna 55 while checking the status of the landmine M on the monitor 74.

[0035] As shown in Figure 4, the second drone-side control unit 48 incorporates a CPU 50 and a storage device 51 such as memory, and controls connected devices to execute predetermined controls based on a predetermined control program recorded in the memory, etc. The second drone-side control unit 48 is electrically connected to the second drone 42, the second frequency signal generator 44, the second antenna 55, the second drone-side camera 43, the second drone-side altitude measuring device 45, the second drone-side GPS device 46, the second drone-side communication unit 47, etc. These electrical connections may be made by wireless communication or the like.

[0036] The second drone-side control unit 48 can perform flight control of the second drone 42. The second drone-side control unit 48 is configured to perform predetermined functions in cooperation with the control unit 60. Together with the control unit, the second drone-side control unit 48 controls the second drone device 40 and the flight of the second drone 42. More specifically, the second drone-side control unit 48 can control the position (coordinates, altitude) where the second antenna 55 emits the second radio wave, attitude control, yawing rotation suppression control, and movement to the point where the second antenna 55 emits the second radio wave. In this way, the second drone-side control unit 48 can control the flight altitude, flight route, rotation speed of each blade, attitude (including left and right roll and yawing in the rotation direction, etc.) of the second drone 42, and, if necessary, the operation control of the second frequency signal generator 44 and the second antenna 55. The second drone-side control unit 48 can achieve control to make the second drone 42 reach a predetermined altitude above the target point (search point) and emit the second radio wave from the second antenna 55. The second drone-side control unit 48 can implement control that continuously performs control to emit the second radio waves from the second antenna 55 toward the ground G within a certain range including the target point. The second drone-side control unit 48 may be provided as an integral part of the control unit 60. For example, all or part of the functions of the second drone-side control unit 48 may be provided on the control unit 60 side. All or part of the functions of the second drone-side control unit 48 may be provided on the information terminal equipment on the operation unit side. The second drone-side control unit 48 is electrically connected to the operation unit 73 and can set various modes, etc.

[0037] As shown in Figure 1, the mine clearance system 1 further includes a control unit 60. The control unit 60 is configured to control the first drone device 2 and the second drone device 40. The control unit 60 is located in a computer at a distance from the first drone device 2, the second drone device 40, etc.

[0038] The control unit 60 has the function of executing, for example, control to emit a first radio wave from the first antenna 10 of the first drone device 2, and control to emit a second radio wave from the second antenna 55 of the second drone device 40. The control unit 60 has the function of executing, for example, control to emit a first radio wave Z1 from the first antenna 10 of the first drone device 2. The control unit 60 also has the function of executing, for example, control to emit a second radio wave Z2 from the second antenna 55 of the second drone device 40.

[0039] As shown in Figure 2, the control unit 60 is electrically connected to the first drone device 2 and the second drone device 40, etc., via the Internet 3. The control unit 60 may be installed in an electronic device that functions as a computer, such as a smartphone or tablet. The control unit 60 has a CPU 63 and a storage device 66 such as memory, and controls the connected devices 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 connected in whole or in part 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 66 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 first drone-side control unit 16 or the second drone-side control unit 28 mounted on the first drone device 2 or the second drone device 40 may be configured to execute some or all of the control functions. The control unit 60 is equipped with output devices 77 such as monitors and input devices 78 that can be operated, and various modes can be set.

[0040] As shown in Figure 5, the control unit 60 includes an irradiation mode 62 that causes the first radio wave Z1 emitted from the first antenna 10 of the first drone device 2 and the second radio wave Z2 emitted from the second antenna 55 of the second drone device 40 to be directed toward the landmine M. As a result, the intermodulation distortion caused by the irradiation of the landmine M by the first radio wave Z1 and the second radio wave Z2 in the irradiation mode 62 generates a radio wave ZX of the specific frequency FX at the location of the landmine M, thereby processing the landmine M.

[0041] The control unit 60 includes a synchronous control mode 67 that aligns the phases of the first radio wave Z1 and the second radio wave Z2. This makes it easier to control the frequency generated by the intermodulation distortion between the first radio wave Z1 and the second radio wave Z2. As the frequency generated by the intermodulation distortion corresponds to the resonant frequency that triggers the nonlinear circuit of the landmine M, it becomes easier to induce malfunction or mis-ignition of the detonation circuit of the landmine M, thereby making it easier to detonate the landmine M.

[0042] The control unit 60 may include a determination mode 68 that performs a function to detect or determine whether the landmine M has detonated. For example, the control unit 60 causes the second drone-side camera 43, which is provided on the second drone 42, to capture an image or video of the landmine M and analyzes the image, etc. The control unit 60 may also detect the explosion by detecting the sound of the explosion or by detecting the pressure change caused by the impact of the explosion using a sensor. The control unit 60 may also be equipped with an RF scanner and determine whether an explosion has occurred using the RF scanner.

[0043] Next, as shown in Figure 6, a series of operations in a mine clearance method will be described, which involves the mine clearance system 1 handling a mine M that is detonated by radio waves ZX of a specific frequency FX. In preparation step S1 of the mine clearance system 1, the first drone device 2, the second drone device 40, and the control unit 60 of the mine clearance system 1 are prepared. The first drone device 2 and the second drone device 40 are installed at the starting point A (see Figure 7). The first frequency signal generator 8 and the first antenna 10 are in a standby state when the first drone device 2 is at the starting point A. The second frequency signal generator 44 and the second antenna 55 are in a standby state when the second drone device 40 is at the starting point A.

[0044] The first drone device 2 and the second drone device 40 are prepared for use. The control unit 60 also prepares or acquires flight data for the first drone device 2 and the second drone device 40 (for example, coordinate information of the location of the landmine M or the location where the landmine M is assumed to be located, the flight route to those coordinates, and data such as the flight altitude relative to the ground G at each target coordinate (altitude data)). The landmine M is discovered by some other search method, and for example, the coordinate information of the landmine M is acquired by the control unit 60. When step S1 is completed, the control unit 60 proceeds to S2.

[0045] In step S2, the control unit 60 performs an irradiation step in which the first radio wave Z1 emitted from the first antenna 10 of the first drone device 2 and the second radio wave Z2 emitted from the second antenna 55 of the second drone device 40 are simultaneously emitted toward the landmine M. As will be described later, the irradiation timing is set such that the phases of the first radio wave Z1 and the second radio wave Z2 are synchronized, but for example, the phases of the two do not necessarily have to be synchronized or coincide. The control unit 60 first flies the first drone device 2 to a position diagonally above the landmine M. If the landmine M is not identified, it may be flown to a position diagonally above the target area D (shown by a dashed line in Figure 1). The target area D is an example of a hypothetical area where it is assumed that the landmine M is located. The control unit 60 also first flies the second drone device 40 to a position diagonally above the landmine M. When the first drone device 2 arrives diagonally above the mine M, the control unit 60 causes the first antenna 10 to emit the first radio wave Z1 toward the mine M. At this time, the radio wave emitted from the first antenna 10 toward the mine M is emitted at a predetermined angle. The first drone device 2 and the second drone device 40 emit radio waves toward the mine M (target area D) at an oblique angle, for example, at a 45-degree angle from the vertical direction (the vertical direction line of the mine M or target area D is indicated by the dashed line Y) of the mine M (target area D). The emission angle of the radio waves from the first drone device 2 and the second drone device 40 can be changed arbitrarily. In this way, the first drone device 2 and the second drone device 40 emit radio waves at an oblique angle from a position shifted from the vertical direction above the mine M (target area D). This reduces the risk that the first drone device 2 and the second drone device 40 will be damaged by the impact of the explosion of the landmine M, or by fragments of the landmine M and soil fragments, if the landmine M is detonated. When the second drone device 40 arrives diagonally above the landmine M, the control unit 60 causes the second antenna 55 to emit the second radio wave Z2 towards the landmine M. At this time, the radio wave emitted from the second antenna 55 towards the landmine M is emitted at a predetermined angle.

[0046] The intermodulation distortion caused by the irradiation of the landmine M by the first radio wave Z1 and the second radio wave Z2 in the irradiation step S2 generates a radio wave of the specific frequency FX at the location of the landmine M. The first radio wave Z1 irradiated from the first antenna 10 and the second radio wave Z2 irradiated from the second antenna 55 are superimposed as they pass over the nonlinear circuit, and the intermodulation distortion generates frequencies such as Z1+Z2 and Z1-Z2. As such radio wave superposition occurs, radio waves of various frequencies are generated at the location of the landmine M. If a radio wave ZX of the specific frequency FX is generated by intermodulation distortion, the nonlinear circuit or receiving antenna on the landmine M side resonates, causing the landmine M to mistakenly perceive that it has received an activation command, and the landmine M is activated and detonated. The control unit 60 can photograph the activation of the landmine M using the first drone-side camera 11 or the second drone-side camera 43, etc. When step S2 is completed, the control unit proceeds to step S3.

[0047] In step S3, the control unit 60 performs an activation determination step to determine whether or not the landmine M has been activated based on the image acquired by the first drone-side camera 11 or the second drone-side camera 43, etc. If the control unit 60 determines that the mine M has been activated, or if the control unit 60 receives a command (for example, a command from the operator) indicating that the mine M has been activated and determines that the mine M has been activated, the control unit 60 terminates step S3 and proceeds to the end. The control unit 60 returns the first drone device 2 and the second drone device 40 to the starting point A and terminates control. If the control unit 60 does not (or cannot) determine that the mine M has been activated, it may return to step S2 and perform step S2 again. Alternatively, step S2 may be performed by changing the frequency of the first radio wave Z1 or the second radio wave Z2. For example, if the resonant frequency of the nonlinear circuit of the mine M is unknown, the system can screen for a radio wave ZX of a specific frequency FX that activates the mine M by changing the combination of frequencies of the first radio wave Z1 or the second radio wave Z2. Such screening may be performed comprehensively, or it may be performed by checking examples of commonly used frequency bands such as those used by mobile phones and Wi-Fi.

[0048] An example of one embodiment of the present invention may be provided in the following embodiments.

[0049] (1) A mine clearance system for dealing with mines that are detonated by radio waves of a specific frequency, comprising: a first drone device, the first drone device comprising: a first drone; a first frequency signal generating unit provided on the first drone for generating a radio signal of a first frequency; and a first antenna for irradiating a first radio wave of a first frequency based on the radio signal generated by the first frequency signal generating unit in a predetermined direction; and a second drone device, the second drone device comprising: a second drone; a second frequency signal generating unit provided on the second drone for generating a radio signal of a second frequency; and A mine disposal system comprising: a second drone device having a second antenna that irradiates a second radio wave of a second frequency based on the radio signal generated by a second frequency signal generator in a predetermined direction; and a control unit, the control unit having an irradiation mode that irradiates the first radio wave emitted from the first antenna of the first drone device and the second radio wave emitted from the second antenna of the second drone device toward the landmine, and by the intermodulation distortion caused by the irradiation of the landmine by the first and second radio waves of the irradiation mode toward the landmine, the system generates radio waves of a specific frequency at the location of the landmine and disposes of the landmine.

[0050] (2) The mine clearance system according to (1), wherein the control unit includes a synchronous control mode for aligning the phases of the first radio wave and the second radio wave.

[0051] (3) The mine clearance system as described in (1), wherein the first frequency of the first radio wave is different from the second frequency of the second radio wave.

[0052] (4) The mine clearance system according to (1), wherein the first frequency of the first radio wave is different from the frequency of the radio wave used for communication of the first drone-side communication unit, and the second frequency of the second radio wave is different from the frequency of the radio wave used for communication of the second drone-side communication unit.

[0053] (5) The mine clearance system according to (1), wherein the first antenna forms an antenna for emitting the first radio wave and is provided separately from the antenna for control communication of the first drone, and the second antenna forms an antenna for emitting the second radio wave and is provided separately from the antenna for control communication of the second drone.

[0054] (6) The mine clearance system as described in (1), wherein the first frequency of the first radio wave and the second frequency of the second radio wave are both different from the specified frequency.

[0055] (7) The mine clearance system as described in (1), wherein the first frequency of the first radio wave and the second frequency of the second radio wave are both changeable.

[0056] (8) The mine disposal system according to (1), wherein the first drone device irradiates the mine with the first radio waves from the first antenna at an angle from a position offset from the vertically above the mine, and the second drone device irradiates the mine with the second radio waves from the second antenna at an angle from a position offset from the vertically above the mine.

[0057] (9) A mine disposal method for dealing with a landmine that is detonated by radio waves of a specific frequency, comprising an irradiation step of irradiating the landmine with a first radio wave irradiated from the first antenna of the first drone device and a second radio wave irradiated from the second antenna of the second drone device, wherein the intermodulation distortion caused by the irradiation of the landmine by the first radio wave and the second radio wave in the irradiation step generates radio waves of the specific frequency at the location of the landmine, thereby disposing of the landmine.

[0058] 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.

[0059] As a variation, the mine clearance system 1 may direct the first radio wave Z1 emitted from the first antenna of the first drone device and the second radio wave Z2 emitted from the second antenna of the second drone device toward the target area D. That is, even if the presence or coordinate location of the landmine M is unknown, the first radio wave Z1 and the second radio wave Z2 can be directed toward the target area D where the presence of the landmine M is suspected or anticipated. The control unit 60 can also perform a similar irradiation mode in target areas D where the presence of the landmine M is not known, while simultaneously searching or scanning to determine whether or not the landmine M is present. Therefore, it is possible to screen a certain range of area for landmines that can be detonated by radio waves. For example, the control unit 60 may include a course setting mode that functions as a course setting mode execution unit that sets a predetermined course F (see Figure 8) for searching the target area D using the first drone device 2 and the second drone device 40. In the course setting mode, only the predetermined course F may be set, or markers such as target areas D1 to D16 may be set together with the course F. For example, the first drone device 2 and the second drone device 40 work together, moving little by little along course F as shown in Figure 8, and illuminating each target area D1 to D16. By combining the illumination in each target area D1 to D16, it is possible to search, screen, and clear a wider target area D0. The target area D can be, for example, a 30cm square area, or a 20cm square area, etc. The target area D can also be a quadrilateral area with sides of 10cm, etc. The target area D is a virtual area, and its shape and size can be set arbitrarily. When the control unit 60 finishes irradiating the target area D1 with radio waves utilizing intermodulation distortion, it moves the first drone device 2, etc., to the next target area D2 and performs radio wave irradiation in the same manner. The control unit 60 can also make the first drone device 2, etc., fly fully automatically along a predetermined course, for example, the course of arrow F, according to a predetermined program. The control unit 60 can also make the first drone 6, etc., fly along a predetermined course F and perform radio wave irradiation using a course setting mode. As shown in Figure 8, the control unit 60 may also be set to make the first drone device 2 and the second drone device 40 fly along a predetermined course F and irradiate continuously. Therefore, it is possible to process landmines that detonate with radio waves continuously not only in the target areas D1 to D16, but also in the areas in between. [Explanation of Symbols]

[0060] 1: Mine clearance system 2: First Drone Device 6: First Drone 8: First frequency signal generator 10: First Antenna 15: First drone-side communications unit 40: Second Drone Device 42: Second Drone 44: Second frequency signal generator 47: Second drone-side communications unit 55: Second antenna 60: Control Unit 62: Irradiation Mode F1: First frequency F1: Second frequency F2: Second frequency FX:Specific frequency M:Landmine Z1: 1st radio wave Z2: Second Radio Wave ZX: Specific frequency

Claims

1. A mine clearance system that deals with mines detonated by radio waves of a specific frequency, A first drone device, wherein the first drone device comprises a first drone and The first drone is equipped with a first frequency signal generating unit that generates a radio signal of a first frequency, The first drone device includes a first antenna that emits a first radio wave of a first frequency based on the radio wave signal generated by the first frequency signal generation unit in a predetermined direction, A second drone device, wherein the aforementioned second drone device comprises a second drone and The second drone is provided with a second frequency signal generating unit that generates a radio signal of a second frequency, The second drone device comprises a second antenna that emits a second radio wave of the second frequency based on the radio wave signal generated by the second frequency signal generation unit in a predetermined direction, It includes a control unit, The control unit includes an irradiation mode that causes the first radio wave emitted from the first antenna of the first drone device and the second radio wave emitted from the second antenna of the second drone device to be directed toward the landmine, and the intermodulation distortion caused by the irradiation of the landmine by the first and second radio waves in the irradiation mode causes the specific frequency radio wave to be generated at the location of the landmine, thereby processing the landmine. A mine clearance system wherein the first frequency of the first radio wave is different from the second frequency of the second radio wave, and both the first frequency of the first radio wave and the second frequency of the second radio wave are different from the specified frequency.

2. The mine clearance system according to claim 1, wherein the control unit includes a synchronous control mode for aligning the phases of the first radio wave and the second radio wave.

3. The mine clearance system according to claim 1, wherein the first frequency of the first radio wave is different from the frequency of the radio wave used for communication of the first drone-side communication unit, and the second frequency of the second radio wave is different from the frequency of the radio wave used for communication of the second drone-side communication unit.

4. The first antenna forms an antenna for irradiating the first radio wave and is provided separately from the antenna for control communication of the first drone. The mine clearance system according to claim 1, wherein the second antenna forms an antenna for irradiating the second radio wave and is provided separately from the antenna for control communication of the second drone.

5. The mine clearance system according to claim 1, wherein the first frequency of the first radio wave and the second frequency of the second radio wave are both changeable.

6. The first drone device irradiates the landmine with the first radio waves from the first antenna at an oblique angle from a position offset from the vertically above the landmine. The mine disposal system according to claim 1, wherein the second drone device illuminates the mine with the second radio waves from a position offset from vertically above the mine using the second antenna at an oblique angle.

7. A mine disposal method for dealing with landmines that are detonated by radio waves of a specific frequency, The system includes an irradiation step in which a first radio wave emitted from the first antenna of a first drone device and a second radio wave emitted from the second antenna of a second drone device are directed toward the landmine, wherein the first frequency of the first radio wave is different from the second frequency of the second radio wave, and both the first frequency of the first radio wave and the second frequency of the second radio wave are different from the specified frequency. A mine disposal method comprising generating radio waves of a specific frequency at the location of the mine and disposing of the mine by intermodulation distortion caused by the irradiation of the first radio wave and the second radio wave to the mine in the irradiation step.

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