JP2004138398A - Radar survey device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a survey device capable of efficiently surveying underground or the interior of a structure. <P>SOLUTION: This survey device has a plurality of antenna bodies 20, an information processing means 30 for collectively processing receiving information obtained from each of the antenna bodies, and a traveling device 40 traveled on an object of detection. The traveling device 40, which is traveled by the power of an electric motor 41, comprises an installation part 44 for installing the antenna bodies, an obstacle sensor 44a arranged on the installation part 44, a link mechanism 45 for vertically moving the installation part, and an operator boarding part 46. The installation part has an air gap with the object of detection, and the electric motor is stopped when the obstacle sensor detects an obstacle. The information processing means comprises a GPS receiver 32 and a camera device 33. The processing means obtains position measurement information from the GPS receiver and camera device, and overlaps the position measurement information on the receiving information. <P>COPYRIGHT: (C)2004,JPO

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to an exploration device for detecting an underground or inside a building.
[0002]
[Prior art]
An exploration device that detects underground and the inside of a structure has an antenna that irradiates electromagnetic waves to the object to be detected and receives its reflected waves, and processes the received information obtained from the antenna to exist in the object to be detected. It is configured to grasp a hole or an object to be made. The antenna body is a unit having a transmitting unit and a receiving unit for electromagnetic waves, and as this type of exploration apparatus, a plurality of antenna bodies are arranged and moved along the detection target, and obtained from each antenna body. There is also known an apparatus that obtains a two-dimensional image or a three-dimensional image of a detection target by processing received information as a whole. Such an exploration device is provided, for example, in a vehicle running on a public road, and is used for searching and investigating a hole generated under a pavement surface. Further, a basic configuration for creating a two-dimensional image or a three-dimensional image of a detection target is also disclosed in JP-A-9-88351, JP-A-11-352223, and the like.
[0003]
[Patent Document 1] JP-A-09-08351 [Patent Document 2] JP-A-11-352223
[Problems to be solved by the invention]
By the way, the search and investigation of vacancies are performed as necessary even in places other than public roads (especially roads). That is, the detection by the search device is also performed on sidewalks, alleys of residential areas and shopping streets, sandy beaches, embankments, riverbeds, quays, tree-planting zones, private roads, factory premises, and the like. However, in these places, it is often difficult for a public road vehicle equipped with an exploration device to enter, and at present, the work of moving the antenna along the detection target is performed by hand. Specifically, a measuring line is provided in advance on the surface of the detection target using a tape measure, a chalk, or the like, and the manually pushed antenna body is moved according to the measuring line. However, it is hard labor to move the antenna body in this way, and at that site, a more rationally configured exploration device is desired in order to improve the efficiency of such work.
[0005]
The present invention has been made in view of such circumstances, and an object of the present invention is to provide an exploration device capable of efficiently detecting an underground or the inside of a building.
[0006]
[Means for Solving the Problems]
The invention described in the first claim of the present application is directed to an exploration device for detecting an underground or the inside of a building, wherein a plurality of antennas that irradiate an object to be detected with an electromagnetic wave and receive a reflected wave thereof, and An information processing unit that collectively processes the obtained reception information, and a traveling device that is mounted on the plurality of antennas and the information processing unit and travels on the detection target, and the traveling device includes: An electric motor, which is driven by an electric motor, and a mounting unit for mounting the plurality of antennas, an obstacle sensor disposed on the mounting unit, a link mechanism for moving the mounting unit up and down, A mounting section on which an operator of the apparatus is mounted, wherein the mounting section is provided with an air gap between the mounting section and the detection target, and the electric motor is configured such that the obstacle sensor detects an obstacle. A search device configured to be stopped. ADVANTAGE OF THE INVENTION According to the exploration apparatus of this invention, it is possible to detect the underground and the inside of a building efficiently.
[0007]
That is, according to the traveling device driven by the power of the electric motor, it is possible to move the plurality of antennas efficiently along the detection target. The operation of the search device is performed by an operator boarding the boarding section. Further, by moving the mounting portion up and down by the link mechanism, it is possible to efficiently avoid a situation where an obstacle comes into contact with the mounting portion and the antenna body. In particular, since an air gap is provided between the mounting portion and the detection target, there is an advantage that transmission and reception of electromagnetic waves by the antenna body are stabilized. That is, when the two touch each other, this causes the antenna body to slightly vibrate. In the present invention, such inconvenience is avoided. Further, when an obstacle comes into contact with the mounting portion, the obstacle sensor disposed on the mounting portion detects this, and the electric motor is stopped according to the detection of the obstacle sensor. As a result, the safety of the traveling device is surely improved.
[0008]
According to a second aspect of the present invention, in the first aspect, the information processing unit includes a GPS receiver, and a camera device for photographing the front of the traveling device from the traveling device, and the GPS receiver and the camera device. The positioning device obtains the positioning information of the searching device from, and superimposes the positioning information on the reception information obtained from the antenna body.
[0009]
The information processing means of the present invention obtains positioning information of the search device from the GPS receiver and the camera device, and superimposes, that is, overlaps, the positioning information with the reception information obtained from the plurality of antennas. According to such a configuration, it is possible to obtain a better detection result.
[0010]
The GPS means a Global Positioning System (satellite navigation system), that is, a navigation system using an artificial satellite that receives orbit information transmitted from an artificial satellite and obtains the position of a mobile object. Is a device that receives the transmitted orbit information and determines the three-dimensional position, speed, and time of the moving object.
[0011]
The invention described in a third aspect of the present application is the exploration device according to the first or second aspect, wherein the mounting portion is disposed in front of the riding portion. According to such a configuration, an operator operating the search device can easily confirm the positional relationship between the antenna body mounted on the mounting unit and the detection target.
[0012]
The invention described in a fourth aspect of the present invention is the exploration apparatus according to any one of the first to third aspects, wherein the power supply for the electric motor includes a battery and an electric power generator for charging the battery. . According to such a configuration, the power source of the electric motor can be rationally configured.
[0013]
The invention described in claim 5 of the present application is the exploration apparatus according to any one of claims 1 to 4, wherein the traveling device is provided with a marking device that performs marking on the surface of the detection target as the traveling device travels. It is. According to such a configuration, it is possible to detect a detection target and to perform marking on the surface thereof.
[0014]
The invention described in claim 6 of the present application is the exploration apparatus according to any one of claims 1 to 5, wherein the mounting portion is configured to removably mount the antenna body. According to such a configuration, a required antenna body can be set in the mounting portion as needed, which is very convenient. In addition, the antenna body removed from the mounting part can also be used as a manually pushed antenna body.
[0015]
The invention described in claim 7 of the present application is the exploration device according to any one of claims 1 to 6, wherein the mounting portion is an attachment detachably attached to the traveling device. According to such a configuration, a required mounting portion can be set in the traveling device as needed, which is very convenient.
[0016]
BEST MODE FOR CARRYING OUT THE INVENTION
Hereinafter, specific examples of the present invention will be described in detail with reference to the drawings.
[0017]
The exploration apparatus 1 of the present embodiment shown in FIGS. 1 to 3 is for detecting an underground or the inside of a building, and irradiates an object to be detected with an electromagnetic wave and receives a reflected wave thereof; Information processing means 30 for processing received information obtained from each of the antenna bodies 20 in general, and a traveling device 40 mounted on the detection target with the plurality of antenna bodies 20 and the information processing means 30 mounted thereon. By moving the traveling device 40 to move the plurality of antennas 20 along the detection target, and collectively processing the reception information obtained from each antenna 20, the two-dimensional image of the detection target or It is configured to obtain a three-dimensional image.
[0018]
Each antenna unit 20 is a unit in which a transmitting unit and a receiving unit for electromagnetic waves are incorporated in a case, and is mounted on a mounting unit 44 provided on the traveling device 40 and is connected to the information processing unit 30 by wiring. .
[0019]
The information processing means 30 is composed of a personal computer in which a required program is stored. The received information of the reflected waves obtained from each of the plurality of antennas 20 is converted into a digital signal by an A / D converter, and the digital signal is stored in a memory and processed. Configuration. The two-dimensional image or the three-dimensional image of the detection target is created by processing a digital signal stored in the memory.
[0020]
Further, the created two-dimensional image or three-dimensional image is displayed on a display unit (a liquid crystal screen of a notebook computer in the illustrated example) 31 provided in the information processing means 30.
[0021]
In particular, the information processing means 30 of the present example includes a GPS receiver 32 and a camera device 33 for photographing the front of the traveling device 40, and obtains positioning information of the search device 1 from the GPS receiver 32 and the camera device 33. At the same time, the positioning information is superimposed on the reception information obtained from the antenna body 20 to create a two-dimensional image or a three-dimensional image of the detection target.
[0022]
According to such a configuration, the two-dimensional image or the three-dimensional image of the detection target can be extremely reasonably created based on the obtained reception information and positioning information.
[0023]
The traveling device 40 of this example includes an electric motor 41, wheels (rear wheels) 42 b driven by the torque of the electric motor 41, a power supply 43 of the electric motor 41, and a plurality of antennas 20 moving the traveling device 40. A mounting section 44 mounted in a direction orthogonal to the direction, an obstacle sensor 44a disposed in the mounting section 44, a link mechanism 45 for moving the mounting section 44 up and down, and an operator of the search device 1 boarding And a vehicle body frame 47 for supporting them, and a vehicle body cover 48 as an exterior member thereof. The electric motor 41 is driven according to switches (not shown) arranged in the riding section 46. The power supply 43 is also used as a power supply for the information processing means 30.
[0024]
The vehicle body frame 47 supports two front wheels 42a and two rear wheels 42b, and the rear wheels 42b are driven by the torque of the electric motor 41. In addition, the traveling device 40 rotates by turning the handle 40a provided on the riding section 46 and operating the angle of the front wheel 42a. Further, the traveling device 40 is braked by a brake device (not shown) or an electromagnetic brake controlled by the electric motor 41.
[0025]
The power supply 43 of the electric motor 41 includes a battery 43a and a power generator 43b for charging the battery 43a. If the electric motor 41 is to be powered by the battery alone, it is necessary to use a relatively large battery, but in this example, the battery 43a is charged by a small power generator 43b using gasoline as fuel. By adopting the configuration, the power supply 43 is reduced in weight.
[0026]
The mounting section 44 for mounting the antenna body 20 is disposed in front of the riding section 46. The mounting portion 44 of this example is supported by the body frame 47 via a link mechanism 45 operated by a pedal 45a, and is lifted to some extent by depressing the pedal 45a. The pedal 45a is arranged below the riding section 46.
[0027]
According to such a configuration, the operator can run the traveling device 40 while confirming the positional relationship between the antenna body 20 mounted on the mounting unit 44 and the detection target. The obstacle is avoided by depressing the pedal 45a. Further, the mounting portion 44 is configured to removably mount the antenna body 20, and the antenna body 20 removed from the mounting portion 44 can also be used as a manually pushed antenna body 20.
[0028]
In addition, the mounting portion 44 of this example is an attachment that is detachably attached to the traveling device 40, and as shown in FIG. it can. In the case of this example, the number of mountable antenna bodies 20 is 1 to 10. Further, as shown in FIG. 5, by changing the shape and the mounting angle of the mounting portion 44, the antenna bodies 20 can be arranged in the up-down direction. The plurality of antennas 20 can be moved along a vertical surface such as a dike.
[0029]
Further, in this example, since a certain air gap is provided between the mounting portion 44 and the detection target, there is an advantage that transmission and reception of electromagnetic waves in the antenna body 20 are stabilized. That is, when the mounting portion 44 and the detection target touch each other, this causes the antenna body 20 to vibrate slightly. In the present embodiment, such inconvenience can be satisfactorily avoided.
[0030]
Further, when an obstacle comes into contact with the mounting section 44, the obstacle sensor 44a detects this. As the obstacle sensor 44a, a tape-shaped contact switch is used. When the obstacle sensor 44a detects an obstacle, the electric motor 41 is stopped accordingly. According to such a configuration, the safety of the traveling device 40 is reliably improved.
[0031]
As shown in FIG. 6, the traveling device 40 of this example is provided with a marking device 49 for marking the surface of the detection target as the vehicle travels. The marking device 49 according to the present embodiment intermittently abuts a disk-shaped choke on the surface of the detection target according to the rotation speed of the rear wheel 42b. Chain lines L are formed at regular intervals on the surface of the detection target. The traveling device 40 travels with the chain line L as a guide.
[0032]
As described above, the exploration device of this example is provided with a traveling device driven by an electric motor, and is provided with a sidewalk, an alley in a residential area or a shopping district, a sandy beach, a dike, a riverbed, a quay, a tree-planting zone, a private road. It can be very suitably used for searching and investigating vacancies existing in a factory site or the like.
[0033]
【The invention's effect】
The present invention is directed to an exploration device for detecting an underground or the inside of a building, in which a plurality of antennas for irradiating an object to be detected with an electromagnetic wave and receiving a reflected wave thereof, and receiving information obtained from the plurality of antennas, respectively. An information processing means for performing overall processing; and a traveling device that carries the plurality of antennas and the information processing device and travels on the detection target. The traveling device travels with power of an electric motor. A mounting part for mounting the plurality of antennas, an obstacle sensor disposed on the mounting part, a link mechanism for moving the mounting part up and down, and a boarding on which an operator of the search device is mounted. A mounting portion, wherein the mounting portion has an air gap between the mounting portion and the detection target, and the electric motor is configured to be stopped when the obstacle sensor detects an obstacle. It is a device.
[0034]
Thus, according to the exploration device of the present invention, it is possible to efficiently detect the underground and the inside of the building. Further, the electric motor is stopped when the obstacle sensor detects an obstacle, so that the safety of the traveling device is surely improved.
[Brief description of the drawings]
FIG. 1 is a side view showing a search device according to a specific example of the present invention.
FIG. 2 is a side view showing the exploration device with the vehicle body cover removed according to a specific example of the present invention.
FIG. 3 is a top view showing a mounting portion according to a specific example of the present invention.
FIG. 4 is a top view showing a mounting portion according to a specific example of the present invention.
FIGS. 5A and 5B are explanatory views of a search device using a mounting portion in which antennas are vertically arranged according to a specific example of the present invention, wherein FIG. 5A is a front view and FIG. 5B is a side view. .
FIG. 6 is an explanatory diagram showing use of a marking device according to a specific example of the present invention.
[Explanation of symbols]
1 Exploration device 20 Antenna body 30 Information processing means 31 Display unit 32 GPS receiver 33 Camera device 40 Traveling device 40a Handle 41 Electric motor 42a Front wheel 42b Rear wheel 43 Power supply 43a Battery 43b Motor generator 44 Mounting unit 44a Obstacle sensor 45 Link Mechanism 45a Pedal 46 Riding section 47 Body frame 48 Body cover 49 Marking device

Claims (7)

In an exploration device that detects underground and the inside of structures,
A plurality of antennas for irradiating the detection target with electromagnetic waves and receiving the reflected waves, information processing means for processing received information obtained from each of the plurality of antennas as a whole, and the plurality of antennas; A traveling device mounted on the information processing unit and traveling on the detection target,
The traveling device travels with the power of an electric motor, and has a mounting portion for mounting the plurality of antennas, an obstacle sensor disposed on the mounting portion, and a link for moving the mounting portion up and down. A mechanism and a boarding unit on which the operator of the search device is boarded,
The exploration device, wherein the mounting portion has an air gap provided between the mounting portion and the detection target, and the electric motor is stopped when the obstacle sensor detects an obstacle. The information processing means includes a GPS receiver, and a camera device for photographing the front of the traveling device, obtains positioning information of the search device from the GPS receiver and the camera device, and obtains the positioning information. 2. The exploration apparatus according to claim 1, wherein the detection information is superimposed on reception information obtained from the antenna. The exploration device according to claim 1, wherein the mounting unit is disposed in front of the riding unit. The exploration device according to claim 1, wherein a power source of the electric motor includes a battery, and an activation generator that charges the battery. The detection device according to any one of claims 1 to 3, wherein the traveling device includes a marking device that performs marking on a surface of the detection target as the traveling device travels. The exploration device according to any one of claims 1 to 4, wherein the mounting unit is configured to removably mount the antenna body. The exploration device according to any one of claims 1 to 5, wherein the attachment portion is an attachment detachably attached to the traveling device.

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