JPS6193969A - Buried substance detecting device - Google Patents
Buried substance detecting deviceInfo
- Publication number
- JPS6193969A JPS6193969A JP59215693A JP21569384A JPS6193969A JP S6193969 A JPS6193969 A JP S6193969A JP 59215693 A JP59215693 A JP 59215693A JP 21569384 A JP21569384 A JP 21569384A JP S6193969 A JPS6193969 A JP S6193969A
- Authority
- JP
- Japan
- Prior art keywords
- sensor
- buried object
- buried
- object detection
- pulse generator
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/0209—Systems with very large relative bandwidth, i.e. larger than 10 %, e.g. baseband, pulse, carrier-free, ultrawideband
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/885—Radar or analogous systems specially adapted for specific applications for ground probing
Abstract
Description
【発明の詳細な説明】
〔発明の利用分野〕
本発明は埋設物探知装置に係り、特に地中埋設物を地上
から非接触にて探知するのに好適な埋設物探知装置に関
する。DETAILED DESCRIPTION OF THE INVENTION [Field of Application of the Invention] The present invention relates to a buried object detection device, and particularly to a buried object detection device suitable for detecting underground objects from the ground in a non-contact manner.
従来の埋設物探知装置は、例えば特開昭５５−１５６８
７９号公報に記載のように、埋設物探知センサーを搭載
した走行台車の車輪にパルス発生器を連結し、車輪の回
転によってパルス発生器が発するパルス数を計数するこ
とにより測定位置を認識する方式をとっていた。A conventional buried object detection device is, for example, disclosed in Japanese Patent Application Laid-Open No. 55-1568.
As described in Publication No. 79, a pulse generator is connected to the wheels of a traveling trolley equipped with a buried object detection sensor, and the measurement position is recognized by counting the number of pulses emitted by the pulse generator as the wheels rotate. I was taking it.
しかし、この方式においては車輪が走行する路面状況が
悪い場合には、車輪がスリップしたり、車輪が路面から
浮き上がる等の現象が起こり、車輪に連結されたパルス
発生器が発生するパルス数と実際の走行位置に誤差が生
じ、パルス発生器のパルス数をもとに埋設物からの反射
波を映像処理した場合には、測定点の位置ずれのため埋
設物の映像位置が本来の位置からずれたり映像自体が分
裂する等の可能性があった。However, in this method, if the road surface conditions on which the wheels are running are bad, phenomena such as the wheels slipping or lifting off the road surface occur, and the number of pulses generated by the pulse generator connected to the wheels may vary. If an error occurs in the running position of the buried object and the reflected waves from the buried object are image processed based on the number of pulses of the pulse generator, the image position of the buried object may deviate from its original position due to the positional shift of the measurement point. There was a possibility that the video itself would be split.
本発明は上述の点に鑑み成されたもので、その目的とす
るところは、路面状況に影響されないで高精度に埋設物
の位置が、検出可能な埋設物探知装置を提供するにある
。The present invention has been made in view of the above points, and an object thereof is to provide a buried object detection device that can detect the position of a buried object with high precision without being affected by road surface conditions.
本発明は埋設物探知装置の測定位置検出用に複数の位置
検出センサーを組み合わせて使用し、路面状態が良い場
合には車輪に連結したパルス発生器の位置信号を、路面
状況が悪い場合には非接触形の位置検出センサーの位置
信号を使用し、その状況においてより高精度である位置
検出センサーの位置信号を使い分けることにより、所期
の目的を達成するようになしたものであろう
〔発明の実施例〕
以下、図面の実施例に基づいて本発明を説明する。第１
図、及び第２図に本発明の一実施例を示す。The present invention uses a combination of a plurality of position detection sensors to detect the measured position of a buried object detection device, and when the road surface condition is good, the position signal of the pulse generator connected to the wheel is sent, and when the road surface condition is bad, the position signal of the pulse generator connected to the wheel is sent. The intended purpose could be achieved by using the position signal of a non-contact type position detection sensor and selectively using the position signal of a position detection sensor that is more accurate in the situation [Invention Embodiments] The present invention will be described below based on embodiments shown in the drawings. 1st
An embodiment of the present invention is shown in FIG.
第１図に示す様に、本実施例の埋設物探知装置は走行台
車１．埋設物探知センサー２．非接触形距離センサー３
．パルス発生器４．制御装置５゜データ処理装置６．出
力装置７．前方障害物８から概略構成される。As shown in FIG. 1, the buried object detection device of this embodiment is a traveling vehicle 1. Buried object detection sensor 2. Non-contact distance sensor 3
．． Pulse generator 4. Control device 5゜Data processing device 6. Output device 7. It is roughly composed of a front obstacle 8.
そして、本実施例の埋設物探知装置は、まず、走行台車
１を人力、又はアクチュエータ駆動によって地中９に埋
設された埋設物１０の上方を走査させ、埋設物探知セン
サー２によって埋設物１０を探査する。この間、走行台
車１に連結されたパルス発生器４は車輪の回転数に比例
したパルス数を発生し、非接触形距離センサー３は前方
障害物８に電磁波を発射し、その反射時間の変化から測
ｉ定位置を検出し、各々の位置データは制御
装置５へ出力される。制御装置５はこの２種類の位置デ
ーータの内、より高精度な位置データを選択してデータ
処理装置６に伝送する。データ処理装置６は、この位置
データをもとに埋設′＋Ｉ！ｌＪ探知センサー２の信号
を映像処理して出力装置７へ映像表示する。The buried object detection device of this embodiment first scans the buried object 10 buried in the ground 9 by moving the traveling cart 1 manually or driven by an actuator, and detects the buried object 10 by using the buried object detection sensor 2. explore. During this time, the pulse generator 4 connected to the traveling trolley 1 generates a number of pulses proportional to the number of rotations of the wheels, and the non-contact distance sensor 3 emits electromagnetic waves to the obstacle 8 in front, and from the change in the reflection time Measurement i The fixed position is detected, and each position data is output to the control device 5. The control device 5 selects the more accurate position data from these two types of position data and transmits it to the data processing device 6. The data processing device 6 embeds '+I!' based on this position data. The signal from the lJ detection sensor 2 is subjected to image processing and the image is displayed on the output device 7.
次に、第２図に映像表示例を示す。Next, FIG. 2 shows an example of a video display.
まず、出力装置７の横軸１１は前述の位置データをもと
にした測定位置であシ、縦軸１２は深さを示す。この座
標のスケールに合う様に処理されて地衣１３とａ役物の
映像１４が表示される。First, the horizontal axis 11 of the output device 7 indicates the measurement position based on the above-mentioned position data, and the vertical axis 12 indicates the depth. The lichen 13 and the image 14 of the a accessory are displayed after being processed to match the scale of these coordinates.
本実施例によれば、走行台車ｌのパルス発生器１１の信
号のみ全周いた場合に比べて、特に悪路において位置検
出精度が高まる効果がある。According to this embodiment, compared to a case where only the signal from the pulse generator 11 of the traveling vehicle l is provided all around, the position detection accuracy is improved particularly on rough roads.
本発明によれば１．測定地点の位置ｆ、精度よく検出す
ることができるため、歪みのない正常な埋設物の映像を
表示できる等の効果があるっAccording to the present invention: 1. Since the position f of the measurement point can be detected with high accuracy, it has the effect of displaying a normal image of the buried object without distortion.
第１図は本発明の埋設管探知装置の一実施例を示す構成
図、第２図はその埋設物探知装置による映像表示例を示
す図である。
１・・・走行台車、２・・・埋設物採用センサー、３・
・・非接触形距離センサー、４・・・パルス発生器、５
・・・制御装置、６・・・データ処理装置、７・・・出
力装置、８・・・前方障害物、９・・・地中、１０・・
・埋設物、１１・・・横軸、１２・・・縦軸、１３・・
・地表の映像、１４・・・埋設物の映像。FIG. 1 is a block diagram showing an embodiment of a buried pipe detection device of the present invention, and FIG. 2 is a diagram showing an example of an image displayed by the buried object detection device. 1... Traveling trolley, 2... Buried object adoption sensor, 3...
...Non-contact distance sensor, 4...Pulse generator, 5
...Control device, 6...Data processing device, 7...Output device, 8...Front obstacle, 9...Underground, 10...
・Buried object, 11...horizontal axis, 12...vertical axis, 13...
・Image of the ground surface, 14...Image of buried objects.
Claims (1)
と、該センサーでの前記埋設物を探知するための信号を
送受信する送受信装置と、前記センサーを搭載して走行
する走行台車と、前記送受信装置からの信号を処理する
データ処理装置とを備えた埋設物探知装置において、前
記走行台車に複数の位置検出センサーを搭載し、この複
数の位置検出センサーで検出された位置データを使いわ
け複合的に処理することを特徴とする埋設物探知装置。 ２、特許請求の範囲第１項記載のものにおいて、前記位
置検出センサーとしてパルス発生器と超音波距離センサ
ーを用いたことを特徴とする埋設物探知装置。 ３、特許請求の範囲第１項記載のものにおいて、前記位
置検出センサーとしてパルス発生器と光学式距離センサ
ーを用いたことを特徴とする埋設物探知装置。 ４、特許請求の範囲第１項記載のものにおいて、前記位
置検出センサーとしてパルス発生器と音響式距離センサ
ーを用いたことを特徴とする埋設物探知装置。[Claims] 1. A sensor that detects underground objects from above ground without contact, a transmitting and receiving device that transmits and receives signals for detecting the underground objects with the sensor, and a vehicle equipped with the sensor. In the buried object detection device, the buried object detection device is equipped with a traveling trolley, and a data processing device that processes signals from the transmitting/receiving device. A buried object detection device that uses position data and processes it in a complex manner. 2. A buried object detection device according to claim 1, characterized in that a pulse generator and an ultrasonic distance sensor are used as the position detection sensor. 3. A buried object detection device according to claim 1, characterized in that a pulse generator and an optical distance sensor are used as the position detection sensor. 4. A buried object detection device according to claim 1, characterized in that a pulse generator and an acoustic distance sensor are used as the position detection sensor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP59215693A JPS6193969A (en) | 1984-10-15 | 1984-10-15 | Buried substance detecting device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP59215693A JPS6193969A (en) | 1984-10-15 | 1984-10-15 | Buried substance detecting device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPS6193969A true JPS6193969A (en) | 1986-05-12 |
Family
ID=16676588
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP59215693A Pending JPS6193969A (en) | 1984-10-15 | 1984-10-15 | Buried substance detecting device |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS6193969A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6425078A (en) * | 1987-07-21 | 1989-01-27 | Nippon Kokan Kk | Apparatus for searching embedded body |
| IT201700047233A1 (en) * | 2017-05-02 | 2018-11-02 | Ids Georadar S R L | Method perfected for the execution of georadar surveys and related equipment |
| JP2020507069A (en) * | 2017-01-27 | 2020-03-05 | マサチューセッツ インスティテュート オブ テクノロジー | Augment location footprint using surface penetrating radar (SPR) |
-
1984
- 1984-10-15 JP JP59215693A patent/JPS6193969A/en active Pending
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6425078A (en) * | 1987-07-21 | 1989-01-27 | Nippon Kokan Kk | Apparatus for searching embedded body |
| JP2020507069A (en) * | 2017-01-27 | 2020-03-05 | マサチューセッツ インスティテュート オブ テクノロジー | Augment location footprint using surface penetrating radar (SPR) |
| US11402493B2 (en) | 2017-01-27 | 2022-08-02 | Massachusetts Institute Of Technology | Determining surface characteristics |
| IT201700047233A1 (en) * | 2017-05-02 | 2018-11-02 | Ids Georadar S R L | Method perfected for the execution of georadar surveys and related equipment |
| WO2018203259A1 (en) * | 2017-05-02 | 2018-11-08 | Ids Georadar S.R.L. | Improved method for ground penetrating radar detections and apparatus thereof |
| CN110546527A (en) * | 2017-05-02 | 2019-12-06 | Ids地质雷达有限公司 | improved method for ground penetrating radar detection and apparatus therefor |
| US20200393556A1 (en) * | 2017-05-02 | 2020-12-17 | Ids Georadar S.R.L. | Method for ground penetrating radar detections and apparatus thereof |
| US11953587B2 (en) | 2017-05-02 | 2024-04-09 | Ids Georadar S.R.L. | Method for ground penetrating radar detections and apparatus thereof |
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