WO2005121839A1 - 検出対象位置特定装置及び検出対象位置特定方法 - Google Patents
検出対象位置特定装置及び検出対象位置特定方法 Download PDFInfo
- Publication number
- WO2005121839A1 WO2005121839A1 PCT/JP2005/010054 JP2005010054W WO2005121839A1 WO 2005121839 A1 WO2005121839 A1 WO 2005121839A1 JP 2005010054 W JP2005010054 W JP 2005010054W WO 2005121839 A1 WO2005121839 A1 WO 2005121839A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- sensor
- detection target
- marker
- image
- physical property
- Prior art date
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V3/00—Electric or magnetic prospecting or detecting; Measuring magnetic field characteristics of the earth, e.g. declination, deviation
- G01V3/15—Electric or magnetic prospecting or detecting; Measuring magnetic field characteristics of the earth, e.g. declination, deviation specially adapted for use during transport, e.g. by a person, vehicle or boat
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F41—WEAPONS
- F41H—ARMOUR; ARMOURED TURRETS; ARMOURED OR ARMED VEHICLES; MEANS OF ATTACK OR DEFENCE, e.g. CAMOUFLAGE, IN GENERAL
- F41H11/00—Defence installations; Defence devices
- F41H11/12—Means for clearing land minefields; Systems specially adapted for detection of landmines
Definitions
- the present invention relates to a detection target position specifying device and method, and more particularly to a sensor detection target position specifying device and method excellent in portability.
- Patent document 1 JP-A-11-251446
- the present invention provides a technique relating to an apparatus and a method for specifying the position of a detection target with a simple configuration without requiring a fixed installation object.
- the gist of the detection target position specifying device according to the present invention is as follows. Ie
- a device for exploring a target area to identify the position of a detection target which is a sensor for measuring predetermined physical property values of the detection target, supporting means for holding the sensor, and provided in the target area.
- Imaging means fixed to the supporting means so as to be able to image the marker, the sensor and the marker, and the position of the sensor based on the relative positional relationship between the marker and the sensor in the image taken by the imaging means. It is characterized in that it comprises means for specifying, and means for specifying the position of the detection target based on the sensor position and the physical property value.
- the imaging means is fixed to the supporting means so as to be able to image the sensor and the marker, the positions of the sensor and the marker can always be displayed in the image.
- Image analysis makes it possible to determine the relative positional relationship between the marker and the sensor. Further, by measuring the physical property value of the detection target, it is possible to obtain the correspondence between the sensor position and the physical property value of the detection target.
- the "detection target” is a concept including not only tangible objects such as land mines and gas pipes but also intangible objects such as gas such as gas, leakage current from a circuit board, and leakage electromagnetic field.
- the “physical property value” is a concept including, for example, current, magnetism, magnetic field, electromagnetic field, temperature, sound pressure, light, smell, gas concentration, and the like.
- the “sensor” is a concept including, for example, a magnetic sensor, an electric field sensor, an electromagnetic field sensor, a temperature sensor, a sound pressure sensor, an optical sensor, an odor sensor, a gas concentration sensor, and the like.
- the “imaging means” includes, for example, an infrared camera, a CCD camera, and the like.
- the present invention is characterized in that there is provided a means for displaying a sensor position when a physical property value of a detection target exceeds a predetermined threshold value in an image.
- the position of the sensor can be displayed on the image even when the physical property value of the detection target is equal to or less than a predetermined threshold value, and when the physical property value exceeds the threshold value. It is characterized in that a means for displaying differently when the value is equal to or less than the threshold value is provided. By employing such a display means, all the search points in the target area can be displayed on the image, so that the search can be performed without leakage!
- the present invention is characterized in that the marker is a feature existing in the target area.
- a road sign such as a white line drawn on the ground surface, a rock, or the like can be used as a marker without preparing a special marker.
- the present invention is characterized in that the imaging means is a CCD camera.
- the present invention is characterized in that the sensor is a metal detection sensor and the detection target is a buried mine.
- the present invention can be easily applied to a metal detector in which know-how for buried mine exploration is accumulated, thereby greatly improving the work efficiency of mine exploration.
- the present invention is characterized in that the sensor is an electromagnetic field sensor, and the detection target is a gas pipe buried underground.
- the senor In conventional underground radars, the sensor is moved one-dimensionally, and the position information of the sensor cannot be obtained in a one-dimensional manner. For this reason, it was difficult to distinguish between long objects such as gas pipes and pebbles.
- horizontal position information of a sensor can be easily and two-dimensionally acquired. For this reason, it is possible to display the underground three-dimensionally, and there is an effect that a long object such as a gas pipe can be easily distinguished from a pebble.
- the detection target position specifying method includes a step of imaging a marker and a sensor so as to be included in an image, and a step of searching a target area to obtain a predetermined property value of the detection target. Measuring, determining the sensor position based on the relative positional relationship between the marker and the sensor in the image captured by the imaging means, and based on the relationship between the specified sensor position and the physical property value! Identifying the position of the detection target by performing the above-mentioned steps.
- FIG. 1 is a diagram showing a configuration of an antipersonnel landmine burying position specifying device according to an embodiment of the present invention.
- FIG. 2 is a diagram showing a flow of the embedded position analysis.
- anti-personnel mine embedding position specifying device 1 includes a metal detection coil (sensor unit) 4 attached to a front end of support arm 2, and a handle of support arm 2. 7) A CCD camera 3 attached near the camera, and a personal computer (PC) 8 (corresponding to image analysis means), which is an image analysis means that takes in signals sent from the sensor unit 4 and the CCD camera 3 via a signal line 9. , With markers 5 and 6 placed on the ground (GL). The CCD camera 3 is adjusted so that the sensor unit 4 and the markers 5 and 6 can be simultaneously contained in the field of view (V), and is fixed to the support arm 2.
- PC personal computer
- the personal computer 8 reads out the detected value data and image data from the sensor unit 4 and the CCD camera 3 and a memory unit for storing the image data, and reads out the image data, and recognizes the marker in the image based on the shape parameter of the marker.
- An image analysis unit for performing the calculation, a calculation unit for calculating the relative position between the marker and the sensor, a display unit for displaying the sensor position, and the like are provided.
- step S101 the field of view of the CCD camera 3 is adjusted so that the screen includes an area that appropriately divides the entire area to be detected (step S101), and then the marker is set at a position that fits within the screen ( Step S102). Then take the captured image The content is loaded into the computer 8 (step S103).
- step S104 the image data is stored in a predetermined image storage address
- step S105 marker recognition in the image is performed based on the shape parameters of the marker stored in advance
- step S106 position coordinate data in the image is obtained, and stored at a predetermined storage address
- step S107 the detection value of the sensor unit 4 is taken into the personal computer 8 (step S107) and stored in a predetermined storage address (step S108). Next, it is determined whether or not this value exceeds a predetermined threshold (step S109). When the threshold value is not exceeded (NO in step S109), the sensor unit 4 is moved (step S117), and the detection value is acquired again at that position * 1).
- step S109 If the threshold value is exceeded (YES in step S109), the sensor unit 4 in the image is recognized (step S110).
- the recognition method is the same as the marker recognition step described above. Further, the relative position coordinates of the sensor with respect to the marker position coordinates obtained in the above steps are calculated (step S111), and the position coordinate data is stored in a predetermined storage address (step S112). Next, a marker indicating the sensor position is displayed at a position corresponding to the relative coordinates of the sensor with respect to the marker in the image (step S113).
- step S114 it is determined whether or not the exploration of the section area has been completed. If not finished, move the sensor position within the defined area (step S117), and capture the image again (*: 0.
- step S115 it is next determined whether or not the exploration has been completed in all areas to be detected. If it is not completed, move to the next section area and take in a new image (step S116). When the exploration of all areas is completed, end the work.
- FIG. 3 is a diagram showing an example of a display screen for displaying the sensor position in the above-described steps.
- each point indicated by the square mark 21 indicates a position where the sensor detection value exceeds a predetermined threshold.
- the mine burial location can be recognized as a relative position to the marker 5 or 6.
- the senor Although the position where the detected value exceeds the predetermined threshold is displayed on the image, in the present embodiment, all the sensor detected positions are displayed.
- FIG. 4 shows such an embodiment. In the same figure, a portion indicated by a square 21 is a position exceeding the threshold, and a portion indicated by a back 31 is below the threshold. It shows the position.
- the shape of the mark is changed and displayed according to the sensor detection value, it is possible to easily determine whether or not a force has been detected in the partitioned area without leaking.
- the form of taking in one image for one section area is not limited to this.
- the marker is not limited to the force placed by the measurer, but may be a feature such as a rock or a white line placed on the ground surface. Furthermore, by specifying the position of the marker using GPS, it is possible to specify the absolute position on the map.
- the present invention can be widely applied as a method and an apparatus for acquiring a sensor position regardless of a detection target.
- FIG. 1 is a diagram showing a configuration of an antipersonnel landmine burying position specifying device according to an embodiment of the present invention.
- FIG. 2 is a diagram showing a flow of a mine burial position analysis.
- FIG. 3 is a diagram showing an example of a display screen showing a sensor position exceeding a predetermined threshold.
- FIG. 4 is a diagram showing an example of a display screen showing a sensor detection position according to another embodiment of the present invention.
Landscapes
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Environmental & Geological Engineering (AREA)
- Geology (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Life Sciences & Earth Sciences (AREA)
- General Physics & Mathematics (AREA)
- Geophysics (AREA)
- General Engineering & Computer Science (AREA)
- Geophysics And Detection Of Objects (AREA)
- Measurement Of Length, Angles, Or The Like Using Electric Or Magnetic Means (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
Description
Claims
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US11/628,963 US20080027648A1 (en) | 2004-06-09 | 2005-06-01 | Detection-Object-Position-Specifying Device and Method of Specifying Position of Object to Be Detected |
CA002569845A CA2569845A1 (en) | 2004-06-09 | 2005-06-01 | Detection-object-position-specifying device and method of specifying position of object to be detected |
EP05745662A EP1754983A1 (en) | 2004-06-09 | 2005-06-01 | Device for specifying position to be detected and method for specifying position to be detected |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2004171347A JP2005351710A (ja) | 2004-06-09 | 2004-06-09 | 検出対象位置特定装置及び検出対象位置特定方法 |
JP2004-171347 | 2004-06-09 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2005121839A1 true WO2005121839A1 (ja) | 2005-12-22 |
Family
ID=35503212
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2005/010054 WO2005121839A1 (ja) | 2004-06-09 | 2005-06-01 | 検出対象位置特定装置及び検出対象位置特定方法 |
Country Status (5)
Country | Link |
---|---|
US (1) | US20080027648A1 (ja) |
EP (1) | EP1754983A1 (ja) |
JP (1) | JP2005351710A (ja) |
CA (1) | CA2569845A1 (ja) |
WO (1) | WO2005121839A1 (ja) |
Families Citing this family (21)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP2023165A1 (en) * | 2007-07-24 | 2009-02-11 | Nederlandse Organisatie voor toegepast- natuurwetenschappelijk onderzoek TNO | System for detecting reinforcement in structures |
JP5589226B2 (ja) * | 2007-08-29 | 2014-09-17 | 国立大学法人金沢大学 | 電磁界空間分布可視化装置、電磁界空間分布可視化方法およびそのプログラム |
US8527308B2 (en) | 2008-10-02 | 2013-09-03 | Certusview Technologies, Llc | Methods and apparatus for overlaying electronic locate information on facilities map information and/or other image information displayed on a locate device |
GB2496816B (en) | 2008-10-02 | 2013-07-10 | Certusview Technologies Llc | Methods and apparatus for generating electronic records of locate operations |
US8478617B2 (en) | 2008-10-02 | 2013-07-02 | Certusview Technologies, Llc | Methods and apparatus for generating alerts on a locate device, based on comparing electronic locate information to facilities map information and/or other image information |
CA2692115C (en) * | 2009-02-11 | 2016-03-15 | Certusview Technologies, Llc | Locate apparatus having enhanced features for underground facility locate operations, and associated methods and systems |
US8749239B2 (en) | 2008-10-02 | 2014-06-10 | Certusview Technologies, Llc | Locate apparatus having enhanced features for underground facility locate operations, and associated methods and systems |
US8294560B2 (en) | 2009-07-20 | 2012-10-23 | The United States Of America As Represented By The Secretary Of The Army | Method and apparatus for identifying threats using multiple sensors in a graphical user interface |
CA2710269C (en) | 2009-08-11 | 2012-05-22 | Certusview Technologies, Llc | Locating equipment communicatively coupled to or equipped with a mobile/portable device |
WO2012097416A1 (en) * | 2011-01-20 | 2012-07-26 | Minelab Electronics Pty Limited | Incorporation and use of a position sensor in a metal detector |
US20130321621A1 (en) * | 2012-05-31 | 2013-12-05 | Martin M. Menzel | Method for Mapping Hidden Objects Using Sensor Data |
JP6083965B2 (ja) * | 2012-07-02 | 2017-02-22 | 大阪瓦斯株式会社 | 埋設物探査システム |
JP2014122805A (ja) * | 2012-12-20 | 2014-07-03 | Japan Radio Co Ltd | 非破壊探査装置および探査支援装置 |
JP2015052534A (ja) * | 2013-09-06 | 2015-03-19 | パナソニック株式会社 | 移動体検知装置及び移動体検知システム |
EP3037779A1 (de) | 2014-12-23 | 2016-06-29 | HILTI Aktiengesellschaft | Verfahren zum Übertragen eines Objektes auf eine Grenzfläche |
EP3037780A1 (de) * | 2014-12-23 | 2016-06-29 | HILTI Aktiengesellschaft | Verfahren zum Detektieren eines Messbereiches in einem Untergrund |
JP6553364B2 (ja) * | 2015-02-03 | 2019-07-31 | 五洋建設株式会社 | 受入船 |
ES2615202B1 (es) * | 2015-11-05 | 2018-03-15 | Ontech Security Sl | Detector de armas y explosivos y método de detección |
ES2879851T3 (es) | 2016-12-12 | 2021-11-23 | Safeguard Equipment Inc | Dispositivo de advertencia de detección de energía |
WO2019135726A1 (en) | 2018-01-05 | 2019-07-11 | Nokta Muhendislik Ins. Elekt. Plas. Gida Ve Reklam San. Tic. Ltd. Sti. | Metal detector capable of visualizing the target shape |
WO2020000014A1 (en) * | 2018-06-27 | 2020-01-02 | Minelab Electronics Pty. Limited | An improved metal detector |
Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH07134183A (ja) * | 1993-11-09 | 1995-05-23 | Tech Res & Dev Inst Of Japan Def Agency | 携帯用埋設物探知装置及び探知物表示装置 |
JPH0933194A (ja) * | 1995-07-21 | 1997-02-07 | Geo Saac Kk | 地雷探知システム |
JP2001074397A (ja) * | 1999-09-06 | 2001-03-23 | Japan Science & Technology Corp | 地雷探知方法およびその装置 |
JP2003247824A (ja) * | 2002-02-22 | 2003-09-05 | Nissan Motor Co Ltd | 車載用測距装置 |
Family Cites Families (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US6536553B1 (en) * | 2000-04-25 | 2003-03-25 | The United States Of America As Represented By The Secretary Of The Army | Method and apparatus using acoustic sensor for sub-surface object detection and visualization |
WO2003016952A1 (en) * | 2001-08-17 | 2003-02-27 | The Johns Hopkins University | Portable metal detection and classification system |
-
2004
- 2004-06-09 JP JP2004171347A patent/JP2005351710A/ja active Pending
-
2005
- 2005-06-01 CA CA002569845A patent/CA2569845A1/en not_active Abandoned
- 2005-06-01 WO PCT/JP2005/010054 patent/WO2005121839A1/ja not_active Application Discontinuation
- 2005-06-01 EP EP05745662A patent/EP1754983A1/en not_active Withdrawn
- 2005-06-01 US US11/628,963 patent/US20080027648A1/en not_active Abandoned
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH07134183A (ja) * | 1993-11-09 | 1995-05-23 | Tech Res & Dev Inst Of Japan Def Agency | 携帯用埋設物探知装置及び探知物表示装置 |
JPH0933194A (ja) * | 1995-07-21 | 1997-02-07 | Geo Saac Kk | 地雷探知システム |
JP2001074397A (ja) * | 1999-09-06 | 2001-03-23 | Japan Science & Technology Corp | 地雷探知方法およびその装置 |
JP2003247824A (ja) * | 2002-02-22 | 2003-09-05 | Nissan Motor Co Ltd | 車載用測距装置 |
Non-Patent Citations (1)
Title |
---|
SATO M.: "Chichu Radar no Kaihatsu to Jirai Tansa eno Oyo", THE INSTITUTE OF ELECTRONICS, INFORMATION AND COMMUNICATION ENGINEERS GIJUTSU KENKYU HOKOKU, 18 October 2004 (2004-10-18), pages 37 - 42 * |
Also Published As
Publication number | Publication date |
---|---|
JP2005351710A (ja) | 2005-12-22 |
EP1754983A1 (en) | 2007-02-21 |
CA2569845A1 (en) | 2005-12-22 |
US20080027648A1 (en) | 2008-01-31 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
WO2005121839A1 (ja) | 検出対象位置特定装置及び検出対象位置特定方法 | |
US11561317B2 (en) | Geographic map updating methods and systems | |
JP4646243B2 (ja) | 測地機器の現在位置を決定する方法と装置 | |
US9885573B2 (en) | Method, device and computer programme for extracting information about one or more spatial objects | |
JP2019067383A5 (ja) | ||
CN108733053A (zh) | 一种基于机器人的智能道路检测方法 | |
US10347051B2 (en) | Near field maneuvering for AR-device using image tracking | |
US20100098327A1 (en) | 3D Imaging system | |
EP2652710A1 (en) | Systems and methods for processing images with edge detection and snap-to feature | |
CN102980510B (zh) | 一种激光光尺影像测树装置及其测树方法 | |
KR101501160B1 (ko) | 하수관로 시설물 조사 장치 및 방법 | |
JP2007506076A5 (ja) | ||
RU2013144201A (ru) | Визуализация для навигационного указания | |
KR101793262B1 (ko) | 균열의 발생 및 진행 분석 시스템 | |
US20030112170A1 (en) | Positioning system for ground penetrating radar instruments | |
CN103940344B (zh) | 一种高精度远程位移传感器 | |
US11740083B2 (en) | Methods and apparatus for curbside surveying | |
JP5602779B2 (ja) | 現場見取図作成システムおよびレーザ計測装置 | |
KR100878781B1 (ko) | 휴대 단말기를 이용하여 구조물의 크기 및 좌표를 측정하는측량 방법 | |
JP2009140402A (ja) | 情報表示装置、情報表示方法、情報表示プログラム及び情報表示プログラムを記録した記録媒体 | |
KR101720097B1 (ko) | 사용자 기기의 측위방법 | |
CA2824104C (en) | A wearable object locator and imaging system | |
JP7277410B2 (ja) | 拡張現実表示装置 | |
CN108088421A (zh) | 一种无人机航测控制点自动识别的方法和系统 | |
JP2006064420A (ja) | 地中埋設物のマッピングシステム |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
AK | Designated states |
Kind code of ref document: A1 Designated state(s): AE AG AL AM AT AU AZ BA BB BG BR BW BY BZ CA CH CN CO CR CU CZ DE DK DM DZ EC EE EG ES FI GB GD GE GH GM HR HU ID IL IN IS KE KG KM KP KR KZ LC LK LR LS LT LU LV MA MD MG MK MN MW MX MZ NA NG NI NO NZ OM PG PH PL PT RO RU SC SD SE SG SK SL SM SY TJ TM TN TR TT TZ UA UG US UZ VC VN YU ZA ZM ZW |
|
AL | Designated countries for regional patents |
Kind code of ref document: A1 Designated state(s): BW GH GM KE LS MW MZ NA SD SL SZ TZ UG ZM ZW AM AZ BY KG KZ MD RU TJ TM AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HU IE IS IT LT LU MC NL PL PT RO SE SI SK TR BF BJ CF CG CI CM GA GN GQ GW ML MR NE SN TD TG |
|
121 | Ep: the epo has been informed by wipo that ep was designated in this application | ||
WWE | Wipo information: entry into national phase |
Ref document number: 2569845 Country of ref document: CA |
|
NENP | Non-entry into the national phase |
Ref country code: DE |
|
WWW | Wipo information: withdrawn in national office |
Country of ref document: DE |
|
WWE | Wipo information: entry into national phase |
Ref document number: 2005745662 Country of ref document: EP |
|
WWP | Wipo information: published in national office |
Ref document number: 2005745662 Country of ref document: EP |
|
WWE | Wipo information: entry into national phase |
Ref document number: 11628963 Country of ref document: US |
|
WWW | Wipo information: withdrawn in national office |
Ref document number: 2005745662 Country of ref document: EP |
|
WWP | Wipo information: published in national office |
Ref document number: 11628963 Country of ref document: US |