WO2020137098A1 - Embedded object detection device and embedded object detection method - Google Patents

Embedded object detection device and embedded object detection method Download PDF

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Publication number
WO2020137098A1
WO2020137098A1 PCT/JP2019/040592 JP2019040592W WO2020137098A1 WO 2020137098 A1 WO2020137098 A1 WO 2020137098A1 JP 2019040592 W JP2019040592 W JP 2019040592W WO 2020137098 A1 WO2020137098 A1 WO 2020137098A1
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Prior art keywords
radiation
electromagnetic wave
unit
rotation
object detection
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PCT/JP2019/040592
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French (fr)
Japanese (ja)
Inventor
曜 岡本
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オムロン株式会社
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Publication of WO2020137098A1 publication Critical patent/WO2020137098A1/en

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    • 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
    • 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
    • G01V3/12—Electric or magnetic prospecting or detecting; Measuring magnetic field characteristics of the earth, e.g. declination, deviation operating with electromagnetic waves

Definitions

  • the present invention relates to a buried object detection device and a buried object detection method.
  • a wall scanner an embedded object detection device that detects an embedded object from a reflected wave of an electromagnetic wave emitted toward the concrete while moving the surface of the concrete is used.
  • a wall scanner an embedded object detection device that detects an embedded object from a reflected wave of an electromagnetic wave emitted toward the concrete while moving the surface of the concrete.
  • the conventional wall scanner has the following problems. That is, in the above conventional wall scanner, for example, when detecting an embedded object in concrete, operate the electromagnetic wave emission button to emit the electromagnetic wave, and then move the wall scanner along the surface of the concrete. , Was controlling the emission of electromagnetic waves.
  • An object of the present invention is to provide an embedded object detection device and an embedded object detection method capable of automatically radiating an electromagnetic wave without a user's operation when starting the detection of an embedded object.
  • An embedded object detection device is an embedded object detection device that detects an embedded object in an object by using data on a reflected wave of an electromagnetic wave emitted toward the object while moving on the surface of the object. Therefore, it is provided with a main body section, a radiation section, a reception section, wheels, a rotation detection section, and a radiation control section.
  • the radiating portion is provided on the main body and radiates an electromagnetic wave.
  • the receiver is provided in the main body and receives a reflected wave of electromagnetic waves.
  • the wheel is attached to the main body and rotates while being in contact with the surface of the object.
  • the rotation detection unit is provided in the main body, is connected to the wheels, and detects information about the rotation of the wheels.
  • the radiation control unit determines whether to start radiation of electromagnetic waves from the radiation unit based on the input status from the rotation detection unit.
  • an embedded object detection device that detects an embedded object such as a reinforcing bar in concrete by detecting the reflected wave by radiating an electromagnetic wave while rotating and moving a wheel in contact with the surface of concrete
  • it is determined whether or not to start the emission of the electromagnetic wave based on the input state from the rotation detection unit that detects the information about the rotation of the wheel.
  • the buried object in the target object includes, for example, a reinforcing bar in concrete.
  • the information regarding the rotation detected by the rotation detection unit includes, for example, the rotation speed and the rotation direction of the wheel.
  • the input status from the rotation detection unit in the radiation control unit includes, for example, stability of wheel rotation speed, stability of rotation direction, and the like.
  • electromagnetic waves are automatically radiated according to the input status from the rotation detection unit, so that the electromagnetic waves are not radiated from the radiation unit until the input status from the rotation detection unit satisfies a predetermined status. Absent. Therefore, it is possible to prevent the user from performing the operation of detecting the buried object while misunderstanding that the electromagnetic wave is being emitted, even though the electromagnetic wave is not being emitted.
  • An embedded object detection device is the embedded object detection device according to the first aspect of the present invention, wherein the radiation control unit determines that the rotation of the wheels is stable, based on the input from the rotation detection unit. In this case, the radiation unit is controlled so as to start radiation of electromagnetic waves.
  • the stability of wheel rotation detected by the rotation detection unit is set as the condition for starting the emission of electromagnetic waves from the emission unit.
  • the stable rotation of the wheels includes, for example, a condition that chattering does not occur in the input from the rotation detection unit, a stable rotation speed, a constant rotation direction, and the like.
  • the moving speed and moving direction of the embedded object detection device that is, the wheel rotation speed and the rotational direction are stabilized.
  • the emission of electromagnetic waves can be started automatically.
  • An embedded object detection device is the embedded object detection device according to the second aspect of the present invention, wherein the rotation speed of the wheels input from the rotation detection unit is within a predetermined range.
  • the radiation unit is controlled to start radiation of electromagnetic waves.
  • the rotation speed of the wheel detected by the rotation detection unit is within a predetermined range.
  • the moving speed of the embedded object detection device that is, the rotation speed of the wheels is stabilized within a predetermined range.
  • An embedded object detection device is the embedded object detection device according to the second or third aspect of the present invention, wherein the radiation control unit has a wheel rotation direction input from the rotation detection unit is a predetermined number of times or more.
  • the control unit controls the radiation unit so as to start radiation of electromagnetic waves when they are the same continuously.
  • the rotation direction of the wheel detected by the rotation detection unit is the same direction continuously a predetermined number of times or more.
  • that the rotation direction of the wheels is the same direction continuously a predetermined number of times or more means that the input corresponding to one pulse from the rotation detection unit continuously shows the same direction a predetermined number of times or more.
  • the moving direction of the embedded object detection device that is, the rotation direction of the wheel is continuous a predetermined number of times or more.
  • An embedded object detection device is the embedded object detection device according to any one of the first to fourth aspects of the present invention, wherein the radiation control unit is based on an input state from the rotation detection unit, The emission unit is controlled to temporarily emit the temporary electromagnetic wave, and whether or not to start the emission of the electromagnetic wave is determined based on the reception status of the reflected wave of the temporary electromagnetic wave received by the reception unit.
  • the reception status of the temporary reflected electromagnetic wave which is temporarily radiated based on the input status from the rotation detection unit, is used as the electromagnetic radiation start condition when starting the detection of the buried object.
  • the temporary electromagnetic wave radiated may have the same strength as the electromagnetic wave radiated when the buried object is searched, or may have a low strength or a high strength.
  • the provisional reception status of the reflected wave of the electromagnetic wave means, for example, when the reception status of the reflected wave at the receiving unit indicates that the embedded object detection device (wheel) is in contact with the surface of the object, Alternatively, the case where the embedded object detection device (wheel) is shown to be away from the surface of the object can be cited.
  • the temporary electromagnetic wave is temporarily emitted and the electromagnetic wave is emitted according to the receiving situation of the reflected wave.
  • An embedded object detection apparatus is the embedded object detection apparatus according to the fifth aspect of the present invention, wherein the radiation control unit causes the waveform of the reflected wave received by the receiving unit to contact the surface of the object with the wheel. When it indicates that the electromagnetic wave is being emitted, the emission unit is controlled so as to start emission of the electromagnetic wave.
  • the suitability of the start of the emission of the electromagnetic wave is determined based on the change in the waveform of the reflected wave of the temporarily emitted temporary electromagnetic wave.
  • the change in the waveform of the reflected wave of the temporary electromagnetic wave it is possible to determine that the wheel of the embedded object detection device is in contact with the object and control the start timing of the emission of the electromagnetic wave.
  • An embedded object detection method is an embedded object detection device that detects an embedded object in an object using data regarding a reflected wave of an electromagnetic wave emitted toward the object while moving on the surface of the object.
  • the embedded object detecting method used includes a rotation detecting step and a determining step.
  • the rotation detection step the rotation detection unit connected to the wheel provided in the buried object detection device detects information about the rotation of the wheel.
  • the determination step it is determined whether or not to start emission of the electromagnetic wave from the emission unit that emits the electromagnetic wave, based on the input situation from the rotation detection unit.
  • an embedded object that detects an embedded object such as a reinforcing bar in concrete by radiating an electromagnetic wave while rotating a wheel that is in contact with the surface of concrete and moving an embedded object detection device, and detecting the reflected wave.
  • the object detection method when starting the detection of the embedded object, it is determined whether or not to start the emission of the electromagnetic wave based on the input situation from the rotation detection unit that detects the information about the rotation of the wheel.
  • the buried object in the target object includes, for example, a reinforcing bar in concrete.
  • the information regarding the rotation detected by the rotation detection unit includes, for example, the rotation speed and the rotation direction of the wheel.
  • the input status from the rotation detection unit in the radiation control unit includes, for example, stability of wheel rotation speed, stability of rotation direction, and the like.
  • electromagnetic waves are automatically radiated according to the input status from the rotation detection unit, so that the electromagnetic waves are not radiated from the radiation unit until the input status from the rotation detection unit satisfies a predetermined status. Absent. Therefore, it is possible to prevent the user from performing the operation of detecting the buried object while misunderstanding that the electromagnetic wave is being emitted, even though the electromagnetic wave is not being emitted.
  • An embedded object detection method is the embedded object detection method according to the seventh aspect of the present invention, wherein when it is determined that the rotation of the wheels is stable based on the input from the rotation detection unit, The method further comprises a radiation initiation step of controlling the radiation section to initiate radiation.
  • the stability of wheel rotation detected by the rotation detector is set as a condition for starting emission of electromagnetic waves from the radiator.
  • the stable rotation of the wheels includes, for example, a condition that chattering does not occur in the input from the rotation detection unit, a stable rotation speed, a constant rotation direction, and the like.
  • the moving speed and moving direction of the embedded object detection device that is, the wheel rotation speed and the rotational direction are stabilized.
  • the emission of electromagnetic waves can be started automatically.
  • a buried object detecting method is the buried object detecting method according to the seventh aspect of the invention, wherein in the radiation starting step, the rotation speed of the wheels input from the rotation detecting unit is within a predetermined range. In such a case, the radiation unit is controlled to start radiation of electromagnetic waves.
  • the rotation speed of the wheel detected by the rotation detection unit is within a predetermined range.
  • the moving speed of the embedded object detection device that is, the rotation speed of the wheels is stabilized within a predetermined range.
  • a buried object detecting method is the buried object detecting method according to the eighth or ninth aspect of the invention, wherein in the radiation starting step, the rotation direction of the wheel input from the rotation detecting section is a predetermined number of times or more.
  • the control unit controls the radiation unit so as to start radiation of electromagnetic waves when they are the same continuously.
  • the rotation direction of the wheel detected by the rotation detection unit is the same direction continuously a predetermined number of times or more.
  • that the rotation direction of the wheels is the same direction continuously a predetermined number of times or more means that the input corresponding to one pulse from the rotation detection unit continuously shows the same direction a predetermined number of times or more.
  • the moving direction of the embedded object detection device that is, the rotation direction of the wheel is continuous a predetermined number of times or more.
  • An embedded object detecting method is the embedded object detecting method according to any one of the seventh to tenth aspects of the invention, wherein in the radiation starting step, based on an input situation from the rotation detecting section, The emission unit is controlled to temporarily emit the temporary electromagnetic wave, and whether or not to start the emission of the electromagnetic wave is determined based on the reception status of the reflected wave of the temporary electromagnetic wave received by the reception unit.
  • the reception status of the temporary reflected electromagnetic wave which is temporarily radiated based on the input status from the rotation detection unit, is used as the electromagnetic radiation start condition when starting the detection of the buried object.
  • the temporary electromagnetic wave radiated may have the same strength as the electromagnetic wave radiated when the buried object is searched, or may have a low strength or a high strength.
  • the provisional reception status of the reflected wave of the electromagnetic wave means, for example, when the reception status of the reflected wave at the receiving unit indicates that the embedded object detection device (wheel) is in contact with the surface of the object, Alternatively, the case where the embedded object detection device (wheel) is shown to be away from the surface of the object can be cited.
  • the temporary electromagnetic wave is temporarily emitted and the electromagnetic wave is emitted according to the receiving situation of the reflected wave.
  • a buried object detecting method is the buried object detecting method according to the eleventh aspect of the invention, wherein in the radiation starting step, the waveform of the reflected wave received by the receiving unit causes the wheel to contact the surface of the object. When it indicates that the electromagnetic wave is being emitted, the emission unit is controlled so as to start emission of the electromagnetic wave.
  • the suitability of the start of the emission of the electromagnetic wave is determined based on the change in the waveform of the reflected wave of the temporarily emitted temporary electromagnetic wave.
  • the change in the waveform of the reflected wave of the temporary electromagnetic wave it is possible to determine that the wheel of the embedded object detection device is in contact with the object and control the start timing of the emission of the electromagnetic wave.
  • the embedded object detection device of the present invention when starting the detection of an embedded object, it is possible to automatically radiate an electromagnetic wave without a user's operation.
  • FIG. 1 is a perspective view showing a configuration of an embedded object detection device according to an embodiment of the present invention.
  • the block diagram which shows the structure of the embedded object detection apparatus of FIG.
  • the block diagram which shows the structure of the impulse control module of FIG.
  • FIG. 3 is a block diagram showing a configuration of a main control module of FIG. 2.
  • the flowchart which shows the flow of a process of the buried object detection method implemented by the buried object detection apparatus of FIG.
  • the flowchart which shows the flow of the process of the radiation start control of the electromagnetic wave contained in the buried object detection method of FIG. (A), (b) is a figure which shows the input example from an encoder.
  • FIG. 9A is a graph showing the difference between the graph of FIG. 9B and the graph of FIG. 10B.
  • B is a graph in which the range of the vertical axis of (a) is reduced.
  • FIG. 11 is a flowchart showing a processing flow of radiation stop control of electromagnetic waves included in the buried object detection method of FIG. 10.
  • FIG. 11 is a sequence diagram showing a flow of processing of emission stop control of electromagnetic waves in FIG. 10.
  • the flowchart which shows the flow of the process of radiation stop control of the electromagnetic wave contained in the buried object detection method which concerns on other embodiment of this invention.
  • the flowchart which shows the process flow of the radiation stop control of the electromagnetic wave contained in the buried object detection method which concerns on other embodiment of this invention.
  • FIG. 18 is a sequence diagram showing a flow of processing of emission stop control of electromagnetic waves in FIG. 17.
  • FIG. 1 is a perspective view showing a state in which the embedded object detection device 1 of the present embodiment is placed on concrete (object) 100.
  • FIG. 2 is a block diagram showing a schematic configuration of the embedded object detection device 1 of the present embodiment.
  • the embedded object detection apparatus 1 of the present embodiment radiates an electromagnetic wave to the concrete 100 while moving on the surface 100a of an object such as concrete 100, receives the reflected wave, and analyzes the electromagnetic wave to obtain an embedded object in the concrete 100.
  • the positions of 101a, 101b, 101c and 101d are detected. Further, in FIG. 1, the moving direction A of the embedded object detection device 1 is indicated by an arrow.
  • the embedded objects 101a, 101b, 101c, 101d are reinforcing bars, and are embedded at depths of 20 cm, 15 cm, 10 cm, 5 cm from the surface 100a of the concrete 100, respectively. ..
  • the depth direction B of the concrete 100 is indicated by an arrow
  • the opposite direction (surface direction C) is indicated by an arrow.
  • the four reinforcing bars (embedded objects 101a to 101d) embedded in the concrete 100 are arranged in a direction intersecting the moving direction of the embedded object detection device 1 along a direction substantially parallel to the surface 100a of the concrete 100, respectively. Has been done.
  • the embedded object detection device 1 includes a main body part 2, a handle 3, four wheels 4, an impulse control module 5, a main control module 6, an encoder (rotation detection part) 7, and a display part 8. ing.
  • the handle 3 is provided on the upper surface of the main body 2.
  • the four wheels are rotatably attached to the lower portion of the main body 2.
  • the impulse control module 5 controls the timing of emitting an electromagnetic wave toward the concrete 100, the timing of receiving a reflected wave of the emitted electromagnetic wave, and the like.
  • the encoder 7 is connected to the wheel 4, detects information about the rotation of the wheel 4, and transmits a signal for controlling the reception timing of the reflected wave to the impulse control module 5 based on the detected information. ..
  • the transmitting antenna 11 when starting the detection of the embedded objects 101a to 101d in the concrete 100, the transmitting antenna 11 is used by using the information about the rotation of the wheels 4 input from the encoder 7. Control the start of electromagnetic wave emission.
  • the information about the rotation of the wheel 4 includes the rotation speed, the rotation direction, etc. of the wheel 4.
  • the electromagnetic wave emission start control will be described later in detail.
  • the main control module 6 receives the data regarding the reflected wave received by the impulse control module 5, and detects the buried object.
  • the display unit 8 is provided on the upper surface of the main body unit 2 and displays an image or the like indicating the positions of the embedded objects 101a, 101b, 101c, and 101d.
  • FIG. 3 is a block diagram showing the configuration of the impulse control module 5.
  • the impulse control module 5 includes a control unit (radiation control unit) 10, a transmission antenna 11, a reception antenna 12, a pulse generation unit 13, a delay unit 14, and a gate unit 15.
  • the control unit 10 is configured by an MPU (Micro Processing Unit) and the like, and commands the pulse generation unit 13 to generate a pulse by using the encoder input as a trigger.
  • the pulse generator 13 generates a pulse based on a command from the MPU and outputs it to the transmitting antenna 11.
  • the control unit 10 when the worker (user) starts the operation of detecting the embedded object 101 in the concrete 100 using the embedded object detection device 1, the control unit 10 emits electromagnetic waves based on the input status from the encoder 7.
  • the electromagnetic wave emission start control is performed to determine whether or not to start. Further, the control unit 10 stops the input from the encoder 7 while performing the detection operation of the embedded object 101 in the concrete 100 using the embedded object detection device 1, and the reflected wave at the receiving antenna 12
  • electromagnetic wave emission stop control for stopping emission of electromagnetic waves from the transmitting antenna 11 is performed.
  • the transmission antenna 11 is provided on the bottom surface side of the main body 2 and radiates an electromagnetic wave at a constant period based on the pulse period.
  • the receiving antenna 12 is provided on the bottom surface side of the main body 2, and mainly receives the reflected wave of the electromagnetic wave radiated from the transmitting antenna 11.
  • the gate unit 15 receives the pulse from the delay unit 14, the gate unit 15 captures the reflected wave received by the reception antenna 12 and transmits the reflected wave to the control unit 10.
  • the delay unit 14 causes the gate unit 15 to capture the reflected wave at a predetermined interval with respect to the gate unit 15. This predetermined interval is set to 2.5 mm pitch.
  • the impulse control module 5 triggers the input from the encoder or 7 to output the electromagnetic wave from the transmitting antenna 11 multiple times. Then, the impulse control module 5 can acquire the reception data for each distance to the reception antenna 12 by delaying the reception timing by using the delay IC of the delay unit 14.
  • FIG. 4 is a diagram showing data of reflected waves acquired by the MPU.
  • the vertical axis represents the intensity of the received signal in ⁇ 4096 to +4096 gradations with the axis O as the center, and the arrow direction indicates the negative side.
  • the horizontal axis indicates the distance from the receiving antenna 12, and the arrow direction (corresponding to the depth direction B) indicates that the distance from the receiving antenna 12 is long. In addition, a long distance corresponds to a large depth.
  • the waveform W1 shown in FIG. 4 also includes the reflected wave reflected by the antenna without being radiated into the concrete 100 (p1 etc.), the difference from the reference waveform is calculated. The change in the data of the reflected wave from inside the concrete 100 is extracted.
  • the data shown in FIG. 4 is data indicating the strength of the received signal after the encoder 7 receives an input and before the encoder 7 receives the next input.
  • the control unit 10 transmits the RF (Radio Frequency) data for one line to the main control module 6 every time the data for one line is accumulated.
  • the measurement positions are not exactly the same position, and the depth direction B is also relative to the surface 100a of the concrete 100. Not in a strictly vertical direction.
  • FIG. 5 is a block diagram showing the configuration of the main control module 6.
  • the main control module 6 includes a reception unit 21, an RF data management unit 22, an embedded object determination unit 24, a determination result registration unit 25, and a display control unit 26.
  • the receiving unit 21 receives one line of RF data each time it is transmitted from the impulse control module 5.
  • the RF data management unit 22 stores the RF data for one line received by the reception unit 21.
  • the embedded object determination unit 24 uses the RF data for one line stored in the RF data management unit 22 to determine the presence or absence of the embedded object 101 and detect the position of the embedded object 101.
  • the detection processing of the embedded object 101 in the embedded object determination unit 24 may be performed using a known method based on the RF data of a plurality of lines received by the receiving antenna 12.
  • the receiving antenna 12 detects the velocity (intensity) of the reflected wave reflected on the surface of the buried object 101 and the time until the reflected wave is received, and thus the buried object in the concrete 100 is detected.
  • the presence or absence of 101 and its position can be detected.
  • the determination result registration unit 25 registers the position of the buried object detected by the buried object determination unit 24 in the RF data management unit 22.
  • the display control unit 26 controls the display unit 8 so as to display the image in which the signal intensity is gradation-processed by color on the plane of the moving direction A and the depth direction B and the position of the embedded object 101.
  • the embedded object detection device 1 described above is used to detect the embedded object 101 in the concrete 100 according to the flowchart shown in FIG.
  • step S1 the initialization process is performed, and the input from the encoder 7 and the timer (not shown) is used as a trigger to control the transmitting antenna 11 and the receiving antenna 12 to receive the RF data for one line. To do.
  • step S2 the control unit 10 executes the electromagnetic wave emission start control for determining whether to radiate the electromagnetic wave from the transmitting antenna 11 based on the information about the rotation of the wheel 4 received from the encoder 7.
  • step S3 the emission stop control of the electromagnetic wave is performed based on the change in the waveform of the reflected wave received by the receiving antenna 12 after the emission start condition of the electromagnetic wave is satisfied and the emission of the electromagnetic wave is started in step S2. Carry out.
  • step S4 after determining in step S3 whether or not to stop the emission of electromagnetic waves, it is determined whether or not to end the search for the embedded object 101 in the concrete 100.
  • step S5 the presence or absence of the embedded object 101 in the concrete 100 and its position are detected using the RF data for one line of the reflected wave received by the receiving antenna 12, and the process ends.
  • the control unit 10 included in the impulse control module 5 starts emitting electromagnetic waves from the transmission antenna 11 based on the input status from the encoder 7. Decide whether or not.
  • step S11 the control unit 10 determines whether or not there is an input from the encoder 7.
  • step S12 the process proceeds to step S12, and step S11 is repeated until the input is made.
  • step S12 the control unit 10 detects whether or not the encoder 7 continuously inputs N times or more in the same direction, so that the rotation of the wheels 4 on the surface 100a of the concrete 100 is stable. It is determined whether or not there is.
  • the input continuous N times or more in the same direction includes, for example, a case where there are five or more inputs in the rotation direction indicating movement to the right in the figure, as shown in FIG. 8A. ..
  • the embedded object detection device 1 is moved in different directions depending on the worker (user), as shown in FIG. 8B, the first input is made after the moving direction (rotational direction) is changed. It is counted as one time, and if there is continuous input from the same direction in the same direction, the process proceeds to step S13. Therefore, in the example shown in FIG. 8B, the right input, the right input, the left input, the right input, and so on are counted as the first input from the fourth input, and from there, the input is input five times to the right continuously. Therefore, the process proceeds to step S13.
  • step S13 the control unit 10 determines in step S12 that the input from the encoder 7 is stable, that is, the rotation of the wheels 4 is stable, and thus radiates a temporary electromagnetic wave for a predetermined time.
  • the transmission antenna 11 is controlled via the pulse generator 13.
  • step S14 the data for one line, which receives the reflected wave of the electromagnetic wave radiated from the transmitting antenna 11 in step S13, is received from the receiving antenna 12.
  • step S15 the control unit 10 uses the waveform of the data for one line of the reflected wave of the temporary electromagnetic wave received from the reception antenna 12 to determine whether or not the data indicates the inside of air.
  • the data in the air means a state in which the embedded object detection device 1 is lifted by an operator or the like and is separated from the surface 100a of the concrete 100. Further, the principle for detecting that the embedded object detection device 1 is separated from the surface 100a of the concrete 100 will be described.
  • the wheels 4 of the buried object detection device 1 are in contact with the surface 100a of the concrete 100, the radiated electromagnetic wave passes through the inside from the surface 100a of the concrete 100, as shown in FIG. 9A. Then, the reflected wave is received by the receiving antenna 12.
  • FIG. 9B shows the velocity (vertical axis) of the reflected wave with respect to the depth (horizontal axis) from the surface 100a of the concrete 100 at this time.
  • FIG. 10( b) shows the velocity (vertical axis) of the reflected wave with respect to the depth (horizontal axis) from the surface 100 a of the concrete 100 at this time.
  • the difference between the graph shown in FIG. 9B and the graph shown in FIG. 10B is shown as a graph shown in FIG.
  • FIG. 11B the range of the vertical axis of the graph shown in FIG. 11A is narrowed to show the change of the graph in an easy-to-understand manner. That is, as shown in FIG. 11B, a case where the embedded object detection device 1 is in contact with the surface 100a of the concrete 100 (see FIG. 9A) and a case where the embedded object detection apparatus 1 is separated (FIG. 10A). It can be seen that there is a large difference in the velocity (intensity) of the received wave near the surface 100a of the concrete 100.
  • the waveform is compared with the waveform when the surface 100a of the concrete 100 is contacted (see FIG. 9B), and when the peak has a smaller peak than the graph showing the difference shown in FIG.
  • the buried object detection apparatus 1 determines that it is near the surface 100a of the concrete 100, and proceeds to step S16.
  • the buried object detection apparatus 1 is currently separated from the surface 100a of the concrete 100 and is determined to be in the air, It proceeds to step S17.
  • step S16 since it is determined in step S15 that the embedded object detection device 1 is near the surface 100a of the concrete 100, the control unit 10 causes the embedded object detection device 1 to move stably, and It is determined that it is near the surface 100a of the concrete 100, and control is performed so that the transmitting antenna 11 emits an electromagnetic wave.
  • the electromagnetic wave emitted here and the temporary electromagnetic wave emitted in step S13 may have the same intensity, or may have different intensities such as weakening the temporary electromagnetic wave.
  • step S17 since it is determined in step S15 that the embedded object detection device 1 is separated from the surface 100a of the concrete 100 and is in the air, the control unit 10 controls the transmission antenna 11 to generate an electromagnetic wave. Stop the radiation. With this, when the detection of the embedded object 101 in the concrete 100 is started, it is possible to automatically radiate an electromagnetic wave without an operation by a worker.
  • the embedded object detection device 1 described above is used to control the emission stop of electromagnetic waves from the transmitting antenna 11 in accordance with the flowchart shown in FIG. 12 and the sequence diagram shown in FIG.
  • step S21 it is detected whether or not electromagnetic waves are emitted.
  • the process proceeds to step S22, and if the emission of the electromagnetic wave is already stopped, the process ends.
  • the radiation of electromagnetic waves is input from the encoder 7 to the control unit 10 by the operator operating the embedded object detection device 1 on the surface 100a of the concrete 100, and the control unit This is carried out by transmitting an electromagnetic wave radiation instruction to the transmitting antenna 11.
  • step S22 since it is detected that electromagnetic waves are being radiated, it is detected whether or not the input from the encoder 7 has stopped. If the input from the encoder 7 is stopped, the process proceeds to step S23. If the input from the encoder 7 is continued, the process waits until the input from the encoder 7 is stopped.
  • step S23 it is determined whether or not the exploration surface separation comparison data used for detecting that the embedded object detection device 1 is separated from the surface 100a of the concrete 100 has been initialized. If it has been initialized, the process proceeds to step S24. On the other hand, if it has not been initialized, the process proceeds to step S25 to initialize the comparison data with 1-line data.
  • the exploration surface separation comparison data for example, a graph or the like showing data of reflected waves (see FIG. 9B) in a state where the above-mentioned embedded object detection device 1 is in contact with the surface 100a of the concrete 100 may be used. it can.
  • step S24 the data of one line of the reflected wave received by the receiving antenna 12 (for example, the graph of FIG. 10B) is compared with the previously stored search surface separation comparison data. , It is determined whether there is a difference (change) equal to or larger than a predetermined threshold value. Here, if there is a difference (change) equal to or greater than the predetermined threshold value, the process proceeds to step S26.
  • the embedded object detection device 1 is in a state of being separated from the surface 100a (see FIG. 10A) with reference to a state of contacting the surface 100a of the concrete 100 (see FIG. 9A).
  • the process of determining whether or not it can be similarly performed using the graph shown in FIG.
  • step S26 the control unit 10 confirms the emission of the electromagnetic wave in step S21, confirms the stop of the input from the encoder 7 in step S22, and confirms that the reflected wave data is compared with the comparison data in step S24. By confirming that there is a difference equal to or more than the threshold value, it is determined that the embedded object detection device 1 is separated from the surface 100a of the concrete 100, and the transmission antenna is transmitted via the pulse generation unit 13 so as to stop the emission of electromagnetic waves. Control 11
  • the emission of electromagnetic waves can be automatically stopped without any operation by the operator.
  • the electromagnetic waves by preventing the electromagnetic waves from being radiated except during work, it is possible to suppress wasteful power consumption and prevent the service life of components such as circuit elements of the transmitting antenna 11 from being deteriorated.
  • step S12 of FIG. 7 an example in which the stability of the rotation of the wheels 4 is detected on the condition that the input from the encoder 7 is continuous N times or more has been described.
  • the present invention is not limited to this.
  • the stability of the rotation of the wheels may be detected on the condition that the input from the encoder is stable within a predetermined range of the rotation speed of the wheels for a predetermined time or more. ..
  • control unit when the control unit detects that the rotation of the wheels is stable based on the input state from the encoder, the control unit controls to start the emission of the electromagnetic wave from the transmitting antenna. Good.
  • the stable rotation of the wheels means, for example, that the rotation directions of the wheels are the same direction for a predetermined number of times (predetermined pulses) or more, as shown in step S12 of FIG. 15, or in step S112 of FIG.
  • the rotation speed of the wheel is stable within a predetermined range, and a combination thereof is included.
  • step S123 a timer that measures the time after the encoder 7 is stopped is initialized, and in step S124, the input from the encoder 7 is stopped.
  • the control unit 10 may control the emission of the electromagnetic wave from the transmitting antenna 11 to be stopped in step S125 when the predetermined time has elapsed.
  • the control unit 10 may control the transmission antenna 11 so that the emission of electromagnetic waves from the transmission antenna 11 is stopped when the number of times of data transmission performed at intervals of 100 ms exceeds a predetermined number.
  • the embedded object detection device 1 in which the four wheels 4 are attached to the main body 2 is used to detect the embedded object 101 in the concrete 100 has been described.
  • the present invention is not limited to this.
  • the number of wheels attached to the main body is not limited to four, and may be one, two, three, or five or more.
  • the buried object 101 detected by the buried object detection device 1 has been described by taking an example in which the reinforcing bars in the concrete 100 are used.
  • the present invention is not limited to this, and may be used for detecting foreign substances in other materials.
  • the embedded object detection device of the present invention has an effect of being able to automatically emit an electromagnetic wave without a user's operation when starting the detection of an embedded object. It is widely applicable to methods.

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Abstract

An embedded object detection device (1) comprises a body (2), transmission antenna (11), reception antenna (12), wheel (4), encoder (7), and control unit (10). The transmission antenna (11) is provided in the body (2) and emits electromagnetic waves. The reception antenna (12) is provided in the body (2) and receives reflected electromagnetic waves. The wheel (4) is attached to the body (2) and rotates while being in contact with a surface (100a) of concrete (100). The encoder (7) is provided in the body (2), is connected to the wheel (4), and detects information relating to the rotation of the wheel (4). The control unit (10) determines whether to start emitting electromagnetic waves from the transmission antenna (11) on the basis of the state of input from the encoder (7).

Description

埋設物検出装置および埋設物検出方法Buried object detection device and buried object detection method
　本発明は、埋設物検出装置および埋設物検出方法に関する。 The present invention relates to a buried object detection device and a buried object detection method.
　例えば、コンクリート内の埋設物を探索する装置として、コンクリートの表面を移動させながら、コンクリートに向かって放射した電磁波の反射波から埋設物を検出するウォールスキャナ（埋設物検出装置）が用いられている（例えば、特許文献１参照）。 For example, as a device for searching for an embedded object in concrete, a wall scanner (an embedded object detection device) that detects an embedded object from a reflected wave of an electromagnetic wave emitted toward the concrete while moving the surface of the concrete is used. (For example, refer to Patent Document 1).
特開２０１１－２４７８４４号公報JP, 2011-247844, A
　しかしながら、上記従来のウォールスキャナは、以下に示すような問題点を有している。
　すなわち、上記従来のウォールスキャナでは、例えば、コンクリート中の埋設物の検出を行う際に、電磁波の放射ボタンを操作して電磁波を放射させてからコンクリートの表面に沿ってウォールスキャナを移動させるように、電磁波の放射制御を行っていた。 However, the conventional wall scanner has the following problems.
That is, in the above conventional wall scanner, for example, when detecting an embedded object in concrete, operate the electromagnetic wave emission button to emit the electromagnetic wave, and then move the wall scanner along the surface of the concrete. , Was controlling the emission of electromagnetic waves.
　このため、ユーザの放射ボタンの操作が充分でなかった場合等、放射ボタンの操作に問題があった場合には、ユーザが、電磁波が放射されていないことに気付かずに、ウォールスキャナを移動させて埋設物を検出する操作を実施してしまうおそれがある。 Therefore, when there is a problem with the operation of the radiation button, such as when the user does not operate the radiation button sufficiently, the user moves the wall scanner without noticing that the electromagnetic wave is not emitted. There is a risk that the operation of detecting the buried object will be performed.
　本発明の課題は、埋設物の検出を開始する際に、ユーザによる操作なしで自動的に電磁波を放射することが可能な埋設物検出装置および埋設物検出方法を提供することにある。 An object of the present invention is to provide an embedded object detection device and an embedded object detection method capable of automatically radiating an electromagnetic wave without a user's operation when starting the detection of an embedded object.
　第１の発明に係る埋設物検出装置は、対象物の表面を移動しながら対象物に向かって放射した電磁波の反射波に関するデータを用いて対象物内の埋設物を検出する埋設物検出装置であって、本体部と、放射部と、受信部と、車輪と、回転検出部と、放射制御部と、を備えている。放射部は、本体部に設けられ、電磁波を放射する。受信部は、本体部に設けられ、電磁波の反射波を受信する。車輪は、本体部に取り付けられており、対象物の表面に接触した状態で回転する。回転検出部は、本体部に設けられ、車輪に接続されており車輪の回転に関する情報を検出する。放射制御部は、回転検出部からの入力状況に基づいて、放射部から電磁波の放射を開始するか否かを決定する。 An embedded object detection device according to a first aspect of the present invention is an embedded object detection device that detects an embedded object in an object by using data on a reflected wave of an electromagnetic wave emitted toward the object while moving on the surface of the object. Therefore, it is provided with a main body section, a radiation section, a reception section, wheels, a rotation detection section, and a radiation control section. The radiating portion is provided on the main body and radiates an electromagnetic wave. The receiver is provided in the main body and receives a reflected wave of electromagnetic waves. The wheel is attached to the main body and rotates while being in contact with the surface of the object. The rotation detection unit is provided in the main body, is connected to the wheels, and detects information about the rotation of the wheels. The radiation control unit determines whether to start radiation of electromagnetic waves from the radiation unit based on the input status from the rotation detection unit.
　ここでは、例えば、コンクリートの表面に接触させた車輪を回転させて移動しながら電磁波を放射し、その反射波を検出することでコンクリート内の鉄筋等の埋設物を検出する埋設物検出装置において、埋設物の検出を開始する際に、車輪の回転に関する情報を検出する回転検出部からの入力状況に基づいて電磁波の放射を開始するか否かを決定する。 Here, for example, in an embedded object detection device that detects an embedded object such as a reinforcing bar in concrete by detecting the reflected wave by radiating an electromagnetic wave while rotating and moving a wheel in contact with the surface of concrete, When starting the detection of the buried object, it is determined whether or not to start the emission of the electromagnetic wave based on the input state from the rotation detection unit that detects the information about the rotation of the wheel.
　ここで、対象物内の埋設物には、例えば、コンクリート内の鉄筋等が含まれる。また、回転検出部において検出される回転に関する情報には、例えば、車輪の回転速度、回転方向等が含まれる。さらに、放射制御部における回転検出部からの入力状況には、例えば、車輪の回転速度の安定、回転方向の安定等が含まれる。 Here, the buried object in the target object includes, for example, a reinforcing bar in concrete. Further, the information regarding the rotation detected by the rotation detection unit includes, for example, the rotation speed and the rotation direction of the wheel. Furthermore, the input status from the rotation detection unit in the radiation control unit includes, for example, stability of wheel rotation speed, stability of rotation direction, and the like.
　これにより、回転検出部からの入力状況に応じて自動的に電磁波が放射されるため、回転検出部からの入力状況が所定の状況を満たすまでは、放射部から電磁波の放射が行われることはない。よって、ユーザは、電磁波が放射されていない状況であるにもかかわらず、放射されていると誤解したまま、埋設物を検出する操作を実施してしまうことを防止することができる。 As a result, electromagnetic waves are automatically radiated according to the input status from the rotation detection unit, so that the electromagnetic waves are not radiated from the radiation unit until the input status from the rotation detection unit satisfies a predetermined status. Absent. Therefore, it is possible to prevent the user from performing the operation of detecting the buried object while misunderstanding that the electromagnetic wave is being emitted, even though the electromagnetic wave is not being emitted.
　第２の発明に係る埋設物検出装置は、第１の発明に係る埋設物検出装置であって、放射制御部は、回転検出部からの入力に基づいて、車輪の回転が安定したと判定した場合に、電磁波の放射を開始するように放射部を制御する。 An embedded object detection device according to a second aspect of the present invention is the embedded object detection device according to the first aspect of the present invention, wherein the radiation control unit determines that the rotation of the wheels is stable, based on the input from the rotation detection unit. In this case, the radiation unit is controlled so as to start radiation of electromagnetic waves.
　ここでは、放射部からの電磁波の放射開始条件として、回転検出部において検出される車輪の回転の安定が設定される。
　ここで、車輪の回転の安定とは、例えば、回転検出部からの入力にチャタリングの発生がない状況、回転速度の安定、回転方向が一定等の条件が含まれる。 Here, the stability of wheel rotation detected by the rotation detection unit is set as the condition for starting the emission of electromagnetic waves from the emission unit.
Here, the stable rotation of the wheels includes, for example, a condition that chattering does not occur in the input from the rotation detection unit, a stable rotation speed, a constant rotation direction, and the like.
　これにより、例えば、ユーザが埋設物検出装置を持ってコンクリートの表面に沿って移動させた際に、埋設物検出装置の移動速度、移動方向、すなわち、車輪の回転速度、回転方向が安定化したことが検出されると、電磁波の放射を自動的に開始することができる。 Thereby, for example, when the user holds the embedded object detection device and moves it along the surface of the concrete, the moving speed and moving direction of the embedded object detection device, that is, the wheel rotation speed and the rotational direction are stabilized. When this is detected, the emission of electromagnetic waves can be started automatically.
　第３の発明に係る埋設物検出装置は、第２の発明に係る埋設物検出装置であって、放射制御部は、回転検出部から入力される車輪の回転速度が、所定の範囲内であった場合に、電磁波の放射を開始するように放射部を制御する。 An embedded object detection device according to a third aspect of the present invention is the embedded object detection device according to the second aspect of the present invention, wherein the rotation speed of the wheels input from the rotation detection unit is within a predetermined range. In such a case, the radiation unit is controlled to start radiation of electromagnetic waves.
　ここでは、上述した車輪の回転の安定を検出するために、回転検出部において検出される車輪の回転速度が所定の範囲内であることが条件として設定される。
　これにより、例えば、ユーザが埋設物検出装置を持ってコンクリートの表面に沿って移動させた際に、埋設物検出装置の移動速度、すなわち、車輪の回転速度が所定の範囲内で安定化したことが検出されると、電磁波の放射を自動的に開始することができる。 Here, in order to detect the stability of the wheel rotation described above, it is set as a condition that the rotation speed of the wheel detected by the rotation detection unit is within a predetermined range.
Thereby, for example, when the user holds the embedded object detection device and moves it along the surface of the concrete, the moving speed of the embedded object detection device, that is, the rotation speed of the wheels is stabilized within a predetermined range. When is detected, the emission of electromagnetic waves can be automatically started.
　第４の発明に係る埋設物検出装置は、第２または第３の発明に係る埋設物検出装置であって、放射制御部は、回転検出部から入力される車輪の回転方向が、所定回数以上、連続して同じであった場合に、電磁波の放射を開始するように放射部を制御する。 An embedded object detection device according to a fourth aspect of the present invention is the embedded object detection device according to the second or third aspect of the present invention, wherein the radiation control unit has a wheel rotation direction input from the rotation detection unit is a predetermined number of times or more. The control unit controls the radiation unit so as to start radiation of electromagnetic waves when they are the same continuously.
　ここでは、上述した車輪の回転の安定を検出するために、回転検出部において検出される車輪の回転方向が所定回数以上連続して同じ方向であることが条件として設定される。
　ここで、車輪の回転方向が所定回数以上連続して同じ方向であるとは、回転検出部からの１パルス分に相当する入力が、連続して所定回数以上同じ方向を示すことを意味している。 Here, in order to detect the stability of the rotation of the wheel described above, it is set as a condition that the rotation direction of the wheel detected by the rotation detection unit is the same direction continuously a predetermined number of times or more.
Here, that the rotation direction of the wheels is the same direction continuously a predetermined number of times or more means that the input corresponding to one pulse from the rotation detection unit continuously shows the same direction a predetermined number of times or more. There is.
　これにより、例えば、ユーザが埋設物検出装置を持ってコンクリートの表面に沿って移動させた際に、埋設物検出装置の移動方向、すなわち、車輪の回転方向が所定回数以上連続しており、移動が安定化したことが検出されると、電磁波の放射を自動的に開始することができる。 Thus, for example, when the user holds the embedded object detection device and moves it along the surface of the concrete, the moving direction of the embedded object detection device, that is, the rotation direction of the wheel is continuous a predetermined number of times or more, When it is detected that the has stabilized, the emission of electromagnetic waves can be started automatically.
　第５の発明に係る埋設物検出装置は、第１から第４の発明のいずれか１つに係る埋設物検出装置であって、放射制御部は、回転検出部からの入力状況に基づいて、一時的に仮の電磁波を放射するように放射部を制御するとともに、受信部において受信された仮の電磁波の反射波の受信状況に基づいて、電磁波の放射を開始するか否かを決定する。 An embedded object detection device according to a fifth aspect of the present invention is the embedded object detection device according to any one of the first to fourth aspects of the present invention, wherein the radiation control unit is based on an input state from the rotation detection unit, The emission unit is controlled to temporarily emit the temporary electromagnetic wave, and whether or not to start the emission of the electromagnetic wave is determined based on the reception status of the reflected wave of the temporary electromagnetic wave received by the reception unit.
　ここでは、埋設物の検出を開始する際の電磁波の放射開始条件として、新たに、回転検出部からの入力状況に基づいて一時的に放射された仮の電磁波の反射波の受信状況を用いる。 ▽ Here, the reception status of the temporary reflected electromagnetic wave, which is temporarily radiated based on the input status from the rotation detection unit, is used as the electromagnetic radiation start condition when starting the detection of the buried object.
　ここで、一時的に放射される仮の電磁波は、埋設物の探索時に放射される電磁波と同程度の強度であってもよいし、低い強度、あるいは高い強度であってもよい。また、仮の電磁波の反射波の受信状況とは、例えば、受信部における反射波の受信状況が、埋設物検出装置（車輪）が対象物の表面に接触している状態を示している場合、あるいは埋設物検出装置（車輪）が対象物の表面から離れている状態を示している場合が挙げられる。 Here, the temporary electromagnetic wave radiated may have the same strength as the electromagnetic wave radiated when the buried object is searched, or may have a low strength or a high strength. Further, the provisional reception status of the reflected wave of the electromagnetic wave means, for example, when the reception status of the reflected wave at the receiving unit indicates that the embedded object detection device (wheel) is in contact with the surface of the object, Alternatively, the case where the embedded object detection device (wheel) is shown to be away from the surface of the object can be cited.
　これにより、回転検出部からの入力状況が、例えば、上述した車輪の回転の安定を示している場合に、一時的に仮の電磁波を放射してその反射波の受信状況に応じて電磁波の放射の開始を決定することで、電磁波の放射開始の適否の判定を、より正確に行うことができる。 With this, when the input situation from the rotation detecting section indicates, for example, that the rotation of the wheel is stable, the temporary electromagnetic wave is temporarily emitted and the electromagnetic wave is emitted according to the receiving situation of the reflected wave. By determining the start of the electromagnetic wave emission, it is possible to more accurately determine whether or not the electromagnetic wave emission start is appropriate.
　第６の発明に係る埋設物検出装置は、第５の発明に係る埋設物検出装置であって、放射制御部は、受信部において受信した反射波の波形が、車輪が対象物の表面に接触していることを示している場合に、電磁波の放射を開始するように、放射部を制御する。 An embedded object detection apparatus according to a sixth aspect of the present invention is the embedded object detection apparatus according to the fifth aspect of the present invention, wherein the radiation control unit causes the waveform of the reflected wave received by the receiving unit to contact the surface of the object with the wheel. When it indicates that the electromagnetic wave is being emitted, the emission unit is controlled so as to start emission of the electromagnetic wave.
　ここでは、一時的に放射された仮の電磁波の反射波の波形の変化に基づいて、電磁波の放射の開始の適否判定を実施する。
　これにより、仮の電磁波の反射波の波形の変化に応じて、埋設物検出装置の車輪が対象物に接触している状態であることを判別して、電磁波の放射の開始タイミングを制御することができる。 Here, the suitability of the start of the emission of the electromagnetic wave is determined based on the change in the waveform of the reflected wave of the temporarily emitted temporary electromagnetic wave.
Thus, according to the change in the waveform of the reflected wave of the temporary electromagnetic wave, it is possible to determine that the wheel of the embedded object detection device is in contact with the object and control the start timing of the emission of the electromagnetic wave. You can
　第７の発明に係る埋設物検出方法は、対象物の表面を移動しながら対象物に向かって放射した電磁波の反射波に関するデータを用いて対象物内の埋設物を検出する埋設物検出装置を用いた埋設物検出方法であって、回転検出ステップと、判定ステップと、を備えている。回転検出ステップでは、埋設物検出装置に設けられた車輪に接続された回転検出部において、車輪の回転に関する情報を検出する。判定ステップでは、回転検出部からの入力状況に基づいて、電磁波を放射する放射部から電磁波の放射を開始するか否かを決定する。 An embedded object detection method according to a seventh aspect of the present invention is an embedded object detection device that detects an embedded object in an object using data regarding a reflected wave of an electromagnetic wave emitted toward the object while moving on the surface of the object. The embedded object detecting method used includes a rotation detecting step and a determining step. In the rotation detection step, the rotation detection unit connected to the wheel provided in the buried object detection device detects information about the rotation of the wheel. In the determination step, it is determined whether or not to start emission of the electromagnetic wave from the emission unit that emits the electromagnetic wave, based on the input situation from the rotation detection unit.
　ここでは、例えば、コンクリートの表面に接触させた車輪を回転させて埋設物検出装置を移動させながら電磁波を放射し、その反射波を検出することでコンクリート内の鉄筋等の埋設物を検出する埋設物検出方法において、埋設物の検出を開始する際に、車輪の回転に関する情報を検出する回転検出部からの入力状況に基づいて電磁波の放射を開始するか否かを決定する。 Here, for example, an embedded object that detects an embedded object such as a reinforcing bar in concrete by radiating an electromagnetic wave while rotating a wheel that is in contact with the surface of concrete and moving an embedded object detection device, and detecting the reflected wave. In the object detection method, when starting the detection of the embedded object, it is determined whether or not to start the emission of the electromagnetic wave based on the input situation from the rotation detection unit that detects the information about the rotation of the wheel.
　ここで、対象物内の埋設物には、例えば、コンクリート内の鉄筋等が含まれる。また、回転検出部において検出される回転に関する情報には、例えば、車輪の回転速度、回転方向等が含まれる。さらに、放射制御部における回転検出部からの入力状況には、例えば、車輪の回転速度の安定、回転方向の安定等が含まれる。 Here, the buried object in the target object includes, for example, a reinforcing bar in concrete. Further, the information regarding the rotation detected by the rotation detection unit includes, for example, the rotation speed and the rotation direction of the wheel. Furthermore, the input status from the rotation detection unit in the radiation control unit includes, for example, stability of wheel rotation speed, stability of rotation direction, and the like.
　これにより、回転検出部からの入力状況に応じて自動的に電磁波が放射されるため、回転検出部からの入力状況が所定の状況を満たすまでは、放射部から電磁波の放射が行われることはない。よって、ユーザは、電磁波が放射されていない状況であるにもかかわらず、放射されていると誤解したまま、埋設物を検出する操作を実施してしまうことを防止することができる。 As a result, electromagnetic waves are automatically radiated according to the input status from the rotation detection unit, so that the electromagnetic waves are not radiated from the radiation unit until the input status from the rotation detection unit satisfies a predetermined status. Absent. Therefore, it is possible to prevent the user from performing the operation of detecting the buried object while misunderstanding that the electromagnetic wave is being emitted, even though the electromagnetic wave is not being emitted.
　第８の発明に係る埋設物検出方法は、第７の発明に係る埋設物検出方法であって、回転検出部からの入力に基づいて、車輪の回転が安定したと判定した場合に、電磁波の放射を開始するように放射部を制御する放射開始ステップを、さらに備えている。 An embedded object detection method according to an eighth aspect of the present invention is the embedded object detection method according to the seventh aspect of the present invention, wherein when it is determined that the rotation of the wheels is stable based on the input from the rotation detection unit, The method further comprises a radiation initiation step of controlling the radiation section to initiate radiation.
　ここでは、放射部からの電磁波の放射開始条件として、回転検出部において検出される車輪の回転の安定が設定される。
　ここで、車輪の回転の安定とは、例えば、回転検出部からの入力にチャタリングの発生がない状況、回転速度の安定、回転方向が一定等の条件が含まれる。 Here, the stability of wheel rotation detected by the rotation detector is set as a condition for starting emission of electromagnetic waves from the radiator.
Here, the stable rotation of the wheels includes, for example, a condition that chattering does not occur in the input from the rotation detection unit, a stable rotation speed, a constant rotation direction, and the like.
　これにより、例えば、ユーザが埋設物検出装置を持ってコンクリートの表面に沿って移動させた際に、埋設物検出装置の移動速度、移動方向、すなわち、車輪の回転速度、回転方向が安定化したことが検出されると、電磁波の放射を自動的に開始することができる。 Thereby, for example, when the user holds the embedded object detection device and moves it along the surface of the concrete, the moving speed and moving direction of the embedded object detection device, that is, the wheel rotation speed and the rotational direction are stabilized. When this is detected, the emission of electromagnetic waves can be started automatically.
　第９の発明に係る埋設物検出方法は、第７の発明に係る埋設物検出方法であって、放射開始ステップでは、回転検出部から入力される車輪の回転速度が、所定の範囲内であった場合に、電磁波の放射を開始するように放射部を制御する。 A buried object detecting method according to a ninth aspect of the invention is the buried object detecting method according to the seventh aspect of the invention, wherein in the radiation starting step, the rotation speed of the wheels input from the rotation detecting unit is within a predetermined range. In such a case, the radiation unit is controlled to start radiation of electromagnetic waves.
　ここでは、上述した車輪の回転の安定を検出するために、回転検出部において検出される車輪の回転速度が所定の範囲内であることが条件として設定される。
　これにより、例えば、ユーザが埋設物検出装置を持ってコンクリートの表面に沿って移動させた際に、埋設物検出装置の移動速度、すなわち、車輪の回転速度が所定の範囲内で安定化したことが検出されると、電磁波の放射を自動的に開始することができる。 Here, in order to detect the above-described stability of rotation of the wheel, it is set as a condition that the rotation speed of the wheel detected by the rotation detection unit is within a predetermined range.
Thereby, for example, when the user holds the embedded object detection device and moves it along the surface of the concrete, the moving speed of the embedded object detection device, that is, the rotation speed of the wheels is stabilized within a predetermined range. When is detected, the emission of electromagnetic waves can be started automatically.
　第１０の発明に係る埋設物検出方法は、第８または第９の発明に係る埋設物検出方法であって、放射開始ステップでは、回転検出部から入力される車輪の回転方向が、所定回数以上、連続して同じであった場合に、電磁波の放射を開始するように放射部を制御する。 A buried object detecting method according to a tenth aspect of the invention is the buried object detecting method according to the eighth or ninth aspect of the invention, wherein in the radiation starting step, the rotation direction of the wheel input from the rotation detecting section is a predetermined number of times or more. The control unit controls the radiation unit so as to start radiation of electromagnetic waves when they are the same continuously.
　ここでは、上述した車輪の回転の安定を検出するために、回転検出部において検出される車輪の回転方向が所定回数以上連続して同じ方向であることが条件として設定される。
　ここで、車輪の回転方向が所定回数以上連続して同じ方向であるとは、回転検出部からの１パルス分に相当する入力が、連続して所定回数以上同じ方向を示すことを意味している。 Here, in order to detect the above-described stability of rotation of the wheel, it is set as a condition that the rotation direction of the wheel detected by the rotation detection unit is the same direction continuously a predetermined number of times or more.
Here, that the rotation direction of the wheels is the same direction continuously a predetermined number of times or more means that the input corresponding to one pulse from the rotation detection unit continuously shows the same direction a predetermined number of times or more. There is.
　これにより、例えば、ユーザが埋設物検出装置を持ってコンクリートの表面に沿って移動させた際に、埋設物検出装置の移動方向、すなわち、車輪の回転方向が所定回数以上連続しており、移動が安定化したことが検出されると、電磁波の放射を自動的に開始することができる。 Thus, for example, when the user holds the embedded object detection device and moves it along the surface of the concrete, the moving direction of the embedded object detection device, that is, the rotation direction of the wheel is continuous a predetermined number of times or more, When it is detected that the has stabilized, the emission of electromagnetic waves can be started automatically.
　第１１の発明に係る埋設物検出方法は、第７から第１０の発明のいずれか１つに係る埋設物検出方法であって、放射開始ステップでは、回転検出部からの入力状況に基づいて、一時的に仮の電磁波を放射するように放射部を制御するとともに、受信部において受信された仮の電磁波の反射波の受信状況に基づいて、電磁波の放射を開始するか否かを決定する。 An embedded object detecting method according to an eleventh aspect of the invention is the embedded object detecting method according to any one of the seventh to tenth aspects of the invention, wherein in the radiation starting step, based on an input situation from the rotation detecting section, The emission unit is controlled to temporarily emit the temporary electromagnetic wave, and whether or not to start the emission of the electromagnetic wave is determined based on the reception status of the reflected wave of the temporary electromagnetic wave received by the reception unit.
　ここでは、埋設物の検出を開始する際の電磁波の放射開始条件として、新たに、回転検出部からの入力状況に基づいて一時的に放射された仮の電磁波の反射波の受信状況を用いる。 ▽ Here, the reception status of the temporary reflected electromagnetic wave, which is temporarily radiated based on the input status from the rotation detection unit, is used as the electromagnetic radiation start condition when starting the detection of the buried object.
　ここで、一時的に放射される仮の電磁波は、埋設物の探索時に放射される電磁波と同程度の強度であってもよいし、低い強度、あるいは高い強度であってもよい。また、仮の電磁波の反射波の受信状況とは、例えば、受信部における反射波の受信状況が、埋設物検出装置（車輪）が対象物の表面に接触している状態を示している場合、あるいは埋設物検出装置（車輪）が対象物の表面から離れている状態を示している場合が挙げられる。 Here, the temporary electromagnetic wave radiated may have the same strength as the electromagnetic wave radiated when the buried object is searched, or may have a low strength or a high strength. Further, the provisional reception status of the reflected wave of the electromagnetic wave means, for example, when the reception status of the reflected wave at the receiving unit indicates that the embedded object detection device (wheel) is in contact with the surface of the object, Alternatively, the case where the embedded object detection device (wheel) is shown to be away from the surface of the object can be cited.
　これにより、回転検出部からの入力状況が、例えば、上述した車輪の回転の安定を示している場合に、一時的に仮の電磁波を放射してその反射波の受信状況に応じて電磁波の放射の開始を決定することで、電磁波の放射開始の適否の判定を、より正確に行うことができる。 With this, when the input situation from the rotation detecting section indicates, for example, that the rotation of the wheel is stable, the temporary electromagnetic wave is temporarily emitted and the electromagnetic wave is emitted according to the receiving situation of the reflected wave. By determining the start of the electromagnetic wave emission, it is possible to more accurately determine whether or not the electromagnetic wave emission start is appropriate.
　第１２の発明に係る埋設物検出方法は、第１１の発明に係る埋設物検出方法であって、放射開始ステップでは、受信部において受信した反射波の波形が、車輪が対象物の表面に接触していることを示している場合に、電磁波の放射を開始するように、放射部を制御する。 A buried object detecting method according to a twelfth aspect of the invention is the buried object detecting method according to the eleventh aspect of the invention, wherein in the radiation starting step, the waveform of the reflected wave received by the receiving unit causes the wheel to contact the surface of the object. When it indicates that the electromagnetic wave is being emitted, the emission unit is controlled so as to start emission of the electromagnetic wave.
　ここでは、一時的に放射された仮の電磁波の反射波の波形の変化に基づいて、電磁波の放射の開始の適否判定を実施する。
　これにより、仮の電磁波の反射波の波形の変化に応じて、埋設物検出装置の車輪が対象物に接触している状態であることを判別して、電磁波の放射の開始タイミングを制御することができる。 Here, the suitability of the start of the emission of the electromagnetic wave is determined based on the change in the waveform of the reflected wave of the temporarily emitted temporary electromagnetic wave.
Thus, according to the change in the waveform of the reflected wave of the temporary electromagnetic wave, it is possible to determine that the wheel of the embedded object detection device is in contact with the object and control the start timing of the emission of the electromagnetic wave. You can
（発明の効果）
　本発明に係る埋設物検出装置によれば、埋設物の検出を開始する際に、ユーザによる操作なしで自動的に電磁波を放射することができる。 (Effect of the invention)
According to the embedded object detection device of the present invention, when starting the detection of an embedded object, it is possible to automatically radiate an electromagnetic wave without a user's operation.
本発明の一実施形態に係る埋設物検出装置の構成を示す斜視図。1 is a perspective view showing a configuration of an embedded object detection device according to an embodiment of the present invention. 図１の埋設物検出装置の構成を示すブロック図。The block diagram which shows the structure of the embedded object detection apparatus of FIG. 図２のインパルス制御モジュールの構成を示すブロック図。The block diagram which shows the structure of the impulse control module of FIG. 図３のＭＰＵが取得する反射波のデータを示す図。The figure which shows the data of the reflected wave which the MPU of FIG. 3 acquires. 図２のメイン制御モジュールの構成を示すブロック図。FIG. 3 is a block diagram showing a configuration of a main control module of FIG. 2. 図１の埋設物検出装置によって実施される埋設物検出方法の処理の流れを示すフローチャート。The flowchart which shows the flow of a process of the buried object detection method implemented by the buried object detection apparatus of FIG. 図６の埋設物検出方法に含まれる電磁波の放射開始制御の処理の流れを示すフローチャート。The flowchart which shows the flow of the process of the radiation start control of the electromagnetic wave contained in the buried object detection method of FIG. （ａ），（ｂ）は、エンコーダからの入力例を示す図。(A), (b) is a figure which shows the input example from an encoder. （ａ）は、図１の埋設物検出装置が探索面（コンクリートの表面）に接触した状態を示す模式図。（ｂ）は、その状態において受信される反射波の波形を示すグラフ。(A) is a schematic diagram which shows the state in which the buried object detection apparatus of FIG. 1 contacted the search surface (surface of concrete). (B) is a graph showing a waveform of a reflected wave received in that state. （ａ）は、図１の埋設物検出装置が探索面（コンクリートの表面）から離間した状態を示す模式図。（ｂ）は、その状態において受信される反射波の波形を示すグラフ。(A) is a schematic diagram which shows the state which the embedded object detection apparatus of FIG. 1 spaced apart from the search surface (surface of concrete). (B) is a graph showing a waveform of a reflected wave received in that state. （ａ）は、図９（ｂ）のグラフと図１０（ｂ）のグラフとの差分を示すグラフ。（ｂ）は、（ａ）の縦軸の範囲を小さくしたグラフ。FIG. 9A is a graph showing the difference between the graph of FIG. 9B and the graph of FIG. 10B. (B) is a graph in which the range of the vertical axis of (a) is reduced. 図１０の埋設物検出方法に含まれる電磁波の放射停止制御の処理の流れを示すフローチャート。11 is a flowchart showing a processing flow of radiation stop control of electromagnetic waves included in the buried object detection method of FIG. 10. 図１０の電磁波の放射停止制御の処理の流れを示すシーケンス図。FIG. 11 is a sequence diagram showing a flow of processing of emission stop control of electromagnetic waves in FIG. 10. 本発明の他の実施形態に係る埋設物検出方法に含まれる電磁波の放射停止制御の処理の流れを示すフローチャート。The flowchart which shows the flow of the process of radiation stop control of the electromagnetic wave contained in the buried object detection method which concerns on other embodiment of this invention. 本発明のさらに他の実施形態に係る埋設物検出方法に含まれる電磁波の放射停止制御の処理の流れを示すフローチャート。The flowchart which shows the process flow of the radiation stop control of the electromagnetic wave contained in the buried object detection method which concerns on other embodiment of this invention. 本発明のさらに他の実施形態に係る埋設物検出方法に含まれる電磁波の放射停止制御の処理の流れを示すフローチャート。The flowchart which shows the process flow of the radiation stop control of the electromagnetic wave contained in the buried object detection method which concerns on other embodiment of this invention. 本発明の他の実施形態に係る埋設物検出方法に含まれる電磁波の放射停止制御の処理の流れを示すフローチャート。The flowchart which shows the flow of the process of radiation stop control of the electromagnetic wave contained in the buried object detection method which concerns on other embodiment of this invention. 図１７の電磁波の放射停止制御の処理の流れを示すシーケンス図。FIG. 18 is a sequence diagram showing a flow of processing of emission stop control of electromagnetic waves in FIG. 17.
　本発明の一実施形態に係る埋設物検出装置１について、図１～図１３を用いて説明すれば以下の通りである。
　図１は、本実施形態の埋設物検出装置１をコンクリート（対象物）１００上に配置した状態を示す斜視図である。図２は、本実施形態の埋設物検出装置１の概略構成を示すブロック図である。 An embedded object detection device 1 according to an embodiment of the present invention will be described below with reference to FIGS. 1 to 13.
FIG. 1 is a perspective view showing a state in which the embedded object detection device 1 of the present embodiment is placed on concrete (object) 100. FIG. 2 is a block diagram showing a schematic configuration of the embedded object detection device 1 of the present embodiment.
　（１－１．埋設物検出装置１の構成）
　本実施形態の埋設物検出装置１は、コンクリート１００等の対象物の表面１００ａを移動しながら電磁波をコンクリート１００に放射し、その反射波を受信して解析することによって、コンクリート１００内の埋設物１０１ａ，１０１ｂ，１０１ｃ，１０１ｄの位置を検出する。そして、図１では、埋設物検出装置１の移動方向Ａが矢印で示されている。 (1-1. Structure of buried object detection device 1)
The embedded object detection apparatus 1 of the present embodiment radiates an electromagnetic wave to the concrete 100 while moving on the surface 100a of an object such as concrete 100, receives the reflected wave, and analyzes the electromagnetic wave to obtain an embedded object in the concrete 100. The positions of 101a, 101b, 101c and 101d are detected. Further, in FIG. 1, the moving direction A of the embedded object detection device 1 is indicated by an arrow.
　なお、図１に示す例では、埋設物１０１ａ，１０１ｂ，１０１ｃ，１０１ｄは、鉄筋であって、例えば、コンクリート１００の表面１００ａから２０ｃｍ，１５ｃｍ，１０ｃｍ，５ｃｍの深さ位置にそれぞれ埋設されている。図１では、コンクリート１００の深さ方向Ｂが矢印で示されており、その反対向き（表面方向Ｃ）が矢印で示されている。 In the example shown in FIG. 1, the embedded objects 101a, 101b, 101c, 101d are reinforcing bars, and are embedded at depths of 20 cm, 15 cm, 10 cm, 5 cm from the surface 100a of the concrete 100, respectively. .. In FIG. 1, the depth direction B of the concrete 100 is indicated by an arrow, and the opposite direction (surface direction C) is indicated by an arrow.
　コンクリート１００内に埋設された４本の鉄筋（埋設物１０１ａ～１０１ｄ）は、それぞれ、コンクリート１００の表面１００ａに略平行な方向に沿って、埋設物検出装置１の移動方向に交差する向きで配置されている。 The four reinforcing bars (embedded objects 101a to 101d) embedded in the concrete 100 are arranged in a direction intersecting the moving direction of the embedded object detection device 1 along a direction substantially parallel to the surface 100a of the concrete 100, respectively. Has been done.
　埋設物検出装置１は、本体部２と、把手３と、４つの車輪４と、インパルス制御モジュール５と、メイン制御モジュール６と、エンコーダ（回転検出部）７と、表示部８と、を備えている。 The embedded object detection device 1 includes a main body part 2, a handle 3, four wheels 4, an impulse control module 5, a main control module 6, an encoder (rotation detection part) 7, and a display part 8. ing.
　把手３は、本体部２の上面に設けられている。４つの車輪は、回転可能な状態で、本体部２の下部に取り付けられている。作業者（ユーザ）は、コンクリート１００内部の埋設物を検出する際には、把手３を把持して車輪４を回転させながら、コンクリート１００の表面１００ａ上で埋設物検出装置１を移動させる。 The handle 3 is provided on the upper surface of the main body 2. The four wheels are rotatably attached to the lower portion of the main body 2. When detecting an embedded object inside the concrete 100, an operator (user) moves the embedded object detection device 1 on the surface 100a of the concrete 100 while holding the grip 3 and rotating the wheels 4.
　インパルス制御モジュール５は、コンクリート１００に向けて電磁波を放射するタイミング、および放射した電磁波の反射波を受信するタイミング等の制御を行う。
　エンコーダ７は、車輪４に接続されており、車輪４の回転に関する情報を検出し、その検出された情報に基づいて、インパルス制御モジュール５に反射波の受信タイミングを制御するための信号を送信する。 The impulse control module 5 controls the timing of emitting an electromagnetic wave toward the concrete 100, the timing of receiving a reflected wave of the emitted electromagnetic wave, and the like.
The encoder 7 is connected to the wheel 4, detects information about the rotation of the wheel 4, and transmits a signal for controlling the reception timing of the reflected wave to the impulse control module 5 based on the detected information. ..
　ここで、本実施形態の埋設物検出装置１では、コンクリート１００内の埋設物１０１ａ～１０１ｄの検出を開始する際に、エンコーダ７から入力される車輪４の回転に関する情報を用いて、送信アンテナ１１から電磁波の放射開始制御を行う。 Here, in the embedded object detection device 1 of the present embodiment, when starting the detection of the embedded objects 101a to 101d in the concrete 100, the transmitting antenna 11 is used by using the information about the rotation of the wheels 4 input from the encoder 7. Control the start of electromagnetic wave emission.
　なお、車輪４の回転に関する情報には、車輪４の回転速度、回転方向等が含まれる。そして、電磁波の放射開始制御については、後段にて詳述する。
　メイン制御モジュール６は、インパルス制御モジュール５で受信された反射波に関するデータを受け取り、埋設物の検出を行う。
　表示部８は、本体部２の上面に設けられており、埋設物１０１ａ，１０１ｂ，１０１ｃ，１０１ｄの位置を示す画像等を表示する。 The information about the rotation of the wheel 4 includes the rotation speed, the rotation direction, etc. of the wheel 4. The electromagnetic wave emission start control will be described later in detail.
The main control module 6 receives the data regarding the reflected wave received by the impulse control module 5, and detects the buried object.
The display unit 8 is provided on the upper surface of the main body unit 2 and displays an image or the like indicating the positions of the embedded objects 101a, 101b, 101c, and 101d.
　（１－２．インパルス制御モジュール５）
　図３は、インパルス制御モジュール５の構成を示すブロック図である。
　インパルス制御モジュール５は、制御部（放射制御部）１０と、送信アンテナ１１と、受信アンテナ１２と、パルス発生部１３と、ディレイ部１４と、ゲート部１５と、を有している。 (1-2. Impulse control module 5)
FIG. 3 is a block diagram showing the configuration of the impulse control module 5.
The impulse control module 5 includes a control unit (radiation control unit) 10, a transmission antenna 11, a reception antenna 12, a pulse generation unit 13, a delay unit 14, and a gate unit 15.
　制御部１０は、ＭＰＵ（Micro Processing Unit）等によって構成されており、エンコーダ入力をトリガとして、パルス発生部１３にパルスの発生を指令する。パルス発生部１３は、ＭＰＵからの指令に基づいてパルスを発生させ、送信アンテナ１１に出力する。 The control unit 10 is configured by an MPU (Micro Processing Unit) and the like, and commands the pulse generation unit 13 to generate a pulse by using the encoder input as a trigger. The pulse generator 13 generates a pulse based on a command from the MPU and outputs it to the transmitting antenna 11.
　また、制御部１０は、作業者（ユーザ）が埋設物検出装置１を用いてコンクリート１００内の埋設物１０１の検出作業を開始する際に、エンコーダ７からの入力状況に基づいて、電磁波の放射を開始するか否かを決定する電磁波放射開始制御を行う。さらに、制御部１０は、埋設物検出装置１を用いてコンクリート１００内の埋設物１０１の検出作業を実施している際に、エンコーダ７からの入力が停止し、かつ受信アンテナ１２において反射波のデータの変化を検出した場合に、送信アンテナ１１からの電磁波の放射を停止させる電磁波放射停止制御を行う。 Further, when the worker (user) starts the operation of detecting the embedded object 101 in the concrete 100 using the embedded object detection device 1, the control unit 10 emits electromagnetic waves based on the input status from the encoder 7. The electromagnetic wave emission start control is performed to determine whether or not to start. Further, the control unit 10 stops the input from the encoder 7 while performing the detection operation of the embedded object 101 in the concrete 100 using the embedded object detection device 1, and the reflected wave at the receiving antenna 12 When a change in data is detected, electromagnetic wave emission stop control for stopping emission of electromagnetic waves from the transmitting antenna 11 is performed.
　なお、電磁波放射開始制御および電磁波放射停止制御の内容については、後段にて詳述する。
　送信アンテナ１１は、本体部２の底面側に設けられており、パルスの周期に基づいて、一定周期で電磁波を放射する。 The details of the electromagnetic wave emission start control and the electromagnetic wave emission stop control will be described later in detail.
The transmission antenna 11 is provided on the bottom surface side of the main body 2 and radiates an electromagnetic wave at a constant period based on the pulse period.
　受信アンテナ１２は、本体部２の底面側に設けられており、主に、送信アンテナ１１から放射された電磁波の反射波を受信する。
　ゲート部１５は、ディレイ部１４からのパルスを受信すると、受信アンテナ１２で受信した反射波を取り込み、制御部１０へと送信する。 The receiving antenna 12 is provided on the bottom surface side of the main body 2, and mainly receives the reflected wave of the electromagnetic wave radiated from the transmitting antenna 11.
When the gate unit 15 receives the pulse from the delay unit 14, the gate unit 15 captures the reflected wave received by the reception antenna 12 and transmits the reflected wave to the control unit 10.
　ディレイ部１４は、ゲート部１５に対して所定間隔で、ゲート部１５に反射波を取り込ませる。この所定間隔は、２．５ｍｍピッチに設定されている。
　これにより、インパルス制御モジュール５は、エンコーダか７からの入力をトリガとして、送信アンテナ１１から電磁波を複数回出力する。そして、インパルス制御モジュール５は、ディレイ部１４によるディレイＩＣを用いて受信タイミングを遅らせることで受信アンテナ１２との距離ごとの受信データを取得することができる。 The delay unit 14 causes the gate unit 15 to capture the reflected wave at a predetermined interval with respect to the gate unit 15. This predetermined interval is set to 2.5 mm pitch.
As a result, the impulse control module 5 triggers the input from the encoder or 7 to output the electromagnetic wave from the transmitting antenna 11 multiple times. Then, the impulse control module 5 can acquire the reception data for each distance to the reception antenna 12 by delaying the reception timing by using the delay IC of the delay unit 14.
　図４は、ＭＰＵが取得する反射波のデータを示す図である。縦軸は、軸Ｏを中心として、－４０９６～＋４０９６階調で受信信号の強度を示し、矢印方向がマイナス側を示す。横軸は、受信アンテナ１２との距離を示し、矢印方向（深さ方向Ｂに対応）が受信アンテナ１２からの距離が長いことを示す。また、距離が長いとは、深さが大きいことに相当する。 FIG. 4 is a diagram showing data of reflected waves acquired by the MPU. The vertical axis represents the intensity of the received signal in −4096 to +4096 gradations with the axis O as the center, and the arrow direction indicates the negative side. The horizontal axis indicates the distance from the receiving antenna 12, and the arrow direction (corresponding to the depth direction B) indicates that the distance from the receiving antenna 12 is long. In addition, a long distance corresponds to a large depth.
　なお、詳しくは後述するが、図４に示す波形Ｗ１には、コンクリート１００内に放射されずにアンテナで反射した反射波も含まれる（ｐ１等）ため、基準波形との差分を算出することにより、コンクリート１００内からの反射波のデータの変化が抽出される。 As will be described later in detail, since the waveform W1 shown in FIG. 4 also includes the reflected wave reflected by the antenna without being radiated into the concrete 100 (p1 etc.), the difference from the reference waveform is calculated. The change in the data of the reflected wave from inside the concrete 100 is extracted.
　また、図４に示すデータは、エンコーダ７の入力があった後、エンコーダ７から次の入力があるまでの受信信号の強度を示すデータである。受信タイミングを除々に遅らせることによって、受信アンテナ１２からの距離が長い位置からの反射波を受信するが、エンコーダ７からの入力があると、受信タイミングの遅延が元に戻され、再び受信タイミングを除々に遅らせる。すなわち、移動方向Ａにおける所定の計測位置（エンコーダ７からの入力があった位置）における深さ方向Ｂの反射波を受信することになる。このような図４に示すエンコーダ７の入力があった後、次のエンコーダの入力があるまでに受信した反射波のデータを、１ライン分のデータという。制御部１０は、１ライン分のデータが貯まるごとに、その１ライン分のＲＦ（Radio Frequency）データをメイン制御モジュール６へ送信する。 The data shown in FIG. 4 is data indicating the strength of the received signal after the encoder 7 receives an input and before the encoder 7 receives the next input. By gradually delaying the reception timing, the reflected wave from a position with a long distance from the reception antenna 12 is received. However, when there is an input from the encoder 7, the reception timing delay is restored and the reception timing is changed again. Delay gradually. That is, the reflected wave in the depth direction B is received at a predetermined measurement position in the moving direction A (the position where the input from the encoder 7 was received). The data of the reflected wave received after the input of the encoder 7 shown in FIG. 4 and before the input of the next encoder is called data for one line. The control unit 10 transmits the RF (Radio Frequency) data for one line to the main control module 6 every time the data for one line is accumulated.
　なお、埋設物検出装置１は、作業者（ユーザ）によってコンクリート１００の表面１００ａ上を移動しているため、計測位置は厳密に同じ位置ではなく、深さ方向Ｂもコンクリート１００の表面１００ａに対して厳密に垂直な方向ではない。 Since the embedded object detection device 1 is moved on the surface 100a of the concrete 100 by the operator (user), the measurement positions are not exactly the same position, and the depth direction B is also relative to the surface 100a of the concrete 100. Not in a strictly vertical direction.
　（１－３．メイン制御モジュール６）
　図５は、メイン制御モジュール６の構成を示すブロック図である。
　メイン制御モジュール６は、受信部２１と、ＲＦデータ管理部２２と、埋設物判定部２４と、判定結果登録部２５と、表示制御部２６と、を有している。 (1-3. Main control module 6)
FIG. 5 is a block diagram showing the configuration of the main control module 6.
The main control module 6 includes a reception unit 21, an RF data management unit 22, an embedded object determination unit 24, a determination result registration unit 25, and a display control unit 26.
　受信部２１は、インパルス制御モジュール５から送信されるごとに、１ライン分のＲＦデータを受信する。
　ＲＦデータ管理部２２は、受信部２１が受信した１ライン分のＲＦデータを記憶する。 The receiving unit 21 receives one line of RF data each time it is transmitted from the impulse control module 5.
The RF data management unit 22 stores the RF data for one line received by the reception unit 21.
　埋設物判定部２４は、ＲＦデータ管理部２２において記憶された１ライン分のＲＦデータを用いて、埋設物１０１の有無を判定するとともに、埋設物１０１の位置を検出する。
　なお、埋設物判定部２４における埋設物１０１の検出処理については、受信アンテナ１２において受信した複数の１ライン分のＲＦデータに基づいて、既知の方法を用いて実施すればよい。具体的には、例えば、埋設物１０１が鉄筋等の金属である場合には、送信アンテナ１１から放射された電磁波は、その表面において反射される。このため、受信アンテナ１２において、このような埋設物１０１の表面で反射された反射波の速度（強度）と、反射波を受信するまでの時間とを検出することで、コンクリート１００内の埋設物１０１の有無およびその位置を検出することができる。 The embedded object determination unit 24 uses the RF data for one line stored in the RF data management unit 22 to determine the presence or absence of the embedded object 101 and detect the position of the embedded object 101.
Note that the detection processing of the embedded object 101 in the embedded object determination unit 24 may be performed using a known method based on the RF data of a plurality of lines received by the receiving antenna 12. Specifically, for example, when the embedded object 101 is a metal such as a reinforcing bar, the electromagnetic wave emitted from the transmitting antenna 11 is reflected on the surface thereof. Therefore, the receiving antenna 12 detects the velocity (intensity) of the reflected wave reflected on the surface of the buried object 101 and the time until the reflected wave is received, and thus the buried object in the concrete 100 is detected. The presence or absence of 101 and its position can be detected.
　判定結果登録部２５は、埋設物判定部２４によって検出された埋設物の位置をＲＦデータ管理部２２に登録する。
　表示制御部２６は、移動方向Ａと深さ方向Ｂの平面において信号強度を色で階調処理した画像、および埋設物１０１の位置を表示するように、表示部８の制御を行う。 The determination result registration unit 25 registers the position of the buried object detected by the buried object determination unit 24 in the RF data management unit 22.
The display control unit 26 controls the display unit 8 so as to display the image in which the signal intensity is gradation-processed by color on the plane of the moving direction A and the depth direction B and the position of the embedded object 101.
　＜埋設物検出処理の流れ＞
　本実施形態の埋設物検出方法では、上述した埋設物検出装置１を用いて、図６に示すフローチャートに従って、コンクリート１００内の埋設物１０１の検出を行う。 <Flow of buried object detection processing>
In the embedded object detection method of the present embodiment, the embedded object detection device 1 described above is used to detect the embedded object 101 in the concrete 100 according to the flowchart shown in FIG.
　すなわち、ステップＳ１では、初期化処理を実施して、エンコーダ７、タイマ（図示せず）からの入力をトリガとして、送信アンテナ１１および受信アンテナ１２を制御して、１ライン分のＲＦデータを受信する。 That is, in step S1, the initialization process is performed, and the input from the encoder 7 and the timer (not shown) is used as a trigger to control the transmitting antenna 11 and the receiving antenna 12 to receive the RF data for one line. To do.
　次に、ステップＳ２では、制御部１０が、エンコーダ７から受信した車輪４の回転に関する情報に基づいて、送信アンテナ１１から電磁波を放射するか否かを判定する電磁波放射開始制御を実施する。 Next, in step S2, the control unit 10 executes the electromagnetic wave emission start control for determining whether to radiate the electromagnetic wave from the transmitting antenna 11 based on the information about the rotation of the wheel 4 received from the encoder 7.
　なお、電磁波放射開始制御については、図７を用いて後段にて詳述する。
　次に、ステップＳ３では、ステップＳ２において、電磁波の放射開始条件を満たしており電磁波の放射が開始された後、受信アンテナ１２において受信した反射波の波形の変化に基づいて、電磁波の放射停止制御を実施する。 The electromagnetic wave emission start control will be described later in detail with reference to FIG. 7.
Next, in step S3, the emission stop control of the electromagnetic wave is performed based on the change in the waveform of the reflected wave received by the receiving antenna 12 after the emission start condition of the electromagnetic wave is satisfied and the emission of the electromagnetic wave is started in step S2. Carry out.
　なお、電磁波放射停止制御については、図１２等を用いて後段にて詳述する。
　次に、ステップＳ４では、ステップＳ３において、電磁波の放射を停止させるか否かを決定した後、コンクリート１００内の埋設物１０１の探索を終了するか否かを判定する。 The electromagnetic wave radiation stop control will be described later in detail with reference to FIG.
Next, in step S4, after determining in step S3 whether or not to stop the emission of electromagnetic waves, it is determined whether or not to end the search for the embedded object 101 in the concrete 100.
　ここで、引き続き探索を継続する場合には、ステップＳ２へ戻り、探索を終了する場合にはステップＳ５へ進む。
　次に、ステップＳ５では、受信アンテナ１２において受信された反射波の１ライン分のＲＦデータを用いて、コンクリート１００内における埋設物１０１の有無、およびその位置を検出して、処理を終了する。 Here, when continuing the search, the process returns to step S2, and when ending the search, the process proceeds to step S5.
Next, in step S5, the presence or absence of the embedded object 101 in the concrete 100 and its position are detected using the RF data for one line of the reflected wave received by the receiving antenna 12, and the process ends.
　＜電磁波放射開始制御の流れ＞
　本実施形態の埋設物検出方法では、上述した図６のステップＳ２の電磁波放射開始制御を、図７に示すフローチャートに従って実施する。 <Flow of electromagnetic wave emission start control>
In the embedded object detection method of this embodiment, the electromagnetic wave emission start control of step S2 of FIG. 6 described above is performed according to the flowchart shown in FIG.
　すなわち、本実施形態の埋設物検出装置１では、上述したように、インパルス制御モジュール５に含まれる制御部１０が、エンコーダ７からの入力状況に基づいて、送信アンテナ１１から電磁波の放射を開始するか否かを決定する。 That is, in the embedded object detection device 1 of the present embodiment, as described above, the control unit 10 included in the impulse control module 5 starts emitting electromagnetic waves from the transmission antenna 11 based on the input status from the encoder 7. Decide whether or not.
　より具体的には、ステップＳ１１では、まず、制御部１０が、エンコーダ７からの入力があるか否かを判定する。ここで、エンコーダ７からの入力がある場合には、ステップＳ１２へ進み、入力があるまでステップＳ１１を繰り返す。 More specifically, in step S11, first, the control unit 10 determines whether or not there is an input from the encoder 7. Here, if there is an input from the encoder 7, the process proceeds to step S12, and step S11 is repeated until the input is made.
　次に、ステップＳ１２では、制御部１０は、エンコーダ７から、同じ方向にＮ回以上連続して入力されたか否かを検出することで、コンクリート１００の表面１００ａにおいて車輪４の回転が安定しているか否かを判定する。 Next, in step S12, the control unit 10 detects whether or not the encoder 7 continuously inputs N times or more in the same direction, so that the rotation of the wheels 4 on the surface 100a of the concrete 100 is stable. It is determined whether or not there is.
　ここで、同じ方向にＮ回以上連続した入力とは、例えば、図８（ａ）に示すように、図中右方向への移動を示す回転方向の入力が５回以上ある場合等が含まれる。
　また、作業者（ユーザ）によって異なる方向に埋設物検出装置１を移動させている場合には、図８（ｂ）に示すように、移動方向（回転方向）が変化してから最初の入力を１回としてカウントし、そこから連続して同じ方向に連続して入力があった場合には、ステップＳ１３へ進む。よって、図８（ｂ）に示す例では、右、右、左、右・・・と４つ目の入力から１回目の入力としてカウントし、そこから連続して右へ５回の入力があったため、ステップＳ１３へ進む。 Here, the input continuous N times or more in the same direction includes, for example, a case where there are five or more inputs in the rotation direction indicating movement to the right in the figure, as shown in FIG. 8A. ..
Further, when the embedded object detection device 1 is moved in different directions depending on the worker (user), as shown in FIG. 8B, the first input is made after the moving direction (rotational direction) is changed. It is counted as one time, and if there is continuous input from the same direction in the same direction, the process proceeds to step S13. Therefore, in the example shown in FIG. 8B, the right input, the right input, the left input, the right input, and so on are counted as the first input from the fourth input, and from there, the input is input five times to the right continuously. Therefore, the process proceeds to step S13.
　次に、ステップＳ１３では、制御部１０は、ステップＳ１２において、エンコーダ７からの入力が安定したこと、つまり、車輪４の回転が安定していると判定したため、仮の電磁波を所定時間だけ放射するように、パルス発生部１３を介して送信アンテナ１１を制御する。 Next, in step S13, the control unit 10 determines in step S12 that the input from the encoder 7 is stable, that is, the rotation of the wheels 4 is stable, and thus radiates a temporary electromagnetic wave for a predetermined time. Thus, the transmission antenna 11 is controlled via the pulse generator 13.
　次に、ステップＳ１４では、ステップＳ１３において送信アンテナ１１から放射された電磁波の反射波を受信した１ライン分のデータを、受信アンテナ１２から受信する。
　次に、ステップＳ１５では、制御部１０は、受信アンテナ１２から受信した仮の電磁波の反射波の１ライン分のデータの波形を用いて、空気中を示すデータであるか否かを判定する。 Next, in step S14, the data for one line, which receives the reflected wave of the electromagnetic wave radiated from the transmitting antenna 11 in step S13, is received from the receiving antenna 12.
Next, in step S15, the control unit 10 uses the waveform of the data for one line of the reflected wave of the temporary electromagnetic wave received from the reception antenna 12 to determine whether or not the data indicates the inside of air.
　ここで、空気中を示すデータは、作業者によって埋設物検出装置１が持ち上げられる等して、コンクリート１００の表面１００ａから離間した状態を意味する。
　また、埋設物検出装置１がコンクリート１００の表面１００ａから離間したことを検出するための原理について説明する。 Here, the data in the air means a state in which the embedded object detection device 1 is lifted by an operator or the like and is separated from the surface 100a of the concrete 100.
Further, the principle for detecting that the embedded object detection device 1 is separated from the surface 100a of the concrete 100 will be described.
　例えば、埋設物検出装置１の車輪４がコンクリート１００の表面１００ａに接触している状態では、図９（ａ）に示すように、放射された電磁波は、コンクリート１００の表面１００ａから内部を通過して、その反射波が受信アンテナ１２で受信される。 For example, when the wheels 4 of the buried object detection device 1 are in contact with the surface 100a of the concrete 100, the radiated electromagnetic wave passes through the inside from the surface 100a of the concrete 100, as shown in FIG. 9A. Then, the reflected wave is received by the receiving antenna 12.
　このとき、空気の誘電率を１とすると、コンクリート１００の誘電率７であることから、コンクリート１００中を移動した電磁波は減衰されて空気中を移動するよりも速度が遅くなる。 At this time, assuming that the permittivity of air is 1, since the permittivity of concrete 100 is 7, the electromagnetic wave that has traveled in concrete 100 is attenuated and becomes slower than it travels in air.
　図９（ｂ）は、このときの、コンクリート１００の表面１００ａからの深さ（横軸）に対する反射波の速度（縦軸）を示している。
　一方、埋設物検出装置１の車輪４がコンクリート１００の表面１００ａから離間した状態では、図１０（ａ）に示すように、放射された電磁波は、空気中を移動して受信アンテナ１２で受信される。 FIG. 9B shows the velocity (vertical axis) of the reflected wave with respect to the depth (horizontal axis) from the surface 100a of the concrete 100 at this time.
On the other hand, in the state where the wheel 4 of the buried object detection device 1 is separated from the surface 100a of the concrete 100, the radiated electromagnetic wave moves in the air and is received by the reception antenna 12, as shown in FIG. It
　同様に、空気の誘電率を１とすると、コンクリート１００の誘電率７であることから、空気中を移動した電磁波はほとんど減衰されず、コンクリート１００内を通過した電磁波よりも速度が速くなる。 Similarly, assuming that the permittivity of air is 1, since the permittivity of concrete 100 is 7, electromagnetic waves traveling in the air are hardly attenuated, and the speed is higher than that of electromagnetic waves passing through concrete 100.
　図１０（ｂ）は、このときの、コンクリート１００の表面１００ａからの深さ（横軸）に対する反射波の速度（縦軸）を示している。
　ここで、図９（ｂ）に示すグラフと、図１０（ｂ）に示すグラフとの差分は、図１１（ａ）に示すグラフとして示される。 FIG. 10( b) shows the velocity (vertical axis) of the reflected wave with respect to the depth (horizontal axis) from the surface 100 a of the concrete 100 at this time.
Here, the difference between the graph shown in FIG. 9B and the graph shown in FIG. 10B is shown as a graph shown in FIG.
　そして、図１１（ｂ）は、図１１（ａ）に示すグラフの縦軸の範囲を狭めて、グラフの変化が分かりやすく示している。
　すなわち、図１１（ｂ）に示すように、埋設物検出装置１がコンクリート１００の表面１００ａに接触している場合（図９（ａ）参照）と、離間している場合（図１０（ａ）参照）とでは、コンクリート１００の表面１００ａ付近の受信波の速度（強度）が大きな差が見られることが分かる。 Then, in FIG. 11B, the range of the vertical axis of the graph shown in FIG. 11A is narrowed to show the change of the graph in an easy-to-understand manner.
That is, as shown in FIG. 11B, a case where the embedded object detection device 1 is in contact with the surface 100a of the concrete 100 (see FIG. 9A) and a case where the embedded object detection apparatus 1 is separated (FIG. 10A). It can be seen that there is a large difference in the velocity (intensity) of the received wave near the surface 100a of the concrete 100.
　よって、本実施形態の埋設物検出装置１および埋設物検出方法では、ステップＳ１４において受信アンテナ１２が受信した電磁波の速度(強度)と、予め記憶部（図示せず）等に記憶されている基準波形（コンクリート１００の表面１００ａに接触時の波形（図９（ｂ）参照）とを比較する。そして、図１１（ｂ）に示す差分を示すグラフよりもピークが小さいグラフとなった場合には、現在、埋設物検出装置１はコンクリート１００の表面１００ａ付近にあると判定し、ステップＳ１６へ進む。 Therefore, in the embedded object detection device 1 and the embedded object detection method of the present embodiment, the velocity (intensity) of the electromagnetic wave received by the receiving antenna 12 in step S14 and the reference stored in advance in the storage unit (not shown) or the like. The waveform is compared with the waveform when the surface 100a of the concrete 100 is contacted (see FIG. 9B), and when the peak has a smaller peak than the graph showing the difference shown in FIG. Now, the buried object detection apparatus 1 determines that it is near the surface 100a of the concrete 100, and proceeds to step S16.
　一方、図１１（ｂ）に示す差分を示すグラフに近似したグラフとなった場合には、現在、埋設物検出装置１はコンクリート１００の表面１００ａから離間して、空気中にあると判定し、ステップＳ１７へ進む。 On the other hand, when the graph is similar to the graph showing the difference shown in FIG. 11B, the buried object detection apparatus 1 is currently separated from the surface 100a of the concrete 100 and is determined to be in the air, It proceeds to step S17.
　次に、ステップＳ１６では、ステップＳ１５において、埋設物検出装置１がコンクリート１００の表面１００ａ付近にあると判定されたため、制御部１０は、埋設物検出装置１が安定して移動しており、かつコンクリート１００の表面１００ａ付近にあると判断し、送信アンテナ１１から電磁波を放射するように制御を行う。 Next, in step S16, since it is determined in step S15 that the embedded object detection device 1 is near the surface 100a of the concrete 100, the control unit 10 causes the embedded object detection device 1 to move stably, and It is determined that it is near the surface 100a of the concrete 100, and control is performed so that the transmitting antenna 11 emits an electromagnetic wave.
　なお、ここで放射される電磁波と、ステップＳ１３において放射される仮の電磁波は、同じ強度であってもよいし、例えば、仮の電磁波を弱くする等、異なる強度であってもよい。 Note that the electromagnetic wave emitted here and the temporary electromagnetic wave emitted in step S13 may have the same intensity, or may have different intensities such as weakening the temporary electromagnetic wave.
　次に、ステップＳ１７では、ステップＳ１５において、埋設物検出装置１がコンクリート１００の表面１００ａから離間して空気中にあると判定されたため、制御部１０は、送信アンテナ１１を制御して、電磁波の放射を停止させる。
　これにより、コンクリート１００内の埋設物１０１の検出を開始する際に、作業者による操作なしで自動的に電磁波を放射することができる。 Next, in step S17, since it is determined in step S15 that the embedded object detection device 1 is separated from the surface 100a of the concrete 100 and is in the air, the control unit 10 controls the transmission antenna 11 to generate an electromagnetic wave. Stop the radiation.
With this, when the detection of the embedded object 101 in the concrete 100 is started, it is possible to automatically radiate an electromagnetic wave without an operation by a worker.
　＜電磁波放射停止制御の流れ＞
　本実施形態の埋設物検出方法では、上述した埋設物検出装置１を用いて、図１２に示すフローチャートおよび図１３に示すシーケンス図に従って、送信アンテナ１１からの電磁波の放射停止制御を行う。 <Flow of electromagnetic wave emission stop control>
In the embedded object detection method of the present embodiment, the embedded object detection device 1 described above is used to control the emission stop of electromagnetic waves from the transmitting antenna 11 in accordance with the flowchart shown in FIG. 12 and the sequence diagram shown in FIG.
　すなわち、ステップＳ２１では、電磁波が放射されているか否かを検出する。ここで、電磁波の放射が確認されると、ステップＳ２２へ進み、電磁波の放射がすでに停止されている場合には、処理を終了する。 That is, in step S21, it is detected whether or not electromagnetic waves are emitted. Here, if the emission of the electromagnetic wave is confirmed, the process proceeds to step S22, and if the emission of the electromagnetic wave is already stopped, the process ends.
　ここで、電磁波の放射は、図１３に示すように、コンクリート１００の表面１００ａにおいて、作業者が埋設物検出装置１を操作することでエンコーダ７から制御部１０に対して入力が有り、制御部１０が送信アンテナ１１に対して電磁波放射指示を送信することで行われる。 Here, as shown in FIG. 13, the radiation of electromagnetic waves is input from the encoder 7 to the control unit 10 by the operator operating the embedded object detection device 1 on the surface 100a of the concrete 100, and the control unit This is carried out by transmitting an electromagnetic wave radiation instruction to the transmitting antenna 11.
　そして、コンクリート１００の表面１００ａにおいて、作業者が埋設物検出装置１を操作するたびに、エンコーダ７から制御部１０に対して入力が有り、エンコーダ７からの入力があるたびに、受信アンテナ１２から制御部１０に対して反射波のデータが送信される。 Then, on the surface 100a of the concrete 100, each time an operator operates the embedded object detection device 1, there is an input from the encoder 7 to the control unit 10, and every time there is an input from the encoder 7, the reception antenna 12 outputs The reflected wave data is transmitted to the control unit 10.
　次に、ステップＳ２２では、電磁波が放射されていることが検出されたため、エンコーダ７からの入力が停止したか否かを検出する。ここで、エンコーダ７からの入力が停止している場合には、ステップＳ２３へ進み、エンコーダ７からの入力が継続している場合には、エンコーダ７からの入力が停止するまで待機する。 Next, in step S22, since it is detected that electromagnetic waves are being radiated, it is detected whether or not the input from the encoder 7 has stopped. If the input from the encoder 7 is stopped, the process proceeds to step S23. If the input from the encoder 7 is continued, the process waits until the input from the encoder 7 is stopped.
　次に、ステップＳ２３では、埋設物検出装置１がコンクリート１００の表面１００ａから離間していることを検出するために用いられる探査面離間比較データが初期化されているか否かを判定する。ここで、初期化されている場合には、ステップＳ２４へ進む。一方、初期化されていない場合には、ステップＳ２５へ進み、１ラインデータによって比較データを初期化する。 Next, in step S23, it is determined whether or not the exploration surface separation comparison data used for detecting that the embedded object detection device 1 is separated from the surface 100a of the concrete 100 has been initialized. If it has been initialized, the process proceeds to step S24. On the other hand, if it has not been initialized, the process proceeds to step S25 to initialize the comparison data with 1-line data.
　なお、探査面離間比較データとしては、例えば、上述した埋設物検出装置１がコンクリート１００の表面１００ａに接触した状態における反射波のデータ（図９（ｂ）参照）を示すグラフ等を用いることができる。 As the exploration surface separation comparison data, for example, a graph or the like showing data of reflected waves (see FIG. 9B) in a state where the above-mentioned embedded object detection device 1 is in contact with the surface 100a of the concrete 100 may be used. it can.
　次に、ステップＳ２４では、受信アンテナ１２において受信された反射波の１ライン分のデータ（例えば、図１０（ｂ）のグラフ）と、予め記憶されている探査面離間比較データとを比較して、所定の閾値以上の差（変化）があったか否かを判定する。ここで、所定の閾値以上の差（変化）があった場合には、ステップＳ２６へ進む。 Next, in step S24, the data of one line of the reflected wave received by the receiving antenna 12 (for example, the graph of FIG. 10B) is compared with the previously stored search surface separation comparison data. , It is determined whether there is a difference (change) equal to or larger than a predetermined threshold value. Here, if there is a difference (change) equal to or greater than the predetermined threshold value, the process proceeds to step S26.
　より具体的には、図１３に示すように、エンコーダ７からの制御部１０への入力が停止してから１００ｍｓごとに行われる受信アンテナ１２からのデータ送信（１）～（３）のうち、（１）のデータと(３)のデータとが所定の閾値以上の差（変化）があると判断した場合に、ステップＳ２６へ進む。 More specifically, as shown in FIG. 13, among data transmissions (1) to (3) from the receiving antenna 12 that are performed every 100 ms after the input from the encoder 7 to the control unit 10 is stopped, When it is determined that the data (1) and the data (3) have a difference (change) of a predetermined threshold value or more, the process proceeds to step S26.
　なお、埋設物検出装置１がコンクリート１００の表面１００ａに接触している状態（図９（ａ）参照）を基準にして、表面１００ａから離間した状態（図１０（ａ）参照）であるか否かを判定する処理については、上述した図１１（ｂ）に示すグラフを用いて同様に実施することができる。 Whether or not the embedded object detection device 1 is in a state of being separated from the surface 100a (see FIG. 10A) with reference to a state of contacting the surface 100a of the concrete 100 (see FIG. 9A). The process of determining whether or not it can be similarly performed using the graph shown in FIG.
　次に、ステップＳ２６では、制御部１０は、ステップＳ２１において電磁波の放射を確認し、ステップＳ２２においてエンコーダ７からの入力の停止を確認し、かつ、ステップＳ２４において反射波のデータが比較データと所定の閾値以上の差があることを確認したことで、埋設物検出装置１がコンクリート１００の表面１００ａから離間したと判断し、電磁波の放射を停止させるように、パルス発生部１３を介して送信アンテナ１１を制御する。 Next, in step S26, the control unit 10 confirms the emission of the electromagnetic wave in step S21, confirms the stop of the input from the encoder 7 in step S22, and confirms that the reflected wave data is compared with the comparison data in step S24. By confirming that there is a difference equal to or more than the threshold value, it is determined that the embedded object detection device 1 is separated from the surface 100a of the concrete 100, and the transmission antenna is transmitted via the pulse generation unit 13 so as to stop the emission of electromagnetic waves. Control 11
　これにより、コンクリート１００内の埋設物１０１の検出作業を終了する際に、作業者による操作なしで、自動的に電磁波の放射を停止することができる。また、作業中以外に電磁波が放射されることを防止することで、無駄な電力消費を抑制し、送信アンテナ１１の回路素子等の部品の寿命劣化を防止することができる。 With this, when the operation of detecting the embedded object 101 in the concrete 100 is completed, the emission of electromagnetic waves can be automatically stopped without any operation by the operator. In addition, by preventing the electromagnetic waves from being radiated except during work, it is possible to suppress wasteful power consumption and prevent the service life of components such as circuit elements of the transmitting antenna 11 from being deteriorated.
　［他の実施形態］
　以上、本発明の一実施形態について説明したが、本発明は上記実施形態に限定されるものではなく、発明の要旨を逸脱しない範囲で種々の変更が可能である。 [Other Embodiments]
Although one embodiment of the present invention has been described above, the present invention is not limited to the above embodiment, and various modifications can be made without departing from the gist of the invention.
　（Ａ）
　上記実施形態では、図７のステップＳ１２に示すように、エンコーダ７からの入力がＮ回以上連続していることを条件として、車輪４の回転の安定を検出した例を挙げて説明した。しかし、本発明はこれに限定されるものではない。 (A)
In the above-described embodiment, as shown in step S12 of FIG. 7, an example in which the stability of the rotation of the wheels 4 is detected on the condition that the input from the encoder 7 is continuous N times or more has been described. However, the present invention is not limited to this.
　例えば、図１４のステップＳ１１２に示すように、車輪の回転の安定を、エンコーダからの入力が車輪の回転速度が所定の範囲内で所定時間以上安定していることを条件として検出してもよい。 For example, as shown in step S112 of FIG. 14, the stability of the rotation of the wheels may be detected on the condition that the input from the encoder is stable within a predetermined range of the rotation speed of the wheels for a predetermined time or more. ..
　（Ｂ）
　上記実施形態では、エンコーダ７からの入力が同じ方向にＮ回以上連続したものである場合に、送信アンテナ１１から仮の電磁波を放射させ、受信アンテナ１２においてその反射波を受信し、その受信状況に基づいて、制御部１０が、送信アンテナ１１からの電磁波の放射を開始するか否かを決定する例を挙げて説明した。しかし、本発明はこれに限定されるものではない。 (B)
In the above embodiment, when the input from the encoder 7 is continuous N times or more in the same direction, a temporary electromagnetic wave is emitted from the transmitting antenna 11, the reflected wave is received by the receiving antenna 12, and the reception status thereof is received. Based on the above, an example has been described in which the control unit 10 determines whether or not to start emission of electromagnetic waves from the transmission antenna 11. However, the present invention is not limited to this.
　例えば、図１５に示すように、制御部が、エンコーダからの入力状況に基づいて、車輪の回転が安定したことを検出した場合に、送信アンテナからの電磁波の放射を開始するように制御してもよい。 For example, as shown in FIG. 15, when the control unit detects that the rotation of the wheels is stable based on the input state from the encoder, the control unit controls to start the emission of the electromagnetic wave from the transmitting antenna. Good.
　すなわち、図１５に示す方法では、送信アンテナから仮の電磁波を放射させて受信アンテナにおいて受信した反射波の波形を用いた電磁波の放射開始制御を実施することなく、エンコーダからの入力状況のみを用いて、電磁波の放射開始制御を実施してもよい。 That is, in the method shown in FIG. 15, only the input status from the encoder is used without performing the radiation start control of the electromagnetic wave using the waveform of the reflected wave received by the receiving antenna by radiating the temporary electromagnetic wave from the transmitting antenna. Then, the emission start control of the electromagnetic wave may be performed.
　なお、車輪の回転の安定とは、例えば、図１５のステップＳ１２に示すように、車輪の回転方向が所定回数（所定パルス）以上、同じ方向であること、または、図１６のステップＳ１１２に示すように、車輪の回転速度が所定の範囲内で安定していること、およびこれらの組合せであることが含まれる。 Note that the stable rotation of the wheels means, for example, that the rotation directions of the wheels are the same direction for a predetermined number of times (predetermined pulses) or more, as shown in step S12 of FIG. 15, or in step S112 of FIG. Thus, the rotation speed of the wheel is stable within a predetermined range, and a combination thereof is included.
　（Ｃ）
　上記実施形態では、図１２に示すように、エンコーダ７からの入力停止と、埋設物検出装置１がコンクリート１００の表面１００ａに接触した状態における反射波のデータと比較して、その変化（差）が所定の閾値以上であることを条件として、電磁波放射停止制御を行う例を挙げて説明した。しかし、本発明はこれに限定されるものではない。 (C)
In the above-described embodiment, as shown in FIG. 12, the change (difference) between the stop of the input from the encoder 7 and the data of the reflected wave when the embedded object detection device 1 is in contact with the surface 100a of the concrete 100 is compared. An example in which the electromagnetic wave radiation stop control is performed on the condition that is greater than or equal to a predetermined threshold value has been described. However, the present invention is not limited to this.
　例えば、図１７に示すように、ステップＳ２１，Ｓ２２の後の処理として、ステップＳ１２３において、エンコーダ７が停止してからの時間を計測するタイマを初期化し、ステップＳ１２４において、エンコーダ７からの入力停止からの経過時間が所定時間を経過した場合に、ステップＳ１２５において、制御部１０が、送信アンテナ１１からの電磁波の放射を停止させるように制御してもよい。 For example, as shown in FIG. 17, as a process after steps S21 and S22, in step S123, a timer that measures the time after the encoder 7 is stopped is initialized, and in step S124, the input from the encoder 7 is stopped. The control unit 10 may control the emission of the electromagnetic wave from the transmitting antenna 11 to be stopped in step S125 when the predetermined time has elapsed.
　より具体的には、図１８に示すように、エンコーダ７からの最後の入力があってから、１００ｍｓごとに受信アンテナ１２から制御部１０に対してデータ送信を行い、所定時間が経過する、すなわち、１００ｍｓ間隔で行われるデータ送信の回数が所定回数以上になると、制御部１０が、送信アンテナ１１からの電磁波の放射を停止するように、送信アンテナ１１を制御してもよい。 More specifically, as shown in FIG. 18, after the last input from the encoder 7, data is transmitted from the receiving antenna 12 to the control unit 10 every 100 ms, and a predetermined time elapses, that is, The control unit 10 may control the transmission antenna 11 so that the emission of electromagnetic waves from the transmission antenna 11 is stopped when the number of times of data transmission performed at intervals of 100 ms exceeds a predetermined number.
　（Ｄ）
　上記実施形態では、本体部２に４つの車輪４が取り付けられた埋設物検出装置１を用いて、コンクリート１００内の埋設物１０１を検出する例を挙げて説明した。しかし、本発明はこれに限定されるものではない。
　例えば、本体部に取り付けられる車輪は、４つに限らず、１つ、２つ、３つあるいは５つ以上であってもよい。 (D)
In the above-described embodiment, an example in which the embedded object detection device 1 in which the four wheels 4 are attached to the main body 2 is used to detect the embedded object 101 in the concrete 100 has been described. However, the present invention is not limited to this.
For example, the number of wheels attached to the main body is not limited to four, and may be one, two, three, or five or more.
　（Ｅ）
　上記実施形態では、埋設物検出装置１によって検出される埋設物１０１として、コンクリート１００内の鉄筋を用いた例を挙げて説明した。しかし、本発明はこれに限定されるものではなく、他の材料中の異物を検出する用途に使用されてもよい。 (E)
In the above-described embodiment, the buried object 101 detected by the buried object detection device 1 has been described by taking an example in which the reinforcing bars in the concrete 100 are used. However, the present invention is not limited to this, and may be used for detecting foreign substances in other materials.
　本発明の埋設物検出装置は、埋設物の検出を開始する際に、ユーザによる操作なしで自動的に電磁波を放射することができるという効果を奏することから、埋設物の検出を行う各種装置および方法に対して広く適用可能である。 INDUSTRIAL APPLICABILITY The embedded object detection device of the present invention has an effect of being able to automatically emit an electromagnetic wave without a user's operation when starting the detection of an embedded object. It is widely applicable to methods.
　１　　　埋設物検出装置
　２　　　本体部
　３　　　把手
　４　　　車輪
　５　　　インパルス制御モジュール
　６　　　メイン制御モジュール
　７　　　エンコーダ（回転検出部）
　８　　　表示部
１０　　　制御部（放射制御部）
１１　　　送信アンテナ（放射部）
１２　　　受信アンテナ（受信部）
１３　　　パルス発生部
１４　　　ディレイ部
１５　　　ゲート部
２１　　　受信部
２２　　　ＲＦデータ管理部
２４　　　埋設物判定部
２５　　　判定結果登録部
２６　　　表示制御部
１００　　コンクリート
１００ａ　表面
１０１ａ～１０１ｄ　埋設物 1 Embedded Object Detection Device 2 Main Body 3 Handle 4 Wheel 5 Impulse Control Module 6 Main Control Module 7 Encoder (Rotation Detection Unit)
8 display unit 10 control unit (radiation control unit)
11 Transmitting antenna (radiating part)
12 Receive antenna (receiver)
13 pulse generation unit 14 delay unit 15 gate unit 21 reception unit 22 RF data management unit 24 embedded object determination unit 25 determination result registration unit 26 display control unit 100 concrete 100a surface 101a to 101d embedded object

Claims (12)

  1. 　対象物の表面を移動しながら前記対象物に向かって放射した電磁波の反射波に関するデータを用いて前記対象物内の埋設物を検出する埋設物検出装置であって、
    　本体部と、
    　前記本体部に設けられ、前記電磁波を放射する放射部と、
    　前記本体部に設けられ、前記電磁波の前記反射波を受信する受信部と、
    　前記本体部に取り付けられており、前記対象物の表面に接触した状態で回転する車輪と、
    　前記本体部に設けられ、前記車輪に接続されており、前記車輪の回転に関する情報を検出する回転検出部と、
    　前記回転検出部からの入力状況に基づいて、前記放射部から前記電磁波の放射を開始するか否かを決定する放射制御部と、
    を備えている埋設物検出装置。     An embedded object detection device for detecting an embedded object in the object by using data relating to a reflected wave of an electromagnetic wave emitted toward the object while moving on the surface of the object,
    Body part,
    A radiator provided in the main body, which radiates the electromagnetic wave,
    A receiver provided in the main body, for receiving the reflected wave of the electromagnetic wave,
    A wheel that is attached to the main body and rotates while being in contact with the surface of the object,
    A rotation detection unit that is provided in the main body unit and is connected to the wheels, and detects information about the rotation of the wheels,
    Based on the input situation from the rotation detection unit, a radiation control unit that determines whether to start radiation of the electromagnetic wave from the radiation unit,
    An embedded object detection device.
  2. 　前記放射制御部は、前記回転検出部からの入力に基づいて、前記車輪の回転が安定したと判定した場合に、前記電磁波の放射を開始するように前記放射部を制御する、
    請求項１に記載の埋設物検出装置。     The radiation control unit controls the radiation unit to start radiation of the electromagnetic wave when it is determined that the rotation of the wheel is stable, based on the input from the rotation detection unit,
    The buried object detection device according to claim 1.
  3. 　前記放射制御部は、前記回転検出部から入力される前記車輪の回転速度が、所定の範囲内であった場合に、前記電磁波の放射を開始するように前記放射部を制御する、
    請求項２に記載の埋設物検出装置。     The radiation control unit controls the radiation unit to start radiation of the electromagnetic waves when the rotation speed of the wheel input from the rotation detection unit is within a predetermined range,
    The buried object detection device according to claim 2.
  4. 　前記放射制御部は、前記回転検出部から入力される前記車輪の回転方向が、所定回数以上、連続して同じであった場合に、前記電磁波の放射を開始するように前記放射部を制御する、
    請求項２または３に記載の埋設物検出装置。     The radiation control unit controls the radiation unit to start radiation of the electromagnetic wave when the rotation direction of the wheel input from the rotation detection unit is the same for a predetermined number of times or more continuously. ,
    The embedded object detection device according to claim 2 or 3.
  5. 　前記放射制御部は、前記回転検出部からの入力状況に基づいて、一時的に仮の電磁波を放射するように前記放射部を制御するとともに、前記受信部において受信された前記仮の電磁波の反射波の受信状況に基づいて、前記電磁波の放射を開始するか否かを決定する、
    請求項１から４のいずれか１項に記載の埋設物検出装置。     The radiation control unit controls the radiation unit to temporarily radiate a temporary electromagnetic wave based on an input situation from the rotation detection unit, and reflects the temporary electromagnetic wave received by the receiving unit. Based on the reception situation of the wave, to determine whether to start the emission of the electromagnetic wave,
    The buried object detection device according to any one of claims 1 to 4.
  6. 　前記放射制御部は、前記受信部において受信した前記反射波の波形が、前記車輪が前記対象物の表面に接触していることを示している場合に、前記電磁波の放射を開始するように、前記放射部を制御する、
    請求項５に記載の埋設物検出装置。     The radiation control unit, when the waveform of the reflected wave received in the receiving unit indicates that the wheel is in contact with the surface of the object, to start the emission of the electromagnetic wave, Controlling the radiator,
    The buried object detection device according to claim 5.
  7. 　対象物の表面を移動しながら対象物に向かって放射した電磁波の反射波に関するデータを用いて対象物内の埋設物を検出する埋設物検出装置を用いた埋設物検出方法であって、
    　前記埋設物検出装置に設けられた車輪に接続された回転検出部において、前記車輪の回転に関する情報を検出する回転検出ステップと、
    　前記回転検出部からの入力状況に基づいて、前記電磁波を放射する放射部から前記電磁波の放射を開始するか否かを決定する判定ステップと、
    を備えている埋設物検出方法。     A method for detecting an embedded object using an embedded object detection device that detects an embedded object in an object using data regarding a reflected wave of an electromagnetic wave emitted toward an object while moving on the surface of the object,
    In the rotation detection unit connected to the wheel provided in the buried object detection device, a rotation detection step of detecting information about the rotation of the wheel,
    Based on the input situation from the rotation detection unit, a determination step of determining whether to start emission of the electromagnetic wave from the emission unit that emits the electromagnetic wave,
    Embedded object detection method comprising.
  8. 　前記回転検出部からの入力に基づいて、前記車輪の回転が安定したと判定した場合に、前記電磁波の放射を開始するように前記放射部を制御する放射開始ステップを、さらに備えた、
    請求項７に記載の埋設物検出方法。     Based on an input from the rotation detection unit, when it is determined that the rotation of the wheel is stable, further comprises a radiation start step of controlling the radiation unit to start the radiation of the electromagnetic wave,
    The buried object detection method according to claim 7.
  9. 　前記放射開始ステップでは、前記回転検出部から入力される前記車輪の回転速度が、所定の範囲内であった場合に、前記電磁波の放射を開始するように前記放射部を制御する、
    請求項８に記載の埋設物検出方法。     In the radiation start step, when the rotation speed of the wheel input from the rotation detection unit is within a predetermined range, the radiation unit is controlled to start radiation of the electromagnetic waves,
    The buried object detection method according to claim 8.
  10. 　前記放射開始ステップでは、前記回転検出部から入力される前記車輪の回転方向が、所定回数以上、連続して同じであった場合に、前記電磁波の放射を開始するように前記放射部を制御する、
    請求項８または９に記載の埋設物検出方法。     In the radiation starting step, the radiation unit is controlled to start radiation of the electromagnetic wave when the rotation direction of the wheel input from the rotation detection unit is the same for a predetermined number of times or more continuously. ,
    The buried object detection method according to claim 8.
  11. 　前記放射開始ステップでは、前記回転検出部からの入力状況に基づいて、一時的に仮の電磁波を放射するように前記放射部を制御するとともに、受信部において受信された前記仮の電磁波の反射波の受信状況に基づいて、前記電磁波の放射を開始するか否かを決定する、
    請求項８から１０のいずれか１項に記載の埋設物検出方法。     In the radiation starting step, based on the input situation from the rotation detection unit, the radiation unit is controlled to temporarily radiate a temporary electromagnetic wave, and the reflected wave of the temporary electromagnetic wave received by the receiving unit is received. Based on the reception situation of, determines whether to start the emission of the electromagnetic wave,
    The buried object detection method according to claim 8.
  12. 　前記放射開始ステップでは、前記受信部において受信した前記反射波の波形が、前記車輪が前記対象物の表面に接触していることを示している場合に、前記電磁波の放射を開始するように、前記放射部を制御する、
    請求項１１に記載の埋設物検出方法。     In the radiation starting step, when the waveform of the reflected wave received by the receiving unit indicates that the wheels are in contact with the surface of the object, the radiation of the electromagnetic wave is started, Controlling the radiator,
    The buried object detection method according to claim 11.
PCT/JP2019/040592 2018-12-28 2019-10-16 Embedded object detection device and embedded object detection method WO2020137098A1 (en)

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Citations (3)

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JPH01274090A (en) * 1988-04-27 1989-11-01 Komatsu Ltd Apparatus for searching underground buried material
JPH0384489A (en) * 1989-08-29 1991-04-10 Nippon Telegr & Teleph Corp <Ntt> Buried body detecting device
JP2000081487A (en) * 1998-05-08 2000-03-21 Osaka Gas Co Ltd Surveying method and device

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH01274090A (en) * 1988-04-27 1989-11-01 Komatsu Ltd Apparatus for searching underground buried material
JPH0384489A (en) * 1989-08-29 1991-04-10 Nippon Telegr & Teleph Corp <Ntt> Buried body detecting device
JP2000081487A (en) * 1998-05-08 2000-03-21 Osaka Gas Co Ltd Surveying method and device

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