WO2020137098A1 - Dispositif et procédé de détection d'objet intégrés - Google Patents

Dispositif et procédé de détection d'objet intégrés Download PDF

Info

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
Authority
WO
WIPO (PCT)
Prior art keywords
radiation
electromagnetic wave
unit
rotation
object detection
Prior art date
Application number
PCT/JP2019/040592
Other languages
English (en)
Japanese (ja)
Inventor
曜 岡本
Original Assignee
オムロン株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by オムロン株式会社 filed Critical オムロン株式会社
Publication of WO2020137098A1 publication Critical patent/WO2020137098A1/fr

Links

Images

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—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.

Landscapes

  • Engineering & Computer Science (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • General Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • General Life Sciences & Earth Sciences (AREA)
  • Geophysics (AREA)
  • Environmental & Geological Engineering (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Geophysics And Detection Of Objects (AREA)
  • Radar Systems Or Details Thereof (AREA)

Abstract

L'invention concerne un dispositif de détection d'objet intégré (1) comprenant un corps (2), une antenne de transmission (11), une antenne de réception (12), une roue (4), un codeur (7) et une unité de commande (10). L'antenne de transmission (11) est disposée dans le corps (2) et émet des ondes électromagnétiques. L'antenne de réception (12) est disposée dans le corps (2) et reçoit des ondes électromagnétiques réfléchies. La roue (4) est fixée au corps (2) et tourne tout en étant en contact avec une surface (100a) de béton (100). Le codeur (7) est disposé dans le corps (2), est relié à la roue (4), et détecte des informations relatives à la rotation de la roue (4). L'unité de commande (10) détermine la nécessité de commencer à émettre des ondes électromagnétiques à partir de l'antenne de transmission (11) sur la base de l'état d'entrée provenant du codeur (7).
PCT/JP2019/040592 2018-12-28 2019-10-16 Dispositif et procédé de détection d'objet intégrés WO2020137098A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2018246953A JP7119996B2 (ja) 2018-12-28 2018-12-28 埋設物検出装置および埋設物検出方法
JP2018-246953 2018-12-28

Publications (1)

Publication Number Publication Date
WO2020137098A1 true WO2020137098A1 (fr) 2020-07-02

Family

ID=71126273

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2019/040592 WO2020137098A1 (fr) 2018-12-28 2019-10-16 Dispositif et procédé de détection d'objet intégrés

Country Status (2)

Country Link
JP (1) JP7119996B2 (fr)
WO (1) WO2020137098A1 (fr)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP7166037B1 (ja) 2022-06-16 2022-11-07 Ｋｅｙｔｅｃ株式会社 レーダ走査によるコンクリート中の鉄筋情報取得装置及びその動作方法

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH01274090A (ja) * 1988-04-27 1989-11-01 Komatsu Ltd 地中埋設物の探査装置
JPH0384489A (ja) * 1989-08-29 1991-04-10 Nippon Telegr & Teleph Corp <Ntt> 埋設物探知装置
JP2000081487A (ja) * 1998-05-08 2000-03-21 Osaka Gas Co Ltd 探査方法及び装置

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH01274090A (ja) * 1988-04-27 1989-11-01 Komatsu Ltd 地中埋設物の探査装置
JPH0384489A (ja) * 1989-08-29 1991-04-10 Nippon Telegr & Teleph Corp <Ntt> 埋設物探知装置
JP2000081487A (ja) * 1998-05-08 2000-03-21 Osaka Gas Co Ltd 探査方法及び装置

Also Published As

Publication number Publication date
JP7119996B2 (ja) 2022-08-17
JP2020106458A (ja) 2020-07-09

Similar Documents

Publication Publication Date Title
JP6424522B2 (ja) 車載装置、車載測距システム
US20180292819A1 (en) Cleaning robot and remote controller included therein
TWI597039B (zh) 掃地機器人的控制方法
WO2011010225A3 (fr) Procédé de balayage et de mesure optique d&#39;un objet
EP2983004A3 (fr) Scanner laser
WO2020137098A1 (fr) Dispositif et procédé de détection d&#39;objet intégrés
EP3130938B1 (fr) Dispositif de détection d&#39;objet et procédé de détection d&#39;objet
US11428801B2 (en) Moving device and object detection method thereof
JP2008096199A (ja) 地中レーダ
JP2013168148A (ja) 清掃ロボットの制御方法および清掃ロボット
KR20200142546A (ko) 전자기 방사선을 이용하여 측정 대상을 측정하기 위한 방법 및 THz 측정 장치
JP2008292308A (ja) 光レーダ装置
WO2020137097A1 (fr) Dispositif de détection d&#39;objet intégré et procédé de détection d&#39;objet intégré
JP6736682B2 (ja) センサ装置、センシング方法、プログラム及び記憶媒体
JP7342469B2 (ja) 埋設物検出装置および埋設物検出方法
JP2012024426A5 (fr)
JP2004212285A (ja) レーダ装置、レーダシステム及びレーダ走査制御方法
JP2007327814A (ja) パルスレーダ装置
WO2017060976A1 (fr) Dispositif de commande de lumière, procédé de commande de lumière et programme
JP2003302209A (ja) 光測長装置
JP7419687B2 (ja) 埋設物検出装置および埋設物検出方法
JP3627607B2 (ja) レーダトランスポンダ
JP7310380B2 (ja) 埋設物検出装置および埋設物検出方法
KR20060011220A (ko) 이동장치의 위치 분석 장치 및 방법
WO2017187922A1 (fr) Dispositif de nettoyage automoteur et procédé de commande du dispositif de nettoyage automoteur

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 19902755

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 19902755

Country of ref document: EP

Kind code of ref document: A1