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WO2024202467A1 - Dispositif de détection d'objet, procédé de détection d'objet et support d'enregistrement - Google Patents

Dispositif de détection d'objet, procédé de détection d'objet et support d'enregistrement Download PDF

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Publication number
WO2024202467A1
WO2024202467A1 PCT/JP2024/002171 JP2024002171W WO2024202467A1 WO 2024202467 A1 WO2024202467 A1 WO 2024202467A1 JP 2024002171 W JP2024002171 W JP 2024002171W WO 2024202467 A1 WO2024202467 A1 WO 2024202467A1
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Prior art keywords
object detection
dimensional information
target
reflected wave
detection device
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PCT/JP2024/002171
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English (en)
Japanese (ja)
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剛志 柴田
耕介 木下
健全 劉
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日本電気株式会社
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Publication of WO2024202467A1 publication Critical patent/WO2024202467A1/fr

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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 an object detection device, an object detection method, and a program.
  • Patent Document 1 As an example of a device for detecting objects buried underground, there is the device described in Patent Document 1.
  • This device is for detecting landmines.
  • the sensor head is provided with a transmitter and a receiver.
  • the transmitter transmits electromagnetic wave impulses toward the ground where a landmine is to be detected, and the receiver receives the reflected waves from the landmine.
  • This device then generates information showing the three-dimensional structure of the landmine based on the time until the reflected waves are received, the level of the reflected waves, and the position of the sensor head, and displays this information on the display.
  • Patent Document 2 also describes an investigation device having an electromagnetic wave sensor and a movement mechanism for moving the electromagnetic wave sensor within a two-dimensional plane.
  • the position of the electromagnetic wave sensor is detected by a position detection means.
  • the investigation device uses the reception information received by the electromagnetic wave sensor and the position information detected by the position detection means as input information, and generates two-dimensional image information for each investigation depth.
  • one example of the objective of the present invention is to provide an object detection device, an object detection method, and a program that require less effort when investigating even when the area to be investigated is large.
  • a three-dimensional information generating means generates three-dimensional information indicating the possibility of a target object being present for a plurality of first points included in a three-dimensional space corresponding to a target area by processing reflected wave information indicating reflected waves of electromagnetic waves irradiated to the target area; a two-dimensional information generating means for generating two-dimensional information indicating a possibility that the target object exists for each of a plurality of second points included in a predetermined plane by projecting the three-dimensional information onto the predetermined plane; a detection means for detecting a target region, which is a region in which the target object exists, of the target region by processing the two-dimensional information;
  • An object detection device is provided, comprising:
  • a computer includes: generating three-dimensional information indicating a possibility that a target object exists for each of a plurality of first points included in a three-dimensional space indicating the target area by processing reflected wave information indicating a reflected wave of the electromagnetic wave irradiated to the target area; generating two-dimensional information indicating a possibility that the target object exists for each of a plurality of second points included in the plane by projecting the three-dimensional information onto a predetermined plane; An object detection method is provided, which processes the two-dimensional information to detect a target region within the target region, the target region being a region in which the target object exists.
  • a computer includes: generating three-dimensional information indicating a possibility that a target object exists for each of a plurality of first points included in a three-dimensional space indicating the target area by processing reflected wave information indicating a reflected wave of the electromagnetic wave irradiated to the target area; generating two-dimensional information indicating a possibility that the target object exists for each of a plurality of second points included in the plane by projecting the three-dimensional information onto a predetermined plane;
  • a program is provided that processes the two-dimensional information to detect a target region, which is a region in which the target object exists, from the target region.
  • an object detection device it is possible to provide an object detection device, an object detection method, and a program that require less effort when investigating a large area.
  • FIG. 1 is a diagram showing an overview of an object detection device according to a first embodiment.
  • FIG. 1 is a diagram for explaining a usage environment of an object detection device.
  • FIG. 2 is a diagram illustrating an example of a functional configuration of a measurement device.
  • FIG. 2 is a diagram illustrating an example of a functional configuration of an object detection device.
  • 11 is a diagram for explaining an example of a process performed by a two-dimensional information generating unit;
  • FIG. 2 is a diagram illustrating an example of a hardware configuration of an object detection device.
  • 4 is a flowchart illustrating an example of a process performed by the object detection device.
  • FIG. 11 is a diagram illustrating an example of a functional configuration of an object detection device according to a second embodiment.
  • First Embodiment 1 is a diagram showing an overview of an object detection device 10 according to the first embodiment.
  • the object detection device 10 includes a three-dimensional information generator 120, a two-dimensional information generator 130, and a detector 140.
  • the three-dimensional information generating unit 120 processes the reflected wave information to generate three-dimensional information.
  • the reflected wave information indicates the reflected waves of the electromagnetic waves irradiated to the target area.
  • the three-dimensional information indicates the possibility that a target object exists at a plurality of first points included in the three-dimensional space that indicates the target area.
  • the two-dimensional information generating unit 130 generates two-dimensional information by projecting the three-dimensional information onto a specified plane.
  • the two-dimensional information indicates the possibility that a target object exists at each of a number of second points included within this plane.
  • the detection unit 140 detects the area in which the target object exists within the target area by processing the two-dimensional information.
  • this area will be referred to as the target area.
  • the above-mentioned two-dimensional information can be regarded as an image. Therefore, the detection unit 140 can use various image processing methods. Therefore, according to the object detection device 10, even if the reflected wave information contains a lot of noise, the target area can be detected with high accuracy. Therefore, even if the area to be investigated is wide, the effort required for the investigation is small.
  • the object detection device 10 is described in detail below.
  • FIG. 2 is a diagram for explaining the environment in which the object detection device 10 is used.
  • the object detection device 10 is used together with a measurement device 20.
  • the measuring device 20 is a device that can be remotely controlled.
  • the measuring device 20 may be, for example, an air vehicle such as a drone, or may be a self-propelled device.
  • the measuring device 20 can move automatically or by remote control.
  • the target area to be investigated for the presence or absence of a target object is, for example, the ground and the underground below it. In this case, the target object is present on the ground or underground.
  • the measuring device 20 generates reflected wave information while moving through an area to be investigated for the presence or absence of a target object, and transmits this reflected wave information to the object detection device 10, for example, via a wireless communication network. This transmission is performed, for example, in real time, but may also be performed in a batch manner.
  • the object detection device 10 detects the target area by processing the reflected wave information received from the measurement device 20.
  • the object detection device 10 may perform the processing in a batch manner, or in real time, that is, each time reflected wave information is received from the measurement device 20.
  • FIG. 3 is a diagram showing an example of the functional configuration of the measuring device 20.
  • the measuring device 20 has an electromagnetic wave emitting unit 210, an electromagnetic wave receiving unit 220, a reflected wave information generating unit 230, and a communication unit 240.
  • the measuring device 20 has a movement mechanism for moving the measuring device 20 and a movement control unit for controlling this.
  • the electromagnetic wave emitting unit 210 irradiates electromagnetic waves toward the target area.
  • the electromagnetic waves are, for example, millimeter waves, and an example of the wavelength is 0.3 GHz or more and 300 GHz or less.
  • the band of the electromagnetic waves irradiated by the electromagnetic wave emitting unit 210 is not limited to millimeter waves.
  • the transmission method used by the electromagnetic wave emitting unit 210 is, for example, any of FMCW (Frequency Modulated Continuous Wave), pulse, CW (Continuous Wave) Doppler, two-frequency CW, and pulse compression, but may be other than these.
  • the electromagnetic wave receiving unit 220 receives reflected waves of the electromagnetic waves emitted by the electromagnetic wave transmitting unit 210.
  • These reflected waves are electromagnetic waves that have been reflected, for example, by objects on the ground's surface or objects underground. In other words, if there is an object in the target area that reflects electromagnetic waves, the strength of the reflected waves will be high. Objects that reflect electromagnetic waves are often made primarily of metal.
  • multiple, for example two, electromagnetic wave receiving units 220 are provided. These multiple electromagnetic wave receiving units 220 are spaced apart from each other, and receive reflected waves of electromagnetic waves emitted by the same electromagnetic wave emitting unit 210. In this way, the object detection device 10 can detect the target area with higher accuracy.
  • the reflected wave information generating unit 230 generates reflected wave information using the reception results from the electromagnetic wave receiving unit 220.
  • the reflected wave information includes, for example, time series information on the intensity of the reflected wave. This time series information includes a combination of the date and time the reflected wave was received and the intensity of the reflected wave at that time. If multiple electromagnetic wave receiving units 220 are provided, the reflected wave information generating unit 230 generates reflected wave information separately for each of the multiple electromagnetic wave receiving units 220.
  • the reflected wave information generating unit 230 also generates location information indicating the location of the measuring device 20. This location information may be generated using, for example, GPS, or may be generated using other methods, such as SLAM (Simultaneous Localization and Mapping). The reflected wave information generating unit 230 then adds to the reflected wave information the location information of the measuring device 20 at the time the reflected wave was received.
  • location information may be generated using, for example, GPS, or may be generated using other methods, such as SLAM (Simultaneous Localization and Mapping).
  • SLAM Simultaneous Localization and Mapping
  • the communication unit 240 communicates with external devices. As one example, the communication unit 240 transmits the reflected wave information generated by the reflected wave information generation unit 230 to the object detection device 10. This transmission may be in batches as described above, or in real time. As another example, the communication unit 240 receives information for controlling the movement of the measuring device 20, such as route information indicating the route along which the measuring device 20 should move. In this case, the movement control unit of the measuring device 20 controls the movement mechanism of the measuring device 20 to move the measuring device 20 according to the received route information.
  • the position information may be information separate from the reflected wave information.
  • the position information is time-series information on the position of the measuring device 20. This time-series information includes a combination of a date and time and the position of the measuring device 20 at that date and time.
  • the communication unit 240 also transmits the position information to the object detection device 10.
  • FIG. 4 is a diagram showing an example of the functional configuration of the object detection device 10.
  • the object detection device 10 also includes a communication unit 110 and a storage unit 150.
  • the communication unit 110 communicates with an external device, for example, the measuring device 20. For example, when the communication unit 110 receives reflected wave information from the measuring device 20, it stores this reflected wave information in the storage unit 150. When position information is transmitted from the measuring device 20, the communication unit 110 also stores this position information in the storage unit 150.
  • the three-dimensional information generating unit 120 generates three-dimensional information by processing the reflected wave information.
  • the reflected wave information includes a time series signal of the intensity of the reflected wave and the position of the measuring device 20.
  • the three-dimensional information generating unit 120 calculates the distance from the electromagnetic wave receiving unit 220 to the reflection point that is the origin of the reflected wave by performing FFT (Fast Fourier Transform) multiple times on the reflected wave that constitutes this time series signal. If there are multiple electromagnetic wave receiving units 220, the three-dimensional information generating unit 120 performs this processing for each electromagnetic wave receiving unit 220.
  • FFT Fast Fourier Transform
  • the three-dimensional information generating unit 120 then integrates multiple distances based on the reflected waves measured by different electromagnetic wave receiving units 220 at the same timing to calculate an estimate of the intensity of the reflected wave for at least one first point included in the three-dimensional space corresponding to the target area.
  • the three-dimensional information generating unit 120 performs this process on the reflected waves measured at multiple timings to calculate an estimate of the intensity of the reflected waves for each of the multiple first points, and uses these as three-dimensional information.
  • this estimate can be considered as a value indicating the possibility that a target object exists at the first point.
  • this value will be referred to as the first value.
  • the method of generating the three-dimensional information for example the method of generating the first value, is not limited to this example.
  • the two-dimensional information generating unit 130 generates two-dimensional information by projecting three-dimensional information onto a predetermined plane.
  • this predetermined plane will be referred to as the projection plane.
  • the angle that the projection plane makes with respect to the ground surface of the target area is 10° or less. In other words, it is preferable that the projection plane is horizontal to the ground surface of the target area.
  • the two-dimensional information generating unit 130 identifies a plurality of first points corresponding to the second point. For example, the two-dimensional information generating unit 130 regards a plurality of first points that overlap with the second point when viewed from a direction perpendicular to the projection surface as the first points corresponding to the second point. Next, the two-dimensional information generating unit 130 identifies a first value corresponding to each of the identified plurality of first points, and uses the first value to generate a second value indicating the possibility that the target object exists at the second point.
  • the second value may be the maximum value or the average value of the plurality of first values.
  • the second value may be the first value corresponding to the first point closest to the ground surface among the first points whose first values exceed the reference value.
  • the two-dimensional information generating unit 130 then regards the second value for each second point as two-dimensional information.
  • the two-dimensional information can be regarded as black and white image data.
  • the detection unit 140 detects the target region by processing the two-dimensional information as described with reference to FIG. 1.
  • the detection unit 140 detects the target region by performing a predetermined image processing on the two-dimensional information.
  • This image processing is, for example, YOLO, SSD (Single Shot MultiBox Detector), or Faster-RCNN (Regions with Convolutional Neural Networks), but may be other than these.
  • the object detection device 10 may detect the target area using at least one of geological information of the target area and weather information at the time the reflected waves were generated. For example, the geology of a particular area within the target area may be more conducive to generating reflected waves. Also, depending on the weather, water or snow may accumulate on the surface of the target area, affecting the reflected waves. The object detection device 10 takes this effect into account when selecting the target area.
  • At least one of the three-dimensional information generating unit 120 and the two-dimensional information generating unit 130 multiplies a parameter corresponding to the geology of the location by a first value or a second value, and then generates three-dimensional information or two-dimensional information.
  • This parameter is set in advance.
  • At least one of the three-dimensional information generating unit 120 and the two-dimensional information generating unit 130 multiplies a parameter corresponding to the weather at the time of measurement by a first value or a second value, and then generates three-dimensional information or two-dimensional information. This parameter is also set in advance.
  • geological information and weather information are input to the information processing device 10 by, for example, a user of the information processing device 10, but the information processing device 10 may also obtain the information from a database in which the information processing device 10 stores the information.
  • FIG. 6 is a diagram showing an example of the hardware configuration of the object detection device 10.
  • the object detection device 10 has a bus 1010, a processor 1020, a memory 1030, a storage device 1040, an input/output interface 1050, and a network interface 1060.
  • the bus 1010 is a data transmission path for the processor 1020, memory 1030, storage device 1040, input/output interface 1050, and network interface 1060 to transmit and receive data to and from each other.
  • the method of connecting the processor 1020 and other components to each other is not limited to a bus connection.
  • the processor 1020 is a processor realized by a CPU (Central Processing Unit) or a GPU (Graphics Processing Unit), etc.
  • Memory 1030 is a main storage device realized by RAM (Random Access Memory) or the like.
  • the storage device 1040 is an auxiliary storage device realized by a removable medium such as a HDD (Hard Disk Drive), an SSD (Solid State Drive), a memory card, or a ROM (Read Only Memory), and has a recording medium.
  • the recording medium of the storage device 1040 stores program modules that realize each function of the object detection device 10 (e.g., the communication unit 110, the three-dimensional information generation unit 120, the two-dimensional information generation unit 130, and the detection unit 140).
  • the processor 1020 loads each of these program modules onto the memory 1030 and executes them, thereby realizing each function corresponding to the program module.
  • the storage device 1040 also functions as a memory unit 150.
  • the input/output interface 1050 is an interface for connecting the object detection device 10 to various input/output devices.
  • the network interface 1060 is an interface for connecting the object detection device 10 to a network.
  • This network is, for example, a LAN (Local Area Network) or a WAN (Wide Area Network).
  • the method for connecting the network interface 1060 to the network may be a wireless connection or a wired connection.
  • the object detection device 10 may communicate with the measurement device 20 via the network interface 1060.
  • FIG. 7 is a flowchart showing an example of processing performed by the object detection device 10.
  • the object detection device 10 performs processing in a batch manner.
  • the communication unit 110 repeatedly acquires reflected wave information from the measurement device 20 and stores it in the memory unit 150.
  • the three-dimensional information generating unit 120 reads out reflected wave information of the target area to be processed this time from the storage unit 150 (step S110), and generates three-dimensional information by processing the read reflected wave information (step S120).
  • the two-dimensional information generating unit 130 processes the three-dimensional information to generate two-dimensional information (step S130).
  • the detection unit 140 detects the target area by processing the two-dimensional information.
  • the target area is data showing an area on a two-dimensional plane where the target object is likely to exist (step S140).
  • the detection unit 140 may use information in which the coordinates of the second point are linked to the probability (reliability) that the target object exists at these coordinates as information indicating the target area.
  • the probability used here is a second value, but may also be a value obtained by processing the second value.
  • the detection unit 140 may also generate information in which the probability (reliability) that the target object exists at each coordinate on the projection surface is linked to this coordinate.
  • the detection unit 140 may display a screen showing the target area on a display device. This display device may be part of the object detection device 10 or may be external to the object detection device 10.
  • the two-dimensional information generating unit 130 of the object detection device 10 generates two-dimensional information using the three-dimensional information generated by the three-dimensional information generating unit 120.
  • This two-dimensional information can be considered as image data.
  • the detection unit 140 then processes this two-dimensional information to detect the target area. Therefore, according to the object detection device 10, even if the reflected wave information contains a lot of noise, the target area can be detected with high accuracy. Therefore, even if the area to be investigated is large, less effort is required during the investigation.
  • Second Embodiment Fig. 8 is a diagram showing an example of the functional configuration of the object detection device 10 according to the second embodiment, and corresponds to Fig. 4 of the first embodiment.
  • the object detection device 10 according to this embodiment has the same configuration as the object detection device 10 according to the first embodiment, except for the following points.
  • the object detection device 10 includes a reflected wave information processing unit 160.
  • the reflected wave information processing unit 160 processes the reflected wave information using a model generated using machine learning.
  • the detection unit 140 detects the target area using the two-dimensional information generated by the two-dimensional information generation unit 130 and the processing results by the reflected wave information processing unit 160.
  • the reflected wave information processing unit 160 has a Fourier transform unit 162, a feature extraction unit 164, and an identification unit 166.
  • the Fourier transform unit 162 generates a frequency signal by performing a Fourier transform on the reflected wave information.
  • An example of this frequency signal is a spectrogram or a mel spectrogram, but is not limited to these.
  • the feature extraction unit 164 extracts features by processing the frequency signal generated by the Fourier transform unit 162 using a first model.
  • the feature extraction unit 164 selects data from the frequency signal that corresponds to a first point included in the three-dimensional information.
  • the first point included in the three-dimensional information is linked to the generation timing of the reflected wave information corresponding to the first point. Therefore, the feature extraction unit 164 can select a frequency signal that corresponds to this generation timing.
  • the feature extraction unit 164 then inputs this frequency signal to a first model generated by machine learning, thereby extracting features.
  • the first model is generated, for example, by machine learning using the frequency signal as an explanatory variable and the features as a target variable. Note that an example of machine learning used here is a convolutional neural network, but is not limited to this.
  • the identification unit 166 detects regions that may be the target region by processing the features extracted by the feature extraction unit 164 using a second model.
  • the second model is, for example, a classifier using a fully connected deep learning network. If the input feature is determined to be abnormal by this classifier (for example, if the likelihood of being the target region is equal to or greater than a reference value), the identification unit 166 determines that a first point corresponding to the input feature is a region where a target object exists, i.e., the target region. The first point is then projected onto a projection surface in the same manner as the two-dimensional information generation unit 130, thereby identifying the target region in the two-dimensional information. At this time, it is preferable that the identification unit 166 also associates the likelihood (reliability) of being the target region with each coordinate on the projection surface that is the basis of the two-dimensional information.
  • the detection unit 140 then detects the destination region using the method shown in the first embodiment, and detects the final destination region by integrating this destination region with the destination region detected using the identification unit 166. For example, the detection unit 140 may calculate a weighted average of the reliability for each coordinate calculated using the method shown in the first embodiment and the reliability for each coordinate generated by the identification unit 166, and determine the region where this average is equal to or greater than a threshold as the final destination region. The detection unit 140 may also determine the union or intersection of the destination region calculated using the method shown in the first embodiment and the destination region generated by the identification unit 166 as the final destination region.
  • this embodiment requires less effort when investigating a wide area.
  • the presence of the reflected wave information processing unit 160 increases the accuracy of detecting the target area.
  • a three-dimensional information generating means for generating three-dimensional information indicating the possibility of the presence of a target object for a plurality of first points included in a three-dimensional space corresponding to a target area by processing reflected wave information indicating reflected waves of electromagnetic waves irradiated to the target area; a two-dimensional information generating means for generating two-dimensional information indicating a possibility that the target object exists for each of a plurality of second points included in a predetermined plane by projecting the three-dimensional information onto the predetermined plane; a detection means for detecting a target region, which is a region in which the target object exists, of the target region by processing the two-dimensional information;
  • An object detection device comprising: 2.
  • the object detection device wherein the frequency of the electromagnetic wave is 0.3 GHz or more and 300 GHz or less. 3.
  • An object detection device, wherein the reflected wave information is generated by an aircraft or a self-propelled device having an irradiation means for irradiating the electromagnetic wave and a receiving means for receiving the reflected wave. 4.
  • the three-dimensional information includes a first value indicating a possibility that the target object exists for each of the plurality of first points;
  • the two-dimensional information generating means generates, for each of the second points, identifying a plurality of the first points corresponding to the second point;
  • An object detection device that identifies the first value corresponding to each of the identified first points, and uses the first value to generate a second value indicating a possibility that the target object is present at the second point.
  • a reflected wave information processing means processes the reflected wave information using a model generated by machine learning, The detection means further detects the target region using the processing results of the model. 6.
  • the reflected wave information processing means generating a frequency signal by performing a Fourier transform on the reflected wave information; Processing the frequency signal with a first said model to extract features;
  • the object detection apparatus detects regions that may be the target regions by processing the extracted features using a second model. 7.
  • the target area is the ground and the subsurface therebelow; An object detection device, wherein the target object is present on the ground or underground. 8.
  • An object detection device, wherein the angle between the specified plane and the ground is 10° or less.
  • the computer generating three-dimensional information indicating a possibility that a target object exists for each of a plurality of first points included in a three-dimensional space indicating the target area by processing reflected wave information indicating a reflected wave of the electromagnetic wave irradiated to the target area; generating two-dimensional information indicating a possibility that the target object exists for each of a plurality of second points included in the plane by projecting the three-dimensional information onto a predetermined plane; an object detection method for detecting a target region, which is a region of the target region in which the target object exists, by processing the two-dimensional information; 10.
  • the object detection method wherein the frequency of the electromagnetic wave is 0.3 GHz or more and 300 GHz or less. 11.
  • the reflected wave information is generated by an aircraft or a self-propelled device having an irradiation means for irradiating the electromagnetic wave and a receiving means for receiving the reflected wave.
  • the three-dimensional information includes a first value indicating a possibility that the target object exists for each of the plurality of first points;
  • the computer for each of the second points, identifying a plurality of the first points corresponding to the second point;
  • a method for object detection comprising: identifying a first value corresponding to each of the identified first points; and using the first value to generate a second value indicating a possibility that the target object is present at the second point. 13.
  • the computer includes: Processing the reflected wave information using a model generated using machine learning; Further, the object detection method includes detecting the target region using the processing results of the model. 14. In the object detection method according to claim 13, The computer includes: generating a frequency signal by performing a Fourier transform on the reflected wave information; Processing the frequency signal with a first said model to extract features; and processing the extracted features with a second said model to detect regions that may be said regions of interest. 15. In the object detection method according to any one of claims 9 to 14, the target area is the ground and the subsurface therebelow; An object detection method, wherein the target object is present on the ground or underground. 16. In the object detection method according to claim 15, An object detection method, wherein the angle between the predetermined plane and the ground is 10° or less.
  • the computer On the computer: generating three-dimensional information indicating a possibility that a target object exists for each of a plurality of first points included in a three-dimensional space indicating the target area by processing reflected wave information indicating a reflected wave of the electromagnetic wave irradiated to the target area; generating two-dimensional information indicating a possibility that the target object exists for each of a plurality of second points included in the plane by projecting the three-dimensional information onto a predetermined plane; A program for detecting a target region, which is a region in which the target object exists, within the target region by processing the two-dimensional information. 18. In the program according to 17 above, The program, wherein the frequency of the electromagnetic waves is 0.3 GHz or more and 300 GHz or less. 19.
  • the reflected wave information is generated by an aircraft or a self-propelled device having an irradiation means for irradiating the electromagnetic waves and a receiving means for receiving the reflected waves.
  • the three-dimensional information includes a first value indicating a possibility that the target object exists for each of the plurality of first points; the computer, for each of the second points, identifying a plurality of the first points corresponding to the second points; A program that identifies the first value corresponding to each of the identified first points, and generates a second value indicating a possibility that the target object is present at the second point using the first value. 21.
  • the computer includes: Processing the reflected wave information using a model generated using machine learning; and a program for detecting the target region using the processing results of the model. 22.
  • the computer includes: generating a frequency signal by performing a Fourier transform on the reflected wave information; Processing the frequency signal with a first said model to extract features; and processing the extracted features using a second said model to detect regions that may be the regions of interest.
  • the target area is the ground and the subsurface therebelow; The target object is present on the ground or underground.
  • the angle between the predetermined plane and the ground is 10° or less. 25.
  • a recording medium having the program according to any one of claims 17 to 24 recorded thereon.
  • Object detection device 20 Measuring device 110 Communication unit 120 Three-dimensional information generation unit 130 Two-dimensional information generation unit 140 Detection unit 150 Storage unit 160 Reflected wave information processing unit 162 Fourier transform unit 164 Feature extraction unit 166 Identification unit 210 Electromagnetic wave transmission unit 220 Electromagnetic wave reception unit 230 Reflected wave information generation unit 240 Communication unit

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  • Geophysics And Detection Of Objects (AREA)

Abstract

Le présent dispositif de détection d'objet comprend : une unité de génération d'informations tridimensionnelles ; une unité de génération d'informations bidimensionnelles ; et une unité de détection. L'unité de génération d'informations tridimensionnelles génère des informations tridimensionnelles par traitement d'informations d'ondes réfléchies. Les informations d'onde réfléchie indiquent une onde réfléchie d'une onde électromagnétique appliquée à une région cible. Les informations tridimensionnelles indiquent la possibilité d'existence d'objets cibles au niveau d'une pluralité de premiers points inclus dans un espace tridimensionnel indiquant la région cible. L'unité de génération d'informations bidimensionnelles génère des informations bidimensionnelles par projection des informations tridimensionnelles sur un plan prescrit. Les informations bidimensionnelles indiquent la possibilité d'existence d'un objet cible au niveau de chacun d'une pluralité de seconds points inclus dans le plan. L'unité de détection traite les informations bidimensionnelles et détecte une région cible qui est une région, de la région cible, dans laquelle l'objet cible existe.
PCT/JP2024/002171 2023-03-30 2024-01-25 Dispositif de détection d'objet, procédé de détection d'objet et support d'enregistrement WO2024202467A1 (fr)

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Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2000023762A1 (fr) * 1998-10-21 2000-04-27 Omron Corporation Detecteur de mines et appareil d'inspection
JP2003098263A (ja) * 2001-09-21 2003-04-03 Osaka Gas Co Ltd 隠蔽物体探査方法
JP2014032016A (ja) * 2012-08-01 2014-02-20 Furuno Electric Co Ltd 代表位置検出装置、表示装置、レーダ装置、代表位置検出方法及び代表位置検出プログラム
JP2018132873A (ja) * 2017-02-14 2018-08-23 株式会社デンソー 情報処理装置
JP2020085871A (ja) * 2018-11-30 2020-06-04 すみえ 池田 地中レーダ探査装置
JP2021124290A (ja) * 2020-01-31 2021-08-30 日本信号株式会社 地中レーダーのデータ処理方法、データ処理プログラム及び地中レーダー装置
JP2022090607A (ja) * 2020-12-07 2022-06-17 株式会社Ｃｑ－Ｓネット ウイルス殺菌装置
WO2022230897A1 (fr) * 2021-04-26 2022-11-03 株式会社計測技術サービス Dispositif de traitement d'informations

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2000023762A1 (fr) * 1998-10-21 2000-04-27 Omron Corporation Detecteur de mines et appareil d'inspection
JP2003098263A (ja) * 2001-09-21 2003-04-03 Osaka Gas Co Ltd 隠蔽物体探査方法
JP2014032016A (ja) * 2012-08-01 2014-02-20 Furuno Electric Co Ltd 代表位置検出装置、表示装置、レーダ装置、代表位置検出方法及び代表位置検出プログラム
JP2018132873A (ja) * 2017-02-14 2018-08-23 株式会社デンソー 情報処理装置
JP2020085871A (ja) * 2018-11-30 2020-06-04 すみえ 池田 地中レーダ探査装置
JP2021124290A (ja) * 2020-01-31 2021-08-30 日本信号株式会社 地中レーダーのデータ処理方法、データ処理プログラム及び地中レーダー装置
JP2022090607A (ja) * 2020-12-07 2022-06-17 株式会社Ｃｑ－Ｓネット ウイルス殺菌装置
WO2022230897A1 (fr) * 2021-04-26 2022-11-03 株式会社計測技術サービス Dispositif de traitement d'informations

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