KR-102961500-B1 - MOVING APPARATUS FOR DETECTING BURIED MAGNETIC MATERIAL

Abstract

The magnetic material buried object detection mobile body of the present invention has a sensor mounting rod for arranging a 3-axis magnetic sensor that passes through a hollow formed in the main body of the mobile body and is installed symmetrically in the up and down, thereby reducing the moment of inertia when the mobile body moves and facilitating attitude control of the mobile body.

Inventors

• 손대락

Assignees

• 주식회사 센서피아

Dates

Publication Date

20260507

Application Date

20230228

Claims (2)

1. A main body with a hollow section formed therein; Sensor mounting rods that penetrate the hollow section and are installed vertically symmetrically with respect to the main body; Two 3-axis magnetic sensors spaced apart vertically and symmetrically with respect to the main body at one end and the other end of the sensor mounting rod; and A control unit that calculates the depth of a buried magnetic material using magnetic field measurements obtained by each of two 3-axis magnetic sensors, calculates the magnetic dipole moment of the buried magnetic material using the calculated depth of the buried magnetic material, and calculates the size of the buried magnetic material using the calculated magnetic dipole moment value; Includes, The center of the sensor mounting rod becomes the center of rotation of the rigid body, reducing the moment of inertia, and A moving body for detecting buried magnetic materials, wherein two 3-axis magnetic sensors are symmetrically arranged with respect to the motor of the main body to cancel out magnetic signals caused by magnetic noise and vibration generated from the motor.
2. delete

Description

Moving apparatus for detecting buried magnetic materials { MOVING APPARATUS FOR DETECTING BURIED MAGNETIC MATERIAL } The present invention relates to a technology for detecting buried magnetic objects, such as landmines buried underground or naval mines buried underwater, and in particular to a drone device capable of calculating the precise depth and size of buried magnetic objects. Korean Patent Publication No. 10-2014-0116840 (October 6, 2014) proposes a device mounted on a mobile body for detecting objects such as landmines. In this device, a processing circuit is arranged on a panel to signal the presence of a radiation assembly and a landmine on a screen. At this time, the radiation assembly includes an antenna positioned laterally at the moving speed (V) of the moving body, and detects objects such as mines by analyzing images of waves emitted and received through the antenna. Meanwhile, there is a technology that detects buried magnetic materials, such as landmines buried underground or mines buried underwater, by mounting a gradient measuring device (gradiometer) with a 1-axis magnetometer vertically positioned on a moving body, rather than using an image analysis method based on emitted and received waves. A gradient meter, which consists of vertically arranged single-axis magnetometers, detects buried magnetic objects such as landmines buried underground or naval mines buried underwater by using the gradient (degree of inclination) obtained by dividing the difference between two measurements of the single-axis magnetometers by the distance. However, there was a problem where accurate measurement was difficult because severe measurement errors occurred when the mobile body equipped with the gradient meter shook. Korean Patent Publication No. 10-2020-0113629 (October 7, 2020) discloses a technology that can accurately detect buried magnetic objects, such as landmines buried underground or naval mines buried underwater, using a magnetic field measurement method with a 3-axis magnetic sensor regardless of whether the moving object is shaking. Korean Patent No. 10-2220157 (February 25, 2021) discloses a technology for acquiring information on magnetic materials mounted on a mobile body that can determine the accurate depth and size of magnetic materials buried underground, such as landmines buried in the ground or naval mines buried underwater, using a magnetic field measurement method with a 3-axis magnetic sensor. However, fixing a magnetic sensor to a moving drone as a rigid body increases the moment of inertia, which presents a problem in that attitude control becomes difficult. In other words, the motion of the drone and the motion of the rigidly fixed magnetic sensor are separated, making self-adjustment difficult and thus hindering the increase of flight speed. Figure 1 illustrates an example of a conventional magnetic buried object detection mobile body equipped with a magnetic buried object detection sensor. FIG. 2 illustrates an example of a magnetic material buried object detection moving body according to the first embodiment of the present invention. FIG. 3 is a block diagram illustrating the configuration of a first embodiment of a magnetic material buried object detection mobile body according to the present invention. FIG. 4 is a block diagram illustrating, in an exemplary manner, the configuration of a 3-axis magnetic sensor of a magnetic material buried object detection mobile body according to the present invention. FIG. 5 is a circuit diagram illustrating, in an exemplary manner, the configuration of the measurement circuit section of the 3-axis magnetic sensor of the magnetic material buried object detection mobile body according to the present invention. FIG. 6 is a diagram illustrating the calculation of the depth and size of a buried magnetic object by a magnetic object detection mobile body according to the present invention. FIG. 7 is a flowchart exemplarily illustrating a method for acquiring information on a buried magnetic object by a magnetic object detection mobile body according to the present invention. The foregoing and additional aspects are embodied in the embodiments described with reference to the attached drawings. It is understood that the components of each embodiment may be combined in various ways within the embodiment unless otherwise stated or contradictory. Each block in the block diagram may represent a physical part in some cases, but in others, it may be a logical representation of a part of the function of a single physical part or a function spanning two physical parts. Sometimes, the entity of a block or part thereof may be a set of program instructions. These blocks may be implemented in whole or in part by hardware, software, or a combination thereof. FIG. 1 illustrates an example of a conventional magnetic object detection mobile body equipped with a magnetic object detection sensor. FIG. 1 illustrates an example where the mobile body (20) is a dr