KR101140292B1 - Hand-held landmine detector with image display - Google Patents

Abstract

The present invention relates to a method for generating a hand-held land mine detection image, which detects mines buried in the ground and displays the location information (X, Y (ie, latitude and longitude)). A method of generating a detection image to be able to recognize with the (Z) and depth information (Z). According to an embodiment of the present invention, a process of measuring a detection signal for a buried ground material, determining whether a detection image generation condition is satisfied, and when the detection image generation condition is satisfied, starts from the starting azimuth angle at the start point of the detection direction. Extracting detection signals measured up to an end azimuth from an end point and generating a detection image; and detecting position information and motion information when measuring the detection signal; and detecting the detection image, position information, and detection signal. And displaying the depth information, the motion information, and the azimuth to be recognized together.

Description

Hand-held landmine detector with image display

The present invention relates to a method for generating a hand-held land mine detection image, which detects mines buried in the ground and displays the location information (X, Y (ie, latitude and longitude)). A method of generating a detection image to be able to recognize with the (Z) and depth information (Z).

Hand-held mine detectors have been developed and used for military and civilian purposes, where individuals for detecting underground or antitank mines buried beneath the surface can operate at a distance from the ground.

The existing hand-held mine detector is mainly based on a metal detector (MD). The metal detector is a device that determines the presence or absence of metal by changing the characteristics of the electromagnetic field when the metal material is in the vicinity of the electromagnetic field is applied to the coil. In the case of metal detectors, the PD (Probability of Detection) is a method of detecting metal substances contained in landmines, but the false alarm rate (FAR) is also very high. In the field, where there are many metals such as casings, metal cans, and coins, a high false alarm rate slows down mine detection. In recent years, plastic mines have been developed and sprayed with no metallic material. In this case, mine detectors based on conventional metal detectors cannot be detected. On the other hand, Ground Penetrating Radar (GPR) has a characteristic of transmitting a specific medium according to the frequency band used, and thus it is possible to image mine detection by using the reflection signal strength of metal and nonmetal.

Therefore, in order to lower false alarm rates and detect plastic mines, a double sensing mine detector combining a metal detector (MD) and a ground penetrating radar (GPR) has recently been in the spotlight.

Representative products of the metal detector (MD) and the ground-penetrating radar (GPR) double sensing mine detector are HSTAMIDS developed in the US and MINEHOUD developed in Germany. Both products used metal detectors and ground-permeable radar (GPR) sensors, respectively. All existing products are provided by converting metal detectors and ground-transmitting radar signals into sound. That is, since there is no information on the detection direction because the direction and the detection direction is different at the time of mine detection, as shown in FIG. 1, it is difficult to visualize the buried material. Providing. In addition, in addition to the sound, the sound information is converted into visual information in a simple bar incremental form for visual confirmation, and is provided to the user through a status bar as shown in FIG. 2.

However, in the case of the mine detection information providing method for providing the above simple visual information and auditory information, there are the following problems.

When the information of each sensor is converted into auditory information called sounds, the presence of land mines is judged based on a slight difference in sound, and thus has a disadvantage in that the skill of the operator must be high. In addition, since sound is information flowing over time, it is difficult to precisely search. In addition, as shown in FIG. 2, when provided as visual information in the form of a status bar (LED BAR), this is merely an expression of sound intensity in the form of a status bar (LED BAR), and accurate position information (X, There is a problem in that Y) and depth information Z cannot be represented as an image.

As a result, simple auditory and visual information provided by metal detectors (MD) and dual sensing mine detectors of ground-penetrating radar (GPR) can provide a low probability of detection and high false alarms. The problem of false alarm rate cannot be overcome. Therefore, it is urgent to develop a handheld land mine detector capable of overcoming such a low probability of detection and a high false alarm rate.

Korea Patent Publication 10-2002-0017491

The technical problem of the present invention is to provide an image information to the user in an effective and real time in consideration of the area and detection direction for detecting the mine. It also increases the probability of landmine detection and lowers alarm rate errors. In addition, the technical problem of the present invention is to recognize the location information (X, Y) and depth information (Z) for providing detection information in a form other than sound.

According to an embodiment of the present invention, a process of measuring a detection signal for a buried ground material, determining whether a detection image generation condition is satisfied, and when the detection image generation condition is satisfied, starts from the starting azimuth angle at the start point of the detection direction. Extracting detection signals measured up to an end azimuth from an end point and generating a detection image; and detecting position information and motion information when measuring the detection signal; and detecting the detection image, position information, and detection signal. And displaying the depth information, the motion information, and the azimuth to be recognized together.

In addition, when the detection signal is extracted, the detection signal is filtered and then extracted. The filtering is horizontal filtering that removes components appearing in the horizontal direction (depth Z) when the ground is in the XY direction.

The detection image generating condition is the number of processing information which is the number of working azimuths, working hours, measured values of the surface penetrating radar and measured values of the metal detector in the detection direction. The detection image generating condition is that the working azimuth (end azimuth-starting azimuth) is 10 degrees. The above conditions satisfy all conditions in which the working time (end time-reference time) is 1 second or more, the number of measured values of the surface penetrating radar is 64 or more, or the number of measured values of the metal detector is 10 or more.

The motion information is a value indicating a motion state of the controller, where N is an integer, the azimuth change value is a value obtained by subtracting the start azimuth from the end azimuth, and the time taken from the start azimuth to the end azimuth, Motion measurement value = (X coordinate change value of acceleration sensor + Y coordinate change value of acceleration sensor) * Azimuth change value / measurement time Motion information = N motion measurement values / N is calculated.

According to an embodiment of the present invention, it is possible to have a high detection rate for underground buried mines through auditory and visual imaging. It can also have a low false alarm detection performance. In addition, according to the embodiment of the present invention, it is possible to provide the user with the location information (X, Y) and the depth information (Z) to recognize the image information of the ground in real time.

1 is a diagram illustrating a detection direction and a progressing direction in a mine detection operation.
2 is a diagram showing the display of the mine detection state in the form of a bar.
3 is a perspective view of a handheld land mine detection device according to an embodiment of the present invention.
4 is a block diagram of a handheld landmine detection device according to an embodiment of the present invention.
5 is a diagram illustrating a detection signal before filtering.
6 is a diagram illustrating a detection signal after horizontal filtering according to an embodiment of the present invention.
7 is a diagram illustrating a detection signal after changing the scale unit in detail according to an embodiment of the present invention.
8 is a diagram illustrating a detection signal after changing a wide scale unit according to an embodiment of the present invention.
9 is a diagram illustrating a start azimuth and an end azimuth according to an embodiment of the present invention.
10 is a view showing a plastic mine detection image according to an embodiment of the present invention.
11 is a diagram illustrating state information according to an embodiment of the present invention.
12 is a flowchart illustrating a detection image generation process according to an embodiment of the present invention.

Hereinafter, with reference to the accompanying drawings will be described an embodiment of the present invention in more detail. However, the present invention is not limited to the embodiments disclosed below, but will be implemented in various forms, and only the embodiments are intended to complete the disclosure of the present invention and to those skilled in the art to fully understand the scope of the invention. It is provided to inform you. Like numbers refer to like elements in the figures.

3 is a perspective view of a handheld landmine detection device according to an embodiment of the present invention, Figure 4 is a block diagram of a handheld landmine detection device according to an embodiment of the present invention.

The detector 100 detects buried material buried in the ground and generates a detection signal (metal detection signal and surface transmission radar signal). The detection body includes a metal detector 110 (Metal Detector); Ground Penetrating Radar (GPR).

Metal detector 110 (MD) is a device for detecting a metal material contained in a landmine, the metal detector is composed of a pair of detection coils and an electronic circuit for control. When alternating current flows through the coil, a periodic magnetic field is generated in the coil. If there is a metal material under the coil, the eddy current is induced by the changing magnetic field. The induced eddy current causes the metal material to generate a magnetic field, and the metal detector MD detects the change in the magnetic field to detect the metal material. Therefore, the metal detector outputs a magnetic field change value (hereinafter, referred to as a 'metal detection signal') that changes depending on the metal material to the detection signal transceiver.

Ground Penetrating Radar (GPR) is a radar device that includes an antenna and collects a signal reflected by a target due to radio waves radiated through the antenna to detect a corresponding object. In general, radar can detect targets at higher distance resolution if the bandwidth of the radiating signal is increased. Near-field radar emits Ultra Wide Band (UWB) signals because it requires the detection of relatively small targets. In addition, the radio wave has a characteristic of transmitting a specific medium according to the frequency band, and the surface permeation radar (GPR) can detect landmines of nonmetal materials buried in the ground by using such propagation characteristics. Therefore, the radar signal propagates through the ground-transmitting radar (GPR) underground, and receives the reflected signal (hereinafter, referred to as a 'radar detection signal') of the radio signal and outputs it to the detection signal transceiver. Because radar detection signals have the form of reflection signals, they also have depth information embedded with buried items such as mines.

The detection gripping body 200 is a mechanism that combines a detector and a controller so that a person can detect a mine. The detection gripping body 200 includes a detection rod 210, a handle 220, and a controller holder 230. The detection rod 210 is a bar-shaped bar (bar), the detection body 100 is coupled to the lower end of the detection rod. In addition, the handle 220 is protruded on one side of the detection rod, so that a person grasps the handle to easily move the detection rod. In addition, the other side of the detection rod is provided with a controller holder 230 that can be removed from the controller. The controller holder may be attached to the controller holder so that the user may check the mine detection position in real time through the display unit of the controller during the mine detection operation.

The detection signal transceiver 300 generates and transmits a radar signal for detecting the surface transmission radar (GPR) to the detector. Further, detection signals (metal detection signals and radar detection signals) received from the detection object are received and relayed to the controller. The detection signal transceiver is connected to the detector through an RF wired cable to perform wired communication. That is, the metal detection signal receiver and the radar detection signal transceiver transmit and receive signals to and from the detector through an RF wired cable. In addition, the embodiment of the present invention can exchange data between the detection signal transceiver and the detection body using short-range wireless communication, not wired communication. The detection signal transceiver has a backpack structure, where a detection operator wears a shoulder to carry out mine detection.

The detection signal transceiver includes a transceiver wired / wireless communication unit 330, a metal detection signal receiver 310, and a radar detection signal transceiver 320.

The transceiver wired / wireless communication unit 330 performs wired or wireless communication with the controller and exchanges data. The communication method of the transceiver wired and wireless communication unit may be a wired communication method such as Ethernet, Universal Serial Bus, IEEE 1394, serial communication, and parallel communication. Wireless communication schemes such as Infrared Radiation, Bluetooth, Home RF, and Wireless LAN may also be used. Therefore, the transceiver wired / wireless communication unit generates a radar signal by receiving a command to generate a radar signal from the controller, and transmits the metal detection signal and the radar detection signal received from the detector to the controller using wired or wireless communication.

The metal detection signal receiver 310 receives a metal detection signal that is a magnetic field change value received from the metal detector of the detector. To this end, the metal detection signal receiver reads the magnetic field change measured by applying power to the coil of the metal detector according to the command control of the controller.

The radar detection signal transceiver 320 generates a radar signal to be used for detection and transmits the radar signal to the surface transmitting radar, and receives the reflected radar detection signal from the surface transmitting radar. The radar detection signal transceiver generates a radar signal according to command control of the controller and provides the radar signal to the surface transmitting radar.

The controller 400 receives the detection command control from the user and transmits the detection command signal accordingly to the detection signal transceiver. The controller 400 filters the detection signals (metal detection signal and radar detection signal) received from the detection signal transceiver and outputs the detection image. After creation, it is displayed along with the location information and the motion information.

The controller is not limited in its kind. For example, a feature mobile phone, a smart phone, a smart pad, a notebook computer, a web notebook computer, a personal digital assistant (PDA), a portable portable media player (PMP) Multimedia Player). Of course, the terminal to which the present invention is applicable is not limited to the above-described type, and of course, may include all terminals capable of communicating with external devices.

When the controller completes the detection in the detection direction, the controller generates a detection signal from the start point of detection to the end point of detection as a detection image, identifies the position information (X, Y) and motion information when detecting and synchronizes the detection image with the detection image. The detection image, location information (X, Y) and motion information are displayed on one screen so as to be recognized together.

For this purpose, the controller 400 includes a controller wired / wireless communication unit 430, a signal processing unit 410, a position sensing unit 440, a detection image synthesizing unit 420, a display unit 470, an input unit 450, and a storage unit 460. It includes.

The controller wired / wireless communication unit 430 exchanges data by wired / wireless communication with the detection signal transceiver. The controller wired / wireless communication unit is implemented with a communication specification having the same protocol as the transmission / reception wire / wireless communication unit. For example, when the transmission / reception wire / wireless communication unit is implemented by Bluetooth, which is a short-range wireless communication means, the controller wired / wireless communication unit that exchanges data communication with this should also be implemented by Bluetooth communication means. If the transmission / reception wire / wireless communication unit is implemented as a serial communication means, the controller wired / wireless communication unit should also be implemented as a serial communication means.

The signal processor 410 filters the detection signals (metal detection signal and radar detection signal) received from the detection signal transceiver to generate a detection image. That is, when the detection in the detection direction is completed, the detection signal from the detection start point to the detection completion point is filtered to generate a detection image. At this time, the detection signals include depth information, and the detection image also has depth information.

In some cases, the metal detection signal may be a magnetic field change value according to a measurement position, and thus a separate filtering process may not be necessary. However, in the case of the radar detection signal, filtering is necessary because it is difficult to visually determine the buried material when the filtering process is not performed due to the characteristics of the radar signal. For example, when the radar detection signal is displayed without filtering as shown in FIG. 5, it is difficult to determine whether the buried material is buried in the ground. Therefore, various filtering of the radar detection signal can be performed for visual observation. For example, as shown in FIG. 6, a graph illustrating a result of performing horizontal filtering on the radar detection signal may be used to more clearly distinguish the detected object by removing a component that is fixed in the horizontal direction. Alternatively, as a visualization technique, the signal may be converted to a dB scale (0 to 70 dB range) as shown in FIG. 7 to be useful for acquiring information. Alternatively, it may be useful to obtain information on a relatively small target by providing information by converting to a wide dB scale (0 to 1800 dB range) as shown in FIG. 8. In addition, the signal processor may provide various image information on the buried material to the user by using various filtering techniques, image processing, and visualization techniques. For reference, in FIG. 5, the vertical axis represents depth information Z in the GPR image information, and the horizontal line represented by '500' on the vertical axis is the ground, and the depth increases toward the ground toward 50. Indicates. For reference, in the above-described filtering, the horizontal direction refers to the Z direction, that is, the depth direction of the ground if the ground is the XY direction. Therefore, the horizontal filtering refers to the horizontal filtering of the signal, thus, the underground Refers to filtering in the depth direction.

Meanwhile, the signal processor determines that the detection in the detection direction is completed only when the detection image generation condition is satisfied, and generates the detection image. In this case, the detection image generation condition includes the working azimuth angle and the working time in the detection direction. This is the number of processing information, which is the number of measurements of the surface penetrating radar and the number of metal detectors.

The conditions for generating the detection image must satisfy the following three conditions.

Working azimuth (end azimuth at end of detection-start azimuth at start of detection): 10 degrees or more

Work time (end time-reference time): 1 second or more

Number of processing information (Motion 30 or more): 64 or more measured values of surface penetration radar or 10 or more measured values of metal detector

For reference, the numerical value may be changed according to an operating condition and a user's operating habit as an input variable.

If the working azimuth angle is at least 10 degrees, it can be judged that the detection is done in the right and left detection directions, and the working time in the right and left detection directions is more than 1 second to determine that a valid detection has been made. It can be judged that a valid detection has been made after a certain number.

The detection position and motion sensing unit 440 detects azimuth and acceleration to obtain motion information, and also detects longitude and latitude using GPS. The detection position and the motion sensing unit include an azimuth sensor measuring the azimuth in the current direction, an acceleration sensor measuring the acceleration when moving, and a GPS sensor receiving the GPS satellite information and measuring the longitude and latitude. In general, a smartphone is equipped with an azimuth sensor, an acceleration sensor, a GPS sensor, and in particular, a three-axis sensor or a six-axis sensor for the direction and acceleration detection. Therefore, when the controller is implemented as a smartphone, it is possible to use the azimuth sensor, the acceleration sensor, and the GPS sensor built in the smartphone without having to provide a separate sensor. In addition, the location information below refers to information including azimuth measured by azimuth sensor, latitude and longitude measured by GPS sensor.

Azimuth is a measure of the azimuth sensor that measures the azimuth that the controller attached to the mine detection device is currently facing. The azimuth sensor may measure an angle in a 360 ° direction as a predetermined unit (for example, 0.1 ° unit) around the reference direction. For example, assuming that the reference direction is 0 ° and the azimuth angle of the detector is 0 °, the detection direction is detected as an azimuth angle of 0 ° to 360 ° based on the reference direction. Therefore, the azimuth sensor mounted on the controller or mounted on the detector can measure the azimuth angle according to the direction of the mine detector over the entire 360 ° direction.

Acceleration is a measurement of an acceleration sensor that measures the speed at which a controller attached to a mine detection device moves. The acceleration sensor is a sensor for measuring the acceleration or impact strength of a moving object. The acceleration sensor processes an output signal and measures dynamic forces such as acceleration, vibration, and impact of the object.

The motion information is a value representing the motion state of the controller and may be calculated using the azimuth and acceleration. When the controller has a detection direction as shown in Fig. 9, the motion between the start azimuth and the end azimuth in the detection direction is expressed as motion information as a speed value.

The controller is integrated by the detector and the detection rod, so the motion information of the controller can be referred to as the motion information of the detector. Detecting the area to be detected to the left and right of the detection direction may be generalized. In addition, when scanning the action radius from left to right and right to left, the acceleration decreases when the direction is changed and there is no movement at the moment. Therefore, when using the motion sensor information, the motion information is left-> right or right-> left. It is possible to obtain the moved and redirected information.

In order to increase the accuracy of the motion information, the average value of the recent N motion measurements is used as the motion information.

N is an integer, and the azimuth change value is a value obtained by subtracting the start azimuth from the end azimuth and the time taken from the start azimuth to the end azimuth.

[Equation 1]

Motion measurement value = (X coordinate change value of acceleration sensor + Y coordinate change value of acceleration sensor) * Azimuth change value / Measurement time

Motion information = last N motion measurements / N

For reference, the N calculates an average value using five or more recent motion measurements, and the measurement period is preferably 50 ms or more. The recent N motion measurements are the most recent motion measurements closest to the current time, including the current time.

The detection image synchronizer 420 synchronizes the detection image (the metal detection image and the radar detection image) generated by the signal processor with the position information (X, Y, ie, latitude and longitude) and motion information. That is, the position information and the motion information are synchronized with the detection image in the detection azimuth in the detection direction.

When the mine detector is used for mine detection, the mine detector detects the left and right detection directions as shown in FIG. 9 and proceeds to the next progress direction after the detection of the left and right detection directions is completed. The detection image synchronizing unit synchronizes the position information and the motion information when the detection is performed to the detection image generated based on the left and right detection start azimuth and end azimuth of the mine detection operation.

The input unit 450 operates as numeric keys for inputting numeric and character information and function keys for setting various functions. The function key includes a speaker on / off button and a volume control button. The input unit may have various hardware structures such as a touch pad.

The storage unit 460 is a storage unit that stores the detection image. The detection image stored in the storage unit may be used for mine detection analysis. The storage unit is a hard disk, flash memory, compact flash card, SD card (secure digital card), SM card (smart media card), MMC card (multi-media card) or memory. As a module capable of inputting / outputting information such as a stick, it may be provided inside the controller or may be provided in a separate external device.

The display unit 470 is a liquid crystal display device such as an LCD and an LED. The display unit 470 displays a detection image output from the image synthesizer as a single screen and also displays a user data (including a touch screen). The detection image is a surface transmission radar image (①), a metal detection image (②), longitude and latitude (③), azimuth angle (④), motion information (⑤), as shown in FIG. Operation status (⑥) is displayed on one screen. The horizontal axis corresponds to the detection azimuth angle. In addition, the vertical axis represents the detected depth information for each detection azimuth angle. For example, in the case of the surface transmitting radar signal, the depth information is also included in addition to the detection signal. As a result, the surface transmitting radar image ① also shows the depth information.

The above-mentioned surface permeation radar image (①) shows the surface permeation radar image in the whole detection direction of FIG. 9 as one screen, and the metal detection image (②) shows the metal detection image in the whole detection direction as one screen. It is shown. Longitude and latitude (③) represents the position information of the point where the current mine detector (actually the controller) is located, azimuth (④) represents the azimuth of 1/2 point of the start and end azimuth as shown in FIG. The motion information 5 represents motion information at the time of work in the start azimuth and the end azimuth. In addition, the operation state (⑥) represents the state of the detection image, and as shown in FIG. 11, the states of 'collect waiting', 'collecting', 'drawing success', and 'drawing failure' are represented by icons.

In addition, the display unit may analyze the pattern of the image of the existing landmines and fuse them with the metal detector information to compare with the feature points of the currently acquired image to display a warning to the user when the possibility of landmines is high.

Meanwhile, although the detection signal transceiver has been described as a separate device, the controller can be implemented to perform all processing by adding the function of the detection signal transceiver to the controller. In this case, a separate detection signal transceiver would not be necessary.

12 is a flowchart illustrating a detection image generation process according to an embodiment of the present invention.

It has a process of measuring the detection signal for the buried ground material (S1201). The detection signal is a metal detection signal and a surface transmission radar signal value respectively measured through a metal detector (MD) and a ground penetration radar (GPR).

Thereafter, it is determined whether the detection image generation condition is satisfied (S1202).

The detection image generating condition refers to the number of processing information which is the number of working azimuths, working hours, measured values of the surface penetrating radar, and measured values of the metal detector in the detection direction. -Meets all conditions where the starting azimuth angle is 10 degrees or more, the working time (end time-reference time) is 1 second or more, the number of measurement values of the surface penetrating radar is 64 or more, or the number of metal detectors is 10 or more Say one condition. The above values are input variables and may be changed according to operating conditions and user's operating habits.

If the detection image generation condition is satisfied, the filtering process is performed on the measured signal (S1204). The filtering may be performed by performing horizontal filtering to remove components fixed in the horizontal direction as shown in FIG. 6, or performing filtering to convert the depth direction in dB units as shown in FIGS. 7 and 8. do. For reference, the horizontal direction in the signal refers to the Z direction, that is, the depth direction in the ground if the ground is the XY direction. Therefore, the horizontal filtering refers to the horizontal filtering of the signal, and thus, in the depth direction of the ground. Says filtering.

Thereafter, a detection image generation process is performed (S1204).

The detection signal from the smallest azimuth to the largest azimuth is extracted and generated as a detection image. That is, the detection signals are measured from the azimuth of the start point of the detection direction to the azimuth of the end point, and are generated as a detection image by putting them in one frame. In case of detection image such as surface penetration radar image, depth information is included together.

When the detection signal is measured, a longitude, latitude, and motion information of a user is detected. The motion information is a value indicating a motion state of the controller, where N is an integer, the azimuth change value is a value obtained by subtracting the start azimuth from the end azimuth, and the time taken from the start azimuth to the end azimuth, Motion measurement value = (X coordinate change value of acceleration sensor + Y coordinate change value of acceleration sensor) * Azimuth change value / measurement time, and motion information = calculated by N motion measurement values / N.

 Thereafter, the process includes displaying the detected image, depth information, location information, motion information, and azimuth (S1206).

Although the invention has been described with reference to the accompanying drawings and the preferred embodiments described above, the invention is not limited thereto, but is defined by the claims that follow. Accordingly, one of ordinary skill in the art may variously modify and modify the present invention without departing from the spirit of the following claims.

100: detector 200: detection phage
300: detection signal transceiver 400: controller

Claims (7)

Measuring a detection signal for underground burial;
Determining whether a detection image generation condition is satisfied;
Generating detection images by extracting detection signals measured from a start azimuth at a start point of a detection direction to an end azimuth at an end point when a detection image generation condition is satisfied;
Identifying position information and motion information when the detection signal is measured;
Displaying the detected image, location information, depth information of a detection signal, motion information, and azimuth so as to be recognized together;
A mine detection image generation method of a handheld mine detector comprising a. The method of claim 1, wherein when extracting the detection signal, the detection signal is filtered and then extracted. The method of claim 2, wherein the filtering is horizontal filtering to remove components fixedly displayed in the horizontal direction. The method according to claim 1, wherein the detection signal,
A method of generating a mine detection image of a handheld land mine detector comprising a metal detection signal measured from a metal detector and a radar detection signal measured from a surface transmitting radar. The method of claim 4,
The detection image generation conditions include a work azimuth (end azimuth-start azimuth), a work time (end time-reference time) and a processing information number in a detection direction, and the processing information number is a measurement value of a surface transmitting radar and a metal detector. A method of generating a mine detection image of a handheld mine detector, which is the number of measured values of. The method according to claim 5, wherein the detection image generating condition,
The hand-held mine detector, which meets all conditions of working azimuth of 10 degrees or more, working time of 1 second or more, 64 or more measurements on the surface penetrating radar, or 10 or more measurements on the metal detector. How to generate mine detection image. The method according to claim 1, wherein the hand-held mine detector includes a controller, wherein the motion information is a value representing the motion state of the controller, N is an integer, the azimuth change value is the start azimuth angle of the detection start point at the end azimuth angle of the detection end point Subtracting the value, the time taken from the start azimuth to the end azimuth,
Motion measurement value = (X coordinate change value of acceleration sensor + Y coordinate change value of acceleration sensor) * Azimuth change value / measurement time,
Motion information = N motion measurements / N
A mine detection image generation method of a handheld land mine detector calculated by.

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