초록 ▼

Apparatus and method is provided for performing detailed mine detection over variable terrain. An articulated robotic scanner comprises an articulated arm mounted to any vehicle such as a robot. One or more mine detectors mounted at the end of the arm. The arm operates autonomously to repetitively s

Apparatus and method is provided for performing detailed mine detection over variable terrain. An articulated robotic scanner comprises an articulated arm mounted to any vehicle such as a robot. One or more mine detectors mounted at the end of the arm. The arm operates autonomously to repetitively sweep the mine detector in ever forward advancing side-to-side arcs over the terrain. The vehicle can operate autonomously or be tele-operated. The position of the mine detector is monitored and known with respect to a known coordinate system. Sensors measure their position relative to the ground and relative to known co-ordinates of the mine detector. A controller determines the relative position of the ground and the mine detector and dynamically adjusts the mine detector's position to maintain a constant separation over variable terrain without ever contacting the ground or objects thereon.

대표청구항 ▼

[ The embodiments of the invention in which an exclusive property or privelege is claimed are as follows:] [1.]1. A mine-detecting apparatus supported from a vehicle which traverses the ground comprising:(a) first support member having a proximal end pivotally connected to the vehicle and a distal e

[ The embodiments of the invention in which an exclusive property or privelege is claimed are as follows:] [1.]1. A mine-detecting apparatus supported from a vehicle which traverses the ground comprising:(a) first support member having a proximal end pivotally connected to the vehicle and a distal end supporting a mine detector which is moved over the ground;(b) a first robotic actuator connected to the first support member and having at least two rotational axes for enabling up-and-down and side-to-side panning movement of the mine detector by pivoting the first support member;(c) one or more ground sensors for dynamically determining the spacing of the mine detector from the ground as it moves over the ground;(d) a second support member having a proximal end pivotally supported by the vehicle and a distal end for supporting the sensors;(e) a second robotic actuator connected to the second support member and having at least one rotational axis for enabling positioning of the sensors relative to the moving mine detector by pivoting the second support member; and(f) a controller connected to the first robotic actuator for instructing the first robotic actuator to adjust the first support member so as to dynamically space the mine detector an optimal spacing from the ground as it moves over the ground and connected to the second robotic actuator for instructing the second robotic actuator to pivot the second support arm to position the sensors vertically with respect the ground in advance of the mine detector.