Cantilevered manipulator for autonomous non-contact scanning of natural surfaces for the deployment of landmine detectors
US6333631A · kind A · utility
Assignee
Inventors
Key dates
| Filing date | Mar 8, 1999 |
| Grant date | Dec 25, 2001 |
| Priority date | — |
| Expiry date | Mar 8, 2019 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG01V3/15
- WIPO fieldMeasurement
- WIPO sectorInstruments
Abstract
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.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.