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1. 发明授权

US06333631B1 Cantilevered manipulator for autonomous non-contact scanning of natural surfaces for the deployment of landmine detectors 有权
标题翻译：用于自然非接触扫描自然表面以用于部署地雷探测器的悬臂操纵器
公开(公告)号：US06333631B1
公开(公告)日：2001-12-25
申请号：US09263060
申请日：1999-03-08
申请人： Yogadish Das , Kevin Russell , Nenad Kircanski , Andrew Goldenberg
发明人： Yogadish Das , Kevin Russell , Nenad Kircanski , Andrew Goldenberg
IPC分类号： G01V308
CPC分类号： F41H11/12 , G01V3/15
摘要： 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.
摘要翻译：提供了用于在可变地形上进行详细的地雷检测的装置和方法。铰接式机器人扫描器包括安装到诸如机器人的任何车辆的铰接臂。安装在手臂末端的一个或多个探雷器。手臂自动运行，可以重复地扫射地雷探测器，从而在地形上前后移动。车辆可以自主操作或远程操作。相对于已知的坐标系来监测和知道矿山检测器的位置。传感器测量其相对于地面和相对于矿井检测器已知坐标的位置。控制器确定地面和矿山检测器的相对位置，并动态调整矿山检测器的位置，以保持在可变地形上的恒定分离，而无需接触地面或物体。

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