Autonomous type mine detection robot system and mine detection method

Abstract

The invention discloses an autonomous type mine detection robot system and a mine detection method. The autonomous type mine detection robot system comprises a vehicle body. A moving chassis system 2, a mechanical arm detection system 3 and a coating system 4 are arranged on the vehicle body. The moving chassis system 2 is connected with the mechanical arm detection system 3 and the coating system 4. The moving chassis system 2 comprises a moving platform system 5, a power system 6 and a control system 7. The mechanical arm detection system 3 comprises a mechanical arm movement system 8 and a detection system 9. The power system 6 is installed at the back end of the movement platform system 5, provides the power source for the whole device and is used as a counter weight. The control system 7 is connected with the power system 6 and the detection system 9. The detection system 9 is arranged at the front end of the mechanical arm movement system 8. The autonomous type mine detection robot system can intelligently, accurately and efficiently detect and mark mine points of a mine area in a non-destructive manner, and therefore the safe and reliable guarantee is provided for follow-up mine removal. The autonomous type mine detection robot system conducts mine detection and marking and is long in service life.

Description

technical field [0001] The invention relates to an autonomous mine detection robot system and a mine detection method, belonging to the technical field of mine detection. Background technique [0002] Landmine is a kind of explosive weapon with high lethality, and the parties involved in the war generally use a large number of landmines to reduce the enemy's military strength. However, due to the indiscriminate distribution of landmines, large areas of land in the belligerent countries were barren and people were displaced, which seriously affected economic construction and people's lives. Therefore, mine detection technology has become an urgent technology for these belligerent countries. [0003] The patent application number 201620688512.6 discloses a self-balancing mine detection vehicle adapted to multiple sites, which can complete mine detection work in various situations in various sites, ensuring the safety of mine detection work of relevant personnel. But this sche...

AI Technical Summary

Problems solved by technology

However, the program still has the following problems: it only discloses that if a danger is found, it will stop immediately and an alarm will be issued, and it does not explain how to deal with it after the mine is detected, so it cannot be quickly dismantled according to the mine detection situation.

The patent application with the application number 02100602.4 discloses a carpet-type rapid mine detection vehicle, which is directly detonated after detecting a mine, which is very destructive to the mine detection vehicle and directly leads to a significant reduction in the life of the mine detection vehicle; in addition, The mine detection vehicle's ability to overcome obstacles is average, resulting in a limited range of use

In addition, the above scheme also has the following problems: 1. The cost is high; 2. The control method of the detection equipment is not flexible enough, and the detection area of ​​the detection equipment depends entirely on the moving speed of the vehicle body, which causes the detection range of the mine detection vehicle to be limited. limited, and the mine detection efficiency is low

[0004] In addition, the latitude and longitude coordinates, altitude and heading angle of the robot can be obtained by using the differential GPS system, but the GPS has the following problems: 1. The update rate of the GPS system data is not high, generally only up to 5hz, that is, output data once every 200ms, but The robot system requires a higher data update rate; 2. When the robot enters certain areas, such as between tunnels and tall buildings, it may temporarily lose the GPS signal, but it still needs to continuously obtain the pose

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