Mine detection system using mobile robot equipped with commercial mine detector

Abstract

The present invention relates to a mine detection system using a mobile robot equipped with a commercial mine detector, and more specifically, to a mine detection system using a mobile robot equipped with a commercial mine detector that includes a manipulator unit connected to the mobile robot and a mine detection interface device connected to the manipulator unit and equipped with a commercial mine detector, thereby supporting the connection and use of various commercial mine detectors to the mobile robot regardless of product type, and supporting the provision of mine detection results from the commercial mine detector to a management server. The present invention supports the application of various commercial mine detectors, ranging from low-cost mine detectors based on acoustic signals to high-end mine detectors equipped with visual displays, to mobile robots through a mine detection interface device. This allows for the effective utilization of mine detectors based on acoustic signals that are currently widely distributed in the military, thereby significantly improving the versatility and practicality of the mine detection system. Furthermore, by implementing functions for identifying product types and determining mine detection status through pattern analysis of acoustic signals, it enables the automation of acoustic-based mine detection, which previously relied on the empirical judgment of mine detection personnel, thereby ensuring the accuracy and objectivity of mine detection.

Description

Technology Field

[0001] The present invention relates to a mine detection system using a mobile robot equipped with a commercial mine detector, and more specifically, to a mine detection system using a mobile robot equipped with a commercial mine detector that includes a manipulator unit connected to the mobile robot and a mine detection interface device connected to the manipulator unit and equipped with a commercial mine detector, thereby supporting the connection and use of various commercial mine detectors to the mobile robot regardless of product type, and supporting the provision of mine detection results from the commercial mine detector to a management server. Background Technology

[0002] Currently, various mine detectors are being supplied to the military and are being actively used for mine detection. By removing mines through detection using these detectors, the safety of soldiers can be ensured, and accidents caused by lost mines can be prevented in advance.

[0003] Generally, currently used mine detectors are configured to be worn on the user's arm, and when the detector is pointed at a location suspected of having buried mines, the detector detects mines through a sensor unit equipped with the detector and displays the mine detection status upon detection.

[0004] At this time, while some of the aforementioned mine detectors display the mine detection status via a visual display, many low-cost models without visual displays are deployed in the military. These low-cost mine detectors primarily use acoustic signals to indicate the mine detection status, and mine detection personnel determine the expected mine area by empirically analyzing the acoustic signals after wearing headphones.

[0005] However, since mine detectors worn on the user's body to perform manual mine detection rely on the user's manual operation, a problem may arise where the user is put at risk if the user fails to properly detect a mine during the mine detection process using the detector.

[0006] Accordingly, as the development of advanced mobile robots capable of replacing humans has recently improved, cases of developing mine detection robots by applying these mobile robots to mine detection are emerging.

[0007] These mine detection robots are gaining attention due to the advantage of being able to easily perform mine detection without concerns about user accidents caused by mines, and accordingly, active research is being conducted to improve the mine detection efficiency of these robots.

[0008] In addition, while mine detection robots of the past used tracks as a means of locomotion, they are recently being replaced by quadruped robots due to poor accessibility to rough terrain, and through these quadruped robots, they are reaching a level where they can easily explore rough terrain as well.

[0009] However, existing mine detection robots developed until recently consist of a mobile unit responsible for movement and a mine detector responsible for detection. Since these components are mostly integrated, even if functional improvements are made to either part and a new mobile unit or mine detector is developed, it is difficult to apply them to the existing integrated mine detection robot, resulting in the problem of having to replace the entire robot.

[0010] For example, most mine detection robots are specially manufactured for military use and supplied to the military, so they are mostly integrated and closed in configuration. As a result, even if a mine detector or mobile unit with improved performance is developed compared to the mine detector or mobile unit configured in the mine detection robot supplied to the military, there is a problem in that it cannot be applied to the existing mine detection robot. Consequently, to improve the performance of the mine detection robot, the entire mine detection robot must be replaced, which leads to the problem of excessive costs.

[0011] In addition, when a commercial mine detector is mounted on a mobile robot, the load applied to the robot's manipulator varies depending on the weight of the mine detector; however, if the load exceeds the allowable torque that each joint of the manipulator can withstand, there is a problem that damage or malfunction of the manipulator may occur. Prior art literature

[0012] Korean Registered Patent No. 10-1362233 The problem to be solved

[0013] The purpose of the present invention is to provide a mine detection system that ensures compatibility with various mine detectors and minimizes the cost required for performance improvement by supporting the connection and use of various mine detectors with different specifications to a mobile robot, thereby facilitating the easy application of a new mine detector with improved performance to the mobile robot.

[0014] In addition, the present invention aims to ensure universality for various types of commercial mine detectors by supporting the accurate determination of whether a mine has been detected by analyzing the acoustic signal, even in low-cost mine detectors that output the mine detection status using an acoustic signal without a visual display.

[0015] In addition, the present invention aims to support the display of the mine detection location upon detection of a mine by a mine detector and to enable the transmission of information regarding the detected mine location to a server, thereby enhancing the convenience and efficiency of managing multiple mine detection robots and mine management.

[0016] Furthermore, the present invention aims to support stable mine detection operations and reduce joint fatigue of the manipulator unit by measuring the torque load per joint of the manipulator unit connected to the mobile robot when the mine detector is mounted, verifying the weight distribution state of the mine detector, and adjusting the operation method of the manipulator unit based on the measured torque load. means of solving the problem

[0017] A mine detection system using a mobile robot equipped with a commercial mine detector according to an embodiment of the present invention comprises a manipulator part having one side coupled to the mobile robot and a mine detection interface device coupled to the other side of the manipulator part, wherein a mine detector is detachably mounted thereon.

[0018] The above-described interface device for mine detection may include a main body to which the mine detector is detachably coupled, an acoustic recognition unit configured in the main body to recognize or receive an acoustic signal output from a notification unit of the mine detector that outputs a mine detection status as an acoustic signal, and a detection control unit that receives the acoustic signal output from the notification unit from the acoustic recognition unit, identifies a product type of the mine detector corresponding to a pattern of the acoustic signal through analysis of the acoustic signal, and provides pre-stored specification information regarding the product type to the mobile robot so that the mobile robot operates according to the specification information.

[0019] As an example related to the present invention, the manipulator part may be characterized by including a multi-joint manipulator configured by sequentially connecting a base part rotatably installed on the upper part of the mobile robot and a plurality of link members, wherein one side is coupled to the base part and the other side is coupled to the mine detection interface device.

[0020] As an example related to the present invention, the manipulator part includes a plurality of joint parts connecting a plurality of link members constituting the multi-joint manipulator, and each of the plurality of joint parts is configured with a motor part for driving the rotation of the joint part.

[0021] The detection control unit may be characterized by pre-storing allowable torque information for allowable torque for each of the plurality of joints, generating torque load information for each joint by measuring the torque load applied to each of the plurality of joints while controlling the manipulator unit to perform a test operation after mounting the mine detector on the mine detection interface device, comparing the torque load information for each joint with the allowable torque information, and determining that the mine detector cannot be mounted if it is impossible to control the torque within the allowable torque even by adjusting the operating speed or changing the operating posture of the manipulator unit, and if the mine detector can be mounted, controlling the manipulator unit to perform a mine detection operation while monitoring the torque load for each joint, and if a joint exceeding the allowable torque is detected, adjusting the operating method of the manipulator unit to lower the operating speed of the manipulator unit or change to a posture that does not exceed the allowable torque.

[0022] As an example related to the present invention, the mine detector may be characterized by comprising: a body portion; an armrest portion configured on the side portion of the body portion and into which a user’s arm is inserted and supported; a handle portion configured on the side portion of the body portion and configured to be grasped by a user’s hand; a rod portion coupled to the lower portion of the body portion; a detection head portion rotatably coupled to one end of the rod portion to detect a mine; and a notification portion configured on a part of the body portion to output a mine detection status as an acoustic signal.

[0023] As an example related to the present invention, the mine detection interface device further comprises a guide line portion extending from the main body portion along the rod portion of the mine detector and a head fixing portion configured at the end of the guide line portion to fix the detection head portion of the mine detector, and the main body portion may be characterized by including a coupling portion fixed by being coupled to the armrest portion of the mine detector, a support portion for fixing and supporting the coupling portion and the guide line portion, a connection portion configured on the upper part of the support portion to be connected to the other side of the manipulator portion, and a fastening portion fastened to the handle portion of the mine detector.

[0024] As an example related to the present invention, the support member may further include a distance adjustment member for adjusting the separation distance between the coupling member and the guide line member by taking into account the thickness of the body member of the mine detector.

[0025] As an example related to the present invention, the guideline portion may be configured in the form of a multi-stage rod with adjustable length, and may be characterized in that its length is adjusted to have a length corresponding to the length of the rod portion of the mine detector.

[0026] As an example related to the present invention, the detection control unit may be characterized by comprising: a communication module for communication with the mobile robot; a storage module in which acoustic signal pattern information and specification information corresponding to a plurality of different mine detectors are stored in advance; and a control module that generates acoustic pattern information for product type identification by extracting the pattern of the acoustic signal through analysis of the acoustic signal received from the acoustic recognition unit via the communication module, searches the storage module based on the acoustic pattern information for product type identification to identify the product type of the mine detector corresponding to the acoustic pattern information for product type identification, extracts specification information corresponding to the identified product type from the storage module, and transmits it to the mobile robot via the communication module.

[0027] As an example related to the present invention, the detection control unit may be characterized by including a communication module for communication with the mobile robot, a storage module in which specification information for a plurality of different mine detectors and corresponding product types is stored in advance, and a deep learning-based analysis model trained to analyze the pattern of an acoustic signal and output a product type of mine detector corresponding to the analyzed pattern, wherein the acoustic signal received from the acoustic recognition unit is input into the analysis model to identify the product type corresponding to the mine detector output through the analysis model, and the specification information corresponding to the identified product type is extracted from the storage module and then transmitted to the mobile robot through the communication module.

[0028] As an example related to the present invention, the detection control unit further includes a position measurement module for measuring the current position, and the storage module stores mine detection standard information regarding mine detection standards for each product type; the control module identifies the product type of the mine detector through acoustic signal analysis of the acoustic signal when operating in identification mode, transmits specification information corresponding to the identified product type to the mobile robot, generates and stores detector connection information including the identified product type and specification information, switches from the identification mode to the mine detection mode when generating the detector connection information, receives and analyzes the acoustic signal output from the notification unit, which outputs an acoustic signal indicating the mine detection status according to the mine detection of the mine detector in the mine detection mode, generates detection status information regarding the mine detection status, determines whether a mine has been detected by comparing the detection status information with pre-stored mine detection standard information, and if it is determined that a mine has been detected, obtains position information through the position measurement module, generates detection result information regarding mine detection including the position information, and transmits it to a pre-configured management server. there is. Effects of the invention

[0029] The present invention supports the application of various commercial mine detectors, ranging from low-cost mine detectors based on acoustic signals to high-end mine detectors equipped with visual displays, to mobile robots through a mine detection interface device. This allows for the effective utilization of mine detectors based on acoustic signals that are currently widely distributed in the military, thereby significantly improving the versatility and practicality of the mine detection system. Furthermore, by implementing functions for identifying product types and determining mine detection status through pattern analysis of acoustic signals, it enables the automation of acoustic-based mine detection, which previously relied on the empirical judgment of mine detection personnel, thereby ensuring the accuracy and objectivity of mine detection.

[0030] In addition, the present invention provides a function to monitor the torque load for each joint of the manipulator in real time and automatically adjust the operating method, thereby preventing overload due to the weight of the mine detector and the working environment and minimizing joint fatigue, which enables stable and continuous mine detection work. Furthermore, by determining in advance whether mounting is possible through a test operation when mounting the mine detector, it has the effect of preventing equipment damage caused by the use of an unsuitable mine detector and securing optimal working conditions.

[0031] In addition, the present invention ensures compatibility between a mine detector and a mobile robot through a mine detection interface device, and allows for easy replacement with a new mine detector or mobile robot with improved performance, thereby minimizing the cost required for performance improvement. Furthermore, by providing a function to physically mark the location of a mine upon discovery and transmit related information to a server, it significantly enhances the convenience and efficiency of operating multiple mine detection robots and managing detected mines, thereby promoting information sharing and collaboration in large-scale mine removal operations and ultimately increasing the safety and efficiency of mine removal operations. Brief explanation of the drawing

[0032] FIG. 1 is a configuration diagram of a mine detection robot with a mine detection system using a mobile robot equipped with a commercial mine detector according to an embodiment of the present invention. FIG. 2 is an example diagram of a mine detector applied to a mine detection system using a mobile robot equipped with a commercial mine detector according to an embodiment of the present invention. FIG. 3 is an exemplary diagram of a manipulator unit and a mobile robot constituting a mine detection system using a mobile robot to which a commercial mine detector is applied according to an embodiment of the present invention. FIG. 4 is an exemplary diagram of a mine detection interface device constituting a mine detection system using a mobile robot equipped with a commercial mine detector according to an embodiment of the present invention. FIG. 5 is a configuration diagram of a detection control unit constituting a mine detection system using a mobile robot equipped with a commercial mine detector according to an embodiment of the present invention. FIG. 6 is an example diagram of the operation of a detection control unit constituting a mine detection system using a mobile robot equipped with a commercial mine detector according to an embodiment of the present invention. FIG. 7 is an example diagram of the operation of a detection control unit constituting a mine detection system using a mobile robot equipped with a commercial mine detector according to another embodiment of the present invention. Figure 8 is an example of a user interface applied to a mine detector. FIG. 9 is a flowchart of the operation sequence of a mine detection system using a mobile robot equipped with a commercial mine detector according to an embodiment of the present invention. Specific details for implementing the invention

[0033] Detailed embodiments of the present invention will be described below with reference to the drawings.

[0034] FIG. 1 is a configuration diagram of a mine detection robot to which a mine detection system (hereinafter, mine detection system) using a mobile robot to which a commercial mine detector according to an embodiment of the present invention is applied is applied; FIG. 2 is an example diagram of a mine detector applied to the mine detection system according to an embodiment of the present invention; FIG. 3 is an example diagram of a manipulator unit and a mobile robot constituting the mine detection system according to an embodiment of the present invention; and FIG. 4 is an example diagram of a mine detection interface device constituting the mine detection system according to an embodiment of the present invention.

[0035] As described above, a mine detection system according to an embodiment of the present invention may be configured to include a manipulator part (200) having one side coupled to a mobile robot (10) (or the upper part of the mobile robot (10) or the upper part of the body of the mobile robot (10)), and a mine detection interface device (300) having one side coupled to the other side of the manipulator part (200) and having a mine detector (100) detachably mounted thereon.

[0036] At this time, the mobile robot (10), the manipulator unit (200), the mine detection interface device (300), and the mine detector (100) may be configured as components constituting a mine detection robot.

[0037] In addition, the above-mentioned mobile robot (10) can be composed of various types of robots, such as bipedal robots, quadrupedal robots, etc.

[0038] In addition, the above mine detector (100) may be a commercial mine detector (100) of various product types.

[0039] In particular, the present invention is configured to support a wide range of commercial mine detectors, from low-cost mine detectors deployed in the military that output mine detection status via acoustic signals without a visual display, to high-end mine detectors that include a display.

[0040] For example, many mine detectors currently supplied to the military are operated in a manner where mine detectors wear headphones and empirically identify changes in acoustic signals to determine the expected mine area, and the present invention is configured to effectively support such acoustic signal-based mine detectors.

[0041] First, the manipulator part (200) may be configured to include a base part (210) (or rotating part) rotatably coupled (installed) to the upper part of the mobile robot (10) (or the upper part of the robot body part constituting the mobile robot (10)), and a multi-joint manipulator (220) having one side coupled (connected) to the base part (210) and a plurality of link members sequentially connected.

[0042] At this time, the above-mentioned multi-joint manipulator may be a multi-joint arm (or multi-joint arm part).

[0043] At this time, the base part (210) may be configured to be capable of horizontal rotation relative to the front of the mobile robot (10).

[0044] In addition, the mine detection interface device (300) can be coupled to the other side of the multi-joint manipulator (220).

[0045] Additionally, the multi-joint manipulator (220) may be configured to include a plurality of joint parts (221, 222, 223) to enable rotational movement (or pivotal movement) of a plurality of link members constituting the multi-joint manipulator (220) and a mine detection interface device (300).

[0046] For example, a first joint part (221) for connecting the link member and the base part (210) of the multi-joint manipulator (220) may be formed, and a second joint part (222) for connecting the link member and the mine detection interface device (300) of the other side of the multi-joint manipulator (220) may be formed.

[0047] Accordingly, the manipulator part (200) may be configured such that the base part (210) is coupled to the first joint part (221) configured on one side of the multi-joint manipulator (220) to enable rotational movement of the one-side link member relative to the base part (210), and the mine detection interface device (300) is coupled to the second joint part (222) configured on the other side of the multi-joint manipulator (220) to enable relative rotational movement between the other-side link member and the mine detection interface device (300).

[0048] Additionally, the multi-joint manipulator (220) includes one or more intermediate joint portions (223) provided between each of the multiple link members, and these intermediate joint portions (223) may be configured to enable relative rotational movement (or pivotal movement) between adjacent link members.

[0049] In addition, a motor unit for rotating the joint unit may be configured in each of the plurality of joint units (221, 222, 223), and the motor unit may be configured to communicate with the control module (353) or communication module (351) of the detection control unit (350) described below.

[0050] In particular, the motor unit configured in each joint unit (221, 222, 223) may be configured to include a torque sensor or a function to estimate torque by measuring motor current, so as to be able to measure the torque load applied to each joint unit in real time, and may be configured to transmit torque load information regarding the measured torque load to the detection control unit (350) so that the detection control unit (350) can control the operation of the manipulator unit (200) based on the torque load information.

[0051] Through this structure, the manipulator part (200) is capable of flexible movement and various posture adjustments from the base part (210) to the mine detection interface device (300), thereby supporting effective mine detection work by the mine detector (100) mounted on the mine detection interface device (300).

[0052] Meanwhile, the mine detector (100) may be configured to include a body part (110), an armrest part (120) into which a user's arm is inserted and supported, a handle part (130) configured to be held by the user's hand, a rod part (140) coupled to the lower part of the body part (110), and a detection head part (150) rotatably coupled to one end of the rod part (140) to detect mines.

[0053] At this time, the armrest portion (120) and the handle portion (130) may be configured on a side portion (one side portion) of the body portion (110), and may also be configured integrally with the body portion (110) so as to be included in the body portion (110).

[0054] Additionally, the above-mentioned load portion (140) may be composed of a multi-stage load with adjustable length.

[0055] Additionally, a detection unit (151) (or sensor unit) for detecting (or sensing) a mine on the ground may be configured in the detection head unit (150) (or inside the detection head unit (150)), and an information processing module (111) that processes a detection signal provided by the detection unit (151) to generate detection information may be configured in the body unit (110).

[0056] At this time, the detection unit (151) may be configured to include a Ground Penetrating Radar (GPR) module that detects landmines using radar, a Metal Detector (MD) module that includes a metal detection sensor that detects the metallic components of the landmine, etc.

[0057] Additionally, the information processing module (111) can receive the detection signal (or sensing signal or detection sensing signal) from the detection unit (151) and generate the detection information based on the detection signal.

[0058] Additionally, a notification unit (160) for outputting (or displaying) a mine detection status according to the detection information or receiving user input may be configured in a part of the body unit (110).

[0059] At this time, the notification unit (160) may be configured to include an acoustic output unit that outputs the mine detection status as an acoustic signal. In particular, many commercial mine detectors output an acoustic signal through an output terminal for headphone connection (headphone jack) or a speaker, and are configured so that a mine detector determines the presence of a mine by empirically identifying changes in the frequency, intensity, and pattern of such acoustic signals.

[0060] Accordingly, the above-mentioned sound output unit may be equipped with the output terminal or speaker to output the sound signal to headphones connected to the output terminal or to a speaker equipped in the sound output unit.

[0061] Additionally, the notification unit (160) may further include a user interface (UI) comprising at least one of one or more physical buttons and a display. In the case of some advanced mine detectors, a user interface is provided that displays the mine detection status through a visual display along with an acoustic signal.

[0062] In this case, if the notification unit (160) is configured as a display unit, the user interface may be GUI (Graphic User Interface) information displayed on the display unit.

[0063] Additionally, the user interface may be information included in the detection information, and accordingly, when the detection information is output (displayed) through the notification unit (160), the user interface displaying the mine detection status according to the detection information may also be output (displayed) through the notification unit (160).

[0064] Additionally, the user interface configured in the notification unit (160) may be configured as a touch-based touch screen that displays the user interface.

[0065] Accordingly, the information processing module (111) can output the detection information in at least one of text, image, video, and sound through the notification unit (160) (or user interface).

[0066] Additionally, the notification part (160) may be configured in the body part (110) or extended to the handle part (130).

[0067] According to the configuration of the mine detector (100) described above, the mine detection interface device (300) may be configured such that the mine detector (100) can be mounted on the mine detection interface device (300), and the interaction between the mine detector (100) and the mobile robot (10) can be interfaced so that the mobile robot (10) can operate according to the specifications of the mine detector (100), and this will be explained in detail.

[0068] First, the above-described mine detection interface device (300) may be configured to include a main body (310) to which the mine detector (100) is detachably coupled (mounted), a guide line section (320) configured to extend from or be coupled to the main body (310) and to face the rod section (140) along the rod section (140) of the mine detector (100) when the mine detector (100) is coupled (mounted), a head fixing section (330) configured at the end (one end) of the guide line section (320) to fix the detection head section (150) of the mine detector (100), and an acoustic recognition section (360) configured in the main body (310) to recognize an acoustic signal output from the notification section (160) or receive from the notification section (160).

[0069] At this time, the sound recognition unit (360) may be configured to include a microphone (mic) unit for receiving a sound signal output from the sound output unit of the notification unit (160), or may include a cable connection unit directly connected to the output terminal of the mine detector (100). Through this, the sound recognition unit (360) can support both sound reception through a speaker and direct connection through an output terminal.

[0070] Additionally, the above-described mine detection interface device (300) may include a shooting unit (340) configured to be extended to or coupled to the main body (310) and to photograph the notification unit (160). This is intended to support a more accurate determination of the mine detection status by performing image analysis in parallel, in the case of an advanced mine detector equipped with a visual display.

[0071] Additionally, the main body (310) may be configured to include a coupling part (311) (or armrest coupling part or main body fixing part or housing part) that is coupled to (or fastened to the armrest part (120)) the armrest part (120) of the mine detector (100) and fixed, a support part (312) for fixing and supporting the coupling part (311) and the guideline part, and a connection part (313) configured on the upper part of the support part (312) to be connected to the other side of the manipulator part (200).

[0072] At this time, the connecting part (313) may be configured to be connected to a second joint part configured in the multi-joint manipulator (220) of the manipulator part (200), and may include a bracket configuration for connection with the second joint part.

[0073] Additionally, the coupling portion (311) can be fixed by being configured (coupled or fastened) so that a portion of its outer surface is wrapped by the armrest portion (120) when the mine detector (100) is mounted on the mine detection interface device (300), and the upper part may be connected (coupled) to the support portion (312), while the lower part may be configured to have a fastening portion (311a) that is fastened to the handle portion (130) of the mine detector (100).

[0074] At this time, the coupling part (311) may be configured in the form of a housing such as a cylinder or a cuboid, and the upper part of the coupling part (311) may be coupled to the support part (312).

[0075] Additionally, the fastening part (311a) can be configured in various forms, such as a strap type, a clamp type, or a bolt fastening type, to be fastened and secured to the handle part (130) of the mine detector (100), and if configured as a strap type, the fastening part (311a) can be configured as a Velcro strap.

[0076] Additionally, the support member (312) may be configured to include a distance adjustment member for adjusting the distance between the coupling member (311) and the guide line member (320) in consideration of the thickness of the body member (110) of the mine detector (100).

[0077] For example, the distance adjustment unit may automatically or manually adjust the separation distance of the coupling unit (311) based on the position of the guide line unit (320), and may be configured to strongly fix the body unit (110) by adjusting the separation distance between the coupling unit (311) and the guide line unit (320) while the body unit (110) of the mine detector (100) is positioned between the coupling unit (311) and the guide line unit (320).

[0078] Through this, when the mine detector (100) is mounted on the mine detection interface device (300), the mine detection interface device (300) can strongly fix the body part (110) of the mine detector (100) through the coupling part (311), the guide line part (320), and the distance adjustment part that adjusts the distance between them, while the mine detector (100) can be strongly fixed in the state mounted on the mine detection interface device (300) through the coupling part (311) which is wrapped and fixed by the armrest part (120) and the fastening part (311a) which is fastened to the handle part (130).

[0079] Meanwhile, the guideline section (320) can be fixedly supported by being coupled to the upper part of the support section (312) (part of the lower part of the support section (312)), and can be configured in the form of a multi-stage rod with adjustable length so that its length can be adjusted to have a length corresponding to the length of the rod section (140) of the mine detector (100).

[0080] That is, the guide line section (320) extends from the main body section (310) along the rod section (140) of the mine detector (100) and can be configured to be extendable so as to be adjustable in length according to the length of the rod section (140) of the mine detector (100).

[0081] Additionally, the head fixing part (330) is coupled to the lower or one end of the guide line part (320) to fix and support the detection head part (150) so that the detection head part (150) of the mine detector (100) always maintains a specific angle.

[0082] For example, the head fixing part (330) is fixedly coupled to one end of the guide line part (320) while maintaining a predetermined angle with the guide line part (320), and thereby, when the mine detector (100) is mounted on the mine detection interface device (300), the detection head part (150) of the mine detector (100) can be supported to maintain a predetermined angle with the load part (140) of the mine detector (100) or a horizontal state with the ground.

[0083] At this time, one end of the guide line portion (320) may be connected to the support portion (312), and the other end of the guide line portion (320) may be connected to the head fixing portion (330).

[0084] In the above configuration, the guide line part (320) and the head fixing part (330) among the components constituting the mine detection interface device (300) may be omitted as needed.

[0085] Meanwhile, the above-mentioned shooting unit (340) may be optionally configured to correspond to an advanced mine detector equipped with a visual display, and may be configured to include an extension unit (341) that extends from or is coupled to the main body (310) and a camera unit (342) coupled to the extension unit (341) to photograph the notification unit (160).

[0086] At this time, the extension part (341) may be a component included in the camera part (342).

[0087] Additionally, the camera unit (342) may be coupled to the extension unit (341) (or main body unit (310)) so as to face the notification unit (160) in order to photograph the notification unit (160) (or the user interface configured or displayed on the notification unit (160)), and may photograph the notification unit (160) to generate a photographed image that includes the user interface.

[0088] Additionally, the acoustic recognition unit (360) may be configured to support both a low-cost mine detector based on acoustic signals and a high-end mine detector equipped with a visual display.

[0089] Additionally, the sound recognition unit (360) may be configured inside the coupling unit (311) of the main body (310) or exposed on the outside of the coupling unit (311).

[0090] In particular, when the microphone part constituting the acoustic recognition part (360) is configured to be exposed on the outside of the coupling part (311), it can be positioned closer to the notification part (160) of the mine detector (100), thereby improving the acoustic signal reception sensitivity.

[0091] Additionally, a cable connection part in the form of a cable input port constituting the sound recognition part (360) may be configured on the side of the coupling part (311), and the output terminal of the mine detector (100) and the cable connection part may be connected through a separate connection cable, thereby allowing the sound recognition part (360) to receive an acoustic signal output through the output terminal of the mine detector.

[0092] Accordingly, the sound recognition unit (360) can recognize a sound signal output through a speaker configured in the sound output unit configured in the notification unit (160) through a microphone configured in the sound recognition unit and generate a sound signal corresponding to the output sound signal, or receive a sound signal output through an output terminal configured in the sound output unit configured in the notification unit (160) through the connection cable, and transmit the sound signal to the detection control unit (350).

[0093] Additionally, the acoustic recognition unit (360) may be configured as an integral part with the detection control unit (350), or may be configured as a separate module electrically connected to the detection control unit (350).

[0094] In the above configuration, the sound recognition unit (360) may be integrally formed with the shooting unit (340).

[0095] Accordingly, the above-mentioned shooting unit (340) can include sound information regarding the sound recognized through the sound recognition unit (360) in the image and provide it to the detection control unit (350) described below.

[0096] In this case, the above image may be composed of image information including at least one of image and sound.

[0097] Meanwhile, the above-mentioned mine detection interface device (300) may be configured to include a detection control unit (350) configured to receive an acoustic signal output from the notification unit (160) from the acoustic recognition unit (360), identify the product type of the mine detector (100) mounted on the mine detection interface device (300) through acoustic signal analysis of the acoustic signal, identify specification information regarding the specifications of the mine detector (100) that are pre-stored based on the identified product type, and provide this information to the mobile robot (10) so that the mobile robot (10) operates in accordance with the specifications of the mine detector (100), and analyze the acoustic signal according to mine detection by the mine detector (100) to recognize detection information, generate detection result information, and transmit it to a management server via a communication network.

[0098] At this time, the detection control unit may be configured to receive an image of the notification unit (160) captured by the shooting unit (340), identify the product type of the mine detector (100) mounted on the mine detection interface device (300) through image analysis of the image, identify specification information regarding the specifications of the mine detector (100) that is stored in advance based on the identified product type, and provide this information to the mobile robot (10) so that the mobile robot (10) operates in accordance with the specifications of the mine detector (100), and recognize detection information regarding mine detection by the mine detector (100), generate detection result information, and transmit it to a management server via a communication network.

[0099] The configuration of such detection control unit (350) will be explained in detail with reference to FIGS. 5 to 9.

[0100] First, as illustrated in FIG. 5, the detection control unit (350) may be configured to include a communication module (351), a storage module (352), a control module (353), etc.

[0101] At this time, the detection control unit (350) may be configured in the main body (310) (or inside the main body (310)), and, for example, may be configured inside the coupling unit (311) configured in the main body (310) or inside the support unit (312).

[0102] First, the communication module (351) can communicate with the management server through a communication network.

[0103] At this time, the communication network described in the present invention may include wired / wireless communication networks, and examples of such wireless communication networks include Wireless LAN (WLAN), DLNA (Digital Living Network Alliance), WiBro (Wireless Broadband), WiMAX (World Interoperability for Microwave Access), GSM (Global System for Mobile communication), CDMA (Code Division Multi Access), CDMA2000 (Code Division Multi Access 2000), EV-DO (Enhanced Voice-Data Optimized or Enhanced Voice-Data Only), WCDMA (Wideband CDMA), HSDPA (High Speed ​​Downlink Packet Access), HSUPA (High Speed ​​Uplink Packet Access), IEEE 802.16, Long Term Evolution (LTE), LTE-A (Long Term Evolution-Advanced), Wireless Mobile Broadband Service (WMBS), and 5G mobile communication service. Bluetooth, LoRa (Long Range), RFID (Radio Frequency Identification), Infrared Data Association (IrDA), Ultra Wideband (UWB), ZigBee, Near Field Communication (NFC), Ultra Sound Communication (USC), Visible Light Communication (VLC), Wi-Fi, Wi-Fi Direct, etc. may be included.In addition, wired communication networks may include wired LAN (Local Area Network), wired WAN (Wide Area Network), Power Line Communication (PLC), USB communication, Ethernet, serial communication, optical / coaxial cables, etc.

[0104] Additionally, the storage module (352) can store various information necessary for the operation of the control module (353) and may be configured to include a product DB in which information for each of a plurality of different product types corresponding to each of a plurality of mine detectors (100) is stored.

[0105] Additionally, the storage module (352) may pre-store allowable torque information for allowable torque for each joint of the manipulator part (200).

[0106] Additionally, the control module (353) may include RAM, ROM, CPU, GPU, and a bus, and the RAM, ROM, CPU, GPU, etc. may be connected to each other through the bus. Alternatively, the control module (353) may be configured to include an MCU (Micro Controller Unit).

[0107] Additionally, at least one of the communication module (351) and the storage module (352) may be included in the control module (353).

[0108] In addition, the information processing module (111) configured in the above-described mine detector (100) and the robot control unit (11) configured in the mobile robot (10) may also be configured to include RAM, ROM, CPU, GPU, bus, or MCU.

[0109] Based on the configuration described above, and referring to FIG. 6, the detailed operation configuration of the detection control unit (350) is explained as follows: the control module (353) can receive an acoustic signal output from the notification unit (160) from the acoustic recognition unit (360) through the communication module (351).

[0110] In addition, the control module (353) can perform acoustic signal analysis on the acoustic signal to extract a pattern of the acoustic signal (acoustic pattern or signal pattern or output pattern) and generate acoustic pattern information for product type identification.

[0111] For example, the control module (353) can perform frequency analysis, amplitude analysis, sound intensity analysis, etc. on the acoustic signal received from the acoustic recognition unit (360) to extract features such as the fundamental frequency, harmonic components, beep interval, and sound intensity change of the acoustic signal, and generate an acoustic pattern information for product type identification consisting of a combination of these features.

[0112] At this time, the control module (353) may have an acoustic signal analysis algorithm for extracting features of the acoustic signal pre-set, and acoustic analysis algorithms such as FFT (Fast Fourier Transform) and MFCC (Mel-Frequency Cepstral Coefficients) may be applied to this acoustic signal analysis algorithm.

[0113] In addition, the storage module (352) may have a product DB in which acoustic signal pattern information (or acoustic pattern information) and specification information regarding acoustic signal patterns that match the product type are stored in advance for each of the multiple product types corresponding to each of the multiple different mine detectors (100).

[0114] Accordingly, the control module (353) searches the product DB based on acoustic pattern information for identifying product types generated through acoustic signal analysis of the acoustic signal, and if acoustic signal pattern information that matches the acoustic pattern information for identifying product types or is similar to the acoustic pattern information above a preset threshold is confirmed among the acoustic signal pattern information stored in the product DB, the control module identifies the product type corresponding to the confirmed acoustic signal pattern information from the product DB, and can identify the identified product type as the product type of the mine detector (100) mounted on the mine detection interface device (300).

[0115] That is, since multiple different mine detectors (100) output acoustic signals of different patterns from each other, the control module (353) can identify the product type of the mounted mine detector (100) by identifying the pattern of the acoustic signal output from the mine detector (100) mounted on the mine detection interface device (300).

[0116] In addition, as another embodiment of the present invention, the control module (353) may include a deep learning-based analysis model trained to analyze the pattern of an acoustic signal and output a product type of a mine detector (100) corresponding to the analyzed pattern, and may input an acoustic signal received from the acoustic recognition unit (360) into the analysis model to identify a product type corresponding to the mine detector (100) output through the analysis model.

[0117] At this time, the analysis model may be composed of neural network models such as CNN (Convolutional Neural Network), RNN (Recurrent Neural Network), and LSTM (Long Short-Term Memory), and may be pre-trained with multiple training data containing mutually matched patterns of acoustic signals and product types corresponding to various mine detectors, and may be trained to receive an acoustic signal pattern as input and output a product type of mine detector corresponding to the input acoustic signal pattern.

[0118] In addition, the neural network model (or deep learning model) may be configured to include an input layer, one or more hidden layers, an output layer, etc., and may further include a preprocessing module that converts input data into a form suitable for the model, and a postprocessing module that converts data output from the output layer into a form that can be actually used.

[0119] Additionally, the control module (353) can identify and extract specification information matched with the product type of the identified mine detector (100) from the product DB, and can transmit the extracted specification information to the robot control unit (11) that controls the mobile robot (10).

[0120] At this time, the above specification information may include various information regarding the mine detector (100), such as detection method (e.g., GPR (Ground Penetrating Radar), MD (Metal Detector), etc.), detection depth, detection head size (e.g., length, width, height), detection head weight, total equipment weight, load part (140) length (e.g., minimum length, maximum length), operating frequency range, sensitivity level, operating time (continuous use time when fully charged), operating temperature range, data output format, detectable material type, resolution (object distinction ability), manufacturer, model name, software version, etc.

[0121] In addition, the robot control unit (11) may be configured in the mobile robot (10) to perform overall control functions such as motion control and drive control of the mobile robot (10).

[0122] Additionally, the communication module (351) may be configured to communicate with the robot control unit (11), and the control module (353) may transmit the specification information to the robot control unit (11) through the communication module (351).

[0123] Accordingly, the robot control unit (11) configured in the mobile robot (10) can generate driving setting information regarding the movement speed, movement posture, vibration damping, movement pattern, etc. of the mobile robot (10) based on the specification information upon receiving the specification information, and control the mobile robot (10) according to the driving setting information.

[0124] That is, the above-mentioned mine detection interface device (300) can identify the unique acoustic pattern of the mine detector (100) through analysis of the acoustic signal, identify the product type of the mine detector (100) and the specifications according to the product type based on the unique acoustic pattern, and provide information regarding the specifications to the mobile robot (10), thereby supporting the mobile robot (10) to perform optimal movement or optimal operation in accordance with the specifications of the mine detector (100).

[0125] Meanwhile, the control module (353) can receive torque load information from the motor unit configured in each joint of the manipulator unit (200), determine whether the mine detector (100) can be mounted, and perform the function of adjusting the operation method of the manipulator unit (200) during the mine detection operation.

[0126] Specifically, the storage module (352) has pre-stored allowable torque information for each of the plurality of joint parts (221, 222, 223), and the control module (353) can generate torque load information for each joint part by controlling the manipulator part (200) to perform a preset test operation after mounting the mine detector (100) on the mine detection interface device (300) (after initial mounting) and measuring the torque load applied to each of the plurality of joint parts (221, 222, 223).

[0127] At this time, the test operation may consist of a series of standard movements that move or rotate the manipulator part (200) up, down, left, and right, and may include various angles and postures considering rough terrain conditions.

[0128] Additionally, the control module (353) can determine that the mine detector (100) cannot be mounted if, by comparing the torque load information for each joint with the allowable torque information, it is impossible to control the manipulator part (200) to within the allowable torque even by adjusting the operating speed or changing the operating posture.

[0129] For example, the control module (353) can, when the torque load of a specific joint exceeds the allowable torque, first reduce the operating speed to 50% and re-measure, and if it still exceeds, change the operating posture and re-measure, and if it exceeds the allowable torque despite all adjustments, determine that the mine detector (100) cannot be mounted and output an alarm.

[0130] At this time, the detection control unit (350) or the main body (310) may further include an alarm output unit for outputting an alarm, and the alarm output unit may include at least one of an LED display unit, a buzzer, and a speaker to output a visual or auditory alarm.

[0131] Additionally, if the above mine detector (100) can be mounted, the control module (353) can control the manipulator unit (200) to perform mine detection work and monitor the torque load for each joint unit, and if a joint unit exceeding the allowable torque is detected, the operation speed of the manipulator unit (200) can be lowered or the operation method of the manipulator unit (200) can be adjusted to change to a posture that does not exceed the allowable torque.

[0132] Through this, the detection control unit (350) can prevent excessive load from being applied to each joint of the manipulator unit (200), thereby reducing joint fatigue and supporting stable and continuous mine detection operations.

[0133] Meanwhile, as an additional embodiment of the present invention, the detection control unit (350) can identify the product type of the mine detector through image analysis via the shooting unit (340) in the case of an advanced mine detector equipped with a visual display (display unit) and provide specification information thereon to a mobile robot, which will be explained in detail with reference to FIGS. 7 and 8.

[0134] First, the control module (353) can receive an image of the notification unit (160) captured from the shooting unit (340) (or the camera unit (342)) through the communication module (351).

[0135] In addition, the control module (353) can perform image analysis on the image to recognize the user interface (UI) of the notification unit (160) appearing in the image, and extract features of the user interface to generate feature information.

[0136] For example, the control module (353) can perform image analysis on an image received from the shooting unit (340), perform a preprocessing process to improve image quality through noise removal and brightness adjustment, detect the outlines of UI elements constituting a user interface using an algorithm such as Canny edge detection, and connect the detected edges and remove unnecessary parts to clarify the shape of the UI elements.

[0137] Afterwards, the control module (353) can extract features (or feature points) such as the size, position, and shape of UI elements based on image analysis, and generate feature information for the extracted features.

[0138] At this time, the control module (353) may have a pre-set image analysis algorithm for extracting features of the user interface.

[0139] In addition, the storage module (352) may have a product DB in which feature information and specification information matching the product type are pre-stored for each of the multiple product types corresponding to each of the multiple different mine detectors (100).

[0140] Accordingly, the control module (353) searches the product DB based on product type identification feature information (or identification target feature information), which is feature information generated through image analysis of the image, and if feature information that matches the product type identification feature information or is similar to a preset threshold is confirmed, it identifies the product type corresponding to the confirmed feature information from the product DB and can identify the identified product type as the product type of the mine detector (100) mounted on the mine detection interface device (300).

[0141] That is, as illustrated in FIG. 8(a) and FIG. 8(b), since different mine detectors (100) use different user interfaces from each other, the control module (353) can identify the product type of the mounted mine detector (100) by identifying the user interface used by the mine detector (100) mounted on the mine detection interface device (300).

[0142] Accordingly, the control module (353) can identify the product type of the mine detector (100) through image analysis of the image of the user interface included in the notification unit (160) of the mine detector (100) mounted on the mine detection interface device (300).

[0143] Additionally, the control module (353) can identify and extract specification information matched with the product type of the identified mine detector (100) from the product DB, and can transmit the extracted specification information to the robot control unit (11) that controls the mobile robot (10).

[0144] In addition, the robot control unit (11) may be configured in the mobile robot (10) to perform overall control functions such as motion control and drive control of the mobile robot (10).

[0145] Additionally, the communication module (351) may be configured to communicate with the robot control unit (11), and the control module (353) may transmit the specification information to the robot control unit (11) through the communication module (351).

[0146] Accordingly, the robot control unit (11) configured in the mobile robot (10) can generate driving setting information regarding the movement speed, movement posture, vibration damping, movement pattern, etc. of the mobile robot (10) based on the specification information upon receiving the specification information, and control the mobile robot (10) according to the driving setting information.

[0147] That is, the above-mentioned mine detection interface device (300) can identify a unique user interface used in the notification unit (160) of the mine detector (100) through image analysis of the above-mentioned image, identify the product type of the mine detector (100) and the specifications according to the product type based on the above-mentioned unique user interface, and provide information regarding the specifications to the mobile robot (10), thereby supporting the mobile robot (10) to perform optimal movement or optimal operation in accordance with the specifications of the mine detector (100).

[0148] In addition, the control module (353) can drive the manipulator unit (200) based on specification information corresponding to the mine detector (100).

[0149] For example, the control module (353) may be configured to drive each joint and base (210) configured in the manipulator part (200), and may control the rotational movement of each joint and base (210).

[0150] To this end, each joint part and base part (210) may be configured with a motor part for rotational driving, and the motor part may be configured to be electrically connected to the control module (353) or communication module (351) to communicate with the control module (353).

[0151] Meanwhile, according to the above configuration, when the identification of the product type of the mine detector (100) is completed, the detection control unit (350) can perform an operation upon detection of a mine by the mine detector (100) by receiving and analyzing an acoustic signal output from the notification unit (160) of the mine detector (100) or by analyzing an image of the notification unit (160) of the mine detector (100) to confirm whether a mine has been detected by the mine detector (100). This will be explained in detail with reference to FIG. 9 based on the above configuration.

[0152] First, the control module (353) can operate in an identification mode for identifying the mine detector (100) when activated or when first started (S1).

[0153] At this time, the control module (353) can receive activation information received from the management server and operate in the identification mode based on the activation information.

[0154] Additionally, the control module (353) can analyze the acoustic signal received from the acoustic recognition unit (360) when operating in the identification mode to identify the product type of the mine detector (100) mounted on the mine detection interface device (300), extract specification information corresponding to the product type from the product DB, and transmit the specification information to the robot control unit (11) of the mobile robot (10) (S2).

[0155] Alternatively, the control module (353), when operating in the identification mode, transmits a shooting control signal to the shooting unit (340) through the communication module (351), receives an image of the notification unit (160) captured by the shooting unit (340), identifies the product type of the mine detector (100) mounted on the mine detection interface device (300) as described above through image analysis, extracts specification information corresponding to the product type from the product DB, and transmits the specification information to the robot control unit (11) of the mobile robot (10) (S2).

[0156] Additionally, the control module (353) can generate and store detector connection information based on the product type identified for the mine detector (100) and the extracted specification information (S3), and can switch to mine detection mode and operate when generating detector connection information (S4).

[0157] At this time, the control module (353) may store the detector connection information in the storage module (352), and the detector connection information may include the product type identified for the mine detector (100) and the extracted specification information.

[0158] Additionally, the control module (353) can perform an operation to check whether a mine is detected by receiving and analyzing an acoustic signal output from the notification unit (160) of the mine detector (100) through the acoustic recognition unit (360) when operating in the mine detection mode.

[0159] For example, the control module (353) can apply the detector connection information to a preset detection algorithm, calculate a detection pattern that takes into account the specification information included in the detector connection information, such as the detection range, detection speed, and detection attitude, through the detection algorithm to which the detector connection information is applied, and generate driving information for driving the manipulator unit (200) according to the detection pattern in real time or periodically so that detection is performed according to the detection pattern, and can control the manipulator unit (200) based on the driving information.

[0160] In addition, the detection area of ​​the mine detector (100) may be changed according to the movement of the mobile robot (10) considering the above specification information and the driving control of the control module (353) for the manipulator unit (200), and the control module (353) may generate detection status information regarding the mine detection status by receiving and analyzing the acoustic signal output from the notification unit (160) which outputs an acoustic signal indicating the mine detection status according to the mine detection of the mine detector (100) (S5).

[0161] At this time, the control module (353) can determine the mine detection status by analyzing the frequency change, amplitude change, and beep interval change of the received acoustic signal, and generally, the mine detector exhibits a pattern in which the beep interval becomes shorter or the frequency becomes higher as it gets closer to the mine.

[0162] Alternatively, the control module (353) may perform an operation to check whether a mine has been detected by analyzing an image of the notification unit (160) of the mine detector (100) when operating in the mine detection mode.

[0163] For example, the detection area of ​​the mine detector (100) may be changed according to the movement of the mobile robot (10) and the driving control of the manipulator unit (200) by the control module (353) considering the above specification information, and the control module (353) may receive from the shooting unit (340) an image generated by shooting the notification unit (160) of the mine detector (100) which includes a user interface displaying the mine detection status according to the mine detection of the mine detector (100), and may generate detection status information regarding the mine detection status displayed on the notification unit (160) through image analysis of the image (S5).

[0164] Meanwhile, the product DB may store mine detection criteria information regarding the state of the sound signal output from the notification unit (160) when a mine is detected for each of the plurality of product types (or the pattern of the sound signal) or the screen state of the user interface displayed on the notification unit (160).

[0165] For example, in the case of an acoustic signal-based mine detector, the mine detection criteria information may include criteria conditions for determining mine detection, such as a beep interval threshold (e.g., 0.1 seconds or less), a frequency threshold (e.g., 2 kHz or more), and an acoustic intensity threshold level (e.g., 80 dB or more).

[0166] Accordingly, the control module (353) can determine whether a mine is detected by extracting mine detection criteria information corresponding to the product type according to the detector connection information from the product DB in the mine detection mode, and comparing the detection status information generated by analyzing the acoustic signal received from the acoustic recognition unit (360) with the extracted mine detection criteria information (S6).

[0167] For example, the control module (353) can compare the current beep interval, frequency, sound intensity, etc. included in the detection status information with the reference conditions included in the mine detection reference information, and determine that the detection status information satisfies the reference conditions by satisfying at least a preset number of conditions among a plurality of conditions where the beep interval according to the reference conditions is below a threshold value, the frequency is above a threshold value, or the sound intensity is above a threshold level.

[0168] Additionally, if the control module (353) determines that a mine has been detected and a mine has been found (S7), the control module (353) can generate detection result information regarding the mine discovery (S8).

[0169] In another embodiment, the product DB may store mine detection criteria information regarding the screen state of the user interface displayed on the notification unit (160) when a mine is detected for each of the plurality of product types, or the characteristics of the screen state.

[0170] Additionally, the above mine detection criteria information may include criteria information for verifying (determining) whether a mine has been found. Here, the above mine detection criteria information may be mine detection condition information, or conditions for verifying (determining) whether a mine has been found may be set.

[0171] Accordingly, the control module (353) can extract mine detection criteria information corresponding to the product type according to the detector connection information in the mine detection mode from the product DB, and determine whether a mine has been detected by comparing the detection status information generated based on the image received from the camera unit (340) with the mine detection criteria information (S6), and if the result of the determination based on the detection status information is that a mine has been detected and a mine has been found (S7), it can generate detection result information regarding mine detection (S8).

[0172] For example, when the control module (353) operates in the mine detection mode, it receives an image of the notification unit (160) captured by the camera unit (340), and through image analysis using a preset image analysis algorithm for the image, extracts features of the notification unit (160) (or the user interface) from the image in which the notification unit (160) including a user interface displaying the mine detection status appears, generates detection status information for the corresponding features, extracts mine detection criteria information corresponding to the detector connection information from the product DB, and then compares the criteria feature information according to the extracted mine detection criteria information with the detection status information; if they are similar by more than a preset threshold, it determines that it is a mine detection state and generates detection result information regarding mine detection (mine detection state).

[0173] At this time, the detection status information may include feature point information generated by extracting feature points of the notification unit (160) (or user interface) shown in the image, and the mine detection criterion information may include reference feature point information that serves as a criterion for determining mine detection, which is a comparison target with the feature point information.

[0174] Accordingly, the control module (353) can compare the feature point information generated by extracting the feature point of the notification unit (160) or the user interface included in the notification unit (160) that displays the mine detection status extracted from the image with the reference feature point information, and determine that the mine detection status is in a state where the two are similar by more than a preset threshold.

[0175] Alternatively, the control module (353) may determine that a mine is in a mine detection state and generate detection result information regarding mine detection by analyzing an image of the notification unit (160) based on a pre-set mine detection standard (or mine detection condition) according to the mine detection standard information extracted from the product DB based on the detector connection information, if a pre-set warning icon according to the mine detection standard is detected in the image, a pre-set color according to the mine detection standard is detected, or a keyword related to mine detection according to the mine detection standard is detected.

[0176] That is, the control module (353) can determine that a mine is in a mine detection state when a preset object according to the mine detection criteria is detected, and can generate detection result information regarding the mine detection.

[0177] Meanwhile, the control module (353) can transmit the detection result information to a pre-configured management server via the communication module (351) when the detection result information is generated (S8).

[0178] In the above configuration, the detection control unit (350) may be configured to include a position measurement module (354) (or a GPS (Global Positioning System) module) for measuring the position of the mobile robot (10), and the control module (353) may, when generating the detection result information, measure the position of the mobile robot (10) (or the mine detector (100) or the mine detection interface device (300)) through the position measurement module (354) to generate position information regarding the position (current position) of the mobile robot (10), and generate detection result information including the position information and transmit it to the management server.

[0179] At this time, the control module (353) may pre-set device identification information for the mine detection interface device (300) or robot identification information for the mobile robot (10), and may include the device identification information, robot identification information, etc. in the detection result information and transmit it to the management server.

[0180] Additionally, the control module (353) may include the detector connection information in the detection result information.

[0181] Accordingly, upon receiving the detection result information, the management server can determine whether a mine has been found, the location of the mine discovery, etc., based on the detection result information.

[0182] Meanwhile, as described above, the mine detector (100) or the notification unit (160) may be configured with an acoustic output unit that outputs sound when a mine is detected, and the information processing module (111) may output pre-set acoustic information through the acoustic output unit when a mine is detected based on the detection information.

[0183] Additionally, the detection control unit (350) or the main body (310) may be configured with an input unit for receiving user input, and the control module (353) of the detection control unit (350) may switch to either the identification mode or the mine detection mode based on user input (input signal according to user input) through the input unit. At this time, it goes without saying that the control module (353) may automatically switch to any one of a plurality of modes including the identification mode and the mine detection mode.

[0184] Additionally, the main body (310) may be configured with a power supply unit to provide power to the detection control unit (350) and the manipulator unit (200), and the power supply unit may be configured in the manipulator unit (200).

[0185] Meanwhile, in the configuration described above, the interface device (300) for mine detection may be configured to include a spraying unit (331) that sprays a liquid to indicate the mine detection location at the lower part of the head fixing unit (330).

[0186] At this time, the injection unit (331) may be configured to include a storage means for storing liquid, a nozzle unit for spraying the liquid, and an injection control means for supplying liquid to the nozzle unit and spraying the liquid through the nozzle unit based on an injection control signal of the control module (353).

[0187] Accordingly, the control module (353) generates the spray control signal when the detection result information is generated and transmits it to the spray unit (331), and the spray unit (331) can spray the liquid onto the ground based on the spray control signal to indicate the location of the mine discovery.

[0188] At this time, the control module (353) may be electrically connected to the injection unit (331) or communicate with the injection unit (331) through the communication module (351), or may further include a separate interface module for communication with the injection unit (331). Through this, the control module (353) can provide the injection control signal to the injection unit (331).

[0189] Additionally, a distance sensing unit (332) including a distance sensing sensor that detects the distance between the ground and the head fixing unit (330) may be configured at the lower part of the head fixing unit (330), and the control module (353) may detect the distance between the ground and the head fixing unit (330) based on a sensing signal received from the distance sensing unit (332), and control the manipulator unit (200) (or each joint unit or base unit (210) configured in the manipulator unit (200)) based on the detected distance so that the head fixing unit (330) maintains a predetermined distance from the ground.

[0190] In the above configuration, the injection unit (331) may be omitted and may be configured as a separate individual module in the mine detector (100).

[0191] Additionally, the distance sensing unit (332) may be configured in the mobile robot (10) (the robot body part of the mobile robot (10)).

[0192] At this time, the distance sensing unit (332) may include a depth sensing camera such as a stereo camera or a TOF (Time of Flight) camera, a distance sensing sensor such as a LiDAR sensor, an ultrasonic sensor, an infrared sensor, or a laser sensor, and may be attached to or configured on the mobile robot (10).

[0193] As described above, the present invention supports the application of various types of mine detectors to mobile robots through a mine detection interface device, or supports the easy change of the mobile robot connected to the mine detector, thereby ensuring compatibility between the mine detector and the mobile robot and allowing for easy replacement with a new mine detector or mobile robot with improved performance. This not only minimizes the cost required for performance improvement but also allows for continuous performance improvement of the mine detection robot composed of the mine detector and the mobile robot.

[0194] In addition, the present invention identifies the product type of a mine detector through a mine detection interface device and transmits information regarding the specifications of the mine detector to a mobile robot based on this, thereby supporting the mobile robot to effectively determine the detection range or movement range, and thus enabling smooth interaction between the mine detector and the mobile robot, which can significantly improve the efficiency of mine detection.

[0196] The components described in the embodiments of the present invention may be implemented using one or more general-purpose computers or special-purpose computers, such as hardware including, for example, memory, processor, controller, ALU (arithmetic logic unit), digital signal processor, microcomputer, FPGA (Field Programmable Gate Array), PLU (programmable logic unit), microprocessor, logic gate, etc., software including an instruction set or a combination thereof, or any other device capable of executing and responding to instructions.

[0197] The various devices and components described in this specification may be implemented by hardware circuits (e.g., CMOS-based logic circuits), firmware, software, or a combination thereof. For example, they may be implemented using transistors, logic gates, and electronic circuits in the form of various electrical structures.

[0198] A person skilled in the art to which the present invention pertains will be able to make modifications and variations to the foregoing without departing from the essential characteristics of the present invention. Accordingly, the embodiments disclosed in the present invention are intended to explain, not limit, the technical concept of the present invention, and the scope of the technical concept of the present invention is not limited by these embodiments. The scope of protection of the present invention shall be interpreted by the claims below, and all technical concepts within an equivalent scope shall be interpreted as being included within the scope of rights of the present invention. Explanation of the symbols

[0199] 10: Mobile robot 11: Robot control unit 100: Mine detector 110: Body 111: Information processing module 120: Armrest part 130: Handle part 140: Rod part 150: Detection head unit 151: Detection unit 160: Notification Section 200: Manipulator Section 210: Base unit 220: Multi-joint manipulator 300: Interface device for mine detection 310: Main body part 311: Connecting part 311a: Fastening part 312: Supporting part 313: Connection part 320: Guideline part 330: Head fixing part 331: Spraying part 332: Distance sensing unit 340: Camera unit 341: Extension section 342: Camera section 350: Detection control unit 351: Communication module 352: Storage Module 353: Control Module 354: Position measurement module 360: Acoustic recognition unit

Claims

Claim 1 A mine detection system using a mobile robot comprises: a manipulator unit, one side of which is coupled to the mobile robot; and a mine detection interface device coupled to the other side of the manipulator unit, wherein a mine detector is detachably mounted thereon. The mine detection interface device comprises: a main body unit to which the mine detector is detachably coupled; an acoustic recognition unit configured in the main body unit to recognize or receive an acoustic signal output from a notification unit of the mine detector that outputs a mine detection status as an acoustic signal; and a detection control unit that receives the acoustic signal output from the notification unit from the acoustic recognition unit, identifies a product type of the mine detector corresponding to the pattern of the acoustic signal through analysis of the acoustic signal, and provides pre-stored specification information for the product type to the mobile robot so that the mobile robot operates according to the specification information. The detection control unit comprises: a communication module for communication with the mobile robot; and a storage module in which multiple acoustic signal pattern information and specification information corresponding to multiple different mine detectors are pre-stored. A mine detection system using a mobile robot equipped with a commercial mine detector, characterized by including a control module that generates acoustic pattern information for product type identification by extracting a pattern of the acoustic signal through analysis of the acoustic signal received from the acoustic recognition unit via the communication module, searches the storage module based on the acoustic pattern information for product type identification to identify the product type of the mine detector corresponding to the acoustic pattern information for product type identification, extracts specification information corresponding to the identified product type from the storage module, and transmits it to the mobile robot via the communication module. Claim 2 A mine detection system using a mobile robot equipped with a commercial mine detector according to claim 1, wherein the manipulator part comprises: a base part rotatably installed on the upper part of the mobile robot; and a multi-joint manipulator configured by sequentially connecting a plurality of link members, one side of which is coupled to the base part and the other side of which is coupled to the mine detection interface device. Claim 3 A commercial mine detector according to claim 2, wherein the manipulator unit comprises a plurality of joint units connecting a plurality of link members constituting the multi-joint manipulator, and each of the plurality of joint units is configured with a motor unit for rotational driving of the joint unit, and the detection control unit has pre-stored allowable torque information regarding allowable torque for each of the plurality of joint units, and generates torque load information for each joint unit by measuring the torque load applied to each of the plurality of joint units while controlling the manipulator unit to perform a test operation after mounting the mine detector on the mine detection interface device, and if the torque load information for each joint unit is compared with the allowable torque information and it is impossible to control the manipulator unit to within the allowable torque even by adjusting the operating speed or changing the operating posture of the manipulator unit, it is determined that the mine detector cannot be mounted, and if the mine detector can be mounted, the manipulator unit is controlled to perform a mine detection operation while monitoring the torque load for each joint unit, and if a joint unit exceeding the allowable torque is detected, the operating method of the manipulator unit is adjusted to lower the operating speed of the manipulator unit or change to a posture that does not exceed the allowable torque. Mine detection system using an applied mobile robot. Claim 4 A mine detection system using a mobile robot applying a commercial mine detector according to claim 1, wherein the mine detector comprises: a body part; an armrest part configured on the side part of the body part and into which a user's arm is inserted and supported; a handle part configured on the side part of the body part and configured so that a user can grasp it with their hand; a rod part coupled to the lower part of the body part; a detection head part rotatably coupled to one end of the rod part to detect a mine; and the notification part configured in a part of the body part to output the mine detection status as an acoustic signal. Claim 5 A mine detection system using a mobile robot with a commercial mine detector according to claim 4, wherein the interface device for mine detection further comprises: a guide line portion configured to extend from the main body portion along the rod portion of the mine detector; and a head fixing portion configured at the end of the guide line portion to fix the detection head portion of the mine detector, wherein the main body portion comprises: a coupling portion fixed by being coupled to the armrest portion of the mine detector; a support portion for fixing and supporting the coupling portion and the guide line portion; a connection portion configured on the upper part of the support portion to be connected to the other side of the manipulator portion; and a fastening portion fastened to the handle portion of the mine detector. Claim 6 A mine detection system using a mobile robot equipped with a commercial mine detector according to claim 5, wherein the support member further includes a distance adjustment member for adjusting the distance between the coupling member and the guide line member in consideration of the thickness of the body member of the mine detector. Claim 7 A mine detection system using a mobile robot equipped with a commercial mine detector according to claim 5, wherein the guide line portion is configured in a length-adjustable multi-stage rod form and its length is adjusted to have a length corresponding to the length of the rod portion of the mine detector. Claim 8 In claim 1, the detection control unit further includes a position measurement module for measuring the current position, and the storage module stores mine detection standard information regarding mine detection standards for each product type; the control module identifies the product type of the mine detector through acoustic signal analysis of the acoustic signal when operating in identification mode, transmits specification information corresponding to the identified product type to the mobile robot, generates and stores detector connection information including the identified product type and specification information, switches from the identification mode to the mine detection mode when generating the detector connection information, receives and analyzes the acoustic signal output from the notification unit that outputs an acoustic signal indicating the mine detection status according to the mine detection of the mine detector in the mine detection mode, generates detection status information regarding the mine detection status, determines whether a mine has been found by comparing the detection status information with pre-stored mine detection standard information, and if it is determined that a mine has been found, obtains position information through the position measurement module, generates detection result information regarding the mine discovery including the position information, and transmits it to a pre-configured management server. Mine detection system using a mobile robot equipped with a detector. Claim 9 A mine detection system using a mobile robot comprises: a manipulator unit, one side of which is coupled to the mobile robot; and a mine detection interface device coupled to the other side of the manipulator unit, wherein a mine detector is detachably mounted thereon. The mine detection interface device comprises: a main body unit to which the mine detector is detachably coupled; an acoustic recognition unit configured in the main body unit to recognize or receive an acoustic signal output from a notification unit of the mine detector that outputs a mine detection status as an acoustic signal; and a detection control unit that receives the acoustic signal output from the notification unit from the acoustic recognition unit, identifies a product type of the mine detector corresponding to the pattern of the acoustic signal through analysis of the acoustic signal, and provides pre-stored specification information for the product type to the mobile robot so that the mobile robot operates according to the specification information. The detection control unit comprises: a communication module for communication with the mobile robot; and a storage module in which pre-stored specification information for a plurality of product types corresponding to a plurality of different mine detectors. A mine detection system using a mobile robot equipped with a commercial mine detector, characterized by including a deep learning-based analysis model trained to analyze the pattern of an acoustic signal and output a product type of mine detector corresponding to the analyzed pattern, inputting an acoustic signal received from the acoustic recognition unit into the analysis model to identify a product type corresponding to the mine detector output through the analysis model, extracting specification information corresponding to the identified product type from the storage module, and transmitting it to the mobile robot through the communication module. Claim 10 delete

Images