Mine detection system using mobile robot

Abstract

The present invention relates to a mine detection system using a mobile robot and, more specifically, to a mine detection system using a mobile robot, the mine detection system comprising: a manipulator unit connected to the mobile robot; and a mine detection interface device which is connected to the manipulator unit and to which a commercial mine detector is mounted. The mine detection system provides support so that various commercial mine detectors can be used regardless of product type by connecting same to the mobile robot, and provides support so that the mine detection results of the commercial mine detectors can be provided to a management server.

Description

Mine detection system using mobile robots

[0001] The present invention relates to a mine detection system using a mobile robot, and more specifically, to a mine detection system using a mobile robot comprising 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 detectors to a management server.

[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] 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.

[0005] 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.

[0006] 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.

[0007] In addition, while mine detection robots of the past used tracks as a means of locomotion, they are now being replaced by quadruped robots due to their poor accessibility to rough terrain, and these quadruped robots are reaching a level where they can easily navigate rough terrain.

[0008] 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.

[0009] 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.

[0010] 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.

[0011] 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.

[0012] A mine detection system using a mobile robot according to an embodiment of the present invention may include a manipulator part, one side of which is 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. The mine detection interface device may include a main body part to which the mine detector is detachably coupled, a guideline part extending from the main body part along the load part of the mine detector, a head fixing part configured at the end of the guideline part to fix the detection head part of the mine detector, a shooting part extending from the main body part to photograph a notification part of the mine detector including a user interface for outputting a mine detection status, and a detection control part that receives an image of the notification part photographed from the shooting part, identifies the product type of the mine detector using the user interface through image analysis of the image, and provides specification information stored in advance for the product type to the mobile robot so that the mobile robot operates according to the specification information.

[0013] 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.

[0014] 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 portion of the rod portion to detect mines; and a notification portion configured on a part of the body portion and including a user interface that outputs a mine detection status.

[0015] As an example related to the present invention, the main body may be characterized by including a coupling part that is coupled and fixed to the armrest part of the mine detector, a support part for fixing and supporting the coupling part and the guide line part, a connection part configured on the upper part of the support part for connecting to the other side of the manipulator part, and a fastening part that is fastened to the handle part of the mine detector.

[0016] 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.

[0017] As an example related to the present invention, the guideline portion may be characterized by being configured in the form of a multi-stage rod with adjustable length, so that its length is adjusted to have a length corresponding to the length of the rod portion of the mine detector.

[0018] 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 feature information and specification information corresponding to a plurality of different mine detectors are stored in advance; and a control module that generates feature information for identifying product types by extracting features of the user interface through image analysis of the image received from the shooting unit via the communication module, searches the storage module based on the feature information for identifying product types to identify the product type of the mine detector corresponding to the feature information for identifying product types, extracts specification information corresponding to the identified product type from the storage module, and transmits it to the mobile robot via the communication module.

[0019] As an example related to the present invention, the control module may be characterized by extracting features of UI elements constituting the user interface through image analysis of the image to generate feature information for identifying the product type, and identifying the product type matched with feature information similar to the feature information for identifying the product type by a preset threshold or higher as the product type of the mine detector.

[0020] As an example related to the present invention, the detection control unit further includes a location measurement module for measuring the current location, and the storage module stores mine detection standard information for mine detection standards according to the product type. The control module identifies the product type of the mine detector through image analysis of the image 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 the detector connection information is generated, receives from the shooting unit an image of the notification unit including a user interface that displays the mine detection status according to the mine detection of the mine detector, analyzes it to generate detection status information regarding the mine detection status, and then compares the detection status information with pre-stored mine detection standard information to determine whether a mine has been detected. If it is determined that a mine has been detected, the control module obtains location information through the location measurement module, generates detection result information regarding the mine detection including the location information, and transmits it to a pre-configured management server.

[0021] As an example related to the present invention, the lower part of the head fixing part may further include a spraying part for spraying liquid to indicate the location of a mine detection, and the control module may be characterized by controlling the spraying part to spray liquid at the location of the mine detection when a mine is detected.

[0022] 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. Furthermore, by allowing easy replacement with a new mine detector or mobile robot with improved performance, it not only minimizes the cost required for performance improvement but also enables the expectation of continuous performance improvement of the mine detection robot composed of the mine detector and the mobile robot.

[0023] In addition, the present invention analyzes the user interface used in a mine detector through a mine detection interface device to identify the product type of the mine detector, and then 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 has the effect of significantly improving the efficiency of mine detection.

[0024] Furthermore, the present invention provides a function to physically mark the location of a mine through a mine detection interface device and transmit related information to a server when a mine is detected by a mine detector, thereby significantly increasing the convenience and efficiency of operating multiple mine detection robots and managing detected mines, promoting information sharing and collaboration in large-scale mine removal operations, and ultimately enhancing the safety and effectiveness of mine removal operations.

[0025] FIG. 1 is a configuration diagram of a mine detection robot to which a mine detection system using a mobile robot according to an embodiment of the present invention is applied.

[0026] FIG. 2 is an example diagram of a mine detector applied to a mine detection system using a mobile robot according to an embodiment of the present invention.

[0027] FIG. 3 is an exemplary diagram of a manipulator unit and a mobile robot constituting a mine detection system using a mobile robot according to an embodiment of the present invention.

[0028] FIG. 4 is an exemplary diagram of a mine detection interface device constituting a mine detection system using a mobile robot according to an embodiment of the present invention.

[0029] FIG. 5 is a configuration diagram of a detection control unit constituting a mine detection system using a mobile robot according to an embodiment of the present invention.

[0030] FIG. 6 is an example diagram of the operation of a detection control unit constituting a mine detection system using a mobile robot according to an embodiment of the present invention.

[0031] Figure 7 is an example of a user interface applied to a mine detector.

[0032] FIG. 8 is a flowchart of the operation sequence of a mine detection system using a mobile robot according to an embodiment of the present 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 using a mobile robot according to an embodiment of the present invention (hereinafter, mine detection system) 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] 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.

[0040] At this time, the above-mentioned multi-joint manipulator may be a multi-joint arm (or multi-joint arm part).

[0041] 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).

[0042] In addition, the mine detection interface device (300) can be coupled to the other side of the multi-joint manipulator (220).

[0043] 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).

[0044] 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.

[0045] 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).

[0046] 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.

[0047] 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).

[0048] 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.

[0049] 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).

[0050] Additionally, the above-mentioned load portion (140) may be composed of a multi-stage load with adjustable length.

[0051] 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).

[0052] 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.

[0053] 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.

[0054] Additionally, a notification unit (160) may be configured to include a user interface (or user interface unit) (UI: User Interface) for outputting (or displaying) a mine detection status according to the detection information or receiving user input on a part of the body unit (110).

[0055] At this time, the notification unit (160) may be configured to include a user interface comprising at least one of one or more physical buttons and a display, and 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.

[0056] 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).

[0057] Additionally, the user interface configured in the notification unit (160) may be configured as a touch-based touch screen that displays the user interface.

[0058] Additionally, the above notification unit (160) may further include a sound output unit that outputs sound based on the detection information.

[0059] 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).

[0060] Additionally, the notification part (160) may be configured in the body part (110) or extended to the handle part (130).

[0061] 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.

[0062] 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), and a multi-stage rod that supports the rod section (140), 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 a shooting section (340) configured to extend to or be coupled to the main body (310) to photograph the notification section (160).

[0063] First, 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).

[0064] 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.

[0065] 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).

[0066] 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).

[0067] 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.

[0068] 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).

[0069] 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).

[0070] 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).

[0071] 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).

[0072] 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).

[0073] 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.

[0074] 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.

[0075] 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).

[0076] Meanwhile, the above-mentioned shooting unit (340) may be configured to include an extension unit (341) that extends from or is coupled to the main body unit (310) and a camera unit (342) coupled to the extension unit (341) to photograph the notification unit (160).

[0077] At this time, the extension part (341) may be a component included in the camera part (342).

[0078] 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.

[0079] Additionally, if the above notification unit (160) is configured to include an acoustic output unit that outputs a mine detection status in the form of sound, the above shooting unit (340) may further include an acoustic recognition unit for recognizing acoustic information regarding the mine detection status output through the above acoustic output unit, and the above acoustic recognition unit may include a microphone unit.

[0080] Accordingly, the above-mentioned shooting unit (340) can include sound information regarding the sound recognized through the sound recognition unit in the image and provide it to the detection control unit (350) described below.

[0081] At this time, the above image may be composed of image information including at least one of image and sound.

[0082] Meanwhile, the above-mentioned mine detection interface device (300) may be configured to include a detection control unit (350) configured to be configured to receive an image of the notification unit (160) captured by the shooting unit (340) through image analysis of the image, identify the product type of the mine detector (100) mounted on the mine detection interface device (300), 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.

[0083] The configuration of such detection control unit (350) will be explained in detail with reference to FIGS. 5 to 8.

[0084] 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.

[0085] 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).

[0086] First, the communication module (351) can communicate with the management server through a communication network.

[0087] 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.

[0088] 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.

[0089] 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).

[0090] Additionally, at least one of the communication module (351) and the storage module (352) may be included in the control module (353).

[0091] 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.

[0092] 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 image of the notification unit (160) captured from the shooting unit (340) (or the camera unit (342)) through the communication module (351).

[0093] 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.

[0094] 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.

[0095] 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.

[0096] At this time, the control module (353) may have a pre-set image analysis algorithm for extracting features of the user interface.

[0097] 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).

[0098] 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).

[0099] That is, as illustrated in FIG. 7(a) and FIG. 7(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).

[0100] 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).

[0101] 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).

[0102] 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.

[0103] 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).

[0104] 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).

[0105] 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.

[0106] 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).

[0107] In addition, the control module (353) can drive the manipulator unit (200) based on specification information corresponding to the mine detector (100).

[0108] 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).

[0109] 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).

[0110] 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) when the mine detector (100) detects a mine by confirming whether a mine has been found through image analysis of the notification unit (160) of the mine detector (100). This is explained in detail with reference to FIG. 8 based on the above configuration.

[0111] The above control module (353) can operate in an identification mode for identifying the mine detector (100) when activated or when first started (S1).

[0112] 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.

[0113] Additionally, 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).

[0114] 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).

[0115] 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.

[0116] Additionally, the control module (353) can 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.

[0117] 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.

[0118] 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). 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).

[0119] In addition, 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.

[0120] Alternatively, the above mine detection criteria information may include criteria information for a standard for verifying (determining) whether a mine has been found. Here, the above mine detection criteria information may be mine detection condition information, or a condition for verifying (determining) whether a mine has been found may be set.

[0121] 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).

[0122] 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).

[0123] 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.

[0124] 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.

[0125] 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.

[0126] 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.

[0127] In addition, 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).

[0128] 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.

[0129] 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.

[0130] Additionally, the control module (353) may include the detector connection information in the detection result information.

[0131] 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.

[0132] 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.

[0133] Additionally, the above-mentioned interface device (300) for mine detection may further include an acoustic recognition unit for recognizing sound output through the acoustic output unit.

[0134] At this time, the sound recognition unit may be configured to be included in the detection control unit (350) as a sound recognition module, and the sound recognition unit may be configured as a microphone unit.

[0135] Accordingly, the control module (353) of the detection control unit (350) can receive an acoustic signal for sound output from the acoustic output unit through the acoustic recognition unit while in the state set to the mine detection mode, and generate acoustic information based on the acoustic signal.

[0136] Additionally, the control module (353) can determine whether a mine is detected by comparing the acoustic information with the mine detection criteria information, and if the result of the determination is that a mine is detected, it can generate the detection result information and transmit it to the management server.

[0137] That is, the mine detection interface device (300) can easily determine whether a mine has been detected based on the sound output when a mine is detected by the mine detector (100), even in the case of a mine detector (100) that outputs whether a mine has been detected by sound, and can generate detection result information when a mine is detected and transmit it to a management server.

[0138] 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.

[0139] 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).

[0140] 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).

[0141] 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).

[0142] 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.

[0143] 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).

[0144] 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.

[0145] 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.

[0146] In addition, the present invention analyzes the user interface used in a mine detector through a mine detection interface device to identify the product type of the mine detector, and then 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.

[0147] Furthermore, the present invention provides a function to physically mark the location of a mine through a mine detection interface device and transmit related information to a server when a mine is detected by a mine detector, thereby significantly increasing the convenience and efficiency of operating multiple mine detection robots and managing detected mines, promoting information sharing and collaboration in large-scale mine removal operations, and ultimately enhancing the safety and effectiveness of mine removal operations.

[0148]

[0149] 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.

[0150] 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.

[0151] 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.

[0152] Explanation of the symbols

[0153] 10: Mobile robot 11: Robot control unit

[0154] 100: Mine detector 110: Body

[0155] 111: Information processing module 120: Armrest part

[0156] 130: Handle part 140: Rod part

[0157] 150: Detection head unit 151: Detection unit

[0158] 160: Notification Section 200: Manipulator Section

[0159] 210: Base unit 220: Multi-joint manipulator

[0160] 300: Interface device for mine detection

[0161] 310: Main body part 311: Connecting part

[0162] 311a: Fastening part 312: Supporting part

[0163] 313: Connection part 320: Guideline part

[0164] 330: Head fixing part 331: Spraying part

[0165] 332: Distance sensing unit 340: Camera unit

[0166] 341: Extension section 342: Camera section

[0167] 350: Detection control unit 351: Communication module

[0168] 352: Storage Module 353: Control Module

[0169] 354: Position measurement module

Claims

1. In a mine detection system using a mobile robot, A manipulator part having one side coupled to the mobile robot; and It includes a mine detection interface device coupled to the other side of the above-mentioned manipulator part and having a mine detector detachably mounted thereon, The above-mentioned interface device for mine detection is, A main body to which the above mine detector is detachably coupled; A guideline section configured to extend from the main body along the load section of the above mine detector; A head fixing part configured at the end of the above guideline part for fixing the detection head part of the mine detector; A shooting unit configured to extend from the main body to photograph a notification unit of the mine detector including a user interface for outputting a mine detection status; and A detection control unit that receives an image of the notification unit captured by the above-mentioned capturing unit, identifies the product type of a mine detector using the user interface through image analysis of the above-mentioned image, 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; A mine detection system using a mobile robot including 2. In Claim 1, The above manipulator unit is, A base part rotatably installed on the upper part of the above mobile robot; and A multi-joint manipulator configured by sequentially connecting multiple link members, with one side coupled to the base and the other side coupled to the mine detection interface device. A mine detection system using a mobile robot characterized by including 3. In Claim 1, The above mine detector is, Body part; An armrest portion configured on the side of the above-mentioned body portion, into which the user's arm is inserted and supported; A handle portion configured on the side of the body portion and configured to be grasped by a user's hand; The rod portion coupled to the lower surface portion of the body portion; The detection head portion rotatably coupled to one end of the above-mentioned rod portion to detect mines; and The notification unit comprising a user interface configured in a part of the body portion and outputting a mine detection status A mine detection system using a mobile robot characterized by including 4. In Claim 3, The above main body part is, A coupling part that is coupled and fixed to the armrest part of the above mine detector; A support member for fixing and supporting the above-mentioned coupling member and the above-mentioned guideline member; A connecting part configured on the upper part of the support part and connected to the other side of the manipulator part; and A fastening part that is attached to the handle of the above mine detector A mine detection system using a mobile robot characterized by including 5. In Claim 4, A mine detection system using a mobile robot, characterized in that the support member further includes a distance adjustment member for adjusting the distance between the coupling member and the guide line member by taking into account the thickness of the body part of the mine detector.

6. In Claim 1, A mine detection system using a mobile robot, characterized in that the guideline section 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 section of the mine detector.

7. In Claim 1, The above detection control unit is, A communication module for communication with the above-mentioned mobile robot; A storage module in which multiple different mine detectors and corresponding multiple product-type feature information and specification information are pre-stored; and A control module that generates feature information for product type identification by extracting features of the user interface through image analysis of the image received from the camera unit via the communication module, searches the storage module based on the feature information for product type identification to identify the product type of the mine detector corresponding to the feature 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. A mine detection system using a mobile robot characterized by including 8. In Claim 7, A mine detection system using a mobile robot, characterized in that the control module extracts features of UI elements constituting the user interface through image analysis of the image to generate feature information for identifying the product type, and identifies the product type matched with feature information similar to the feature information for identifying the product type by a preset threshold or higher as the product type of the mine detector.

9. In Claim 7, The above detection control unit is, It further includes a location measurement module that measures the current location, and The above storage module stores mine detection standard information for mine detection standards according to the above product type, and The above control module is, When operating in identification mode, the product type of the mine detector is identified through image analysis of the image, specification information corresponding to the identified product type is transmitted to the mobile robot, and detector connection information including the identified product type and specification information is generated and stored. A mine detection system using a mobile robot, characterized by: switching from the identification mode to the mine detection mode when generating the detector connection information; receiving and analyzing a video from the capturing unit that captures the notification unit, which includes a user interface displaying the mine detection status according to the mine detection of the mine detector in the mine detection mode, generating detection status information regarding the mine detection status; comparing the detection status information with pre-stored mine detection standard information to determine whether a mine has been detected; and, if it is determined that a mine has been detected, obtaining location information through the location measurement module, generating detection result information regarding the mine detection including the location information, and transmitting it to a pre-configured management server.

10. In Claim 9, It further includes a spray unit for spraying liquid to indicate the mine discovery location at the lower part of the head fixing part, and A mine detection system using a mobile robot, characterized in that the above-described control module controls the sprayer to spray liquid at the location of the mine detection when a mine is detected.

Images