EP2859386A2

EP2859386A2 - System for the detection of metal objects

Info

Publication number: EP2859386A2
Application number: EP13735448.6A
Authority: EP
Inventors: Giuliano Franceschi; Andrea Giovannini; Teresa SPADAFORA; Fabio VARONE
Original assignee: Oto Melara SpA
Current assignee: Leonardo SpA
Priority date: 2012-06-06
Filing date: 2013-05-27
Publication date: 2015-04-15
Also published as: IL236018A0; ITTO20120490A1; WO2013182948A2; WO2013182948A3; BR112014030480A2

Abstract

A system (2) for the detection of metal objects arranged on a surface "S" or arranged under said surface "S", said system comprising an array (3) of electronic devices (31) for the search for metal objects, which is arranged close to said surface "S, and a vehicle (4) comprising at least one arm (5), which is connected to said at least one array (3) and is adapted to move on said surface "S". Said system (2) is adapted to scan an area "A", which is defined by the movement of the vehicle (4) and by the movement of said array (3), which is moved by said arm (5). The vehicle (4) is a robotized vehicle, whose movement is remotely controlled in real time, and the movement of said arm (5) is remotely controlled in real time.

Description

TITLE: SYSTEM FOR THE DETECTION OF METAL OBJECTS

The present invention is relative to a system for the detection of metal objects arranged on the surface or buried in the ground. Said system comprises a remotely controlled robotized vehicle and an array of electronic devices for the search for metal objects. Said array is moved by means of an arm comprised in said robotized vehicle .

Metal object detection devices are known, which use different physical principles to detect metal objects arranged under a surface or on the surface itself.

Furthermore arrays of metal object detection devices are known, which allow users to widen the search area, thus reducing the amount of time needed to search a predetermined surface .

Said arrays are known to be applied on vehicles, which are able to detect the presence of metal' objects while in motion .

Normally, said application is advantageous in order to find anti-tank mines arranged along a path, such as a road.

Said array is normally associated with troops transportation vehicles or armored vehicles, which have very large dimensions and are not always suited to travel on bumpy and rough grounds .

Said anti-tank mines have large dimensions, so as to be able to even damage armored vehicles, and, therefore, can easily be detected.

Said anti-tank mines, furthermore, are normally applied along predefined paths, such as roads, where there are no further obstacles that would prevent them from being spotted, such as for example a grass surface. The application of said array to a vehicle is useful to detect the presence of said anti-tank mines along a predefined path.

The detectors applied to said vehicles are adapted to only scan the front area of the vehicle; hence, the vehicle itself is forced to move on an area that has not been cleared of mines yet, thus requiring different halts to allow the area to be cleared of mines and to then be able to move forward.

On the other hand, the search for anti -personnel mines, which have smaller dimensions and are hidden in the ground with a higher concentration with respect to said anti-tank mines, is more difficult. As a matter of fact, these types of mines are arranged in fields that are normally covered with a grass surface, which makes the detection of the mines and the mine clearance of a mine field even more difficult. The mine clearance process, indeed, is very complex and arduous besides being very risky, since it is normally performed manually.

Specifications to be fulfilled by these devices are to be able to clear an area of mines signaling the presence of mines in a short time and guaranteeing the safety of the vehicle that has to move said detecting devices.

The present invention suggests a solution for the problems mentioned above providing a system for the detection of metal objects comprising a remotely controlled robotized vehicle, which is able to detect metal objects, such as mines, reducing the the dangerousness of the mine clearance process to be performed, for example, in a mine field.

The features and advantages of the detection system according to the present invention will be best understood upon perusal of the following detailed description of an embodiment with reference to the accompanying drawings, which respectively illustrate what follows:

• figure 1 shows, in a prospective view, a first embodiment of the detection system according to the present invention;

• figure 2 shows the system of figure 1 in a plan view with the array moved aside;

• figure 3 shows, in detail, the vehicle of the system of figure 1;

• figure 4 shows, in detail, the arm of the system of figure 1;

• figure 5 shows, in detail, the array of automatic devices for the detection of metal objects;

• figure 6 shows, in a prospective view, a second embodiment of the invention;

• figure 7 schematically shows the connection between the remote control unit and the different devices comprised in the system according to the present invention.

The figures mentioned above show system 2 for the detection of metal objects arranged on a surface "S" or arranged under said surface "S" .

The system comprises: at least one array 3 of electronic devices 31 for the search for metal objects, which is arranged close to said surface "S"; a vehicle 4 comprising at least one arm 5, which is connected to said at least one array 3 and is adapted to move on said surface " S " .

Said system 2 is adapted to scan an area "A" , which is defined by the movement of vehicle 4 and by the movement of said at least one array 3, which is moved by said at least one arm 5.

Said vehicle 4 is a robotized vehicle, whose movement is remotely controlled in real time. Preferably, vehicle 4 comprises track drive means 41, so as to allow the system to detect metal objects in any condition, even in case of a bulky or uneven surface "S" . In alternative embodiments, vehicle 4 can comprise wheel pairs, preferably lugged wheels .

Said vehicle 4 is controlled by a remote control unit 8, which transmits the moving commands of vehicle 4 and processes the data coming from system 2 in order to decide the next movements.

Said remote control unit 8, which is comprised in system 2, is adapted to control system 2 itself.

Preferably, the remote control is a wireless remote control, for example by means of radio waves.

The remote control preferably occurs by means of at least one radio control 21, which transmits to a radio interface 22, which is arranged on vehicle 4. Said interface, in turn, communicates with the different devices of system 2, as shown in figure 7.

The movement of vehicle 4, therefore, takes place by means of said radio control 21, which comprises at least one driving element, preferably a joystick, by means of which an operator can decide the movements of said vehicle. Remote control unit 8 interacts with said radio control 21, thus forbidding and/or suggesting to the operator the next moves, so as to guarantee the safety of system 2 itself.

Radio control 21 is adapted to send signals for the movements of said vehicle 4 both from a far position with respect to the vehicle and from a close position, maintaining in any case the full control of the vehicle.

Vehicle 4 is preferably an electric vehicle, which comprises at least one electric motor, which is mechanically connected to transmission 41 of the vehicle itself. The use of ^'an electric motor, preferably a brushless motor, does not generate electromagnetic interferences that are potentially dangerous for the measurement performed by array 3; as a matter of fact, the use of explosion engines could cause interferences and alter the measurement detected by said array 3.

Electric vehicle 4 comprises at least one storage battery to autonomously perform its activities for a predetermined amount of time, without the need to be connected to a power source or to a generator, for example by means of a cable.

In an alternative embodiment, a connection cable is provided between remote control unit 8 and system 2, said cable being suited to exchange data and to supply power to vehicle 4 and to the all the electronic devices comprised in the system according to the present invention.

Arm 5 is preferably directly fixed to said vehicle 4 in the upper part of the vehicle itself. On top of the vehicle there is provided a support plate 45, on which arm 5 is mounted.

Generally, the arm is preferably arranged in a commanding position of vehicle 4, so as to allow arm 5 to be extremely dynamic and to widen as much as possible area "A" in which the scanning of surface "S" takes place.

In an alternative embodiment, said support plate is able to rotate around a vertical axis, thus allowing the arm to rotate by 360°. Said at least one arm 5 is also remotely controlled, in its movement, in real time.

The movement of arm 5 is controlled by means of signals sent by a control device, for example a radio control, not shown, which can be an independent control separate from the one used for the movement of vehicle 4 , or can be built-in in the same radio control 21.

In the embodiment shown in figures 1, 2, 4, arm 5 is an articulated parallelogram, preferably with four hinging points (B, C, D, E) and, more preferably, with a single degree of freedom.

A first side "LI" of the parallelogram, which is comprised between the first hinging point "B" and the second hinging point "C", is fixed and is arranged in correspondence to vehicle 4. A third side "L3" of the parallelogram, which is comprises between the third hinging point "D" and the fourth hinging point "E", is fixed and is arranged in correspondence to array 3.

A second side "L2" and a fourth side "L4" are respectively hinged as follows: the second side "L2" is hinged to the second point "C" and to the third point "D" ; the fourth side "L4" is hinged to the fourth point "E" and to the first point "B" .

Said second and fourth sides (L2, L4) are respectively fixed so as to be able to rotate around a first vertical axis "VI" and a second vertical axis "V2", which are parallel to one another.

Arm 5 according to the present embodiment allows array 3 to be moved on a plane that is parallel to the plane defined by ground "S".

Preferably, both said second side "L2" and said fourth side "L4" are comprised of two tubular elements, for example one on top of the other, as shown in figure 4, so as to increase the stiffness of arm 5.

The first side "LI" is fixed to a fork 50, which, in turn, is flanged to support plate 45 of said vehicle 4.

In a preferred embodiment, said fork 50 can rotate around a vertical axis that is parallel to said first and second axes (VI, V2), for example by means of said support plate 45.

The third side "L3" is fixed to a support structure 33 comprised in array 3.

Preferably, said sides (L1-L4) are equal two by two, preferably the sides facing one another. In the preferred embodiment, the first side "LI" is equal to the third side "L3" and the second side "L2" is equal to the fourth side "L4". Said configuration allows the first and the third sides to be kept parallel to one another in any configuration of arm 5. This solution easily allows array 3 to be always arranged parallel to vehicle 4, thus always using the largest available surface possible in order to scan area "A" .

Arm 5 comprises a first actuator 52, which is adapted to exert a force on arm 5 itself, preferably on at least one side of parallelogram (L1-L4) , so as to move arm 5.

Preferably, actuator 52 is connected to at least one between said second side "L2" and said fourth side "L4", so as to cause said second side "L2" and said fourth side "L4" to rotate around the respective vertical axes VI, V2 in a concordant manner .

Actuator 52, which is preferably electric and controlled by said remote control unit 8, is moved by means of said second radio control .

Said actuator 52 is, for example, a linear actuator. Preferably, said first side "LI" is fixed to said fork 50 in a turning manner.

This configuration allows the first side "LI" to rotate around its longitudinal axis, which is parallel to a first axis "Y" .

Arm 5 comprises, furthermore, at least one second actuator 53. By means of said second actuator 53, which is connected to arm 5, one can lift arm 5 itself causing it to rotate around the longitudinal axis that is parallel to said first axis "Y" .

The second actuator 53 preferably is an electric actuator, for example a linear actuator.

Said second actuator 53, by means of suited transmission elements, is connected to at least one between said second side "L2" and/or said fourth side "L4".

Preferably, said second actuator 53 is suited to lift arm 5 so as to increase the height from ground "S" at which array 3 lies.

In an alternative embodiment, which is not shown, said third side "L3" is fixed to a second fork, which, in turn, is rigidly fixed to the support structure. The third side "L3" is fixed to said fork in a turning manner, so that the third side "L3" itself can rotate around its longitudinal axis that is parallel to the first axis "Y" . In this configuration, array 3 always has the electronic device comprised therein correctly facing ground "S" and correctly turned towards ground "S", so as to be able to detect the presence of metal objects in any operating configuration of arm 5.

In a second embodiment, which is shown in figure 6, said arm 5 is a robotized arm, whose free end is fixed to said array 3. Articulated arm 5 has at least four degrees of freedom, so as to guarantee the utmost ability to operate of array 3 and so as to widen the operating area of the system according to the present invention. In order to obtain the utmost ability to operate of array 3, arm 5 has to have six or seven degrees of freedom.

Figure 6 shows an embodiment of said robotized arm 5, as described in the Italian Patent Application TO2010A000440.

In this embodiment, array 3 is properly constrained on a bracket of a coupling portion 59, which is fixed to said support structure 33 of array 3. Arm 5 allows array 3 to be moved having a plurality of degrees of freedom, for example six degrees of freedom. Clearly, for each degree of freedom, the robotized arm comprises at least one motor, which is properly remotely controlled so as to move arm 5 and, consequently, array 3.

Said electronic devices 31 of said array 3 are preferably arranged so as to face ground "S", substantially aligned with an axis "Y" .

Said electronic devices 31 are electronic devices, such as metal detectors, whose working principle, for each single device, is described in the European Patent Application EP1626293. Said devices 31 are surface device, which are adapted to detect metal objects arranged on the surface or under the surface itself.

For the purpose of the present invention, the term surface devices indicates devices that completely remain above the level of surface "S" to be scanned, so that they do not need to be provided with parts that have to be positioned under the surface itself to detect said metal obj ects . Preferably, said array 3, in use, is arranged at a predetermined height "Q" with respect to the level of ground " S" .

In a preferred embodiment, said devices 31 are all aligned along said axis "Y" .

In an alternative embodiment, which is not shown, said devices 31 are arranged along two axes that are parallel to the first axis "Y", so as to increase the detection capacity; preferably, different devices 31 are alternately arranged along the two axes.

Said array 3 comprises, furthermore, visual signaling devices 35, which are adapted to visually indicate where the presence of a metal object, such as a mine, has been detected .

Said visual signaling devices 35 are, for example, pneumatic devices, which are adapted to deliver a predetermined amount of a fluid "S", such as a paint, onto surface "S" .

Preferably, visual signaling devices 35 are arranged along an axis that is parallel to said first axis "Y" , so as to be able to signal the ground portion where the mine has been detected.

In case a metal object is detected by at least one device 31, the control unit receives the signal. By means of a verification procedure, the unit determines whether the metal object detected can be considered as dangerous, such as a mine, and consequently activates at least one visual signaling device to signal the presence of this obj ect .

Said procedure is properly stored in a non-volatile memory medium, which is run by unit 8 itself. Said support structure 33 is a structure that is adapted to support said electronic devices 31 and to allow array 3 to be fixed to arm 5.

Said visual signaling devices 35 are fixed to said structure 33 as well.

Vehicle 4 comprises a plurality of sensors 7, which are adapted to detect at least one environmental parameter, and/or visualization devices 71, which are adapted to provide visual information on the place surrounding vehicle 4 itself.

Said sensors 7 are, for example, temperature sensors, presence sensors, distance sensors, etc.

Said visualization devices 71 preferably consist of least one video camera, which, for example, is provided with three degrees of freedom, so as to inspect the space around vehicle 4.

As shown in figure 2, array 3, by means of arm 5, can be placed in an area of surface "S" arranged outside of the axle track of vehicle 4 itself.

In particular, arm 5 can place array 3 in such a way that area "A" scanned by array 3 itself is parallel to the axle track of vehicle 4 and aligned with a symmetry axis "X" of the vehicle.

In the operating configuration shown in figure 2, vehicle 4 can move forward along a section of surface "S" that is deemed to be safe and, at the same time, scan an area that has not been cleared of mines yet .

For the purpose of the present invention, the expression "safe surface" is used to indicate a surface that has been previously cleared of mines or that definitely does not contain mines. This solution allows vehicle 4 to proceed on a safe surface while performing a mine clearance of an area "A" that is close to said safe surface. Area "A" that has been previously scanned can now become new safe surface "S" on which vehicle 4 can move in order to clear of mines another area "A", continuing in this way until entire surface "S" can be considered as safe.

The possibility to scan an area "A" of surface "S" that is arranged outside of the axle track of vehicle 4, which, in turn, can move forward on a safe surface, allows the speed of vehicle 4 itself to be increased, thus reducing the amount of time needed for the mine clearance of surfaces "S" .

Furthermore, this first embodiment of arm 5 allows a reduction of the commands needed for the correct positioning of array 3, which is moved by acting on said second actuator 52 and, if necessary, of said second actuator 53. Therefore, the present embodiment allows an area "A" to be scanned in a quick and easy manner, since one single operator is able to move vehicle 4, by means of said radio control 21, and to position array 3 in a quick and easy manner in the position desired to proceed with the scanning of area "A" . In the present solution, one single operator is able to control both the position of array 3, by means of said arm 5, and vehicle 4.

Since it has one single degree of freedom, arm 5 of the first embodiment can be easily moved, guaranteeing at the same time that array 3 is always placed in the optimal position to scan a surface "A" that is as wide as possible.

System 2 can be applied in any condition of the ground and does not require a preparation of the area to be scanned, for example by delimiting the area with a plurality of "position markers "; furthermore , it does not require the area to be visible through satellite systems and, therefore, allows the scanning of covered areas such as woods and forests, as well as underground area and caves .

Therefore, the system according to the present invention allows array 3 to be positioned outside of the axle track of vehicle 4, thus arranging array 3 parallel to vehicle 4, which allows operators to always use the largest available scanning surface possible.

NUMERICAL REFERENCES:

System 2

Radio control 21

Radio interface 22

Array 3

Electronic devices 31

Support structure 33

Visual signaling device 35

Vehicle 4

Track drive 41

Support plate 45

Arm 5

Fork 50

First actuator 52

Second actuator 53

Coupling portion 59

Sensors 7

Visualization devices 71

Remote control unit 8

Surface S

Area A

First hinging point B

Second hinging point C

Third hinging point D

Fourth hinging point E

First side LI

Second side L2

Third side L3

Fourth side L4

First vertical axis VI

Second vertical axis V2

Height Q First axis Symmetry axis

Claims

1. A system (2) for the detection of metal objects arranged on a surface "S" or arranged under said surface "S " ;

said system comprising:

• at least one array (3) of electronic devices (31) for the search for metal objects, which is arranged close to said surface (S) ;

• a vehicle (4) comprising at least one arm (5) , to which said at least one array is connected, adapted to move on said surface (S) ;

said system (2) being adapted to scan an area "A", which is defined by the movement of the vehicle (4) and by the movement of said at least one array (3), which is moved by said at least one arm (5) ;

characterized in that the vehicle (4) is a robotized vehicle, whose movement is remotely controlled in real time, and the movement of said at least one arm (5) is remotely controlled in real time.

2. System according to claim 1, wherein a remote control unit (8) is provided, adapted to control the system (2) itself .

3. System according to claim 1, wherein the remote control takes place by means of at least one radio control (21) , which transmits to a radio interface (22) , which is arranged on the vehicle (4) .

4. System according to claim 1, wherein the arm (5) is an articulated parallelogram.

5. System according to claim 4, wherein the articulated parallelogram has one degree of freedom.

6. System according to claim 4 or 5, wherein said parallelogram comprises four sides (L1-L4) , which are equal two by two .

7. System according to claim 4 or 5 , wherein the arm (5) comprises a first actuator (52) , for exerting a force on at least one side of the parallelogram (L1-L4) , so as to move the arm (5) itself.

8. System according to claim 4 or 5, wherein the arm (5) comprises at least one second actuator (53), for lifting the arm (5) itself, which is adapted to rotate around a longitudinal axis, which is parallel to a first axis (Y) .

9. System according to claim 1, wherein the arm (5) is articulated with at least four degrees of freedom.

10. System according to claim 1, wherein the vehicle (4) is electric and comprises drive means with tracks (41) .