The present disclosure relates generally to systems for detecting objects in the ground.
Disclosed herein are systems that relate generally to detecting objects in the ground. Mobile and lightweight detection systems may be used for a variety of purposes, including but not limited to the detection of land mines, improvised explosive devices (IEDs), unexploded ordinance, weapons caches, or any other objects of interest. In combat situations, a mobile and lightweight detection system may allow for the safe passage of troops and other personnel through potentially mined areas without significantly increasing the amount of equipment a unit carries. Special operations forces, in particular, may benefit from a mobile and light weight detection system because special operations forces often operate in areas not normally associated with conventional ordinance clearance sweeps. In peacetime, humanitarian organizations may utilize a detection system to search sites where conflict occurred, in order to safely remove any threat posed by remaining ordinance. Law enforcement may also utilize detection systems to search for explosive devices and other threats.
In operation a mobile detection system may come into contact with certain objects (e.g. rocks, vegetation, uneven terrain, and the like) that are fixed in place. If the system is rigid, and comes into contact with a fixed object, either the system or the fixed object gives way. In such a scenario, the system may suffer damage. A flexible system, on the other hand, may be better able to overcome such objects without damage to the system.
Disclosed herein are embodiments of a detection system having the ability to avoid damage when coming into contact with a fixed object. The system includes a sensor head containing a sensor for detecting an object of interest in the ground. Various types of sensors may be employed, including metal detectors, magnetometers, radar systems, ultrasound system, and the like. The sensor head is disposed at the distal end of a boom. The boom is connected to a vehicle. The sensor head precedes the vehicle, and detects the object in the ground before the vehicle passes over the object.
In one application, the systems disclosed herein are used to search for land mines and other weapons that are deployed in the ground. The term land mine, as used herein, refers to any form of explosive device that may be triggered by an operator or by the proximity of a vehicle or person. The term land mine is intended to encompass IEDs, pressure plate IED's (PPIEDs), anti-tank mines, anti-personnel mines, explosive devices specifically manufactured to be placed on or in the ground, or other forms of unexploded ordinance. Of course, the systems disclosed herein may also be utilized in other applications involving locating an object in the ground.
The sensor head may pivot with respect to the boom. In certain embodiments, a lock mechanism may be configured to lock the sensor head in a first orientation with respect to the boom, and to release the sensor head from the first orientation upon the application of a threshold force to the sensor head. When the lock mechanism releases, the sensor head may then rotate to a second orientation with respect to the boom in response to the application of the threshold force. In some embodiments, the lock mechanism includes a ball detent.
A tensioning device may be employed to maintain the sensor head in a first orientation. The tensioning device exerts a restoring force when the sensor head is not in the first orientation, to cause the sensor head to return to the first orientation. In one embodiment, the tensioning device includes two elastic cables attached to the sensor head and the boom. When the sensor head rotates, one of the cables is stretched. When the force that caused the rotation is removed, the stretched cable contracts, and causes the sensor head to rotate back to the first orientation.
The height of the sensor head above the ground may be adjusted. In one embodiment, the boom is connected to a vehicle using a hinge joint. The hinge joint allows the boom and the sensor head to be raised and lowered. A winch may be used to raise and lower the boom and the sensor head. In certain embodiments, the system may automatically adjust the height of the sensor head with respect to the ground. In other embodiments, a leading edge protector may be disposed on the sensor head, and may be configured to push the sensor head up and over fixed objects.
Reference throughout this specification to “one embodiment” or “an embodiment” means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment. Thus, the appearances of the phrases “in one embodiment” or “in an embodiment” in various places throughout this specification are not necessarily all referring to the same embodiment. In particular, an “embodiment” may be a system, an article of manufacture (such as a computer readable storage medium), a method, and a product of a process.
The phrases “coupled to,” “connected to,” and “in communication with” refer to any form of interaction between two or more entities, including mechanical, electrical, magnetic, and electromagnetic interaction. Two components may be connected to each other even though they are not in direct contact with each other and even though there may be intermediary devices between the two components.
Furthermore, the described features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. Those skilled in the art will recognize that the teachings of the present disclosure can be practiced without one or more of the specific details, or with other methods, components, materials, etc. In other instances, well-known structures, materials, or operations are not shown or are not described in detail to avoid obscuring aspects of the present disclosure.
With reference to the accompanying drawings,
Boom 106 is attached to vehicle 124 using a vehicle mount 136. Boom 106 is connected to vehicle mount 136 at a hinge joint 120. Hinge joint 120 includes two receiver hitches with two pin connectors. The two receiver hitches may help to stabilize the boom and prevent sway and bounce of boom 106 and sensor head 102. A winch 118 is also connected to vehicle mount 136. In certain embodiments, vehicle mount 136 is customized to a particular vehicle, while boom 106 is generic and is able to be mounted to a plurality of different types of vehicle mounts. Winch 118 is connected to a cable 126 running through a pulley 116, which is connected to proximal boom section 106b. Winch 118 may be embodied as a commercially available 2,000 pound winch, and may receive power from vehicle 124. Additional pulleys may be used in alternative embodiments to achieve greater mechanical advantage, to allow greater accuracy in adjusting the height of sensor head 102, or to control transient motion (e.g. bending or vibration of boom 106).
As cable 126 is drawn in by winch 118, the height of sensor head 102 from the ground increases. Similarly, as cable 126 is let out by winch 118, the height of sensor head 102 decreases. Increasing the height of sensor 102 with respect to the ground may increase the ability to navigate rough terrain, while positioning sensor head 102 near the ground may increase the sensitivity of the sensor to an object in the ground by decreasing the distance between the sensor and the object. The optimal height of sensor head 102 above the ground is influenced by a number of factors, including the type of sensor, soil conditions, terrain, and the like. These considerations may be balanced by raising or lowering sensor head 102 while detection system 100 is in operation.
A plurality of pins 140 may be used to connect boom 106 to hinge joint 120, and to connect pulley 116 to proximal boom section 106b. The plurality of pins 140 may be removed in order to quickly detach boom 106 from vehicle 124. In certain embodiments, a safety strap (not shown) may be included to maintain boom 106 in an elevated position in case winch 118 fails and spools out cable 126. Winch 118 may be used to move proximal boom section 106b into the stowed configuration (shown in
In certain embodiments, a distance sensor (not shown) and control system (not shown) may be utilized to automatically adjust the height of sensor head 102 above the ground. The distance sensor may determine the distance between sensor head 102 and the ground and provide the distance to the control system. The control system may control winch 118 and may raise or lower sensor head 102 as appropriate, in order to maintain a desired distance between sensor head 102 and the ground. In other embodiments, a user may raise and lower boom 106 from the cab of vehicle 124. In still other embodiments, a motor may be located proximate to hinge point 110 in place of winch 118 and cable 126.
Sensor head 102 is pivotally connected to the distal end of distal boom section 106a. A head attachment assembly 134 is disposed at the distal end of distal boom section 106a. As better shown in
Sensor head 102 pivots about pivot bolt 104 in a plane that is substantially parallel to the plane of boom 106. A lock mechanism (shown in one embodiment as ref. no. 600 in
When sensor head 102 contacts a fixed object, and sufficient force is exerted, sensor head 102 may pivot into an orientation as illustrated in
Returning to a discussion of
In order to avoid interference with a metal sensor, in embodiments comprising a metal sensor, components of detection system 100 located near the metal sensor may be made of non-metallic materials. Distal boom section 106a, head 102, and head attachment assembly 134 may be made of fiber reinforced plastic or glass reinforced plastic, in order to minimize interference with the metal sensor. Other components, such as pivot bolt 104, may be fabricated using fiberglass. Components of detection system 100 that are separated from the metal sensor by a sufficient distance may be made of metal. In one embodiment, proximal boom section 106b is made of stainless steel to increase rigidity and minimize movement (e.g. sway and bounce). The recommended separation from metal components varies according to the particular metal sensor used.
A sensor cable 114 may be disposed along boom 106 to transmit information from the sensor to an operator of detection system 100. An electronics console 112 may be disposed on proximal boom section 106b, and may be in communication with sensor cable 114 in the extended position, shown in
A leading edge protector 132 may be disposed along the leading edge of sensor head 102 to allow sensor head 102 to ride over fixed objects. As illustrated in
Lock mechanism 600 includes a ball detent 602, which has a ball 608 at least partially captured within a cylinder 604. A spring 606 disposed within cylinder 604 biases ball 608. In a locked configuration of lock mechanism 600, ball 608 is received in an opening 612. The application of a force greater than the threshold force causes spring 606 to compress, and ball 608 enters into cylinder 604. The threshold force required to force ball 608 to enter cylinder 604 is determined by the properties of spring 606. Opening 612 may be chamfered to facilitate reengaging ball 608 in the locked configuration.
Those having skill in the art will recognize that many changes may be made to the details of the above-described embodiments without departing from the underlying principles of the present disclosure. The scope of the present invention should, therefore, be determined only by the following claims.