Diseño e implementación de un robot teleoperado para la búsqueda y detección de minas antipersonales.

Abstract

The main objective of this research project was to design and implement a telerobotic capable of searching and detecting anti-personnel landmines in open and rugged fields that were once the scene of armed conflicts. The deactivation of these explosive traps represents, on the one hand, a high economic cost, and, on the other hand, it puts at risk the integrity and health of the military personnel responsible for this task. These devices also directly affect the area's population and wildlife. Therefore, a study was carried out on searching for anti-personnel landmines, and a prototype was designed to perform this task without exposing people to risky situations. The system is based on a metal detector sensor and is controlled by a visualization system consisting of first-person view goggles and a camera with a transmitter operating at the same frequency (5.8 GHz). Four 12V motors control the trajectory of the prototype in a double differential configuration with four wheels corresponding to each motor to allow movements and floor anchoring. An alarm and engine stop system controlled by an Arduino Nano was also incorporated. The tests carried out on the prototype demonstrated a detection rate of 90% of anti-personnel land mines with a maximum communication distance of 100 meters between the prototype and the visualization system. The operating time is 26 minutes and the device's maximum weight is 9kg.