人道的埋設地雷探知技術

抄録

This paper presents a smart remote sensing technique that the detection of the landmines by making use of infrared camera. We propose a mines detection method using parallel image processing based on the time subtraction images from infrared image. In a case that the landmines are buried in the ground, they can be detected by the temperature distribution pattern of the ground surface after sprinkling cold water on it. We also discuss the landmine detecting robot that has six-legs. Because the landmine detecting field is generally an uneven ground, we developed a stable walking method using the attitude control. We propose an attitude control method and verify its validity by 3D simulations on an even ground and an uneven ground.