Cantilevered manipulator for autonomous non-contact scanning of natural surfaces for the deployment of landmine detectors

A method for detecting mines in or on the ground comprising:

• providing a vehicle having a first articulated member supported therefrom, the first articulated member having a mine detector mounted at a distal end;
• continuously determining the spacing between the mine detector and the ground;
• panning the first articulated member and mine detector laterally from side to side without contacting the ground to scan an arcuate region:
• adjusting the position of the mine detector so as to space the mine detector an optimal distance from the ground;
• and
• advancing the vehicle as necessary to scan a new arcuate region.

Apparatus for panning a detector over and spaced form undulating ground surfaces, the detector having a predetermined optimal spacing from the ground, the apparatus comprising:

• (a) a first support member having an articulated proximal end supported from a vehicle and a distal end supporting the detector which is moved over the ground;
• a first robotic actuator associated with the first support member and having at least two rotational axes for enabling up-and-down and side-to-side panning movement of the detector;
• one or more sensors for dynamically determining the spacing of the detector from the ground as it moves over the ground;
• a second support member having a proximal end supported by the vehicle and a distal end for supporting the sensors;
• a second robotic actuator associated with the second support member and having at least one rotational axis for enabling positioning of the sensors relative to the moving detector;
• and
• a controller for instructing the first robotic actuator to adjust the first support member so as to dynamically space the mine detector at the optimal spacing from the ground as it moves over the ground and for instructing the second robotic actuator to adjust the second support arm to position the sensors in advance of the detector.