Journal of Engineering Design and Analysis

Volume 5, Issue 2 - 2022, Pg. No. 1-10

Peer Reviewed Journal
Research Article

Autonomous Landmine Detection Rover

Bhushan S Kumbhar, Dipam S Kakade, Hrutuja A Madake
1
Research Scholar, Department of Mechanical Engineering, Sharad Institute of Technology College of Engineering, Yadrav,
Maharashtra, India.
2
Research Scholar, Department of Mechatronics Engineering, Sharad Institute of Technology College of Engineering, Yadrav,
Maharashtra, India.
3
Research Scholar, Department of Mechanical Engineering, Sharad Institute of Technology College of Engineering, Yadrav,
Maharashtra, India.
DOI: https://doi.org/10.24321/2582.5607.202201

I N F O A B S T R A C T

Corresponding Author: The landmine detecting robots are made to cover as much of the
Bhushan S Kumbhar, Department of Mechanical landmine field as they can in order to find landmines. A visual map is
Engineering, Sharad Institute of Technology used to display the discovered landmines, as well as the scanned and
College of Engineering, Yadrav, Maharashtra, unexplored area, with millimetre-level accuracy. To determine the
India. precise location of the robot, an image processing technique is used,
E-mail Id: providing live reckoning feedback to the robot’s dead reckoning servo
[email protected] control. The sensor that is used to find landmines is a metal detector.
Orcid Id: The remote terminal computer’s graphical user interface gives the
https://orcid.org/0000-0001-8440-611X robot effective control. The approach is straightforward but effective
How to cite this article: and understandable to produce the desired results.
Kumbhar BS, Kakade DS, Madake HA.
Autonomous Landmine Detection Rover. J Engr
Keywords: Robot, Landmine Detection Rover, Design, Manufacture
Desg Anal 2022; 5(2): 1-10.
Date of Submission: 2022-07-16
Date of Acceptance: 2022-08-20

Introduction help in the field that is more rapid, secure, accurate than
the conventional approach. Metal detecting sensors are
All across the world, there are still many landmines buried typically used for mine detection. The critical factor that
in the earth. Both people and other living things suffer affects a metal detector’s ability to identify landmines is
permanent and temporary disabilities as well as loss of life. It the separation between the sensor head and the mine
has an impact on both the global economy and international that is being searched for. The performance of the metal
peace. Landmines have become a big global concern as detector can be enhanced by altering the distance and
a result of international conflicts, clearing them up will elevation between the sensor head and the landmine. If
cost a sizable sum of money. To make this goal successful, the sensor heads maintain a consistent gap with ground
many land mine-affected developing nations invested a level, the function of robot assisted land mine detection
significant amount of their gross national product and can be carried out conveniently. The safety of people is
labour. Even though technology kept on developing, the given more importance in this project. The robot can be
manual landmine clearance is still highly preferred because controlled from a more secure distance or from an area
of its consistency, predictability and reliability.1 However, that has already been cleared of landmines. The risk of an
the process is sluggish and dangerous for the employees, explosion is eliminated since the landmine detector head is
which are the disadvantages of the traditional method. projected in front of the rover. This method protects both
This study developed a landmine detection rover-robot to the rover and the person using the remote to control it.2
Journal of Engineering Design and Analysis (ISSN: 2582-5607)
Copyright (c) 2022: Author(s). Published by Advanced Research Publications
Kumbhar BS et al.
J. Engr. Desg. Anal. 2022; 5(2) 2

Mines are laid as a safety measure to ward off invaders or the face impacted by the explosion. The three different
foes in a conflict zone. Its goal is straightforward: use it as a types of anti-personnel mines are blast, fragmentation,
shield to temporarily halt an invasion, steer attackers onto bounding fragmentation. Metal shards are thrown by
kill zones, or otherwise keep foes out of vulnerable places. fragmentation mines, but bounding fragmentation mines
Mines have detonating devices that can be activated by are more dangerous because they bounce to waist height
pressure, movement, sound, magnetism, vibration. They before detonating.3
are sensitive explosives. When approaching or striking When deploying armed vehicles into enemy territory, mine
the target, a bomb or artillery shell detonates, whereas detection Rovers are extremely important. The autonomous
a landmine is concealed and waits to be detonated by mine detection rover project is focused on designing and
the presence of a person, an animal, or a vehicle. With developing a mine detection rover that can quickly identify
the inclusion of anti-handling technology built into those its existence by using thermography or X-ray sensors,
mines, they have been classified as anti-personnel and marking on tracks, detecting areas, sending a signal to
anti-tank mines. the operator. Utilizing a continuous track-structured Rover,
which helps control explosive accidents even on rough
terrain. The design of this mine Rover will be based on
the concept of digital radiography, which will be used to
detect the presence of landmines. This technique uses x-ray
sensitive plates to capture data during object examination,
which is immediately transferred to a computer without the
use of an intermediary cassette. While a Rover detecting
circuit is being built, topological sites must be taken into
consideration. The Mine Rover has a tool or gadget made to
achieve the goal of having a less expensive Mine detecting
Figure 1.Landmine used Rover.4
Effects of Landmine Explosion

Figure 2.Landmine Penetrating

Anti-tank mines were designed specifically to damage
military tanks, as their name implies. They are therefore only
set off by tremendous pressure, preventing tiny vehicles or
pedestrians from setting them off. Anti-personnel mines Figure 3.Effects of Landmine Explosion
were/ are intended to kill or hurt soldiers in order to The following definitions apply to the categories shown
strengthen the logistical base of the resistance. But even in Figure:
after the battle is finished, these mines can still maim and
Access denial: A lack of access to available resources has
kill. It is a little explosive device that is either on the ground
been caused by fear of the presence of landmines. A total
or underground and is ready to go off when a person steps
of 900 000 km2 of land are unusable because of access
on it, handles it, or trips one of its trip wires.
restrictions.
Seeing the misery that anti-personnel mines cause is
horrifying. The International Committee of the Red Cross Loss of Biodiversity: Mines have put a number of species
identified them as the most serious wounds to be treated. in danger of going extinct.
When stepping on an anti-personnel mine, the blast can Micro-relief disruption: Mines disturb the soil’s structure,
frequently pull off the legs or else cause severe injuries to making it more prone to erosion and causing soil instability.
the body through the piercing of metal, plastic, grass, shoe
fragments, broken bones. In a similar vein, if the explosion Chemical contamination: The majority of the materials
occurs during handling, the sufferer may lose vision in used in the devices are organic, such as carbon, nitrogen,
addition to having fingers, hands, the abdomen, the spine, hydrogen, oxygen, etc. Combinations of TNT (2, 4, 6

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trinitrotoluene), RDX (hexogen), PETN (nitro penta), HMX Working Methodology

(octogen), as well as additional substances like waxes,
With a review of the literature, we got to work. In addition,
plasticizers, stabilisers, oil, etc., are used to make military
we searched numerous study papers from numerous articles
explosives. When the mines collapse, these substances
and previously published journal papers. Then, we focused
seep into the land and groundwater. These toxins have an
on various Mechanisms that could help with our project.
impact on air, plants, microbes, soil with drinking water,
Then, in accordance with the requirements, we created
food products, water bodies directly or indirectly. The
a rough 2D design of the model in Auto-CAD and solid
organs of fish, animals, plants, people can be affected by
works. After receiving a basic model, we began creating
these contaminants, which can function as a poison for
a robot motion software that would meet our needs. We
their development.
chose commonplace parts. actual project preparation the
It goes without saying that landmines cause productivity computations for the remaining components are finished.
losses, which have a negative impact on social and economic We have bought market-standard components. A crude
instability. The main issue is that landmines obstruct routine 3D model of our project will be developed. We completed
activity by calmly remaining in the ground. According to the the report work for semester I simultaneously. A crude 3D
United Nations Mine Action Services, more than 110 million model of our project will be created. Production will take
mines have been dispersed over the world since the 1960s place. It will be assembled. The setup will be tested. Actual
and are a hazard in more than 78 nations. A landmine’s theoretical report representation.
impact results in roughly 15,000 to 20,000 fatalities and
numerous injuries. Anti-personnel landmines typically
target children, women, elderly people who are unarmed.
The only way to get rid of mines without causing any damage
is to remove each one one at a time. Anti-personnel mines
cost between $3 and $30 each, but depending on the
mine-infected area, neutralising them can cost between
$300 and $1000 each mine. And even with professionals
disposing of the mines, it has been noted that for every
5000 mines removed, an accident results in the deaths of
one person and the injuries of another two.
Accordingly, experts estimate that, at the current rate, Figure 4.Detector Rover (Designed in Autodesk
it would take more than 1000 years to remove all of the Fusion 360)
mines, even if none were added. These wounded have
a larger requirement than the other combat casualties
for blood transfusions, surgical treatment, the fitting of
orthopaedic appliances.4
Research
The autonomous land mining rover will be used to find mine
detecting rovers in battle zones and prevent casualties to
both troops and tanks. The radiography (Digital Radiography
(DR) is an enhanced form of x-ray inspection that provides
a digital radiographic image instantly on a computer.) idea
will underpin how the Mine Detecting Rover functions.
The Rover is controlled by computers utilising a ZigBee
module for the operator’s safety. The Rover is equipped Figure 5.Basic Prototype Design
with an ultrasonic sensor that it may use to find and avoid The Mining Rover is an unmanned robot designed to
obstacles. The GPS sensor’s latitude and longitude can be find land mines in mine fields as well as in conflict zones
used to find the mine. A material that can withstand blasts to prevent casualties among army personnel, workers,
up to a particular threshold was used to construct the Rover. miners. The Mine Detection Rover works by using the
Using a buzzer attached on the robot, the Rover generates digital radiography technique to attain improved accuracy
a warning alarm for nearby people. High-powered DC of 95–98%. The Rover is propelled by a DC motor that is
motors are used to actuate the Rover, which is supported supplied by a battery or a DC supply and equipped with a
by a bridge circuit and may travel in any direction. number of sensors, including an ultrasonic sensor, a GPS

ISSN: 2582-5607
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Kumbhar BS et al.
J. Engr. Desg. Anal. 2022; 5(2) 4

sensor, a warning signal. Path after path, the Rover scans Metal Detector
the surroundings. The Rover is equipped with a night vision
A metal detector is a piece of electronic equipment that
camera to help detect landmines at night, the sprayer will
looks for surrounding metal. Metal inclusions concealed
mark the track with fluorescent-coloured paint. Additionally,
inside of items or metal objects buried underground can
a distance sensing technique for terrain adaption is created
both be found with metal detectors. They frequently consist
in order to maintain the effective distance between the
of a handheld device with a sensor probe that may be
landmine sensors and the ground surface. The switches on
moved across the surface of an object or the ground. A
the inductive proximity sensors may identify non-metallic
shifting tone in headphones or a moving needle on an
items with a different dielectric constant from air. They
indicator are indicators that the sensor is getting close to
are therefore perfect for a variety of materials, including
a piece of metal. The equipment typically provides some
liquid, plastic, paper, wood, cloth.
indicator of distance; the higher the tone in the earphone
or the higher the needle goes, the closer the metal is.
Detecting concealed metal weapons on a person’s body
is another prominent usage for stationary “walk through”
metal detectors, which are used for security screening at
entry points to jails, courts, airports.

Figure 6.Prototype Working in 120 Degree

Components
DC Motor

Figure 8.Metal Detector

Arduino Nano
The open-source Arduino Nano is a compact, compatible
electronic development board built around an 8-bit AVR
microprocessor. There are two versions of this board, one
based on the ATmega328p and the other on the Atmega168.
Figure 7.DC Motor
The Arduino Nano can perform some tasks that other boards
Here, a high-quality and reasonably priced DC geared motor on the market can, but it is smaller and better suited for
with a 30 rotations per minute (RPM) centre shaft is used. applications that call for less memory and GPIO pins to
The motor runs at 30 rotations per minute in 12 volts and connect with. This device has 14 digital pins for connecting
is a DC type 4-12 Volt motor. to external components, while the board also includes 6
Wheels analogue pins with 10-bit resolution each, 2 reset pins, 6
power pins.
The operational voltage of this device, like other Arduino
boards, is 5V. The input voltage spans from 6V to 20V, with
a recommended input voltage of 7V to 12V. This device’s 16
MHz clock frequency is used to create a clock with a specific
frequency using constant voltage. In contrast to other
Arduino boards, which use conventional USB connections,
the board supports a USB interface and uses a mini-USB
port. Furthermore, this unit does not include a DC power
connection, so an external power source cannot be used
to power the board. Additionally, because of this device’s
Figure 8.Wheels bread-board friendliness, you may use it to create a variety
The wheels will be 109 mm in diameter, 21 mm thick, 6 of electronic projects by connecting it to breadboards. The
mm in bore. software is stored in flash memory, which is 16KB for the

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Atmega168 (of which 2KB is utilised for the Bootloader) UNO board:
and 32KB for the Atmega328. ATmega328: This is the board’s “brain,” where the
Similarly, the EEPROM and SRAM for the Atmega168 and programme is kept.
Atmega328 are 512KB and 1KB, respectively, 1KB and Ground Pin: The board includes a number of ground pins.
2KB, respectively. The Nano board and the UNO board are
essentially identical, with the former being smaller and PWM: There are six PWM pins on the PCB. Pulse width
lacking a DC power connector. modulation, or PWM, is a technique that allows us to
regulate the speed of servo and DC motors as well as the
LED’s brightness.
Digital I/O Pins: The board has 14 digital (0–13) I/O pins
that can be connected to outside electronic devices.
Analogue Pins: Six analogue pins have been integrated
onto the PCB. The analogue sensor can be read by these
pins and converted into a digital signal.
AREF: It is an Analog Reference Pin used to set an external
reference voltage.
Figure 9.Arduino Nano
Reset Button: This button will reset the code loaded into
Arduino UNO
the board. This button is useful when the board hangs
up, pressing this button will take the entire board into an
initial state.
USB Interface: This interface is used to connect the board
with the computer and to upload the Arduino sketches
(Arduino Program is called a Sketch)
DC Power Jack: This is used to power up the board with a
power supply.
Power LED: This is a power LED that lights up when the
board is connected with the power source.
Figure 10.Arduino UNO
A low-cost, adaptable, simple-to-use programmable Micro SD Card: The UNO board supports a micro-SD card
microcontroller board called Arduino UNO is available that allows the board to store more information.
for use in a range of electronic applications. Relays, LEDs, 3.3V: This pin is used to supply 3.3V power to your projects.
servos, motors can be controlled by this board as output
5V: This pin is used to supply 5V power to your projects.
devices, it can communicate with other Arduino boards,
Arduino shields, Raspberry Pi boards. VIN: It is the input voltage applied to the UNO board.
AVR microcontroller Atmega328, six analogue input pins, Voltage Regulator: The voltage regulator controls the
14 digital I/O pins, six of which are used for PWM output, voltage that goes into the board.
are all included in the Arduino UNO. This board has a SPI: The SPI stands for Serial Peripheral Interface. Four
USB interface, which means that a USB cable is needed Pins 10(SS), 11 (MOSI), 12(MISO), 13(SCK) are used for
to connect it to a computer and that the Arduino IDE this communication.
(Integrated Development Environment) programme is used
to programme the board. While the SRAM is 2KB and the TX/RX: Pins TX and RX are used for serial communication.
EEPROM is 1KB, the device has 32KB flash memory, which The TX is a transmit pin used to transmit the serial data
is utilised to store the number of instructions. The device’s while RX is a receive pin used to receive serial data.
operational voltage is 5V, which makes the microcontroller Motor Driver
on the board and its related circuitry visible.
A high-power motor driver ideal for operating DC Motors
works at 5V, whereas the input voltage spans from 6V to and Stepper Motors is the L298 Based Motor Driver Module.
20V, with 7V to 12V being the ideal range. It makes use of the well-known L298 motor driver IC and
Arduino UNO Components includes an internal 5V regulator that it can utilise to power
an external circuit. It has the ability to direct and speed-
The following features and parts are found on the Arduino control up to 4 DC motors or 2 DC motors. For robotics

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and mechatronics projects, this motor driver is ideal for • In4: Enable Motor B
controlling motors with microcontrollers, switches, relays, • En B: Enables PWM signal for Motor B
etc. Perfect for powering DC and Stepper motors used Usage
in robot arms, line-following robots, micro mice, other
applications. H-bridges are often used to control the speed and direction
of motors, but they can also be used for other purposes,
A circuit known as an H-Bridge may drive current in either such as increasing the brightness of some lighting systems
direction and is pulse width modulated (PWM). Using pulse like high-powered LED arrays.
width modulation, you can adjust how long an electronic
pulse lasts. Try to visualise the brush as a water wheel in NRF
a motor and the electrons as the water droplets flowing
through it. The continual flow of water over the wheel
would represent the voltage; the greater the flow, the
higher the voltage. Motors are designed to operate at a
specific voltage, if that voltage is exceeded or decreased
abruptly to slow the motor down, harm may result. hence
PWM. Using the water wheel as an example, see the water
flowing steadily yet in pulses.
Figure 12.NRF
Model: NRF24L01
A single chip radio transceiver for the 2.4 to 2.5 GHz ISM
band is called the NRF24L01.
The transceiver is made up of an enhanced shock burst
protocol engine, a fully integrated frequency synthesiser,
a power amplifier, a crystal oscillator, a demodulator, a
modulator. Setting up the protocol, frequency channels,
output power is simple. through an SPI interface,
programmable Only 9.0mA at an output power of -6dBm
Figure 11.Motor Driver and 12.3mA in RX mode, respectively, of current are used.
Features Power conservation is made simple to implement by built-
• L298 dual H-bridge driver chip is the driver chip in Standby and Power Down modes.
• Works with up to 35V DC Maximum operating speeds of up to 2 Mbps, effective use
• Drive portion of Io: 2A/Bridge peak current of GFSK modulation, anti-interference capabilities make it
• Appropriate portion of the terminal power supply especially appropriate for industrial control.
spectrum Vss:4.5V-5.5V
• The operating current range is logically 0 to 36 mA GSM
• 20W is the maximum power usage
Pins
• Out 1: Motor A lead out
• Out 2: Motor A lead out
• Out 3: Motor B lead out
• Out 4: Mo (Can actually be from 5v-35v, just marked
as 12v)
• GND: Ground
• 5v: 5v input (unnecessary if your power source is 7v-35v,
if the power source is 7v-35v then it can act as a 5v out) Figure 13.GSM
En A: Enables PWM signal for Motor A (Please Global System for Mobile Communications, or GSM. Mobile
see the “Arduino Sketch Considerations” section) voice and data services are transmitted using this digital
In1: Enable Motor AI cellular technology. The following list of GSM-related key
• In2: Enable Motor A facts.
• In3: Enable Motor B
• Early in the 1970s, Bell Laboratories developed a mobile

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radio system based on cells that gave rise to the GSM by pressing the stick. Two potentiometers, one for each
concept axis, are all that are needed to move in one direction. Pots
• The GSM standardisation group was founded in 1982 cost 10,000 each.
with the goal of developing a uniform mobile phone By moving the “hat,” you may use this Joystick Module
standard for Europe to measure position coordinates on the X and Y axes.
• GSM is the most extensively used telecommunications Additionally, it has a switch that may be operated by pushing
standard, it is used all over the world the “hat. Additionally, it has a switch that may be activated
• Each 200 kHz channel in the circuit-switched GSM by lowering the “hat.” like the Xbox controller in style.
system is divided into eight 25 kHz time slots
• In the majority of the world, GSM uses the 900 MHz Two 10k potentiometers on the X and Y axes produce
and 1800 MHz mobile communication bands analogue signals to regulate 2D movement. Two analogue
• GSM uses the frequencies 850 MHz and 1900 MHz values that represent two directions will be output by the
in the US module when it is in operating mode. The value that can
• More than 70% of digital cellular subscribers worldwide be read from the analogue input of this module, which
are GSM subscribers operates on a 5V power supply, is approximately 2.5V. As
• The Time Division Multiple Access (TDMA) technology the joystick is moved, the value rises to a maximum of 5V;
is used by GSM to deliver signals in a narrowband otherwise, it falls to 0V.
• Digital technology was used in the development of GSM Specifications and Features: -
• It can transport data rates ranging from 64 kbps to
120 Mbps • Dimensions: 40 x 27 x 15 (L x w x H) mm
• In more than 210 countries throughout the world, • Weight: 10gm (without Hat)
GSM currently supports more than one billion mobile • 2.54mm pin interface leads
subscribers and offers basic to advanced voice and data • Operating Voltage: 5V
services, including roaming service • Long service life and stable performance
• You can use your GSM phone number while roaming in • Standard interface and electronic building blocks
other GSM networks. Data is digitalized and compressed • Widely use in Arduino DIY projects
before being sent down a channel alongside two other • Cross rocker as a two-way 10K resistor, with the rocker
streams of user data, each in its own time slot in a different direction

Features of GSM Battery

• Improved spectrum efficiency
• International roaming
• Low-cost mobile sets and base stations (BSs)
• High-quality speech
• Compatibility with Integrated Services Digital Network
(ISDN) and other telephone company services
• Support for new services
Joystick Module
Figure 14.Battery
Figure 23: The battery 18650 has a 2000 mAh capacity and
is a Li-ion rechargeable battery. Although it is not a regular
AA or AAA battery, this one is highly helpful for devices
like cameras, DVD players, iPods, others that need high
current either continuously or briefly. Without significantly
losing battery capacity, an 18650 cell can undergo up to
1000 cycles of charging and discharging. They have a long
battery life, are safe to use, are environmentally friendly.
It has a high energy density and offers your device great
continuous power sources. It should be used in conjunction
Figure 13.Joystick Module with a protection circuit board that safeguards the battery
from overcharging, overdischarging, avoiding drawing too
This dual-axis joystick module is of the highest quality. It
much current.
can be utilised to detect motion in two directions (axes).
Additionally, it features a built-in switch that is turned on Simply glue the wires to the terminals to use the cell in

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any circuit, you can quickly swap out spent cells by using Security cameras, often known as surveillance cameras, are
18650 battery holders. Li-ion batteries must be handled video cameras used to observe a space. They are frequently
carefully because they are flammable and volatile and connected to a recording device or IP network, a security
shouldn’t be handled roughly or punctured. Additionally, guard or law enforcement official may be watching them.
avoid overcharging and discharge past a certain point Electronic Circuit
since gases buildup inside could cause an explosion and
fire. So whenever utilising Li-Ion batteries, always use
the protection board. View additional cells here. 3.7V
Rechargeable Li-Po Battery, 9V Hi-Top Battery, 9V High-
Watt Battery
Specifications
• Voltage: 3.7 Volts
• Capacity: 2000 mAh
• Rechargeable: Yes
• Battery Size: Diameter- 18mm x Length- 67mm
• Charging Method CC-CV
Battery Holder

Figure 16.Circuit Diagram Of Motor

Figure 15.Battery Holder

An integrated or separate chamber used to retain cells is
known as a battery holder or battery mount. If it has its own
compartment, it can be connected to a mobile device. It is
utilised to hold the cells firmly in place and supply power
to the attached gadget. A battery holder’s main purpose
is to make it easier for the device it is attached to to get
electricity. Through lugs soldered to the cell-powered
device, wire leads, snap terminals, or it can be installed on
PCBs through pins, external connections to the batteries
in the battery holder can be formed.
Figure 17.Circuit Diagram of Arduino NANO
Surveillance Camera
Calculation
Motor Torque Calculations:
Vehicle Design Criteria:
Gross vehicle weight (GVW): 3 kg
Weight on each drive wheel (Ww): 1.5 kg
Radius of wheel/tire (Rw): 32.5 mm
Desired top speed (Vmax): 0.3 m/s
Desired acceleration time (ta): 0.3 sec
Maximum incline angle (α): 20o
Figure 15.Surveillance Camera Worst working surface: Sand(dune)

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Total Tractive Effort, TTE= RR + GR + FA = 1.7818 kg

Where, Step Five: Determine Wheel Motor Torque
RR = force necessary to overcome rolling resistance To verify the vehicle will perform as designed in regards to
GR = force required to climb a grade tractive effort and acceleration, it is necessary to

FA = force required to accelerate to final velocity calculate the required wheel torque (Tw) based on the
tractive effort.
Step One: Determine Rolling Resistance
Tw = TTE x Rw x RF
Rolling Resistance (RR) is the force necessary to propel a
vehicle over a particular surface. The worst possible = 1.7818 x 32.5 x 1.1

surface type to be encountered by the vehicle should be = 63.7 kg-mm

factored into the equation. where:
RR = GVW x Crr RF = “resistance” factor
= 3 x 0.15 The “resistance factor” accounts for the frictional losses
= 0.45 kg between the caster wheels and their axles and the drag on

Crr = surface friction (value from Table) the motor bearings. Typical values range between 1.1 and
1.15 (or 10 to 15%).
Step Two: Determine Grade Resistance
Step Six: Reality Check
Grade Resistance (GR) is the amount of force necessary
to move a vehicle up a slope or “grade”. This calculation The final step is to verify the vehicle can transmit the
required torque from the drive wheel(s) to the ground. The
must be made using the maximum angle or grade the
vehicle will be expected to climb in normal operation. maximum tractive torque (MTT) a wheel can transmit is
equal to the normal load times the friction coefficient
To convert incline angle, α, to grade resistance: between
GR = GVW x sin(α) the wheel and the ground time the radius of the drive wheel.
= 3 sin(20o) MTT = Ww x μ x Rw
= 1.026 kg = 1.5 x 0.8 x 32.5
where: = 39 kg-mm
GR = grade resistance where:
α = maximum incline angle [degrees] μ = friction coefficient between the wheel and the ground
Step Three: Determine Acceleration Force The total wheel torque calculated in Step Five must be
Acceleration Force (FA) is the force necessary to accelerate less than the sum of the Maximum Tractive Torques for all
from a stop to maximum speed in a desired time. drive wheels or slipping will occur.
FA = GVW x Vmax / (9.81 x ta) For two wheel drive, Tw< (MTTx2)
= 3 x 0.3/(9.81 x 0.3) i.e., 63.7 kg-mm < 78 kg-mm
= 0.3058 kg Therefore, our design assumptions are within safe limits.
Step Four: Determine Total Tractive Effort Motor Torque Calculations:
The Total Tractive Effort (TTE) is the sum of the forces Wheel Circumference = π x D = π x 65 = 204.2035 mm
calculated in steps 1, 2, 3. (On higher speed vehicles
Velocity = 0.3 m/s
friction in drive components may warrant the addition of
10%-15% to the total tractive effort to ensure acceptable Velocity = RPS x Wheel Circumference

vehicle performance.) RPS = 0.3/0.2042035

TTE = RR + GR + FA = 1.469 rev/sec

= 0.45 + 1.026 + 0.3058 RPM = RPS x 60

= 88.147 rpm

ISSN: 2582-5607
DOI: https://doi.org/10.24321/2582.5607.202201
Kumbhar BS et al.
J. Engr. Desg. Anal. 2022; 5(2) 10

Therefore, we will be using a motor with speed of more detonated by the mining mine detection Rover project’s
than 88.147 rpm. next-generation autonomous mine detection rover. When
Standard motors, which are available with speed of more a landmine is discovered, our Rover will autonomously
than above, are of 100 rpm search a given minefield, support any suitable landmine
detection software, spray the paint there. The presence of
Results the Mine Detection Rover will be detected and scanned
The goal of this research was accomplished by precisely using a camera and sensor for thermography.
identifying and mapping the land mines and the region Our system will demonstrate the viability of this technique
that the robot travelled so that the demining team could for landmine detection and labelling, our study will lay the
quickly find and disarm the landmines. Being invisible to groundwork for further advancement of this system. This
the landmine is key to this robot’s success in finding mines. research will demonstrate that a robotic solution to the
This is made only by its light weight. This robot is inexpensive. issue of landmine detection and removal is a useful alternate
This robot includes a straightforward mapping system and to the current approach and will be beneficial to society.
graphical user interface. The robot is simple to operate References
even for beginners. The local market has a wide variety
of robot parts. All three modes of operation—automatic, Bharath, J., 2015. Automatic land mine detection and
semiautomatic, manual—were effective. One graphical sweeper robot using microcontroller. International Journal
user interface with all three control modes offers the user of Mechanical Engineering and Robotics Research, 4(1),
a very potent system. Landmines may be precisely plotted p.485.
thanks to image processing’s use of dead reckoning error Malaviya, K., Vyas, M. and Vara, A., 2015. Autonomous
compensation. landmine detecting and mapping robot. International Journal
The user of this research needs this vital feature to account of Innovative Research in Computer and Communication
for the sandy places where robot wheels are prone to Engineering (An ISO 3297: 2007 Certified Organization), 3(2).
skidding. The landmines on the graphic map are off by Ghribi, W., Badawy, A.S., Rahmathullah, M. and
only a few millimetres. Landmines were successfully Changalasetty, S.B., 2013. Design and Implementation of
located using the balancing beat metal detector. The Landmine Robot’’. International Journal of Engineering and
landmines can be easily located with the use of a visual Innovative Technology (IJEIT).
map. Using a PIC microprocessor and servomotors, PID Huang, Q.J. and Nonami, K., 2003. Humanitarian mine
was successfully implemented. A visual environment is detecting six-legged walking robot and hybrid neuro walking
used to tune the servomotor. The visual environments for control with position/force control. Mechatronics, 13(8-9),
the PID tuning saved time. The response of control shown pp.773-790.
in visual environment quickly enables the user to change
the value of any parameter to get the desired response.
The visual environment program for cameras alignment
helped in quick setup of system in any remote area. To test
the intelligibility of the robot, novice users operated the
robot and found the controls very easy to use and learn.
Wireless serial interface handshaking was successfully
implemented between the PIC microcontroller and remote
terminal computer. This communication remained secure
and reliable at all times
Conclusion
The research will demonstrate that an autonomous
landmine detector can detect landmines automatically,
which has been a very difficult task to far. From low-level
positioning of a mobile landmine detecting platform in an
unstructured environment, all phases of the development
of such a system will have significant unresolved issues.
A few of the most important issues will be developed in
this work, along with potential answers. This project’s
goal is to locate and mark a landmine so that it can be

ISSN: 2582-5607
DOI: https://doi.org/10.24321/2582.5607.202201