Dual Mode Metal Detecting Robotic Vehicle

Raghav Khunteta Rika Mallika

Symbiosis Institute of Technology, Pune Campus, Symbiosis Institute of Technology, Pune Campus,
Symbiosis International (Deemed University), Pune, India Symbiosis International (Deemed University), Pune, India
[email protected] [email protected]

Prithviraj Dhotre Marshiana D

Symbiosis Institute of Technology, Pune Campus, Symbiosis Institute of Technology, Pune Campus,
Symbiosis International (Deemed University), Pune, India Symbiosis International (Deemed University), Pune, India
[email protected] [email protected]

Abstract—The robot used in this research features a metal and found nothing. We developed the opening and dug the
detector and two modes. Remotely controlling affordable robotic other foot, but still nothing. We could keep digging another
vehicles that can also detect metal items is made possible by five or six feet before finally giving up. The microprocessor-
RF (radio frequency) technology. The robot is automated even
without an RF remote.The suggested controlled robotic vehicle based metal detector (Raspberry Pi) explained in our quest is a
might be utilised for activities involving metal detecting, such frequency meter that measures resonant frequency or duration.
as looking for landmines, dodging obstacles, and picking the Our system consists of sensor networks, embedded systems,
optimum path without putting humans or employees in risk. and intelligent programs on robotic vehicles. Whenever there
To communicate with the robot controller, utilise the buttons is a deviation from the original state, the sensors on one side
in the transport (operator) portion. The robot may go ahead,
go backward, turn left, or turn right thanks to the orders that of the robot (i.e., VEHICLE SIDE) send a signal to the remote
specify how to move. The robotic vehicle is propelled by two side (i.e. USER SIDE) and display the detected quantity on
motors in the receiver assembly. Before transmitting the order LCD. It can also climb terrain at specific angles. This project
to the DC, the receiver decodes it. is sure to revolutionize defense systems as surveillance and
inspection robots.
I. I NTRODUCTION
II. L ITERATURE R EVIEW
The robot is an autonomous device that performs the func-
tions normally assigned to a human being or machine in human Kadhim et al. stated the recent outsized impact of tech-
form. Overall, it’s a machine that works despite the presence of nology on our lives has both advantages and disadvantages.
a living human being. Robots are used in special applications However, most technologies should be used for the benefit of
such as handling hazardous situations and tasks requiring high humanity and society so that their good effects are greatly
precision and speed. Hazardous events usually occur due to increased at the cost of their flaws. Researchers want to create
human negligence. Robots can be used to perform work in robust collaborative robots capable of performing difficult
hazardous areas and can be used to manage delicate levels of tasks without human intervention. Metal detector robots are
instability in these areas. To realize real-time border security one of the foundations of robotics as they are more efficient
inspection and monitoring, an intelligent remote monitoring than outdated technologies which are manual, laborious and
system has been developed. Wireless sensor networks are used slow. This article highlights three main themes.
to detect physical or environmental conditions such as temper- According to Alauddin et al., the goal of this work is to
ature, gas, people, metal, etc.The basic working principle of develop and build a remote-controlled robot with an elec-
a metal detector is very simple and is based on the principle tronic metal detector that can search for landmines without
of electromagnetic induction.As the name suggests, it is an jeopardising people’s lives. Metal detectors can find covered
electronic device that can identify if metal parts are present in metal, and robots can be remotely controlled. Build prototypes
or around places that are usually hard to reach, such as inside to translate ideas and concepts from the theoretical phase
rocks, closed bags, under land, etc. This metal detector is used into actual hardware components. The proposed concepts are
to detect objects. From something as dangerous as a landmine then tested and experimented with using software programmes
to something as valuable as a gold mine. The metal detector that are integrated into the system. There is a robot control
certainly can identify coins, gemstones, gold nuggets, heaps, app available for the Android operating system. A Bluetooth
or whatever we are looking for nearby without knowing how technology system connects the controller and the robot. The
capable our indicators are. To show signs of improvement, robot can move in a regulated manner while adhering to
knowing what the indicators do is essentially We dug a foot commands from Android.
Ananya Bhattacharya stated that the goal of this project is
Identify applicable funding agency here. If none, delete this. to create a mobile robot that can detect metal on the way.
The robot can only be used indoors and on flat surfaces. Oscillator) technique, the robotic vehicle is outfitted with an
An Arduino Uno R3 microcontroller is used to drive a metal automated metal detector circuit that notifies the operator when
detecting robot. When the ultrasonic sensor detects an obstacle a target is discovered.The robot’s two primary components
or object, the robot avoids it. Inductive proximity sensors are are the sending end and the receiving end. To communicate
used in metal detectors to detect metal. It can also alert users with the robot controller, utilise the buttons in the transport
when metal is detected. (operator) portion. The robot may go forward, backward, turn
Adnan Maqsood et al. proclaimed that the aim of this project left, or turn right thanks to the orders that specify how to move.
is to develop a mobile robot capable of detecting metals in its The robotic vehicle is propelled by two motors in the receiver
immediate environment. This robot can only be used indoors assembly. The signal is decoded by the receiver, which then
and the level becomes Arduino Uno R3 microcontroller is instructs the DC motor with the proper orders.
used to operate the metal detecting robot. When the ultrasonic Pratik’s work describes a new robot that uses metal de-
sensor detects an obstacle or object, the robot avoids it. Metal tectors to detect metallic objects moving overhead. For metal
detectors use inductive proximity sensors to search for metal. detecting operations, the robotic robot is driven by an Android
In addition, it will be able to alert the user if metal is found. app using cloud-based Wi-Fi technology. The versatility and
F. Y.C. Albert’s abstract of this study describes the construc- ease of modification of this project make it suitable for a wide
tion of a remotely controllable metal detector robot powered range of applications. According to experimental research, the
by solar energy. By deploying a metal detector robot powered mobile control robot can move in any direction in response
by solar energy in the field, the detection system for mine to commands, and the metal detector circuit beeps when it
can be independent of electricity and gasoline. Metal mines detects a metal object.
can be found around suspicious areas by adding inductive Naveed Ahsan et al. stated the most destructive devices
sensors, a camera and an ATmega32 microprocessor. The placed below or above the earth’s surface are landmines. These
radio frequency (RF) module is used to create and implement deadly robots are buried in large areas, making them difficult
the proposed robotic system for device communication. The to spot with the naked eye. It is necessary to identify these
high-precision metal detection results of the robot’s test can killing devices in order to protect organisms from them. Using
show that the robot can be used for robotic applications in the metal detector sensor mounted on the front of our robotic
minefields. vehicle, the robot will go out into the field and search for
C K Chen said robotics is a rapidly developing field that underground mines. Using a Bluetooth module that can drive
has impacted many elements of our daily lives. Robotics is an motors, the robot can be moved. A Bluetooth RF app on an
integral part of the technological development exchange, and Android phone will be used to drive the robotic vehicle.
engineers choose to grind in this field to create robots that According to Mujiarto et al., the Metal Detector Robot is
can improve human world. In today’s technological environ- a tool that uses an Android-based smartphone to scan a given
ment, mobile robots come in many forms. Wheeled robots, region for the presence of metal, including landmines. Since
humanoids, water bases, and other features are common. the usage of landmines may cause hurt or death, detectors are
Therefore, in this study, a four-wheeled remote control robot essential. When searching for landmines with the antiquated
car was constructed. Build a system using a metal detector method of straight sweeping, it is extremely dangerous to unin-
coil, an Android app, and an Arduino platform. This robotic tentionally step on a landmine. The robot system employed in
car was created with an Android-based smartphone. The brain this study is equipped with a metal detector that may be used to
of the robot is an Arduino Uno board. The software section detect the presence of metal via coil induction as it approaches
using portable applications is also included. In this study, the metal. The frequencies of the metals identified are shown
a metal detection robot was created that provides Bluetooth on the LCD, which acts as an interface. The Arduino UNO-
remote control and metal detection on a robotic vehicle. The programmed DC current motor controls the robot’s mobility.
automated robot was compared to the proposed design in terms The buzzer will ring and the LCD will display the detected
of price, direction and detection accuracy. The study results metal frequency when the robot senses the presence of metal.
show that the proposed design robotic vehicle can accurately According to the testing results, a smartphone with an Android
and quickly detect the movement of metal, is easier to turn operating system can operate the robot up to 15 metres away.
and costs less. The effective detection radius is 88 millimetres away from the
Alrumaih et al. stated RD efforts is being done to develop detector head.
reasonably priced robotic vehicles capable of seeing metallic According to Zubair et al., the purpose of landmine detec-
things in their route utilising OF (radio frequency) technology tion robots is to search as much of the potential landmine field
on flat, shallow terrain, such as that seen around trash, in as possible for landmines. With millimeter-level accuracy, a
parks, or along lakeshore habitats. The system’s development visual map shows the discovered landmines, scanned area, and
was primarily focused on utilising it to traverse challenging residual region. This study offers a powerful, cost-effective,
terrain at existing archaeological sites. As a result, it was and user-friendly prototype land mine detecting robot. A
necessary to create an autonomous and trustworthy robot that graphical user interface is developed for the mapping of
could traverse such terrain and transport a sensor payload landmines, display of the scanned and leftover area, PID
capable of spotting objects. Using the BFO (Beat Frequency modification, and camera alignment. The automated, semi-
automatic, and manual control of the differential drive robot the movement of nearby objects.Servo motors are used in this
are highlighted.The robot’s dead reckoning servo control project to control the camera’s pan and tilt. Utilising a land
receives live reckoning data through an image processing mine detecting circuit also allows for the detection of land
technique to identify its exact location. A metal detector is mines. Using a Raspberry Pi 3 model B, IOT can be supported
used as a sensor in order to find landmines. The most effective with ease. The detected information is stored on an SD card.
control for the robot is provided through the graphical user This gadget is used to stop abnormally dangerous occurrences
interface of the computer’s remote terminal. The approach is and human casualties. With the use of a smoke sensor, it stops
simple yet effective, and it is clear how to use it to achieve forest fires. This tool might be helpful for surveillance and
the desired outcomes. detection tasks. The present location of the rover on the map
Farooq’s et al. essay provides evidence of the issue and may be determined using GPS.
consequences of landmines in defense-related industries. To Land mine identification is crucial when sending armed
prevent human casualties, we suggest a robot with the ability vehicles into hostile area, according to Abilash et al. These
to find concealed mines and wireless user control. The robot armed vehicles, sometimes known as main battle tanks, are
is outfitted with unique wheels that are controlled by an used to manually follow the route of the pilot tank to avoid
HBridge module, allowing it to travel in any direction. We damage to/distraction from the battle tank and defence crew
concentrate on human and robot safety in this study; the losses. After a conflict, mines that were planted to protect
robot is outfitted with specialised range sensors that aid in people and reduce deaths can be located and deactivated with
avoiding field barriers by precisely recognising their locations. a mine-detecting robot. In this work, it was recommended
For the project’s construction, a particular kind of prototype to develop a prototype wirelessly controllable land mine
constructed of thin, temperature-resistant metal is utilised to detection robot (LDR). The robot was designed with people’s
transport all the pieces. The robot is equipped with a wireless safety in mind and has specialised range sensors that it uses to
camera that records and communicates its current location. avoid obstacles. This project’s prototype was created from a
Robot is controlled by a microcontroller. This method has thin, temperature-resistant metal. The robot’s current location
the practical advantage of decreasing the number of casualties is determined and communicated via a Global Positioning
since it allows for effective control of the robot and strong System (GPS) sensor. To accurately manage and traverse the
obstacle location determination. proposed path while avoiding obstacles, algorithms for path
Yadav Ajay, et al. claims that the major goal of this planning, obstacle identification, and avoidance were used.
effort is to find metal components. The soldiers in the army An Arduino microcontroller is used by this robot. The robot
utilise portable metal detectors to discover land mines, which system has a buzzer that can sound an alarm to warn nearby
occasionally causes the land mine to detonate. This method workers and a metal detector that can detect landmines. The
of killing the soldiers. This project is used to deal with robot moves by being propelled by a DC motor. The robot
this problem. A sophisticated message-based alert system is and computer are connected using a ZigBee device.
present in this project. This was produced using ”Ardino”
technology. This project entails placing the hole circuit on III. M ETHODOLOGY
one robot car after attaching an Arduino board to a metal The methodology used in this study is described in this part,
detector. This car is controlled via Bluetooth radio technology along with the specific tools, techniques, and methodologies
and a Bluetooth module. When a metal detector picks it up, that rely on sensor-based technology. The research process
the Arduino utilises a GSM module to transmit a message to a demonstrates the creation and design of the proposed system.
mobile smartphone. This project just needs one Arduino board Block diagram for the same is given as fig.1 .
because all three application scripts have been combined into
one board. With this initiative, you may find priceless riches A. Hardware part
in subterranean and covered areas, as well as land mines in 1) Raspberry pi: The Raspberry Pi is utilised as the primary
remote locations. There are other security-related applications component since it manages the robot’s movements and all
for this project. of its functions. It uses a Raspberry Pi 3 Model B board.
Kirubakaran et al. stated that this initiative uses the Internet This board has 40 general-purpose input and output pins and
of Things to improve surveillance in our nation. It is a Rover- a quad-core processor, making it quicker and more powerful
style gadget that is helpful in dangerous border regions and than its predecessor. It is capable of 60 frames per second
on terrain where humans are not allowed to travel. In this 1080p MP4 video playback. It has Bluetooth and Wi-Fi built
project, the rover’s movement and the camera’s rotation may in. Moreover, the device has four USB 2.0 connections with
both be managed online. As a result, we can manage this 480 Mbps data transmission, an 802.11n wireless LAN, a 400
equipment from any location in the world. It offers live MHz video core for multimedia, 1 GB of LPDDR2 memory
streaming and further details on that subject. In order to with 900 SDRAM, and two interface connectors for a camera
move the rover safely, obstacles are detected using an active and a display.
IR sensor. Additionally, it features a MQ2 smoke sensor, 2) Ultrasonic sensor: The ultrasonic sensor is an electrical
which detects the presence of gas and flammable gas in the device that measures the distance between an object being
surroundings. A sensor that uses ultrasound is used to track used as an aim and the sensor using ultrasonic sound waves.
 processing technologies are combined in this project. All parts
are attached to the Raspberry Pi, which is mounted on a robotic
Metal Detector
wheel structure, and used as input. The motors attached to the
LCD
wheels are in charge of its movement. Every metal object, such
Ultrasonic as landmines, located nearby is detected by the metal detector
sensor
circuit, which is interfaced.This detected signal is sent to the
Raspberry pi Buzzer monitoring system, which will then use image processing and
Camera
GPS positioning to indicate the location of the metal. For the
goal of avoiding obstacles, an ultrasonic sensor is utilised. At
Monitoring
RF Module System a certain moment, the robotic gadget will be launched into the
Motor playing pitch. The Raspberry- Pi will now travel autonomously
in the field in accordance with the programming that has been
done, and if it detects a metal item, it will report its location
GPS to the monitoring system. Furthermore, since an ultrasonic
sensor is used to detect impediments, its operation won’t be
impacted by them. The monitoring system will map the exact
Fig. 1. Block Diagram
position of the landmine using all of the readings that were
obtained.Flowchart for the software part is shown in fig.2
The sound that is reflected is then converted into an electrical
signal. This electrical signal is first received by the Rasp-
berry Pi, which then sends it to the surveillance system for START
further image processing. Audible sound travels more slowly
than ultrasonic waves do. The two main components of an
ultrasonic sensor are the transmitter, which uses piezoelectric Moves in forward
Turns 90° to right
direction
crystals to make sound, and the receiver, which collects the
reflected signal. It may be used to avoid collisions as well as
for obstacle avoidance and detection purposes depending on
how long it takes for transmission and reception.The ultrasonic Detection of
NO If detects
sensor operates at 5V with a theoretical measuring distance of nearby area
by ultrasonic anything
sensor from 2- under 30
about 2 cm to 80 cm. it operates at a frequency of 4 Hz. 4000 cm cm
3) Metal detector: An electrical device that can find metal
buried beneath or concealed inside of items. They typically
consist of a portable device with a sensor probe that may be
swept across the surface or over other objects. A constant
beep sound or a moving needle on an indicator are both used If detects
a metal
to indicate when the metal has been discovered. Also, this
gadget provides some feedback on the proximity of metal by
YES
beeping louder when it is close to metal items. The oscillator
that produces the alternating current that flows through the coil Sends location and
images through
in the metal detector circuit creates the alternating magnetic raspberry pi

field.Eddy currents will be produced in a piece of metal if it

is close to the coil, and this results in the metal producing its
own magnetic field. The magnetic field shift brought on by the END

metallic object may be seen if another coil is used to measure

the magnetic field.
B. Software part
The goal of this work is to create a Raspberry-Pi-based
landmine detecting system. The Raspberry Pi is a single-
board computer featuring an ARM Cortex A53 quad-core
Fig. 2.
Processor running at 1.2 GHz. It contains four USB 2.0 ports
with 480Mbps data transmission, an Ethernet connector with
a maximum throughput of 100 Mbps, 1 GB of LPDDR2 IV. R ESULTS
- 900 SDRAM, 40 extensible general-purpose input-output Images from the monitoring system’s camera, GPS, and
pins, complete HDMI video interface, DSI (Display Interface), image processing tools may be used to assess the output in this
and CSI (Camera Interface). The Raspberry Pi and image project. The robot’s camera records video of the area where
the metal detector picks up any metal objects, which is then
delivered to the monitoring system together with the metal
object’s GPS position. The acquired photos are examined
and tested for landmines using image processing techniques.
If a landmine is found, the GPS position is found and it
is registered using Python at the monitoring system at the
designated spot. GPS uses satellite broadcast signals from
space to deliver exact position information, which is described
in three dimensions.The robot will return to its starting place
when the entire detecting procedure is finished. The position of
the landmines with their photographs grouped in a systematic
way may be found by the operators by just checking their
system. On a virtual plot with GPS position, the system will
display all landmines found at the given plot at once. This
will make discovery easier and lower the possibility of human
fatalities.

Fig. 4.

Fig. 3.

V. C ONCLUSIONS Fig. 5.
Nowadays, there are several landmine detectors in operation,
although many of them are handled by humans. The majority
of these manually controlled detectors fall short in that their
controllers and sensors are ineffective. There is a significant in peril. The creation of an autonomous, rigid, and effective
danger of loss of life and property as a result of these defects. robotic system is required to address these issues since doing
These errors put the lives of the locals or military troops so will help to mitigate the losses that would otherwise occur.
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