Adaptable ground object detection and neutralization system

Abstract

A technique is directed to neutralizing mines by an unmanned system. The technique includes, in response to receiving instructions that define a geographical area, autonomously performing an aerial survey of the geographical area that identifies a suspected mine location. The technique further includes dispensing an explosive charge from the unmanned system adjacent to the suspected mine location. The technique still further includes directing the explosive charge to detonate after being dispensed to neutralize a mine at the suspected mine location.

Description

Attorney Docket #: 1164-109.002TITLEADAPTABLE GROUND OBJECT DETECTION AND NEUTRALIZATION SYSTEMBACKGROUND

[0001] The present invention is related to mine detection and neutralization.

[0002] In some mine-neutralization operations, on-the-ground personnel attempt to detect mines using specially trained animals or handheld devices such as metal detectors. Other mine-neutralization operations involve rocket-propelled mine-clearing line charges (MICLICs), in which explosive charges are attached along a line and launched onto a suspected minefield by a rocket. The explosive charges are then detonated in an attempt to disable mines near the charges.Attorney Docket #: 1164-109.002SUMMARY

[0003] Unfortunately, the above-described prior approaches have deficiencies. For example, mine-neutralization operations using animals or handheld devices typically involve close contact with active mines, creating a risk of serious injury or death. As another example, mine-neutralization operations using MICLICs detonate large quantities of explosive charges regardless of whether an individual explosive charge is located near any mines. As a result, these operations may consume explosive charges needlessly, resulting in material waste and unnecessary destruction to land. What is needed, therefore, is a more targeted way of safely detecting and neutralizing mines.

[0004] The above need is addressed at least in part by an improved technique that neutralizes mines using an unmanned system outfitted with a set of environmental sensors and an explosive charge dispenser. The unmanned system is configured to perform an aerial survey of a geographical area, which identifies suspected mine locations from sensor data of the environmental sensors. The unmanned system is further configured to fly to the suspected mine locations and dispense, from the charge dispenser, explosive charges adjacent to the suspected mine locations. The unmanned system or a remote base station then directs the explosive charges to detonate, disabling the mines at the suspected mine locations. Advantageously, performing such operations enables mine detection to occur safely over a wide area and further enables explosive charges to be placed precisely near mines, reducing material waste and environmental damage that would otherwise result from detonating charges that are not near any mines.

[0005] Certain embodiments are directed to a method of neutralizing mines by an unmanned system. The method includes deploying an unmanned system with a payload having mine-neutralizing capability. The unmanned system receives instructions that define a geographical area. The method further includes, in response to the unmanned system receiving the instructions, autonomously performing an aerial survey of the geographical area that identifies a suspected mine location. The method still further includes dispensing an explosive charge from the unmanned system adjacent to the suspected mine location. The method still further includes directing the explosive charge to detonate after being dispensed to neutralize a mine at the suspected mine location.Attorney Docket #: 1164-109.002

[0006] Other embodiments are directed to an unmanned system. The unmanned system includes a flight assembly constructed and arranged to provide flight control and heading. The unmanned system further includes a payload assembly coupled to the flight assembly. The payload assembly includes one or more cameras, an explosive charge dispenser, and control circuitry that includes a set of processors coupled to memory. The control circuitry is constructed and arranged to, in response to receiving instructions that define a geographical area, cooperate with the flight assembly and the one or more cameras to autonomously perform an aerial survey of the geographical area that identifies a suspected mine location. The control circuitry is further constructed and arranged to cooperate with the flight assembly and the explosive charge dispenser to dispense an explosive charge adjacent to the suspected mine location. The control circuitry is still further constructed and arranged to direct the explosive charge to detonate after being dispensed to neutralize a mine at the suspected mine location. Still other embodiments are directed to a payload assembly for an unmanned system, such as the payload assembly described above.

[0007] The foregoing summary is presented for illustrative purposes to assist the reader in readily grasping example features presented herein; however, this summary is not intended to set forth required elements or to limit embodiments hereof in any way. One should appreciate that the above-described features can be combined in any manner that makes technological sense, and that all such combinations are intended to be disclosed herein, regardless of whether such combinations are identified explicitly or not.Attorney Docket #: 1164-109.002BRIEF DESCRIPTION OF THE SEVERAL VIEWS OF THE DRAWINGS

[0008] The foregoing and other features and advantages will be apparent from the following description of particular embodiments, as illustrated in the accompanying drawings, in which like reference characters refer to the same or similar pails throughout the different views. The drawings are not necessarily to scale, emphasis instead being placed upon illustrating the principles of various embodiments.

[0009] FIG. 1 shows an example mine-neutralization system according to one or more embodiments.

[0010] FIG. 2 is a block diagram of an example electronic environment in which embodiments of the improved technique can be practiced.

[0011] FIG. 3 is a flowchart showing an example method of neutralizing mines according to one or more embodiments.

[0012] FIG. 4 is a flowchart showing an example method of neutralizing mines according to one or more embodiments.Attorney Docket #: 1164-109.002DETAILED DESCRIPTION

[0013] Embodiments of the improved technique will now be described. One should appreciate that such embodiments are provided by way of example to illustrate certain features and principles but are not intended to be limiting.

[0014] An improved technique is directed to neutralizing mines using an unmanned system outfitted with a set of environmental sensors and an explosive charge dispenser. The unmanned system is configured to perform an aerial survey of a geographical area, which identifies suspected mine locations from sensor data of the environmental sensors. The unmanned system is further configured to fly to the suspected mine locations and dispense, from the charge dispenser, explosive charges adjacent to the suspected mine locations. The explosive charges are then detonated, disabling the mines at the suspected mine locations. Advantageously, performing such operations enables mine detection to occur safely over a wide area and further enables explosive charges to be placed precisely near mines, reducing material waste and environmental damage from detonating charges that arc not near any mines.

[0015] As used herein, the term “mine” refers to an explosive device constructed and arranged to detonate in response to a disturbance by a third party. Example mines include land mines, surface mines, subsurface mines, top-attack mines, side-attack mines, and so forth.

[0016] FIG. 1 shows an example mine-neutralization system 100 in accordance with certain embodiments. The mine-neutralization system 100 includes a flight assembly 110 and a payload assembly 120, which are constructed and arranged to cooperate with each other to detect and neutralize mines.

[0017] The flight assembly 110 includes a multi-rotor drone having a plurality of rotors 112 extending from a main body 114. The plurality of rotors 112 is constructed and arranged to fly the mine-neutralization system 100 (e.g., provide lift for autonomous flight). As shown, the flight assembly 110 includes six rotors 112 constructed and arranged to provide high positional accuracy, high sprint speed, and heavy-lift capabilities. Alternative embodiments may include different numbers of rotors (e.g., two, four, eight, etc.) and / or other propulsionAttorney Docket #: 1164-109.002 systems. The main body 114 is constructed and arranged to house certain componentry which supports autonomous flight, e.g., control circuitry, sensors, transceivers, and so forth.

[0018] The payload assembly 120 includes a set of couplings 122, various environmental sensors 124, and an explosive charge dispenser 126. The set of couplings 122 is constructed and arranged to attach other componentry of the payload assembly 120 to the flight assembly 110. hi the example shown, the set of couplings 122 mates with a bottom portion of the main body 114, which supports the environmental sensors 124 and the explosive charge dispenser 126 from above. The environmental sensors 124 are constructed and arranged to provide sensor data of a geographical area as input for mine-detection operations, e.g., automatic target recognition (ATR). Example environment sensors 124 include an electro-optical camera, an infrared camera, a ground penetrating radar (GPR), a magnetometer, and / or the like. The explosive charge dispenser 126 is constructed and arranged to carry and dispense explosive charges, e.g., ten explosive charges in the example shown. For example, an underside of the explosive charge dispenser 126 may include munition bay doors which open to drop an explosive charge while the flight assembly 110 hovers in midair.

[0019] In example operation, the payload assembly 120 coordinates with the flight assembly 110 to perform mine-detection operations in response to receiving instructions defining a geographical area, such as a suspected minefield. The instructions may be received from a remote base station, for example. Along these lines, the payload assembly 120 directs the flight assembly 110 to autonomously fly over the defined geographical area to perform an aerial survey. While over the geographical area, the payload assembly 120 obtains sensor data from one or more of the environmental sensors 124, e.g., electro-optical images from the electro-optical camera and / or infrared images from the infrared camera. The payload assembly 120 processes the sensor data (e.g., performs ATR) to identify and record any suspected mine locations.

[0020] In further example operation, the payload assembly 120 cooperates with the flight assembly 110 to perform mine-neutralization operations at the suspected mine locations. Along these lines, the payload assembly 120 directs the flight assembly 110 to fly adjacent to (e.g., directly above, or to one side of) a suspected mine location. The explosive charge dispenser 126 then dispenses an explosive charge adjacent to the suspected mine location.Attorney Docket #: 1164-109.002For example, the explosive charge dispenser 126 may dispense an explosive charge such that the explosive charge is in contact with, a distance above, or immediately beside a mine at the suspected mine location. Similar acts may be performed for other mines at other suspected mine locations. After dispensing the explosive charge (or charges), the payload assembly 120 directs the flight assembly 110 to fly a safe distance away from the explosive charge and directs the explosive charge to detonate, neutralizing a mine at the suspected mine location.

[0021] FIG. 2 shows a block diagram of an example electronic environment 200 in which embodiments of the improved technique can be practiced. Here, the mine-neutralizing system 100 (FIG. 1) is configured to communicate with a base station 210 (e.g., a ground control station) over a network 214 to perform certain mine-detection and mineneutralization operations.

[0022] The network 214 may be any type of network or combination of networks, such as a local area network (LAN), a wide area network (WAN), and / or the Internet, as well as Wi-Fi, Bluetooth, wireless RF, and / or wired connections, such as fiber optic connections. The payload assembly 120 and the flight assembly 110 are configured to receive instructions 212 over the network 214 from the base station 210 and to respond to such instructions 212, e.g., by carrying out autonomous mine-detection and / or mineneutralization operations.

[0023] The payload assembly 120 includes one or more communication interfaces 222, a set of processors 224, and memory 230, in addition to the environmental sensors 124 and the explosive charge dispenser 126 (FIG. 1). The communications interfaces 222 arc constructed and arranged to support communications to and from the base station 210 and / or the flight assembly 110. The communication interfaces 222 include, for example, network interface adapters for converting electronic and / or optical signals received over the network 214 to electronic form for use by payload assembly 120. The set of processors 224 includes one or more processing chips and / or assemblies, such as one or more multi-core CPUs (central processing units). The memory 230 includes both volatile memory, e.g., RAM (Random Access Memory), and non-volatile memory, such as one or more ROMs (Read-Only Memories), disk drives, solid state drives, and the like. The set of processors 224 and the memory 230 together form control circuitry, which is constructed and arranged to carry outAttorney Docket #: 1164-109.002 various methods and functions as described herein. Also, the memory 230 includes a variety of software constructs realized in the form of executable instructions. When the executable instructions are run by the set of processors 224, the set of processors 224 is made to carry out the operations of the software constructs. Although certain software constructs are specifically shown and described, it is understood that the memory 230 typically includes many other software components, which are not shown, such as an operating system, various applications, processes, and daemons.

[0024] As further shown in FIG. 2, the memory 230 “includes ” i.e., realizes by execution of software instructions, a target recognition module 232, a motion planning module 234, and an explosive charge controller 236.

[0025] The target recognition module 232 is constructed and arranged to identify and track suspected mine locations from sensor data obtained by the environmental sensors 124. For example, the target recognition module 232 may receive electro-optical and / or infrared images from the environmental sensors 124 and perform automatic target recognition (ATR) on the images to identify suspected mine locations. In some examples, the target recognition module 232 interfaces with geospatial infrastructure (e.g., a global positioning system (GPS)) and / or situational awareness applications to track the suspected mine locations. Further, the target recognition module 232 may provide a set of signals indicating the suspected mine locations to the base station 210.

[0026] The motion planning module 234 is constructed and arranged to direct the flight assembly 110 based on instructions from the base station 210. For example, the motion planning module 234 may receive instructions to perform mine-detection operations over a specified geographical area (e.g., a suspected minefield). In response to receiving the instructions, the motion planning module 234 may direct the flight assembly 110 to perform one or more aerial surveys of the geographical area and / or adjacent areas.Further, the motion planning module 234 may direct the flight assembly 110 to specific locations when performing mine-neutralization operations. For example, the motion planning module 234 may direct the flight assembly 110 to fly adjacent to a suspected mine location to enable the explosive charge dispenser 126 to dispense an explosive charge on or near a mine at the suspected mine location. Afterwards, the motionAttorney Docket #: 1164-109.002 planning module 235 may direct the flight assembly 110 to fly away from the suspected mine location to exit a blast radius of the explosive charge.

[0027] The explosive charge controller 236 is constructed and arranged to direct the explosive charge dispenser 126 to dispense explosive charges. The explosive charge controller 236 is further constructed and arranged to direct explosive charges to detonate after being dispensed. In some examples, the explosive charge controller 236 transmits a detonation signal to an explosive charge to trigger detonation of the explosive charge.

[0028] The flight assembly 110 includes the rotors 112, one or more communication interfaces 242, a flight controller 244, and various flight sensors 246. The communications interfaces 242 may be similar to the communication interfaces 222 of the payload assembly 120; however, similarity is not required. The flight controller 244 is constructed and arranged to direct the operation of the rotors 112 to autonomously fly the flight assembly 110 based on sensor data from the flight sensors 246 and flight instructions from the motion planning module 234 of the payload assembly 120. The flight sensors 246 are constructed and arranged to provide sensor data to the flight controller 244 for autonomous flight. Example flight sensors 246 include a global positioning system (GPS) device, an inertial measurement unit (IMU), an altimeter, cameras for vision-aided navigation, proximity sensors (e.g., radar, sonar, lidar, etc.) for collision avoidance, and so forth. In some examples, sensor data from the flight sensors 246 is provided to the payload assembly 120. For example, location and / or proximity data from the flight sensors 246 may be provided to the payload assembly 120 to track suspected mine locations.

[0029] It should be appreciated that the flight controller 244 and / or flight sensors 246 may support multiple modes of autonomous flight. For example, when flying in a GPS- denied areas, the GPS device may lose contact with one or more remote GPS devices (e.g., a GPS satellite). In that case, the flight controller 244 may rely on sensor data from other flight sensors 246 (e.g., the IMU, cameras, or proximity sensors) to autonomously fly without communicating with the remote GPS device. Additionally, the flight controller 244 may incorporate terminal guidance software and / or obstacle avoidanceAttorney Docket #: 1164-109.002 software to guide the flight assembly 110 and to enable the flight assembly 110 operate in complex cluttered environments.

[0030] In example operation, the payload assembly 120 receives instructions from the base station 210, which define a geographical area for mine-detection operations. In response to receiving the instructions, the motion planning module 234 directs the flight assembly 110 to autonomously fly over the geographical area to conduct one or more aerial surveys. During the aerial surveys, the environmental sensors 124 collect sensor data of the geographical area, which is provided to the target recognition module 232. The target recognition module 232 performs automatic target recognition (ATR) on the sensor data to identify suspected mine locations. For example, the target recognition module 232 may associate features in electro-optical and / or infrared images with indicators of mine placements, such as disturbed soil indicating possible buried mines, mine-shaped objects indicating possible surface mines, and so forth. If the target recognition module 232 identifies a suspected mine location, the motion planning module 234 directs the flight assembly 110 to fly adjacent to the suspected mine location. Once in position, the explosive charge controller 236 directs the explosive charge dispenser 126 to dispense an explosive charge adjacent to the suspected mine location. After the explosive charge is dispensed, the target recognition module 234 directs the flight assembly 110 to fly a safe distance away from the explosive charge, after which the explosive charge controller 236 directs the explosive charge to detonate, neutralizing a mine at the suspected mine location. Advantageously, performing such operations enables explosive charges to be placed precisely only at locations where mines arc suspected, reducing material waste and environmental damage from excessive detonation of explosive charges during mine-neutralization operations.

[0031] FIG. 3 shows an example method 300 for detecting and neutralizing mines in accordance with certain embodiments. The method 300 may be performed by the mineneutralization system 100 in the example environment 200.

[0032] At 302, the mine-neutralization system 100 performs initial setup procedures, which includes establishing a connection to the base station 210 (FIG. 2) located outside of a target geographical area, e.g., within 5 kilometers away. After the connection isAttorney Docket #: 1164-109.002 established, the mine-neutralization system 100 receives instructions from the base station 210 defining the geographical area for searching. In response to receiving the instructions, the mine-neutralization system 100 launches and proceeds to the geographical area autonomously. In some examples, the mine-neutralization system 100 provides feedback to the base station 210 while operating autonomously for monitoring purposes or to provide situational awareness. For example, the mine-neutralization system 100 may transmit real-time, full-motion video to the base station 210.

[0033] At 304, the mine-neutralization system 100 arrives at the geographical area and performs a first aerial survey of the geographical area. To this end, the mine-neutralization system 100 operates one or more downward-facing cameras (e.g., electro-optical and / or infrared cameras) to obtain aerial images of the geographical area. The mine-neutralization system 100 performs autonomous target recognition (ATR) on the images to automatically identify the suspected mine locations, which are digitally marked and geo-registered. In some examples, the mine-neutralization system 100 performs the first aerial survey based on one or more predefined parameters. For example, the base station 210 may direct the mine-neutralization system 100 to perform the first aerial survey from a predefined altitude. In another example, the base station 210 may specify a number of passes for the mine-neutralization system 100 to take, e.g., a single pass or multiple passes in parallel tracks across the geographical area. Further, if side-attack or top-attack mines are suspected, the base station 210 may direct the mineneutralization system 100 to search out to a predefined distance away from geographical area (e.g., 50 meters or more on each side of the geographical area).

[0034] At 306, the mine-neutralization system 100 performs a second aerial survey of the geographical area. In the second aerial survey, the mine-neutralization system 100 operates at least one of a ground penetrating radar (GPR) or a magnetometer to identify suspected mine locations, including suspected subsurface mine locations (i.e., locations of suspected buried or shallow-water mines). To this end, the GPR and / or magnetometer provide sensor data from which the mine-neutralization system 100 generates a composite map of ferrous metal and / or non-metallic objects. The mine-neutralization system 100 automatically identifies the suspected mine locations from the composite map, which arc digitally marked, gco-rcgistcrcd, and correlated with the suspected mineAttorney Docket #: 1164-109.002 locations identified in the first aerial survey. It should be appreciated that the second aerial survey may also identify suspected surface mine locations in addition to the suspected subsurface mine locations, providing additional discrimination confidence to the first aerial survey. In some examples, the mine-neutralization system 100 performs the second aerial survey close to ground, e.g., at an altitude of approximately one meter. A laser altimeter may be used to regulate altitude accurately, and multiple passes (e.g., parallel tracks) may be performed to cover the geographical area. Similar to the first aerial survey, the mine-neutralization system 100 may perform second aerial survey based on one or more predefined parameters.

[0035] At 308, the mine-neutralization system 100 places explosive charges at or near the suspected mine locations identified in the first and / or second aerial surveys. Along these lines, the mine-neutralization system 100 prompts the base station 210 to confirm arming of an explosive charge for a suspected mine location. Upon receiving a confirmation from the base station 210, the mine-neutralization system 100 flies toward the suspected mine location, performs an arming maneuver to arm an explosive charge, and dispenses the explosive charge adjacent to the suspected mine location. For example, in the case of a surface mine, the mine-neutralization system 100 may dispense an explosive charge in contact with or next to the surface mine. In the case of a subsurface mine, the mine-neutralization system 100 may dispense an explosive charge on the ground above the subsurface mine.

[0036] In some examples, the mine-neutralization system 100 confirms arming with the base station 210 on a per-location basis. That is, when the mine-neutralization system 100 identifies a suspected mine location during one of the aerial surveys, the mineneutralization system 100 immediately notifies the base station 210 of that location and awaits confirmation. Alternatively, the mine-neutralization system 100 may provide suspected mine locations to the base station 210 in one or more batches. For example, the mine-neutralization system 100 may indicate suspected mine locations only after completing one or more of the aerial surveys. In that case, the mine-neutralization system 100 may receive confirmation for all or a portion of the suspected mine locations.Attorney Docket #: 1164-109.002

[0037] At 310, the mine-neutralization system 100 flies clear of the explosive charges and directs the explosive charges to detonate. In some examples, the mine-neutralization system 100 transmits detonation signals to the explosive charges, which trigger detonation of the explosive charges. Alternatively or in addition, the mine-neutralization system 100 may set the explosive charges to detonate on a time delay.

[0038] In some examples, steps 308 and 310 are performed in batches such that the mine-neutralization system 100 dispenses multiple explosive charges (step 308) before directing the explosive charges to detonate (step 310). Alternatively, steps 308 and 310 may be performed on a per-charge basis. That is, the mine-neutralization system 100 may place a first explosive charge (step 308), direct the first explosive charge to detonate (step 310), and only thereafter place a second explosive charge (repeating step 308).

[0039] At 312, after the explosive charges have detonated, the mine-neutralization system 100 performs another aerial survey to verify that mines at the suspected mine locations have been neutralized. If so, the mine-neutralization system 100 transmits a confirmation to the base station 210 indicating safety to pass through the geographical area.

[0040] Advantageously, the method 300 may be performed with rapid operation and deployment time. In some examples, setup may be performed in as little as ten minutes, with the flight assembly 110 being capable of reaching speeds exceeding 60 miles per hour (97 kilometers per hour) while carrying payloads weighing up to 30 pounds (13.6 kilograms). Further, the flight assembly 110 may have high endurance, c.g., twcnty-fivc- minute flight time or five-kilometer range. Additionally, for longer or more intensive missions, the mine-neutralization system 100 may return to the base station 210 to swap in a spare battery (or refuel) and / or to reload the explosive charge dispenser 126 with additional explosive charges.

[0041] FIG. 4 shows an example method 400 that may be carried out in connection with the environment 200. The method 400 is typically performed, for example, by the software constructs described in connection with FIG. 2, including those that reside in the memory 230 of the payload assembly 120 and are run by the set of processors 224. The various acts of method 400 may be ordered in any suitable way. Accordingly,Attorney Docket #: 1164-109.002 embodiments may be constructed in which acts are performed in orders different from that illustrated, which may include performing some acts simultaneously.

[0042] At 402, the mine-neutralization system 100 is deployed at or near a geographical area (e.g., within five kilometers). To this end, the mine-neutralization system 100 is outfitted with a payload having mine-neutralizing capability. Further, the mineneutralization system 100 receives instructions that define a geographical area.

[0043] At 404, in response to receiving the instructions that define the geographical area, the mine-neutralization system 100 autonomously performs an aerial survey of the geographical area that identifies a suspected mine location.

[0044] At 406, the mine-neutralization system 100 dispenses an explosive charge from the explosive charge dispenser 126 adjacent to the suspected mine location.

[0045] At 408, the mine-neutralization system 100 directs the explosive charge to detonate after being dispensed to neutralize a mine at the suspected mine location.

[0046] Having described certain embodiments, numerous alternative embodiments or variations can be made. For example, the mine-neutralization system 100 may be configured to neutralize ground obstacles other than mines, such as wire barriers and unexploded ordinance, using similar techniques.

[0047] Further, although features have been shown and described with reference to particular embodiments hereof, such features may be included and hereby are included in any of the disclosed embodiments and their variants. Thus, it is understood that features disclosed in connection with any embodiment are included in any other embodiment.

[0048] Further still, the improvement or portions thereof may be embodied as a computer program product including one or more non-transient, computer-readable storage media, such as a magnetic disk, magnetic tape, compact disk, DVD, optical disk, flash drive, solid state drive, SD (Secure Digital) chip or device, Application Specific Integrated Circuit (ASIC), Field Programmable Gate Array (FPGA), and / or the like (shown by way of example as medium 450 in FIG. 4). Any number of computer- readable media may be used. The media may be encoded with instructions which, when executed on one or more computers or other processors, perform the process or processesAttorney Docket #: 1164-109.002 described herein. Such media may be considered articles of manufacture or machines, and may be transportable from one machine to another.

[0049] As used throughout this document, the words “comprising,” “including,” “containing,” and “having” are intended to set forth certain items, steps, elements, or aspects of something in an open-ended fashion. Also, as used herein and unless a specific statement is made to the contrary, the word “set” means one or more of something. This is the case regardless of whether the phrase “set of” is followed by a singular or plural object and regardless of whether it is conjugated with a singular or plural verb. Also, a “set of' elements can describe fewer than all elements present. Thus, there may be additional elements of the same kind that are not part of the set. Further, ordinal expressions, such as “first,” “second,” “third,” and so on, may be used as adjectives herein for identification purposes. Unless specifically indicated, these ordinal expressions are not intended to imply any ordering or sequence. Thus, for example, a “second” event may take place before or after a “first event,” or even if no first event ever occurs. In addition, an identification herein of a particular element, feature, or act as being a “first” such element, feature, or act should not be construed as requiring that there must also be a “second” or other such element, feature or act. Rather, the “first” item may be the only one. Also, and unless specifically stated to the contrary, “based on” is intended to be nonexclusive. Thus, “based on” should be interpreted as meaning “based at least in part on” unless specifically indicated otherwise. Although certain embodiments are disclosed herein, it is understood that these are provided by way of example only and should not be construed as limiting.

[0050] Those skilled in the ail will therefore understand that various changes in form and detail may be made to the embodiments disclosed herein without departing from the scope of the following claims.

Claims

Attorney Docket #: 1164-109.002CLAIM OR CLAIMSWhat is claimed is:

1. A method of neutralizing mines, comprising: deploying an unmanned system with a payload having mine-neutralizing capability, the unmanned system receiving instructions that define a geographical area; in response to the unmanned system receiving the instructions, autonomously performing an aerial survey of the geographical area that identifies a suspected mine location; dispensing an explosive charge from the unmanned system adjacent to the suspected mine location; and directing the explosive charge to detonate after being dispensed to neutralize a mine at the suspected mine location.

2. The method of claim 1, wherein autonomously performing the aerial survey includes: obtaining a set of images from one or more cameras of the unmanned system while autonomously flying over the geographical area; and performing automatic target recognition on the set of images to identify the suspected mine location.

3. The method of claim 2, wherein performing the automatic target recognition includes identifying a plurality of suspected mine locations from the set of images, and wherein the method further includes: in response to identifying the plurality of suspected mine locations, dispensing a respective plurality of explosive charges from the unmanned system adjacent to the plurality of suspected mine locations in sequence; andAttorney Docket #: 1164-109.002 after dispensing the plurality of explosive charges, directing the plurality of explosive charges to detonate to neutralize mines at the plurality of suspected mine locations.

4. The method of claim 2, wherein obtaining the set of images includes: obtaining a set of electro-optical images from an electro-optical camera of the unmanned system, wherein performing the automatic target recognition includes identifying the suspected mine location from the set of electro-optical images.

5. The method of claim 2, wherein obtaining the set of images includes: obtaining a set of infrared images from an infrared camera of the unmanned system, wherein performing the automatic target recognition includes identifying the suspected mine location from the set of infrared images.

6. The method of claim 1, further comprising: in further response to receiving the instructions, autonomously performing a second aerial survey of the geographical area that identifies a suspected subsurface mine location from sensor data obtained while the unmanned system flies at an altitude of one meter or less; dispensing another explosive charge from the unmanned system adjacent to the subsurface mine location; and after dispensing the other explosive charge, directing the other explosive charge to detonate to neutralize a subsurface mine at the suspected subsurface mine location.

7. The method of claim 6, wherein autonomously performing the second aerial survey includes obtaining the sensor data from a ground penetrating radar of the unmanned system.Attorney Docket #: 1164-109.0028. The method of claim 6, wherein autonomously performing the second aerial survey includes obtaining the sensor data from a magnetometer of the unmanned system.

9. The method of claim 1, wherein the geographical area includes a global positioning system-denied (GPS -denied) area, and wherein autonomously performing the aerial survey includes autonomously flying the unmanned system within the GPS-denied area without communicating with a remote GPS device.

10. The method of claim 1 , further comprising: after detonating the explosive charge, performing another aerial survey to verify that the mine has been neutralized.

11. The method of claim 1 , further comprising: receiving the instructions from a base station located outside of the geographical area.

12. The method of claim 11, further comprising: prior to dispensing the explosive charge, transmitting a set of signals from the unmanned system to the base station, the set of signals indicating the suspected mine location identified in the aerial survey; and after transmitting the set of signals, receiving additional instructions that direct the unmanned system to autonomously perform mine-neutralization operations at the suspected mine location, wherein dispensing the explosive charge is in response to receiving the additional instructions.

13. An unmanned system, comprising: a flight assembly constructed and arranged to provide flight control and heading; andAttorney Docket #: 1164-109.002 a payload assembly coupled to the flight assembly, the payload assembly including one or more cameras, an explosive charge dispenser, and control circuitry that includes a set of processors coupled to memory, the control circuitry constructed and arranged to: in response to receiving instructions that define a geographical area, cooperate with the flight assembly and the one or more cameras to autonomously perform an aerial survey of the geographical area that identifies a suspected mine location; cooperate with the flight assembly and the explosive charge dispenser to dispense an explosive charge adjacent to the suspected mine location; and direct the explosive charge to detonate after being dispensed to neutralize a mine at the suspected mine location.

14. The unmanned system of claim 13, wherein the flight assembly includes a multirotor drone.

15. A pay load assembly for an unmanned system, comprising: one or more cameras; an explosive charge dispenser; and control circuitry that includes a set of processors coupled to memory, the control circuitry constructed and arranged to: in response to receiving instructions that define a geographical area, cooperate with a flight assembly of the unmanned system and the one or more cameras to autonomously perform an aerial survey of the geographical area that identifies a suspected mine location; cooperate with the flight assembly and the explosive charge dispenser to dispense an explosive charge adjacent to the suspected mine location; and direct the explosive charge to detonate after being dispensed to neutralize a mine at the suspected mine location.Attorney Docket #: 1164-109.00216. The pay load assembly of claim 15, wherein the control circuitry constructed and arranged to cooperate with the flight assembly and the one or more cameras to autonomously perform an aerial survey is further constructed and arranged to: direct the flight assembly to fly over the geographical area; receive a set of images from the one or more cameras while the flight assembly flies over the geographical area; and perform automatic target recognition to identify the suspected mine location from the set of images.

17. The payload assembly of claim 16, wherein the control circuitry constructed and arranged to perform automatic target recognition is further constructed and arranged to identify a plurality of suspected mine locations from the set of images, and wherein the control circuitry is further constructed and arranged to: in response to the plurality of suspected mine locations being identified, cooperate with the flight assembly and the explosive charge dispenser to dispense a respective plurality of explosive charges adjacent to the plurality of suspected mine locations; and directing the plurality of explosive charges to detonate to neutralize mines at the plurality of suspected mine locations.

18. The payload assembly of claim 15, wherein the one or more cameras includes an electro-optical camera constructed and arranged to provide electro-optical images to the control circuitry.

19. The pay load assembly of claim 15, wherein the one or more cameras further includes an infrared camera constructed and arranged to provide infrared images to the control circuitry.Attorney Docket #: 1164-109.00220. The payload assembly of claim 15, wherein the control circuitry constructed and arranged to cooperate with the flight assembly and the explosive charge dispenser to dispense the explosive charge is further constructed and arranged to: direct the flight assembly to fly to a position adjacent to the suspected mine location; and while the flight assembly is at the position adjacent to the suspected mine location, direct the explosive charge dispenser to dispense the explosive charge adjacent to the suspected mine location.

Images