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'Sweeper', - a UAV buried munitions location subsystem

机译：“扫地机”-无人机掩埋弹药定位子系统

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“Sweeper” consists of two subsystems – “Groundhog”, which is a small, less than sevenrnhundred and fifty millimetre diameter disk unmanned air vehicle (UAV) relying principallyrnon vortex and wall attachment (Coanda) effects operating on the upper surface to generate liftrnand “Retina” - head or helmet mounted laser designator.rnThe subsystem, hereinafter referred to as “the system” for simplicity is designed to providernan air platform for sensors for safe and speedy means of locating buried munitions (BMs)rnconcealed below ground level in hostile environments.rnGroundhog operates up to one hundred meters radius from its operator and flies typically atrnone half meter above ground level or water surface.rnWhilst the technology employed for the actual detection of the munitions is not explicitlyrndescribed, the means by which the detection technology is carried takes advantage of thernexceptional control characteristics of the Coanda disk UAV and coupled with its inherentrnsafety characteristics and easy handling will provide a faster means of locating BMsrnparticularly in high-risk situations.rnSimply stated; Groundhog is an aerial sensor platform but one that does not have to be handrncontrolled by an operator in hazardous or high stress situations.rnUnlike ordinary hand held metal detectors for example, it has a high level of autonomy andrnrequires minimal operator control allowing the operator to perform other tasksrnsimultaneously.rnThe versatile control characteristics of Coanda UAVs facilitate easier remote operatorrncontrol.rnGroundhog is controlled in flight by means of an operator helmet mounted infrared (IR)rnscanning laser designator and/or voice command subsystem called “Retina”.rnRetina is designed to facilitate hands free control and operates a handshake guidance protocolrnwith Groundhog by steady and controlled operator head movement. Sudden or unexpectedrnhead movements are ignored by Groundhog and Groundhog may be commanded to ignorerndirection commands from Retina; in which case Groundhog will enter a loiter mode andrnawait further voice commands via the handshake channel.rnIn the event of handshake protocol between Groundhog and Retina being permanentlyrninterrupted then Groundhog will loiter at its last designated position for a set period and thenrnland but remain powered for a short period before powering down to conserve power. Restartrnis effected automatically when handshaking is reestablished or by voice command.rnSeveral Sweeper systems may be operated in close proximity without interference.rnSweeper is designed to operate in open, uneven terrain but some degree of automaticrnobstruction avoidance is possible within line-of-site. Automatic ultrasonic obstacle avoidancernmeasures are incorporated in Groundhog.rnThe Groundhog air-frame is resilient and air pressurized and presents no collision hazard andrnit may be safely handled even when fully powered and flight ready.
机译：“扫地机”由两个子系统组成-“土拨鼠”，这是一种直径小于七百五十毫米的小型圆盘无人飞行器（UAV），主要依靠在上表面运行的涡旋和壁附着（柯恩达）效应产生升力。视网膜”-头戴式或头盔式激光指示器。rn为简便起见，以下简称“系统”旨在为传感器提供空中平台，以安全，迅速地将掩埋弹药（BM）定位在敌对环境中隐藏在地下的地下.rnGroundhog距操作员半径不超过100米，通常会飞到地面或水面以上半米处。rn虽然未明确描述用于实际检测弹药的技术，但采用了携带检测技术的方法柯恩达磁盘无人机异常控制特性的优势及其固有的安全性简单地说；特别是在高风险的情况下，技术和易于处理将提供一种更快的方式定位BM。土拨鼠是一种空中传感器平台，但在危险或高应力情况下不必由操作员手动控制。rn例如，与普通的手持式金属探测器不同，它具有高度的自治性，并且需要最少的操作员控制，允许操作员执行其他任务同时进行。柯恩达无人机的通用控制特性使远程操作更加容易。rnGroundhog通过安装在操作员头盔上的红外（IR）扫描激光指示器和/或称为“ Retina”的语音命令子系统来进行飞行控制。通过稳定且受控的操作员头部移动，实现了免提控制并与Groundhog一起操作了握手指导协议。土拨鼠会忽略突然的或意外的头部运动，并且可能会命令土拨鼠忽略来自视网膜的方向指令；在这种情况下，土拨鼠将进入游荡模式，并通过握手通道等待进一步的语音命令。rn如果在土拨鼠和视网膜之间的握手协议被永久中断，则土拨鼠将在其最后指定的位置游荡一段设定的时间，然后到地面，但仍保持通电掉电之前的较短时间以节省电量。重新建立握手或通过语音命令时自动重启。rn多个Sweeper系统可以在不干扰的情况下在附近运行。rnSweeper设计为在开放，不平坦的地形中运行，但可以在一定程度上避免现场干扰。土拨鼠采用了自动超声波避障措施。土拨鼠机身具有弹性和气压，即使在完全通电并准备飞行的情况下，也不会发生碰撞危险，可以安全地操纵飞机。

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