Autonomous aiming barrel system for unmanned robot and vehicles

Abstract

The invention relates to an autonomous aiming barrel system for unmanned robots and vehicles that enables mini rotary wing UCAVs and UGVs to shoot with maximum accuracy with unguided ammunition.

Description

[0001] AUTONOMOUS AIMING BARREL SYSTEM FOR UNMANNED ROBOT AND VEHICLES

[0002] Technical field of the invention

[0003] The invention relates to an autonomous aiming barrel system for unmanned robots and vehicles that enables mini rotary wing UCAVs and UGVs to fire with maximum accuracy with unguided ammunition.

[0004] State of the Art

[0005] Unmanned Aerial Vehicles (UAV) and Unmanned Ground Vehicles (UGV) are a type of aircraft that does not have a pilot or a passenger, carries only equipment suitable for the purpose such as a video camera, camera, GNSS, laser scanning device, ammunition, and can perform its duties remotely and / or automatically. Professional uses of UAVs and UGVs for military, civilian (hobby and commercial) and scientific purposes are rapidly increasing all over the world. Especially civil UAVs and UGVs have a wide range of uses as they provide high accuracy, time and cost savings in many professional uses (such as map making). UAVs are defined as "drone" or "UAV / UAS (Unmanned Aerial Vehicle / Systems)" in the international literature, and UGVs are defined as "unmanned ground vehicle", and they actually mean the same thing, except for certain technical features. On the other hand, since unmanned aerial vehicles, the first versions of which were known as "drones" and did not have as high technical features as today, were generally used for military purposes and as weapons until today, the names UAV / UAS are mostly used in the civilian sector. When looking at the difference from a technical perspective, "drone" refers to unmanned air or sea vehicles that can navigate automatically, while "UAV" refers to an aircraft that can fly unmanned, has an engine, can be controlled, and is not itself a weapon like a "cruise" missile. UAVs and UGVs have begun to attract great attention in all fields, especially in recent years. It is used in many ways in the military field, including reconnaissance, surveillance and operational activities.

[0006] Unmanned aerial vehicles generally have high-resolution optical systems, radars and laser targeting systems. Although their low speed may seem like a disadvantage, their biggest advantage is that they can provide clear intelligence by monitoring the region and target for hours at very high altitudes. In this way, even the slightest movements in the area can be noticed and reported from far away. Being able to be controlled remotely also provides great advantages. They offer the opportunity to operate without endangering any soldier or pilot.

[0007] Today, issues such as the advantage of having time and space, asymmetrical effect, being economical, user's distance from the conflict zone and not having the risk of being killed, are seen as the main superiority gains for the armies. Unmanned combat aerial vehicles (UCAV) are manufactured to operate at a certain range within a certain standard. The use of UAVs in internal security has progressed in the last decade. Currently, in many countries, UCAVs of different types and models are used extensively in border security, special operations for reconnaissance purposes, crime scene analysis, and crime tracking among crowds.

[0008] Today, unguided rocket projectiles for use in air-to-air, air-to-ground, ground-to-ground or ground-to-air modes are quite insufficient to hit the target. For example, in conventional fin-design stabilised rocket systems, the munition is guided along its target path solely by the aerodynamic forces exerted by the airflow moving on the munition and its blades. While such aerodynamic stabilisation tends to keep the projectile on its way to its target along a predetermined line, it does not compensate for thrust and / or mass misalignment of the munition itself. In particular, common manufacturing difficulties in mass production of wing-stabilised weapons often produce off-centre thrust forces resulting from misalignment of the rocket motor or uneven combustion of the propellant grain and misalignments of the centre of mass or gravity of the entire rocket. Off-centre thrust forces, also defined as defects, cause the rocket to deviate significantly from the intended flight path. Standard finned and winged rockets are placed less frequently on mini unmanned aerial vehicles because their surface cross-sectional areas are larger. Existing mini unmanned combat aerial vehicles generally use grenade launcher systems. However, when these systems are fired, they create a recoil force on the aircraft. In order to eliminate these forces, compensator systems have been added to grenade launcher mechanisms. In addition, the installation of coaxial engines for a balanced shot made the aircraft heavy and cumbersome. This is an undesirable and dangerous situation for personnel carrying heavy equipment in tactical operations. Even if the grenade launcher systems used in current mini unmanned combat aerial vehicles are effective at a certain range, they can never reach the ranges that a rocket ammunition can achieve. This also prevents these systems from working within a certain range when anti-UCAV jammer systems are used, keeping unmanned combat aerial vehicles out of control and in a dangerous position. Although rocket-powered aircraft can fire ammunition in the current system, the need for a barrel and recoil plate for tactical-class UCAVs to fire this ammunition becomes impossible due to their dimensions.

[0009] The invention, which is the subject of the application numbered "TR2017 / 22464" in the state of the art, is a system that enables the use of weapons, explosives, and unguided rockets, which are used for offensive purposes in the defence industry, to be loaded onto unmanned aerial vehicles and used to destroy targets kilometres away by means of this remotely controlled aircraft. With the invention, weapons used in close-contact conflicts such as RPG-7 anti-personnel and warhead rockets, Law M-72 rockets or explosives, hand grenades, lighting flares, mortar bombs, handmade explosives, etc. have been integrated into unmanned aircraft, making it possible to use them from kilometres away.

[0010] The invention, which is the subject of the application numbered "US3610096” in the state of the art, is a rocket weapon system in which the rocket is rotated on its longitudinal axis along the flight path and is aerodynamically balanced by a forward ring and a trailing edged bowl. The rocket rotates in a launch tube with multiple bearing supports to support its rear end. The forward end of the rocket is supported by fins in the face ring, while the end ring straightens it from the rocket. There is a booster to lower the rocket from the tube after the return.

[0011] When the known state of the technique is examined, it is seen that the studies on UCAVs (Unmanned Combat Aerial Vehicles) are mostly based on the design and modelling of the unmanned aerial vehicle, and the weapon systems are designed for medium and large-sized UCAVs. Some of the problems faced by today's UCAV and defence industry are that tactical mini rotary wing UCAVs cannot fire while moving, and those that can fire while moving only use guided missiles. In addition, although they have compensator mechanisms, target cameras are exposed to vibration in aircraft with weapon systems added to them. Today, in line with the needs of special forces and military forces in the defence sector, the need for a unique tactical mini UCAV and the weapon system design of this UCAV has become more important.

[0012] An autonomous aiming barrel system that can be integrated into portable small-armed unmanned aerial and ground vehicles to eliminate the problems faced by existing systems that are not suitable for field applications where tactical operations are carried out in unmanned tactical air and ground vehicle systems and remote operation systems, and to use mini and micro ammunition, is able to adhere to the distance determined by distance meters etc. devices for accurate shots at much longer ranges, and can be integrated into tactical unmanned aerial and ground vehicles containing unguided rockets that can reach a certain speed as a result of algorithmic calculations, is needed for unmanned robots and vehicles.

[0013] As a result, due to the negativities described above and the inadequacy of the existing solutions on the subject, it was necessary to make an improvement in the relevant technical field.

[0014] The aim of the invention

[0015] The invention relates to an autonomous aiming barrel system for unmanned robots and vehicles that enables mini rotary wing UCAVs and UGVs to shoot with maximum accuracy with unguided ammunition.

[0016] The most important aim of the invention is that a mini UCAV that can follow a moving target ensures maximum accuracy of unguided munitions (rockets, bullets, etc.) rather than guided munitions.

[0017] Another aim of the invention is to enable interactive operation with an independent laser distance meter camera module.

[0018] Another aim of the invention is that the laser distance meter camera module is not located on the barrel mechanism, allowing it to be used in aircraft designed with different structures and in situations requiring centre of mass change. Another aim of the invention is to ensure that the distance data obtained by the distance sensor and the reference angle of the camera system relative to the body ensure that the target is captured at the most appropriate lens barrel angle.

[0019] Another aim of the invention is to enable the UCAV to fire with the highest accuracy while on the move, with negative and positive angles of attack (the angle of the vehicle chassis to the horizontal axis).

[0020] Another aim of the invention is to enable a moving aircraft to hit a moving target with a high hit rate by using the distance of the target object determined by the distance meter and the absolute relative speed obtained from the position change of the UCAV.

[0021] Description of the drawings

[0022] FIGURE-1 is the drawing showing the autonomous aiming barrel system and UAV for the unmanned robots and vehicles that are the subject of the invention.

[0023] FIGURE-2 is the drawing showing the view of the autonomous aiming barrel system for unmanned robots and vehicles that are the subject of the invention.

[0024] Reference numbers

[0025] 1. Unmanned Aerial Vehicle

[0026] 2. Autonomous aiming barrel system for unmanned robots and vehicles

[0027] 2.1 Smart servo

[0028] 2.2 Camera module

[0029] 2.3 Barrel mechanism

[0030] 2.4 External absolute encoder

[0031] 2.5 Plug-in body Description of the invention

[0032] The invention relates to an autonomous aiming barrel system for unmanned robots and vehicles that enables mini rotary wing UCAVs and UGVs to shoot with maximum accuracy with unguided ammunition.

[0033] The autonomous aiming barrel system for unmanned robots and vehicles works on fixed or rotary wing unmanned aerial vehicles with cameras and sensors such as wind, pressure, temperature, etc. The autonomous aiming barrel system for unmanned robots and vehicles can also be integrated into unmanned ground vehicles and surface vehicles.

[0034] The autonomous aiming barrel system (2) for unmanned robots and vehicles is a weapon system that can be integrated on a UAV (1 ).

[0035] The autonomous aiming barrel system (2) for unmanned robots and vehicles includes a smart servo (2.1 ), camera module (2.2), barrel mechanism (2.3), external absolute encoder (2.4), plug-in body (2.5) and control card.

[0036] The smart servo (2.1 ) comprises an electric motor with optimum torque value, a 360- degree internal absolute encoder and internal communication output, which enables the movement of the distance meter sensor.

[0037] The camera module (2.2) comprises a camera and a distance meter sensor, allowing the position of the barrel mechanism (2.3) to be controlled. Proper barrel angle is the real-time angle at which the barrel can shoot at the target with the best accuracy from a certain distance. The camera module (2.2), the distance data obtained by the distance sensor and the reference angle of the camera system relative to the body, ensure that the target is captured at the most appropriate barrel angle via the embedded software made with mathematical modelling running on the control card. The control card can use sensor data or image processing data. The control card also obtains data using SLAM technology with the camera module (2.2). The camera module (2.2) can be directed to the target manually by the operator or autonomously with image processing data or independent radar information. The camera module (2.2) enables the integration of an autonomous aiming barrel system (2) for two independent unmanned robots and vehicles on the UAV. The camera module (2.2) provides the advantage of shooting at two different targets simultaneously on the same axis with a single view camera. It can use two weapon systems with a single camera module (2.2), and this provides an advantage to the vehicle in terms of carrying payload. The camera module (2.2) performs image processing based on the distance meter and camera image so that the autonomous aiming barrel system (2) for unmanned robots and vehicles can track the target.

[0038] The barrel mechanism (2.3) is a mechanical system comprising an electric motor with optimum torque value and mechanical carrier limbs. By means of the parametric design of the barrel mechanism (2.3), the necessary servo motor properties for its variants produced from different materials, different sizes and different weights can be calculated from the angular speed and moment of inertia. The barrel mechanism (2.3) adjusts its position based on the data received from the wind sensor on the UAV (1 ). In this way, the quality of shooting and hitting is increased. The barrel mechanism (2.3) enables shooting with these unguided ammunition by mounting a suitable launcher to fire the preferred micro ammunition. The ammunition can be ignited by an electronic fuse or an electromechanical fuse on the integrated circuit within the barrel mechanism

[0039] (2.3) on the UAV (1 ).

[0040] External absolute encoder (2.4) is an industrial analogue encoder that can output exact position within 360 degrees. The external absolute encoder (2.4) ensures that the position accuracy of the barrel mechanism (2.3) is confirmed when input is given to the experimental set-up.

[0041] The plug-in body (2.5) is located on the surface of the autonomous aiming barrel system (2) for unmanned robots and vehicles, allowing the system to be integrated onto the UAV (1 ). The plug-in body (2.5) produced with a parametric design can be attached under the wing or under the body of VTOL type UAVs with standard fasteners. The plug-in body (2.5) can be attached to rotary-wing UAV types with standard fasteners under the body. The autonomous aiming barrel system (2) for unmanned robots and vehicles is fixed on the UAV (1 ) with a plug-in body (2.5). The data obtained by the camera and distance sensor is transmitted to the control card in the UAV (1 ) by the camera module (2.2). The mathematical modelling of the invention is installed as embedded circuit software in the control card. The incoming data is processed on the control card and converted into data sets that will provide the required position to the barrel system (2). These data sets send position information to the servo motor in the barrel mechanism (2.3). With the location information, the barrel mechanism (2.3) is enabled to direct itself to the target in real time. An external absolute encoder (2.4) is used in the system to eliminate position errors and obtain maximum shot quality. The error data obtained from the external absolute encoder (2.4) performs real-time calculation in the control card, checking and correcting the barrel's orientation to the target with high accuracy.

Claims

CLAIMS1. An autonomous aiming barrel system for unmanned robots and vehicles that enables mini rotary wing vehicles to fire with maximum accuracy with unguided ammunition (2), comprising:- at least one smart servo (2.1 ), comprising a 360-degree internal absolute encoder and internal communication output, and an electric motor that enables the movement of the distance meter sensor,- at least one camera module (2.2), on which a launcher to fire micro ammunition is mounted, and which allows shooting at two different targets simultaneously on the same axis with a single view camera, uses the SLAM algorithm, comprises a camera and a distance meter sensor, and allows control of the position of the barrel mechanism (2.3),- at least one barrel mechanism (2.3), which comprises the electric motor and mechanical carrier limbs, adjusts its position based on the data received from the wind sensor on the UAV (1 ), directs to the target in real time with the information received from the control card and enables firing with unguided ammunition (2.3),- at least one external absolute encoder (2.4), which is an industrial analogue encoder that can receive exact position output within 360 degrees and ensures that the position accuracy of the barrel mechanism (2.3) is confirmed when input is given and the information is transmitted to the control card,- at least one plug-in body (2.5) located on the surface of the autonomous aiming barrel system (2) for unmanned robots and vehicles, allowing the system to be integrated onto the UAV (1 ), and- at least one control card that uses distance meter sensor data and image processing data by the camera module (2.2), calculates the distance data obtained by the distance meter sensor, the reference angle of the camera module (2.2) relative to the body and the capture of the target at the most appropriate barrel angle, and sends it to the barrel mechanism (2.3), and controls the orientation of the barrel by calculating the error data obtained from the external absolute encoder (2.4).

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