Field of the Invention

The present invention relates to the field of drones. More particularly, the invention relates to a stabilized drone for complex land operations such as rough terrain landing, and dynamic operations involving dynamic loads such as firing operations.

Background of the Invention

Nowadays, drones are used for different common aerial tasks, such as cargo delivery and visual data capturing. Drones are also in use for less conventional civilian and military operations, such as fire-fighting drones, armed attack drones and air defense drones.

Being fundamentally designed for flight operations, drones can be readily adapted to withstand their regular flight loads as well as dynamic loads induced during the more intensive operations (e.g., firing recoil loads) by utilizing their flight controls, as well as auxiliary aerial stabilization means.

However, the aforementioned stabilization capability during flight may not suffice, for instance, when recurring-firing capacity or when heavier firearms are used, and it is highly desired that the recoil load will not significantly deflect the drone from its target, or from its flight course. Furthermore, performing dynamic operations during flight requires increased battery power consumption for counter-operating the drone's motors and flight controls (e.g., propellers' attack angle) in order to balance the exerted dynamic loads.

Sufficient stability for performing intense dynamic operations (operations that may cause imbalance) can be obtained by performing such operations from the ground (i.e., landing the drone at a suitable position with respect to its target and firing therefrom). However, this mode of operation raises two significant challenges - the first is landing the drone in a balanced manner (i.e., for avoiding overturning and disablement of the drone) on non-flat surfaces or rough terrain, and the second is keeping the drone stabilized on the ground for being ready for releasing a shot (i.e., and consecutive shots) in a timely and accurate manner.

It is therefore an object of the present invention to provide a drone with ground stabilization capability, for enabling its balanced landing on rough terrain and performance of dynamic operations after landing.

Other objects and advantages of the invention will become apparent as the description proceeds.

Summary of the Invention

A stabilized drone, comprising: a) a drone comprising a drone body, landing skids, propulsion and flight control means for enabling the basic flight operations, wherein the drone further comprises, suitable control, navigation and communication hardware and software for being operated remotely and autonomously; b) one or more terrain shape detection means, for acquiring the terrain shape at an intended landing site; c) one or more stabilizers adapted to extend to a desired extent and to support the stabilized drone on the ground, wherein the stabilized drone further comprises suitable control hardware and software for operating the terrain shape detection means while approaching a desired landing site and for correspondingly activating the one or more stabilization means, thereby enabling the stabilized drone to stably land on various terrain types and to withstand dynamic loads induced by dynamic o perations thereon.

One or more stabilizers may be telescopic and may comprise anchor tips adapted to penetrate and grasp the ground.

The one or more stabilizers may comprise an extendable hook mechanism configured to laterally extend one or more hooks from the bottom end of the one or more stabilizers following the extension thereof. The drone may further comprise one or more sensors for obtaining its actual stability.

The one or more sensors may comprise one or more gyroscopes.

The one or more terrain shape detection means may be selected from the group consisting of: LASER sensors, LIDAR sensors, image acquisition means, and any combination thereof.

A method for operating a stabilized drone, comprising: a) flying a drone to a target area and landing the drone at a target landing site; b) acquiring the terrain shape at the target landing site by operating one or more terrain shape detection means; and c) activating one or more stabilizers in accordance with the acquired terrain shape at the landing site, thereby enabling the stabilized drone to stably land on various terrain types and to withstand dynamic loads induced by dynamic operations thereon.

Brief Description of the Drawings

The above and other characteristics and advantages of the invention will be better understood through the following illustrative and non-limitative detailed description of preferred embodiments thereof, with reference to the appended drawings, wherein:

Fig. 1 is a system diagram which illustrates an exemplary configuration of a stabilized drone, according to an embodiment of the present invention;

Fig. 2A shows a rear view of a stabilized drone, according to an embodiment of the present invention;

Fig. 2B show a top-front perspective view of a stabilized drone, according to an embodiment of the present invention; and

Figs. 3-5 show further views of the stabilized drone of Figs. 2A-2B.

Detailed Description of the Invention

The present invention relates to a stabilized drone, configured to prepare for and to perform a balanced landing even on rough terrain, while avoiding overturning and loss of the drone.

While the stabilized drone disclosed herein is described and illustrated as intended operating a firearm, it should be understood that the stabilization capability of the proposed stabilized drone may also be utilized with drones performing other dynamic operations (i.e., at the ground level) that require the disclosed stabilization capability.

According to an embodiment of the invention, the proposed drone comprises terrain shape detection means (e.g., LASER sensors, LIDAR sensors, image acquisition means), stabilization means, and suitable control hardware and software for activating its stabilization means with respect to the detected terrain shape, while approaching a desired landing site and before touching the ground, thereby stably positioning the drone in a near ready-to-fire state.

While multiple configurations of fire control equipment are known in the art, from which a person skilled in the art may select a specific fire control means in accordance with the desired operations.

According to an embodiment of the present invention the fire control equipment is configured to begin aiming the carried firearm towards the intended target before the drone touches the ground, thereby the drone is ready for firing in a shorter time.

Fig. 1 is a system diagram which illustrates an exemplary configuration of a stabilized drone 100, according to an embodiment of the present invention. Stabilized drone 100 comprises a main drone controller 101, which remotely (i.e., by a remote human or computerized operator) or autonomously (e.g., by pre-configured mission plan and operational scripts) controls a flight controller 110 for enabling the basic flight operations (i.e., which operates basic drone propulsion means 111 such as propeller motors, and flight controls 112 such as propeller tilting and pitching mechanisms), a stabilization controller 120 (i.e., which operates a terrain shape detection means 121 and correspondingly, stabilization means 122), and a fire controller 130, which operates target detection means 131 (e.g., a telescopic sight, range detection means and corresponding image processor), firearm actuators 132 (e.g., rotation and pitching mechanism, and trigger actuator), and ammunition monitoring means 133 (e.g., monitoring ammunition loading, and storage level).

Drone controller 101 comprises suitable communication and navigation means so as to transmit data related to its operation and to receive operational commands when remotely operated.

Furthermore, according to an embodiment of the present invention, drone 100 further comprises sensors for obtaining its actual stability, such as gyroscope sensors sensing its actual pitch and tilt angles. Thereby, drone controller 101 may either operate stabilization controller 120 for different maneuvering of stabilizers 122, or alternately operate flight controller 110 to take off and to land in an adjacent yet more suitable landing site.

Figs. 2A-2B show a rear view (Fig. 2A) and top-front perspective view (Fig. 2B) of a stabilized drone 200, according to an embodiment of the present invention. Drone 200 is flown by six motorized propellers 212 connected to its body 202 through corresponding arms 203.

Drone 200 carries a controlled firearm 230 adapted with a telescopic sight 231 and loaded from ammunition storage 233, carried on a cargo box 234 (illustrated as partially transparent in Figs. 2A-2B for the sake of illustration), while firearm 230 is carried by an actuation mechanism 232 (i.e., for yaw and pitch maneuvering of firearm 230) connected below cargo box 234. The trigger operation of firearm 230 may either be an integrated member of actuation mechanism 232, or a separate mechanism attached directly to firearm 230.

Stabilized drone 200 is adapted with two landing skids 204 attached to body 202 for enabling its landing on a surface. Stabilized drone 200 further comprises a stabilizing module 220 comprising a stabilizing controller 220a (not shown), a terrain shape detection means 221 (not shown) a) for acquiring the terrain shape at an intended landing site, and two stabilizers 222 (stabilization means) which are shown at a retracted state in Fig. 2A and at an extended state in Fig. 2B.

Stabilizers 222 are designed to operate with one or more degrees of freedom, including at least a lateral-rear-downwards extension thereof, such as by utilizing a telescopic design and an internal extension-retraction motor. According to an embodiment of the invention, an internal servo motor (not shown) is employed for providing an accurate extension of stabilizers 222 corresponding to the detected shape of terrain at the landing site. It should be understood that each of stabilizers 222 may be extended to a different extent according to the detected terrain shape.

The utilization of stabilizing module 220 enables the landing of stabilized drone 200 at almost any terrain, as well as supporting drone 200 on the ground, and enabling it to withstand a firing recoil and to perform an accurate recurring firing, without losing its sight (i.e., as acquired by telescopic sight 231) of the intended target.

Operating drone 200 with stabilizing module 220 on the ground provides both silent and low power consumption operation since as soon as drone 200 lands with stabilizers 222 extended, propellers 212 are not required for keeping drone 200 balanced, and hence propellers 212 can be turned off.

Stabilizers 222 may comprise sharp and/or threaded anchor tips 222a adapted to easily penetrate the ground and obtain a firm grasp, thereby providing drone 200 with sufficient support for withstanding the recoil load. According to an embodiment of the present invention, stabilizers 222 further comprise an extendable hook mechanism 222b (not shown) configured to laterally extend one or more hooks from its bottom end following the extension thereof, thereby to provide an improved grasp in various terrain types.

Figs. 3-5 show further views of drone 200 with stabilizers 222 at an extended state, according to embodiments of the present invention.