EP4551895A1 - Drone operable for flight - Google Patents

Drone operable for flight

Info

Publication number
EP4551895A1
EP4551895A1 EP23739333.5A EP23739333A EP4551895A1 EP 4551895 A1 EP4551895 A1 EP 4551895A1 EP 23739333 A EP23739333 A EP 23739333A EP 4551895 A1 EP4551895 A1 EP 4551895A1
Authority
EP
European Patent Office
Prior art keywords
axis
drone
fuselage
barrel
trunnion
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
EP23739333.5A
Other languages
German (de)
French (fr)
Inventor
Griffith Peter ANDREW
Richard Peter LEWIN
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
BAE Systems PLC
Original Assignee
BAE Systems PLC
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from EP22275089.5A external-priority patent/EP4303525A1/en
Priority claimed from GB2209952.7A external-priority patent/GB2620564B/en
Application filed by BAE Systems PLC filed Critical BAE Systems PLC
Publication of EP4551895A1 publication Critical patent/EP4551895A1/en
Pending legal-status Critical Current

Links

Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F41—WEAPONS
    • F41A—FUNCTIONAL FEATURES OR DETAILS COMMON TO BOTH SMALLARMS AND ORDNANCE, e.g. CANNONS; MOUNTINGS FOR SMALLARMS OR ORDNANCE
    • F41A27/00—Gun mountings permitting traversing or elevating movement, e.g. gun carriages
    • F41A27/06—Mechanical systems
    • F41A27/08—Bearings, e.g. trunnions; Brakes or blocking arrangements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/10—Rotorcrafts
    • B64U10/13—Flying platforms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U20/00—Constructional aspects of UAVs
    • B64U20/70—Constructional aspects of the UAV body
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2101/00—UAVs specially adapted for particular uses or applications
    • B64U2101/15—UAVs specially adapted for particular uses or applications for conventional or electronic warfare
    • B64U2101/18—UAVs specially adapted for particular uses or applications for conventional or electronic warfare for dropping bombs; for firing ammunition

Definitions

  • the present disclosure relates to a drone operable for flight.
  • the disclosure is concerned with a drone which carries cannon.
  • Equipment may be added to the body of the drone.
  • earner may be provided attached to the underside, top side, front, back and/or s edges of the drone body.
  • the weapon In applications in which a projectile firing weapon is required to I deployed by a drone, the weapon is attached in a similar way, held such that it offset from the core of the drone. Recoil from the weapon poses signifies problems for the stability of the drone - for example causing it to tip due leverage of the weapon around the centre of mass of the drone body. Tl mounting of a weapon in such a way also limits the targeting range, since tl body of the drone limits the angle through which the weapon can pivot.
  • a drone operable for flight which includes a projectile firing weapc which is configured to reduce the effect of recoil on stability, and enables a Ian targeting range compared to examples of the related art, is highly desirable.
  • a drone (10) operable for flic comprise a cannon (200) having a barrel (202), and the cannon (200) beii pivotably mounted in the slot (106) to the port side fuselage section (102), and/ pivotably mounted to the starboard side fuselage section (104), by a trunnh mounting assembly (110) having a trunnion axis (112) which extends at ric angles to the x-axis, such that the barrel (202) is operable to pivot about tl trunnion axis (112) to move over, and/or be positioned at, a range of angf relative to the x-axis direction.
  • a first end (140) of the fuselage (100) and a second end (142) of tl fuselage (100) may be spaced apart from one another along the length (L) of tl fuselage (100) along the x-axis; the fuselage (100) extending along a y-axis, tl port side of the fuselage (100) and the starboard side of the fuselage (10 spaced apart from one another across the width (W) of the fuselage (100) aloi the y-axis; the y-axis being at right angles to the x-axis, the trunnion axis (11 being aligned with and/or parallel to the y-axis; the fuselage (100) extending aloi a z-axis, a crown (120) of the fuselage and a bottom (122) of the fuselage spaa apart from one another along a depth (D) of the fuselage (100) along the z-ax the z-axis being at right angles to the
  • the barrel (202) may have a barrel axis (224), ai the barrel (202) may have a front end (210) and a muzzle (212) provided towar the front end (210).
  • the barrel axis (224) may be operable to be angled to eith side of the x-axis to direct the muzzle (212) to a region above the crown (12 and to a region beneath the bottom (122).
  • the barrel (202) may be constrained to pivot in a plane of moveme extending through the x-axis and z-axis.
  • the barrel axis (224) may intersect with the trunnion axis (112).
  • the cannon (200) may be operable to generate a recoil force with a rec vector from the firing of a projectile from the gun barrel (202), and tl cannon (200) may be mounted such that the recoil vector passes through tl
  • the interface between the trunnion mounting assembly (110) and tl cannon (200) may be located in the slot (106).
  • the trunnion mounting assembly (110) may comprise a trunnion whi extends along the trunnion axis (112) from the port side fuselage section (10 and/or the starboard side fuselage section (104), or extends along the trunnh axis (112) from the cannon (200).
  • the cannon (200) may have a calibre in the range of 12.7mm to 40mm.
  • the cannon (200) may have a calibre in the range of 20mm to 40mm.
  • the port side fuselage section (102) and the starboard side fuselaj section (104) may be joined by a bracing member (130).
  • the trunnion mounting assembly (110) may comprise an actuator (132) control the angle of the barrel axis (224) relative to the x-axis.
  • a drone (10) according to the present disclosure may further comprise control unit (146) operable to control the actuator (132) to control the angle of tl barrel axis (224) relative to the x-axis and the orientation of the drone (10).
  • a drone (10) according to the present disclosure may further compri rotors (134) operable to generate thrust to lift the drone (10).
  • a method of operation of a drone (10), tl drone comprising: a fuselage (100) having a length (L) extending along an x-ax the fuselage (100) comprising a port side fuselage section (102) spaced ap ⁇ from a starboard side fuselage section (104) to define a slot (106) therebetwei which extends along the length (L) of the fuselage (100); a cannon (200) havii a barrel (202), and the cannon (200) being pivotably mounted in the slot (106) the port side fuselage section (102), and/or mounted to the starboard s fuselage section (104), by a trunnion mounting assembly (110) having a trunnh axis (112) which extends at right angles to the x-axis, such that the barrel (20 barrel (202) about the trunnion axis (112); rotating the drone (10) about the axis; rotating the drone (10) about the y-axis; and rotating
  • a drone operable for flight which includes projectile firing weapon, which is configured to reduce the effect of recoil i stability. This is achieved by the cannon being centrally mounted such that recoil vector passes through the drone’s centre of mass.
  • Figure 1 shows a plan view of a drone according to the present disclosui
  • Figure 2 shows a perspective view of a drone according to the press disclosure.
  • the present disclosure relates to a drone 10 operable for flight and method of operation of a drone 10 operable for flight.
  • a drone 10 operable for flight An example of a droi according to the present disclosure is shown in figures 1 , 2.
  • the drone 10 may comprise a fuselage 100 havii a length L extending along an x-axis.
  • a first end 140 of the fuselage 100 and second end 142 of the fuselage 100 are spaced apart from one another along tl length L of the fuselage 100 along the x-axis.
  • the fuselage 100 also extent along a y-axis, the port side of the fuselage 100 and the starboard side of tl fuselage 100 spaced apart from one another across the width W of tl fuselage 100 along the y-axis.
  • the y-axis is at right angles to the x-axis.
  • the fuselage 100 also extends along a z-axis, a crown 120 of the fuselaj and a bottom 122 of the fuselage spaced apart from one another along a dep
  • the slot 106 extends between the crown 120 and bottom 122 of the fusela, along the length L of the fuselage.
  • the fuselage 100 comprises a port s fuselage section 102 spaced apart from a starboard side fuselage section 104 define the slot 106 therebetween which extends along the length L of tl fuselage 100.
  • the port side fuselage section 102 may define a port side s defining wall 150 and the starboard side fuselage section 104 may define starboard side slot defining wall 152.
  • the port side slot defining wall 150 ai starboard side slot defining wall 152 face each other and are spaced apart define the slot 106.
  • the port side fuselage section 102 and the starboard si ⁇ fuselage section 104 may be joined by a bracing member 130.
  • the bracii member 130 may extend between the port side fuselage section 102 and tl starboard side fuselage section 104.
  • the bracing member 130 may extend frc the port side slot defining wall 150 to the starboard side slot defining wall 152.
  • the regions above and beneath the slot 106 may be unobstructe
  • no feature of the fuselage section 102, 104 extend from tl crown 120 or bottom 122 across the slot 106. That is to say, the port side fuselaj section 102 and the starboard side fuselage section 104 may be joined, spaci apart from one another and configured such that no part of the drone extent over the region above the slot 106 and no part of the drone extends under tl region beneath the slot 106.
  • the port side fuselage section 102 and/or starboard side fuselaj section 104 may be assemblies of additional fuselage sub-sections.
  • the drone 10 may further comprise rotors 134 operable to generate thri to lift the drone 10.
  • rotor mounts 135 (which each carry/suppori rotor 134) may extend from the port side fuselage section 102 and starboard si ⁇ fuselage section 104.
  • the drone 10 may further comprise a cannon 200 having a barrel 202.
  • Tl barrel 202 has a barrel axis 224, and the barrel 202 has a front end 210 and muzzle 212 provided towards the front end 210.
  • cannon 200 may have a calibre in the range of 20mm to 30mm. Hence tl cannon 200 of drone 10 may be of an artillery class of weapon.
  • the cannon 200 may be pivotably mounted in the slot 106 to the port sh fuselage section 102. Alternatively or additionally the cannon 200 may I pivotably mounted to the starboard side fuselage section 104. That is to say, tl cannon 200 is mounted between the port side fuselage section 102 and tl starboard side fuselage section 104.
  • the barrel axis 224 is operable to be angled to either side of the x-axis direct the muzzle 212 to a region above the crown 120 and to direct tl muzzle 212 to a region beneath the bottom 122.
  • the cannon 200 may be pivotably mounted to the port side fuselaj section 102 and/or pivotably mounted to the starboard side fuselage section 11 by a trunnion mounting assembly 110.
  • the trunnion mounting assembly 110 m comprise a trunnion having a trunnion axis 112 (i.e. a pivot axis) which extern at right angles to the x-axis. Put another way, the trunnion axis 112 is aligned w and/or parallel with the y-axis.
  • the trunnion may extend along the trunnh axis 112 from the port side fuselage section 102 and/or the starboard sh fuselage section 104.
  • the trunnion may extend along the trunnion axis 112 frc the cannon 200.
  • the trunnion axis 112 extends in the slot 106 between the port sh fuselage section 102 and the starboard side fuselage section 104.
  • the interfa ⁇ between the trunnion mounting assembly 110 and the cannon 200 may I located in the slot 106.
  • the barrel axis 224 may intersect with the trunnion axis 112. That is say, the barrel axis 224 of the cannon 200 intersects the trunnion axis 112 rath than extending over or extending underneath the trunnion axis 112. That is say, the barrel axis 224 of the cannon 200 intersects the trunnion axis 112 so t the cannon 200 is centred on the trunnion axis 112.
  • the barrel axis 224 with the centre of mass of the drone along the trunnion axis 112.
  • each fuselage section 102, 104 is such th the point of intersection where the barrel axis 224 meets the trunnion axis 1 may coincide with the centre of mass of the drone and/or may coincide with tl centre of mass of the drone along the trunnion axis 112.
  • the significance of th is that when the cannon fires, there is no torque or leverage around the centre mass, and hence the drone will not tip (for example will not rotate about the axis) in response to the firing of a projectile. Hence firing of a projectile may cau the drone to be displaced in a direction opposite to the direction in which tl projectile was fired, but will not rotate the drone about the x, y or z axes.
  • the barrel 202 is operable to pivot about the trunnion axis 112 to move ov ⁇ and/or be positioned at, a range of angles relative to the x-axis direction.
  • barrel 202 may be mounted to the fuselage 100 by trunnion mount (i.e. a pivot mount) 110 having a pivot axis 112 which extends right angles to the x-axis and is aligned with and/or parallel with the y-axis.
  • trunnion mount i.e. a pivot mount
  • pivot axis 112 which extends right angles to the x-axis and is aligned with and/or parallel with the y-axis.
  • the barrel 202 may be constrained to pivot in a plane of moveme extending through the x-axis and z-axis. That is to say, the barrel 202 may I constrained to pivot about the trunnion axis 112 in a plane of movement extendii through the x-axis and z-axis.
  • the barrel 202 may be constrained to pivot about the trunnion axis 1 between up to 90 degrees below the x-axis and up to 90 degrees above the axis. That is to say, the barrel 202 is constrained to pivot about the trunnh axis 112 between up to -90 degrees relative to the x-axis (i.e. pointii downwards) and up to +90 degrees relative to the x-axis (i.e. pointing upwards
  • the barrel 202 may be constrained to pivot about the trunnion axis 1 between -60 degrees relative to the x-axis (i.e. pointing downwards) ai +60 degrees relative to the x-axis (i.e. pointing upwards).
  • the barrel 202 may constrained to pivot up to 180 degrees about tl trunnion axis 112.
  • the barrel 202 may constrained to pivot up to 250 degn about the trunnion axis 112.
  • the cannon 200 may be operable to generate a recoil force with a rec vector from the firing of a projectile from the gun barrel 202, and (as describi above) the cannon 200 is mounted such that the recoil vector passes through tl centre of mass of the drone 10.
  • the trunnion mounting assembly 110 may comprise an actuator 132 control the angle of the barrel axis 224 relative to the x-axis. That is to say, tl trunnion mounting assembly 110 may comprise an actuator 132 to control tl angle of the cannon barrel axis 224 relative to the x-axis.
  • the drone 10 may further comprise a control unit 146 operable to conti the actuator 132 to control the angle of the barrel axis 224 relative to the x-a and the orientation of the drone 10.
  • the drone 10 may be provided with a sensor, an array of sensors and/ a camera to generate situational awareness data for control of the drone. F example this may be fed back to a user operating the drone, or may be process! by the control unit 146 for autonomous flight control of the drone 10.
  • the drone 10 may also be provided with a communication system f sending and/or receiving data from other units (for example other drones) to c ordinate paths and missions.
  • the drone 10 may further comprise a secondary gun barrel located parallel (for example above or below) the cannon 200.
  • the secondary barrel m. be of smaller calibre than the cannon (for example less than 12.7mm e.g. machine gun.)
  • the drone 10 may further comprise a recoil mitigation system which usi features of the cannon and thrust from the drone flight system to resist I redui displacement of the drone during firing of the cannon.
  • the rote are operable to reduce displacement of the drone during recoil.
  • the drone m also comprise mobile surfaces which are controllable and operable to red displacement of the drone during recoil.
  • the exhaust gas generatt by the cannon may be utilised (e.g. directed) to counter the recoil force generati when the cannon if fired.
  • the unladen mass of the drone may be no greater than 1 O,OOOkg.
  • Tl unladen mass of the drone may be no greater than 1 ,000kg.
  • the unladen ma of the drone may be no greater than 500kg.
  • the unladen mass of the drone m. be no greater than 200kg.
  • the drone 10 may be operable to fly and/or hover autonomously.
  • the method of operation may comprise tl step of aiming the barrel 202 in a desired direction by one or more of pivoting tl barrel 202 about the trunnion axis 112, rotating the drone 10 about the x-ax rotating the drone 10 about the y-axis; and/or rotating the drone 10 about the axis.
  • the method of operation may comprise tl step of aiming the barrel 202 in a desired direction by operating the drone 10 remain at a fixed GPS co-ordinate, at a fixed altitude and fly in a substantia circular flight path.
  • the method of operation may include receivii control information from a user or master controller for flight operations.
  • the system and method of the present disclosure provides a platform f deploying, aiming and firing a medium calibre cannon with significant advantage over examples of the related art.
  • the cannon is centrally mounted such that its recoil vector passes throw the drone’s centre of mass. This configuration reduces the tendency of tl
  • the configuration of the drone also allows for the provision of rec mitigation systems, as herein described, to reduce recoiling distance in respon to firing of the cannon.
  • the configuration of the barrel 202 being operable to pivot about tl trunnion axis 112 to move over, and/or be positioned at, a range of angles relati to the x-axis direction (i.e. the barrel being moveable/pivotable about a sine axis) simplifies the connection of the cannon to an ammunition handling systei which will be required for extended operation.
  • the way in which the cannon is mounted means that it is able to pitch i and down to enable it to fire in front, below and above the body of the dror Since the drone is operable to rotate in flight around its z-axis, this means tl cannon is operable to aim in any direction.
  • the fuselage sections which may be configured to carry electronic batteries, sensors, ammunition and other equipment, allow for the drone’s ma to be distributed either side of centrally mounted cannon, thereby increasii stability of the system during flight and cannon firing.
  • the configuration of the mounting assembly, fuselage sections ai cannon relative to each other also means the weight of the drone may I minimised, leading to a relatively light weight solution, enabling it to have great agility and flight time than heavier systems.
  • the invention is not restricted to the details of the foregoii embodiment(s).
  • the invention extends to any novel one, or any no ⁇ combination, of the features disclosed in this specification (including a accompanying claims, abstract and drawings), or to any novel one, or any no ⁇ combination, of the steps of any method or process so disclosed.

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  • Engineering & Computer Science (AREA)
  • Remote Sensing (AREA)
  • Mechanical Engineering (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Toys (AREA)

Abstract

A drone (10) operable for flight. The drone has a fuselage (100) having a length (L) extending along an x-axis, the fuselage (100) comprising a port side fuselage section (102) spaced apart from a starboard side fuselage section (104) to define a slot (106) therebetween which extends along the length (L) of the fuselage (100). There is also provided a cannon (200) having a barrel (202). The cannon (200) is pivotably mounted in the slot (106) to the port side fuselage section (102), and/or pivotably mounted to the starboard side fuselage section (104), by a trunnion mounting assembly (110) having a trunnion axis (112) which extends at right angles to the x-axis. The barrel (202) is operable to pivot about the trunnion axis (112) to move over, and/or be positioned at, a range of angles relative to the x-axis direction.

Description

DRONE OPERABLE FOR FLIGHT
FIELD
The present disclosure relates to a drone operable for flight.
In particular the disclosure is concerned with a drone which carries cannon.
BACKGROUND
Conventional drones may be configured as helicopters or fixed wii aircraft. Improvements and reduction in costs in computers, sensors and hig capacity batteries has led to more stable quad copters entering the mass mar
Equipment may be added to the body of the drone. For example, earner may be provided attached to the underside, top side, front, back and/or s edges of the drone body.
In applications in which a projectile firing weapon is required to I deployed by a drone, the weapon is attached in a similar way, held such that it offset from the core of the drone. Recoil from the weapon poses signifies problems for the stability of the drone - for example causing it to tip due leverage of the weapon around the centre of mass of the drone body. Tl mounting of a weapon in such a way also limits the targeting range, since tl body of the drone limits the angle through which the weapon can pivot.
Hence a drone operable for flight which includes a projectile firing weapc which is configured to reduce the effect of recoil on stability, and enables a Ian targeting range compared to examples of the related art, is highly desirable.
SUMMARY
According to the present disclosure there is provided an apparatus ai method as set forth in the appended claims. Other features of the invention v be apparent from the dependent claims, and the description which follows.
Accordingly there may be provided a drone (10) operable for flic comprise a cannon (200) having a barrel (202), and the cannon (200) beii pivotably mounted in the slot (106) to the port side fuselage section (102), and/ pivotably mounted to the starboard side fuselage section (104), by a trunnh mounting assembly (110) having a trunnion axis (112) which extends at ric angles to the x-axis, such that the barrel (202) is operable to pivot about tl trunnion axis (112) to move over, and/or be positioned at, a range of angf relative to the x-axis direction.
A first end (140) of the fuselage (100) and a second end (142) of tl fuselage (100) may be spaced apart from one another along the length (L) of tl fuselage (100) along the x-axis; the fuselage (100) extending along a y-axis, tl port side of the fuselage (100) and the starboard side of the fuselage (10 spaced apart from one another across the width (W) of the fuselage (100) aloi the y-axis; the y-axis being at right angles to the x-axis, the trunnion axis (11 being aligned with and/or parallel to the y-axis; the fuselage (100) extending aloi a z-axis, a crown (120) of the fuselage and a bottom (122) of the fuselage spaa apart from one another along a depth (D) of the fuselage (100) along the z-ax the z-axis being at right angles to the x-axis and y-axis; and the fuselage (10 defines the slot (106) extending along the x-axis and extending between tl crown (120) and bottom (122). The barrel (202) may have a barrel axis (224), ai the barrel (202) may have a front end (210) and a muzzle (212) provided towar the front end (210). The barrel axis (224) may be operable to be angled to eith side of the x-axis to direct the muzzle (212) to a region above the crown (12 and to a region beneath the bottom (122).
The barrel (202) may be constrained to pivot in a plane of moveme extending through the x-axis and z-axis.
The barrel axis (224) may intersect with the trunnion axis (112).
The cannon (200) may be operable to generate a recoil force with a rec vector from the firing of a projectile from the gun barrel (202), and tl cannon (200) may be mounted such that the recoil vector passes through tl The interface between the trunnion mounting assembly (110) and tl cannon (200) may be located in the slot (106).
The trunnion mounting assembly (110) may comprise a trunnion whi extends along the trunnion axis (112) from the port side fuselage section (10 and/or the starboard side fuselage section (104), or extends along the trunnh axis (112) from the cannon (200).
The cannon (200) may have a calibre in the range of 12.7mm to 40mm.
The cannon (200) may have a calibre in the range of 20mm to 40mm.
The port side fuselage section (102) and the starboard side fuselaj section (104) may be joined by a bracing member (130).
The trunnion mounting assembly (110) may comprise an actuator (132) control the angle of the barrel axis (224) relative to the x-axis.
A drone (10) according to the present disclosure may further comprise control unit (146) operable to control the actuator (132) to control the angle of tl barrel axis (224) relative to the x-axis and the orientation of the drone (10).
A drone (10) according to the present disclosure may further compri rotors (134) operable to generate thrust to lift the drone (10).
There may also be provided a method of operation of a drone (10), tl drone comprising: a fuselage (100) having a length (L) extending along an x-ax the fuselage (100) comprising a port side fuselage section (102) spaced ap< from a starboard side fuselage section (104) to define a slot (106) therebetwei which extends along the length (L) of the fuselage (100); a cannon (200) havii a barrel (202), and the cannon (200) being pivotably mounted in the slot (106) the port side fuselage section (102), and/or mounted to the starboard s fuselage section (104), by a trunnion mounting assembly (110) having a trunnh axis (112) which extends at right angles to the x-axis, such that the barrel (20 barrel (202) about the trunnion axis (112); rotating the drone (10) about the axis; rotating the drone (10) about the y-axis; and rotating the drone (10) abc the z-axis.
Hence there is provided a drone operable for flight which includes projectile firing weapon, which is configured to reduce the effect of recoil i stability. This is achieved by the cannon being centrally mounted such that recoil vector passes through the drone’s centre of mass.
BRIEF DESCRIPTION OF THE FIGURES
Embodiments of the invention will now be described by way of examp only with reference to the figures, in which:
Figure 1 shows a plan view of a drone according to the present disclosui and
Figure 2 shows a perspective view of a drone according to the press disclosure.
DETAILED DESCRIPTION
The present disclosure relates to a drone 10 operable for flight and method of operation of a drone 10 operable for flight. An example of a droi according to the present disclosure is shown in figures 1 , 2.
As shown in the figures, the drone 10 may comprise a fuselage 100 havii a length L extending along an x-axis. A first end 140 of the fuselage 100 and second end 142 of the fuselage 100 are spaced apart from one another along tl length L of the fuselage 100 along the x-axis. The fuselage 100 also extent along a y-axis, the port side of the fuselage 100 and the starboard side of tl fuselage 100 spaced apart from one another across the width W of tl fuselage 100 along the y-axis. The y-axis is at right angles to the x-axis.
The fuselage 100 also extends along a z-axis, a crown 120 of the fuselaj and a bottom 122 of the fuselage spaced apart from one another along a dep The slot 106 extends between the crown 120 and bottom 122 of the fusela, along the length L of the fuselage. Hence the fuselage 100 comprises a port s fuselage section 102 spaced apart from a starboard side fuselage section 104 define the slot 106 therebetween which extends along the length L of tl fuselage 100. The port side fuselage section 102 may define a port side s defining wall 150 and the starboard side fuselage section 104 may define starboard side slot defining wall 152. The port side slot defining wall 150 ai starboard side slot defining wall 152 face each other and are spaced apart define the slot 106. The port side fuselage section 102 and the starboard si< fuselage section 104 may be joined by a bracing member 130. The bracii member 130 may extend between the port side fuselage section 102 and tl starboard side fuselage section 104. The bracing member 130 may extend frc the port side slot defining wall 150 to the starboard side slot defining wall 152.
Hence the regions above and beneath the slot 106 may be unobstructe Put another way, no feature of the fuselage section 102, 104 extend from tl crown 120 or bottom 122 across the slot 106. That is to say, the port side fuselaj section 102 and the starboard side fuselage section 104 may be joined, spaci apart from one another and configured such that no part of the drone extent over the region above the slot 106 and no part of the drone extends under tl region beneath the slot 106.
The port side fuselage section 102 and/or starboard side fuselaj section 104 may be assemblies of additional fuselage sub-sections.
The drone 10 may further comprise rotors 134 operable to generate thri to lift the drone 10. For example, rotor mounts 135 (which each carry/suppori rotor 134) may extend from the port side fuselage section 102 and starboard si< fuselage section 104.
The drone 10 may further comprise a cannon 200 having a barrel 202. Tl barrel 202 has a barrel axis 224, and the barrel 202 has a front end 210 and muzzle 212 provided towards the front end 210. cannon 200 may have a calibre in the range of 20mm to 30mm. Hence tl cannon 200 of drone 10 may be of an artillery class of weapon.
The cannon 200 may be pivotably mounted in the slot 106 to the port sh fuselage section 102. Alternatively or additionally the cannon 200 may I pivotably mounted to the starboard side fuselage section 104. That is to say, tl cannon 200 is mounted between the port side fuselage section 102 and tl starboard side fuselage section 104.
The barrel axis 224 is operable to be angled to either side of the x-axis direct the muzzle 212 to a region above the crown 120 and to direct tl muzzle 212 to a region beneath the bottom 122.
The cannon 200 may be pivotably mounted to the port side fuselaj section 102 and/or pivotably mounted to the starboard side fuselage section 11 by a trunnion mounting assembly 110. The trunnion mounting assembly 110 m comprise a trunnion having a trunnion axis 112 (i.e. a pivot axis) which extern at right angles to the x-axis. Put another way, the trunnion axis 112 is aligned w and/or parallel with the y-axis. The trunnion may extend along the trunnh axis 112 from the port side fuselage section 102 and/or the starboard sh fuselage section 104. The trunnion may extend along the trunnion axis 112 frc the cannon 200.
The trunnion axis 112 extends in the slot 106 between the port sh fuselage section 102 and the starboard side fuselage section 104. The interfa^ between the trunnion mounting assembly 110 and the cannon 200 may I located in the slot 106.
The barrel axis 224 may intersect with the trunnion axis 112. That is say, the barrel axis 224 of the cannon 200 intersects the trunnion axis 112 rath than extending over or extending underneath the trunnion axis 112. That is say, the barrel axis 224 of the cannon 200 intersects the trunnion axis 112 so t the cannon 200 is centred on the trunnion axis 112. Thus the barrel axis 224 with the centre of mass of the drone along the trunnion axis 112. That is to ss the mass and distribution of mass of each fuselage section 102, 104 is such th the point of intersection where the barrel axis 224 meets the trunnion axis 1 may coincide with the centre of mass of the drone and/or may coincide with tl centre of mass of the drone along the trunnion axis 112. The significance of th is that when the cannon fires, there is no torque or leverage around the centre mass, and hence the drone will not tip (for example will not rotate about the axis) in response to the firing of a projectile. Hence firing of a projectile may cau the drone to be displaced in a direction opposite to the direction in which tl projectile was fired, but will not rotate the drone about the x, y or z axes.
Since the cannon 200 is mounted to the fuselage by a trunnion mountii assembly 110 having a trunnion axis 112 aligned with and/or parallel with the axis, the barrel 202 is operable to pivot about the trunnion axis 112 to move ov< and/or be positioned at, a range of angles relative to the x-axis direction.
That is to say, barrel 202 may be mounted to the fuselage 100 by trunnion mount (i.e. a pivot mount) 110 having a pivot axis 112 which extends right angles to the x-axis and is aligned with and/or parallel with the y-axis.
The barrel 202 may be constrained to pivot in a plane of moveme extending through the x-axis and z-axis. That is to say, the barrel 202 may I constrained to pivot about the trunnion axis 112 in a plane of movement extendii through the x-axis and z-axis.
The barrel 202 may be constrained to pivot about the trunnion axis 1 between up to 90 degrees below the x-axis and up to 90 degrees above the axis. That is to say, the barrel 202 is constrained to pivot about the trunnh axis 112 between up to -90 degrees relative to the x-axis (i.e. pointii downwards) and up to +90 degrees relative to the x-axis (i.e. pointing upwards
The barrel 202 may be constrained to pivot about the trunnion axis 1 between -60 degrees relative to the x-axis (i.e. pointing downwards) ai +60 degrees relative to the x-axis (i.e. pointing upwards). The barrel 202 may constrained to pivot up to 180 degrees about tl trunnion axis 112. The barrel 202 may constrained to pivot up to 250 degn about the trunnion axis 112.
The cannon 200 may be operable to generate a recoil force with a rec vector from the firing of a projectile from the gun barrel 202, and (as describi above) the cannon 200 is mounted such that the recoil vector passes through tl centre of mass of the drone 10.
The trunnion mounting assembly 110 may comprise an actuator 132 control the angle of the barrel axis 224 relative to the x-axis. That is to say, tl trunnion mounting assembly 110 may comprise an actuator 132 to control tl angle of the cannon barrel axis 224 relative to the x-axis.
The drone 10 may further comprise a control unit 146 operable to conti the actuator 132 to control the angle of the barrel axis 224 relative to the x-a and the orientation of the drone 10.
The drone 10 may be provided with a sensor, an array of sensors and/ a camera to generate situational awareness data for control of the drone. F example this may be fed back to a user operating the drone, or may be process! by the control unit 146 for autonomous flight control of the drone 10.
The drone 10 may also be provided with a communication system f sending and/or receiving data from other units (for example other drones) to c ordinate paths and missions.
The drone 10 may further comprise a secondary gun barrel located parallel (for example above or below) the cannon 200. The secondary barrel m. be of smaller calibre than the cannon (for example less than 12.7mm e.g. machine gun.)
The drone 10 may further comprise a recoil mitigation system which usi features of the cannon and thrust from the drone flight system to resist I redui displacement of the drone during firing of the cannon. For example, the rote are operable to reduce displacement of the drone during recoil. The drone m; also comprise mobile surfaces which are controllable and operable to red displacement of the drone during recoil. Additionally the exhaust gas generatt by the cannon may be utilised (e.g. directed) to counter the recoil force generati when the cannon if fired.
The unladen mass of the drone may be no greater than 1 O,OOOkg. Tl unladen mass of the drone may be no greater than 1 ,000kg. The unladen ma of the drone may be no greater than 500kg. The unladen mass of the drone m. be no greater than 200kg.
There may also be provided a method of operation of the drone 1 wherein the method comprises receiving input from a user to operate tl cannon 200. The drone 10 may be operable to fly and/or hover autonomously.
Additionally or alternatively, the method of operation may comprise tl step of aiming the barrel 202 in a desired direction by one or more of pivoting tl barrel 202 about the trunnion axis 112, rotating the drone 10 about the x-ax rotating the drone 10 about the y-axis; and/or rotating the drone 10 about the axis.
Additionally or alternatively, the method of operation may comprise tl step of aiming the barrel 202 in a desired direction by operating the drone 10 remain at a fixed GPS co-ordinate, at a fixed altitude and fly in a substantia circular flight path.
Additionally or alternatively, the method of operation may include receivii control information from a user or master controller for flight operations.
The system and method of the present disclosure provides a platform f deploying, aiming and firing a medium calibre cannon with significant advantage over examples of the related art.
The cannon is centrally mounted such that its recoil vector passes throw the drone’s centre of mass. This configuration reduces the tendency of tl The configuration of the drone also allows for the provision of rec mitigation systems, as herein described, to reduce recoiling distance in respon to firing of the cannon.
The configuration of the barrel 202 being operable to pivot about tl trunnion axis 112 to move over, and/or be positioned at, a range of angles relati to the x-axis direction (i.e. the barrel being moveable/pivotable about a sine axis) simplifies the connection of the cannon to an ammunition handling systei which will be required for extended operation.
The way in which the cannon is mounted means that it is able to pitch i and down to enable it to fire in front, below and above the body of the dror Since the drone is operable to rotate in flight around its z-axis, this means tl cannon is operable to aim in any direction.
The fuselage sections, which may be configured to carry electronic batteries, sensors, ammunition and other equipment, allow for the drone’s ma to be distributed either side of centrally mounted cannon, thereby increasii stability of the system during flight and cannon firing.
The configuration of the mounting assembly, fuselage sections ai cannon relative to each other also means the weight of the drone may I minimised, leading to a relatively light weight solution, enabling it to have great agility and flight time than heavier systems.
Attention is directed to all papers and documents which are fih concurrently with or previous to this specification in connection with tt application and which are open to public inspection with this specification, ai the contents of all such papers and documents are incorporated herein reference.
All of the features disclosed in this specification (including a accompanying claims, abstract and drawings), and/or all of the steps of a method or process so disclosed, may be combined in any combination, exce the same, equivalent or similar purpose, unless expressly stated otherwise. Thi unless expressly stated otherwise, each feature disclosed is one example only a generic series of equivalent or similar features.
The invention is not restricted to the details of the foregoii embodiment(s). The invention extends to any novel one, or any no\ combination, of the features disclosed in this specification (including a accompanying claims, abstract and drawings), or to any novel one, or any no\ combination, of the steps of any method or process so disclosed.

Claims

1 A drone operable for flight comprising: a fuselage having a length (L) extending along an x-axis, the fuselaj comprising a port side fuselage section spaced apart from a starboard s fuselage section to define a slot therebetween which extends along the length ( of the fuselage; a cannon having a barrel, and the cannon being pivotably mounted in tl slot to the port side fuselage section, and/or pivotably mounted to the starboa side fuselage section, by a trunnion mounting assembly having a trunnion a> which extends at right angles to the x-axis, such that the barrel is operable pivot about the trunnion axis to move over, and/or be positioned at, a range angles relative to the x-axis direction.
2 A drone as claimed in claim 1 wherein a first end of the fuselage and second end of the fuselage are spaced apart from one another along the leng (L) of the fuselage along the x-axis; the fuselage extending along a y-axis, tl port side of the fuselage and the starboard side of the fuselage spaced apart frc one another across the width (W) of the fuselage along the y-axis; the y-a> being at right angles to the x-axis, the trunnion axis being aligned with and/ parallel to the y-axis; the fuselage extending along a z-axis, a crown of tl fuselage and a bottom of the fuselage spaced apart from one another along depth (D) of the fuselage along the z-axis, the z-axis being at right angles to tl x-axis and y-axis; and the fuselage defines the slot extending along the x-a and extending between the crown and bottom; and the barrel has a barrel axis, and the barrel has a front end and a muzz provided towards the front end; wherein the barrel axis is operable to be angled to either side of the x-a> 3 A drone as claimed in claim 2 wherein the barrel is constrained to pivot a plane of movement extending through the x-axis and z-axis.
4 A drone as claimed in claim 2 or claim 3 wherein the barrel axis intersec with the trunnion axis.
5 A drone as claimed in any one of the preceding claims wherein the canni is operable to generate a recoil force with a recoil vector from the firing of projectile from the gun barrel, and the cannon is mounted such that the rec vector passes through the centre of mass of the drone.
6 A drone as claimed in any one of the preceding claims wherein tl trunnion axis extends in the slot between the port side fuselage section and tl starboard side fuselage section.
7 A drone as claimed in any one of the preceding claims wherein tl interface between the trunnion mounting assembly and the cannon is located the slot.
8 A drone as claimed in any one of the preceding claims wherein tl trunnion mounting assembly comprises a trunnion which extends along tl trunnion axis from the port side fuselage section and/or the starboard si< fuselage section, or extends along the trunnion axis from the cannon.
9 A drone as claimed in any one of the preceding claims wherein the canni has a calibre in the range of 12.7mm to 40mm. 11 A drone as claimed in any one of the preceding claims wherein the p< side fuselage section and the starboard side fuselage section are joined by bracing member.
12 A drone as claimed in any one of the preceding claims wherein tl trunnion mounting assembly comprises an actuator to control the angle of tl barrel axis relative to the x-axis.
13 A drone as claimed in claim 12 further comprising a control unit operat to control the actuator to control the angle of the barrel axis relative to the x-a> and the orientation of the drone.
14 A drone as claimed in any one of the preceding claims further comprisii rotors operable to generate thrust to lift the drone.
15 A method of operation of a drone, the drone comprising: a fuselage having a length (L) extending along an x-axis, the fuselaj comprising a port side fuselage section spaced apart from a starboard s fuselage section to define a slot therebetween which extends along the length ( of the fuselage; a cannon having a barrel, and the cannon being pivotably mounted in tl slot to the port side fuselage section, and/or mounted to the starboard si< fuselage section, by a trunnion mounting assembly having a trunnion axis whi extends at right angles to the x-axis, such that the barrel is operable to pivot abc the trunnion axis to move over and/or be positioned at, a range of angles relati to the x-axis direction; the method comprising the steps of: rotating the drone about the x-axis; rotating the drone about the y-axis; and rotating the drone about the z-axis.
EP23739333.5A 2022-07-07 2023-06-29 Drone operable for flight Pending EP4551895A1 (en)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
EP22275089.5A EP4303525A1 (en) 2022-07-07 2022-07-07 Drone operable for flight
GB2209952.7A GB2620564B (en) 2022-07-07 2022-07-07 Drone operable for flight
PCT/GB2023/051697 WO2024009062A1 (en) 2022-07-07 2023-06-29 Drone operable for flight

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US12606326B1 (en) * 2025-09-22 2026-04-21 Henry Hardy Perritt, Jr. Unmanned aerial vehicle with integrated paintball projectile system and method for use

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US8297172B2 (en) * 2008-11-12 2012-10-30 Alliant Techsystems Inc. Unmanned air vehicle weapon adapter
US20190367169A1 (en) * 2018-05-25 2019-12-05 Bryan Patrick O'Leary Unmanned flying grenade launcher
IL277712B2 (en) * 2020-09-29 2024-06-01 Rafael Advanced Defense Systems Ltd Armed aerial platform
KR102383127B1 (en) * 2021-11-12 2022-04-08 최종필 Rifle recoil absorber for drones

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