RS62376B1 - Uav system and method - Google Patents

Description

Description

Field of invention

[0001] The present invention relates to systems using UAVs and corresponding procedures for controlling unmanned aerial vehicles (UAVs), particularly in relation to the deployment of unmanned aerial vehicles (UAVs).

STATE OF THE ART

[0002] Unmanned Air Vehicles (UAV) are well known and have many applications, which may include active surveillance or collection of existing data.

[0003] For example, due to general interest in the state of the art, the following publications make available to the public various UAV configurations:

EP 1884463 discloses a micro-aircraft (MAV) launch system that provides the combined functions of: package protection of sensitive aircraft components, a mechanical launch device and a launch pad. The described preferred technical solution includes a container and a lid of the container with the MAV attached to the lid. There is also a starter device on the lid of the container. The cover, which also serves as a launch pad with the MAV attached, is removed from the container, placed on the ground, the MAV is powered by the starting mechanism and launched.

US 7,089,843 discloses a launch device including a plurality of launch tubes for storing and launching multiple aircraft. The central air manifold is operatively connected to the air storage tank; the first launch tube air manifold is operatively connected to the first launch tube group and operatively connected to the central air manifold. The first launch tube air manifold has a separate fitting that fits each launch tube of the first group of launch tubes. The bleed valve mechanism is removably mounted in one of the first launch tube air manifold ports, and the bleed valve mechanism controls the passage of launch air between the first launch tube air manifold and the launch tube corresponding to the port in which the bleed valve mechanism is mounted. A plug is removably mounted in each of the ports not occupied by the discharge valve mechanism.

US 6,119,976 discloses an unmanned shoulder-launched reconnaissance system for providing visual high-altitude surveillance of distant targets. The system includes a reconnaissance aircraft that can be fired from a portable launcher, accelerated to flight speed and remotely controlled by a ground control system. The aircraft is guided to the target area to enable the onboard wide-angle video system to transmit video images of the target to the ground control system for processing and display. The ground control system allows the reconnaissance aircraft to be flown to the recovery area and to land in stall mode after the end of the flight for maintenance before reuse. The craft has folding wings that can be deployed after launch using a spring-loaded mechanism.

US 2009/015460 A1 discloses to the public a procedure for determining whether a target is of interest, where a radar system is used to create a topographic map of the target area. The radar is then used to describe and track targets moving through the target area.

WO 2008/085536 A2 discloses an unmanned aerial vehicle (UAV) reconnaissance system comprising fixed-wing aircraft powered by individual UAVs attached to a fixed-wing. The fixed-wing aircraft serves as a fuel tank for the individual uav.

[0004] Other known uav systems of unmanned aerial vehicles include, for example, the "MAV" system of the company Aerovironment and the "Vozni cable UAV" of the company Planum Vision.

BRIEF DESCRIPTION OF THE INVENTION

[0005] The invention is defined in the attached patent claims. According to the invention, a perimeter protection procedure is provided, which includes:

(a) providing information on infiltration, on actual or suspected infiltration in the target zone of the site associated with the specified perimeter by at least one infiltrating agent; (b) placing at least one UAV ready for launch in said target zone responsive to receiving said infiltration information;

(c) operating said at least one UAV to search a target area around said target zone to thereby locate and return to said at least one infiltrating agent; and

(d) at least one of:

identifying the nature of at least one of said located infiltration agents or the nature of said infiltration via said at least one UAV and providing data corresponding to said nature; and

tracking at least one located said infiltrating agent via said at least one UAV and providing data corresponding to the location of said located infiltrating agent to enable its neutralization.

[0006] Here "guarding" includes, among other things, one or more of observing, perceiving, detecting, collecting data and so on, related to unwanted and/or unexpected and/or unauthorized and/or hostile and/or dangerous infiltrating agents (human and/or non-human), as well as related to such agents and/or one or more of defending, protecting against, preventing intrusion by, controlling the location in relation to, securing against, providing security against such the perpetrator.

[0007] For example, step (b) may comprise launching at least one ready-to-launch UAV on a path or along any suitable flight path to said target zone responsive to receiving said infiltration information.

[0008] The method according to the invention includes the following features.

[0009] Wherein at least one additional UAV can be quickly launched in step (d) to supplement said identification in step (I), and/or said tracking in step (II), or take over said identification and/or said tracking, from said UAV previously launched in step (b).

BRIEF DESCRIPTION OF THE DRAWINGS

[0010] In order to understand the invention and to see how it can be implemented in practice, technical solutions will now be described, by way of non-limiting example only, with reference to the accompanying drawings in which:

Figure 1 schematically shows the system according to the technical solution of the invention.

Figure 2 shows the technical solution of the UAV launch device.

Figure 3 shows the technical solution of the UAV.

Figure 4 shows another technical solution of the UAV launch device.

Figure 5 schematically shows the application of the technical solution from Figure 1.

Figure 6 schematically shows another application of the technical solution from Figure 1.

Figure 7 schematically shows another application of the technical solution from Figure 1.

Figure 8 schematically shows the procedure according to the technical solution of the invention; Figure 8 (a) schematically shows a variation of the technical solution from Figure 8.

DETAILED DESCRIPTION OF THE INVENTION

[0011] With reference to Fig. 1 to 3, the multi-purpose system for deploying UAV according to the first technical solution of the invention, generally designated 100, includes a control center 200 and a large number of devices 300 for launching the UAV.

[0012] With reference to FIG. 2, each launch device 300 is configured to rapidly launch at least one UAV 400 in an automated manner in response to receiving a control command signal to do so, and thus each launch device 300 is configured for unattended operation. In the technical solution shown in Fig.2, the launch device 300 is configured for rapid launch of one or more UAVs and contains a large number of launch housings 310, where each launch housing 310 accommodates a UAV 400, which in the operation of the corresponding launch housing 400 is already in a ready-to-launch mode (RFL mode). In alternative variations of this technical solution, at least one launch device is configured to rapidly launch one UAV and comprises a suitable launch housing. The launch housing 310 further includes a suitable launch system (not shown) configured to impart momentum to the forward respective UAV 400 sufficient to enable the UAV to be launched into the air and subsequently maintain flight under its own power after exiting the suitable launch housing 310 . For example, the launch system may be configured to launch a suitable UAV via any suitable pneumatic, hydraulic, pyrotechnic, elastic, mechanical or other device.

[0013] In alternative variations of this technical solution, the launch housing 310 does not contain any special mechanisms or devices for ejecting and displacing the corresponding UAV 400 from there to launch it. Instead, the UAV 400 is itself configured to exit the housing 310 for launch under its own power—for example, the UAV may have VTOL, STOL, or V/STOL capabilities and/or may contain auxiliary power packages (eg, rocket-assisted take-off systems).

[0014] The launch device 300 further includes a suitable communication system 350, which contains at least a receiver for receiving command signals transmitted by the control center 200. In this technical solution, the communication system 350 also contains a transmitter for transmitting signals at least to the control center 200. Moreover, the launch device 300 can contain a control unit 390, such as for example a microprocessor, to control its operation.

[0015] In this technical solution, the communication system 350 is wireless, for example operatively connected to the control center 200 wirelessly via a radio transmitter using any appropriate radio band, either directly, or via a system of relay stations and/or via a satellite link. In alternative variations of this technical solution, the communication system 350 may be cable-based and operatively connected to the control center 200 via a cable network, or be based on laser communication or optical fibers, or contain a combination of different communication media, for example.

[0016] The launch device 300 in this technical solution includes a pointing mechanism 360, which is configured to allow the azimuth and/or elevation of the respective launch cases 310 to be selectively controlled, thus providing any desired or optimal LD launch direction for the launch cases 310. Further, the launch device 300, while in use is usually statically deployed at a fixed geographic location in this technical solution, can easily be transported to another geographic location as desired, by means of a trailer 370 that can be towed, for example, by any suitable vehicle. In alternative variations of this technical solution, at least one launch device 300 is permanently deployed in one geographic location in a fixed permanent installation, while in these or other alternative variations of this technical solution, at least one launch device 300 can be self-propelled, for example attached to a carrier vehicle, which can be, for example, a land vehicle, a seagoing vehicle, an amphibious vehicle, a hovercraft, etc. In alternative variations of this technical solution, the at least one launch device 300 does not include a pointing mechanism and is permanently pointed in one direction, at least relative to the base of the launch device.

[0017] The launch device 300 further comprises a GPS or any other suitable global positioning system, and further the control unit 390 is configured to operate the communication system 350 to send a signal to the control center 200 informing it of the geographical position of the respective launch device 300 according to its GPS location. Alternatively, the position of the appropriate launch device 300 may be manually determined by personnel and sent to the control center 200 , for example by the ground crew responsible for deploying the launch device 300 .

[0018] After deployment, the launch device 300 is configured to operate in an automated manner, without the need for any crew on the ground. From time to time a ground crew may be provided for repair, maintenance and restoration, but the operation of the launch device 300 to launch the respective UAVs is generally automated and responsive to the receipt of appropriate control signals to that effect from the control center 200.

[0019] In these or other alternative variations of this technical solution, one launch case can be used to launch several UAVs, which can be stored one behind the other, serially, in the launch case, or they can be stored one above the other in the launch case, or they can be loaded one by one into the launch case using a suitable loading mechanism. For example, with reference to Figure 4, at least one launch device according to a different technical solution and designated by reference number 300', includes one or more housings 310' for multiple launches mounted on a pointing mechanism 360', and also includes a control unit 390' configured to operate a communication system 350'. Each such multi-launch housing 310' includes a launch tube 320' configured to rapidly launch UAVs and a UAV magazine 370' containing a plurality of UAVs 400 in a stacked arrangement and configured to load each UAV from the magazine 350' next in line to the launch tube 320' after the launch of the previous UAV.

[0020] Referring again to FIG. 1, the control center 200 includes a corresponding command and control module 210 (CC module), which in operation can be configured to process intelligence data ID and decide whether to launch one or more UAVs 400, from one or more launch devices 300, and in which direction and towards which specific target zone. CC module 210 in operation is further configured to process surveillance and other data provided by the launched one or more UAVs 400, and to forward such surveillance and other data and/or analysis thereof to another party. The control center 200 further includes a suitable communication system 250, which includes at least a transmitter for transmitting command signals to the launch device 300. In this technical solution, the communication system 250 also includes a receiver for receiving signals from at least the launch device 300 . Further, the control center 200 includes a controller 290, such as a microprocessor, for controlling its operation.

[0021] In this technical solution, the communication system 250 is wireless, for example operatively connected to the launch device 300 wirelessly via a radio transmitter using any suitable radio band, either directly, or via a system of relay stations and/or via a satellite link. In alternative variations of this technical solution, the communication system 250 may be cable-based and operatively connected to the launch device 300 via a cable network, or be based on laser communication, optical fiber, or any other suitable communication method, or comprise a combination of different communication media, for example.

[0022] The control center 200 is operationally further configured to receive ID intelligence, and may do so in one or more forms. In particular, such ID data may include the suspected location of a target that needs to be identified and/or tracked. Such data may include intelligence from humans, for example, observers 490 in the field may spot a suspect target T and radio or otherwise communicate the facts and location of the suspect target T to the control center 200 .

[0023] Where the system 100 is used to protect the perimeter from infiltration, wherein the target is an infiltrator, additionally or alternatively, breaches in the perimeter (e.g. fence, wall, etc.) may be sensed optically and/or thermally and/or audibly and/or by touch/motion and/or electronically, and data indicating the breach is accordingly sent to the control center 200. Additionally or alternatively, human intelligence may include data on possible infiltration at a specific time and/or place, and that data is conveniently transmitted to the control center 200.

[0024] Additionally or alternatively, the control center 200 may contain a receiver for receiving satellite intelligence data from the satellite network 492, for example, satellite imagery data (visible spectrum, infrared, etc.) of a specific target zone at a specific reference time, and such imagery data may be analyzed to provide such intelligence data to the control center 200. Additionally or alternatively, the control center 200 contains or is operatively connected to a suitable by a sensor module, for example, any suitable SIGINT signal interception module, optionally including at least one of an ELINT module and a COMINT module.

[0025] Additionally or alternatively, the control center 200 includes a suitable detection system 270 (which may include, for example, a suitable radar system and/or a suitable electro-optical system on the ground) which is operatively connected to it for the purpose of detecting a target T within a certain radius of operations, around the control center 200 and/or around one or more additional zones, in which a series of connected radar systems and/or electro-optical systems based on the ground can be provided for their radar coverage.

[0026] In this technical solution, the CC module 210 is in the form of one or more human operators, who are skilled in receiving and analyzing the above intelligence data and in deciding whether to launch one or more UAVs from one or more launch devices. The controller 250 can assist the human controller by highlighting the nearest launch device that is available and ready to launch relative to a particular target.

[0027] In alternative variations of this technical solution, the CC module 210 may be fully automated and therefore contain a suitable computer system configured to initiate the launch of the UAV based on predetermined parameters.

[0028] In this technical solution, the control center 200 is at a geographically fixed, static location, at least during its operation. In alternative variations of this technical solution, the control center 200 can be in a mobile platform - for example, transported by a vehicle (eg, carried by a vehicle or towed by a vehicle as a trailer), and the vehicle can be, for example, a land vehicle, a seagoing vehicle, an amphibious vehicle, a hovercraft, etc., or for example it can be carried by personnel - and the center 200 can also be used when it is mobile.

[0029] With reference to Fig. 3, each of said UAV 400 is configured as an untethered vehicle in the form of a steerable aerial platform containing at least one sensor system configured at least to enable identification of a target within the field of view (FOV) of the sensor. In this technical solution, the sensor system includes a suitable imaging system 410 configured to provide a real-time video stream in the visible spectrum, and may be further configured to provide suitable infrared images and/or to include enhanced night vision functions. In alternative variations of this technical solution, the imaging system may additionally or alternatively comprise a synthetic aperture radar (SAR) and/or any other suitable sensor system.

[0030] The recording system 410 may include a suitable camera, preferably an electronic camera, preferably mounted on the UAV 400 via a stabilization platform for vibration compensation, etc., and thus provide stable images to the control center 200 via the communication module 420. The UAV 400 includes a suitable propulsion unit 430, which may be electric powered, or fuel powered, or hybrid powered, for example, to provide powered flight and/or VTOL capability for UAV. Preferably, the imaging system 410 includes a pointing mechanism 412 configured to allow the azimuth and elevation of the imaging system 410 to be selectively controlled, thereby providing any desired line of sight (LOS) to the imaging system within a defined field of interest of the FOR. Further, the imaging system can be configured to provide different magnifications and/or fields of view (FOV). Such recording systems are well known in the art.

[0031] According to one aspect of the invention, the UAV 400 may be based on any suitable micro-UAV, for example the "Mosquito" UAV, manufactured by Israel Aerospace Industries Ltd, Israel. According to another aspect of the invention, the UAV 400 may be based on any suitable mini-UAV, for example, the Birdeye family of UAVs, manufactured by Israel Aerospace Industries Ltd, Israel. According to another aspect of the invention, the UAV 400 may be based on any suitable larger UAV, for example, the I-View UAV, manufactured by Israel Aerospace Industries Ltd, Israel.

[0032] The UAV 400 is configured to automatically launch from the respective housing 310 when in the above-mentioned RFL mode, in which the respective UAV 400 is fueled and/or has sufficient electrical power to enable the operation of the propulsion system and to power additional embedded systems, for example, the imaging system 410 and the communication module 420. At least in this technical solution, each operative mentioned launch device contains at least one of the mentioned UAVs in the RFL mode and may have additional listed UAVs in RFL mode and/or is configured to place multiple listed UAVs in RFL mode in an automated manner.

[0033] After launch, the UAV can be directed to the desired location in different ways. For example, the UAV may receive a specific flight plan to the target zone while still in the launcher housing prior to launch via appropriate communications, or may upload a post-launch flight plan via an appropriate data link. Additionally or alternatively, the UAV may be pre-programmed with multiple flight plans, for example, one each for certain predetermined targets, and the desired flight plan is activated online in the UAV. Alternatively, the UAV is manually directed to the target zone by the UAV operator 205 .

[0034] In variations of this technical solution where the launched UAV 400 contains a payload, for example an imaging system or other payload, the payload may be operated by payload operators 206, who may optionally also be UAV operators 205.

[0035] In this technical solution, the payload operator 206 and the UAV operator 205 are located in the control center 200, and are located in the same location. In alternative variations of the technical solution, the payload operator 206 and/or the UAV operator 205 may be independent of the control center 200 and may be located in different geographic locations.

[0036] In this technical solution, the UAV 400 further contains a suitable GPS or the like, and the communication module 420 is configured to transmit the geographical location of the UAV 400 to the control center 200. In addition, the communication module 420 can further transmit the LOS direction of the imaging system 410 relative to the reference coordinate system of the UCS of the unmanned aerial vehicle (UAV), the direction and altitude of the UAV, as well as the position of the UCS coordinate system relative to the Earth-based ECS coordinate system, as used by the GPS system, and can also further transmit image magnification data and other optical parameters. Using this data, it is then possible to calculate the position, and thus the geographic location (relative to the above-mentioned Earth-based coordinate system) of any object located in the FOV of the imaging system 410 .

[0037] Further, the communication module 420 is also configured to provide identification data for the corresponding UAV 400, for example an IFF or IP code, so that the data that the control center 200 receives from each UAV can be associated with the corresponding UAV 400.

[0038] In one application of the first technical solution, and with reference to FIG. 1, system 100 is configured to facilitate the guarding of a particular perimeter, for example, to defend the perimeter against infiltration, and a plurality of launch devices 300 (individually designated as 300a, 300b, 300c, etc.) are distributed around the perimeter. For example, such a perimeter may be a political border 900 between the host country 910 , where the launch devices are deployed, and a neighboring country or other geographic/geopolitical entity 930 that may be hostile or have hostile or undesirable elements to the host country 910 . Each launch device 300 has an associated operating radius R, which can be understood to refer to the characteristic range of the respective UAV 400 achieved after a predetermined time t from launch from the respective launch device 300 . The elapsed time t can therefore be considered as the desired response time for the UAV to reach a specific location. In this technical solution, the various launch devices 300 are spaced apart from each other and from the border so that each operation radius R (individually labeled as Ra, Rb, Rc, etc. respectively corresponds to the respective launch devices 300a, 300b, 300c, etc.) overlaps with the border 900, and also in relation to each other at least close to the border 900, as shown in Figure 5.

[0039] The control center 200 is also located in the host country 910 (although in variations of this technical solution it can be in another place, for example in the air or at sea in neutral or international areas), but it can be further away from the border 900, for example, for security reasons, especially if the border zone near the border 900 is hostile.

[0040] The boundary 900 may contain a fence or a wall 920, which consists of sensors 925 including proximity sensors and/or penetration sensors, i.e. configured to detect the proximity of a foreign object (for example, a body or vehicle) to the wall and to detect a breach in the wall, and a communication module 930 to transmit to the control center 200 sensor data indicating such proximity or penetration when such an event occurs.

[0041] In this technical solution, all the launch devices 300 are essentially similar to each other, at least in terms of the type of launch launch systems and the type of UAV launched by each housing 310, and may also be similar to each other in that they have the same number of launch housings 310 per launch device, although in alternative variations of this technical solution, each launch device may have a number of launch housings that may be the same or different from the other devices 300 for the launch. In some other variations of this technical solution, each launch device may differ from other launch devices, in terms of the type of launch systems provided and/or in terms of the type of UAV that launches each launch case 310 , and/or in terms of the number of launch cases 310 per launch device 300 , and so on. Accordingly, the operation radii R associated with each launch device 300 may differ from one another between different launch devices 300 .

[0042] In this implementation of the first technical solution, several launch devices 300 are in communication with the control center 200 via wireless transmitters 292, while other launch devices 300 are in communication with the control center 200 via cables 295.

[0043] In one method of operation of the system 100, denoted by the reference numerals 800 and with reference also to Figure 8, in step 810 the control center 200 receives intelligence about a possible intrusion or infiltration at the border 900 in a certain target zone at location A, for example, via a sensor 925. Alternatively, such data can come from one or a combination of the following sources: human intelligence, electronic intelligence, satellite surveillance, etc. CC module 210 makes a command decision at 805 whether or not to investigate further, and in the affirmative, command signal CS is sent in step 820 to one or more launch devices 300 to launch one or more UAVs. In the simplest implementation of step 820, the command signal CS serves to launch a single UAV from the launch device closest to location A, or if the launch devices 300 have different UAV capabilities, from the launch device having the shortest response time T to location A. The particular UAV 400 automatically launches the corresponding launch device 300 that responds to the receipt of the command signal CS and the UAV is automatically controlled (by computer control) or manually controlled (by the UAV operator 205) to location A, with the corresponding imaging system 410 on the UAV 400 scanning the target area around location A for signs of a candidate target such as an intruder.

[0044] When the candidate's goal is achieved, e.g. detected digitally or by any other suitable means and located, the next step 830 is to identify the target, followed by a decision node 840 - whether this identified target requires further tracking or not. For example, if the target is a human infiltration agent, for example an intruder such as a potential terrorist, illegal, smuggler, thief, foreign troops, etc., for example, the tracking of the target continues, and if the target turns out to be, for example, a border guard, tourist, animal, etc., it can be decided that the target does not require further tracking. On the other hand, the target may be a non-human infiltration target, for example, a dangerous animal (eg, an animal suspected of having rabies or an infectious disease), or the target may be a non-human agent, such as an unauthorized UAV or an unmanned land or sea vehicle. In any case, if additional tracking is required, in step 850 the UAV maintains aerial surveillance of the target, generally keeping the target within the FOV of the imaging system 410 .

[0045] Further monitoring can be done manually, for example, by the UAV operator 205 who controls the UAV in cooperation with the operator 206 of the payload (recording system) (which at least in some technical solution can be the same operator), usually in the control center 200 although the operator 206 can be placed in another location and communicate with the UAV to control its operation through appropriate communication means.

[0046] Alternatively, tracking can be automated, for example, by means of a suitable computerized system and/or an electro-optical system for automatic tracking.

[0047] Facts, details and other data about the target, including its location in real time, can be transmitted by the control center to any desired party, for example to ground forces such as border patrol, police, etc. which are responsible for facing and dealing with the target.

[0048] In step 860, tracking may be terminated, for example when appropriate ground forces, such as border patrol, police, etc. arrive at the location of the objective/target, which the UAV continuously tracks and transmits to the ground forces via the control center 200, and the ground forces can then deal with the target, for example, neutralizing or capturing any potential threat. Ground forces may include one or more personnel and vehicles (manned or unmanned) and/or air vehicles and/or naval vehicles as appropriate.

[0049] In step 870 the UAV is found. For example, the UAV can be flown to a retrieval site, where it is landed and recovered, to be later reused in the original or another launch device 300 when needed.

[0050] In an optional next step 855 before step 860 , the second UAV 400 may be automatically launched from the same or a different launch device 300 in response to receiving an appropriate command signal to retrieve or assist in target tracking. This can happen, for example, when the original UAV is damaged or when the original UAV lacks sufficient fuel or electricity to continue the tracking operation. In such cases, the operational status of the original UAV is monitored, and the next UAV is launched so that its response time T is less than the estimated time to failure of the original UAV. Thus, the location data of the original UAV is used to guide the other UAV to the target and take over the tracking, so that the tracking and surveillance of the target is effectively continued and uninterrupted.

[0051] In a variation of this operation, a number of UAVs may be launched sequentially or substantially simultaneously in step 820. This may provide multiple tracking redundancy—for example, if one UAV suddenly fails, other UAVs may still provide tracking data. Alternatively, what was initially thought to be a single target may turn out to be in fact a group of targets that can potentially scatter in different directions, and therefore multiple UAVs may provide tracking of each individual target if there are enough targets to be launched at (of course, when it is identified in step 830 that the target consists of multiple targets, additional UAVs may be automatically launched and directed to their location via data provided by the first UAV. Alternatively, and depending on the terrain the target is in, it is possible for the target to enter structure with multiple exits, and a strategic solution to ensure continued surveillance is to cover all exits by providing a UAV to survey each such exit.

[0052] In another variation of step 820, indicated as step 820' in Figure 8(a), three UAVs (indicated by call signs 400a, 400b, 400c) are launched in response to a command signal CS, and is particularly useful where the exact location of the suspect target T is not known with certainty and/or where it is assumed or known that the suspect target T may move rapidly from the last known location in the time required to the arrival of the closest UAV to this location. In alternative variations of this technical solution, two UAVs or alternatively more than three UAVs can be launched in step 420' instead of three. In such cases, the PZ probability zone can be defined around the last known location of the suspect target T, or centered around the area where the suspect target is generally located. Thus, the perimeter P is shifted by dimension S from the center C of the probability zone PZ so that the perimeter P defines a threshold beyond which it is considered unlikely (within a predefined probability that may differ from case to case) that the suspect target will travel, even if it is traveling at a known, predicted or estimated maximum speed, regardless of direction, in the time between target prediction and the arrival of at least one UAV. While the shape of the PZ zone of probability is shown as circular, it is not necessarily so, and the zone of probability may take any suitable shape, which may generally depend on the nature of the suspected target, its means of mobility, and the nature of the terrain.

[0053] In step 820', three UAVs are launched, each into a different part of the PZ probability zone. For example: UAV 400a and UAV 400b are each directed toward generally opposite extremes, target points La and Lb, respectively, of the PZ probability zone around the perimeter P, while the third UAV 400c is directed toward the target point Lc at or near the center of the C zone. Three UAVs can be launched from the same launch device 300 or from different launch devices 300, optimally according to the availability of UAVs in each launch device and according to satisfying criteria for minimizing the response time of each UAV to a certain target point.

[0054] For example, La and Lb may lie along the general direction that the target was observed to be traveling when detected. Alternatively, La and/or Lb and/or Lc may be locations in the PZ probability zone that have a relatively high probability of finding a suspect target there. If a suspected target is located by one of the UAVs, steps 830 to 870 may be applied to this UAV, and the other two UAVs may be returned by step 870, or at least one of these two UAVs may be used to provide multiple tracking redundancy, as disclosed above, mutatis mutandis.

[0055] On the other hand, if by the time the three UAVs reach the target point La, Lb, Lc, the suspected target has not been located by any UAV, step 825' is then applied, in which the probability zone PZ is divided into three search zones Za, Zb, Zc, one zone for each UAV, and each UAV 400a, 400b, 400c conducts the M locating and marking mission in its respective zone Za, Zb, Zc (Figure 7). For example, each mission M may follow a zigzag path that eventually covers the entire corresponding zone so that the zone is under the surveillance of the corresponding imaging system 410 of the corresponding UAV.

[0056] It should be kept in mind that the probability zone PZ is not necessarily static and fixed in shape. For example, if additional intelligence is received regarding a suspect target while the UAVs are en route to the PZ Probability Zone or while executing their M missions, the shape and extent of each respective Za, Zb, Zc zone may change, as well as the number of zones searched and/or the shape of the M mission. Additionally or alternatively, if the suspect target is not detected within a specified time, it may be necessary to expand and/or move the PZ Probability Zone to account for the possibility that the suspect target may have traveled further and outside the PZ probability zone. One possible way of dealing with the extended PZ probability zone is to extend each mission M accordingly. Another way is to define a new search zone Zx between the original perimeter P of the PZ probability zone and the extended perimeter P' of the extended PZ probability zone and launch one or more additional UAVs to search this zone Zx. Of course, this process can be repeated as often as necessary, each time expanding the PZ probability zone as needed.

[0057] In some cases it is possible to have multiple groups of UAVs at the same time, each operating in relation to a correspondingly different probability zone. In such cases, it is also possible to transfer UAVs from one group to another according to specific needs or requirements. For example, it may happen that a group's UAV is closer to the target zone of a certain probability zone than the original UAV that was sent to that zone. In another example, instead of launching a new UAV to a specific target zone, it may be possible to redirect a UAV, which was originally sent for a different probability zone, to a previously specified target zone.

[0058] In these or other applications of the system 100, the corresponding UAVs 400 may, at least in some cases, be tactical, mini, or micro-unmanned aerial vehicles and/or may be operated from high altitudes, so as to minimize the likelihood of being detected in flight by a suspect target, and thereby reduce the likelihood of the suspect target taking action to avoid detection or tracking. Moreover, such a small-sized UAV can be maneuvered through confined spaces, for example, forested areas and urban areas in fast, slow or hovering flight, and in a controllable manner, at least in some cases with greater efficiency, greater safety and less probability of detection than would be the case with manned aircraft.

[0059] Additionally or alternatively, at least in some cases, larger UAVs may be used where endurance may be required - for example, where ground forces are expected to be unable to arrive and take over for extended periods of time.

[0060] In another implementation of system 100, one or more launch devices 300 may be placed on masts or rooftops in an urban area. For example, the launch device 300 may be installed on the roof of a building housing a bank and/or nearby buildings or any other strategic location.

In the event of a robbery or attempted robbery, the launch device 300 automatically launches one or more UAVs that can then track the getaway vehicle used by the criminals until the helicopter takes over and/or the vehicle is captured. A command signal to activate the system 100 and launch the UAV may be generated and transmitted, for example, automatically when a bank alarm system is activated, or via a coded signal sent directly by law enforcement officers in the area.

[0061] In another implementation of the system 100, one or more launch devices 300 may additionally or alternatively be provided above a vehicle, for example, a law enforcement vehicle or a military vehicle, which may be moving, for example, on patrol. When necessary, the UAV from such a vehicle is launched in response to receiving the command signal CS from the control center 200 .

[0062] In another implementation of the system 100, one or more launch devices 300 may optionally be provided above a vehicle, e.g., an emergency and rescue vehicle (eg, fire department, environmental protection agency, etc.), which may be deployed to respond to an emergency. When necessary, the UAV 400 from such a vehicle (and/or from static locations as shown in Figure 1, for example) can be launched in response to receiving a command signal CS from the control center 200. The launch device 300 can remain on the vehicle or can be removed and repositioned for later use. The UAV may include as a payload, in addition to or instead of an image sensor, a pollution sensor configured to detect and/or identify toxic or otherwise hazardous chemical, biological, radiological, or nuclear agents, and the UAV is used to fly into a target area suspected of containing such agents. Such a target zone may be associated with a perimeter that defines the site of an attack, or may be a building or complex that stores or processes such agents, and the target zone may include the body of such agents, for example smoke or a cloud of particles, precipitation or haze, for example. The UAV then uses a pollution sensor to collect and identify all possible pollutants in the target area, and to enable an assessment of the associated risks. Furthermore, the UAV can remain airborne and track the movement of the agent's body until they are sufficiently dispersed to be harmless, or until other resources are brought into play to deal with the contamination. Optionally, multiple UAVs can be launched to monitor and track the agent's body if it extends or moves in multiple directions simultaneously.

[0063] Thus, in this application of the system 100, the suspected pollution agents act as infiltration agents in the target zone.

[0064] In the process claims that follow, alphanumeric characters and Roman numerals used to designate the steps of the claims are provided for convenience only and do not imply any particular order in which the steps are performed.

[0065] Finally, it should be noted that the word "comprises", as used in the appended claims, should be interpreted to mean "including but not limited to".

[0066] The scope of protection of the subject invention is defined in the attached patent claims.

Claims (16)

Patent claims 1. The procedure for guarding the perimeter, which includes: (a) providing information on infiltration, on actual or suspected infiltration by at least one infiltrating agent at the location of the target zone associated with the specified perimeter; (b) deploying at least one launch-ready UAV (unmanned aerial vehicle) (400) to said target zone responsive to receiving said infiltration information; (c) operating said at least one UAV (400) to search a target area around said target zone to thereby locate and mark said at least one infiltration agent; and (d) at least one of: (I) identifying the nature of at least one of said labeled infiltration agents or the nature of said infiltration via said at least one UAV (400) and providing data corresponding to said nature; and (II) tracking at least one of said designated infiltrators via said at least one UAV (400) and providing data corresponding to the location of said designated infiltrator to enable its neutralization, wherein at least one additional UAV (400) is rapidly launched in step (d) to supplement said identification in step (I) and/or said tracking in step (II), or to retrieve said identification and/or said tracking, respectively, from said UAV (400) previously launched in step (b). 2. The method according to claim 1, wherein step (b) comprises one of: (b1) providing at least one device (300) for launching the UAV; wherein said or each said UAV launch device (300) comprises at least one UAV (400) in a ready-to-launch mode, wherein said or each said UAV launch device (300) is configured to enable each respective UAV (400) to rapidly launch in response to receiving said infiltration information; or (b2) providing a plurality of said UAV launch devices (300) and strategically deploying said UAV launch devices (300) relative to said perimeter in a manner that allows each of said UAVs (400) to reach a predetermined point on said perimeter within a predetermined time after launch. 3. The method of any one of claims 1 to 2, wherein step (a) comprises obtaining infiltration information from at least one of the following sources: human intelligence; human supervision of the said perimeter; electronic intelligence data; electronic surveillance of the mentioned perimeter; shots from the above-mentioned perimeter; perimeter breach sensors; radar data; electro-optical and/or infrared surveillance of the specified perimeter. 4. The method according to any one of claims 1 to 3, wherein in step (b) appropriate command signals corresponding to said infiltration information are generated and transmitted to at least one of said UAV launch devices (300), thereby activating a rapid launch of said at least one UAV (400) ready for launch. 5. The method of any one of claims 1 to 4, wherein said UAV (400) comprises a suitable sensor configured to provide imagery data or other sensor data within a field of view, and step (c) comprises remotely controlling the flight of said UAV (400) to said target zone, receiving said imagery data or said other sensor data generated by the UAV (400) about the target zone, and identifying the nature of said infiltrating agent in step (I) from said data in recordings or said other sensor data, and wherein optionally step (d) comprises maintaining said infiltrating agent within said field of view of said sensor. 6. The method according to any one of claims 1 to 5, further comprising step (e), wherein step (e) comprises any of: - neutralization of the mentioned infiltration agent; - neutralization of the mentioned infiltrating factor, which includes the interception, capture or immobilization of the mentioned at least one infiltrating factor by direct human intervention; - neutralization of the specified infiltrator, which includes the interception, capture or immobilization of at least one of the specified infiltrators by direct human intervention, where the specified direct human intervention includes sending to the specified location one or more of: manned or unmanned ground forces, manned or unmanned air forces, and manned or unmanned naval forces. 7. The method of any one of claims 1 to 6, wherein step (b) comprises rapidly launching a plurality of said launch-ready UAVs (400), each to a different appropriate initial location in said target zone, responsive to receiving said infiltration information, and searching a corresponding portion of said target zone for an infiltration agent, and optionally including at least one of the following steps: - where at least one of said large number of said launched UAVs (400) is targeted at the infiltration agent of step (c), and at least the first part of the remaining number of launched UAVs (400) is recovered; - where at least one of said large number of said launched UAVs (400) is aimed at said infiltration agent from step (c), and at least another part of the remaining said launched UAVs (400) is maintained in the air to provide supplementary tracking. 8. The method according to any one of claims 1 to 7, wherein there are a plurality of infiltrators, wherein step (b) comprises rapidly launching a plurality of said launch-ready UAVs (400), and in step (c) directing each of said UAVs (400) to target a different infiltration agent. 9. The method of any one of claims 1 to 8, wherein said data corresponding to said nature in step (d) (I) includes incriminating evidence relating to said nature of said infiltrating agent or to said infiltration, and wherein said perimeter optionally comprises any boundary between the host country being guarded and the geopolitical entity containing said infiltrating agent prior to said infiltration, or a building or structure; or includes any fence, wall or line surrounding the installation; group of buildings; complex; geographical area. 10. The method according to any one of claims 1 to 9, wherein at least one of said launch-ready UAVs (400) is configured structurally and/or operationally to minimize their detection by said infiltrating agents. 11. The method according to any one of claims 1 to 10, wherein said infiltration agent is one of: - human factor, where said human factor is optionally taken from the group that includes: terrorist, illegal alien, smuggler, thief, foreign troops. - a non-human agent, wherein said non-human agent is optionally selected from the group consisting of: unmanned UAVs (400), unmanned land vehicles, unmanned marine vehicles, and polluting agent, optionally selected from the group consisting of: toxic, chemical, biological, radiological or nuclear agents. 12. A method according to any one of claims 1 to 11, wherein said infiltration information indicates a breach of said perimeter. 13. System for guarding the perimeter, which includes: (a) a control center (200) configured to generate a control signal responsive to receiving information about infiltration, about actual or suspected infiltration at a target zone location associated with said perimeter by at least one infiltrating agent; (b) a launch system configured to deploy at least one launch-ready UAV (400) to said target zone, responsive to receiving said control signal; (c) at least one controller configured to operate with said at least one UAV (400) to search the area around said target zone to thereby locate and target at least one of said infiltrating agents and to perform at least one of: (i) identifying the nature of said infiltrating agents or the nature of the infiltration; and (ii) tracking the specified infiltrating agent by means of at least one UAV (400); and (d) a communication system (350), configured to provide at least one of: - data corresponding to the specified nature from (i); and - data on the location corresponding to the location of the mentioned infiltration factor from (ii) in order to enable its neutralization, wherein the system is further configured to rapidly launch at least one additional said UAV (400) to supplement said identification in step (I) and/or said tracking in step (II), or to retrieve said identification and/or said tracking, respectively, from said previously launched UAV (400). 14. The system of claim 13, wherein said launch system comprises at least one UAV launch device (300) remote from said control center (200) and containing at least one of said UAVs (400), wherein each of said UAV launch devices (300) is in use configured to automatically rapidly launch at least one of said UAVs (400) responsive to receiving said launch command signal from said control center (200). 15. The system according to any one of claims 13 to 14, wherein the or each said UAV (400) comprises at least one of: - a sensor system having a field of view, in the operation of said UAV (400) configured to provide sensor data associated with said infiltrating agent responsive to said infiltrating agent located in said field of view, and wherein said sensor system optionally comprises an image acquisition system for providing images corresponding to said field of view, and where optionally said image acquisition system comprises a pointing mechanism for controlled change of the line of sight of said acquisition system recordings in at least one of either azimuth and elevation; and - a GPS or other positioning system configured to provide geographic location data of the respective UAV (400) according to a previously known coordinate system, wherein optionally said location data is derived from said geographic location data and from knowledge of the line of sight of the image acquisition system and from knowledge of the altitude of said UAV in question; and wherein said communication system optionally comprises a communication module (420) located in that or each of said UAVs (400), and each of said communication modules (420) is configured, in operation, to receive said command signal, to enable operation of the corresponding UAV (400) by said controller and to transmit sensor data provided by said sensor system; and - a pollution sensor configured to detect said infiltrating agent when it is in the form of a polluting agent, and where optionally said control center (200) is remote from said launch system; and wherein optionally at least one of said UAV launch devices (300) is mobile configured to change its geographic position in a controlled manner relative to at least one of said control center (200) and said perimeter; and wherein said system optionally comprises a plurality of said UAV launch devices (300) spaced apart and at different locations relative to said perimeter, wherein said control center (200) is configured to provide said launch command signal to said launch device (300) capable of launching a corresponding at least one UAV (400) to minimize said response time. 16. A system according to any one of claims 14 to 15, wherein said sensor data is transmitted to at least one of said control center (200) and said controller.