Non-lethal smart weapon with computer vision

A non-lethal, non-impact smart projectile fired from a suitable launcher and equipped with a digital camera, CPU microprocessor and computer vision programming that can recognize a designated target and track a moving target, while moving at high speed. An image dataset of the target stored in memory of the CPU that enables the projectile to recognize a human or small UAV “drone” in real time within fractions of a second. A steering and braking system comprising several fins/air brakes, controlled by the CPU and MEMS micro-actuators, that enable the projectile to track a moving target or slow the projectile down. A projectile equipped with actuators that dispenses a non-lethal, non-impact payload or payloads as the projectile approaches the target.

BACKGROUND

Due to the actual or perceived threat of violence today, firearms are more likely to be the weapon of choice for the public in situations where individuals believe that they must arm themselves in preparation for immediate retaliation or defense because of a threat of unknown force. Unfortunately, such firearms are typically weapons, such as rifles, semi-automatic handguns and revolvers, all of which are intended to fire lethal projectiles which are intended to maim and/or kill. While non-lethal projectiles do not have the deadly stopping power of a high velocity bullet fired from a firearm, such deadly force is generally not necessary to deter many typical crimes. Moreover, there are many situations where deadly force is either, not needed, wanted or even permitted by law. In fact, many states prohibit the use of deadly force unless one's own life or the lives of one's family are at stake. Many crimes do not involve this type of situation, such as burglaries, vandalism, robberies and the like where your own life is clearly not in danger. As a result, non-lethal weapons would very likely stop the crime in progress or at least provide a temporary time break, permitting one to flee in safety.

Non-lethal weapons make an excellent weapon for the Military to deal with individuals in a war zone when it may be difficult to distinguish who is the combatant and who is the innocent civilian. Non-lethal weapons are needed where conflict and disasters occur within population centers. Their use often would prevent the worsening of bad situations. Non-lethal weapons like blunt-impact rounds, pepper rounds and others stopped and/or dispersed noncombatants who posed a threat to forces in Kosovo, Iraq, Haiti and Afghanistan. They also helped determine the intentions of operators of small boats that were nearing U.S. Navy and Coast Guard vessels.

For Law Enforcement non-lethal weapons are designed to fill a critical gap in the use of force and to provide law enforcement officers the safest, most effective tools in a variety of applications. These weapons help officers gain control of the suspect's fear, encouraging them to surrender, de-escalating the situation and reducing the number of use-of-force incidents. In a riot situation law enforcement officers armed with non-lethal weapons indicates to the crowd that law enforcement is here to keep the peace but is not here to use unnecessary force or escalate the situation. Organized protesters are communicating via mobile phones and can bring together large numbers of likeminded people. This is putting tremendous pressure on law enforcement officers to deal with large hostile crowds without seriously injuring the protesters.

What is needed in the art is a non-lethal projectile that does not hit the target, but instead, sends a gas or the like into the target, disabling the target, and then self-destructs.

SUMMARY OF THE INVENTION

The present invention is a non-impact, non-lethal smart projectile that will give Military, Law Enforcement, Corrections, Security firms, Border Patrol, and even private citizens a safe and effective self-defense and crowd/riot control weapon. These smart bullets are designed to offer an alternative to small caliber weapons but with sufficient stopping power to disable an assailant or combatant. These active projectiles are designed to be fired from standard 12-gauge shotguns, custom 18 mm compressed gas launchers, or standard 40 mm grenade launchers. This invention consists of non-impact, non-lethal, active ammunition that is controlled by real time computer vision that computes; distance, velocity and motion. This computer vision called SmartVision comprises a digital camera, microprocessor CPU/GPU, micro-actuators, and programming code and algorithms, and is capable of object recognizing and object tracking a target. These are active ammunition—“smart bullets”—that incorporates new micro-electro-mechanical systems MEMS, digital image technology and computer vision that provides powerful stopping power without impacting the target and causing serious injury. Both the micro-sensors and the micro-controller are small, inexpensive, robust and reliable, solid-state, programmable devices. These “fire and forget” smart rounds are suitable for extreme weather conditions, and capable of long range.

The invention comprises a bullet shaped projectile body, CPU microprocessor, accelerometer, fins/air brakes, digital camera, micro-actuators, battery/capacitor, and various payloads. The CPU and digital camera along with open source OpenCV programing and the projectile's object recognition, object tracking, velocity and distance measuring algorithms determines that the smart bullet is close to the target and activates the payload millisecs before it reaches the target utilizing air burst technology.

These smart bullets will revolutionize the munitions industry and will pave the way for replacing lethal weapons in those situations where deadly force is not needed or wanted. This will represent a paradigm shift for law enforcement from lethal/less-lethal to truly non-lethal weapons. These non-lethal smart bullets make an excellent weapon for the military to deal with individuals in a war zone when it may be difficult to distinguish who is the combatant and who is the innocent civilian.

The choice and size of the payload(s) is determined by the needs of the user. The six preferred versions of this invention are; ShockRound, PepperRound, HemiRound, FlashRound, RepelRound, and SoundRound. The ShockRound uses a primary hyperbaric propellant payload to produce a powerful shock wave that disables the assailant. The PepperRound uses two payloads, a primary and a secondary payload that produce a milder shock wave that disperses a chemical irritant such as capsaicin that disables the assailant. The HemiRound uses an electroshock generator to deliver a high voltage electrical shock via electrodes that disables the assailant. The FlashRound is a non-pyrotechnic flash-bang projectile that uses intense sound and light to disable the assailant. The RepelRound utilizes a malodorant payload that deters the assailant or assailants. The SoundRound is an acoustic projectile that uses an acoustic generator and produces a loud, piercing, high-frequency steady or pulsed sound that deters or disables the assailant.

Non-lethal weapons are needed where conflict and disasters occur within population centers. They fill the space between “shouting and shooting” and their use often has prevented the worsening of bad situations. This invention along with standard 12-gauge shotguns or other launchers are designed to fill a critical gap in the use of force and to provide law enforcement officers the safest, most effective tools in a variety of applications. These weapons help officers gain control of the suspect's fear, encouraging them to surrender, de-escalating the situation and reducing the number of use-of-force incidents. It also gives the law enforcement officer a choice depending on the situation. He or she can use deadly force if necessary, or effective non-lethal force if the situation permits. In a riot situation law enforcement officers armed with this invention and launchers indicates to the crowd that law enforcement is here to keep the peace but is not here to use unnecessary force or escalate the situation.

The DoD Non-Lethal Weapons Program, Human Effects Office, manages a portfolio of science and technology efforts to understand the relevant human impacts of emerging technologies in terms of their effectiveness and risk. Examples of such efforts include examining novel stimuli for applicable effects, determining stimuli doses for achieving those effects, and developing a framework for assessing behavioral effectiveness. The results of these efforts establish the human impacts of these technologies in terms of their effectiveness and risks and contribute to the development of models and surrogates for testing. Robust engagement between material and combat developers, testers and human effects personnel ensures integration of technology development, human effects and test and evaluation plans and investment strategies-managing cost, schedule and technical risk due to human effects characterization. Through experimentation technicians at the DoD generate data on the amount of non-lethal stimulus necessary to be effective yet minimize the risk of significant injury. Technicians then use this information to develop or refine non-lethal human effects models. Technicians and medical staff validate and verify the Human Effects Modeling Analysis Program they have developed to ensure the components are generating accurate and consistent predictions.

These and other features and advantages of the non-lethal projectile reside in the construction of parts and the combination thereof, the mode of operation and use, as will become more apparent from the following description, reference being made to the accompanying drawings that that form a part of this specification wherein like reference characters designate corresponding parts in the several views. The embodiments and features thereof are described and illustrated in conjunction with systems, tools and methods which are meant to exemplify and to illustrate, not being limiting in scope.

DESCRIPTION OF THE PREFERRED EMBODIMENTS

FIG. 14a non-lethal, non-impact smart projectile12fired from a suitable launcher37that can recognize a target at a distance and track the target until it gets close to the target. The projectile then releases its non-lethal payload9and disables the target without causing serious injury. The target can be a human71as inFIG. 10or an unmanned aerial vehicle “drone”38as inFIG. 15. The projectile comprises a 18 mm or 40 mm diameter plastic or carbon fiber projectile body1, seeFIG. 1, central processing unit CPU2, forward facing digital camera4, lithium ion or polymer battery/capacitor3, MEMS based accelerometer5, micro-actuators10, fins/air brakes6and a non-lethal payload9or payloads9,16. The CPU2is programmed with open source OpenCV real time computer vision algorithms including object recognition and object tracking algorithms. These algorithms in combination with the digital camera4allow the smart projectile to determine if the projectile has a human image71or UAV “drone” image38in its field of view. The CPU2contains a high-speed graphics processing unit GPU component to speed up the computer vision and the object recognition and object tracking algorithms. The custom image dataset56programmed into the CPU memory contains thousands of images of humans or UAVs, and it is this dataset that the object recognition and object tracking algorithms reference for matching to the real time digital camera image.

InFIG. 11the projectile31when inside the barrel of the launcher30has its fins/air brakes6in a closed position and the CPU2is powered off. When the projectile12is fired the accelerometer5senses rapid acceleration and turns the CPU2on. The fins/air brakes6open automatically due to the air flow around them when they leave the barrel30, see item32. The camera4turns on and immediately looks to recognize the designated target in its fixed field of view using the object recognition algorithm. The OpenCV computer vision algorithm determines if the image is a designated target by searching the image dataset56contained in the memory of the CPU2. If the camera4does not detect the designated image in the first few millisecs after launching then the air brake actuators10rotate the fins/air brakes690 degrees from their initial position to slow the projectile12down, and the projectile12powers down, seeFIG. 7. If the object recognition algorithm and digital camera4do detect the designated target within several millisecs the CPU2then uses object tracking algorithm and the distance measuring algorithm to determine if the target has moved and how close the projectile12is to the target38,71. The object tracking algorithm tracks the target and if the target has moved off center in the camera field of view the CPU2activates the fin actuators10to rotate the fins/air brakes6and steer the projectile12to the target38,71using the four projectile fins/air brakes6.

The distance measuring algorithm inFIG. 2uses the camera's fixed field of view15and the target image pixel area13,14in relationship to the total field of view pixel area15to determine the distance from the projectile to the target. When the projectile reaches a distance from the target corresponding to the target image pixel area of approximately 50%,14over15of the total field of view area, the velocity measuring algorithm then determines the approaching velocity of the projectile to the target. The velocity measuring algorithm uses the change in the target image pixel area versus the total field of view pixel area over a time period. If the projectile is approaching the target too fast the CPU signals the air brake actuators to rotate the fins/air brakes and increase their drag coefficient to slow the projectile down to the correct speed. The object tracking algorithm and the distance measuring algorithm continue to be active and adjust the fins/air brakes as needed. When all three measurements: distance, velocity and “on target” are within the desired parameters the payload actuator then activates the payload9. A target image pixel area of approximately 80% of the total field of view area corresponds to the projectile being the correct distance from the target. Even though the projectile is moving toward the target at close proximity the resulting reverse thrust vector19due to the bursting of the payload17,18, seeFIG. 4slows the projectile enough to not strike the target. The four fins/air brakes can rotate individually and can steer the projectile and slow the projectile simultaneously. The payload or payloads, in the case of a projectile that has a secondary payload16, seeFIG. 3, are released by action of the payload actuator when the payload actuator receives a signal from the CPU to release the payload. The 18 mm projectiles28are sized and designed to be fired from a standard 12-gauge shotgun or custom 18 mm gas launcher at 200-400 feet per second and have a range of 50 to 300 feet. The 40 mm projectiles27are sized to be fired from 40 mm grenade launchers such as the M320 or M230 military grenade launchers at 200-600 feet per second and have a range of 50-1500 feet. The projectiles do not spin in flight but are stable due to the proper location of the center of gravity and center of pressure.FIG. 6shows the electroshock generator payload23within the housing with the two electrodes24and connecting wires26.FIG. 7shows the flat plate fins/air brakes folded35and rotated 90 degrees40.FIG. 8shows dimensions for the 40 mm27and 18 mm28projectiles.FIG. 9shows the triangular fins/air brakes29in the steering position and in the braking position36.FIG. 10shows the projectile12flying toward the human target71. FIG.11shows the projectile inside the launcher barrel30and outside the barrel32after being fired.FIG. 12shows the projectile equipped with grid fins/air brakes6in the steering position and in the braking position of 45 degrees70.FIG. 13shows the object recognition and tracking window33along with the projectile tracking the target41and the projectile tracking motion34.

This invention uses an accelerometer and actuators based on a micro-electro-mechanical systems (MEMS) design. The accelerometer is used for dynamic monitoring of rapid acceleration when the projectile is fired. MEMS (micro-electro-mechanical systems) technology builds on the core fabrication infrastructure developed for silicon integrated circuits. Micromechanical structures are created by etching defined patterns on a silicon substrate to form sensor elements or mechanical actuators that can move fractions of a micron or more. The digital camera is a device that converts an optical image into an electronic signal. Most digital cameras are active pixel sensors incorporating complementary metal-oxide-semiconductor (CMOS) technologies. A CMOS imaging chip is a type of active pixel sensor made using the CMOS semiconductor process. Extra circuitry next to each photo sensor converts the light energy to a voltage. Additional circuitry on the chip may be included to convert the voltage to digital data. The projectile micro-controller is a solid-state, fast, low cost CPU that also contains GPU capability for faster image processing. It is a programmable chip that contains the computer vision algorithms and receives signals from the camera. This invention uses an ultra-capacitor/lithium battery to store the electrical charge for each smart projectile. The battery can be either lithium ion or lithium polymer. The lithium polymer battery and the ultra-capacitor can also be electrically charged while the projectile is in the launcher. The electrical power stored is used to power the digital camera, CPU and the micro-actuators. The smaller 18 mm diameter projectile28is sized to fit a custom compressed gas launcher chamber, or a 12-gauge shotgun shell. The larger 40 mm diameter projectile27is sized to fit inside a 40 mm grenade launcher. Thin wall (1.0-1.5 mm) carbon fiber is the preferred material for the outer body1because it is light, strong and can handle the heat and contain the hyperbaric pressure from the release of the payload. The front head8of the projectile is made of polystyrene (1.0-1.5 mm). Polystyrene is clear, so that the digital camera can see the target clearly and is also frangible so that the payload pressure is released forward. The back-plate11helps to contain the high pressure from expanding backward. The total weight of the smart projectile is approximately 25-50 grams. The overall length varies from 55 mm to 110 mm depending on the diameter of the projectile. This invention has numerous payloads that are possible. They include but are not limited to the following: compressed gas, liquefied gas, electroshock generator23, laser, acoustic generator20, sound waves22, hyperbaric propellant, explosive, flash-bang powder, chemical irritant, malodorant, liquid, powder, solid, gel, aerogel, expanding foam, radio frequency generator43, netting42, and drug. The acoustic generatorFIG. 5sends sound waves22thru ports in the front head. If the round is equipped with a secondary payload16, such as a chemical irritant, the primary payload explosion breaks open the secondary payload and disperses the secondary payload forward toward the target, disabling the target. Even though the projectile is moving toward the target at a certain velocity the resulting reverse thrust vector19keeps the projectile from hitting the target. The back plate11needs to cover at least a portion of the back of the projectile in order to contain the reverse thrust vector. The payload actuator receives a trigger signal from the CPU micro-controller that the target is close and activates the payload. The payload actuators are of two types, ON/OFF or variable motion (linear or rotational) and can be mechanical or electrical depending on the nature of the payload. In the case of an explosive or flash bang payload, it can act as a primer. In the case of certain payloads, it can be the MEMS device itself. This invention uses a combination of the proper center of gravity and center of pressure locations in its design, and four rear mounted fins/air brakes for stability and accuracy. The fins/air brakes (90 degrees apart) can adjust the trajectory of the projectile by individually rotating up to 90 degrees and changing the drag coefficient of the individual fin/air brake. The four fins/air brakes can adjust the flight of the projectile to track the target. For steering one or more fins/air brakes can rotate up to 90 degrees to change the air flow or drag coefficient of the individual fins/air brakes and steer the projectile (left, right, up, down). For braking the individual fins/air brakes rotate up to 90 degrees to change their drag coefficient to slow the projectile down. The fins/air brakes are folded down in the barrel and open-up when the round is fired. The fins/air brakes can also slow down the projectile to approximately 50 feet per second from 400 feet per second, as an example to deploy electro-muscular incapacitation electrodes24. The slower velocity also helps to disperse the various payloads more effectively and over a wider area. The projectile does not rotate but remains steady throughout its entire flight. Three different fin/air brake designs have been selected to accomplish this steering and braking. The grid or waffle shaped design6is compact and contains a large airfoil surface area for its overall size. It is a good choice when there is an overall volume constraint such as when the 18 mm projectile is packaged into a 12-gauge shotgun shell. The triangular fin/air brake design29is a more conventional shaped airfoil and is the more effective for the steering function. The flat plate fin/air brake design35is a good choice for the braking function. The choice of which fin/air brake design to use depends on the size of the projectile, 18 mm versus 40 mm, and the projectile payload. These three different fin/air brake airfoils can be used in any combination or as the sole method of steering and braking.FIG. 14shows in the case that insufficient CPU processing power can be fitted into the smaller 18 mm smart projectile for quick enough reaction times for object tracking, distance measuring or velocity control, a CPU with maximum processing power can be fitted into the launcher. This maximum power CPU68is programmed with the OpenCV computer vision algorithms along with the image dataset56and object recognition, object tracking and distance and velocity algorithms. A small capacity CPU67is then fitted into the projectile in addition to a RF transmitter/receiver. The launcher is also fitted with a RF transmitter/receiver69. The projectile sends the raw data collected by the digital camera to the launcher via radio signals66. The launcher receives those radio signals and completes the necessary CPU processing. It then sends those calculations back to the projectile via radio signals66and the projectile's small capacity CPU67activates the actuators to steer or brake the projectile until the projectile is close enough to the target to deliver the payload, seeFIG. 14.FIG. 15shows the netting payload42inside the projectile12with the drone38nearby.FIG. 18shows the projectile in the different phases of flight44,45,46,47,48as it leaves the barrel and nears the human target12.FIG. 17AandFIG. 17B shows the process flow of the flight of the nonlethal projectile. Box50starts the processing logic. Human aims the launcher in Box51. Human fires the launcher in Box52. Box53the projectile is turned on. Box54the camera sees images. Box55to57the processor determines if a human image is detected referencing the image dataset. If the human image is not seen, Box59, then air brakes are activated, and projectile turns off in Box61. If the projectile is close enough using distance algorithm in Box58then velocity algorithm in Box60determines if projectile is going too fast and activates air brakes in Box62. If projectile is not going too fast, then payload is activated in Box48and target is disabled in Box63. If projectile is not close enough to the target, then the tracking algorithm in Box64determines if projectile is off target and targeting algorithm adjusts fins to correct projectile in Box65.

While a number of exemplifying features and embodiments have been discussed above, those of skill in the art will recognize certain modifications, permutations, additions and sub combinations thereof. No limitation with respect to the specific embodiments disclosed herein is intended or should be inferred.