U.S. patent application number 11/433604 was filed with the patent office on 2007-03-08 for remote aiming system with video display.
Invention is credited to Graham S. Hawkes, Howard F. Konvalin.
Application Number | 20070051235 11/433604 |
Document ID | / |
Family ID | 22187206 |
Filed Date | 2007-03-08 |
United States Patent
Application |
20070051235 |
Kind Code |
A1 |
Hawkes; Graham S. ; et
al. |
March 8, 2007 |
Remote aiming system with video display
Abstract
The present invention provides a powered aiming platform for
pointing devices such as firearms, illumination devices, or sensing
instruments, remotely controlled by a hand-controller device, with
video feedback of the aiming position and audio feedback of the
exact direction and speed of positioning movements. The present
invention overcomes the safety and accuracy limitations of manual
and conventional remotely-controlled aiming mechanisms, thereby
allowing operators to point devices accurately and quickly with
predictable, precise control. In the case of firearms, the present
invention maintains a steady position after repeated firing.
Inventors: |
Hawkes; Graham S.; (San
Anselmo, CA) ; Konvalin; Howard F.; (Point Richmond,
CA) |
Correspondence
Address: |
Dergosits & Noah LLP
Suite 1450
Four Embarcadero Center
San Francisco
CA
94111
US
|
Family ID: |
22187206 |
Appl. No.: |
11/433604 |
Filed: |
May 12, 2006 |
Related U.S. Patent Documents
|
|
|
|
|
|
Application
Number |
Filing Date |
Patent Number |
|
|
10406138 |
Apr 2, 2003 |
7047863 |
|
|
11433604 |
May 12, 2006 |
|
|
|
09861087 |
May 18, 2001 |
6679158 |
|
|
10406138 |
Apr 2, 2003 |
|
|
|
09084788 |
May 21, 1998 |
6237462 |
|
|
09861087 |
May 18, 2001 |
|
|
|
Current U.S.
Class: |
89/37.04 ;
89/37.03 |
Current CPC
Class: |
F41A 27/28 20130101;
F41A 23/12 20130101; F41A 23/14 20130101; F41G 5/06 20130101; F41G
1/00 20130101; F41A 27/22 20130101; F41G 3/165 20130101; F41A 27/26
20130101; F41A 27/24 20130101 |
Class at
Publication: |
089/037.04 ;
089/037.03 |
International
Class: |
F41A 23/00 20060101
F41A023/00 |
Claims
1. An apparatus for pointing an unmodified firearm at a target
comprising: (a) a base; (b) a first rotational mount having a first
portion attached to the base and a second portion rotatable about a
first axis; (c) a first actuator having a first electrical input
signal to control the rotation of the second portion of the first
rotational mount relative to the first portion; and (d) a carriage
that is configured to hold the unmodified firearm with a quick
release fastener that allows the firearm to be readily removable
from the carriage, wherein the carriage is coupled to the second
portion of the first rotational mount.
2. The apparatus of claim 1 wherein the first axis of the first
rotational mount is substantially vertical relative to a plane
defined by the base.
3. The apparatus for pointing the firearm of claim 1 wherein the
first axis of the first rotational mount is substantially
horizontal relative to a plane defined by the base.
4. The apparatus of claim 1 wherein the device is an optical
sensing instrument that transmits an optical image to a remote
display.
5. The apparatus of claim 4 further comprising: a lens for the
optical sensing instrument that variably controls optical
magnification of light received by the optical sensor.
6. The apparatus of claim 1 wherein the device is a portable
firearm.
7. The apparatus of claim 6 further comprising: a third actuator
that actuates a trigger mechanism on the firearm in response to a
third electrical control signal.
8. The apparatus of claim 2 further comprising: a user interface
that transmits the first electrical input signal to the first
actuator, the second electrical input signal to the second actuator
and the third electrical input signal to the third actuator.
Description
CROSS REFERENCES
[0001] This application is a continuation of U.S. patent
application Ser. No. 10/406,138, filed Apr. 2, 2003 and entitled,
"Remote Aiming System With Video Display," which issued as U.S.
Pat. No. 7,047,863, which is a continuation of U.S. patent
application Ser. No. 09/861,087, filed May 18, 2001 and entitled,
"Remote Aiming System With Video Display" which issued as U.S. Pat.
No. 6,679,158, which is a divisional of U.S. patent application
Ser. No. 09/084,788, filed May 21, 1998 and entitled, "Portable
Telepresent Aiming System," which issued as U.S. Pat. No.
6,237,462, which are all incorporated herein by reference in their
entirety.
FIELD OF THE INVENTION
[0002] The present invention relates generally to aiming systems,
and specifically to portable remotely-controlled aiming mechanisms
for pointing firearms and other devices at an intended target, as
well as video feedback components of such systems indicating the
direction of aim, and audio feedback components indicating changes
in the direction of aim.
BACKGROUND OF THE INVENTION
[0003] The typical means for aiming small portable devices such as
firearms, optical instruments, cameras, and spotlights, is for a
human operator to aim the device by hand in the direction of the
intended target, while physically supporting the device. Control
feedback is provided by estimating the optimal direction of aim in
advance, aiming the device as close as practical to the intended
direction, and then making minor corrections to the direction in
response to observed errors in targeting. Effective operation of
such devices generally requires the user to aim the device
accurately in a variety of conditions. However, accuracy is often
degraded when the user is unable to steady the device, when the
operator experiences fatigue due in part to the physical stress of
operating the device, by lack of fine control in the direction of
aim (particularly when making quick gross changes of aiming
position), and by a variety of responses the operator may make in
response to hostile environments.
[0004] Portable firearms, such as semiautomatic rifles, present
special safety and operational difficulties for their operators.
Because they emit single projectiles or discrete bursts of
projectiles in a particular direction, rather than performing
continuously, firearms do not provide continuous or real-time
feedback on the current point of aim. Furthermore, because firearms
impart significant inertia into their projectiles, the
corresponding recoil may overcome the operator's capacity to steady
the firearm steady while firing. The recoil thus causes a slight or
gross change in the direction of aim following firing, requiring
re-aiming of the firearm after each projectile or round of
projectiles, creating a corresponding limits to the fine control of
aim that would otherwise be obtainable by iterative re-aiming.
Furthermore, combat situations typically encountered by police or
light infantry soldiers involve substantial physical danger for the
operator, who must take defensive steps to avoid injury. Such steps
greatly increase the training time required to learn how to use a
firearm in hostile environments, and severely reduce the aiming
accuracy and firing frequency.
[0005] Several existing technological enhancements help operators
overcome accuracy and safety difficulties when aiming small
portable devices. Accuracy is improved by the use to sights and
spotting telescopes, by reticles, and by other pointing aids.
Stability and support may be provided by steadying devices against
a fixed object or by mounting devices on a tripod or other support
structure. Safety may be improved by providing armor or other
physical protection for the operator or, in the cases of firearms
operated under hostile fire, by hiding behind protective
battlements or by taking evasive maneuvers.
[0006] One way to significantly improve both stability and safety
of aiming devices is to aim and operate such devices remotely
rather than by direct manipulation. Remote operation systems
typically involve mounting devices such as firearms on a carriage,
with means to position the carriage in response to electronic
control signals. An operator controls the device remotely by means
of a portable hand controller. By mounting a device on a carriage
rather than in the operator's hand, and by supporting the device on
a base rather than on the frame of the operator's body, the
operator ensures that the aiming position remains stationary rather
than deviating over time. Video feedback may be incorporated into
the aiming system so that an operator can view the target remotely
on a monitor, often magnified via a telephoto lens. This enables
the operator to remain at a distance from the aiming device,
thereby eliminating the operator's need to be in a direct line of
sight with the target, and reducing the operator's exposure to
hostile conditions that may be present at the location of the
device.
[0007] Despite the advantages noted, several critical limitations
prevent remotely-controlled aiming mechanisms from achieving the
desired improvements in accuracy and safety, and consequently such
mechanisms have not gained widespread acceptance. First, there is a
trade-off between speed and precision of operation in the
positioning means. A mechanism capable of fine adjustments to
aiming position is usually not capable of making quick gross
movements. Mechanisms that can make quick gross movements are
usually not capable of fine control. Even when a single device is
capable of both rapid gross movements and precise fine control, the
gross movements generally achieve only an approximate aiming
position, after which fine positioning control must be
accomplished, greatly reducing the speed of re-aiming the device
following a gross movement or correction.
[0008] Second, limitations in eye-hand coordination, muscle
control, and perception, generally prevent operators from achieving
the precision, speed, or accuracy of aiming movements with a hand
remote controller that they could achieve by direct manipulation of
a device. Whereas operators can generally manipulate devices
quickly to a new point of aim by handling the device, after a
minimum of practical training, most operators are unable to operate
hand control devices such as joysticks or trackballs with enough
control of speed or direction to achieve comparable results.
[0009] Third, delays inherent to remote control systems cause
operators to overcompensate when making a change in aiming
location, thus overshooting their intended target direction. One
such delay is mechanical, caused by inertial and other delays in
the means of mechanically positioning devices. Another delay is the
perceptual lag between the time that an aiming location is achieved
and reported (via direct observation or a video signal, for
example), and the time the operator becomes aware of and responds
to the observed location.
[0010] Thus, it would be desirable to create a remote control
aiming system for use with small portable devices that achieves
accuracy, speed, and precision comparable to, or better than, that
achieved by hand operation and aiming of the devices. Specifically,
what is needed is an aiming system that incorporates a better
system than the prior art for hand operation of remote control
units, perceptual feedback of aiming location, and improvements in
the means used to position the device.
SUMMARY OF THE INVENTION
[0011] In one aspect, the present invention provides a powered
aiming mechanism that points a device at a target, where the device
is attached to a carriage mounted on a base, and where actuators
rotate the carriage on two axes in response to remote-control
signals. In the described embodiment, the actuators comprise
electronic servomotors that operate threaded shafts to which
actuator rods are partly threadedly engaged, and which extend and
retract in response to the rotation of the threaded shafts.
[0012] In other preferred embodiments each of the servomotors is an
electronic stepper motor that operates the threaded shafts forward
and reverse by predetermined angular increments. In the described
embodiment, the electronic stepper motors may operate either by
single steps or at a rate of steps ranging from zero to at least
500 steps per second.
[0013] In alternate embodiments, the device pointed by the aiming
mechanism may include a sensing instrument, an illumination device,
or a semiautomatic firearm. In the case where the device is a
semiautomatic firearm, one embodiment is for the device to include
a trigger actuator which operates the trigger of the firearm in
response to a remote control signal. In one aspect, the carriage
includes longitudinal slots with recoil struts so as to absorb
recoil forces, and optionally further includes shock absorbing
means, and further optionally includes roller cams to steady the
recoil struts within the longitudinal slots. In another aspect, the
invention is a remote aiming system that includes a base for
engaging a mounting surface, a device connected to the base,
positioning means for aiming the device along a horizontal and
vertical axis, means to control the aiming of the device and to
transmit the control signals, means to acquire, transmit, and
display video signals of the intended aiming target. In one
embodiment the video means comprise video cameras mounted to the
device. In another, there are two video cameras: a
low-magnification overview camera and a high-magnification aiming
camera.
[0014] In another aspect, the aiming control means comprise a
two-axis hand controller device, as well as signal processing means
for converting the output of the hand controller device to
electronic control signals used to control the actuators. In
alternate embodiments, the hand controller is a joystick, a
trackball, or a pressure sensor. In various aspects of the
invention, the signal processor operates such that there is a
center position or a dead zone in the center of each axis of
operation of the hand controller device, where displacement to
either side of the center position or dead zone along one axis of
control causes the system to alter the position the device along
one axis of operation. Optionally, there is an additional "single
step zone" outside of the dead zone, where the transition into that
zone causes the system to move the device by a fixed amount along
one axis of operation. In one embodiment, increasing the
displacement causes a corresponding increase in the speed of
positioning.
[0015] In yet another aspect, the signal processor further produces
audio signals in response to the operation of the aiming control
means. In one embodiment, there is one audio signal for each axis
of operation of the positioning means. In other embodiments, the
audio signal consists of the electronic control signals used to
control the actuators. In yet other embodiments, the audio signals
include tones of pitches that vary in response to the aiming speed
of the positioning means along each of its axes of operation.
BRIEF DESCRIPTION OF THE DRAWINGS
[0016] The purpose and advantages of the present invention will be
apparent to those skilled in the art from the following detailed
description in conjunction with the appended drawings, which show a
preferred embodiment of the invention, and in which:
[0017] FIG. 1 is an illustration showing an aiming mechanism
constructed in accordance with the present invention consisting of
a base, to which a carriage is mounted via a first rotational mount
and a second rotational mount.
[0018] FIG. 2 is an illustration showing an aiming mechanism as in
FIG. 1, but further showing camera mounts and hinge pins, as well
as linear actuators that serve to rotate the first rotational mount
and second rotational mount, thereby positioning the carriage on a
vertical axis and horizontal axis respectively.
[0019] FIG. 3 is an illustration showing an aiming mechanism as in
FIG. 2, but further showing a firearm device mounted to the
carriage, pointing in an aiming direction towards an intended
target.
[0020] FIG. 4 is an illustration showing the disassembled sub
components of each linear actuator, in the relative positions of
such components when they are assembled.
[0021] FIG. 5 is an illustration showing an assembled linear
actuator.
[0022] FIG. 6 is an illustration of a control unit that contains
signal processing means to generate electrical control signals used
to determine the pointing direction of the firearm device.
[0023] FIG. 7 is an illustration showing a two-axis hand control
device that generates input signals for the control unit, and
includes a joystick and an optional portable viewfinder.
[0024] FIG. 8 is a diagram illustrating various positions and zones
along which the joystick may be operated in accordance with the
present invention.
[0025] FIG. 9 is an illustration of a command control monitor that
displays live video images of the intended target.
DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS
[0026] Reference will now be made in detail to the described
embodiment of the invention, so as to enable a person skilled in
the art to make and use the invention in the context of a
particular application and its applications, namely that of aiming
a firearm. It is understood that this example is not intended to
limit the invention to one preferred embodiment or application. On
the contrary, it is intended to cover alternatives, modifications,
and equivalents. Various modifications to the present invention
will be readily apparent to one of ordinary skill in the art, and
can be made to the described embodiment within the spirit and scope
of the invention as defined by the appended claims.
[0027] For a better understanding, components of the described
embodiment are labeled with three-digit component numbers, the
first digit of which corresponds to the first figure in which such
component appears and is labeled. Like components are designated by
like reference numerals throughout the various figures.
[0028] In FIG. 1 aiming mechanism 100 is generally illustrated as
consisting of base 102, resting on and engaging a mounting surface
104. Carriage 106 is mounted to base 102 via a first rotational
mount 108 and a second rotational mount 110.
[0029] In the described embodiment base 102 consists of three legs
114 extending horizontally outward from center portion 112. Each
leg 114 has a removable foot 116 mounted descendingly therefrom, so
as to contact mounting surface 104. A variety of feet 116 are
provided for mounting to legs 114, with such feet varying in shape
and composition so that the operator may choose the optimal foot to
engage mounting surfaces such as rock, soil, metal, wood; available
in different lengths to overcome slight deviations from horizontal
in the slope of the mounting surface; and provided with alternate
fasteners and tips such as bolts or spikes for attaching rigidly to
the mounting surface or to a vehicle platform. In a preferred
embodiment, legs 114 and feet 116 are hollow tubes made of
aluminum, steel, or carbon fiber, with carbon fiber preferred for
its light weight and ability to absorb vibration caused by the
operation of the aiming mechanism itself and any device mounted
thereto.
[0030] In the described embodiment, carriage 106 is designed to be
attached to a firearm and consists of two approximately identical
longitudinal arms 118, parallel to and connected rigidly to each
other by a series of cross-members 120, so as to form a unit. At
least two slots 122 are cut longitudinally and transversely through
the corresponding location on each of the longitudinal arms 118. In
each slot 122, a recoil strut 124 is inserted, stretching from one
longitudinal arm to the other, so that the edge of the slot 122
permits the recoil strut 124 to move longitudinally but not
latitudinally within the slot 122. In order to prevent transverse
movement of the recoil struts 124 within the slots 122, two roller
cams 130 are mounted to each recoil strut 124 in such a way that
they are pressed tightly against and rotate longitudinally along
the inner planar surface 132 of each longitudinal arm 118.
[0031] Turning to FIG. 2, positioning means are illustrated by
which carriage 106 may be aimed. Positioning means are provided by
a first actuator 200 which controls the rotation of the first
rotational mount 108 on a first axis 202, and a second actuator 204
which controls the rotation of the second rotational mount 110 on a
second axis 206. Although various configurations are possible, in a
preferred embodiment the first axis 202 is approximately vertical
and the second axis 206 is approximately horizontal, so that the
two axes are substantially perpendicular.
[0032] FIG. 3 shows pointing device 300 attached to carriage 106.
When carriage 106 is positioned by the operation of actuators 200
and 204, pointing device 300 is thereby aimed in a pointing
direction 302, so as to point at an intended target 304.
[0033] In the present application, pointing device 300 is a
portable semiautomatic firearm, such as the 0.308 caliber HK91
rifle. A trigger actuator 308 is mounted to the carriage 106,
preferably a rotational actuator, which responds to an electrical
control signal by rotating a cam 310 against the trigger 306 in
such a way that it alternately engages and releases the trigger,
thus firing the firearm device 300.
[0034] The firearm device 300 is attached to carriage 106 via gun
platforms 312 and 314 attached to each recoil strut 124. The gun
platforms 312 and 314 are, optionally, interchangeable and made
specifically to fit the shape of the specific firearm device 300 of
the described embodiment. On the rearmost gun platform 312, a quick
release pin 318 or other fastener is used to secure the firearm
device 300 to the gun platform 312 while being readily removable
for purposes of replacing the ammunition magazine 316, servicing of
the firearm device 300, or for other purposes. A tie-down fastener
320 made of Velcro..TM.. or similar material is used to further
secure the firearm device 300 to the front gun platform 314.
[0035] To reduce shock caused by the firing of the firearm device
300, a shock absorber 126 and recoil spring 128 are mounted between
one or more of the recoil struts 124 and the rest of the carriage
106. In the described embodiment, a hydraulic shock absorber 126
extends from the recoil strut 124 to one of the cross-members 120
connecting the longitudinal arms 118. When the firearm device 300
is fired, the recoil force causes the recoil struts 124 to slide
backwards within the slots 122, thereby compressing the hydraulic
shock absorber 126 and recoil spring 128. The recoil spring 128
then exerts a restorative force that returns the recoil struts 124
to their original position within the slots 122.
[0036] Pointing device 300 may also be a sensing instrument such as
a video or still camera or sensor, a motion picture camera or
sensor, an infrared camera or sensor, a motion sensor, a
directional microphone, a spectrometer, a range finder, or a radar
receiver. Pointing device 300 may also be an illumination devices
such as a spotlight, stage light, laser, radar gun, or
searchlight.
[0037] In the described embodiment, video acquisition means,
consisting of an overview video camera 322 and an aiming video
camera 324, are provided for obtaining a live video image of
intended target 304. Each of video cameras 322 and 324 is attached
to carriage 106 above pointing device 300 via longitudinal hinge
pins 254 to permit them to swivel out of the way of pointing device
300 when the device is removed. Each points in the pointing
direction 302 of pointing device 300, and each is housed within a
protective camera shield 252. In the described embodiment, each
camera has a 10-to-1 zoom ratio, resulting in a field of view that
ranges from 4.3 to 43 degrees. Overview video camera 322 is mounted
to front gun platform 314. Aiming video camera 324 is mounted to
the rearmost gun platform 312, and points through a spotting
telescope 326 mounted to the pointing device 300. In the described
embodiment spotting telescope 326 varies from 3 to 9-times
magnification, and includes a reticle so as to indicate the exact
pointing direction 302 of pointing device 300.
[0038] Returning momentarily to FIG. 2, in the described embodiment
first rotational mount 108 is a horizontal turntable which has a
first portion 208 rigidly connected to the center portion 112 of
base 102. Coupled to the first portion 208 and riding on bearings
is a second portion 210 free to rotate on a first axis 202. A
descending shaft 212 forms part of the second portion 210, and
extends below center portion 112.
[0039] In the described embodiment the second rotational mount 110
is a horizontally-aligned axle which has a third portion 236
rigidly connected to the second portion 210 of the first rotational
mount 108. Coupled to the third portion 236 and rotating rotate on
a second axis 206 on bearings is a fourth portion 238. The carriage
106 is mounted to the fourth portion 238.
[0040] The first actuator 200 is connected at its first end 214 to
the first portion 208 at a point of connection 216, and at its
second end 218 to the second portion 210 at a point of connection
220. The first actuator 200 operates in response to an electrical
control signal by varying the distance between the second end 218
and the first end 214. As the variable distance increases,
rotational force is applied to the second portion 210 at point of
connection 220, thus rotating the first rotational mount 108 in an
angular direction designated as forward. As the distance decreases,
an opposite rotational force is applied to the second portion 210
at point of connection 220, thus rotating the first rotational
mount 108 in an opposite angular direction designated as reverse.
By controlling the precise distance between the second end 218 and
the first end 214, the first actuator 200 thereby controls the
rotation of the carriage 106, and thus the precise azimuth of the
pointing direction 302. By controlling the rate of change of the
distance between second end 218 and first end 214 the first
actuator thereby controls a first aiming speed, referring to
angular speed of changes in the azimuth of the pointing direction
302.
[0041] The second actuator 204 is connected at its first end 240 to
the third portion 236 at a point of connection 242, and at its
second end 244 to the fourth portion 238 at a point of connection
246. The second end 244 has a variable distance from the first end
240, which distance is determined by the operation of the second
actuator 204. The second actuator 204 operates in response to an
electrical control signal by varying the distance between the
second end 244 and the first end 240. As the variable distance
increases, rotational force is applied to the fourth portion 238 at
point of connection 246, thus rotating the second rotational mount
in an angular direction designated as forward. As the variable
distance decreases, an opposite rotational force is applied to the
fourth portion 238 at point of connection 246, thus rotating the
second rotational mount in an opposite angular direction designated
as forward. By controlling the precise distance between the second
end 244 and the first end 240, the second actuator controls the
elevation of the carriage 106, and thus the precise elevation of
the pointing direction 302. By controlling the rate of change of
the distance between second end 244 and first end 240 the second
actuator thereby controls a second aiming speed, referring to
angular speed of changes in the elevation of the pointing direction
302.
[0042] In other preferred embodiments, various connection locations
are possible. In the described embodiment the connection between
the first end 240 and the third portion 236 is via a pivoting mount
248 attached to the descending shaft 212, which is in turn attached
to the second portion 210, to which the third portion 236 is
rigidly connected, and the connection between the second end 244
and the fourth portion 238 is via a pivoting mount 248 attached to
a descending portion 250 of the carriage 106.
[0043] It may be readily seen by reference to FIG. 2 that various
connection locations and methods are possible between the ends of
the actuators and the rotational mounts, subject to the limitation
that each point of connection 216 and 220 between the first
actuator 200 and the first rotational mount 108 is necessarily
offset from first axis 202, and that each point of connection 242
and 246 between the second actuator 204 and the second rotational
mount 110 is necessarily offset from second axis 206. Furthermore,
at least one point of connection, and preferably both, between each
actuator and its corresponding rotational mount must provide a
pivot.
[0044] In the described embodiment, the connection between the
first end 214 and the first portion 208 of first actuator 200 is
via a pivoting mount 222 attached to a lateral portion 224 of one
of the legs 114, and the connection between the second end 218 and
the second portion 210 is via a pivoting mount 226 attached to a
lateral attachment 228 to the descending shaft 212. An optional
elastic cord 230 made of a resilient material such as rubber is
stretched from a second lateral portion 232 of one of the legs 114
to a second lateral attachment 234 of the descending shaft 212,
thereby holding the first rotational mount 104 in constant tension
during operation, thus reducing the lateral play in the first
rotational mount 104 and increasing its lateral stability. Also in
the described embodiment, the connection between the first end 240
and the third portion 236 is via a pivoting mount 248 attached to
the descending shaft 212, which is in turn attached to the second
portion 210, to which the third portion 236 is rigidly connected,
and the connection between the second end 244 and the fourth
portion 238 is via a pivoting mount 248 attached to a descending
portion 250 of the carriage 106.
[0045] One of ordinary skill in the art will recognize that many
different types of actuators 200 and 204 may be used as positioning
means for the carriage including ratchets, cams, and
hydraulically-controlled activators. In the described embodiment,
actuators 200 and 204 are linear actuators, each consisting of an
electronic servomotor 400 housed inside a protective motor housing
402, with a threaded shaft 404 extending longitudinally from the
electronic servomotor 400. The threaded shaft 404 rotates forward
and backwards, or remains stationary, as operated by the electronic
servomotor 400. In the described embodiment, each electronic
servomotor 400 is an electronic stepper motor of a type readily
available and well known to one of ordinary skill in the art. The
forward and reverse rotation of such motors occurs in steps, each
of a predetermined angular increment. Such stepper motors operate
at precisely-controlled variable speeds in response to electrical
control signals received at an electronic control input 406,
ranging from stationary (zero steps per second) to at least 500
steps per second, and depending on the motor, as high as 3,000 or
more steps per second. The motor rotates a motor shaft 408, which
is linked to and thereby drives the threaded shaft 404. There is a
further means for locking the threaded shaft 404 in place when it
is not in operation.
[0046] FIG. 4 and FIG. 5 illustrate in more detail the construction
of linear actuators 200 and 204. For each actuator, actuator rod
410 contains reverse threads at one end 412 so as to receive the
threads of threaded shaft 404. Actuator rod 410 is partly threaded
into and extends longitudinally from the threaded shaft 404, and is
connected at the other end 414 in such a way that the rod is not
free to rotate. In this way, when electronic servomotor 400 drives
the rotation of the threaded shaft 404 in the forward direction,
actuator rod 410 is unthreaded from the threaded shaft 404, driving
actuator rod 410 away from threaded shaft 404 and, in turn,
increasing the distance between end 414 and motor housing 402.
Conversely, when electronic servomotor 400 drives the rotation of
threaded shaft 404 in the other direction designated as reverse,
actuator rod 410 is threaded into threaded shaft 404, driving
actuator rod 410 towards threaded shaft 404 and, in turn,
decreasing the distance between end 414 and motor housing 402. In
the described embodiment the motor housing 402 forms the first end
214 of the first linear actuator 200 and the first end 240 of the
second linear actuator 204, and the other end of the actuator rod
410 forms the second end 218 of the first linear actuator 200 and
the second end 244 of the second linear actuator 204. A protective
cover 416 encloses the connection between the threaded shaft 404
and the actuator rod 410.
[0047] It will be understood from the above description that,
within a certain range of pointing directions, the azimuth of the
pointing direction 302 varies in linear proportion to the number of
forward or reverse rotational steps undertaken by the stepper motor
400 of first actuator 200, and thus the precise azimuth and first
aiming speed of the pointing direction 302 may be controlled by
varying the electronic control signal received by the motor.
Further within a certain range of pointing directions, the
elevation of the pointing direction 302 varies in linear proportion
to the number of forward or reverse rotational steps undertaken by
the stepper motor 400 of second actuator 204, and thus the precise
elevation and second aiming speed of the pointing direction 302 may
be controlled by varying the electronic control signal received by
the motor.
[0048] Briefly, aiming control means for generating the electrical
control signals to which the electronic servomotors or other
positioning means respond is provided, in the described embodiment,
by a two-axis hand controller device 706, shown in FIG. 7 and FIG.
8, which is manually operated by the user of the present invention.
In the described embodiment, two-axis hand controller device 706 is
a joystick 708 capable of movement along a first axis 800 and a
second axis 802. For each axis there is a mechanical
return-to-center feature which automatically returns the joystick
708 to a center position within dead zone 804 approximately in the
center of the range of motion of the joystick 708. For each axis
there is a positive direction 806 and a negative direction 808 of
displacement from the dead zone 804. For each axis, there is a
single positive step region 810 the positive direction 806 from the
dead zone 804, a region of positive displacement 812 farther in the
positive direction 806 from the single positive step region 810, a
single negative step region 814 in a negative direction 808 from
the dead zone 804, and a region of negative displacement 816
farther in the negative direction 808 from the single negative step
region 814.
[0049] The two-axis hand controller device also contains a hand
stabilizer guard 710 which the operator may hold while manipulating
the joystick 708, a first trigger 712 and second trigger 714, a
safety switch 716, an audio output 718, and other control switches.
In alternate embodiments, the hand controller may incorporate a
trackball or a pressure-sensitive device, among other two-axis
control devices, in place of or in addition to the joystick
708.
[0050] Operation of hand controller device 706 generates an
electrical input signal which is transmitted via an electrical
cable 720 or other transmission means to a control unit 600 similar
to the one pictured in FIG. 6. The control unit 600 includes means
for processing the input signal so as to generate the electrical
control signals used to determine the pointing direction 302 of the
firearm device 300. Signal processing within control unit 600 may
occur via an analog or integrated circuit, or on a microprocessor,
preferably on a simple microprocessor chip, in a manner readily
understood by one of ordinary skill in the art, by converting
voltages or digital signals from the joystick and various triggers
and switches to electrical signals that control the electronic
servomotors.
[0051] In the described embodiment signal processing is performed
by microprocessor such that the first axis 800 of hand controller
device 706 corresponds to the first axis 202 of aiming mechanism
100, and the second axis 802 of the hand controller device 706
corresponds to the second axis 206 of the aiming mechanism 100. For
each axis, the control unit converts a hand controller position
that is within the dead zone 804 to an electronic control signal
that generates no movement in the pointing direction 302 of the
firearm device 300 along the corresponding axis; a transition from
the dead zone 804 into the single positive step region 810 or
single negative step region 814 into a signal causing movement of
the aiming position by a predetermined positive or negative angle
respectively, corresponding to a single positive or negative step
of the corresponding stepper motor 400, or a position in the region
of positive displacement 812 or the region of negative displacement
816 into an electronic control signal that generates a continuous
movement in the pointing direction 302 in the positive or negative
direction respectively.
[0052] In the described embodiment, the signal processor converts
greater displacements within the region of positive displacement
812 or the region of negative displacement 816 into electronic
control signals that cause faster movement of in the pointing
direction 302. Control unit 600 also incorporates control signal
transmission means to transmit the electrical control signals to
actuators 200 and 204. In the described embodiment, transmission
means consist of electrical cable, although in other embodiments a
variety of widely known alternate electrical signal transmission
means may be used, such as radio frequency transmitters and
receivers or fiber optics cable.
[0053] In the described embodiment, the control unit also contains
audio processing means for generating audio signals in response to
operation of hand controller device 706. One audio signal is
generated to correspond to each of the axes of operation of the
positioning means of the carriage 106. The signal optionally
contains a pitch that varies in relation to the speed of operation
for the positioning means, preferably including a tone of a
frequency proportionately to the speed of aiming of the positioning
means when the speed of aiming is above a certain threshold, and a
series of audible clicks when the speed of aiming is below or equal
to that threshold. When stepper motors are used as positioning
means, it is convenient to make the frequency of each signal
expressed as cycles per second vary in proportion to the number of
positioning steps per second taken by the corresponding motor. In
another preferred embodiment, the audio processing means and the
means for processing the input signal generated by the hand
controller device 706 are the same, so that the audio signal
consists of the electronic control signals that determine the
pointing direction 302 of the aiming device 300.
[0054] It will be apparent to one of ordinary skill in the art that
because the frequency of each signal is proportionate to the speed
of movement along a corresponding axis, then a movement in any
given direction is marked by a ratio of pitches, with the ratio
(and hence the perceived interval between the pitches) remaining
constant as long as the movement continues in that direction.
[0055] In the described embodiment, video is displayed on command
control monitor 900 similar to that pictured in FIG. 9, with lower
video display 902 displaying the live video signal from the
overview video camera 322, and upper video display 904 displaying
the live video signal from the aiming video camera 324. Video
transmission means for transmitting the live video images from the
video cameras 322 and 324 to the video display 902 and 904 may
consist of a video cable, a radio-frequency transmitter and
receiver, an optical fiber, or other conventional means for
transmitting video signals that are well known to one of ordinary
skill in the art.
[0056] Video display means are further provided on an optional
portable viewfinder 700, as shown in FIG. 7, containing a small LCD
video display 702 viewable through an eyepiece 704. Control means
are provided on the portable viewfinder 700 so that the video feed
may be switched between overview video camera 322 and aiming video
camera 324. Other embodiments may provide for alternate or
additional video display means for displaying the live video image
from video cameras 322 and 324, including a head-mounted viewer, a
small portable video display, and computer-processed
representations and models of the video images.
[0057] Control unit 600 further contains means for processing input
signals from the hand controller device 706, obtaining user input
from the control unit 600, and generating electronic control
signals, pertaining to operating the trigger actuator 308, the
power and zoom features of the video cameras 322 and 324.
Optionally, the control unit may distribute power to the other
devices, including without limitation the base, the device, and the
video acquisition, display, and transmitting means. This power may
be obtained from batteries internal to the control unit, or from
external sources such as batteries or an alternating current
source. Optionally, the control unit may provide that the device
may be operated in training mode, where a microprocessor within the
control unit processes user input and simulates operation of the
device, including operating the audio signal processing,
positioning means, and video, but without actually firing the
firearm device.
[0058] Although the foregoing invention has been described in
detail for purposes of clarity of understanding, it will be
apparent that certain changes and modifications may be practiced
within the scope of the appended claims. For example, the base of
the present invention may be a pole rather than a tripod.
Alternately, the base may be a large weighted solid, or a mount by
which the device is affixed to a vehicle or other platform.
[0059] In general, it should be noted that there are alternative
ways of implementing the apparatus of the present invention. It is
therefore intended that the following appended claims be
interpreted as including all such alterations, permutations, and
equivalents as fall within the spirit and scope of the present
invention.
* * * * *