U.S. patent application number 11/343711 was filed with the patent office on 2008-02-14 for stabilizing mount for hands-on and remote operation of cameras, sensors, computer intelligent devices and weapons.
Invention is credited to David Ehrlich Grober.
Application Number | 20080034954 11/343711 |
Document ID | / |
Family ID | 38309636 |
Filed Date | 2008-02-14 |
United States Patent
Application |
20080034954 |
Kind Code |
A1 |
Grober; David Ehrlich |
February 14, 2008 |
Stabilizing mount for hands-on and remote operation of cameras,
sensors, computer intelligent devices and weapons
Abstract
A stabilizing mount system for cameras, sensors and weapons.
This invention stabilizes payloads such as cameras sensors and
weapons on moving vehicles such as HMMWV's, (military Humvees)
off-road vehicles, boats aircraft and unmanned vehicles. The
stabilizing mount system allows hands-on control of the payload
device such as the camera or weapon while the stabilization is
active. This includes allowing a gunner of a crew served weapon to
free-gun or have hands-on control to operate the weapon while the
weapon is being actively stabilized. The invention has various
modes including target lock. Cameras and sensors are also
stabilized and provide a useable output for a remote operator or
artificially intelligent computer.
Inventors: |
Grober; David Ehrlich;
(Venice, CA) |
Correspondence
Address: |
DAVID EHRLICH GROBER
616 Venice Blvd.
Venice
CA
90291
US
|
Family ID: |
38309636 |
Appl. No.: |
11/343711 |
Filed: |
January 30, 2006 |
Related U.S. Patent Documents
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Application
Number |
Filing Date |
Patent Number |
|
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60647941 |
Jan 31, 2005 |
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Current U.S.
Class: |
89/41.05 ;
89/41.02 |
Current CPC
Class: |
F41G 5/14 20130101; F41A
27/26 20130101; F41G 3/225 20130101; F41G 3/165 20130101; F41A
27/30 20130101; F41A 23/14 20130101 |
Class at
Publication: |
89/41.05 ;
89/41.02 |
International
Class: |
F41G 5/06 20060101
F41G005/06 |
Claims
1. A stabilizing mount system comprising: a payload platform and a
base with a stabilizing system connected between the payload
platform and the base, the stabilizing system including means for
moving the payload platform with respect to the base in up to three
orthogonal axes; a sensor package comprising sensor means for
sensing motion and/or position of the base; a control means to
operate the stabilizing system in response to signals from the
sensor package for stabilizing the payload platform; the payload
platform supporting one or more payload devices to be stabilized
and which allows the payload devices to be controlled in a hands-on
mode while the stabilizing system is active.
2. A stabilizing mount system comprising: a payload platform and a
base and a stabilizing mechanism for maintaining the payload
platform in a stabilized condition; a payload platform mounting
system, associated with the payload platform for receiving at least
one payload device, the payload platform mounting system allowing
independent movement of the payload device relative to the payload
platform, thereby allowing hands on control of the payload device
while keeping the payload device in a stabilized orientation
relative to the stabilized payload platform.
3. The stabilizing mount system of claim 1 wherein the means the
means for moving comprises linear actuators.
4. The stabilizing mount system of claim 1 wherein the means the
means for moving comprises at least one of a motor or a motor and
gear drive.
5. The stabilizing mount system of claim 1 further comprising
linear actuators each having a first and second end, the first end
connected to the base the second end connected to the payload
platform.
6. The stabilizing mount system of claim 1 further comprising
linear actuators each having a first and second end, the first end
connected to the base, the second end connected to the payload
platform, wherein the attachment points are comprised of moveable
joints which allow for hands-on control of the payload while the
payload platform is being stabilized by the stabilizing system.
7. The stabilizing mount system of claim 1 further comprising a
support post wherein the support post contains a system to remove
shock and/or vibration and in which the support post system
includes at least one of a shock absorber, a dampener, vibration
isolating springs, vibration isolating materials such as foams or
compressible pads, electro-mechanical dampening means such as
magnetic actuators or dampening by any other means.
8. The stabilizing mount system of claim 1, further comprising
means to lock in a specific target or direction to which the
payload will remain pointed regardless of the motion of the
base.
9. The stabilizing mount system of claim 1 further comprising a
camera or sensor which is stabilized for one or more purposes which
can include but is not limited to target location, target
identification, target tracking, target data acquisition or firing
a weapon at a target.
10. The stabilizing mount system of claim 1 further comprising at
least one of a camera or a sensor which provides a stabilized image
to a human operator or a computer for at least one of target
location, target identification, target tracking, target data
acquisition, engaging or firing a weapon at a target.
11. The stabilizing mount system of claim 1 further comprising
control of the stabilizing mount and/or the payload by remote
control which can be either a hard wired remote control or a
wireless remote control.
12. The stabilizing mount system of claim 10 further comprising at
least one of a camera or sensor which can sense in up to 360
degrees.
13. The stabilizing mount system of claim 1 further comprising a
stabilized standing pad wherein the operator is stabilized while
standing on the stabilized standing pad.
14. The stabilizing mount system of claim 1 further comprising a
stabilized chair wherein the operator is stabilized while sitting
in the stabilized chair.
15. The stabilizing mount system of claim 1 wherein the control
system can maintain a payload in at least three different
stabilized modes which include a horizon mode which mimics the
vector of the earth's horizon, an apparent gravity mode which
mimics the vector of apparent gravity operating on the mount, and a
specified angle mode which is an operator determined angle, and
wherein the operator can select the specific mode in which the
control system will maintain the payload.
16. The stabilizing mount system of claim 14 in which the payload
platform further comprises a mount for a chair in addition to a
mount for a payload device which can include at least one of a
camera, a sensor, and a weapon.
17. The stabilizing mount system of claim 1 further comprising
multiple means for moving to keep multiple payloads stabilized
simultaneously.
18. The stabilizing mount system of claim 16 wherein the
stabilizing mode of each platform can be individually selected and
maintained simultaneously in at least one of three stabilized modes
including a horizon vector mode, an apparent gravity vector mode,
or a specified angle mode.
19. The stabilizing mount system of claim 1 further comprising a
power source integral to or located on the stabilizing mount and
making the stabilizing mount self contained.
20. The stabilizing mount system of claim 1 comprising an
attachment interface, such as a standard US military sized center
post which fits interchangeably into the turret assembly of a
military vehicle in place of a non-stabilized weapon mount.
21. The stabilizing mount system of claim 19 wherein the size,
weight and mounting configuration of the stabilizing mount allows
it to be installed or removed by a single person skilled in the art
in about less than 5 minutes.
22. The stabilizing mount system of claim 19 wherein the power
source and the electronics mount on or underneath the turret
assembly making it self contained and allowing 360 continuous
rotation without tangling of the stabilization system wires.
23. The stabilizing mount system of claim 1 wherein the stabilizing
mount and/or the payload are compatible with numerous digital
interfaces including at least one or more of Ethernet, JAUS, TCP,
UDP, RCP, RS-232, RS-422, RS-485, and other data interfaces.
24. The stabilizing mount system of claim 1 further comprising
adjustable length lever arms incorporated in the means for moving,
which allow for adjusting the carrying weight of the payload
platform and the speed at which the means for moving can stabilize
for vehicle motion.
25. The stabilizing mount system of claim 1 further comprising at
least one of a latent image screen or radar screen wherein the
sensor data appears on the screen and remains on the screen for a
longer time than the actual event, thereby allowing a human
operator or a computer to see the event even though the event may
be concluded in real time.
26. The stabilizing mount system of claim 1 further comprising a
GPS wherein the GPS provides at least one of a GPS coordinate
position, pointing angle, or direction of travel of at least one of
the vehicle, the payload platform, the stabilized device or a
weapon on the payload platform.
27. The stabilizing mount system of claim 1 further comprising
protective armor to protect at least one of the stabilized mount,
the payload device or the operator.
28. A method of stabilizing a payload comprising a payload platform
and a base and having a stabilizing system connected between them
which includes means for moving the payload platform with respect
to the base in up to three orthogonal axes, and locating a sensor
package on the stabilizing platform or the vehicle for sensing
motion of the base, and providing a control means for operating the
stabilizing system in response to signals from the sensor package
resulting in stabilizing the payload platform, wherein the payload
platform is supporting one or more devices to be stabilized, and
allowing the stabilized payload device to be operated or controlled
in a hands-on mode while the stabilizing system is active.
29. A method in which a stabilizing mount stabilizes in up to 3
axes, by placing a hands-on control mechanism upon the stabilized
platform which allows hands-on and operating control of one or more
payload devices while the stabilizing platform keeps the hands-on
control mechanism level, or at a pre-determined angle or position,
and controlling the payload devices in hands-on mode absent
interference from the pitch, roll and azimuth movement of the
base.
30. A method of claim 28 comprising mounting a stabilizing weapon
mount with self contained electronics for operating in one or more
modes including target locating, target identification, target
tracking and target firing, and wherein the stabilized weapon mount
can be mounted interchangeably with a non-stabilized weapon
mount.
31. A method of claim 28 wherein the stabilized camera or sensor
acquires sensory data which is used to identify a target, and a
computer is providing the coordinates to slew the stabilizing mount
for aiming and targeting to do one or more of the following
including target acquisition, target identification, target
tracking, data collection or weapon firing.
32. A method of claim 28 further comprising an operator in the
control loop deciding to confirm or deny weapon firing or other
actions to be taken by the payload device.
33. A method of claim 28 comprising using a GPS associated with the
mount for providing at least one of pointing angle, vehicle
direction, vehicle speed and which are coupled with the stabilizing
mount's sensor data, deriving the pointing angle of the payload
device(s) and determining if the payload devices are pointing at a
friend or foe.
34. A method of claim 28 wherein multiple stabilizing mounts are
combined on a single vehicle to achieve the combined result
including one or more of the following to include; capturing
sensory data, processing sensory data, target location, target
identification, target tracking, slewing a stabilized weapon or
sensor, firing the weapon.
35. A method of claim 28 wherein one or more stabilization mounts
include camera and/or sensor means giving an operator independent
stabilized camera and or sensor data providing situational
awareness different than if the camera/sensor were sensing the same
information obtained from the weapon sensors.
36. A method of claim 28 wherein the stabilized camera and/or
sensor imagery is sent to a set of operator glasses, goggles or a
heads-up display that shows different forms of data including one
or more, but not limited to stabilized visual data, vehicle data,
GPS data, situational awareness data including but not limited to
visual and coordinate data from other vehicles, stabilizing mounts
or payload devices.
37. A method of stabilizing one or more payload devices in one or
more pre-determined vectors including the vector of the horizon,
the vector of apparent gravity or a predetermined angle, allows
hands on control of the payload in one, two or three axes while the
payload is in stabilized mode.
39. A method of claim 28 wherein the stabilized system is scalable
such that substantially the same electronics can control
stabilization mounts of any size by increasing or decreasing the
actuator mechanisms and/or mount size.
40. A method of claim 29 wherein the stabilized system is scalable
such that substantially the same electronics can control
stabilization mounts of any size by increasing or decreasing the
actuator mechanisms and/or mount size.
41. A method of claim 28 wherein the stabilization system
incorporating a single sensor package for correcting its own
internal sensor anomalies and errors and produces an output
describing the horizon and thereby making the stabilization system
autonomous, self leveling and self correcting.
42. A method of claim 29 wherein the stabilization system
incorporating a single sensor package for correcting its own
internal sensor anomalies and errors and produces an output
describing the horizon and thereby making the stabilization system
autonomous, self leveling and self correcting.
43. A method of claim 28 wherein a fluid head or pan/tilt, or
pan/tilt/roll head with infinite friction adjustment is holding a
camera, sensor or weapon secure to the stabilized payload plate,
yet holding it loose enough to allow the hands-on operator or
gunner to move the payload when and if desired.
43. A method of claim 29 wherein a fluid head or pan/tilt, or
pan/tilt/roll head with infinite friction adjustment is holding a
camera, sensor or weapon secure to the stabilized payload plate,
yet holding it loose enough to allow the hands-on operator or
gunner to move the payload when and if desired.
44. A method of claim 28 wherein the CPU taking camera and/or
sensor information, and obtaining the payload weapon's pointing
direction, projectile characteristics and determining how to
elevate the camera and/or sensor data and elevating the camera and
or sensor allowing the operator to look at the location where the
projectile will hit.
45. The stabilizing mount system of claim 29 further comprising a
computer, whereupon the operator or the computer, or the operator
and the computer in a coordinated means are performing target
location, target identification, target tracking, target data
acquisition, engaging or firing a weapon at a target.
46. The stabilizing mount system of claim 1 further comprising a
sensor, whereupon if the stabilizing mount system is aiming the
payload at a direction or target, the sensor can sense the
operator's hands on control either by pressure or any other sensor
means, and moves the payload device to a new direction or target,
and the stabilizing system becomes secondary to the operator's
hands-on control until the operator acquires a new direction or
target at which time the stabilizing system re-engages the payload
device to hold the new direction or target
Description
BACKGROUND OF THE INVENTION
[0001] 1. Field of the Invention
[0002] The invention relates to a stabilizing mount system for
payload devices such as cameras, sensors and weapons wherein the
stabilized payload device can be operated in a hands-on mode while
stabilization is active. The invention will stabilize payload
devices in one, two or three axes from motion imparted to the
stabilized mount's base from the motion of the platform or vehicle
upon which the stabilizing mount system is attached. The invention
also relates to a self leveling, self correcting one, two and three
axis stabilizing mount system which allows the capability for
hands-on control, or free gunning of a weapon in both a hands-on
stabilized mode, in wired or wireless remote control, or in a
combination of hands-on payload device control and remote payload
device control.
[0003] 2. Brief Description of the Related Art
[0004] When using a camera, sensor or weapon, or any combination of
similar payload devices on a vehicle such as a car, truck, HMMWV,
boat, or air vehicle, it is often desirable for the operator to
have hands-on control of the payload device.
[0005] Prior art weapon stabilization systems provide elevation and
azimuth, which although acceptable for shooting a bullet, handicaps
imaging devices such as cameras and sensors that need stabilized in
the roll axis for accurate sighting. It would therefore be
desirable to provide stabilization in all three axes--pitch, roll
and azimuth which allows for weapons, cameras and sensors to be
operated simultaneously from the same platform.
[0006] It would also be desirable for the operators of crew served
weapons such as a 240 g, 50 cal, Mark 19, and others, to be able to
use the weapon in hands-on or free-gunning mode while the weapon is
stabilized. The advantages are that a human operator in free-gun
mode has a faster response time to locate, slew and engage a target
because of his increased situational awareness when standing with
his head outside the vehicle and being hands-on with the gun versus
if he were remotely operating the weapon from inside the vehicle
with limited situational awareness created by the physical
configuration of the vehicle including limited vision due to
vehicle roof support structures, other occupants and equipment
within the vehicle, and also decreased sound awareness through
armored metal and bullet proof glass. This invention allows for the
stabilized payload device, which includes cameras, sensors and
weapons, to be controlled by remote control as well as hands-on
mode. This includes free-gunning a weapon while stabilization is
active.
[0007] Prior art does not allow mixing hands-on stabilized mode
with remote control and target lock. This system provides for
interactive hands-on payload device control coupled with automated
control for directional and target lock-on capability
[0008] Prior stabilizing mounts for weapons are generally large,
heavy devices which are fixed to the vehicle and not easily moved
from vehicle to vehicle. In addition, when a vehicle is disabled it
is preferable for warfighting systems to be easily moved to other
vehicles or removed altogether should the vehicle need to be
abandoned. Therefore is would be desirable to provide a
lightweight, compact stabilizing mount system which can be easily
installed and removed by one person within a matter of minutes. It
would be desirable for the stabilizing mount system to fit standard
military weapon receptacles such as the turret receptacle on a
HMMWV, sand rail or convoy truck, and for the stabilizing mount
system to be interchangeable with non-stabilized weapon mounts.
This invention does that.
[0009] Another known drawback of prior art is they surround and/or
cradle the payload device which can limit the size and shape of
payload device. This invention's open payload architecture accepts
any camera, sensor, weapon or payload device within its operational
weight range regardless of the shape or physical size, within
reason.
[0010] Current weapon mount systems are active in two axes--pitch
and azimuth. The known drawback is that they stabilize in only one
horizontal axis. Therefore video or sensor images exhibit the
vehicle's motion in the non stabilized horizon axis which makes it
difficult to locate identify, track and engage targets.
[0011] Two axes stabilization also makes it difficult if not
impossible for computers and artificial intelligent imaging devices
to locate, identify, track and engage targets when the sensor data
is restricted to two axes stabilization. This invention stabilizes
pitch, roll and azimuth, therefore providing a stabilized image
throughout the display screen which is most usable by both humans
and computers.
[0012] It would be desirable to have a stabilization system usable
in any orientation including upright or underslung. This device can
be used upright and underslung.
[0013] Previous art is restricted in its adaptability to
accommodate differing payload weights and slewing speeds. One
embodiment of this invention allows variability in payload weight
and slewing speed simply by adjusting the length of the upper arm
bracket arms thereby effecting both the payload capability and slew
speed as changing weapons or combat situations require.
[0014] This invention integrates sensing means to automatically
correct the sensor drift, error and bias that is specified as
needing correction in previous art.
[0015] These mounts are stabilized in two axes which include pitch
and azimuth. The roll axis is unnecessary because the bullet's
trajectory path is not affected by roll.
SUMMARY OF THE INVENTION
[0016] In accordance with one aspect of the invention, the device
includes a stabilized payload platform for supporting an article to
be stabilized, a base, an actuator mechanism connecting the payload
platform to the base, sensors for determining motion of a vehicle
in three orthogonal axis, and a control system for stabilizing the
mount. The stabilizing system includes at least one motor/actuator
per axis to rotate the payload platform about that axis with
respect to the base.
[0017] In accordance with another aspect of the invention, a method
which provides the camera operator or gunner a self correcting
stabilizing mount system which includes the steps of: positioning a
stabilizing mount system on a moving vehicle; stabilizing the mount
in up to 3 axes based on information collected by the sensor
package(s); and allowing the operator to move the payload (weapon
or camera/sensor) with hands-on control of the payload for target
acquisition and firing.
[0018] In accordance with a further aspect, a method of the above
whereupon a gunner can free-gun or upon acquiring a target,
activate a target lock to hold the pointing position or target
while his vehicle is moving. This method continues to allow the
gunner hands-on and/or remote controlled aiming adjustments. This
method may also incorporate a fluid head or pan/tilt/roll head with
infinite drag adjustment for each applicable axis.
[0019] In accordance with a further aspect, a method of sensing
free-gunning movement and once the weapon's hand operated speed
exceeds a certain speed, the azimuth is disabled allowing the
gunner to free-gun to a general position whereupon the weapon
sensing a slower gun motion again locks position.
[0020] In accordance with a further aspect, an auto tracking device
or software that locks on to a target and moves the weapon in
relation to the target.
[0021] The method for slaving several different stabilization
devices on the vehicle providing multiple weapons or weapon and
sensor combinations with simultaneous stabilization.
[0022] In accordance with a further aspect, the method wherein the
stabilized camera imagery, (often enhanced through magnification,
IR or other methods,) is sent to eye glasses or goggles containing
a small video screen(s). This method provides the driver with a
stabilized image similar to that perceived by the driver's brain
and head movements even though he is also moving. This method
reduces confusion previously caused by the driver trying to
coordinate his brain stabilized eyesight image with non-stabilized
enhanced video, IR, or other imagery.
[0023] The invention is capable of outputting and sending precise
vehicle and weapon aiming data to a central command and control
center or vehicle for various uses including friend/foe
recognition.
[0024] In accordance with a further aspect, a stabilized chair or
standing plate such as found in a military HMMWV, is stabilized so
that the gunner and the weapon are both stabilized.
[0025] Another embodiment allows the stabilization system to
provide pitch and roll stabilization with a gimbal assembly and the
use of motors and gears, such as in Grober U.S. Pat. No. 6,611,662;
Autonomous, Self Leveling, Self Correcting Stabilized Platform.
This embodiment in some situations can provide higher gear ratios
and better resolution than linear actuator systems.
BRIEF DESCRIPTION OF THE DRAWINGS
[0026] FIG. 1 is a side view of the stabilized mount, showing the
shock absorber system, and with a weapon as the payload device.
[0027] FIG. 2a is a side view of the stabilizing mount with a
friction head, and camera. The motor configuration is different
than in FIG. 1.
[0028] FIG. 2b is a view of a man wearing goggles which have small
video screens to show the image seen by the stabilized camera.
[0029] FIG. 2c is a wireless remote control box with operations
interfaces including a joystick, control knobs, switches and a
display screen.
[0030] FIG. 3. is a side view of a HMMWV (Humvee) showing the A
frame, turret and the stabilizing mount with a weapon being used by
a gunner.
[0031] FIG. 4 Shows an example of two HMMWV's each with a
stabilizing mount system that provides positional and pointing data
to another vehicle or command vehicle.
[0032] FIG. 5 is a cutaway view of a HMMWV with a gunner on the
stabilized standing platform.
[0033] FIG. 6 is a side view of a stabilized chair and weapon mount
with armor shielding.
DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS
[0034] FIG. 1 illustrates the stabilizing mount system with a
weapon according to the present invention. The stabilized mount's
center post fits into a standard US military weapon's receptacle
commonly found on vehicle turrets and other mounting locations. The
center post supports the weapon and the means for moving structure.
The entire assembly is shock dampened inside the center post. A
device requiring stabilization such as camera, sensor and weapons
is attached to the angle arm structure and is therefore kept level
with the horizon. For the purposes of description the term "level"
will also mean a pre-determined angle chosen to be maintained
regardless of the vehicle motion. That pre-determined angle can be
a vector relative to the horizon, or a vector relative to apparent
gravity which takes into account accelerations which the
stabilizing mount system is subjected when on vehicles.
[0035] FIG. 1 described in detail shows the center post 54 as the
main weight bearing support for the payload device which in this
embodiment is a weapon 50. The base of center post 54 can be
various sizes or shapes depending on the application. The center
post stud 53 can be designed to fit a standard US military
receptacle for crew served weapons such as found on a Humvee
(HMMWV) turret assembly. The center post 54 can be solid or a tube.
In this embodiment it is a tube and houses the vibration and shock
absorbing system 55 which is composed of vibration and shock
dampeners which include but are not limited to one or more springs
and/or shock absorbers. This shock absorbing system can be either a
passive system or an active system wherein sensors, shocks,
hydraulics and other means of moving are employed to reduce or
eliminate shock and vibration. Attached to the center post are
vertical support arms 56 and 57 which can be any desired shape and
which support the horizontal actuator base support structure 52.
The horizontal actuator base support structure 52 has moveable
joints 74, which attach to linear actuators 60. Linear actuators 60
can be any variety of actuators which include but are not limited
to hydraulic actuators, ball screw actuators, magnetic actuators,
rams, jack screws or other actuating mechanisms. The actuators 60
have some type of propulsion, motor, or driving mechanism 62 for
extending and retracting the actuator's arms. This propulsion
mechanism can be a separate component such as a motor attached the
actuator, the propulsion mechanism can include hydraulics,
magnetics or an other driving force applicable extending and
retracting an actuator. The actuators 60 are topped with another
set of moveable joints 67 which are attached to the upper arm
bracket 64 with pins 65. Pins 65, which are used to hold moveable
joints, may also contain sensors such as encoders, potentiometers,
hall sensors or other sensors which will measure motion such as
rotation. The output of these sensors at the various pivot points
will provide the CPU an accurate reference as to angle and
configuration of the mount from which the CPU can determine the
pointing angle and movement of the payload(s) such as the weapon
50, or cameras or sensors. The Figures show these some of these
point as 65 a,b,c,d, etc. The joints 74 and 67 can be any variety
of moveable joints including but not limited to clevis pins, ball
and socket joints or universal joints. The top of the center post
54 attaches to the lower part of the upper arm bracket 64 with a
universal joint that is located directly under the upper arm
bracket Y joint receptacle 59. The universal joint can also be a
ball and socket or other type joint allowing freedom of motion in
at least 2 axis.
[0036] When the linear actuators 60 extend or retract, they cause
the upper arm bracket to angle up or down in that respective axis
while pivoting on the universal joint. One actuator controls the
pitch and the other actuator controls the roll associated with the
upper arm bracket. The central processing unit (CPU) 73 controls
the actuator movements. The control system can be set to maintain
the upper arm bracket at any desired angle. The most common usage
is to set the angle to maintain a level horizon. This is achieved
by a set of sensor signals which is supplied by a sensor package 73
containing one or a combinations of sensors which include but are
not limited to level sensors, rate sensors, motion sensors, FOG
sensors, an inertial measurement unit (IMU) Inertial navigation
system (INS), GPS, or any other sensor device which can provide the
inputs required by the CPU to move the actuators to maintain the
desired position of the payload in pitch, roll and azimuth. Another
angle of which the payload can be maintained would be the vector
angle of apparent gravity. This is useful for when the payload is a
person. In a turn a person generally does not want to be level with
the horizon because the centrifugal forces tend to pull the person
out of their seat such as when an airplane does a flat turn.
Positioning a person along the vector of apparent gravity will keep
them feeling properly balanced in a turn and during
accelerations.
[0037] Y bracket 58 fits into receptacle 59 and can turn 360
degrees continuous. Set screw 61 can adjustably friction down the
azimuth movement of the Y bracket and subsequently the payload
weapon or secure it from movement altogether. Pin 65e can include a
sensor to sense position and/or motion of the payload, herein the
weapon 50. Pin 65e can also include a tightening mechanism to
adjustably friction down the payload motion, or secure it
altogether.
[0038] The sensor package 73 can go on the base 52, on the upper
arm bracket 59, the weapon 50, on the vehicle FIG. 4 # 51, or at
any location where it can measure the host vehicle, or the
stabilizing mount's base, payload platform or payload. The ability
to place the sensors in various positions is possible by sensing
the angles of the stabilizing system's framework parts such as the
base 52, the actuators 60, the upper arm bracket 59, and the
payload 50. One method is to associate sensors at the joints, such
as at pins 65 and will be apparent to those skilled in the art.
[0039] A battery or other power source 73 can be contained on the
mount to make it independent of the vehicle's power supply, or the
system can be powered from the host vehicle.
[0040] In another embodiment of FIG. 1, the base of the linear
actuators 60 can be attached directly to the center post by
moveable joints such as 74. In this embodiment, just as in FIG. 1,
any up and down motion of the shock absorbing system will have no
effect on actuator 60 length, and subsequently the shock system can
also include a vertical extension actuator or other means for
moving the stabilization system up and down. This can have the
additional advantage of vertical stabilization when desired.
[0041] In another embodiment, a drive motor, such as found in FIG.
2a # 18, would swivel the Y joint in azimuth based on commands from
the CPU or the operator, or act as a drag mechanism. The
stabilizing mount system in order to be lightweight, can have many
of its parts fabricated with materials such as carbon fiber,
composites, sandwich materials or aluminum.
[0042] In another embodiment the stabilizing mount may be a gimbal
assembly with two orthogonal motors, or motor gear drives which are
mounted between the payload platform and the base and the control
system stabilizes the payload plate based on information provided
by a sensor package sensing motion of the base or of the vehicle
upon which the stabilizing mount system is attached. A friction
head is placed between the stabilized payload platform and the
payload device and allows hands-on movement and control of the
payload device by the operator while both the friction head and the
payload device are continually stabilized.
[0043] In another embodiment the stabilizing device has means for
moving the payload platform in up to three axes. The means for
moving, be they motors, motor gear drives, linear actuators,
magnetic actuators or any other means for moving, can be pressure
sensitive and be back driven, allowing hands-on control, including
pointing of the payload device without the use of a friction head.
This can also be achieved wherein sensors on the stabilizing mount
can sense the operators hand pressure or other applicable operator
input, and allow the computer to control the motion of the payload
platform with the stabilizing mount's own motors or means for
moving, thereby using the stabilizing mount's means for moving in
place of the friction head. This can be done either by commanding
the motors to move the payload platform or by allowing the means
for moving to be back driven or positioned by controlling the
torque applied to the motors, actuators or other means for
moving.
[0044] The stabilizing mount system can be scaled smaller or larger
depending on the payload requirements. Small systems can be carried
by a person and hand operated. This is particularly useful when
carrying small sensor devices such as hand held cameras or night
vision systems. Larger systems can stabilize payloads hundreds of
pounds or greater while allowing hands-on control of the payload
device for it's operation and/or pointing.
[0045] FIG. 2a is the stabilizing mount, which has mounted on it a
camera or sensor 20 which provides either a bore sight image of
where the weapon is pointing, or can provide surrounding imagery by
use of a pointing mechanism 22, such as a pan and tilt mechanism,
wherein both the camera and the pointing mechanism can be motorized
and also remote controlled, subsequently allowing the camera to
point in any direction regardless of where the weapon is pointing.
The camera or sensor 20 can also have a 360 degree field of view,
and a pan tilt mechanism may not be required. Regardless of whether
the camera can be pointed manually, remote controlled or has a 360
degree view capability, it will remain stabilized the same as the
weapon because it is on the stabilizing platform. The camera field
of view can be depressed or elevated independently of the weapon,
and which can be done manually or automated, and which will allow
the camera to look at the location where a projectile fired from
the weapon would hit, taking into account the curved path of the
projectile. The CPU can take this information into account because
it is obtaining the weapon's pointing status from sensors on the
stabilizing mount which can include but are not limited to
encoders, resolvers, synchros or potentiometers located on the
motors, the motor drive shafts or framework angle relationship
sensors (FARS) which can include proximity sensors, hall sensors or
other similar types of sensors which measure the angles between the
framework parts. The camera 20 has an antennae 26 for electronic
transmissions which can include but are not limited to picture
imagery, sensor data, command an control of the camera and
stabilizing mount. The camera is controlled in pitch and azimuth by
a pan tilt mechanism 22 which can be either hand operator or
motorized. The weapon 50 is mounted on a mounting bracket which in
this embodiment is a friction head 19 to allow an operator to
friction down the motion of the weapon in pitch and azimuth. One
purpose of the friction head 19 is to keep a gunner when free
ginning, from having their body motions due to vehicle motion
transfer to the weapon. Friction tightening the weapon will allow a
setting where the gunner can move the weapon, yet the gunner's
extraneous movements due to vehicle motion are not significant
enough to move the weapon. The friction head sits on bracket 8
which is attached to azimuth motor 18 and which the gunner controls
to move the weapon. The friction head motors can be controlled by
wire or remote as shown in FIG. 3 wherein the gunner can free-gun
the weapon as well as engage the pan tilt actuators 60, which are
already part of the stabilizing mount, to lock on target or make
calculated or pre-planned moves while allowing the gunner to make
corrections. A computer coupled with sensors can do tasks such as
seek and locate sniper fire muzzle flash, slew the weapon or
provide a coordinate to the gunner, lock on target, all the while
keeping the gunner in a hands-on firing mode, with situational
awareness greater than if the gunner were in the cab of the host
with only limited windows and camera input. In this embodiment,
linear actuators 60 are coupled by a gear box 14 to a motor 12
which are positioned upon horizontal base plate 52. This
configuration can allow larger motors and actuators than if the
motor and actuator are coupled inline.
[0046] The CPU, having access to all the sensor data as well as the
motor and stabilization system data, can perform system analysis by
comparing the image and sensor data to determine errors in the
motion and movement of the payload platform or the payload device.
Wherein the CPU and associated sensor computers comprise artificial
intelligence, malfunctions in the system can be identified. The CPU
can command the motor drives into a known frequency such as a
rocking motion wherein the sensors can identify, either on command
or autonomously, if the payload sensors are exhibiting the CPU
commanded motion, and thereby performing its own system analysis.
The CPU can then send out commands to inform the operator of a
system malfunction as well as other system information. Information
can also be sent out by the CPU vibrating the motors at a high
frequency in which they will mimic the function of audio speakers.
The motors can emit audio signals, musical notes or even
understandable speech.
[0047] FIG. 2b. An operator 28 wears image displaying head gear.
The camera or sensor 20 sends it's data or imagery, and receives
data and command instructions via wired or wireless transmission,
in this figure using antenna 27 for wireless. The goggles 24 can
contain a display screen(s) 24 and allows viewing of the real world
along with stabilized sensor imagery.
[0048] FIG. 2c. The control box 40, which can also be referred to
as an OCU or operator control unit, contains a hard wired and/or
wireless capability via antenna 45, to communicate with the
stabilizing mount, camera, sensors and/or weapon. Control may
include one or more of a joystick 44, control wheels, switches and
other control interfaces. A display screen 41 provides the operator
with one means of situational awareness which can connect to the
camera 20, or other cameras or sensors which can include cameras,
ladar, infrared sensors, acoustic sensors or other sensor systems.
The gunner can free gun and be hands-on with the weapon and
simultaneously viewing camera and sensor data. If the exterior
environment becomes too hostile, the operator can move inside the
vehicle and use the control box 40 to receive pictures and data to
locate, identify, track and engage targets. The stabilizing mount
system, the device payloads and the OCU system are preferably
compatable with numerous digital interfaces including Ethernet,
TCP, UDP, RCP, RS-232, RS-422, RS-485, and JAUS. (Joint
Architecture for Unmanned Systems.)
[0049] FIG. 3 is a side view of a two axis stabilizing mount system
with the mounting stud 53 inserted in the receptacle of the A-frame
30 or mounting structure on the turret of a HMMWV. The turret 28 is
a revolving structure with a hole, that allows the gunner 31 to
stand inside the HMMWV. The weapon can be fixed to the stabilizing
mount system with the Y bracket 58, or a friction head such as that
shown in FIG. 2a # 19. The gunner operates the weapon in hands-on
mode. The swivel turret 28 allows the gunner to engage targets
throughout 360 degrees while the weapon is stabilized from the
vehicle pitch and roll. Wired control 18 connects one or more hand
or thumb controls 23 to the stabilizing mount thus providing
control of the stabilizing mount, weapon and/or sensors. The gunner
can also set incremental movements of pitch and azimuth movement so
that he can sweep the horizon in one direction, then increment the
pitch axis up or down and re-sweep the horizon. This motion can be
manual, semi-manual wherein a computer manages some or all of the
incremental movements such as 1 mm. sweeps across the horizon,
resetting 1 mm. higher and re-sweeping the horizon.
[0050] The sensor system for the stabilizing mount can provide
vehicle and payload platform motion data which can include vehicle
motion and direction in all three axes, GPS and position data.
Other data can include weapon and payload device pointing data.
This data allows for situational awareness of the battlefield
environment which includes location of vehicles, people and
objects.
[0051] FIG. 4 shows two vehicles 51 with stabilizing mounts and
weapons 50. Data from the stabilizing system can be exchanged or
provided by wireless 80, or other modes to a command and control
center and/or to other vehicles within the battlefield arena. This
data, including weapon pointing data can allow friend/foe
determinations as well as to lock out live firing on friendly
targets. The stabilizing mount's payload devices which can include
cameras and sensors and which can combine location and pointing
direction when multiple vehicle systems are combined, can give
enhanced situational awareness of the surrounding environment which
can include location of vehicles, people and objects.
[0052] FIG. 5 is a cutaway view of a HMMWV, with the gunner 32,
standing on a stabilized standing platform 33. The standing
platform, which removes the vehicle's components of pitch and roll,
minimizes unwanted vehicle motion affecting the gunner and which
could get transmitted by the gunner 32 to the weapon 50. The
stabilized standing platform 33 stabilizes like the linear actuator
stabilizing system in FIG. 1, wherein the platform has two linear
actuators such as FIG. 1 #60 as means for movement and which pivot
on a center post such as FIG. 1 # 54. The stabilized standing
platform can be a slave device to another stabilizing mount system
such as in FIG. 1. The standing platform can maintain the horizon,
the apparent gravity or any other operator determined angle.
[0053] FIG. 6. This side view shows the stabilizing mount, and an
associated chair, which in combination are the device payload. The
weapon 50 is attached by mounting bracket 75 which is attached to
the chair with an optional footrest. The entire structure mounts
into a receptacle 59. The chair center post 76 can also attach to
the upper arm bracket 64, by a flange mount, or other mounting
configurations dictated by the load and application. There are at
least two configurations for stabilizing the combination chair and
weapon. 1. The chair and weapon are all attached as a single unit
that moves in unison and stays level with the horizon, apparent
gravity, or other operator selected angle.
[0054] 2. The chair and weapon have separate stabilizing systems
the chair is attached to the upper arm bracket or receptacle and is
stabilized to the vector of apparent gravity. A second
stabilization head such as in FIG. 1 can be separate or attached to
mounting bracket 75, however in either mode is stabilizes the
weapon such as in FIG. 1. Both stabilization systems can be
completely separate stabilization mounts, or both mounts can be
slaved from a single sensor package and CPU which operates both the
chair and the weapon on the same angles of level, or different
angles of level to meet individual stabilized payload
requirements.
[0055] While the invention has been described in detail with
reference to the preferred embodiments thereof, it will be apparent
to one skilled in the art that various changes and modifications
can be made and equivalents employed, without departing from the
present invention.
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