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.

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